A handheld electric fruit tree pollinator and pollination method

Abstract

The present invention belongs to the technical field of plant pollination devices, and particularly relates to a handheld electric fruit tree pollinator and a pollination method. The handheld electric fruit tree pollinator includes: a depth camera (1), a lateral vibration motor (2), a lateral vibration motor cover (3), a solenoid valve (4), a solenoid valve cover (5), a sealing ring (6), a filter screen (7), a filter screen connecting piece (8), a fluff brush connecting piece (9), a fluff brush (10), a longitudinal vibration motor cover (11), a longitudinal vibration motor (12), a powder chamber cover (13), a powder chamber (14), an elastic rod (15), a screw (16), a multi-joint arm hand rod (17), and an intelligent controller (18); the present invention is convenient to carry and simple to operate; the solenoid valve is closed in the non-working state, reducing pollen waste; based on the pollination principle of insects (bees), the pollen is charged with static electricity through the fluff brush and high-frequency vibration, improving the pollination success rate and reducing the damage to the inflorescence.

Description

Technical Field

[0001] The present invention belongs to the technical field of plant pollination devices, and particularly relates to a handheld electric fruit tree pollinator and a pollination method. Background Art

[0002] Fruit trees are one of the important economic crops. Although there are many insects and wind in nature that can help fruit trees pollinate, they are easily affected by factors such as weather, season, and the number of bees, resulting in poor pollination effect of fruit trees, low fruit setting rate, and further affecting the yield and quality of fruits. Therefore, in order to ensure the yield and quality of fruits, effective pollination techniques need to be adopted.

[0003] Currently, fruit tree pollination mainly uses unmanned aerial vehicle (UAV) pollination and manual pollination. UAV pollination saves labor and time, but the pollination is uneven and the fruit setting rate is low; manual pollination mainly includes manual dot pollination and mechanical powder spraying. Among them, manual dot pollination uses tools such as writing brushes, hairbrushes, and cotton swabs, which is time-consuming and laborious. Although there are some fruit tree pollinators on the market, they waste a lot of pollen, and some of the devices are bulky and inconvenient to use, not suitable for large-scale application. Therefore, a fruit tree pollinator that is simple and easy to use, small in size, and low in price is needed. Summary of the Invention

[0004] The purpose of the present invention is to provide a handheld electric fruit tree pollinator and a pollination method with a light structure and simple operation.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions:

[0006] A handheld electric fruit tree pollinator, the handheld electric fruit tree pollinator includes: a depth camera 1, a lateral vibration motor 2, a lateral vibration motor cover 3, a solenoid valve 4, a solenoid valve cover 5, a sealing ring 6, a filter screen 7, a filter screen connector 8, a fluff brush connector 9, a fluff brush 10, a longitudinal vibration motor cover 11, a longitudinal vibration motor 12, a powder chamber cover 13, a powder chamber 14, an elastic rod 15, a screw 16, a multi-section arm hand rod 17, and an intelligent controller 18;

[0007] The interior of the powder chamber 14 is in a funnel shape for storing pollen;

[0008] The depth camera 1 is installed on the side of the powder chamber 14 and can collect fruit tree inflorescence information in real time by taking pictures;

[0009] A plurality of lateral vibration motors 2 are evenly installed on the side of the powder chamber 14; the lateral vibration motor cover 3 is arranged outside the lateral vibration motor 2;

[0010] The solenoid valve 4 is installed inside the powder chamber 14, and the output of pollen is controlled in real time through PWM control;

[0011] The solenoid valve cover 5 is arranged outside the solenoid valve 4, and the solenoid valve cover 5 is installed inside the powder chamber 14 by interference fit;

[0012] The powder chamber cover 13 is located at the upper part of the powder chamber 14;

[0013] The longitudinal vibration motor 12 is installed at the central position on the top of the powder chamber cover 13;

[0014] The longitudinal vibration motor cover 11 is arranged above the longitudinal vibration motor 12;

[0015] The sealing ring 6 and the filter screen 7 are sequentially installed between the powder chamber 14 and the filter screen connecting part 8 from top to bottom; the filter screen connecting part 8 is connected to the bottom of the powder chamber 14;

[0016] The fluff brush connecting part 9 is connected to the filter screen connecting part 8; a plurality of first through holes and second through holes are evenly distributed inside the fluff brush connecting part 9, wherein the fluff of the fluff brush 10 is installed at the lower part of the first through hole, and pollen can be evenly attached to the fluff of the fluff brush 10 through the second through hole;

[0017] The inner end of the elastic rod 15 is installed on the powder chamber 14 by screws, and the outer end of the elastic rod 15 is connected to the inner end of the multi-joint arm rod 17 by screws 16;

[0018] The lithium battery is installed inside the multi-joint arm rod 17; the intelligent controller 18 is installed on the outer end handle of the multi-joint arm rod 17.

