Flat layer profiling type orchard precise pollination device and method

Abstract

The invention discloses a leveling profiling type orchard precise pollination device and method. The leveling profiling type orchard precise pollination device comprises a crawler chassis, a rack, a transverse moving mechanism, a longitudinal moving mechanism, an angle adjusting mechanism and a plurality of groups of pollination knuckle arms, the rack is mounted on the crawler chassis and is parallel to the crawler chassis; the transverse moving mechanism is mounted on the rack; the longitudinal moving mechanism is vertically connected with the transverse moving mechanism; the angle adjusting mechanism is mounted on the longitudinal moving mechanism; the plurality of groups of pollination knuckle arms are mounted on the angle adjusting mechanism; the pollination knuckle arm comprises a rotating mechanism, a longitudinal telescopic mechanism, a transverse swinging mechanism, a transverse telescopic mechanism and a pollination executing mechanism; the rotating mechanism is mounted on the angle adjusting mechanism; and the fixed end of the longitudinal telescopic mechanism is mounted on the rotating mechanism. The intelligent pollination device can realize intelligent pollination operation of three flat-layer mechanical orchards, namely a Y-shaped shed frame type orchard, a V-shaped shed frame type orchard and a hedge wall type orchard.

Description

Technical Field

[0001] The invention relates to the technical field of fruit tree pollination, and in particular to a flat-layer simulated orchard precision pollination device and method. Background Art

[0002] Pollination is a key link in fruit tree production, and its operation efficiency and quality directly affect the production cost, yield and fruit quality of the orchard. Traditional fruit tree pollination mainly relies on natural pollination or artificial pollination with feather dusters, but these methods are restricted by environmental factors, high labor intensity, high cost and low efficiency, and are difficult to meet the production needs of modern large-scale orchards.

[0003] With the rapid development of modern agricultural technology, intelligent pollination equipment has become an important direction for improving orchard management efficiency. At present, the application of machine vision technology in the agricultural field is becoming more and more mature, but it still faces serious challenges in the management of flowers and fruits of traditional three-dimensional crown fruit trees. The crown of traditional fruit trees is thick and dense, and the flowers inside are often blocked by branches and leaves, which makes the machine vision system unable to effectively identify the flowers inside the tree, limiting the application scope and effect of intelligent pollination technology.

[0004] In recent years, flat-layer orchard cultivation patterns such as Y-shaped trellises, V-shaped trellises and hedges have become increasingly popular. These cultivation patterns pull fruit tree branches onto the flat surface of the trellis wire mesh, forming a fruit tree shape with continuous leaf curtains and a flat crown. Although this cultivation pattern has the advantages of a flat crown, a regular tree structure, and uniform row and plant spacing, the existing pollination equipment has not been customized for this type of special orchard, and cannot fully utilize the structural characteristics of the flat orchard to improve pollination efficiency.

[0005] Most existing pollination robots use a fixed mechanical arm structure with a limited operating range, making it difficult to achieve full canopy coverage of flat orchards. At the same time, the lack of an effective canopy profiling mechanism makes it difficult to maintain the best contact between the pollination tool and the flower when operating at different heights and angles. In addition, existing pollination equipment often uses a simple linear or random operating path and lacks a precise pollination strategy based on flower distribution density, resulting in problems such as waste of pollen resources and uneven pollination.

[0006] For flat orchards, although the flowers are highly exposed and easy to identify, how to design a pollination device that can adapt to its special structure and achieve contour-based operations, and at the same time develop an efficient pollination path planning method to improve pollination accuracy and efficiency, is still an important challenge facing current fruit tree pollination technology. Summary of the invention

[0007] The purpose of the present invention is to propose a flat-layer orchard precision pollination device and method, which can realize intelligent pollination operations on three types of flat-layer mechanized orchards: Y-shaped trellis type, V-shaped trellis type and hedge type.

[0008] In order to solve the above technical problems, the present invention provides a flat-bed imitation orchard precision pollination device, comprising: a crawler chassis, a frame, a lateral moving mechanism, a longitudinal moving mechanism, an angle adjustment mechanism and a plurality of pollination joint arms;

[0009] The frame is mounted on the crawler chassis and is arranged parallel to the crawler chassis; the lateral moving mechanism is mounted on the frame; the longitudinal moving mechanism is vertically connected to the lateral moving mechanism; the angle adjustment mechanism is mounted on the longitudinal moving mechanism; and multiple groups of pollination joint arms are mounted on the angle adjustment mechanism;

[0010] The pollination joint arm comprises: a rotating mechanism, a longitudinal telescopic mechanism, a lateral swinging mechanism, a lateral telescopic mechanism and a pollination execution mechanism;

[0011] The rotating mechanism is installed on the angle adjustment mechanism; the fixed end of the longitudinal telescopic mechanism is installed on the rotating mechanism; the transverse swinging mechanism is installed on the movable end of the longitudinal telescopic mechanism; the fixed end of the transverse telescopic mechanism is installed on the transverse swinging mechanism; and the pollination actuator is installed on the movable end of the transverse telescopic mechanism.

[0012] Furthermore, the lateral movement mechanism comprises: a lateral movement track, a lateral movement bracket, a lateral movement slider, a lateral movement pulley and a lateral movement electric push rod;

[0013] The transverse moving track is installed on the frame and is parallel to the frame; the transverse moving track is located between the transverse moving bracket and the frame; one side of the transverse moving slider is slidably installed on the transverse moving track, and the other side is connected to the transverse moving bracket; the transverse moving pulley is arranged between the transverse moving track and the transverse moving slider; the fixed end of the transverse moving electric push rod is connected to the transverse moving bracket, and the telescopic end is connected to the frame; the transverse moving electric push rod drives the transverse moving bracket to move in the transverse direction relative to the frame; the longitudinal moving mechanism is slidably installed on the transverse moving bracket and is perpendicular to the transverse moving track.

[0014] Furthermore, the longitudinal movement mechanism includes: a longitudinal movement bracket and a longitudinal movement electric push rod;

[0015] The longitudinal movable bracket is plugged into the transverse movable bracket; the fixed end of the longitudinal movable electric push rod is connected to the transverse movable bracket, and the telescopic end is connected to the longitudinal movable bracket; the longitudinal movable electric push rod drives the longitudinal movable bracket to move along the longitudinal direction relative to the transverse movable bracket.

[0016] Furthermore, the angle adjustment mechanism includes: an angle adjustment bracket, an angle adjustment fixing plate, an angle adjustment reducer and an angle adjustment motor;

[0017] The two ends of the angle adjustment bracket are respectively connected to the inner side of the longitudinal movable bracket through a hinge shaft to form a rotating joint; the angle adjustment fixing plate is installed on the outer side of the longitudinal movable bracket; the outer shell of the angle adjustment reducer connects the angle adjustment fixing plate and the outer shell of the angle adjustment motor; the output shaft of the angle adjustment motor is connected to the input shaft of the angle adjustment reducer; the hinge shaft at one end of the angle adjustment bracket passes through the longitudinal movable bracket and is connected to the output shaft of the angle adjustment reducer; the angle adjustment motor drives the angle adjustment bracket to rotate relative to the longitudinal movable bracket around the hinge shaft through the angle adjustment reducer.

