Pollination device and method with ultrasound and air flow synergy

Abstract

The application provides an ultrasonic and airflow coordinated pollination device and method, and relates to the technical field of agricultural production. The device comprises an image acquisition module, a control module and a plurality of pollination execution units. The image acquisition module is used to acquire position information of a flower to be pollinated. The control module is used to control the mechanical arm of each pollination execution unit to move and align with the flower to be pollinated based on the position information. After the alignment of each pollination execution unit, the ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated. The high-frequency vibration generated by the ultrasonic vibration module can simulate the buzzing pollination behavior, so that a large amount of active pollen is shaken off. The directional airflow generated by the airflow generation module blows the shaken-off pollen to adhere to the stigma of the flower. Based on the coordinated design of vibration and airflow, the success rate of single pollination and the utilization rate of pollen are improved, and the pollination quality is ensured.

Description

Technical Field

[0001] This invention relates to the field of agricultural production technology, and in particular to a pollination device and method that combines ultrasound and airflow. Background Technology

[0002] In a closed greenhouse environment, assisted pollination during the flowering period is crucial, as it can significantly improve fruit set rate, reduce deformed fruit, and thus increase yield and quality.

[0003] To improve the efficiency of assisted pollination, mechanical vibration pollination is commonly used in existing technologies. Although mechanical vibration pollination is highly efficient, it relies on a fixed frequency of vibration, which leads to uneven pollen release and transfer, resulting in a low final pollination success rate. Summary of the Invention

[0004] This invention provides a pollination device and method that combines ultrasound and airflow to improve the success rate of assisted pollination.

[0005] This invention provides a pollination device that combines ultrasound and airflow, the device comprising an image acquisition module, a control module, and multiple pollination execution units;

[0006] The first end of the control module is connected to the image acquisition module, and the second end of the control module is connected to the plurality of pollination execution units respectively; each pollination execution unit includes a robotic arm and an ultrasonic vibration module and an airflow generation module installed at the end of the robotic arm;

[0007] The image acquisition module is used to identify the flowers to be pollinated and obtain the location information of the flowers to be pollinated;

[0008] The control module is used to control the movement of the robotic arms of each pollination execution unit based on the position information, so that each pollination execution unit is aligned with the flower to be pollinated.

[0009] The control module is also used to control the ultrasonic vibration module of each pollination execution unit to vibrate toward the flower to be pollinated after each pollination execution unit is aligned, and to control the airflow generation module of each pollination execution unit to generate directional airflow toward the flower to be pollinated.

[0010] An ultrasonic and airflow-coordinated pollination device according to the present invention further includes:

[0011] A robot chassis, and a lifting slide mounted on the robot chassis;

[0012] The image acquisition module and the multiple pollination execution units are installed at different positions in the pollination device housing, which is located on the lifting slide.

[0013] According to the present invention, a pollination device combining ultrasound and airflow is provided, wherein the image acquisition module includes a first image acquisition unit and a second image acquisition unit;

[0014] The first image acquisition unit is located at the top of the pollination device housing and is used to identify the flower to be pollinated and determine the flower height information of the flower to be pollinated. The flower height information is used to guide the lifting slide to move the pollination device housing to the height of the flower height information.

[0015] The second image acquisition unit is located in the middle of the pollination device housing. After the pollination device housing moves to the height of the flower height information, it identifies the flower to be pollinated and determines the flower position information of the flower to be pollinated. The flower position information is used to guide the movement of the robotic arms of each pollination execution unit so that the pollination execution unit is aligned with the flower to be pollinated.

[0016] According to the ultrasonic and airflow coordinated pollination device provided by the present invention, after the pollination execution units are aligned, the control module is specifically used for:

[0017] The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated according to the target vibration frequency, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated according to the target airflow speed.

[0018] The target vibration frequency and target airflow velocity are parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the stigma of the flower.

[0019] The mathematical model for pollination effects is constructed by fitting multiple sets of sample data and the corresponding number of attached pollen using the least squares method. The sample data includes vibration frequency data and airflow velocity data.

[0020] According to the present invention, a pollination device combining ultrasound and airflow is provided, wherein the mathematical model for the pollination effect is as follows:

[0021] ;

[0022] in, It is the number of pollen adhering to the stigma of the flower. It is vibration frequency data. It's airflow velocity data. 、 、 、 、 、 It is a constant.

[0023] According to the present invention, an ultrasonic and airflow coordinated pollination device is provided, wherein the robotic arm includes a pitch joint for realizing pitch motion and a rotary joint for realizing rotational motion.

[0024] This invention also provides a pollination method that combines ultrasound and airflow, comprising:

[0025] The flowers to be pollinated are identified, and their location information is obtained.

[0026] Based on the location information, the robotic arms of multiple pollination execution units are controlled to move, so that each pollination execution unit is aligned with the flower to be pollinated; each pollination execution unit includes a robotic arm and an ultrasonic vibration module and an airflow generation module installed at the end of the robotic arm;

[0027] The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated, and the airflow generation module of each pollination execution unit is controlled to generate a directional airflow towards the flower to be pollinated. According to a pollination method combining ultrasound and airflow provided by the present invention, the step of controlling the ultrasonic vibration module of each pollination execution unit to vibrate towards the flower to be pollinated and controlling the airflow generation module of each pollination execution unit to generate a directional airflow towards the flower to be pollinated includes:

[0028] The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated according to the target vibration frequency, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated according to the target airflow speed.

[0029] The target vibration frequency and target airflow velocity are parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the stigma of the flower.

[0030] The mathematical model for pollination effects is constructed by fitting multiple sets of sample data and the corresponding number of attached pollen using the least squares method. The sample data includes vibration frequency data and airflow velocity data.