[0019] The intelligent controller 18 is installed on the outer end handle, and includes: a display screen 1801, a photographing button 1802 and a pollination button 1803. Through the intelligent controller 18, automatic pollination can be achieved, or pollination parameters can be manually set to complete manual operations.

[0020] The depth camera 1 can transmit the photos to the intelligent controller 18 and display them in real time on the display screen 1801. Further, the intelligent controller 18 can calculate the required pollen dosage and operation time for the inflorescence to be pollinated through image recognition and intelligent algorithms based on the inflorescence photos.

[0021] The lateral vibration motor cover 3 is connected to the powder chamber 14 by a buckle. The lateral vibration motor 2 can generate high-frequency vibration, which can not only evenly transport the pollen to the fluff brush 18, but also enable the fluff brush 18 to rub against the air to generate static electricity, further making the pollen attached to the fluff brush 18 carry charges.

[0022] The powder chamber cover 13 is connected to the powder chamber 14 by a thread.

[0023] The longitudinal vibration motor cover 11 and the powder chamber cover 13 are connected by snap fasteners. The longitudinal vibration motor 12 can make the pollen have the inertia of downward movement through vibration, and further transport the pollen from the powder chamber 14 to the fluff brush 18.

[0024] The cross-section of the elastic material in the middle of the elastic rod 15 is circular, which can not only store the elastic potential energy in the longitudinal and transverse directions of the pollinator during pollination, but also reduce the vibration of the handle during operation.

[0025] A pollination method using the handheld electric fruit tree pollinator described above includes the following steps:

[0026] S1. Press the photo-taking button 1802, and the depth camera 1 takes a photo of the inflorescence to be pollinated;

[0027] S2. The photo taken by the depth camera 1 is transmitted to the intelligent controller 18 through USB communication;

[0028] S3. The intelligent controller 18 calculates the pollen dosage Q and the operation time T through an intelligent control algorithm;

[0029] S3.1. The intelligent controller 18 first identifies the stamens in the photo based on the real-time object detection algorithm YOLO, further calculates the size of each stamen and frames it with a wireframe of length L and width W;

[0030] S3.2. Take the center point of each frame to replace the framed stamen, and fit the centers of multiple stamens in the photo into a circle with a diameter of d through Welzl's algorithm, so that the center of each stamen is included in the circle with a diameter of d;

[0031] S3.3. Calculate the circumscribed circle diameter d of each wireframe ki :

[0032]

[0033] Then the average diameter of each stamen

[0034]

[0035] In Formula 1 and Formula 2, d ki is the circumscribed circle diameter, in m; L is the length of the wireframe, in m; W is the width of the wireframe, in m; is the average diameter of each stamen, in m; n is the number of stamens identified;

[0036] S3.4. Calculate the pollination area diameter D:

[0037]

[0038] In Formula 3, D is the diameter of the pollination area, with the unit of m; is the average diameter of each stamen, with the unit of m; d is the minimum diameter of the fitted circle containing the centers of all stamens, with the unit of m;

[0039] S3.5. The pollen output by the pollinator is dispersed into an area, and the effective area is called the pollination operation area. An inscribed circle is taken for this area, and the diameter of the inscribed circle is the diameter D of the inscribed circle of the pollination operation area of the pollinator. s ; If the diameter D of the pollination area is greater than the diameter D of the inscribed circle of the pollination operation area of the pollinator s , the intelligent controller 18 triggers the alarm mode and prompts to move the handheld electric fruit tree pollinator downward until the diameter D of the pollination area is less than the diameter D of the inscribed circle of the pollination operation area of the pollinator. s ;

