A visual feedback-based pollination device for low-yield, single-flowering crops

Abstract

This invention provides a visual feedback-based pollination device for low-planting, homozygous crops, including a pneumatic pollination assembly. The pneumatic pollination assembly comprises an air generator, a pollination nozzle, and a pollen storage box. The pollination nozzle is connected to the output end of the air generator. The pollen storage box is located on the output end of the pollination nozzle and has a composite structure that is narrower at the top and wider at the bottom. The upper part is a frustum-shaped cavity, and the lower part is a cylindrical cavity, which are coaxially connected and have interconnected inner cavities. The bottom of the cylindrical cavity has an opening, and a frustum-shaped protrusion is coaxially arranged at the opening. The height of the frustum-shaped protrusion is equal to the height of the cylindrical cavity. An annular pollen storage cavity is formed between the outer wall of the frustum-shaped protrusion and the inner wall of the cylindrical cavity. The pollination nozzle is located at the top center of the frustum-shaped cavity, and its spray direction is towards the annular pollen storage cavity. This invention relates to the field of low-planting pollination technology.

Description

Technical Field

[0001] This utility model relates to the field of low-seedling pollination technology, and in particular to a low-seedling, same-flowering crop pollination device based on visual feedback. Background Technology

[0002] With the increasing intensification and scale of global agricultural production, crop pollination efficiency and quality are crucial for improving yields. Traditional pollination methods heavily rely on natural pollinators (such as bees and butterflies), but pollination efficiency fluctuates significantly due to ecological degradation and a sharp decline in the number of natural pollinators, making it difficult to maintain stable pollination, especially in facility agriculture or intensive planting scenarios. While existing mechanical pollination equipment can partially replace manual labor, its design is mostly geared towards tall crops. When dealing with short-stemmed crops with multiple flowers (such as strawberries and melons), the low-growing plants, dense flowers, and close-to-the-ground distribution of the flowers make the mechanical structure prone to collisions with the crops, leading to stem and leaf damage and even fruit drop, severely impacting crop growth and economic benefits. In addition, most equipment lacks precise positioning capabilities, and the pollination path planning is rudimentary, resulting in uneven pollen distribution, low utilization rates, insufficient pollination in some areas, and excessive waste in others. In existing technologies, pollen storage devices are not airtight enough, making them prone to moisture and clumping, and mechanical vibrations can easily cause pollen to dissipate, further exacerbating resource waste. Although some solutions attempt to introduce automation technology, poor environmental adaptability and insufficient coordination between visual feedback and mechanical execution still require frequent manual intervention and calibration, making it difficult to achieve efficient operation around the clock.

[0003] These problems severely restrict the large-scale production of low-yield crops, and there is an urgent need for a fully automated pollination device that combines precise positioning, flexible obstacle avoidance, and efficient pollen utilization. Utility Model Content

[0004] To address the shortcomings of the existing technology, this utility model provides a visual feedback-based pollination device for low-seedling, single-flowering crops, aiming to solve the problems of inaccurate positioning, low pollen utilization, easy damage to plants, and reliance on manual operation in existing mechanical pollination devices for low-seedling, single-flowering crops.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a visual feedback-based pollination device for low-yielding, homozygous crops, comprising a pneumatic pollination assembly, which includes an air generator, a pollination nozzle, and a pollen storage box. The pollination nozzle is connected to the output end of the air generator, and the pollen storage box is disposed on the output end of the pollination nozzle. The pollen storage box has a composite structure that is narrower at the top and wider at the bottom, with a frustum-shaped cavity at the top and a cylindrical cavity at the bottom. The cylindrical cavity is connected by a shaft and has a through-hole. The bottom of the cylindrical cavity has an opening, and a frustum-shaped protrusion is coaxially arranged at the opening. The height of the frustum-shaped protrusion is equal to the height of the cylindrical cavity. An annular pollen storage cavity is formed between the outer wall of the frustum-shaped protrusion and the inner wall of the cylindrical cavity. The pollination nozzle is located at the top center of the frustum-shaped cavity, and its spray direction is towards the annular pollen storage cavity. The inner wall of the frustum-shaped cavity and the outer wall of the frustum-shaped protrusion together form a stepped flow guiding structure to guide the airflow to disturb the pollen.

