Automatic pollination machine for fruit trees

Abstract

This invention provides an automatic fruit tree pollinator, relating to the field of standardized intelligent agricultural equipment technology for orchards. It includes: a walking mechanism, a pollen tank, nozzles, a spraying drive assembly, an identification assembly, a controller, and a deformable support component. The spraying drive assembly drives the pollen solution in the pollen tank to be sprayed out through the nozzles. The identification assembly identifies the position coordinates and orientation information of flowers on the target fruit tree and transmits this information to the controller. The deformable support component has multiple free ends, each with a nozzle mounted on it. The deformable support component can drive multiple nozzles to move. The controller controls the deformable support component to drive the nozzles toward the openings of the flowers based on the flower position and orientation information, with one nozzle corresponding to one flower. The solution provided by this invention can improve pollination efficiency and reliability, and save pollen consumption.

Description

Technical Field

[0001] This invention relates to the field of standardized orchard intelligent agricultural equipment technology, and in particular to an automatic fruit pollinator. Background Technology

[0002] Most apple, pear, and peach varieties are cross-pollinated, requiring a suitable proportion of other varieties as pollinator trees to complete the pollination and fertilization process. Strong winds, rain, or low temperatures during the flowering period can easily lead to poor pollination and fertilization, resulting in significant fruit drop. To avoid the impact of adverse weather conditions, artificial pollination is often necessary to ensure the quality of pollination and fertilization, thereby guaranteeing the year's yield. However, with the gradual improvement of dwarf and high-density planting models, artificial pollination suffers from problems such as outdated tools and long operation times, making it difficult to meet the pollination needs of large-scale standardized orchards. Therefore, there is an urgent need for an automatic pollinator suitable for dwarf and high-density fruit trees. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic pollinator for fruit trees to solve the problems existing in the prior art, improve pollination efficiency and reliability, and save pollen consumption.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides an automatic fruit tree pollinator, comprising:

[0006] The walking mechanism is self-powered.

[0007] A pollen tank is mounted on the walking mechanism and is used to contain pollen.

[0008] The nozzles are provided in multiple ways and are connected to the pollen liquid tank via flexible hoses.

[0009] A jet drive assembly is used to drive the pollen liquid in the pollen tank to be sprayed out through the nozzle.

[0010] The identification component is used to identify the location coordinates of flowers on a target fruit tree and the orientation information of the flowers, and transmit them to the controller.

[0011] A deformable support member has multiple free ends, and the nozzles are provided on the free ends; the deformable support member can drive the multiple nozzles to move; the controller controls the deformable support member to drive the nozzles toward the opening of the flower according to the flower position information and orientation information, and one nozzle corresponds to one flower.

[0012] Preferably, it also includes an arc-shaped guide rail, which is horizontally disposed on the walking mechanism and extends along the circumference of the fruit tree. The deformable support is disposed on the arc-shaped guide rail and can be driven to move by the first driving device.

[0013] Preferably, the arc-shaped guide rail is a variable diameter guide rail and is equipped with a variable diameter driving device, which drives the variable diameter guide rail to bend; under normal conditions, the variable diameter guide rail is a straight guide rail, the recognition component can recognize the outline of the fruit tree and transmit it to the controller, the controller controls the two ends of the variable diameter guide rail to bend towards the fruit tree according to the outline information of the fruit tree so that the diameter of the variable diameter guide rail is adapted to the outline of the fruit tree.

[0014] Preferably, the variable diameter guide rail includes multiple guide rail segments connected in sequence; the variable diameter drive device includes a support rod assembly and a motor, the support rod assembly includes two support rods, one end of each of the two support rods is provided with a gear and they mesh with each other, the middle of the support rod is provided with an inner groove extending along its own length direction, and the two ends of the variable diameter guide rail are placed in the two inner grooves of the two support rods by pins; one of the gears is driven by the motor to realize the relative rotation of the two support rods, thereby driving the variable diameter guide rail to bend or straighten.

[0015] Preferably, an integral spring steel plate is embedded on the inner side of each of the multiple guide rail sections.

[0016] Preferably, the deformable support member has a sliding seat at its bottom, which can move along the variable diameter guide rail and drive the deformable support member to rotate around a vertical axis.

