WO2024139044A1

WO2024139044A1 - Strawberry pollination device

Info

Publication number: WO2024139044A1
Application number: PCT/CN2023/097384
Authority: WO
Inventors: 高青海; 杨思奥; 吴燕
Original assignee: 安徽科技学院
Priority date: 2022-12-26
Filing date: 2023-05-31
Publication date: 2024-07-04

Abstract

The present invention relates to the technical field of strawberry pollination, and specifically to a strawberry pollination device. The strawberry pollination device comprises a movement unit, a bearing plate, a bubble blowing unit, an adjusting unit and a control unit, wherein the movement unit is in contact with the ground, and the bearing plate is mounted above the movement unit; the movement unit is configured to move so as to perform pollination; the bubble blowing unit and the adjusting unit are mounted above the bearing plate; the bubble blowing unit is configured to blow bubbles and perform pollination, and the adjusting unit is configured to adjust the position of the bubble blowing unit; and the control unit is fixedly mounted above the bearing plate. The bubble blowing unit comprises an air blower, a bubble blowing tank, a connecting pipe and a bubble blowing opening, wherein the air blower is fixedly mounted above the bearing plate, the bubble blowing tank is mounted above the bearing plate and is connected to the air blower by means of the connecting pipe, the connecting pipe is fixedly connected between an air outlet of the air blower and the bubble blowing tank, and the bubble blowing opening is mounted below the bearing plate. The present invention can perform comprehensive and accurate pollination for strawberries in multiple directions by means of blowing functional soap bubbles containing pollen, thereby avoiding damage to flowers and waste.

Description

A strawberry pollination device

Technical Field

The invention relates to the technical field of strawberry pollination, in particular to a strawberry pollination device.

Background technique

Pollination refers to the transfer of pollen from angiosperms to flowers of the same plant species to make them bear fruit. Depending on the pollination object, it is mainly divided into self-pollination and cross-pollination. Self-pollination refers to the transfer of pollen to the stigma of the same flower, and cross-pollination refers to the transfer of pollen to the stigma of another flower. Flower pollination is mainly spread by natural media, such as wind, insects, birds and water. However, the spread of pollen by natural media is unstable, and it is difficult to accurately ensure that the flowers are pollinated. Therefore, in order to increase the fruit-bearing rate during agricultural cultivation, artificial assisted pollination is usually carried out to ensure that the flowers can be accurately pollinated.

Strawberry is a hermaphroditic plant. Pollination of strawberry flowers can effectively improve the quality of strawberries after they bear fruit. However, when growing strawberries indoors, pollen cannot be spread by wind or water. Agricultural Bank planting staff usually artificially raise bees to pollinate strawberry flowers, such as raising bumblebees to pollinate the flowers, or manually brushing each flower with a brush for pollination. When raising bees to pollinate the flowers, agricultural staff will place the beehives in the ridges and close to the ridges, but the activities of the bee colonies are relatively independent and active and difficult to control. It is difficult to ensure that the flowers are fully and accurately pollinated through bee colony pollination, and accidents are prone to occur if agricultural staff do not take good care of the bee colonies during the breeding process, resulting in the inability to pollinate the flowers, such as the emergence of a new queen bee, internal consumption of the population, or Improperly placed beehives are attacked by ants, which makes it difficult for the bee colonies to pollinate the flowers in time. On the one hand, strawberry-growing agricultural workers need to take care of strawberries and bees at the same time, and it is difficult to concentrate. On the other hand, strawberry-growing agricultural workers are not professional bee keepers, which can easily lead to unstable bee colonies and accidents during the breeding process, which further makes it difficult to ensure comprehensive and accurate pollination of strawberry flowers. For example, in the 37th volume of the 2nd issue of the "Journal of Chinese Biological Control", Wang Hongdong, Han Bing, Han Shuang, Li Donggang and Wang Ruming jointly published the classification number S436.68; S476 "The Application of Natural Enemy Pest Control and Bumblebee Pollination Technology in Greenhouse Strawberries", which describes the application of bumblebee pollination when growing strawberries indoors.

When artificial pollination is carried out on strawberries, agricultural growers need to use a brush with pollen on the surface to brush the flowers for pollination. Artificial pollination by brushing the flowers with a brush can be carried out on each flower, thereby achieving comprehensive and accurate pollination. However, agricultural growers need to brush each flower for artificial pollination, which is inefficient and time-consuming, making it difficult to ensure pollen activity. In addition, the artificial pollination brush contacts the stamens, which causes damage to the stamens during the pollination process, thereby affecting the success rate of pollination and the quality of the flowers after fruiting. In addition, it is difficult to control the amount of pollen for pollination during artificial pollination, resulting in excessive nutrient consumption and weakness during the fruiting process, which leads to small and poor fruit quality.

In order to avoid contact with flowers during pollination and cause damage, agricultural growers usually use non-contact pollination to pollinate flowers. For pollination, contactless pollination mainly uses airflow or pressure to spray pollen particles or a mixture of pollen and liquid into flowers. For example, pollen or a mixture of pollen and liquid is sprayed into liquid in a mist form through an artificial backpack spraying pot, or pollen is sprayed in a mist form through unmanned equipment such as a drone. During the spraying process, pollen or a mixture of pollen and liquid is sprayed over a large area in a mist form to fully pollinate the flowers. However, most of the pollen sprayed in a mist form does not come into contact with the flowers during the pollination process, resulting in a lot of waste. For example, a method using a pollen sprayer with a patent number of CN110352846B disclosed on May 11, 2021 A drone pollination device for strawberry facility cultivation, the device includes a drone and a pollinator, the pollinator includes a shell, a micro motor, an electrostatic generator, a skirt-shaped fiber group, a controller and a humidifier, the symmetrical two sides of the shell are rotatably connected to the lower part of the drone through a suspension rod, the micro motor is installed on the top of the shell, the output shaft of the micro motor is fixedly connected to the shell, the electrostatic generator is installed at the bottom of the shell, one end of the skirt-shaped fiber group is fixed on the surface close to the bottom of the shell along the circumferential direction, the controller and the humidifier are both installed inside the shell, the device automatically pollinates strawberry flowers through the drone, but the device cannot perform comprehensive and accurate pollination of the strawberry flowers.