[0006] Based on the above, the beneficial effects of a visual feedback-based pollination device for crops with low seedling and simultaneous stamen development are that it solves the problems of inaccurate positioning, low pollen utilization, easy damage to plants, and reliance on manual operation in existing mechanical pollination devices for crops with low seedling and simultaneous stamen development; mainly reflected in:

[0007] 1. This utility model uses the directional connection between the pollination nozzle and the air generator, combined with the stepped flow guiding structure formed by the inner wall of the frustum-shaped cavity and the outer wall of the frustum-shaped protrusion, to guide the airflow to spirally disturb along the annular pollen storage cavity, so that the pollen can be evenly diffused during the aerosolization process, significantly improving the stability of the airflow trajectory and achieving precise positioning of the hidden stamens of low-growing crops.

[0008] 2. This utility model utilizes the annular pollen storage cavity formed by the frustum-shaped protrusion and the inner wall of the cylindrical cavity. Through the synergistic effect of the bottom opening and the stepped flow guiding structure, a negative pressure gradient is formed in the airflow path from the top center of the frustum-shaped cavity to the annular pollen storage cavity, which prolongs the suspension time of pollen in the airflow and reduces the waste caused by gravity deposition.

[0009] 3. The pollination nozzle driven by the air generator in this utility model completes the pollination in a purely pneumatic manner. Combined with the laminar flow field formed by the stepped flow guide structure, it eliminates the physical contact between mechanical parts and plants, thus avoiding the problem of damaging plants.

[0010] 4. This utility model achieves uniform pollen drop by combining the frustum-shaped cavity and cylindrical cavity of the pollen storage box with the annular gap structure of the annular pollen storage cavity, thus avoiding the problem of traditional pollination relying on manual operation.

[0011] Furthermore, the cone angle of the frustum-shaped protrusion is 30° to 45°, and the diameter of its bottom opening is less than 1.5 times the width of the annular gap of the annular powder storage cavity.

[0012] Based on the above, the specific cone angle range of the frustum-shaped protrusion and the inner wall of the frustum-shaped cavity form a progressive flow channel. Tests have shown that when the airflow from the pollination nozzle is sprayed along the center of the top of the frustum-shaped cavity, the 30° to 45° cone angle creates a spiral downward negative pressure field in the annular pollen storage cavity, effectively enhancing the airflow's ability to entrain pollen and preventing pollen from accumulating in the annular gap. The diameter of the bottom opening of the frustum-shaped protrusion is limited to less than 1.5 times the width of the annular gap of the annular pollen storage cavity, so that the airflow forms a symmetrical shear layer when passing through the annular gap, suppressing the generation of turbulence. This geometric ratio ensures that the pollen falls uniformly in a laminar flow state in the annular pollen storage cavity, while avoiding excessively rapid airflow diffusion caused by an excessively large opening, thus maintaining the concentration of aerosol spraying.

[0013] Furthermore, the pollination device also includes a moving frame assembly, a three-axis linkage assembly, and a binocular camera assembly. The three-axis linkage assembly is mounted on the moving frame assembly, the pneumatic pollination assembly is located on the output end of the three-axis linkage assembly, and the binocular camera assembly is located on the pneumatic pollination assembly.

[0014] Furthermore, the movable frame assembly includes a movable frame, drive wheel sets located on both sides of the bottom front end of the movable frame, driven wheel sets located on both sides of the bottom rear end of the movable frame, and a shock-absorbing drive structure connecting the movable frame and the drive wheel sets. The shock-absorbing drive structure includes a shock-absorbing mounting bracket, shock-absorbing cantilever arms symmetrically arranged on both sides of the shock-absorbing mounting bracket, a wheel mounting bracket, and a spring telescopic rod connecting the shock-absorbing mounting bracket and the wheel mounting bracket. The two ends of the two shock-absorbing cantilever arms are respectively hinged to the shock-absorbing mounting bracket and the wheel mounting bracket. A steering motor is also provided on the movable frame. The output end of the steering motor is connected to the upper end of the shock-absorbing mounting bracket. A wheel drive motor is provided inside the wheel mounting bracket. The drive wheels of the drive wheel sets are respectively located on the output ends of their respective wheel drive motors.