[0031] According to the pollination method combining ultrasound and airflow provided by the present invention, the mathematical model of the pollination effect is as follows:

[0032] ;

[0033] in, It is the number of pollen adhering to the stigma of the flower. These are vibration frequency data, and v is airflow velocity data. 、 、 、 、 、 It is a constant.

[0034] According to the present invention, a pollination method combining ultrasound and airflow is provided, wherein multiple pollination execution units are disposed at different positions, and the robotic arms of the multiple pollination execution units are controlled to move based on the position information, so that each pollination execution unit is aligned with the flower to be pollinated, including:

[0035] Based on the location information, the robotic arms of multiple pollination execution units are controlled to move, so that each pollination execution unit aligns with the flower to be pollinated from different angles.

[0036] The ultrasonic and airflow-coordinated pollination device and method provided by this invention automatically identifies and guides a robotic arm to precisely align with the flowers to be pollinated through an image acquisition module and a control module, achieving flower positioning. The high-frequency vibration generated by the ultrasonic vibration module efficiently simulates the buzzing pollination behavior of insects, causing a large amount of active pollen to be shaken off. The directional airflow generated by the airflow generation module blows the shaken pollen, causing it to adhere to the stigma of the flower. Based on the coordinated design of vibration and airflow, this invention solves the problem that pollen, although shaken off by a single vibration method, is difficult to effectively transfer to the stigma, and also overcomes the deficiency of a single airflow method in expelling sufficient pollen from the anthers. This significantly improves the success rate of single pollination and pollen utilization, ensuring pollination quality and providing a guarantee for improving crop fruit set rate and yield. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of the ultrasonic and airflow coordinated pollination device provided by the present invention.

[0039] Figure 2 This is a schematic diagram of the pollination execution unit provided by the present invention.

[0040] Figure 3 This is a schematic diagram of the robotic arm structure provided by the present invention.

[0041] Figure 4 This is a schematic diagram of the structure of the pollination device box provided by the present invention.

[0042] Figure 5 This is a front view of the pollination device housing provided by the present invention.

[0043] Figure 6 This is a side view of the pollination device housing provided by the present invention.

[0044] Figure 7 This is a pollination diagram provided by the present invention.

[0045] Figure 8 This is a schematic diagram of the overall structure of the pollination robot provided by the present invention.

[0046] Figure 9 This is a schematic diagram of the rising structure of the pollination device provided by the present invention.

[0047] Figure 10 This is a schematic diagram of the pollination process provided by the present invention.

[0048] Figure 11 This is a schematic flowchart of the ultrasonic and airflow-coordinated pollination method provided by the present invention.

[0049] Figure label:

[0050] 110: Image acquisition module; 120: Control module; 130: Pollination execution unit;

[0051] 201: Ultrasonic vibrator; 202: Airflow nozzle; 203: Miniature fan;

[0052] 204: Pitch joint motor; 205: Rotation joint motor; 206: Flower height detection camera;

[0053] 207: Housing; 208: Mounting components for the pollination execution unit;

[0054] 209: Precise flower position detection camera; 210: Pollination device housing;

[0055] 211: Flowers to be pollinated; 212: Pollination box lifting platform; 213: Pollination robot front;

[0056] 214: Overall structure of the pollination device; 215: Housing of the pollination robot;

[0057] 216: Dual-purpose chassis for both road and rail use. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0059] In the enclosed environment of a greenhouse, assisted pollination during the flowering period is crucial, significantly improving fruit set rate, reducing deformed fruit, and thus increasing yield and quality. Commonly used pollination methods include hormone pollination, mechanical vibration pollination, and bumblebee pollination. For example, for tomato flower pollination, bumblebees have become the preferred method for pollinating greenhouse tomatoes due to their advantages such as low-temperature tolerance and high flower-visiting efficiency. Compared to hormone-based flower dipping, bumblebee pollination not only significantly reduces labor costs but also effectively improves fruit set rate, the number of seeds per fruit, lycopene and vitamin C content, enhances fruit flavor and quality, and reduces the rate of deformed fruit. However, bumblebee pollination technology faces significant challenges in practical application:

[0060] High cost: The cost of bumblebees is about 1,500-2,000 yuan per acre.

[0061] Weak environmental adaptability: Bumblebees almost stop leaving the hive when the temperature is below 8℃ or above 35℃; sustained high temperatures (>35℃) can lead to the death of the bee colony.

[0062] High management requirements: Bumblebees are extremely sensitive to pesticides, and pesticides must be strictly prohibited during and before flowering; when the crop does not produce enough nectar, the bee colony also needs to be fed extra.

[0063] Risk of disease and pest transmission: As a contact pollinator, bumblebees may spread diseases and pests in greenhouses, increasing the difficulty of prevention and control.

[0064] These problems severely restrict the healthy development of the greenhouse tomato industry.

[0065] Related methods for assisted pollination also employ pollination end actuators, including physical methods such as air jetting, vibration, and contact dipping, as well as biological methods simulating bumblebee pollination and chemical methods such as spraying growth regulators. Vibration pollination of flowers refers to the process by which pollen grains are released from the pollen sacs under the vibration of the flower induced by bees or wind, colliding and moving within the anthers, and finally adhering to the stigma. This process is closely related to flower morphology, vibration characteristics, and pollen adhesion characteristics. Airflow vibration pollination has advantages such as high efficiency, resource conservation, and environmental friendliness. However, its application still suffers from problems of poor pollination efficiency and quality. Single-airflow vibration pollination leads to uneven pollen release and transfer, and wind-induced pollination success rates are low under conditions of flower shading.