While retrieving the above-mentioned patent, the inventor discovered a greenhouse strawberry artificial pollination device with patent number CN113207680B which was published on June 10, 2022. The pollination device includes an external frame, a compression cylinder is fixedly connected to the inner groove of the external frame, a compression motor is fixedly connected to the right side of the compression cylinder, a first compression roller is fixedly connected to the output end of the compression motor, the first compression roller is in the inner groove of the compression cylinder, the end of the first compression roller away from the compression motor is fixedly connected to the first gear, the first gear is meshed with the second gear, and the second gear is fixedly connected to the side close to the compression cylinder with the second compression roller; the pollination device uses a hemispherical airflow hood to enable the airflow generated by the device to blow toward the center along the periphery of the flower, so that the stamen pollen around the strawberry flower can fall on the central pistil, but when the device is in use, if the stamens and pistils of the flower are not mature at the same time, pollination will fail.

In view of this, the present invention provides a strawberry pollination device that can perform comprehensive and accurate pollination and avoid damaging flowers and reducing pollen waste.

Summary of the invention

In order to solve the above problems, the present invention provides a strawberry pollination device to solve the problem that the existing pollination method cannot fully and accurately pollinate flowers and damages flowers during pollination, resulting in pollen waste.

The present invention provides the following technical solutions: a strawberry pollination device, comprising a moving unit, a carrying plate, a bubble blowing unit, an adjusting unit and a control unit, wherein the moving unit contacts the ground and has a carrying plate installed above it, and the moving unit is used to pollinate strawberry stamens while moving on the ground; a bubble blowing unit and an adjusting unit are installed above the carrying plate, and the bubble blowing unit is used to blow out a foaming solvent containing pollen and form bubbles, i.e., functional soap bubbles, so that the functional soap bubbles contact the stamens and spread out to allow the pollen to contact the strawberry flowers, thereby completing the precise pollination of the strawberry flowers by the bubble blowing unit; the pollination functional soap bubbles blown out by the bubble blowing unit can avoid contacting the flowers while completing the pollination of the flowers, thereby avoiding damage to the flowers during pollination, improving the success rate and quality of the flower pollination, and at the same time, the flowers are accurately pollinated by the functional soap bubbles, thereby Reducing pollen waste during the pollination process is beneficial to reducing planting costs; the adjustment unit is used to adjust the position of the unit so that the bubble blowing unit can fit the flower more closely for precise pollination, and the pollination angle can be adjusted according to different angles of the flower, and the adjustment unit and the bubble blowing unit cooperate with each other, so that pollination can be completed more accurately; the control unit is fixedly installed above the carrier plate, and the control unit is used to control and adjust the cooperation between the moving unit, the bubble blowing unit and the adjustment unit, so as to achieve precise pollination and improve the success rate of pollination.

The bubbling unit comprises a blower, a bubbling tank, a connecting pipe and a bubbling port. The blower is fixedly installed on the supporting plate by bolts or welding. The bubbling tank is fixedly installed on the supporting plate by bolts or welding and is connected to the blower through a connecting pipe. The bubbling tank contains a mixed bubbling solution of pollen and a bubbling solvent. A connecting pipe is fixedly connected between the air outlet of the blower and the bubbling port by threads. The bubbling port is installed below the supporting plate. When the blower is located above the flower, the mixed bubbling solvent containing pollen in the bubbling tank is sucked in while the air is started and inhaled. The mixed bubble solution flows to the flower through the connecting pipe. The surface of the bubble blowing port forms a thin film, and the blower continues to blow gas to blow the mixed bubble solution in the thin film on the surface of the bubble blowing port into bubbles, namely functional soap bubbles, so that the flowers are accurately pollinated by the functional soap bubbles. The functional soap bubbles can avoid damaging the flowers while accurately pollinating, which is beneficial to improving the success rate of pollination. It should be noted that a single bubble blown by the bubble blowing unit can accurately pollinate a single flower, thereby reducing waste in the pollination process. It should be noted again that in order to improve the success rate of pollination, the bubble blowing unit can blow out multiple functional soap bubbles to pollinate a single flower.

The mobile unit includes fixed pillars, rotating shafts, wheels, driving motors and belts. Two pairs of fixed pillars are symmetrically installed on both sides below the supporting plate. The side walls of the fixed pillars on both sides are rotatably installed with rotating shafts through bearings. The other end of the rotating shaft is rotatably installed with wheels corresponding to the fixed pillars through bearings. A driving motor for driving the wheels is fixedly installed below the supporting plate and between the fixed pillars on the same side. A driving pulley is fixedly installed coaxially with the output shaft of the driving motor. A driven pulley coaxially fixedly installed on the rotating shaft is provided with a driven pulley matching the driving pulley. The driving pulley and the driven pulley are connected by a belt.

A rectangular through groove is provided on the surface of the carrying plate along the width direction, and a guide rail with a concave structure is provided on the side wall of the rectangular through groove. A bubble blowing block is slidably installed inside the rectangular through groove through a motor and a pulley (not shown in the figure), and the bubble blowing port is fixedly bonded and installed on the lower surface of the bubble blowing block, and the connecting pipe passes through the bubble blowing block and is fixedly connected to the bubble blowing port; the growth position of flowers is uneven due to the influence of the environment during growth, and the lateral position of the bubble blowing port is changed by sliding the bubble blowing block in the rectangular through groove, so that functional soap bubbles are blown out to fit the flowers in different positions for pollination during lateral movement, so that accurate pollination is achieved for flowers in different lateral positions, and all-round pollination is carried out on the flowers in conjunction with the movement of the wheels along the furrow, thereby further improving the pollination accuracy and pollination success rate of the flowers.