[0015] Based on the above, the shock-absorbing mounting frame is hinged to the wheel mounting frame through symmetrical shock-absorbing cantilever arms on both sides, and with the vertical buffer and horizontal limit of the spring telescopic rod, a composite shock-absorbing structure is formed. This structure can absorb vertical vibration and lateral impact force simultaneously in rugged terrain, reduce the pitch angle fluctuation of the moving frame, and effectively prevent pollen from being scattered or misaligned due to violent shaking of the pneumatic pollination component.

[0016] Furthermore, the three-axis linkage assembly includes an X-axis translation module, a Y-axis translation module, and a Z-axis lifting module. The X-axis translation module includes two symmetrically arranged X-axis drive boxes, a belt meshing between the two X-axis drive boxes, and two guide rods connecting the two X-axis drive boxes. The Y-axis translation module includes Y-axis slide rails and a Y-axis rack symmetrically arranged on both sides of the upper end of the moving frame. The two X-axis drive boxes are slidably engaged on the two Y-axis slide rails. A Y-axis drive motor is provided on the same side of each of the two X-axis drive boxes, and the output ends of both Y-axis drive motors are... The module is equipped with two Y-axis drive gears, which mesh with two Y-axis racks respectively. The Z-axis lifting module includes a Z-axis mounting frame, a Z-axis drive motor, and a vertically movable structure. The two mounting holes at the upper end of the Z-axis mounting frame are respectively guided and engaged with two guide rods. The belt drives the Z-axis mounting frame to move along the X-axis. The movable guide rail of the vertically movable structure is slidably engaged within the Z-axis mounting frame. The Z-axis drive motor is mounted on the upper end of the Z-axis mounting frame. The Z-axis drive gear at the output end of the Z-axis drive motor meshes with a sliding rack on one side of the vertically movable structure.

[0017] Based on the above, the two symmetrically arranged X-axis drive boxes are linked by belt meshing, and with the parallel constraint of the two guide rods, the forces on both sides of the Z-axis mounting frame are balanced when it moves along the X-axis, eliminating the offset error caused by unilateral drive. The symmetrically arranged Y-axis slide rail and Y-axis rack form a double closed-loop guide system. The Y-axis drive motors on the two X-axis drive boxes synchronously mesh with the rack through the Y-axis drive gear, so that the three-axis linkage component maintains the consistency of speed at both ends when it moves in the Y-axis direction. The Z-axis drive motor drives the up and down moving structure through gear and rack meshing. Compared with the traditional chain drive mechanism, the gear and rack meshing has stronger rigidity, and the rigid cooperation between the sliding rack and the moving guide rail can bear a larger dynamic load than the traditional chain drive, ensuring that the pneumatic pollination component does not experience attitude deviation during frequent lifting and lowering.

[0018] Furthermore, the binocular camera assembly includes a first camera and a second camera, the first camera being mounted on the Z-axis mounting bracket, and the second camera being mounted on one side of the bottom end of the vertical movable structure.

[0019] Furthermore, the inner surface of the pollen storage box is provided with a moisture-proof coating and is connected to the pollination nozzle through a quick-release structure, supporting rapid replacement and replenishment of pollen.

[0020] Based on the above, the moisture-proof coating on the inner surface of the pollen storage box physically isolates the penetration of environmental moisture, keeping the internal relative humidity stable at below 30%, effectively preventing pollen from clumping or becoming moldy, and extending the activity retention time to more than 72 hours.

[0021] Furthermore, the pneumatic pollination assembly also includes a pressure regulator, which is disposed between the air generator and the pollination nozzle. The air generator and the pressure regulator work together to switch between negative pressure to absorb pollen and positive pressure to spray pollen, so that the airflow carries pollen to form an aerosol, which is then sprayed out directionally through the pollination nozzle.

[0022] Furthermore, the pollination device also includes a control component, which receives coordinate data from the binocular camera component via an RS-485 / 232 communication interface and drives the three-axis linkage component and the pneumatic pollination component to complete the closed-loop pollination action.

[0023] To more clearly illustrate the above-mentioned features of this utility model and the objectives it aims to achieve, the following description, in conjunction with the accompanying drawings and specific embodiments, will further explain this utility model. Attached Figure Description

[0024] Figure 1 : This is a perspective view of the present invention;

[0025] Figure 2 : This is a schematic diagram of the shock-absorbing drive structure of this utility model;

[0026] Figure 3 : This is a perspective view of the dismantled movable frame structure of this utility model;

[0027] Figure 4 : This is a schematic diagram of the three-axis linkage assembly of this utility model;

[0028] Figure 5 : This is a schematic diagram of the Z-axis lifting module of this utility model;

[0029] Figure 6 : This is a cross-sectional view of the pollen storage box of this utility model.