[0040] S3.6. If the diameter D of the pollination area is less than the diameter D of the inscribed circle of the pollination operation area of the pollinator s , the intelligent controller 18 prompts for operation, then identifies the flowers in the picture through the real-time object detection algorithm YOLO (You Only Look Once), further calculates the size of each flower and frames it with a wireframe, further merges these frames, and calculates the total area S;

[0041] S3.7. Calculate the pollen dosage Q and operation time T of this inflorescence:

[0042] Q = μ × S Formula 4

[0043]

[0044] In Formula 4 and Formula 5, Q is the pollen dosage, with the unit of milligram; μ is the pollination dosage correlation coefficient, and by calculating the weight of the pollen of a single layer of fruit trees per unit area, the pollination dosage correlation coefficient μ of different fruit trees can be obtained; S is the total area of the area to be pollinated, with the unit of cm 2 ; T is the operation time, with the unit of second; γ is the pollination time correlation coefficient, and by calculating the pollen dosage when the longitudinal vibration motor vibrates at a frequency of 1 Hz per unit time of the pollinator, the pollination time correlation coefficient γ of different fruit trees can be obtained; F is the vibration frequency of the longitudinal vibration motor, with the unit of Hz;

[0045] S4. Transmit the required pollen to the filter screen 7 through the PWM control solenoid valve 4;

[0046] S5. Press the pollination button 1803 to perform the pollination operation according to the pollen dosage Q and operation time T of this inflorescence;

[0047] S5.1. The longitudinal vibration motor 12 is started, so that the pollen adheres to the fluff brush 10 through the filter screen 7 and further adheres to the stigma of the stamen;

[0048] S5.2. Meanwhile, the transverse vibration motor 2 starts to evenly scatter the pollen onto the fluff brush 10. At the same time, high-frequency vibration is used to generate static electricity on the fluff brush 10, further enabling the pollen to strongly adhere to the stigma of the flower pistil.

[0049] In step S4, the inflorescence information is observed in real time through the depth camera 1, and the on-off frequency and operation time parameters of the solenoid valve 4 are further manually set.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0051] 1. It is convenient to carry and simple to operate;

[0052] 2. The solenoid valve is closed in the non-working state, reducing pollen waste;

[0053] 3. Based on the pollination principle of insects (bees), the pollen is charged with static electricity through the fluff brush and high-frequency vibration, improving the pollination success rate and reducing damage to the inflorescence;

[0054] 4. The inflorescence information can be collected through the depth camera. Based on the size and quantity of the inflorescence, the pollen dosage is then calculated by the intelligent controller, and further the required pollen quantity is output by controlling the solenoid valve through PWM; it is also possible to observe the inflorescence information in real time through the depth camera and manually set the pollination operation parameters;

[0055] 5. The cross-section of the elastic material in the middle of the elastic rod is circular, which can store the longitudinal and transverse elastic potential energy during the use of the pollinator, and at the same time can also reduce the vibration of the handle. Description of the Drawings

[0056] Figure 1 It is a schematic diagram of the overall structure of a hand-held electric fruit tree pollinator of the present invention;

[0057] Figure 2-1 It is a schematic diagram of the powder chamber structure of a hand-held electric fruit tree pollinator of the present invention;

[0058] Figure 2-2 It is a schematic sectional view of the powder chamber of a hand-held electric fruit tree pollinator of the present invention;

[0059] Figure 3-1 It is a schematic diagram of the structure of the filter screen connector of a hand-held electric fruit tree pollinator of the present invention;

[0060] Figure 3-2 It is a schematic sectional view of the filter screen connector of a hand-held electric fruit tree pollinator of the present invention;

[0061] Figure 4-1 It is a schematic diagram of the structure of the fluff brush connector of a hand-held electric fruit tree pollinator of the present invention;

[0062] Figure 4-2 Schematic cross-sectional view of the fluff brush connector of a handheld electric fruit tree pollinator according to the present invention;

[0063] Figure 5 Schematic structural view of the elastic rod of a handheld electric fruit tree pollinator according to the present invention;

[0064] Figure 6 Flowchart framework diagram of intelligent recognition and key parameter calculation of the intelligent controller according to the present invention.