The fixed support is a retractable structure, through which the height of the support plate and the bubble opening can be adjusted. The position of the fixed support can be adjusted to adapt to flowers of different heights for accurate pollination, avoiding the damage to the flowers caused by too low height during pollination and the inability of the functional soap bubbles to accurately contact the flowers caused by too high height, thereby further improving the accuracy and success rate of flower pollination; the opposite surfaces of the side walls of the fixed support are fixedly installed with an acoustic wave sensor or a color recognition sensor, the acoustic wave sensor is an ultrasonic detector and is electrically connected to the control system, the acoustic wave sensor detects the position of the flower through acoustic waves, and adjusts the height of the fixed support through the control system, so that the bearing plate and the bubble blowing port fit the flower for accurate pollination and the bearing plate does not press the flower; the color recognition sensor locates the strawberry flower by recognizing the color of the strawberry flower, thereby accurately pollinating the flower;

It should be noted that ultrasonic detectors or color recognition sensors are installed on the opposite sides of the fixed pillars and are installed at different heights or positions, so that the ultrasonic detectors or color recognition sensors can detect the position of the flowers at different positions or heights, avoiding the situation where the flowers are blocked by leaves and cannot be identified during unilateral ultrasonic detection or color recognition, thereby avoiding the flowers not being in contact with functional soap bubbles for pollination, and further improving the accuracy and success rate of pollination; it should be noted again that when the ultrasonic detector detects the position of the flower, the mobile unit stops moving, which is convenient for the ultrasonic detector to detect the position of the flower, avoiding the ultrasonic detector receiving incomplete echoes and thus failing to successfully detect the position of the flower, so the mobile unit adopts intermittent movement during the movement process; it should be noted again that after the flower completes pollination, there will be moisture remaining on the surface of the flower, and there will be no moisture remaining on the surface of the unpollinated flower, so that the ultrasonic detector detects and locates the position of the unpollinated flower.

The adjusting unit comprises a telescopic hose, a mounting ring and a first telescopic rod, the telescopic hose and the connecting pipe are sleeved with each other, that is, the connecting pipe passes through the bubble blowing block and is connected to the telescopic hose, the telescopic hose is fixedly bonded to the middle position of the lower surface of the bubble blowing block, the other end of the telescopic hose is fixedly mounted to the bubble blowing port by bonding, the telescopic hose adopts a corrugated hose, the outer side of the bubble blowing port is provided with a mounting ring by bonding and fixing, the mounting ring is made of plastic, a first telescopic rod is vertically mounted between the bubble blowing block and the mounting ring, and the first telescopic rod is diagonally mounted; when pollinating flowers, the height position of the flowers is different during the growth process, and the height of the bubble blowing port is finely adjusted by the adjusting unit, so that when the bubble blowing port blows out functional soap bubbles, it can accurately contact the flowers, thereby further completing the precise pollination of the flowers.

The adjusting unit comprises a second telescopic rod, both ends of the first telescopic rod are rotatably mounted, the second telescopic rod is rotatably mounted on the side wall of the mounting ring along the width direction of the ridge, and the other end of the second telescopic rod is rotatably mounted on the bottom of the bubble blowing block, and the angle between the mounting ring and the bubble blowing port is changed by the extension and retraction of the second telescopic rod, so that the bubble blowing port fits the flowers at different angles; in the process of growing, the flowers are affected by the growth environment and thus some flowers are in a tilted state, and when the flowers are pollinated and in a tilted state, after the ultrasonic detector detects the position and angle of the flowers, the control system controls the first telescopic rod to adjust the height position, and at the same time, the second telescopic rod is extended and retracted to adjust the angle between the mounting ring and the bubble blowing port, so that the bubble blowing port corresponds to the flowers in the tilted state, and further improves the accuracy and success rate of flower pollination; it should be noted The second telescopic rod is installed along the length or width direction of the ridge, and the inclination direction of the mounting ring and the bubble blowing port is consistent with the installation direction of the second rod.

An acoustic wave sensor is fixedly installed on the bottom of the mounting ring by bolts. The acoustic wave sensor is an ultrasonic detector and is electrically connected to the control system. The acoustic wave sensor fixedly installed on the bottom of the mounting ring by bolts is located at the bottom of the mounting ring to directly detect the flowers, so that the bubble blowing port can accurately and stably correspond to the flowers, and the acoustic wave sensor fixedly installed on the bottom of the mounting ring by bolts cooperates with the acoustic wave sensor on the side wall of the fixed pillar, so as to further detect the position and angle of the flowers to improve the detection accuracy, thereby further improving the accuracy of pollination and the success rate of pollination.

A rectangular slide groove is opened at the bottom of the carrying plate along the width direction, and the fixed pillar is slidably installed in the rectangular slide groove. A mounting column is fixedly installed at the bottom of the carrying plate, and a third telescopic rod is fixedly installed in the mounting column. The third telescopic rod passes through the mounting column and two ends are respectively fixed to the opposite surfaces of the inner wall of the fixed pillar by bolts; the fixed pillar is driven to slide back and forth in the slide groove by the extension and retraction of the third telescopic rod, thereby changing the spacing between the fixed pillars on both sides, and then adapting to ridges of different standard widths, that is, the third telescopic rod of a single row and double ridges is extended to expand the fixed pillars on both sides, so that the fixed pillars and wheels on both sides are always located in the furrows on both sides.