[0030] Reference numerals: 1-Moving frame assembly, 11-Moving frame, 111-Steering motor, 12-Drive wheel set, 13-Driven wheel set, 14-Shock-damping drive structure, 141-Shock-damping mounting bracket, 142-Shock-damping cantilever, 143-Wheel mounting bracket, 1431-Wheel drive motor, 144-Spring telescopic rod, 2-Three-axis linkage assembly, 21-X-axis translation module, 211-X-axis drive box, 2111-Y-axis drive motor, 2112-Y-axis drive gear, 212-Belt, 213-Guide rod, 22-Y-axis translation module, 221-Y-axis slide rail, 222-Y-axis rack. 23-Z-axis lifting module, 231-Z-axis mounting bracket, 2311-Mounting hole, 232-Z-axis drive motor, 2321-Z-axis drive gear, 233-Up and down movable structure, 2331-Movable guide rail, 2332-Sliding rack, 3-Binocular camera assembly, 31-First camera, 32-Second camera, 4-Pneumatic pollination assembly, 41-Air generator, 42-Pollination nozzle, 43-Pollen storage box, 431-Frustoconical cavity, 432-Cylindrical cavity, 433-Opening, 434-Frustoconical protrusion, 435-Annular pollen storage chamber, 44-Voltage regulator, 5-Control assembly. Detailed Implementation

[0031] like Figures 1-5 As shown, a visual feedback-based pollination device for low-yielding, homozygous crops includes a pneumatic pollination assembly 4. The pneumatic pollination assembly 4 includes an air generator 41, a pollination nozzle 42, and a pollen storage box 43. The pollination nozzle 42 is connected to the output end of the air generator 41. The pollen storage box 43 is disposed on the output end of the pollination nozzle 42. The pollen storage box 43 has a composite structure that is narrower at the top and wider at the bottom. The upper part is a frustum-shaped cavity 431, and the lower part is a cylindrical cavity 432. The two parts are coaxially connected and their inner cavities are interconnected. 2. An opening 433 is provided at the bottom, and a frustum-shaped protrusion 434 is coaxially arranged at the opening 433. The height of the frustum-shaped protrusion 434 is equal to the height of the cylindrical cavity 432. An annular pollen storage cavity 435 is formed between the outer wall of the frustum-shaped protrusion 434 and the inner wall of the cylindrical cavity 432. The pollination nozzle 42 is located at the top center of the frustum-shaped cavity 431, and its spraying direction is towards the annular pollen storage cavity 435. The inner wall of the frustum-shaped cavity 431 and the outer wall of the frustum-shaped protrusion 434 together form a stepped flow guiding structure to guide the airflow to disturb the pollen.

[0032] The cone angle of the frustum-shaped protrusion 434 is 30° to 45°, and the diameter of its bottom opening is less than 1.5 times the width of the annular gap of the annular powder storage cavity 435.

[0033] The pollination device also includes a moving frame assembly 1, a three-axis linkage assembly 2, and a binocular camera assembly 3. The three-axis linkage assembly 2 is mounted on the moving frame assembly 1, the pneumatic pollination assembly 4 is located on the output end of the three-axis linkage assembly 2, and the binocular camera assembly 3 is located on the pneumatic pollination assembly 4.

[0034] The movable frame assembly 1 includes a movable frame 11, drive wheel sets 12 located on both sides of the bottom front end of the movable frame 11, driven wheel sets 13 located on both sides of the bottom rear end of the movable frame 11, and a shock-absorbing drive structure 14 connecting the movable frame 11 and the drive wheel sets 12. The shock-absorbing drive structure 14 includes a shock-absorbing mounting bracket 141, shock-absorbing cantilever arms 142 symmetrically arranged on both sides of the shock-absorbing mounting bracket 141, wheel mounting brackets 143, and a connection between the shock-absorbing mounting bracket 141 and the drive wheel sets 12. The spring telescopic rod 144 between the wheel mounting brackets 143, the two ends of the two shock-absorbing cantilever arms 142 are respectively hinged to the shock-absorbing mounting bracket 141 and the wheel mounting bracket 143, the movable frame 11 is also provided with a steering motor 111, the output end of the steering motor 111 is connected to the upper end of the shock-absorbing mounting bracket 141, the wheel mounting bracket 143 is provided with a wheel drive motor 1431, and the drive wheels of the drive wheel set 12 are respectively provided on the output end of their respective wheel drive motors 1431.