[0018] Furthermore, the rotating mechanism comprises: a base, a rotating motor, a rotating reducer, a rotating driving gear, a rotating disk, a rotating bearing inner ring and a rotating bearing outer ring; the base is connected to the angle adjustment mechanism; the housing of the rotating reducer is connected to the base and the housing of the rotating motor; the output shaft of the rotating motor is connected to the input shaft of the rotating reducer; the rotating driving gear is connected to the output shaft of the rotating reducer; the rotating bearing inner ring is connected to the base; the rotating bearing outer ring is sleeved on the outside of the rotating bearing inner ring and is coaxially rotatably connected to the rotating bearing inner ring, and the rotating bearing outer ring is connected to the rotating disk; the rotating bearing outer ring is meshedly connected to the rotating driving gear; the rotating motor drives the rotating driving gear to rotate through the rotating reducer, and the rotating driving gear meshes to drive the rotating bearing outer ring to rotate, so as to drive the rotating disk to rotate;

[0019] The longitudinal telescopic mechanism includes: a longitudinal bracket, a longitudinal module, a longitudinal reducer, a longitudinal motor and a longitudinal slider; the longitudinal bracket is installed on the turntable; the longitudinal module is connected to the longitudinal bracket; the shell of the longitudinal reducer is connected to the longitudinal bracket and the shell of the longitudinal motor; the output shaft of the longitudinal motor is connected to the input shaft of the longitudinal reducer; the output shaft of the longitudinal reducer is connected to the longitudinal module; the longitudinal slider is slidably installed on the longitudinal module; the longitudinal motor drives the longitudinal module to operate through the longitudinal reducer, so that the longitudinal slider moves back and forth along the axial direction of the longitudinal module.

[0020] Furthermore, the lateral swing mechanism comprises: a lateral swing fixing plate, a lateral swing motor, a lateral swing driving gear and a lateral swing driven gear; the lateral swing fixing plate is connected to the longitudinal slider; the housing of the lateral swing motor is connected to the lateral swing fixing plate, and the output shaft is connected to the lateral swing driving gear; the lateral swing driven gear is hinged to the lateral swing fixing plate through a central axis, so that the lateral swing driven gear can swing within a set angle range; the lateral swing driving gear is meshed and connected with the lateral swing driven gear; the lateral swing motor drives the lateral swing driving gear to rotate, so as to drive the lateral swing driven gear to swing around its own axis within the set angle range;

[0021] The transverse telescopic mechanism comprises: a connecting plate, a connecting frame, a transverse module, a stepping motor and a sliding block; one side of the connecting plate is connected to the transverse swing driven gear, and the other side is connected to the connecting frame; the connecting frame is connected to the transverse module; the stepping motor is connected to the transverse module; the sliding block is slidably connected to the transverse module; the stepping motor drives the transverse module to operate, so that the sliding block reciprocates along the axial direction of the transverse module;

[0022] The pollination actuator includes: a telescopic rod, a rotating motor, a pollination piece, an image acquisition device and a processor; one end of the telescopic rod is connected to the sliding block; the housing of the rotating motor is connected to the other end of the telescopic rod, and the output shaft of the rotating motor is connected to the pollination piece to drive the pollination piece to rotate; the image acquisition device is arranged on the telescopic rod; the processor is installed on the longitudinal module and connected to the image acquisition device.

[0023] In addition, the present invention also proposes a flat-bed imitation form orchard precision pollination method, using the flat-bed imitation form orchard precision pollination device as described above, specifically including the following:

[0024] Moving the flat-bed imitation orchard precision pollination device to the fruit tree area to be pollinated;

[0025] Obtain and process fruit tree flower images to generate pollination prescription maps;

[0026] According to the pollination prescription map, planning the operation path of the pollination node arm;

[0027] Control the pollination arm to complete the pollination operation according to the planned operation path.

[0028] Furthermore, the generation of the pollination prescription map specifically includes: establishing a plane rectangular coordinate system with the center point of the field of view of the image acquisition device as the origin; identifying the flowers of fruit trees in the working area, and recording the position of the flower centroid points in the coordinate system; dividing the working area into matrix cells, and counting the number of flower centroid points in each cell; when the proportion of the number of flower centroid points in a cell exceeds a preset threshold, marking the cell as a pollination cell, and generating a matrix pollination prescription map consisting of pollination cells and non-pollination cells.

[0029] Furthermore, according to the pollination prescription map, the operation path of the pollination arm is planned, specifically including: constructing a spatial right pyramid structure with the swing center point of the lateral swing mechanism of the pollination arm as the vertex; calculating the parameter information required for the pollination arm to move from the current position to the center point of the next pollination cell; determining the optimal movement sequence of the pollination arm so that the pollination arm can reach the center points of all marked pollination cells in turn; when the pollination arm needs to move from one pollination cell to a non-adjacent pollination cell, first retract the pollination part to a position to avoid interference, and then adjust the position.

[0030] Furthermore, the control of the pollination arm to complete the pollination operation according to the planned operation path specifically includes: controlling the rotating motor and the lateral swing motor to adjust the direction of the pollination arm; controlling the stepping motor to adjust the length of the telescopic rod so that the pollination part reaches the center position of the pollination cell; controlling the rotating motor to rotate the pollination part to complete the pollination of the flowers in the pollination cell; after the pollination is completed, controlling the stepping motor to retract the telescopic rod so that the pollination arm turns to the next pollination cell until all pollination operations are completed.

[0031] Through the above technical solution, the present invention has the following beneficial effects:

[0032] Through the setting of the combined structure of the crawler chassis, the lateral moving mechanism, the longitudinal moving mechanism and the angle adjustment mechanism, the pollination device can be accurately positioned and adaptively adjusted in three types of flat-layer mechanized orchards, namely, the Y-shaped trellis type, the V-shaped trellis type and the hedge wall type, effectively solving the problem that the traditional pollination device cannot adapt to different orchard structures. By setting up multiple groups of pollination arms, each group of arms has a five-degree-of-freedom structure of a rotating mechanism, a longitudinal telescopic mechanism, a lateral swing mechanism, a lateral telescopic mechanism and a pollination actuator, combined with the spatial right pyramid operation path planning method of the matrix pollination prescription map, it is possible to achieve accurate pollination coverage of the entire canopy of a flat-layer orchard, thereby significantly improving the pollination efficiency and quality.