The carrying plate is provided with a plurality of rectangular through grooves along the length direction, and a plurality of rectangular through grooves are all installed with bubble blocks and bubble ports, and the carrying plate is installed with a plurality of bubble blocks along the width direction of the rectangular through groove, and the plurality of bubble blocks are located in the rectangular through grooves for sliding and are respectively located at two ends of the rectangular through grooves corresponding to each other, so as to correspond to double rows of flowers and perform precise pollination, and the best is two or four bubble blocks and are respectively located at two ends of the rectangular through grooves corresponding to each other; the second telescopic rods at the bottom of the plurality of bubble blocks and bubble ports are respectively rotatably installed along the width and length directions, that is, the second telescopic rods adjacent to each other in the front and rear or left and right are respectively rotatably installed along the width or length direction of the rectangular through groove; it should be noted that when two bubble blocks and bubble ports are installed in a single rectangular through groove, the second telescopic rods adjacent to each other in the front and rear are respectively rotatably installed along the length and width, and the second telescopic rods adjacent to each other in the left and right are respectively rotatably installed in the same direction; when four or more bubble blocks and bubble ports are installed in a single rectangular through groove, the second telescopic rods adjacent to each other in the left and right are respectively rotatably installed along the length and width, and the second telescopic rods adjacent to each other in the front and rear are respectively rotatably installed in the same direction;

The adjacent second telescopic rods are rotatably installed along the length and width respectively so that the adjacent bubble blowing ports can be tilted along the length or width direction respectively, thereby being able to fit the flowers tilted at different angles to blow out functional soap bubbles for precise pollination, thereby avoiding the bubble blowing ports from rotating unilaterally and being unable to fully fit the tilted flowers. The multiple bubble blowing ports with different tilt directions are respectively located at the two ends of the rectangular through groove in the width direction and correspond to two rows of ridges, thereby being able to rotate in different directions and correspond to the flowers tilted in multiple directions for precise pollination, thereby improving the pollination efficiency while achieving precise pollination.

The mounting ring and the inner wall of the bubble blowing tank are both fixedly mounted with a temperature control unit, the temperature control unit includes a temperature sensing sheet and an electric heating wire, the bubble blowing block is fixedly mounted with a temperature sensing sheet, the bubble blowing block and the inner wall of the mounting ring are both fixedly mounted with an electric heating wire, the temperature sensing sheet is used to sense the temperature of the mixed bubble solution containing pollen in the bubble blowing tube, and start the electric heating wire through the control system The electric heating wire is used to control the temperature; when greenhouse planting is carried out in winter, the temperature difference between day and night in the greenhouse is large due to sunlight. The electric heating wire maintains the temperature of the mixed foaming solution containing pollen at the bubble blowing tank and the bubble blowing port, thereby avoiding the influence of too low temperature on pollen activity during greenhouse planting, and keeping the pollen temperature at the optimal pollination activity temperature, thereby improving the success rate of pollination.

The present invention can achieve the following beneficial effects through the above technical solution:

1. The present invention adopts a design in which a moving unit, a bubble blowing unit and an adjusting unit cooperate with each other. The moving unit can perform automatic mobile pollination and the bubble blowing unit can blow out functional soap bubbles containing pollen to pollinate flowers, thereby avoiding damage to flowers during pollination; and the bubble blowing unit and the adjusting unit cooperate with each other, so that the bubble blowing port can be fine-tuned for flowers at different heights and angles, so as to blow out functional soap bubbles for precise pollination, and the bubble blowing ports at different positions rotate in different directions, so as to further comprehensively pollinate the flowers;

2. The present invention can detect the position and angle of flowers in multiple directions through multiple ultrasonic detectors, thereby avoiding the situation where the flowers are blocked by leaves and cannot be detected and positioned; the movement of the bubble blowing block in the rectangular through groove can adapt to the pollination of flowers in different positions, and cooperate with the third telescopic rod to control the spacing of the fixed pillars to adapt to ridges of different widths, which is conducive to improving practicality.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings of the present invention are introduced below to facilitate understanding by those skilled in the art.

Fig. 1 is a schematic diagram of the overall structure of the present invention;

FIG2 is a schematic diagram of another side of the overall structure of the present invention;

FIG3 is a schematic diagram of the structure of a mobile unit of the present invention;

FIG4 is a schematic diagram of the structure of the other side of the mobile unit of the present invention;

FIG5 is a schematic diagram of the bottom structure of the load-bearing plate of the present invention;

FIG6 is an enlarged structural schematic diagram of point A in FIG5 of the present invention;

FIG7 is a schematic diagram of the structure of the present invention located above a field ridge;

FIG8 is a schematic diagram of the state structure of the bubble blowing ports at different heights of the present invention;

FIG9 is a schematic diagram of the structure of the temperature control unit in the bubble blowing tank of the present invention;

FIG. 10 is a schematic diagram of the distribution structure of multiple rectangular through slots and bubble blocks of the carrier plate of the present invention.

In the figure: a moving unit 1, a fixed support 11, a rotating shaft 12, a wheel 13, a driving motor 14, a belt 15, a third telescopic rod 16, a bearing plate 2, a rectangular through groove 21, a bubble blowing unit 3, a blower 31, a bubble blowing tank 32, a connecting pipe 33, a bubble blowing port 34, a bubble blowing block 35, an adjustment unit 4, a telescopic hose 41, a mounting ring 42, a first telescopic rod 43, a second telescopic rod 44, a control unit 7, a temperature control unit 8, a temperature sensing sheet 81, an electric heating rod 82, and a ridge 9.

Detailed ways

In order to facilitate understanding by those skilled in the art, the technical solution of the present invention is explained in detail below.

Embodiment 1: As shown in Figures 1 to 8 and Figure 10, this embodiment is suitable for the pollination of strawberry flowers grown in greenhouses, and is specifically suitable for the pollination of strawberry flowers grown in greenhouses and in single-row and single-ridge plants.