[0065] The reference numerals therein are:

[0066] 1, depth camera; 2, horizontal vibration motor

[0067] 3, horizontal vibration motor cover; 4, solenoid valve

[0068] 5, solenoid valve cover; 6, sealing ring

[0069] 7, filter screen; 8, filter screen connector

[0070] 9, fluff brush connector; 10, fluff brush

[0071] 11, longitudinal vibration motor cover; 12, longitudinal vibration motor

[0072] 13, powder chamber cover; 14, powder chamber

[0073] 15, elastic rod; 16, screw

[0074] 17, multi-section arm hand rod; 18, intelligent controller

[0075] 1801, display screen; 1802, photographing button

[0076] 1803, pollination button Detailed implementation manners

[0077] The following further describes the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0078] As Figure 1 shown, a handheld electric fruit tree pollinator of the present invention includes: depth camera 1, horizontal vibration motor 2, horizontal vibration motor cover 3, solenoid valve 4, solenoid valve cover 5, sealing ring 6, filter screen 7, filter screen connector 8, fluff brush connector 9, fluff brush 10, longitudinal vibration motor cover 11, longitudinal vibration motor 12, powder chamber cover 13, powder chamber 14, elastic rod 15, screw 16, multi-section arm hand rod 17, intelligent controller 18, display screen 1801, photographing button 1802, and pollination button 1803.

[0079] As Figure 2-1 and Figure 2-2As shown, the interior of the powder chamber 14 is funnel-shaped and is used to store pollen.

[0080] The depth camera 1 is installed on the side of the powder chamber 14 and can collect fruit tree inflorescence information in real time by taking pictures. Further, it can transmit the pictures to the intelligent controller 18 and display them in real time on the display screen 1801.

[0081] Multiple lateral vibration motors 2 are evenly installed on the side of the powder chamber 14. The lateral vibration motor cover 3 is arranged outside the lateral vibration motor 2, and the lateral vibration motor cover 3 is connected to the powder chamber 14 by a snap connection. The lateral vibration motor 2 can generate high-frequency vibrations, which can not only evenly transport the pollen to the fluff brush 18, but also enable the fluff brush 18 to generate static electricity by rubbing against the air, further causing the pollen attached to the fluff brush 18 to carry charges.

[0082] The solenoid valve 4 is installed inside the powder chamber 14, and the output of the pollen is controlled in real time through PWM control.

[0083] The solenoid valve cover 5 is arranged outside the solenoid valve 4, and the solenoid valve cover 5 is installed inside the powder chamber 14 by interference fit.

[0084] The powder chamber cover 13 is located at the upper part of the powder chamber 14, and the powder chamber cover 13 is connected to the powder chamber 14 by a threaded connection.

[0085] The longitudinal vibration motor 12 is installed at the central position on the top of the powder chamber cover 13.

[0086] The longitudinal vibration motor cover 11 is arranged above the longitudinal vibration motor 12, and the longitudinal vibration motor cover 11 is connected to the powder chamber cover 13 by a snap connection. The longitudinal vibration motor 12 can make the pollen have the inertia of downward movement through vibration, and further transport the pollen from the powder chamber 14 to the fluff brush 18.

[0087] As Figure 3-1 、 Figure 3-2 、 Figure 4-1 and Figure 4-2 shown, the sealing ring 6 and the filter screen 7 are installed in sequence from top to bottom between the powder chamber 14 and the filter screen connecting piece 8. The filter screen connecting piece 8 and the bottom of the powder chamber 14 are connected by a threaded connection.

[0088] The fluff brush connecting piece 9 is connected to the filter screen connecting piece 8 by a threaded connection. Multiple first through holes and second through holes are evenly and staggeredly distributed inside the fluff brush connecting piece 9. Among them, the fluff of the fluff brush 10 is installed at the lower part of the first through hole, and the pollen can be evenly attached to the fluff of the fluff brush 10 through the second through hole.

[0089] As Figure 1 and Figure 5As shown, the inner end of the elastic rod 15 is installed on the powder chamber 14 by screws, and the outer end of the elastic rod 15 is connected to the inner end of the multi-joint arm hand rod 17 by screws 16. The cross-section of the elastic material in the middle of the elastic rod 15 is circular, which can store the elastic potential energy in the longitudinal and transverse directions of the pollinator during pollination, and can also reduce the vibration of the handle during operation.