[0066] To address the shortcomings of related methods, this invention provides a pollination device that combines ultrasound and airflow, such as... Figure 1 The structural schematic diagram of the ultrasonic and airflow coordinated pollination device provided by the present invention is shown. The ultrasonic and airflow coordinated pollination device includes an image acquisition module 110, a control module 120, and multiple pollination execution units 130.

[0067] Specifically, the control module can be a central processing unit, microcontroller, programmable logic controller, or embedded system, etc., used to receive information, make decisions, and send control commands. The first end of the control module is electrically connected to the image acquisition module to receive the position information determined by the image acquisition module; the second end of the control module is electrically connected to multiple pollination execution units respectively to send independent control commands to each unit to realize the control process of each pollination execution unit.

[0068] Each pollination actuator includes a robotic arm, and an ultrasonic vibration module and an airflow generation module mounted at the end of the robotic arm. The robotic arm is an actuator used to achieve spatial positioning, moving the end-effector to a specified target position and orientation.

[0069] An ultrasonic vibration module is used to generate high-frequency mechanical vibration. Optionally, the ultrasonic vibration module may include one or more piezoelectric ceramic transducers that convert electrical energy into high-frequency mechanical vibration when a high-frequency alternating current is applied. This vibration can be transmitted to the flower to be pollinated in a non-contact manner.

[0070] An airflow generating module is used to generate airflow. For example, an airflow generating module may consist of a miniature fan (such as a centrifugal or axial fan) and a nozzle for converging and guiding the airflow.

[0071] During the pollination process, the image acquisition module identifies the flowers to be pollinated and obtains their location information. It should be noted that the flowers to be pollinated are those of plants in full bloom suitable for pollination, specifically tomato flowers.

[0072] Specifically, the structural diagram of the pollination execution unit can be as follows: Figure 2 The pollination execution unit provided by this invention is shown in the structural diagram. The pollination execution unit consists of an ultrasonic vibration module, an airflow generation module, and a robotic arm. The ultrasonic vibration module comprises two ultrasonic transducers 201, installed next to the airflow nozzle 202. The ultrasonic transducers utilize piezoelectric ceramic transducers and other components to generate high-frequency vibrations of 20–40 kHz. Their structure is a small vibrating head. During operation, the ultrasonic vibration module emits high-frequency vibrations towards the center of the flower bouquet, causing the anthers to resonate and release pollen. The airflow generation module includes a miniature fan 203 and an airflow nozzle 202, installed next to the ultrasonic vibration module.

[0073] Simultaneously or shortly after the ultrasonic vibration module applies vibration, the airflow generation module activates, generating a directional airflow. This airflow carries the pollen released by the ultrasonic vibrations, causing it to fall onto the stigma of the flower through the swaying of the petals, thus assisting in pollination. Optionally, the airflow speed and direction are adjustable to adapt to different flower positions and environmental conditions, ensuring effective pollen attachment to the stigma while avoiding excessive airflow that could disperse the pollen or damage the flower. The pollination execution unit's robotic arm is a 2-DOF (degrees of freedom) robotic arm, such as... Figure 3 As shown in the schematic diagram of the robotic arm structure provided by the present invention, the robotic arm includes a pitch joint motor 204 and a rotation joint motor 205, and has left and right rotation and up and down rotation functions. Its end is equipped with an ultrasonic vibrator and an airflow nozzle for pollinating flowers.

[0074] The image acquisition module can be a module consisting of one or more industrial cameras and an image processing unit. The image acquisition module captures images of flowers using the cameras, and then, through its internal image processing unit, uses deep learning models or image processing algorithms to identify the flowers in the images and calculate their coordinates in three-dimensional space. This positional information can be calculated based on the camera parameters.

[0075] Based on the position information received from the image acquisition module, the control module controls the movement of the robotic arms of each pollination execution unit, ensuring that each unit is aligned with the flower to be pollinated. Alignment means that the end of the robotic arm, i.e., the outlet of the ultrasonic vibration module and the airflow generation module, points towards the center of the target flower, such as the area where the stigma is located.

[0076] Optionally, multiple different pollination execution units can be set in different positions, so that after controlling the movement of the robotic arm of each pollination execution unit, each pollination execution unit can be aligned with the flower to be pollinated at different angles, thereby achieving a multi-angle coverage pollination process for the flower.

[0077] After each pollination unit completes alignment, the control module also controls the ultrasonic vibration module of each pollination unit to vibrate towards the flower to be pollinated, and controls the airflow generation module of each pollination unit to generate directional airflow towards the flower. The ultrasonic vibration simulates the buzzing pollination behavior of pollinating insects such as bumblebees; its high-frequency vibration effectively causes the anthers to open and shake off pollen. Immediately afterward or simultaneously, the directional airflow blows this shaken-off pollen onto the stigma of the flower, completing the pollination process. The synergistic effect of vibration and airflow ensures efficient pollen release and precise delivery.

[0078] The ultrasonic and airflow-coordinated pollination device provided by this invention automatically identifies and guides a robotic arm to precisely align with the flowers to be pollinated through an image acquisition module and a control module, achieving accurate flower positioning. The high-frequency vibration generated by the ultrasonic vibration module efficiently simulates the buzzing pollination behavior of insects, causing a large amount of active pollen to be shaken off. The directional airflow generated by the airflow generation module blows the shaken pollen, causing it to adhere to the stigma of the flower. Based on the coordinated design of vibration and airflow, this invention solves the problem that pollen, although shaken off by a single vibration method, is difficult to effectively transfer to the stigma. It also overcomes the deficiency of a single airflow method in expelling sufficient pollen from the anthers, thereby greatly improving the success rate of single pollination and pollen utilization, ensuring pollination quality, and providing a guarantee for improving crop fruit set rate and yield.