[0035] The three-axis linkage assembly 2 includes an X-axis translation module 21, a Y-axis translation module 22, and a Z-axis lifting module 23. The X-axis translation module 21 includes two symmetrically arranged X-axis drive boxes 211, a belt 212 meshing between the two X-axis drive boxes 211, and two guide rods 213 connecting the two X-axis drive boxes 211. The Y-axis translation module 22 includes Y-axis slide rails 221 and Y-axis racks 222 symmetrically arranged on both sides of the upper end of the moving frame 11. The two X-axis drive boxes 211 are slidably fitted onto the two Y-axis slide rails 221. Y-axis drive motors 2111 are provided on the same side of both X-axis drive boxes 211, and Y-axis drive gears 21 are provided at the output ends of both Y-axis drive motors 2111. 12. The two Y-axis drive gears 2112 respectively mesh with the two Y-axis racks 222. The Z-axis lifting module 23 includes a Z-axis mounting frame 231, a Z-axis drive motor 232, and a vertical movable structure 233. The two mounting holes 2311 at the upper end of the Z-axis mounting frame 231 are respectively guided and engaged with the two guide rods 213. The belt 212 drives the Z-axis mounting frame 231 to move along the X-axis. The movable guide rail 2331 of the vertical movable structure 233 is slidably engaged in the Z-axis mounting frame 231. The Z-axis drive motor 232 is mounted on the upper end of the Z-axis mounting frame 231. The Z-axis drive gear 2321 at the output end of the Z-axis drive motor 232 meshes with the sliding rack 2332 on one side of the vertical movable structure 233.

[0036] The binocular camera assembly 3 includes a first camera 31 and a second camera 32. The first camera 31 is mounted on the Z-axis mounting bracket 231, and the second camera 32 is mounted on one side of the bottom end of the upper and lower movable structure 233. The first camera 31 segments the flower outline through HSV color space conversion and Canny edge detection algorithm, and the second camera 32 calculates the three-dimensional coordinates of the flower based on binocular triangulation technology.

[0037] The inner surface of the pollen storage box 43 is provided with a moisture-proof coating and is connected to the pollination nozzle 42 through a quick-release structure, which supports quick replacement and replenishment of pollen.

[0038] The pneumatic pollination assembly 4 also includes a pressure regulator 44, which is disposed between the air generator 41 and the pollination nozzle 42. The air generator 41 and the pressure regulator 44 work together to switch between negative pressure to absorb pollen and positive pressure to spray pollen, so that the airflow carries pollen to form an aerosol, which is then sprayed out directionally through the pollination nozzle 42.

[0039] The pollination device also includes a control component 5, which receives coordinate data from the binocular camera component 3 via an RS-485 / 232 communication interface and drives the three-axis linkage component 2 and the pneumatic pollination component 4 to complete the closed-loop pollination action.

[0040] In summary, the specific embodiments of this utility model are as follows:

[0041] When the mobile frame assembly 1 is started, the wheel drive motor 1431 of the drive wheel set 12 drives the mobile frame 11 to move along the planting area. The shock-absorbing cantilever 142 of the shock-absorbing drive structure 14 and the spring telescopic rod 144 work together to absorb ground bumps. The steering motor 111 adjusts the steering angle of the shock-absorbing mounting bracket 141 according to the path planning instructions to achieve precise steering of the mobile frame 11. The first camera 31 and the second camera 32 of the binocular camera assembly 3 synchronously collect the three-dimensional coordinate information of the low-growing crops and transmit it to the control assembly 5 through the RS-485 / 232 communication interface.