[0090] A lithium battery is installed inside the multi-joint arm hand rod 17. The intelligent controller 18 is installed on the outer end handle of the multi-joint arm hand rod 17. A display screen 1801, a photographing button 1802 and a pollination button 1803 are installed on the outer end handle. Through the intelligent controller 18, automatic pollination can be realized, or pollination parameters can be manually set to complete manual operations.

[0091] As Figure 5 and Figure 6 shown, the intelligent controller 18 can calculate the required pollen amount and operation time for the inflorescence to be pollinated based on the inflorescence photo through image recognition and intelligent algorithms.

[0092] The intelligent controller 18 first identifies the stamens in the photo based on the deep learning algorithm, further calculates the size of each stamen and frames it with a wireframe (length L, width W), further takes the center point of each frame to replace the framed stamens, and further fits the centers of multiple stamens in the photo into a circle with a diameter of d through the circle fitting algorithm, requiring that each center is included in the circle with a diameter of d. Further, calculate the circumscribed circle diameter d of each wireframe ki , Then the average diameter of each stamen Further, calculate the diameter D of the pollination area, If the diameter D of the pollination area is greater than the operation diameter D of the pollinator s , the intelligent controller 18 triggers the alarm mode and prompts to move the pollinator downward until the diameter D of the pollination area is less than the operation diameter D of the pollinator s ; if the diameter D of the pollination area is less than the operation radius D of the pollinator s , the intelligent controller 18 prompts that operation can be carried out, then identifies the flowers in the picture through the deep learning algorithm, further calculates the size of each flower and frames it with a wireframe, further merges these frames, and calculates the total area S. Further, calculate the pollen amount Q and operation time T of the inflorescence, Q = μ × S, (μ is a correlation coefficient), (γ is a correlation coefficient, F is the vibration frequency of the longitudinal vibration motor).

[0093] A pollination method using the above-mentioned handheld electric fruit tree pollinator includes the following steps:

[0094] S1. Press the photographing button 1802, and the depth camera 1 takes a photo of the inflorescence to be pollinated;

[0095] S2. The photos taken by the depth camera 1 are transmitted to the intelligent controller 18 through USB (Universal Serial Bus) communication;

[0096] S3. The intelligent controller 18 calculates the pollen dosage Q and the operation time T through an intelligent control algorithm;

[0097] S3.1. The intelligent controller 18 first identifies the pistils in the photo based on the real-time object detection algorithm YOLO (You Only Look Once), further calculates the size of each pistil, and frames it with a wireframe of length L and width W;

[0098] S3.2. Take the center point of each frame to replace the framed pistil, and use Welzl's algorithm to fit the centers of multiple pistils in the photo into a circle with a diameter of d, so that the center of each pistil is included in the circle with a diameter of d;

[0099] S3.3. Calculate the circumscribed circle diameter d of each wireframe ki :

[0100]

[0101] Then the average diameter of each pistil

[0102]

[0103] In Formula 1 and Formula 2, d ki is the circumscribed circle diameter, with the unit of m; L is the length of the wireframe, with the unit of m; W is the width of the wireframe, with the unit of m; is the average diameter of each pistil, with the unit of m; n is the number of identified pistils;

[0104] S3.4. Calculate the pollination area diameter D:

[0105]

[0106] In Formula 3, D is the pollination area diameter, with the unit of m; is the average diameter of each pistil, with the unit of m; d is the minimum diameter of the fitting circle containing all pistil centers, with the unit of m;

[0107] S3.5. The pollen output by the pollinator is dispersed into a region, and the effective region is called the pollination operation region. Take the inscribed circle of this region, and the diameter of the inscribed circle is the diameter D of the inscribed circle of the pollination operation region of the pollinator s . If the pollination area diameter D is greater than the diameter D of the inscribed circle of the pollination operation region of the pollinator s, the intelligent controller 18 activates the alarm mode and prompts to move the handheld electric fruit tree pollinator downward until the diameter D of the pollination area is less than the diameter D of the inscribed circle of the pollination operation area of the pollinator s ;