[0033] In addition, the angle adjustment bracket is dynamically adjusted to keep it parallel to the canopy plane, which enables the pollination arm to follow the parallel contour of the working canopy plane, thus solving the problem that traditional pollination equipment cannot adapt to the changes in the canopy plane of the orchard. Furthermore, by dividing the working canopy plane into grids, combining machine vision technology to identify the centroid of the flowers, generating a matrix pollination prescription map, and then planning the optimal motion path of the pollination arm based on spatial geometric relationships, accurate pollination is achieved in areas with dense flower distribution, avoiding the waste of pollen resources, improving pollination uniformity, and providing an efficient, labor-saving, intelligent solution for orchard pollination operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of a flat-layer imitation type orchard precision pollination device in one embodiment of the present invention;

[0035] Figure 2 It is a structural schematic diagram of a flat-bed imitation type orchard precision pollination device in one embodiment of the present invention from another viewing angle;

[0036] Figure 3 It is a schematic diagram of the structure of the angle adjustment bracket of the flat-bed imitation type orchard precision pollination device after rotation in one embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the pollination joint arm in the flat-bed imitation type orchard precision pollination device in one embodiment of the present invention;

[0038] Figure 5 It is a schematic structural diagram of a pollination joint arm in a flat-bed imitation type orchard precision pollination device in one embodiment of the present invention from another viewing angle;

[0039] Figure 6 It is a schematic diagram of the structure of the rotary bearing in the flat-bed imitation type orchard precision pollination device in one embodiment of the present invention;

[0040] Figure 7 It is a schematic diagram of the structure of a longitudinal module support in a flat-layer imitation type orchard precision pollination device in one embodiment of the present invention;

[0041] Figure 8 It is a schematic diagram of the structure of a transverse module support in a flat-layer imitation type orchard precision pollination device in one embodiment of the present invention;

[0042] Fig. 9 It is a schematic diagram of an operation scene of a flat-layer imitation-type orchard precision pollination device in an embodiment of the present invention in a Y-shaped trellis-type orchard;

[0043] Fig.10 It is a schematic diagram of an operation scene of a flat-layer imitation-type orchard precision pollination device in a V-shaped trellis-type orchard in one embodiment of the present invention;

[0044] Fig.11 It is a schematic diagram of an operation scene of a flat-layer imitation type orchard precision pollination device in an embodiment of the present invention in a hedge-type orchard;

[0045] Fig.12 It is a schematic diagram of the canopy plane operation area division structure in the flat layer imitation form orchard precision pollination method in one embodiment of the present invention;

[0046] Fig.13 It is a structural schematic diagram of a single pollination joint arm operation area in a flat-layer imitation orchard precision pollination method in one embodiment of the present invention;

[0047] Fig.14 It is an operation path diagram of a single pollination joint arm in a flat-bed imitation orchard precision pollination method in one embodiment of the present invention;

[0048] Fig.15 It is a schematic diagram of the process of the flat-layer simulated orchard precision pollination method in one embodiment of the present invention.

[0049] In the figure, 1, crawler chassis; 2, frame; 3, horizontal moving track; 4, horizontal moving slider; 5, horizontal moving bracket; 6, horizontal moving electric push rod; 7, longitudinal moving bracket; 8, angle adjustment bracket; 9, powder holding plate; 10, powder holding tank; 11, longitudinal moving electric push rod; 12, angle adjustment motor; 13, angle adjustment reducer; 14, angle adjustment fixing plate; 15, horizontal moving pulley; 16, base; 17, rotating reducer; 18, rotating motor; 19, rotating driving gear; 20, turntable; 21, Rotating bearing outer ring; 22, rotating bearing inner ring; 23, longitudinal bracket; 24, longitudinal motor; 25, longitudinal reducer; 26, longitudinal module; 27, longitudinal slider; 28, lateral swing fixing plate; 29, lateral swing motor; 30, lateral swing driving gear; 31, processor; 32, lateral swing driven gear; 33, connecting plate; 34, connecting frame; 35, lateral module; 36, sliding block; 37, stepping motor; 38, telescopic rod; 39, rotating motor; 40, pollination piece; 41, image acquisition device;

[0050] 42. Y-shaped steel frame column; 43. Steel wire rope; 44. Steel frame side branch; 45. Column; 46. Flower centroid; 47. Non-pollination cell; 48. Cell center point; 49. Longitudinal rotation center axis of pollination node arm; 50. Feather duster rotation center axis; 51. Common vertical line; 52. Angle adjustment bracket rotation center axis; 53. Canopy plane; 54. Pollination cell; 55. O point longitudinal module parallel line. DETAILED DESCRIPTION

[0051] The following will be described in more detail with reference to the accompanying drawings, wherein preferred embodiments of the present invention are shown, and it should be understood that those skilled in the art may modify the present invention described herein while still achieving the advantageous effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art, and not as a limitation of the present invention.

[0052] The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are in very simplified form and are not in exact proportions, and are only used to facilitate and clearly assist in illustrating the purpose of the embodiments of the present invention.

[0053] like Figure 1-Figure 8 As shown, an embodiment of the present invention proposes a flat-bed imitation orchard precision pollination device, comprising: a crawler chassis 1, a frame 2, a lateral moving mechanism, a longitudinal moving mechanism, an angle adjustment mechanism and a plurality of pollination joint arms.

[0054] Specifically, the frame 2 is installed on the crawler chassis 1 and is arranged parallel to the crawler chassis 1; the lateral moving mechanism is installed on the frame 2; the longitudinal moving mechanism is vertically connected to the lateral moving mechanism; the angle adjustment mechanism is installed on the longitudinal moving mechanism; and multiple groups of pollination joint arms are installed on the angle adjustment mechanism.

[0055] In this embodiment, the transverse movement mechanism includes: a transverse movement track 3, a transverse movement bracket 5, a transverse movement slider 4, a transverse movement pulley 15 and a transverse movement electric push rod 6.

[0056] Specifically, the transverse moving rail 3 is installed on the frame 2 and is parallel to the frame 2; the transverse moving rail 3 is located between the transverse moving bracket 5 and the frame 2; one side of the transverse moving slider 4 is slidably installed on the transverse moving rail 3, and the other side is connected to the transverse moving bracket 5; the transverse moving pulley 15 is arranged between the transverse moving rail 3 and the transverse moving slider 4; the fixed end of the transverse moving electric push rod 6 is connected to the transverse moving bracket 5, and the telescopic end is connected to the frame 2; the transverse moving electric push rod 6 drives the transverse moving bracket 5 to move in the transverse direction relative to the frame 2; the longitudinal moving mechanism is slidably installed on the transverse moving bracket 5 and is perpendicular to the transverse moving rail 3.

[0057] In this embodiment, the longitudinal movement mechanism includes: a longitudinal movement bracket 7 and a longitudinal movement electric push rod 11.

[0058] Specifically, the longitudinal movable bracket 7 is plugged into the transverse movable bracket 5; the fixed end of the longitudinal movable electric push rod 11 is connected to the transverse movable bracket 5, and the telescopic end is connected to the longitudinal movable bracket 7; the longitudinal movable electric push rod 11 drives the longitudinal movable bracket 7 to move in the longitudinal direction relative to the transverse movable bracket 5.

[0059] In this embodiment, the angle adjustment mechanism includes: an angle adjustment bracket 8 , an angle adjustment fixing plate 14 , an angle adjustment reducer 13 and an angle adjustment motor 12 .

[0060] Specifically, the two ends of the angle adjustment bracket 8 are respectively connected to the inner side of the longitudinal movable bracket 7 through a hinge shaft to form a rotating joint; the angle adjustment fixing plate 14 is installed on the outer side of the longitudinal movable bracket 7; the outer shell of the angle adjustment reducer 13 is connected to the angle adjustment fixing plate 14 and the outer shell of the angle adjustment motor 12; the output shaft of the angle adjustment motor 12 is connected to the input shaft of the angle adjustment reducer 13; the hinge shaft at one end of the angle adjustment bracket 8 passes through the longitudinal movable bracket 7 and is connected to the output shaft of the angle adjustment reducer 13; the angle adjustment motor 12 drives the angle adjustment bracket 8 to rotate relative to the longitudinal movable bracket 7 around the hinge shaft through the angle adjustment reducer 13.