A strawberry pollination device comprises a moving unit 1, a carrying plate 2, a bubble blowing unit 3, an adjusting unit 4 and a control unit 7. The moving unit 1 contacts the ground and has the carrying plate 2 installed above it. The moving unit 1 is used to pollinate strawberry stamens while moving on the ground. The bubble blowing unit 3 and the adjusting unit 4 are installed above the carrying plate 2. The bubble blowing unit 3 is used to blow out a foaming solvent containing pollen and form bubbles, i.e., functional soap bubbles, so that the functional soap bubbles contact the stamens and spread out to allow the pollen to contact the strawberry flowers, thereby completing the precise pollination of the strawberry flowers by the bubble blowing unit 3. The pollination functional soap bubbles blown out by the bubble blowing unit 3 can avoid contacting the flowers while completing the pollination of the flowers, thereby Avoid damaging the flowers during pollination, improve the success rate and quality of flower pollination, and accurately pollinate the flowers through functional soap bubbles, thereby reducing pollen waste during pollination, which is beneficial to reducing planting costs; the adjustment unit 4 is used to adjust the position of the bubble blowing unit 3, so that the bubble blowing unit 3 can fit the flowers more closely for accurate pollination, and adjust the pollination angle according to different angles of the flowers, and through the mutual cooperation of the adjustment unit 4 and the bubble blowing unit 3, pollination can be completed more accurately; the control unit 7 is fixedly installed above the supporting plate 2, and the control unit 7 is used to control the mutual cooperation between the movable unit 1, the bubble blowing unit 3 and the adjustment unit 4, so as to achieve accurate pollination and improve the success rate of pollination.

The bubbling unit 3 comprises a blower 31, a bubbling tank 32, a connecting pipe 33 and a bubbling port 34. The blower 31 is fixedly installed on the top of the supporting plate 2 by bolts. The bubbling tank 32 is fixedly installed on the top of the supporting plate 2 by bolts and is connected to the blower 31 through the connecting pipe 33. The bubbling tank 32 contains a mixed bubbling solution of pollen and a bubbling solvent. The connecting pipe 33 is fixedly connected between the air outlet of the blower 31 and the bubbling port 34 by threads. The bubbling port 34 is installed below the supporting plate 2. When the blower 31 is located above the flower, the mixed bubbling solvent containing pollen in the bubbling tank 32 is sucked in while the air is started to be inhaled. The mixed bubble solution The liquid flows through the connecting tube 33 to the surface of the bubble blowing port 34 and forms a thin film. At this time, the blower 31 continues to blow gas to blow the mixed bubble solution in the thin film on the surface of the bubble blowing port 34 into bubbles, namely functional soap bubbles, so that the flowers are accurately pollinated by the functional soap bubbles. The functional soap bubbles can avoid damaging the flowers while accurately pollinating, which is beneficial to improving the success rate of pollination. It should be noted that a single bubble blown by the bubble blowing unit 3 can accurately pollinate a single flower, thereby reducing waste in the pollination process. It should be noted again that in order to improve the success rate of pollination, the bubble blowing unit 3 can blow out multiple functional soap bubbles to pollinate a single flower.

The mobile unit 1 includes a fixed support 11, a rotating shaft 12, a wheel 13, a driving motor 14 and a belt 15. Two pairs of fixed supports 11 are symmetrically installed on both sides below the load-bearing plate 2. The side walls of the fixed supports 11 on both sides are rotatably installed with the rotating shaft 12 through bearings. The other end of the rotating shaft 12 is rotatably installed with a wheel 13 corresponding to the fixed support 11 through a bearing. A driving motor 14 for driving the wheel 13 is fixedly installed below the load-bearing plate 2 and between the fixed supports 11 on the same side. The driving motor 14 The output shaft is coaxially fixed with a driving belt wheel 15, and the rotating shaft 12 is coaxially fixed with a driven belt wheel 15 that matches the driving belt wheel 15. The driving belt wheel 15 and the driven belt wheel 15 are connected by a belt 15.

When pollinating flowers, the fixed pillars 11 are respectively located at the furrows on both sides of the ridge 9, the supporting plate 2 is located directly above the flowers, the driving motors 14 on both sides of the bottom of the supporting plate 2 work and the output shaft drives the active belt 15 wheel to rotate, and the active belt 15 wheel drives the driven belt 15 wheels and the rotating shaft 12 on both sides of the length direction of the ridge 9 to rotate synchronously through the belt 15, so that the wheel 13 moves along the furrow and the supporting plate 2 is located above the flowers to avoid damaging the flowers; the mobile unit 1 can make the bubbling unit 3 move to pollinate different flowers one after another, thereby improving practicality, and the independent structure of the wheel 13 and the fixed pillar 11 can avoid oppression and damage to the flowers during movement, thereby improving the success rate of pollination.

A rectangular through groove 21 is provided on the surface of the carrier plate 2 along the width direction, and a guide rail with a concave structure is provided on the side wall of the rectangular through groove 21. A bubble block 35 is slidably installed inside the rectangular through groove 21 through a motor and a pulley (not shown in the figure), and the bubble port 34 is fixedly bonded and installed on the lower surface of the bubble block 35, and the connecting pipe 33 passes through the bubble block 35 and is fixedly connected to the bubble port 34; the growth position of the flower is uneven due to the influence of the environment during growth, and the lateral position of the bubble port 34 is changed by sliding the bubble block 35 in the rectangular through groove 21, so that functional soap bubbles are blown out to fit the flowers in different positions for pollination during lateral movement, so as to realize accurate pollination for the flowers in different lateral positions, and cooperate with the movement of the wheel 13 along the furrow to carry out all-round pollination for the flowers, thereby further improving the pollination accuracy and pollination success rate of the flowers.