[0079] In one embodiment, it also includes:

[0080] A robot chassis, and a lifting slide mounted on the robot chassis;

[0081] The image acquisition module and the multiple pollination execution units are installed at different positions in the pollination device housing, which is located on the lifting slide.

[0082] The robot chassis can be a wheeled or tracked mobile platform, enabling it to move autonomously between rows in greenhouses or fields. For example, a dual-purpose chassis that can travel on both the ground and pre-set tracks can be used to improve navigation accuracy and stability.

[0083] The lifting slide is a vertical linear motion mechanism, such as a lead screw slide driven by a servo motor or a synchronous belt module, used to adjust the overall height of the pollination device housing. This structure allows the entire pollination system to move not only in a horizontal two-dimensional plane but also to be adjusted vertically, thus adapting to flowers on plants at different growth stages and heights, greatly expanding the device's working space and adaptability.

[0084] The structural diagram of the pollination device housing can be shown as follows: Figure 4 The schematic diagram of the pollination device housing structure provided by this invention is shown. The pollination device housing specifically includes: a flower height detection camera 206 serving as a first image acquisition unit, a housing 207, a mounting component 208 for the pollination execution unit, and a flower position precision detection camera 209 serving as a second image acquisition unit. Optionally, the pollination device housing can be configured for double-sided pollination, allowing simultaneous pollination of two rows of plants. Each side is equipped with four pollination execution units and one flower position precision detection camera. The camera identifies the flower position, guiding the four pollination execution units to pollinate the flowers from different directions, avoiding uneven pollination caused by vibration pollination in a single direction. The main view of the pollination device housing can be shown as follows. Figure 5 The front view of the pollination device housing provided by this invention is shown in the figure. The side view of the pollination device housing can be as follows: Figure 6 The side view of the pollination device housing provided by the present invention is shown.

[0085] The image acquisition module may specifically include a flower height detection camera 206 and a flower position precision detection camera 209. The flower height detection camera 206, located at the top of the pollination box, identifies the flowers on the plant and their spatial positions, guiding the lifting platform to raise the pollination box to the flower height. The flower position precision detection camera 209 accurately identifies the flowering period and position of the flowers, guiding four pollination execution units to perform coordinated pollination operations from different directions using ultrasonic vibration and airflow vibration. A schematic diagram of the pollination process can be shown below. Figure 7 The pollination diagram provided by this invention illustrates how multiple robotic arms can simultaneously pollinate clusters on the same plant, thereby improving the pollination fruit set rate and the rate of high-quality fruit.

[0086] The pollination device housing 210 uses multiple pollination execution units to vibrate the flowers to be pollinated from different angles and generate directional airflow to realize the pollination process of the flowers to be pollinated 211.

[0087] like Figure 8 The schematic diagram of the overall structure of the pollination robot provided by this invention shows that the overall structure of the pollination device is installed on a dual-purpose road and rail robot chassis, integrating and developing a multi-arm pollination robot. The robot includes a pollination box lifting platform 212, a pollination robot head 213, an overall structure of the pollination device 214, a pollination robot body 215, and a dual-purpose road and rail chassis 216. The overall structure of the pollination device is installed on the pollination box lifting platform, which can be raised and lowered under the control of a vision system to adapt to the height of the plant flowers, such as... Figure 9 The schematic diagram of the pollination device's lifting structure provided by this invention is shown. The dual-purpose track and road chassis adopts a multi-sensor fusion navigation method, featuring automatic track mounting and dismounting, automatic navigation, and automatic charging functions.

[0088] The pollination process based on pollination robots is as follows: Figure 10 The pollination process provided by this invention is illustrated in the diagram. Specifically, it includes:

[0089] Flower height positioning between rows. Before entering the rows, the plants are scanned using a visual detection system to determine the spatial position of the flowers in each row. Based on the flower's position, the pollination box is first raised to the height where the flower is located.

[0090] Flower identification and positioning. A precise flower position detection camera identifies open flowers and determines their location, guiding four robotic arms to align with the flowers from different directions.

[0091] Ultrasonic vibration releases pollen. The ultrasonic vibration module is controlled to apply high-frequency vibration (15-40 kHz) to the flower to be pollinated for about 0.5 to 1 second, causing pollen grains in the anther to detach and be released.

[0092] Airflow vibration pollination. During or immediately after ultrasonic vibration, the airflow generation module generates a directional airflow that blows towards the stigma of the target flower at a speed of 6-10 m / s for approximately 1 second. This delivers the pollen released by the vibration to the stigma surface, completing pollination of the flower. The airflow speed is dynamically adjusted based on the degree of shading from the plant and leaves.

[0093] Removal and Cycling. After pollination is complete, the robotic arm returns to its initial position or moves to the next target point. The bouquet is marked as pollinated, the robot moves forward, and continues to direct the robotic arm to perform pollination tasks on other unpolluted flowers, repeating the above steps until all target flowers in the row have been pollinated.

[0094] Through the aforementioned control process, the robot can automatically and continuously perform precise pollination on multiple flower bouquets, achieving pollination without stopping. Each flower receives timely and sufficient pollination at its optimal opening time, significantly improving fruit set rate and fruit quality.

[0095] Based on the above implementation process, the following beneficial effects are achieved:

[0096] Green and environmentally friendly, non-destructive pollination. Utilizing ultrasonic vibration to trigger pollen release, it eliminates the need for pollination devices to directly contact the flowers, avoiding mechanical damage to the plants. The entire pollination process is green, environmentally friendly, pollution-free, non-destructive, and highly efficient.