[0108] S3.6. If the diameter D of the pollination area is less than the diameter D of the inscribed circle of the pollination operation area of the pollinator s , the intelligent controller 18 prompts for operation, then uses the real-time object detection algorithm YOLO (You Only Look Once) to identify the flowers in the image, further calculates the size of each flower and frames it with a bounding box, further merges these boxes, and calculates the total area S;

[0109] S3.7. Calculate the pollen consumption Q and operation time T of this inflorescence:

[0110] Q = μ × S Formula 4

[0111]

[0112] In Formula 4 and Formula 5, Q is the pollen consumption, in milligrams; μ is the pollination consumption correlation coefficient, and by calculating the weight of pollen per unit area of a single-layer fruit tree, the pollination consumption correlation coefficient μ of different fruit trees can be obtained; S is the total area of the area to be pollinated, in cm 2 ; T is the operation time, in seconds; γ is the pollination time correlation coefficient, and by calculating the pollen consumption when the longitudinal vibration motor vibrates at a frequency of 1 Hz per unit time of the pollinator, the pollination time correlation coefficient γ of different fruit trees can be obtained; F is the vibration frequency of the longitudinal vibration motor, in Hz.

[0113] S4. Use PWM to control the solenoid valve 4 to transfer the required pollen to the filter screen 7;

[0114] Optionally, the inflorescence information can also be observed in real time through the depth camera 1, and the on-off frequency and operation time parameters of the solenoid valve 4 can be manually set further.

[0115] S5. Press the pollination button 1803 to perform pollination operation according to the pollen consumption Q and operation time T of this inflorescence;

[0116] S5.1. The longitudinal vibration motor 12 starts, so that the pollen adheres to the fluff brush 10 through the filter screen 7 and further adheres to the stigma of the flower pistil;

[0117] S5.2. At the same time, the transverse vibration motor 2 starts, so that the pollen is evenly scattered on the fluff brush 10, and at the same time, static electricity is generated on the fluff brush 10 through high-frequency vibration, further making the pollen strongly adhere to the stigma of the flower pistil.

[0118] The working process of the present invention is:

[0119] When the photographing button 1802 is pressed, the depth camera 1 takes a photo of the inflorescence to be pollinated, and further transmits the photo to the intelligent controller 18. The intelligent controller 18 calculates the pollen dosage through a deep learning algorithm, and further controls the solenoid valve 4 through PWM to transmit the required pollen to the filter screen 7. It is also possible to observe the inflorescence information in real time through the depth camera 1 and further manually set the pollination operation parameters.

[0120] When the pollination button 1803 is pressed, the longitudinal vibration motor 12 is started, so that the pollen adheres to the fluff brush 10 through the filter screen 7 and further adheres to the pistil stigma.

[0121] When the pollination button 1803 is pressed, the transverse vibration motor 2 is started, so that the pollen is evenly scattered on the fluff brush 10, and at the same time, the fluff brush 10 generates static electricity through high-frequency vibration, further making the pollen strongly adhere to the pistil stigma.

[0122] The pollen is evenly attached to the fluff brush 10 through transverse vibration and longitudinal vibration, and further the pollen is evenly attached to the pistil stigma.

[0123] The pollen realizes the movement from top to bottom through gravity and inertia:

[0124] In the initial state, the solenoid valve 4 is in the closed state, so the pollen cannot be transmitted from the powder chamber 14 to the filter screen 7, and further cannot be transmitted to the fluff brush 10, avoiding pollen loss due to gravity and the vibration caused by the movement of the staff or the movement of the pollinator.

[0125] In the working state, the solenoid valve 4 is in the working state, and the solenoid valve 4 is controlled based on PWM to be continuously opened and closed at a certain frequency. When the solenoid valve 4 is opened, the pollen in the powder chamber 14 is transmitted from the powder chamber 14 to the filter screen 7 due to the gravity and the inertia generated by the longitudinal vibration. Further, the pollen is evenly distributed on the filter screen 7 through transverse vibration. Further, it is transmitted from the filter screen 7 to the fluff brush connecting member 8 due to the inertia generated by gravity and longitudinal vibration. As Figure 4-1 and Figure 4-2 shown, a plurality of first through holes and second through holes are evenly distributed on the fluff brush connecting member 8. The first through holes are used for installing the fluff brush 10, and the second through holes do not install the fluff brush 10. Because it is difficult for pollen to pass through the through holes where the fluff brush 10 is installed, more pollen needs to be transmitted to the fluff of the fluff brush 10 through the through holes where the fluff brush 10 is not installed, and the pollen is transmitted to the pistil stigma through the combined action of inertia, gravity and static electricity. Due to the high-frequency transverse and longitudinal vibration, the fluff brush 10 generates static electricity by rubbing against the air, so the pollen also carries electric charges, and thus the pollen can adhere to the pistil more easily and evenly.