The fixed support 11 is a retractable structure, and the fixed support 11 is a retractable cylinder. The height position of the supporting plate 2 and the bubble blowing port 34 can be adjusted through the retractable structure of the fixed support 11, so that it can adapt to flowers of different heights for accurate pollination, avoiding the damage of flowers due to low height during pollination and the inability of functional soap bubbles to accurately contact flowers due to high height, and further improving the accuracy and success rate of flower pollination; the opposite surfaces of the side walls of the fixed support 11 are fixedly installed with sound wave sensors, which are ultrasonic detectors and are electrically connected to the control system. The sound wave sensors detect the position of flowers through sound waves, and adjust the height of the fixed support 11 through the control system, so that the supporting plate 2 and the bubble blowing port 34 fit the flowers for accurate pollination without causing the supporting plate 2 to press the flowers;

It should be noted that ultrasonic detectors are installed on the opposite sides of the fixed support 11 and are installed at different heights or positions, so that the ultrasonic detectors can detect the position of the flower at different positions or heights, avoiding the situation where the flower is blocked by leaves and cannot be identified during unilateral ultrasonic detection, thereby avoiding the flower not being in contact with the functional soap bubble for pollination, and further improving the accuracy and success rate of pollination; it should be noted again that when the ultrasonic detector is detecting the position of the flower, the mobile unit 1 stops moving, which is convenient for the ultrasonic detector to detect the position of the flower, avoiding the ultrasonic detector receiving incomplete echoes and thus failing to successfully detect the position of the flower, so the mobile unit 1 adopts intermittent movement during the movement; it should be noted again that after the flower completes pollination, there will be moisture remaining on the surface of the flower, and there will be no moisture remaining on the surface of the unpollinated flower, so that the ultrasonic detector can detect and locate the position of the unpollinated flower.

The adjusting unit 4 comprises a telescopic hose 41, a mounting ring 42 and a first telescopic rod 43. The telescopic hose 41 and the connecting tube 33 are mutually sleeved, that is, the connecting tube 33 penetrates the bubble blowing block 35 and is connected to the telescopic hose 41. The telescopic hose 41 is fixedly bonded to the middle position of the lower surface of the bubble blowing block 35. The other end of the telescopic hose 41 is fixedly mounted to the bubble blowing port 34 by bonding. The telescopic hose 41 adopts a corrugated hose. The outer side of the bubble blowing port 34 is provided with a mounting ring 42 by bonding and fixing. The mounting ring 42 is made of plastic. A first telescopic rod 43 is vertically mounted between the bubble blowing block 35 and the mounting ring 42. The first telescopic rod 43 is diagonally mounted. When pollinating flowers, the height positions of the flowers are different during the growth process. The height of the bubble blowing port 34 is finely adjusted by the adjusting unit 4, so that the bubble blowing port 34 can accurately contact the flowers when blowing out functional soap bubbles, thereby further completing the precise pollination of the flowers.

After the ultrasonic wave detects the position of the flower and the control system controls the bubble blowing port 34 to be located directly above the flower, the control system controls the first telescopic rod 43 to extend and retract and drives the mounting ring 42 to adjust the height position. When the mounting ring 42 adjusts the height position, the telescopic hose 41 is forced to extend and retract synchronously. When the mounting ring 42 moves, it drives the fixed and bonded bubble blowing port 34 to move, so that the bubble blowing port 34 fits the flower to blow out functional soap bubbles for precise pollination. The height position of the bubble blowing port 34 is fine-tuned by the first telescopic rod 43, so that the bubble blowing port 34 is further fitted to the flower, thereby further improving the pollination accuracy and success rate.

The adjusting unit 4 includes a second telescopic rod 44, both ends of the first telescopic rod 43 are rotatably mounted, the second telescopic rod 44 is rotatably mounted on the side wall of the mounting ring 42 along the width direction of the ridge 9, and the other end of the second telescopic rod 44 is rotatably mounted on the bottom of the bubble blowing block 35, and the angle of the mounting ring 42 and the bubble blowing port 34 is changed by the extension and contraction of the second telescopic rod 44, so that the bubble blowing port 34 fits the flowers at different angles; in the process of growing, the flowers are affected by the growth environment, which may cause some flowers to be in a tilted state. When the flowers are pollinated and the flowers are in a tilted state, after the ultrasonic detector detects the position and angle of the flowers, the first telescopic rod 43 is controlled by the control system to adjust the height position, and the second telescopic rod 44 is extended and contracted to adjust the angle of the mounting ring 42 and the bubble blowing port 34, so that the bubble blowing port 34 corresponds to the flowers in the tilted state, and further improves the accuracy and success rate of flower pollination; it should be noted that the second telescopic rod 44 is installed along the length or width direction of the ridge 9, and the inclination direction of the mounting ring 42 and the bubble blowing port 34 is consistent with the installation direction of the second rod.

A sonic sensor is fixedly installed at the bottom of the mounting ring 42 by bolts. The sonic sensor is an ultrasonic detector and is electrically connected to the control system. The sonic sensor fixedly installed at the bottom of the mounting ring 42 by bolts is located at the bottom of the mounting ring 42 to directly detect the flowers, so that the bubble blowing port 34 can accurately and stably correspond to the flowers, and the sonic sensor fixedly installed at the bottom of the mounting ring 42 by bolts cooperates with the sonic sensor on the side wall of the fixed pillar 11, so as to further detect the position and angle of the flowers to improve the detection accuracy, thereby further improving the accuracy of pollination and the success rate of pollination.

The above embodiment uses the moving unit 1 to move in the furrows on both sides of the strawberry flower, and uses the adjusting unit 4 and the blowing unit 5 to adjust the strawberry flower. The mutual cooperation of the bubble units 3 completes the multi-directional and precise pollination of the strawberry flowers and improves the pollination success rate. However, when the width of the ridge 9 is changed, for example, when the single-row planting method is changed to the double-row planting method to widen the ridge 9, the above-mentioned embodiment cannot be located at the ridge ditch and move, resulting in damage to the strawberry flowers during movement. In addition, the density of strawberry flowers increases when double-row planting is performed. The above-mentioned embodiment has a low working efficiency when the density of strawberry flowers is high. Therefore, the double-row planting strawberry pollination will be further described below.