[0061] In a specific embodiment, the crawler chassis 1 moves along the direction of arrow I. The lateral movable bracket 5 is driven by the lateral movable electric push rod 6 to move relative to the frame 2 along the direction of arrow II. The longitudinal movable bracket 7 is driven by the longitudinal movable electric push rod 11 to move relative to the lateral movable bracket 5 along the direction of arrow III. The angle adjustment bracket 8 is driven by the angle adjustment motor 12 to move relative to the longitudinal movable bracket 7 along the direction of arrow IV around the angle adjustment bracket rotation center axis 52 (i.e., the hinge axis, such as Figure 1 The various directions are as follows: the moving direction of the crawler chassis Ⅰ, the extension direction of the lateral moving electric push rod Ⅱ, the extension direction of the longitudinal moving electric push rod Ⅲ, and the steering direction of the angle adjustment bracket Ⅳ.

[0062] In this embodiment, continue to refer to Figure 4-Figure 6 As shown, the pollination joint arm includes: a rotating mechanism, a longitudinal telescopic mechanism, a lateral swing mechanism, a lateral telescopic mechanism and a pollination execution mechanism. The number of the pollination joint arms can be set according to actual needs, for example, Figure 1 and Figure 2 As shown in FIG, four pollination nodes are fixedly connected to the angle adjustment bracket 8 via a base 16 .

[0063] For details, please refer to Figure 4-Figure 6As shown, the rotating mechanism is installed on the angle adjustment mechanism; the fixed end of the longitudinal telescopic mechanism is installed on the rotating mechanism; the transverse swinging mechanism is installed on the movable end of the longitudinal telescopic mechanism; the fixed end of the transverse telescopic mechanism is installed on the transverse swinging mechanism; and the pollination actuator is installed on the movable end of the transverse telescopic mechanism.

[0064] In one embodiment, the rotating mechanism includes: a base 16 , a rotating motor 18 , a rotating reducer 17 , a rotating driving gear 19 , a rotating disk 20 , a rotating bearing inner ring 22 and a rotating bearing outer ring 21 .

[0065] Specifically, the base 16 is connected to the angle adjustment mechanism; the housing of the rotary reducer 17 is connected to the base 16 and the housing of the rotary motor 18; the output shaft of the rotary motor 18 is connected to the input shaft of the rotary reducer 17; the rotary driving gear 19 is connected to the output shaft of the rotary reducer 17; the rotary bearing inner ring 22 is connected to the base 16; the rotary bearing outer ring 21 is sleeved on the outside of the rotary bearing inner ring 22 and is coaxially rotatably connected to the rotary bearing inner ring 22, and the rotary bearing outer ring 21 is connected to the turntable 20; the rotary bearing outer ring 21 is meshedly connected to the rotary driving gear 19; the rotary motor 18 drives the rotary driving gear 19 to rotate through the rotary reducer 17, and the rotary driving gear 19 meshes and drives the rotary bearing outer ring 21 to rotate, so as to drive the turntable 20 to rotate (such as Figure 4 As shown in FIG. 4 , it rotates around the longitudinal rotation center axis 49 of the pollination node arm).

[0066] In one embodiment, the longitudinal telescopic mechanism includes: a longitudinal bracket 23 , a longitudinal module 26 , a longitudinal reducer 25 , a longitudinal motor 24 and a longitudinal slider 27 .

[0067] Specifically, the longitudinal bracket 23 is installed on the turntable 20; the longitudinal module 26 is connected to the longitudinal bracket 23; the outer shell of the longitudinal reducer 25 is connected to the longitudinal bracket 23 and the outer shell of the longitudinal motor 24; the output shaft of the longitudinal motor 24 is connected to the input shaft of the longitudinal reducer 25; the output shaft of the longitudinal reducer 25 is connected to the longitudinal module 26; the longitudinal slider 27 is slidably installed on the longitudinal module 26; the longitudinal motor 24 drives the longitudinal module 26 to operate through the longitudinal reducer 25, so that the longitudinal slider 27 moves back and forth along the axial direction of the longitudinal module 26.

[0068] In one embodiment, the lateral swing mechanism includes: a lateral swing fixing plate 28 , a lateral swing motor 29 , a lateral swing driving gear 30 and a lateral swing driven gear 32 .

[0069] Specifically, the transverse swing fixing plate 28 is connected to the longitudinal slider 27; the housing of the transverse swing motor 29 is connected to the transverse swing fixing plate 28, and the output shaft is connected to the transverse swing driving gear 30; the transverse swing driven gear 32 is hinged to the transverse swing fixing plate 28 through a central axis, so that the transverse swing driven gear 32 can swing within a set angle range; the transverse swing driving gear 30 is meshed and connected with the transverse swing driven gear 32; the transverse swing motor 29 drives the transverse swing driving gear 30 to rotate, so as to drive the transverse swing driven gear 32 to swing around its own axis within the set angle range.

[0070] In one embodiment, the transverse telescopic mechanism includes: a connecting plate 33 , a connecting frame 34 , a transverse module 35 , a stepping motor 37 and a sliding block 36 .

[0071] Specifically, one side of the connecting plate 33 is connected to the transverse swing driven gear 32, and the other side is connected to the connecting frame 34; the connecting frame 34 is connected to the transverse module 35; the stepping motor 37 is connected to the transverse module 35; the sliding block 36 is slidably connected to the transverse module 35; the stepping motor 37 drives the transverse module 35 to operate, so that the sliding block 36 reciprocates along the axial direction of the transverse module 35;

[0072] In this embodiment, the pollination execution mechanism includes: a telescopic rod 38 , a rotating motor 39 , a pollination component 40 , an image acquisition device 41 and a processor 31 .

[0073] Specifically, one end of the telescopic rod 38 is connected to the sliding block 36; the housing of the rotating motor 39 is connected to the other end of the telescopic rod 38, and the output shaft of the rotating motor 39 is connected to the pollination part 40 to drive the pollination part 40 to rotate; the image acquisition device 41 is arranged on the telescopic rod 38; the processor 31 is installed on the longitudinal module 26 and connected to the image acquisition device 41.

[0074] In a specific embodiment, the longitudinal module 26 is driven by the rotary motor 18 to rotate relative to the base 16 along the direction of the arrow V around the longitudinal rotation center axis 49 of the pollination node arm. The longitudinal slider 27 is driven by the longitudinal motor 24 to slide relative to the longitudinal module 26 along the direction of the arrow VI. The transverse module 35 is driven by the transverse swing motor 29 to rotate relative to the transverse swing fixing plate 28 along the direction of the arrow VII around the axis (i.e., Figure 4The pollination arm longitudinal rotation center axis 49 shown in FIG. 1 and the common perpendicular line 51 of the rotation bearing center axis of the turntable 20 rotate. The telescopic rod 38 is driven by the stepping motor 37 to slide relative to the transverse module 35 along the direction of the arrow VIII. The pollination member 40 (such as a feather duster) is driven by the rotating motor 39 to move relative to the telescopic rod 38 around the axis (i.e., around the axis of the telescopic rod 38) along the direction of the arrow IX. Figure 4 The feather duster rotates about the central axis 50 shown in the figure. The directions are as follows: the pollination arm rotates about the axis V, the longitudinal slider moves in the direction VI, the transverse module swings in the direction VII, the slider moves in the direction VIII, and the feather duster rotates about the axis IX.