[0097] Ensuring fruit quality and food safety. Pollination can be completed using the flower's own pollen without the need for chemical hormones or pre-collected pollen, effectively guaranteeing the natural quality and food safety of the fruit.

[0098] Synergistic vibration significantly enhances pollination. Ultrasonic vibration simulates the buzzing behavior of bumblebees, which can instantly increase pollen release; airflow disturbance further promotes the uniform transfer of pollen in space, significantly improving stigma pollination rate and fruit set rate.

[0099] Adjustable parameters enable precise pollination. By accurately adjusting parameters such as ultrasonic vibration frequency, amplitude, and airflow intensity, the pollination process can be precisely controlled, improving pollination uniformity, reducing the occurrence of hollow and deformed fruits, and ensuring the fruit's shape and quality.

[0100] Multiple robotic arms work in a three-dimensional, coordinated manner to solve the problem of flower shading. The robot architecture employs a multi-robotic arm collaborative operation, utilizing visual recognition and positioning technology to achieve multi-directional, three-dimensional pollination. Multiple vibration units can simultaneously act on the same flower from different angles, effectively solving the problem of uneven pollination caused by partial flower shading, and improving pollination coverage and stability.

[0101] This invention enables automated and efficient pollination of large areas of crops in greenhouses, significantly reducing labor costs and improving the production efficiency of facility agriculture. As a significant breakthrough in agricultural intelligence, the multi-arm pollination robot of this invention can become equipment for the production of high-value-added crops, and has broad application prospects and value in promoting smart agriculture and agricultural modernization.

[0102] In one embodiment, the image acquisition module includes a first image acquisition unit and a second image acquisition unit;

[0103] The first image acquisition unit is located at the top of the pollination device housing and is used to identify the flower to be pollinated and determine the flower height information of the flower to be pollinated. The flower height information is used to guide the lifting slide to move the pollination device housing to the height of the flower height information.

[0104] The second image acquisition unit is located in the middle of the pollination device housing. After the pollination device housing moves to the height of the flower height information, it identifies the flower to be pollinated and determines the flower position information of the flower to be pollinated. The flower position information is used to guide the movement of the robotic arms of each pollination execution unit so that the pollination execution unit is aligned with the flower to be pollinated.

[0105] The first image acquisition unit is located at the top of the pollination device housing, such as a wide-angle camera, for wide-range scene perception, identifying flowers to be pollinated in the distance or at a higher position, and roughly determining their flower height information.

[0106] The flower height information is then used to guide the lifting slide to move the entire pollination device housing to approximately the same height as the target flower.

[0107] The second image acquisition unit is positioned in the middle of the pollination device housing, for example, near the pollination execution unit. Once the pollination device housing has moved to the target height, the second image acquisition unit is used to identify the flowers to be pollinated at close range with high precision and determine their precise flower position information. This precise position information guides the robotic arms of each pollination execution unit to perform fine alignment operations. This step-by-step visual positioning strategy, combining long-range coarse positioning and close-range fine positioning, effectively improves positioning efficiency and final alignment accuracy.

[0108] In one embodiment, after the pollination execution units are aligned, the control module is specifically used for:

[0109] The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated according to the target vibration frequency, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated according to the target airflow speed.

[0110] The target vibration frequency and target airflow velocity are parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the stigma of the flower.

[0111] The mathematical model for pollination effects is constructed by fitting multiple sets of sample data and the corresponding number of attached pollen using the least squares method. The sample data includes vibration frequency data and airflow velocity data.

[0112] It should be noted that the target vibration frequency and target airflow velocity are not fixed values, but rather optimal parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the flower stigma. For example, the vibration frequency can range from 15 to 40 kHz, and the airflow velocity can range from 6 to 10 m / s.

[0113] The mathematical model of pollination effects was obtained by fitting experimental data. Specifically, it was constructed by collecting multiple sets of sample data, each set including a combination of vibration frequency and airflow velocity, and the actual number of pollen grains attached to the stigma of the flower under these combined conditions. Then, regression analysis techniques such as least squares were used to fit these data, constructing a mathematical model that describes the relationship between vibration frequency, airflow velocity, and the number of attached pollen grains.

[0114] This model-based optimal control method eliminates the reliance on experience or fixed parameters for pollination operations. Instead, it allows for the dynamic calculation of optimal operating parameters based on mathematical models, thereby scientifically maximizing pollination quality and improving fruit set rate and fruit quality.

[0115] In one embodiment, the mathematical model for the impact of pollination is as follows:

[0116] ;

[0117] in, It is the number of pollen adhering to the stigma of the flower. It is vibration frequency data. It's airflow velocity data. 、 、 、 、 、 It is a constant.

[0118] 、 、 、 、 、 These constants are model parameters determined by fitting a large amount of experimental data. By solving for the extrema of this model, the optimal combination of parameters that maximizes P can be found. , The mathematical model of pollination effects reveals that pollination quality is not only related to individual physical quantities, but also to their complex coupling effects, providing a theoretical basis for achieving refined pollination control.

[0119] Based on research on the pollination process, the number P of pollen adhering to the stigma of a flower is related to the vibration frequency. and airflow speed There exists a quadratic polynomial relationship between them. This is because quadratic polynomials can fit nonlinear relationships in many actual physical processes well. To verify the combined effect of frequency and wind speed on pollen attachment, this invention fits the relationship between the number of attached pollen and vibration frequency and wind speed as an approximate bivariate quadratic function using more than 1000 sets of experimental data:

[0120] ;

[0121] The above formula includes the quadratic, cross, and linear terms of vibration frequency and airflow velocity, which can comprehensively reflect the combined influence of these two variables on the number of attached pollen.