[0042] After the control component 5 analyzes the flower position data acquired by the binocular camera component 3, it drives the three-axis linkage component 2 to perform a positioning action: the Y-axis drive motor 2111 meshes with the Y-axis rack 222 through the Y-axis drive gear 2112, driving the X-axis translation module 21 to move laterally along the Y-axis slide rail 221; the drive mechanism in the X-axis drive box 211 pulls the Z-axis mounting bracket 231 along the guide rod 213 through the belt 212 to complete the X-axis translation; the Z-axis drive motor 232 meshes with the sliding rack 2332 through the Z-axis drive gear 2321, driving the up-and-down movable structure 233 to move vertically up and down along the movable guide rail 2331, finally making the pneumatic pollination component 4 reach 10-15cm directly above the target flower;

[0043] When the pneumatic pollination component 4 is activated, the air generator 41 and the voltage regulator 44 work together to generate alternating airflow: firstly, in negative pressure mode, pollen in the annular pollen storage chamber 435 is drawn into the pollination nozzle 42; after switching to positive pressure mode, the airflow carries pollen to form an aerosol, which is accelerated by the stepped flow guide structure formed by the frustum-shaped cavity 431 and the frustum-shaped protrusion 434 to form a cone-shaped spray with a diameter of 5-8cm; during the spraying process, the geometric ratio between the diameter of the bottom opening 433 of the frustum-shaped protrusion 434 and the width of the annular gap of the annular pollen storage chamber 435 ensures that the aerosol remains in a laminar flow state when it leaves the pollen storage box 43, ensuring that more than 90% of the pollen accurately covers the pistil.

[0044] After a single pollination is completed, the control component 5 adjusts the spatial coordinates of the pneumatic pollination component 4 through the three-axis linkage component 2 based on the real-time feedback data from the binocular camera component 3, and performs pollination operations on adjacent flowers in sequence. When the amount of pollen storage box 43 is lower than the threshold, the operator can trigger the quick-release structure to quickly replace the spare pollen storage box 43. The moisture-proof coating can maintain the activity of the newly loaded pollen for up to 72 hours. The entire workflow forms a complete closed-loop pollination system through the autonomous navigation of the moving frame component 1, the precise positioning of the three-axis linkage component 2, and the flexible operation of the pneumatic pollination component 4.

[0045] The above description is only the optimal solution embodiment of this utility model and is not intended to limit this utility model. Various modifications or substitutions made by those skilled in the art to this utility model without departing from the essence and protection scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A low seed self-pollination device for crops based on visual feedback, characterized by: The device includes a pneumatic pollination assembly (4), which includes an air generator (41), a pollination nozzle (42), and a pollen storage box (43). The pollination nozzle (42) is connected to the output end of the air generator (41), and the pollen storage box (43) is located on the output end of the pollination nozzle (42). The pollen storage box (43) has a composite structure that is narrow at the top and wide at the bottom. The upper part is a frustum-shaped cavity (431), and the lower part is a cylindrical cavity (432). The two are coaxially connected and their inner cavities are interconnected. The bottom of the cylindrical cavity (432) is provided with an opening (433). A frustum-shaped protrusion (434) is coaxially provided at the opening (433). The height of the frustum-shaped protrusion (434) is equal to the height of the cylindrical cavity (432). An annular pollen storage cavity (435) is formed between the outer wall of the frustum-shaped protrusion (434) and the inner wall of the cylindrical cavity (432). The pollination nozzle (42) is located at the top center of the frustum-shaped cavity (431), and its spraying direction is towards the annular pollen storage cavity (435). The inner wall of the frustum-shaped cavity (431) and the outer wall of the frustum-shaped protrusion (434) together form a stepped flow guiding structure to guide the airflow to disturb the pollen.

2. A low seed self-pollination device for crops based on visual feedback according to claim 1, characterized in that: The cone angle of the frustum-shaped protrusion (434) is 30° to 45°, and the diameter of its bottom opening is less than 1.5 times the width of the annular gap of the annular powder storage cavity (435).

3. A low seed self-pollination device for crops based on visual feedback according to claim 1, characterized in that: The pollination device also includes a moving frame assembly (1), a three-axis linkage assembly (2), and a binocular camera assembly (3). The three-axis linkage assembly (2) is mounted on the moving frame assembly (1), the pneumatic pollination assembly (4) is located on the output end of the three-axis linkage assembly (2), and the binocular camera assembly (3) is located on the pneumatic pollination assembly (4).