[0075] like Fig. 9 As shown, this embodiment proposes an operation scenario of a flat-layer orchard precision pollination device in a Y-shaped trellis orchard. The Y-shaped steel frame columns 42 are arranged according to the row spacing M 1 、N 1 Arranged, the bottom is fixed to the ground, and the steel frame side branch 44 is at an angle θ to the ground 1 Afterwards, it is fixed to both sides of the top of the Y-shaped steel frame column 42, and several steel wire ropes 43 are fixed to multiple steel frame side branches 44. The branches of the fruit tree grow along the canopy plane 53 formed by the steel frame side branches 44 and the steel wire ropes 43 (for the convenience of description, the branches of the fruit tree are not shown in the figure).

[0076] Adjust the flat-bed imitation orchard precision pollination device before entering the orchard for operation. Figure 1 The horizontally moving electric push rod 6, the longitudinally moving electric push rod 11, and the angle adjustment motor 12 make the angle adjustment bracket 8 parallel to the canopy plane 53, and the vertical operation range of the four sets of pollination joint arms covers the canopy plane 53. When the flat-layer imitation orchard precision pollination device is in operation, the center of gravity of the crawler chassis 1 maintains a distance L from the Y-shaped steel frame column 42. 1 , moving along the "S"-shaped path in the figure, passing through P n When the pollination arm reaches point (n=1, 2, 3...), the crawler chassis 1 stops moving forward and performs precise pollination. After the pollination is completed, the crawler chassis 1 continues moving forward to the next point P. n+1 (n=1, 2, 3...) stop, and the subsequent operations are deduced in this way until the park operation is completed. n The operating range of the canopy plane 53 of point (n=1, 2, 3...) is connected left and right in the lateral range.

[0077] like Fig.10 As shown, this embodiment proposes an operation scenario of a flat-layer orchard precision pollination device in a V-shaped trellis orchard. The steel frame side branches 44 are arranged according to the row spacing M 2 、N 2 The bottom of the steel frame side branches 44 are fixed to the ground, and the steel frame side branches 44 form an angle θ with the ground. 2, a plurality of steel wire ropes 43 are fixedly connected to a plurality of steel frame side branches 44, and the branches of the fruit tree grow along the canopy plane 53 formed by the steel frame side branches 44 and the steel wire ropes 43 (for the convenience of description, the branches of the fruit tree are not shown in the figure).

[0078] Adjust the flat-bed imitation orchard precision pollination device before entering the orchard for operation. Figure 1 The electric push rod 6 is moved laterally, the electric push rod 11 is moved longitudinally, and the angle adjustment motor 12 is used to make the angle adjustment bracket 8 parallel to the canopy plane 53, and the operation range of the four sets of pollination joint arms in the vertical direction covers the canopy plane 53. When the precision pollination device is in operation, the center of gravity of the crawler chassis 1 and the intersection (or base) of the steel frame side branch 44 maintain a distance L 2 , moving along the "S"-shaped path in the figure, passing P' n When the pollination arm reaches point (n=1, 2, 3...), the crawler chassis 1 stops moving forward and performs precise pollination. When the pollination is completed, the crawler chassis 1 continues moving forward to the next point P'. n+1 (n=1, 2, 3...) stop, and the subsequent operations are deduced in this way until the park operation is completed. n The operating range of the canopy plane 53 of point (n=1, 2, 3...) is connected left and right in the lateral range.

[0079] like Fig.11 As shown, this embodiment proposes an operation scenario of a flat-bed imitation type orchard precision pollination device in a hedge-type orchard. The upright column 45 is arranged according to the row spacing M 3 、N 3 The bottoms of the trees are fixed to the ground, a plurality of steel wire ropes 43 are fixed to the posts 45, and the branches of the fruit trees grow along the canopy plane 53 formed by the posts 45 and the steel wire ropes 43 (for ease of description, the branches of the fruit trees are not shown in the figure).

[0080] Adjust the flat-bed imitation orchard precision pollination device before entering the orchard for operation. Figure 1 The electric push rod 6 is moved horizontally and the electric push rod 11 is moved vertically, so that the operation range of the four sets of pollination joint arms in the vertical direction covers the canopy plane 53. When the flat-layer imitation type orchard precision pollination device is in operation, the center of gravity of the crawler chassis 1 maintains a distance L from the column 45. 3 , moving along the "S"-shaped path in the figure, passing through P" n (n=1, 2, 3……) point, the crawler chassis 1 stops moving forward, and the pollination arm performs precise pollination. After the pollination operation is completed, the crawler chassis 1 continues moving forward to the next point P” n+1 (n=1, 2, 3...) stop, and the subsequent operations are deduced in this way until the park operation is completed. n The operating range of the canopy plane 53 of point (n=1, 2, 3...) is connected left and right in the lateral range.

[0081] In addition, combined Figure 12-Figure 15 As shown, this embodiment also proposes a flat-bed imitation form orchard precision pollination method, using the flat-bed imitation form orchard precision pollination device as described above, specifically including the following steps:

[0082] S1. Move the flat-layer orchard precision pollination device to the fruit tree area to be pollinated;

[0083] S2, obtaining and processing fruit tree flower images to generate pollination prescription maps;

[0084] S3. Planning the operation path of the pollination node arm according to the pollination prescription map; and

[0085] S4. Control the pollination arm to complete the pollination operation according to the planned operation path.

[0086] In step S2, the generation of the pollination prescription map specifically includes: establishing a plane rectangular coordinate system with the center point of the field of view of the image acquisition device 41 as the origin; identifying the flowers of fruit trees in the working area, and recording the position of the flower centroid point 46 in the coordinate system; dividing the working area into matrix cells, and counting the number of flower centroid points 46 in each cell; when the proportion of the number of flower centroid points 46 in a cell exceeds a preset threshold (the preset threshold can be set according to actual needs), the cell is marked as a pollination cell 54, and a matrix pollination prescription map consisting of pollination cells 54 and non-pollination cells 47 is generated.

[0087] In step S3, the operation path of the pollination arm is planned according to the pollination prescription map, specifically including: constructing a spatial right pyramid structure with the swing center point of the lateral swing mechanism of the pollination arm as the vertex; calculating the parameter information required for the pollination arm to move from the current position to the center point 48 of the next pollination cell; determining the optimal movement sequence of the pollination arm so that the pollination arm can reach the center points of all marked pollination cells 54 in turn; when the pollination arm needs to move from one pollination cell 54 to a non-adjacent pollination cell 54, first retract the pollination part 40 to a position to avoid interference, and then adjust the position.