[0122] For constants in the model 、 、 、 、 、 This can be determined based on 1000 sets of collected sample data. The sample data includes different vibration frequencies. The following data and different airflow velocities The data collected included the number of pollen grains attached to the stigma of each flower under each parameter combination. This data served as the basis for model fitting. The least squares method was used to fit the collected sample data. Least squares is a commonly used mathematical optimization technique that finds the best function match for the data by minimizing the sum of squared errors. Specifically, it involves adjusting constants... 、 、 、 、 、 The optimal value of the constant is determined to minimize the sum of squared errors between the pollen count calculated by the model and the actual observed value. This method identifies the optimal constant value, leading to a mathematical model that accurately describes the relationship between the pollen count on the flower stigma and the vibration frequency and airflow velocity during pollination.

[0123] from The formula shows that within a certain range, the number of pollen adhering to the stigma increases with the increase of frequency or airflow speed. When the frequency or wind speed exceeds a certain value, the number of pollen adhering to the stigma decreases until it becomes zero.

[0124] Therefore, the optimal value can be found using the extreme value method. The parameter combination maximizes the value of P.

[0125] ;

[0126] The specific solution process includes finding the first-order partial derivative and setting it to zero to find the stationary point, and using the Hessian matrix to determine the conditions for the stationary point to be a maximum, minimum or saddle point.

[0127] for Bivariate real functions If at a certain point If a point attains an extreme value (maximum or minimum), then the first-order partial derivative at that point must be zero, meaning the gradient is a zero vector. Therefore, to find the extreme points, we must first find the stationary points by solving the following system of equations:

[0128] First, calculate the partial derivatives:

[0129] ;

[0130] ;

[0131] Setting them to 0, we obtain the system of linear equations for finding the stationary points:

[0132] ;

[0133] The coordinates of the stationary point can be obtained. for:

[0134] ;

[0135] ;

[0136] Where f is the ultrasonic vibration frequency (range 15-30kHz), v is the airflow velocity (range 6-10m / s), and a, b, c, d, e, and t are constants.

[0137] The mathematical model of pollination effects shows that, within a certain range, the number of pollen grains attached to the stigma increases with increasing frequency or airflow speed. However, when the frequency or wind speed exceeds a certain value, the number of pollen grains attached to the stigma decreases until it reaches zero. Therefore, the optimal pollination rate can be found through a large amount of data. , The parameter combination maximizes the value of P.

[0138] It should be noted that fruit size and morphology are primarily determined by pollination quality, seed quantity, and their spatial distribution. These factors collectively regulate fruit development through endogenous hormonal signals. Adequate pollination directly affects seed quantity and hormone levels, thus determining whether the fruit weight and morphology are normal. A qualitative mathematical model can be constructed to reveal the biological mechanisms of pollination-seed-fruit shape.

[0139] Pollination quality P is the number of pollen grains attached to the stigma, and S is the number of seeds formed; the two are positively correlated. When P is high, fertilization is sufficient and the number of seeds is close to its maximum. If phosphorus (P) is low, uneven pollination will lead to reduced sulfur (S) and even fruit abortion. Uneven seed distribution (…) If the S value is low, the fruit will develop asymmetrically; the ventricular hormone level is low and the tissue expansion is insufficient, resulting in deformed fruit. Alternatively, each ventricular may contain a small number of seeds, leading to smaller fruit size.

[0140] Increased levels of S promote the accumulation of auxin and cytokinin in the fruit, activating fruit cell division and expansion, thus increasing fruit weight W. The relationship between the two is positively correlated but non-linear: significant growth occurs initially, then tends towards saturation in the later stages. A minimum threshold exists. ,when The fruit development is arrested or deformed. The qualitative relationship established from this is:

[0141] ;

[0142] in, To describe the weight of the fruit With seed number A function relating the two; for The first derivative; for The second derivative of .

[0143] Insufficient pollination leads to a lack of hormone stimulation in some areas, resulting in reduced fruit weight and distorted fruit shape. The fruit development path can be described as follows:

[0144] ;

[0145] Where F is the ultrasonic vibration frequency, V is the airflow speed, S is the number of seeds, A is the fruit auxin, C is the cytokinin, and W is the fruit weight.

[0146] Pollination quality determines the number of seeds, seeds regulate hormone levels, and hormones determine fruit enlargement and symmetry. Regardless of fruit size, pollination sufficiency (P) determines the number of seeds (S). The number and distribution of seeds regulate fruit cell division and enlargement through hormone signals such as auxin and cytokinin, thus determining the fruit's weight (W) and morphological symmetry. A model of "pollination → seeds → hormones → fruit development" is constructed based on the above formula. Sufficient and uniform pollination produces more and evenly distributed seeds, resulting in high hormone levels and full, round fruits; poor pollination leads to sparse or lopsided seed distribution, insufficient hormone signals, uneven fruit development, and deformed fruits. Ultrasonic vibrations induce pollen shedding, and airflow vibrations allow as much pollen as possible to adhere to the stigma, improving pollination quality.

[0147] Therefore, fruit size and symmetry are determined not only by the number of seeds, but also by the balance of seed spatial distribution and the integrity of hormone signals. This model reveals the essence of fruit shape regulation; pollination quality determines the degree and morphology of fruit development by regulating seed distribution and hormone levels, providing a theoretical basis for improving fruit shape and pollination management.

[0148] In one embodiment, the robotic arm includes a pitch joint for achieving pitch motion and a rotary joint for achieving rotational motion.

[0149] The pitch joint can be driven by one motor, allowing the arm end to swing up and down; the rotation joint can be driven by another motor, allowing the arm to rotate left and right.