4. A low seed self-pollination device for crops based on visual feedback according to claim 3, characterized in that: The movable frame assembly (1) includes a movable frame (11), drive wheel sets (12) located on both sides of the bottom front end of the movable frame (11), driven wheel sets (13) located on both sides of the bottom rear end of the movable frame (11), and a shock-absorbing drive structure (14) connecting the movable frame (11) and the drive wheel sets (12). The shock-absorbing drive structure (14) includes a shock-absorbing mounting bracket (141), shock-absorbing cantilever arms (142) symmetrically arranged on both sides of the shock-absorbing mounting bracket (141), a wheel mounting bracket (143), and a wheel assembly connected to the shock-absorbing mounting bracket (141). The spring telescopic rod (144) between the shock absorber (141) and the wheel mounting bracket (143) is provided. Both ends of the two shock absorber cantilever (142) are respectively hinged to the shock absorber mounting bracket (141) and the wheel mounting bracket (143). The moving frame (11) is also provided with a steering motor (111). The output end of the steering motor (111) is connected to the upper end of the shock absorber mounting bracket (141). The wheel mounting bracket (143) is provided with a wheel drive motor (1431). The drive wheels of the drive wheel set (12) are respectively provided on the output end of their respective wheel drive motors (1431).

5. A low seed self-pollination device for crops based on visual feedback according to claim 4, characterized in that: The three-axis linkage assembly (2) includes an X-axis translation module (21), a Y-axis translation module (22), and a Z-axis lifting module (23). The X-axis translation module (21) includes two symmetrically arranged X-axis drive boxes (211), a belt (212) meshing between the two X-axis drive boxes (211), and two guide rods (213) connecting the two X-axis drive boxes (211). The Y-axis translation module (22) includes Y-axis slide rails (221) and Y-axis racks (222) symmetrically arranged on both sides of the upper end of the moving frame (11). The two X-axis drive boxes (211) are slidably fitted on the two Y-axis slide rails (221). A Y-axis drive motor (2111) is provided on the same side of each of the two X-axis drive boxes (2111), and a Y-axis drive gear (211) is provided at the output end of each of the two Y-axis drive motors (2111). 2) The two Y-axis drive gears (2112) mesh with the two Y-axis racks (222) respectively. The Z-axis lifting module (23) includes a Z-axis mounting bracket (231), a Z-axis drive motor (232), and an up-and-down movable structure (233). The two mounting holes (2311) at the upper end of the Z-axis mounting bracket (231) are respectively guided and engaged with the two guide rods (213). The belt (212) drives the Z-axis mounting bracket (231) to move along the X-axis. The movable guide rail (2331) of the up-and-down movable structure (233) is slidably engaged in the Z-axis mounting bracket (231). The Z-axis drive motor (232) is mounted on the upper end of the Z-axis mounting bracket (231). The Z-axis drive gear (2321) at the output end of the Z-axis drive motor (232) meshes with the sliding rack (2332) on one side of the up-and-down movable structure (233).

6. A low seed self-pollination device for crops based on visual feedback according to claim 5, characterized in that: The binocular camera assembly (3) includes a first camera (31) and a second camera (32). The first camera (31) is mounted on the Z-axis mounting bracket (231), and the second camera (32) is mounted on one side of the bottom end of the upper and lower movable structure (233).

7. A low seed self-pollination device for crops based on visual feedback according to claim 1, characterized in that: The inner surface of the pollen storage box (43) is provided with a moisture-proof coating and is connected to the pollination nozzle (42) through a quick-release structure, which supports quick replacement and replenishment of pollen.

8. A low seed self-pollination device for crops based on visual feedback according to claim 1, characterized in that: The pneumatic pollination assembly (4) also includes a pressure regulator (44), which is located between the air generator (41) and the pollination nozzle (42). The air generator (41) and the pressure regulator (44) work together to switch between negative pressure to absorb pollen and positive pressure to spray pollen, so that the airflow carries pollen to form an aerosol, which is then sprayed out directionally through the pollination nozzle (42).

9. A low seed self-pollination device for crops based on visual feedback according to claim 3, characterized in that: The pollination device also includes a control component (5), which receives coordinate data from the binocular camera component (3) via an RS-485 / 232 communication interface and drives the three-axis linkage component (2) and the pneumatic pollination component (4) to complete the closed-loop pollination action.

Images