[0088] In step S4, the pollination arm is controlled to complete the pollination operation according to the planned operation path, specifically including: controlling the rotating motor 18 and the lateral swing motor 29 to adjust the direction of the pollination arm; controlling the stepping motor 37 to adjust the length of the telescopic rod 38 so that the pollination part 40 reaches the center position of the pollination cell 54; controlling the rotating motor 39 to rotate the pollination part 40 to complete the pollination of the flowers in the pollination cell 54; after the pollination is completed, controlling the stepping motor 37 to retract the telescopic rod 38 so that the pollination arm turns to the next pollination cell 54 until all pollination operations are completed.

[0089] In this embodiment, the pollination member 40 is, for example, a feather duster, and the image acquisition device 41 is, for example, a depth camera. The height H of the longitudinal movable bracket 7 from the ground, the rotation angle α of the angle adjustment bracket 8, the angle β between the telescopic rod 38 and the longitudinal module 26 (i.e., the angle β between the longitudinal module parallel line 55 at point O and the telescopic rod 38, and the initial operation state is 90°), the swing center point O of the transverse module 35, and the distance l between point O and the plane where the depth camera lens is located in the initial operation state 1 , the distance l between the plane where the depth camera lens is located and the feather duster operation plane 2 , the distance h between point O and the plane where the base 16 is located, the row spacing M of the Y-shaped trellis orchard 1 , Y-shaped trellis type orchard plant spacing N 1 、The angle between the steel frame side branch 44 and the ground in the Y-shaped trellis orchard θ 1 , the distance L between the center of gravity of the crawler chassis 1 and the Y-shaped steel frame column 42 1 , V-shaped trellis type orchard row spacing M 2 , V-shaped trellis orchard plant spacing N 2 、The angle between the steel frame side branch 44 and the ground in the V-shaped trellis orchard θ 2 , the distance L between the center of gravity of the crawler chassis 1 and the intersection (or base) of the steel frame side branch 44 2 , hedge type orchard row spacing M 3 , hedge-type orchard plant spacing N 3 , the distance L between the center of gravity of the crawler chassis 1 and the column 45 3 , crawler chassis 1 at the operation stop point P of the Y-shaped trellis orchard n (n=1, 2, 3...), the crawler chassis 1 is at the operation stop point P' of the V-shaped trellis orchard n (n=1, 2, 3...), the crawler chassis 1 is at the operating stop point P of the hedge-type orchard" n (n=1, 2, 3...), cell side length d, camera field of view center point A, plane rectangular coordinate system horizontal axis X, plane rectangular coordinate system vertical axis Y, cell center point B in the 1st row and 4th column of the working area, cell center point C in the 2nd row and 5th column of the working area, cell center point D in the 2nd row and 4th column of the working area, cell center point E in the 2nd row and 2nd column of the working area, cell center point F in the 3rd row and 1st column of the working area, cell center point G in the 3rd row and 2nd column of the working area, cell center point I in the 3rd row and 4th column of the working area.

[0090] When the device moves to P n (n=1,2,3……) point or P' n (n=1,2,3……) point or P" n (n=1,2,3……) o’clock.

[0091] The pollination arm is first initialized: the rotation motor 18 and the lateral swing motor 29 are driven so that the central axis 50 of the feather duster is perpendicular to the canopy plane 53 (such as Fig.12 The vertical motor 24 and the stepping motor 37 are driven so that the field of view of each depth camera just covers P n (n=1,2,3……) point or P' n (n=1,2,3……) point or P" n (n = 1, 2, 3 ...) point at which the working canopy plane 53 is one quarter (such as Fig.12 As shown, two vertically intersecting dotted lines divide the canopy plane 53 into four equal parts in a grid pattern, and the central axis of rotation 50 of the feather duster passes through point A, and the depth camera measures the distance between the lens and the canopy plane 53.

[0092] After the pollination node arm is initialized, the depth camera collects a color image of the canopy plane 53 within the field of view, and the processor 31 processes the image captured by the depth camera and divides the image into a plurality of pollination cells 54 (such as Fig.13 The shaded cells in the figure) and non-pollinating cells 47 (such as Fig.13 The matrix operation prescription map composed of the non-shaded cells in the figure is used to control the rotation motor 18, the lateral swing motor 29, the stepping motor 37 and the rotating motor 39 to move according to Fig.14 The dotted path realizes the pollination operation of the feather duster on multiple pollination cells 54. After the feather duster has been operated for a certain number of times, the processor 31 controls the rotation motor 18, the longitudinal motor 24, the lateral swing motor 29, the stepper motor 37 and the rotary motor 39 to move. Through the multi-degree-of-freedom deformation of the pollination arm, the feather duster is placed in the pollen collecting trough 10 and rotates slowly (wherein, a pollen collecting plate 9 is provided on the angle adjustment bracket 8 of the device, a pollen collecting trough 10 is provided on the pollen collecting plate 9, and the feather duster is located above the corresponding pollen collecting trough 10) to adhere to the pollen.

[0093] Furthermore, the method for the processor 31 to process the canopy color image is as follows: Fig.13 As shown. A plane rectangular coordinate system XAY is established with point A as the origin, with the X axis as the horizontal axis and the Y axis as the vertical axis. A machine learning algorithm is used to identify the pixels of the flowers of fruit trees in the working area (such as the stamens of a single flower as the marker), and they are marked in the form of the flower centroid 46 in the camera image. The position of the centroid in the coordinate system XAY is calculated and recorded, and the total number n of the centroids 46 of the flowers in the working area is counted. With d as the side length, the working area is divided into a matrix of i rows and j columns, and the positions of the center points 48 of all cells in the coordinate system XAY are calculated and recorded. Fig.13 The embodiment is a 7-row 7-column matrix, comprising 49 cells in total, and the average number of flower centroids 46 in each cell is n 49(equal to n ÷ 49). According to the position of the cell and the flower centroid 46 in the coordinate system XAY, count the number n of the flower centroid 46 in each cell ij (i, j represent the row and column numbers of the matrix cells), calculate the percentage of the number of flower centroids 46 contained in the cell to the average number of flower centroids 46 ψ ij %(equal to n ij ÷n 49 ×100%). Taking ξ% as the comparison value, the ψ ij For comparison, if ψ ij If it is greater than ξ, it is marked as pollination cell 54.

[0094] Further, the method in which the processor 31 controls the actions of the rotating motor 18, the lateral swing motor 29, the stepping motor 37, and the rotating motor 39 is as follows: Fig.14 shown.

[0095] 1. Work on the cell in the 4th column of the 1st row: the processor 31 drives the lateral swing motor 29 so that the central axis 50 of the feather duster crosses ∠AOB and coincides with the line segment OB; drives the stepper motor 37 to extend one end of the telescopic rod 38 to point B so that the feather duster is located in the pollination cell 54 in the 4th column of the 1st row; drives the rotary motor 39 to rotate the feather duster so that the attached pollen can fully contact the pistil of the flower in the pollination cell 54. In the right angle △OAB, the length of OA is known, AB=3d, and it can be calculated: l 1 , l 2 The length is known, and the extension distance of the telescopic rod 38 can be calculated by OB-1. 1 -l 2 get.