[0150] This two-degree-of-freedom structural design ensures sufficient positioning flexibility while also taking into account structural simplicity and cost-effectiveness, and can meet the needs of aligning flowers from different directions.

[0151] This invention also provides a pollination method that combines ultrasound and airflow. Figure 11 This is a schematic flowchart of the ultrasonic and airflow coordinated pollination method provided by the present invention, as shown below. Figure 11 As shown, the method includes the following:

[0152] Step 1110: Identify the flowers to be pollinated and obtain their location information;

[0153] Step 1120: Based on the position information, control the movement of the robotic arms of multiple pollination execution units so that each pollination execution unit is aligned with the flower to be pollinated; each pollination execution unit includes a robotic arm and an ultrasonic vibration module and an airflow generation module installed at the end of the robotic arm;

[0154] Step 1130: Control the ultrasonic vibration module of each pollination execution unit to vibrate the flower to be pollinated, and control the airflow generation module of each pollination execution unit to generate directional airflow to the flower to be pollinated.

[0155] The subject executing the ultrasonic and airflow-coordinated pollination method provided by this invention can be an electronic device, a component within an electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. For example, a mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc., while a non-mobile electronic device can be a server, network attached storage (NAS), or personal computer (PC), etc. This invention does not impose specific limitations.

[0156] The technical solution of this invention will be described in detail below using the example of a computer executing the ultrasonic and airflow coordinated pollination method provided by this invention.

[0157] In step 1110, the flowers to be pollinated are identified, and the location information of the flowers to be pollinated is obtained.

[0158] The identification of flowers to be pollinated can be accomplished by one or more cameras, and the spatial coordinates of the target flower can be located from the captured images using image processing technology, thereby determining the location information.

[0159] In step 1120, based on the position information, the robotic arms of multiple pollination execution units are controlled to move, so that each pollination execution unit is aligned with the flower to be pollinated.

[0160] Each pollination actuator includes a robotic arm, and an ultrasonic vibration module and an airflow generation module mounted at the end of the robotic arm. The robotic arm is an actuator used to achieve spatial positioning, moving the end-effector to a specified target position and orientation.

[0161] An ultrasonic vibration module is used to generate high-frequency mechanical vibration. Optionally, the ultrasonic vibration module may include one or more piezoelectric ceramic transducers that convert electrical energy into high-frequency mechanical vibration when a high-frequency alternating current is applied. This vibration can be transmitted to the flower to be pollinated in a non-contact manner.

[0162] An airflow generating module is used to generate airflow. For example, an airflow generating module may consist of a miniature fan (such as a centrifugal or axial fan) and a nozzle for converging and guiding the airflow.

[0163] During the pollination process, the flowers to be pollinated are identified, and their location information is obtained. It should be noted that the flowers to be pollinated are plant flowers in full bloom suitable for pollination, specifically tomato flowers.

[0164] Multiple pollination execution units can be set in different positions, so that after controlling the movement of the robotic arm of each pollination execution unit, each pollination execution unit can be aligned with the flower to be pollinated at different angles, realizing a multi-angle coverage pollination process for the flower.

[0165] In step 1130, the ultrasonic vibration module of each pollination execution unit is controlled to vibrate the flower to be pollinated, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow to the flower to be pollinated.

[0166] After each pollination execution unit completes alignment, the ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated.

[0167] Ultrasonic vibration simulates the buzzing pollination behavior of pollinating insects such as bumblebees. Its high-frequency vibration effectively causes the anthers to open and release pollen. Immediately afterward or simultaneously, a directional airflow blows these released pollen grains onto the stigma of the flower, completing the pollination process. The synergistic effect of vibration and airflow ensures efficient release and precise delivery of pollen.

[0168] The ultrasonic and airflow-coordinated pollination method provided by this invention achieves precise positioning of the flowers to be pollinated by automatically identifying their location and guiding a robotic arm to precisely align with the flowers. The high-frequency vibration generated by the ultrasonic vibration module efficiently simulates the buzzing pollination behavior of insects, causing a large amount of active pollen to be shaken off. The directional airflow generated by the airflow generation module blows the shaken pollen, causing it to adhere to the stigma of the flower. Based on the coordinated design of vibration and airflow, this method solves the problem that pollen, although shaken off by a single vibration method, is difficult to effectively transfer to the stigma. It also overcomes the deficiency of a single airflow method in expelling sufficient pollen from the anthers, thus greatly improving the success rate of single pollination and pollen utilization, ensuring pollination quality, and providing a guarantee for improving crop fruit set rate and yield.

[0169] In one embodiment, the ultrasonic vibration module controlling each pollination execution unit vibrates towards the flower to be pollinated, and the airflow generation module controlling each pollination execution unit generates a directional airflow towards the flower to be pollinated, including:

[0170] The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated according to the target vibration frequency, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated according to the target airflow speed.

[0171] The target vibration frequency and target airflow velocity are parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the stigma of the flower.

[0172] The mathematical model for pollination effects is constructed by fitting multiple sets of sample data and the corresponding number of attached pollen using the least squares method. The sample data includes vibration frequency data and airflow velocity data.

[0173] It should be noted that the target vibration frequency and target airflow velocity are not fixed values, but rather optimal parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the flower stigma. For example, the vibration frequency can range from 15 to 40 kHz, and the airflow velocity can range from 6 to 10 m / s.

[0174] The mathematical model of pollination effects was obtained by fitting experimental data. Specifically, it was constructed by collecting multiple sets of sample data, each set including a combination of vibration frequency and airflow velocity, and the actual number of pollen grains attached to the stigma of the flower under these combined conditions. Then, regression analysis techniques such as least squares were used to fit these data, constructing a mathematical model that describes the relationship between vibration frequency, airflow velocity, and the number of attached pollen grains.