Embodiment 2: Based on the above embodiments, as shown in FIGS. 1 to 10 , this embodiment is suitable for pollination of strawberries grown in greenhouses, and is specifically suitable for pollination of strawberry flowers grown in greenhouses and in single-ridge double-row plantings;

A rectangular through groove 21 is opened at the bottom of the supporting plate 2 along the width direction, and the fixed pillar 11 is slidably installed in the rectangular through groove 21. A mounting column is fixedly installed at the bottom of the supporting plate 2, and a third telescopic rod 16 is fixedly installed in the mounting column. The third telescopic rod 16 passes through the mounting column and both ends are fixed to the opposite surfaces of the inner wall of the fixed pillar 11 by bolts respectively; the fixed pillar 11 is driven to slide back and forth in the slide groove by the extension and contraction of the third telescopic rod 16, thereby changing the spacing between the fixed pillars 11 on both sides, and then adapting to ridges 9 of different standard widths, that is, the third telescopic rod 16 of a single row and double ridges is extended to expand the fixed pillars 11 on both sides, so that the fixed pillars 11 and the wheels 13 on both sides are always located in the furrows on both sides.

The carrier plate 2 is provided with a plurality of rectangular through grooves 21 along the length direction, and a bubble block 35 and a bubble port 34 are installed in each of the plurality of rectangular through grooves 21. The carrier plate 2 is provided with a plurality of bubble blocks 35 along the width direction of the rectangular through grooves 21. The plurality of bubble blocks 35 are located in the rectangular through grooves 21 for sliding and are located at the two ends of the rectangular through grooves 21 and correspond to each other, so as to correspond to the flowers in the double rows and perform accurate pollination. The best number of bubble blocks 35 is two or four bubble blocks 35 and are located at the two ends of the rectangular through grooves 21 and correspond to each other. The plurality of bubble blocks 35 and the second telescopic rod 44 at the bottom of the bubble port 34 rotate along the width and length directions respectively. Installation, that is, the front and rear or left and right adjacent second telescopic rods 44 are respectively rotated and installed along the width or length direction of the rectangular through slot 21; it should be noted that when two bubble blowing blocks 35 and bubble blowing ports 34 are installed in a single rectangular through slot 21, the front and rear adjacent second telescopic rods 44 are respectively rotated and installed along the length and width, and the left and right adjacent second telescopic rods 44 are rotated and installed in the same direction; when four or more bubble blowing blocks 35 and bubble blowing ports 34 are installed in a single rectangular through slot 21, the left and right adjacent second telescopic rods 44 are respectively rotated and installed along the length and width, and the front and rear adjacent second telescopic rods 44 are rotated and installed in the same direction;

The adjacent second telescopic rods 44 are rotatably installed along the length and width respectively so that the adjacent bubble blowing ports 34 can be tilted along the length or width direction respectively, so as to fit the flowers tilted at different angles to blow out functional soap bubbles for precise pollination, thereby avoiding the bubble blowing ports 34 from rotating on one side and failing to fully fit the tilted flowers. The multiple bubble blowing ports 34 with different tilt directions are respectively located at the two ends of the rectangular through groove 21 in the width direction and correspond to two rows of ridges 9, so as to rotate in different directions and correspond to the flowers tilted in multiple directions for precise pollination, thereby improving the pollination efficiency while achieving precise pollination.

The mounting ring 42 and the inner wall of the bubbling tank 32 are both fixedly mounted with a temperature control unit 8, and the temperature control unit 8 includes a temperature sensing sheet 81 and an electric heating rod 82. The bubbling block 35 is fixedly mounted with a temperature sensing sheet 81, and the bubbling block 35 and the inner wall of the mounting ring 42 are both fixedly mounted with an electric heating rod 82. The temperature sensing sheet 81 is used to sense the mixed air containing pollen in the bubbling tube. The temperature of the bubble solution is controlled by the control system, and the electric heating rod 82 is started to control the temperature; when greenhouse planting is carried out in winter, the temperature difference between day and night in the greenhouse is large due to sunlight. The electric heating rod 82 maintains the temperature of the mixed bubble solution containing pollen at the bubble blowing tank 32 and the bubble blowing port 34, thereby avoiding the influence of too low temperature on pollen activity during greenhouse planting, and keeping the pollen temperature at the optimal pollination activity temperature, thereby improving the success rate of pollination; it should be noted that the control system controls the electric heating rod 82 to keep the mixed bubble solution containing pollen at 20°C-24°C.

In this embodiment, the fixed support 11 and the third telescopic rod 16 installed by sliding can change the spacing between the fixed support 11 on both sides, so as to adapt to the widened furrow spacing, and multiple bubble openings 34 and second telescopic rods 44 installed in different directions can improve the pollination efficiency while rotating the bubble openings 34 in different directions through the second telescopic rods 44 installed in different directions, so as to correspond to flowers with different inclination directions and perform bubble blowing for precise pollination, which is suitable for strawberry pollination planted in double rows.

During the pollination process, the third telescopic rod 16 is telescopically adjusted to adjust the spacing between the fixed pillars 11 on both sides, so that the wheels 13 on both sides are located at the furrows on both sides and move to make the bearing plate 2 face the field ridge 9. The ultrasonic detectors on the opposite sides of the fixed pillars 11 and the bottom of the mounting ring 42 detect the flower position in multiple directions to avoid being blocked by leaves, and then transmit electrical signals to the control system. The control system controls the drive motor 14 to start and drive the rotating shafts 12 at both ends of the same side through the active belt 15 of the output shaft, so that the wheels 13 move at the furrows to stop just above the flowers.