[0096] 2. Operation on the pollination cell 54 in the second row and the fifth column: the processor 31 drives the stepping motor 37 to retract the telescopic rod 38 to a certain distance (e.g., l 3 ), so that the feather duster does not interfere with the movement of the pollination arm from point B to point C; drive the lateral swing motor 29, so that the central axis 50 of the feather duster crosses ∠BOD and coincides with the line segment OD; drive the rotary motor 18, so that the central axis 50 of the feather duster crosses ∠COD and coincides with the line segment OC; drive the stepper motor 37, extend one end of the telescopic rod 38 to point C, so that the feather duster is located in the pollination cell 54 of the 2nd row and the 5th column; drive the rotary motor 39 to rotate the feather duster, so that the adhered pollen can fully contact the pistil of the flower in the pollination cell 54. In the right angle △OAD, the length of OA is known, AD=2d, and it can be calculated: Then we can calculate ∠BOD = ∠AOB - ∠AOD. In the right angle △OCD, the length of OD is known, CD = d, and we can calculate: l 1 , l 2 The length is known, and the extension distance of the telescopic rod 38 can be calculated by OC-1 1 -l 2 +l 3 This step is an example of operation path planning in which the center point 48 of the current operation cell and the center point 48 of the next operation cell are not on the same row, but at least one center point 48 of the operation cell is on the coordinate axis.

[0097] 3. Operation on the pollination cell 54 in the second row and the second column: the processor 31 drives the stepping motor 37 to retract the telescopic rod 38 to a certain distance (e.g., 1 3 ), so that the feather duster does not interfere with the movement of the pollination arm from point C to point E; drive the rotary motor 18 so that the central axis 50 of the feather duster crosses ∠COE and coincides with the line segment OE; drive the stepper motor 37 to extend one end of the telescopic rod 38 to point E, so that the feather duster is located in the pollination cell 54 of the second row and the second column; drive the rotary motor 39 to rotate the feather duster so that the adhered pollen can fully contact the pistil of the flower in the pollination cell 54. In the right angle △ODE, the length of OD is known, DE = 2d, and it can be calculated: Then we can calculate ∠COE=∠COD+∠DOE. 1 , l 2 The length is known, and the extension distance of the telescopic rod 38 can be obtained by OE-1 1 -l 2 +l 3 This step is an example of operation path planning in which the center point 48 of the current operation cell and the center point 48 of the next operation cell are on the same row.

[0098] 4. Operation on the pollination cell 54 in the third row and the first column: the processor 31 drives the stepper motor 37 to retract the telescopic rod 38 to a certain distance (e.g., l 3 ), so that the feather duster does not interfere with the movement of the pollination arm from point E to point F; drive the lateral swing motor 29, so that the central axis 50 of the feather duster crosses ∠EOG and coincides with the line segment OG; drive the rotary motor 18, so that the central axis 50 of the feather duster crosses ∠FOG and coincides with the line segment OF; drive the stepper motor 37, extend one end of the telescopic rod 38 to point F, so that the feather duster is located in the pollination cell 54 of the 3rd row and the 1st column; drive the rotary motor 39 to rotate the feather duster, so that the adhered pollen can fully contact the pistil of the flower in the pollination cell 54. In the right angle △OAI, the length of OA is known, AI=d, and it can be calculated In the right angle △OGI, the length of OI is known, GI=2d, and we can calculate In △OEG, OE and OG are known, EG = d, and the cosine theorem can be used to calculate In the right angle △OFI, the length of OI is known, FI = 3d, and we can calculate l 1 , l 2 The length is known, and the extension distance of the telescopic rod 38 can be determined by OF-1. 1 -l 2 +l 3 This step is an example of operation path planning when the center point 48 of the current operation cell and the center point 48 of the next operation cell are not on the same row.

[0099] Those skilled in the art may know that during the subsequent operation of the pollination arm, the calculation method of the telescopic length and the rotation angle can be deduced from this and refer to the operations shown above.

[0100] In summary, the flat-bed simulated orchard precision pollination device and method proposed by the present invention has the following advantages:

[0101] Through the setting of the combined structure of the crawler chassis, the lateral moving mechanism, the longitudinal moving mechanism and the angle adjustment mechanism, the pollination device can be accurately positioned and adaptively adjusted in three types of flat-layer mechanized orchards, namely, the Y-shaped trellis type, the V-shaped trellis type and the hedge wall type, effectively solving the problem that the traditional pollination device cannot adapt to different orchard structures. By setting up multiple groups of pollination arms, each group of arms has a five-degree-of-freedom structure of a rotating mechanism, a longitudinal telescopic mechanism, a lateral swing mechanism, a lateral telescopic mechanism and a pollination actuator, combined with the spatial right pyramid operation path planning method of the matrix pollination prescription map, it is possible to achieve accurate pollination coverage of the entire canopy of a flat-layer orchard, thereby significantly improving the pollination efficiency and quality.

[0102] In addition, the angle adjustment bracket is dynamically adjusted to keep it parallel to the canopy plane, which enables the pollination arm to follow the parallel contour of the working canopy plane, thus solving the problem that traditional pollination equipment cannot adapt to the changes in the canopy plane of the orchard. Furthermore, by dividing the working canopy plane into grids, combining machine vision technology to identify the centroid of the flowers, generating a matrix pollination prescription map, and then planning the optimal motion path of the pollination arm based on spatial geometric relationships, accurate pollination is achieved in areas with dense flower distribution, avoiding the waste of pollen resources, improving pollination uniformity, and providing an efficient, labor-saving, intelligent solution for orchard pollination operations.

[0103] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A flat-bed orchard precision pollination device, characterized in that: include: Crawler chassis, frame, lateral moving mechanism, longitudinal moving mechanism, angle adjustment mechanism and multiple groups of pollination joint arms; The frame is mounted on the crawler chassis and is arranged parallel to the crawler chassis; the lateral moving mechanism is mounted on the frame; the longitudinal moving mechanism is vertically connected to the lateral moving mechanism; the angle adjustment mechanism is mounted on the longitudinal moving mechanism; and multiple groups of pollination joint arms are mounted on the angle adjustment mechanism; The pollination joint arm comprises: a rotating mechanism, a longitudinal telescopic mechanism, a lateral swinging mechanism, a lateral telescopic mechanism and a pollination execution mechanism; The rotating mechanism is installed on the angle adjustment mechanism; the fixed end of the longitudinal telescopic mechanism is installed on the rotating mechanism; the transverse swinging mechanism is installed on the movable end of the longitudinal telescopic mechanism; the fixed end of the transverse telescopic mechanism is installed on the transverse swinging mechanism; and the pollination actuator is installed on the movable end of the transverse telescopic mechanism.

2. The flat-bed orchard precision pollination device according to claim 1, characterized in that: The lateral movement mechanism comprises: a lateral movement track, a lateral movement bracket, a lateral movement slider, a lateral movement pulley and a lateral movement electric push rod; The transverse moving track is installed on the frame and is parallel to the frame; the transverse moving track is located between the transverse moving bracket and the frame; one side of the transverse moving slider is slidably installed on the transverse moving track, and the other side is connected to the transverse moving bracket; the transverse moving pulley is arranged between the transverse moving track and the transverse moving slider; the fixed end of the transverse moving electric push rod is connected to the transverse moving bracket, and the telescopic end is connected to the frame; the transverse moving electric push rod drives the transverse moving bracket to move in the transverse direction relative to the frame; the longitudinal moving mechanism is slidably installed on the transverse moving bracket and is perpendicular to the transverse moving track.