Claims

1. A pollination method using a handheld electric fruit tree pollinator, the handheld electric fruit tree pollinator comprising: Depth camera (1), horizontal vibration motor (2), horizontal vibration motor cover (3), solenoid valve (4), solenoid valve cover (5), sealing ring (6), filter screen (7), filter screen connecting piece (8), fluff brush connecting piece (9), fluff brush (10), longitudinal vibration motor cover (11), longitudinal vibration motor (12), powder chamber cover (13), powder chamber (14), elastic rod (15), screw (16), multi-joint arm rod (17) and intelligent controller (18); The inside of the powder chamber (14) is funnel-shaped and used to store pollen; The depth camera (1) is installed on the side of the powder chamber (14) and can collect fruit tree inflorescence information in real time by taking pictures; A plurality of horizontal vibration motors (2) are evenly installed on the side of the powder chamber (14); the horizontal vibration motor cover (3) is arranged outside the horizontal vibration motor (2); The solenoid valve (4) is installed inside the powder chamber (14) and controls the output of pollen in real time through PWM control; The solenoid valve cover (5) is arranged outside the solenoid valve (4), and the solenoid valve cover (5) is installed inside the powder chamber (14) by interference fit; The powder chamber cover (13) is located at the upper part of the powder chamber (14); The longitudinal vibration motor (12) is installed at the central position on the top of the powder chamber cover (13); The longitudinal vibration motor cover (11) is arranged on the upper part of the longitudinal vibration motor (12); The sealing ring (6) and the filter screen (7) are sequentially installed between the powder chamber (14) and the filter screen connecting piece (8) from top to bottom; the filter screen connecting piece (8) is connected to the bottom of the powder chamber (14); The fluff brush connecting piece (9) is connected to the filter screen connecting piece (8); a plurality of first through holes and second through holes are evenly distributed inside the fluff brush connecting piece (9), wherein the fluff of the fluff brush (10) is installed at the lower part of the first through hole, and pollen can be evenly attached to the fluff of the fluff brush (10) through the second through hole; The inner end of the elastic rod (15) is installed on the powder chamber (14) by a screw, and the outer end of the elastic rod (15) is connected to the inner end of the multi-joint arm rod (17) by a screw (16); A lithium battery is installed inside the multi-joint arm rod (17); the intelligent controller (18) is installed on the outer end handle of the multi-joint arm rod (17); characterized in that: the following steps are included: S1. Press the photo-taking button (1802), and the depth camera (1) takes a photo of the inflorescence to be pollinated; S2. The photo taken by the depth camera (1) is transmitted to the intelligent controller (18) through USB communication; S3. The intelligent controller (18) calculates the pollen dosage Q and the operation time T through an intelligent control algorithm; S3.

1. The intelligent controller (18) first identifies the stamens in the photo based on the real-time object detection algorithm YOLO, further calculates the size of each stamen and frames it with a wire frame of length L and width W; S3.

2. Take the center point of each frame to replace the framed stamen, and fit the centers of multiple stamens in the photo into a circle with a diameter of d through Welzl's algorithm, so that the center of each stamen is included in the circle with a diameter of d; S3.

3. Calculate the circumcircle diameter d of each wireframe ki : Then the average diameter of each stamen In Formula 1 and Formula 2, d ki is the diameter of the circumscribed circle, with the unit of m; L is the length of the wire frame, with the unit of m; W is the width of the wire frame, with the unit of m; is the average diameter of each stamen, with the unit of m; n is the number of recognized stamens; S3.

4. Calculate the pollination area diameter D: In Formula 3, D is the diameter of the pollination area, with the unit of m; is the average diameter of each stamen, with the unit of m; d is the minimum diameter of the fitted circle containing the centers of all stamens, with the unit of m; S3.