[0175] This model-based optimal control method eliminates the reliance on experience or fixed parameters for pollination operations. Instead, it allows for the dynamic calculation of optimal operating parameters based on mathematical models, thereby scientifically maximizing pollination quality and improving fruit set rate and fruit quality.

[0176] In one embodiment, the mathematical model for the impact of pollination is as follows:

[0177] ;

[0178] in, It is the number of pollen adhering to the stigma of the flower. It is vibration frequency data. It's airflow velocity data. 、 、 、 、 、 It is a constant.

[0179] 、 、 、 、 、 All parameters are constants, determined by fitting a large amount of experimental data to the model. By solving for the extreme values ​​of this model, the optimal combination of parameters that maximizes P can be found. , This model reveals that pollination quality is not only related to individual physical quantities, but also to their complex coupling effects, providing a theoretical basis for achieving refined pollination control.

[0180] In one embodiment, the plurality of pollination execution units are positioned at different locations, and the step of controlling the movement of the robotic arms of the plurality of pollination execution units based on the position information, so that each pollination execution unit is aligned with the flower to be pollinated, includes:

[0181] Based on the location information, the robotic arms of multiple pollination execution units are controlled to move, so that each pollination execution unit aligns with the flower to be pollinated from different angles.

[0182] Considering that in actual growing environments, flowers often grow in clusters and may be partially obscured by leaves or other flowers, multiple pollination execution units can be set up in different locations.

[0183] For example, four pollination units can be positioned around a flower at multiple locations, allowing them to approach and align with different flowers in the same bouquet from various directions such as top, bottom, left, and right, or to perform multi-angle coordinated pollination on the same flower. This multi-angle, three-dimensional pollination method effectively solves the problem of uneven or failed pollination caused by partial shading of flowers, ensuring comprehensive coverage of the bouquet without blind spots, thereby significantly improving the pollination coverage rate and overall stability.

[0184] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0185] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0186] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pollination device that combines ultrasound and airflow, characterized in that, The device includes an image acquisition module, a control module, and multiple pollination execution units; The first end of the control module is connected to the image acquisition module, and the second end of the control module is connected to the plurality of pollination execution units respectively; each pollination execution unit includes a robotic arm and an ultrasonic vibration module and an airflow generation module installed at the end of the robotic arm; The image acquisition module is used to identify the flowers to be pollinated and obtain the location information of the flowers to be pollinated; The control module is used to control the movement of the robotic arms of each pollination execution unit based on the position information, so that each pollination execution unit is aligned with the flower to be pollinated at a different angle. After the pollination units are aligned, the control module is further specifically used for: The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated according to the target vibration frequency, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated according to the target airflow speed. The target vibration frequency and target airflow velocity are parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the stigma of the flower. The mathematical model for pollination effects is constructed by fitting multiple sets of sample data and the number of attached pollen corresponding to the sample data using the least squares method. The sample data includes vibration frequency data and airflow velocity data. The mathematical model for the influence of pollination is as follows: ； in, It is the number of pollen adhering to the stigma of the flower. It is vibration frequency data. It's airflow velocity data. , , , , , It is a constant.

2. The ultrasonic and airflow coordinated pollination device according to claim 1, characterized in that, Also includes: A robot chassis, and a lifting slide mounted on the robot chassis; The image acquisition module and the multiple pollination execution units are installed at different positions in the pollination device housing, which is located on the lifting slide.

3. The ultrasonic and airflow coordinated pollination device according to claim 2, characterized in that, The image acquisition module includes a first image acquisition unit and a second image acquisition unit; The first image acquisition unit is located at the top of the pollination device housing and is used to identify the flower to be pollinated and determine the flower height information of the flower to be pollinated. The flower height information is used to guide the lifting slide to move the pollination device housing to the height of the flower height information. The second image acquisition unit is located in the middle of the pollination device housing. After the pollination device housing moves to the height of the flower height information, it identifies the flower to be pollinated and determines the flower position information of the flower to be pollinated. The flower position information is used to guide the movement of the robotic arms of each pollination execution unit so that the pollination execution unit is aligned with the flower to be pollinated.

4. The ultrasonic and airflow coordinated pollination device according to claim 1, characterized in that, The robotic arm includes a pitch joint for achieving pitch motion and a rotary joint for achieving rotational motion.

5. A pollination method combining ultrasound and airflow, characterized in that, include: The flowers to be pollinated are identified, and their location information is obtained. Based on the location information, the robotic arms of multiple pollination execution units are controlled to move, so that each pollination execution unit is aligned with the flower to be pollinated at a different angle; each pollination execution unit includes a robotic arm and an ultrasonic vibration module and an airflow generation module installed at the end of the robotic arm; The ultrasonic vibration module of each pollination execution unit is controlled to vibrate towards the flower to be pollinated according to the target vibration frequency, and the airflow generation module of each pollination execution unit is controlled to generate directional airflow towards the flower to be pollinated according to the target airflow speed. The target vibration frequency and target airflow velocity are parameter combinations determined based on a mathematical model of pollination effects, which maximize the number of pollen adhering to the stigma of the flower. The mathematical model for pollination effects is constructed by fitting multiple sets of sample data and the number of attached pollen corresponding to the sample data using the least squares method. The sample data includes vibration frequency data and airflow velocity data. The mathematical model for the influence of pollination is as follows: ； in, It is the number of pollen adhering to the stigma of the flower. It is vibration frequency data. It's airflow velocity data. 、 、 、 、 、 It is a constant.

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