After the movement stops, the ultrasonic detector continues to detect and accurately locate the position of the flower, and the fixed support 11 is extended and retracted to get close to the flower for pollination. It should be noted that the extension of the fixed support 11 makes the supporting plate 2 located above the flower at the highest position to avoid oppression and damage to the flower; after the supporting plate 2 moves to the flower position corresponding to the highest point, according to the different height positions of the flower detected by ultrasonic wave, the first telescopic rod 43 finely adjusts the height of the bubble blowing port 34 and the mounting ring 42, so that the multiple bubble blowing ports 34 located in the rectangular through groove 21 can fit the flowers of different heights and blow out functional soap bubbles for pollination; after completing the pollination of the flower at the current position, the bubble blowing block 35 slides through the motor pulley and the rectangular through groove 21 to the flowers at different positions of the width of the ridge 9, and the height positions of the multiple bubble blowing ports 34 and the mounting ring 42 are finely adjusted through the first telescopic rod 43 again, so that the flowers at different heights are pollinated simultaneously;

While pollinating flowers at different heights, the control system controls the extension and retraction of the second telescopic rod 44 according to the different angles of the flowers detected by ultrasonic waves, so that the multiple bubble openings and the mounting ring 42 rotate along the mounting direction of the second telescopic rod 44, and then blow functional soap bubbles corresponding to the flowers at different inclination angles for pollination; after completing the pollination at the current position, according to the position of the flower to be pollinated detected by the ultrasonic detector, the driving motor 14 drives the wheel 13 through the belt 15 to move at the ridge to the position of the flower to be pollinated to repeat the pollination, thereby completing the pollination of the strawberry flower.

The present invention is only described with reference to the above-mentioned embodiments, but the structures, arrangement relationships and connection relationships of the various components of the present invention may be changed accordingly.

Claims

A strawberry pollination device, characterized in that it comprises a moving unit (1), a carrying plate (2), a bubbling unit (3), an adjusting unit (4) and a control unit (7), wherein the moving unit (1) contacts the ground and has the carrying plate (2) installed above it, the moving unit (1) is used for mobile pollination, the bubbling unit (3) and the adjusting unit (4) are installed above the carrying plate (2), the bubbling unit (3) is used for blowing out bubbles and performing pollination, the adjusting unit (4) is used for adjusting the position of the bubbling unit (3), and the control unit (7) is fixedly installed above the carrying plate (2);

The bubble blowing unit (3) comprises a blower (31), a bubble blowing tank (32), a connecting pipe (33) and a bubble blowing port (34); the blower (31) is fixedly mounted above the supporting plate (2); the bubble blowing tank (32) is mounted above the supporting plate (2) and connected to the blower (31) via the connecting pipe (33); a connecting pipe (33) is fixedly connected between the air outlet of the blower (31) and the bubble blowing block (35); and a bubble blowing port (34) is mounted below the supporting plate (2).
A strawberry pollination device according to claim 1, characterized in that: the mobile unit (1) comprises wheels (13), a drive motor (14), a belt (15), a rotating shaft (12) and a fixed pillar (11), the fixed pillars (11) are symmetrically installed on both sides below the bearing plate (2), the rotating shaft (12) is rotatably installed on the side of the fixed pillar (11), and the wheel (13) is rotatably installed on the other end of the rotating shaft (12), the drive motor (14) is fixedly installed below the bearing plate (2) and located between the fixed pillars (11) on the same side, the output shaft of the drive motor (14) is coaxially fixedly installed with a driving pulley, the rotating shaft (12) is coaxially fixedly sleeved with a driven pulley, and the driving pulley and the driven pulley are connected by a belt (15).
A strawberry pollination device according to claim 2, characterized in that: a rectangular through groove (21) is opened on the surface of the carrier plate (2) along the width direction, a bubble block (35) is slidably installed inside the rectangular through groove (21), the bubble port (34) is fixedly installed on the lower surface of the bubble block (35), and the connecting pipe (33) passes through the bubble block (35) and is fixedly connected to the bubble port (34).
A strawberry pollination device according to claim 3, characterized in that: the adjustment unit (4) comprises a telescopic hose (41), a mounting ring (42) and a first telescopic rod (43), the telescopic hose (41) is fixedly connected to the bubble blowing port (34), a mounting ring (42) is provided on the outer fixed sleeve of the telescopic hose (41), and the first telescopic rod (43) is installed between the bubble blowing block (35) and the mounting ring (42).
A strawberry pollination device according to claim 4, characterized in that: the fixed support (11) is a retractable structure, and the opposite surface of the side wall of the fixed support (11) and the bottom of the mounting ring (42) are fixedly mounted with an acoustic wave sensor, and the acoustic wave sensor adopts an ultrasonic detector and is electrically connected to the control system.
A strawberry pollination device according to claim 5, characterized in that: the adjustment unit (4) includes a second telescopic rod (44), both ends of the first telescopic rod (43) are rotatably mounted, the second telescopic rod (44) is rotatably mounted on the side wall of the mounting ring (42), and the other end of the second telescopic rod (44) is rotatably mounted on the bottom of the bubble blowing block (35).
A strawberry pollination device according to claim 6, characterized in that: a rectangular through groove (21) is provided at the bottom of the carrier plate (2) along the width direction, the fixed support (11) is slidably installed in the rectangular through groove (21), and the rectangular supports on both sides are fixedly installed. A third telescopic rod (16) is provided.
A strawberry pollination device according to claim 7, characterized in that: the carrying plate (2) is provided with a plurality of rectangular through grooves (21) along the length direction, a bubble blowing block (35) and a bubble blowing port (34) are installed in each of the plurality of rectangular through grooves (21), and a second telescopic rod (44) at the bottom of the plurality of bubble blowing blocks (35) and the bubble blowing port (34) is rotatably installed in the width direction and the length direction respectively.
A strawberry pollination device according to claim 8, characterized in that: the carrying plate (2) is equipped with a plurality of bubble blocks (35) and bubble ports (34) along the width direction, the plurality of bubble blocks (35) and bubble ports (34) are respectively located on both sides of the width direction of the rectangular through groove (21), and the second telescopic rods (44) at the bottom of the plurality of bubble blocks (35) are rotatably installed along the width and length directions respectively.
A strawberry pollination device according to claim 9, characterized in that: the inner walls of the mounting ring (42) and the bubble blowing block (35) are both fixedly mounted with a temperature control unit (8), the temperature control unit (8) comprises a temperature sensing sheet (81) and an electric heating rod (82), the bubble blowing block (35) is fixedly mounted with a temperature sensing sheet (81), and the inner walls of the bubble blowing block (35) and the mounting ring (42) are both fixedly mounted with an electric heating rod (82).