5. The pollen output by the pollinator is dispersed into an area, and the effective area is called the pollination operation area. The inscribed circle of this area is taken, and the diameter of the inscribed circle is the diameter D of the inscribed circle of the pollination operation area of the pollinator. s If the diameter D of the pollination area is greater than the diameter D of the inscribed circle of the pollination operation area of the pollinator s , the intelligent controller (18) triggers the alarm mode and prompts to move the handheld electric fruit tree pollinator downward until the diameter D of the pollination area is less than the diameter D of the inscribed circle of the pollination operation area of the pollinator. s ; S3.

6. If the diameter D of the pollination area is smaller than the diameter D of the inscribed circle of the pollination operation area of the pollinator s , the intelligent controller (18) prompts for operation, then uses the real-time object detection algorithm YOLO (You Only Look Once) to identify the flowers in the image, further calculates the size of each flower and frames it with a wireframe, further merges these frames, and calculates the total area S; S3.

7. Calculate the pollen dosage Q and operation time T of the inflorescence: Q = u × S Formula 4 In Formula 4 and Formula 5, Q is the pollen dosage, with the unit of milligram; μ is the correlation coefficient of pollination dosage, and by calculating the weight of pollen of a single-layer fruit tree per unit area, the correlation coefficient μ of pollination dosage for different fruit trees can be obtained; S is the total area of the area to be pollinated, with the unit of cm 2 ; T is the operation time, with the unit of second; γ is the correlation coefficient of pollination time, and by calculating the pollen dosage when the longitudinal vibration motor vibrates at a frequency of 1 Hz per unit time of the pollinator, the correlation coefficient γ of pollination time for different fruit trees can be obtained; F is the vibration frequency of the longitudinal vibration motor, with the unit of Hz; S4. Control the solenoid valve (4) through PWM to transfer the required pollen onto the filter screen (7); S5. Press the pollination button (1803) to perform the pollination operation according to the pollen dosage Q and operation time T of the inflorescence; S5.

1. Start the longitudinal vibration motor (12) to make the pollen attach to the fluff brush (10) through the filter screen (7) and further attach to the pistil stigma; S5.

2. At the same time, start the transverse vibration motor (2) to evenly scatter the pollen onto the fluff brush (10), and at the same time generate static electricity on the fluff brush (10) through high-frequency vibration, further making the pollen strongly attach to the pistil stigma.

2. The pollination method according to claim 1, characterized in that: In step S4, observe the inflorescence information in real time through the depth camera (1), and further manually set the on-off frequency and operation time parameters of the solenoid valve (4).

3. The pollination method according to claim 1, wherein: An intelligent controller (18) is installed on the outer end handle, including: a display screen (1801), a photographing button (1802) and a pollination button (1803). Through the intelligent controller (18), automatic pollination can be achieved, or pollination parameters can be manually set to complete manual operations.

4. The pollination method according to claim 3, wherein: The depth camera (1) can transmit the photo to the intelligent controller (18) and display it in real time on the display screen (1801). Further, the intelligent controller (18) can calculate the required pollen dosage and operation time of the pollinated inflorescence through image recognition and intelligent algorithms based on the inflorescence photo.

5. The pollination method according to claim 1, characterized in that: The transverse vibration motor cover (3) is connected to the powder chamber (14) by a buckle. The transverse vibration motor (2) can generate high-frequency vibration, which can not only evenly transport the pollen onto the fluff brush (18), but also make the fluff brush (18) generate static electricity by rubbing against the air, further making the pollen attached to the fluff brush (18) carry charges.

6. The pollination method according to claim 1, characterized in that: The powder chamber cover (13) is connected to the powder chamber (14) by a thread.

7. The pollination method according to claim 1, characterized in that: The longitudinal vibration motor cover (11) is connected to the powder chamber cover (13) by a buckle. The longitudinal vibration motor (12) can make the pollen have the inertia of downward movement through vibration, and further transport the pollen from the powder chamber (14) onto the fluff brush (18).

8. The pollination method according to claim 1, wherein: The cross-section of the elastic material in the middle of the elastic rod (15) is circular, which can not only store the elastic potential energy in the longitudinal and transverse directions of the pollinator during pollination, but also reduce the vibration of the handle during operation.

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