3. The flat-bed orchard precision pollination device according to claim 2, characterized in that: The longitudinal movement mechanism comprises: a longitudinal movement bracket and a longitudinal movement electric push rod; The longitudinal movable bracket is plugged into the transverse movable bracket; the fixed end of the longitudinal movable electric push rod is connected to the transverse movable bracket, and the telescopic end is connected to the longitudinal movable bracket; the longitudinal movable electric push rod drives the longitudinal movable bracket to move along the longitudinal direction relative to the transverse movable bracket.

4. The flat-bed orchard precision pollination device according to claim 3, characterized in that: The angle adjustment mechanism comprises: an angle adjustment bracket, an angle adjustment fixing plate, an angle adjustment reducer and an angle adjustment motor; The two ends of the angle adjustment bracket are respectively connected to the inner side of the longitudinal movable bracket through a hinge shaft to form a rotating joint; the angle adjustment fixing plate is installed on the outer side of the longitudinal movable bracket; the outer shell of the angle adjustment reducer connects the angle adjustment fixing plate and the outer shell of the angle adjustment motor; the output shaft of the angle adjustment motor is connected to the input shaft of the angle adjustment reducer; the hinge shaft at one end of the angle adjustment bracket passes through the longitudinal movable bracket and is connected to the output shaft of the angle adjustment reducer; the angle adjustment motor drives the angle adjustment bracket to rotate relative to the longitudinal movable bracket around the hinge shaft through the angle adjustment reducer.

5. The flat-bed orchard precision pollination device according to claim 1, characterized in that: The rotating mechanism comprises: a base, a rotating motor, a rotating reducer, a rotating driving gear, a rotating disk, a rotating bearing inner ring and a rotating bearing outer ring; the base is connected to the angle adjustment mechanism; the outer shell of the rotating reducer is connected to the base and the outer shell of the rotating motor; the output shaft of the rotating motor is connected to the input shaft of the rotating reducer; the rotating driving gear is connected to the output shaft of the rotating reducer; the rotating bearing inner ring is connected to the base; the rotating bearing outer ring is sleeved on the outer side of the rotating bearing inner ring and is coaxially rotatably connected to the rotating bearing inner ring, and the rotating bearing outer ring is connected to the rotating disk; the rotating bearing outer ring is meshedly connected to the rotating driving gear; the rotating motor drives the rotating driving gear to rotate through the rotating reducer, and the rotating driving gear meshes and drives the rotating bearing outer ring to rotate, so as to drive the rotating disk to rotate; The longitudinal telescopic mechanism includes: a longitudinal bracket, a longitudinal module, a longitudinal reducer, a longitudinal motor and a longitudinal slider; the longitudinal bracket is installed on the turntable; the longitudinal module is connected to the longitudinal bracket; the shell of the longitudinal reducer is connected to the longitudinal bracket and the shell of the longitudinal motor; the output shaft of the longitudinal motor is connected to the input shaft of the longitudinal reducer; the output shaft of the longitudinal reducer is connected to the longitudinal module; the longitudinal slider is slidably installed on the longitudinal module; the longitudinal motor drives the longitudinal module to operate through the longitudinal reducer, so that the longitudinal slider moves back and forth along the axial direction of the longitudinal module.

6. The flat-bed orchard precision pollination device according to claim 5, characterized in that: The transverse swing mechanism comprises: a transverse swing fixing plate, a transverse swing motor, a transverse swing driving gear and a transverse swing driven gear; the transverse swing fixing plate is connected to the longitudinal slider; the housing of the transverse swing motor is connected to the transverse swing fixing plate, and the output shaft is connected to the transverse swing driving gear; the transverse swing driven gear is hinged to the transverse swing fixing plate through a central axis, so that the transverse swing driven gear can swing within a set angle range; the transverse swing driving gear is meshed and connected with the transverse swing driven gear; the transverse swing motor drives the transverse swing driving gear to rotate, so as to drive the transverse swing driven gear to swing around its own axis within the set angle range; The transverse telescopic mechanism comprises: a connecting plate, a connecting frame, a transverse module, a stepping motor and a sliding block; one side of the connecting plate is connected to the transverse swing driven gear, and the other side is connected to the connecting frame; the connecting frame is connected to the transverse module; the stepping motor is connected to the transverse module; the sliding block is slidably connected to the transverse module; the stepping motor drives the transverse module to operate, so that the sliding block reciprocates along the axial direction of the transverse module; The pollination actuator includes: a telescopic rod, a rotating motor, a pollination piece, an image acquisition device and a processor; one end of the telescopic rod is connected to the sliding block; the housing of the rotating motor is connected to the other end of the telescopic rod, and the output shaft of the rotating motor is connected to the pollination piece to drive the pollination piece to rotate; the image acquisition device is arranged on the telescopic rod; the processor is installed on the longitudinal module and connected to the image acquisition device.

7. A method for precise pollination of a flat-bed orchard, using the precise pollination device for a flat-bed orchard as claimed in any one of claims 1 to 6, characterized in that: The details include: Moving the flat-bed imitation orchard precision pollination device to the fruit tree area to be pollinated; Obtain and process fruit tree flower images to generate pollination prescription maps; According to the pollination prescription map, planning the operation path of the pollination node arm; Control the pollination arm to complete the pollination operation according to the planned operation path.

8. The flat-bed orchard precision pollination method according to claim 7, characterized in that: The generation of the pollination prescription map specifically includes: establishing a plane rectangular coordinate system with the center point of the field of view of the image acquisition device as the origin; identifying the flowers of the fruit trees in the working area, and recording the position of the centroid points of the flowers in the coordinate system; dividing the working area into matrix cells, and counting the number of flower centroid points in each cell; when the proportion of the number of flower centroid points in a cell exceeds a preset threshold, marking the cell as a pollination cell, and generating a matrix pollination prescription map consisting of pollination cells and non-pollination cells.

9. The flat-bed orchard precision pollination method according to claim 8, characterized in that: According to the pollination prescription map, the operation path of the pollination arm is planned, specifically including: constructing a spatial right pyramid structure with the swing center point of the lateral swing mechanism of the pollination arm as the vertex; calculating the parameter information required for the pollination arm to move from the current position to the center point of the next pollination cell; determining the optimal movement sequence of the pollination arm so that the pollination arm can reach the center points of all marked pollination cells in turn; when the pollination arm needs to move from one pollination cell to a non-adjacent pollination cell, first shrink the pollination part to a position to avoid interference, and then adjust the position.

10. The flat-bed orchard precision pollination method according to claim 9, characterized in that: The control of the pollination joint arm to complete the pollination operation according to the planned operation path specifically includes: controlling the rotating motor and the lateral swing motor to adjust the direction of the pollination joint arm; controlling the stepping motor to adjust the length of the telescopic rod so that the pollination piece reaches the center position of the pollination cell; controlling the rotating motor to rotate the pollination piece to complete the pollination of the flowers in the pollination cell; after the pollination is completed, controlling the stepping motor to retract the telescopic rod so that the pollination joint arm turns to the next pollination cell until all pollination operations are completed.

Images