[0017] Preferably, the deformable support includes a linear module, multiple electric push rods, multiple contouring rods, and multiple telescopic rods. The bottom of the linear module is fixedly mounted on the sliding base. The linear module has multiple sliders, one slider corresponding to one electric push rod. The base of the electric push rod is mounted on the slider. The free end of the electric push rod is connected to several contouring rods. The contouring rods are rotatable around a horizontal axis and are driven by a motor. The universal joint is connected to the contouring rods via a slip ring motor. One end of the telescopic rod is connected to the universal joint via a servo motor, and the other end is equipped with a nozzle.

[0018] Preferably, the walking mechanism is equipped with a ranging radar. When the variable diameter guide rail is in a straight state, its center line is a vertical first straight line, and the ranging radar is set on the first straight line. The ranging radar is communicatively connected to the controller. The ranging radar is used to detect the distance L between the first straight line and the tree trunk and transmit it to the controller. The controller controls the variable diameter guide rail to bend to a radius of L.

[0019] Preferably, the walking mechanism is a tracked walking mechanism.

[0020] The present invention achieves the following technical effects compared to the prior art:

[0021] First, the automatic pollinator for fruit trees provided by this invention obtains the position and orientation of the flowers, and then performs "targeted" pollination on the stamens, which helps to improve pollination accuracy and save pollen usage.

[0022] Secondly, it is equipped with an arc-shaped guide rail to achieve scanning pollination of the flowers on the fruit trees.

[0023] Third, the arc-shaped guide rail is a variable diameter guide rail to accommodate fruit trees of different sizes. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of an automatic fruit tree pollinator.

[0026] Figure 2 This is a schematic diagram of the pollination actuator.

[0027] Figure 3 This is a structural schematic diagram of the support rod assembly;

[0028] Figure 4 This is a schematic diagram of the structure of a dual-slider linear module;

[0029] Figure 5 This is a schematic diagram of the sliding motor.

[0030] Figure 6 This is a schematic diagram of the structure of the powder-feeding end;

[0031] In the diagram: 1-Walking mechanism; 2-Range measuring radar; 3-Visual navigation camera; 4-Controller; 5-Pollination camera; 5.1-Low-position pollination camera; 5.2-High-position pollination camera; 6-Hydraulic pump; 7-Pollen solution tank; 8-Pollination actuator; 8.1-Support rod assembly; 8.1.1-Support rod; 8.1.2-Support rod inner groove; 8.1.3-Gear; 8.2-Variable diameter guide rail; 8.2.1-Pin; 8.2.2 - Spring steel plate; 8.3- Sliding motor; 8.3.1- Motor base; 8.3.2- Motor turntable; 8.3.3- Motor wheel; 8.4- Linear module; 8.4.1- Linear guide rail; 8.4.2- Low position slider; 8.4.3- High position slider; 8.5- Electric push rod; 8.6- Contouring rod; 8.7- Powder feeding end; 8.7.1- Universal adapter; 8.7.2- Telescopic rod; 8.7.3- Nozzle; 9- Air pump. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The purpose of this invention is to provide an automatic pollinator for fruit trees to solve the problems existing in the prior art, improve pollination efficiency and reliability, and save pollen consumption.

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] This invention provides an automatic fruit tree pollinator, such as... Figure 1 As shown, it includes:

[0036] The walking mechanism 1 is equipped with its own power; the walking mechanism 1 is preferably a tracked chassis, which can adapt to complex terrain and walk stably. However, in addition to the tracked walking mechanism 1, any existing autonomous walking mechanism can also be selected.

[0037] Pollen liquid tank 7 is mounted on the walking mechanism 1 and is used to contain pollen liquid; specifically, the pollen liquid tank 7 is mounted on the vehicle plate of the walking mechanism 1.

[0038] There are multiple nozzles 8.7.3, and the nozzles 8.7.3 are connected to the pollen liquid tank 7 via hoses.

[0039] The spray drive assembly is used to drive the pollen liquid in the pollen liquid tank 7 to be sprayed out through the nozzle 8.7.3; the spray drive assembly can use the power element in the existing technology.

[0040] The identification component and controller 4 are used to identify the location coordinates and orientation information of flowers on the target fruit tree and transmit them to the controller 4. Specifically, the identification component includes a pollination camera 5, which records the location of flowers on the fruit tree and transmits it to the controller 4. Considering that when the institution is close to the fruit tree, a single camera cannot cover the entire fruit tree, multiple pollination cameras 5 can be set up to be used in combination.

[0041] Deformable support components, such as Figure 2 As shown, it has multiple free ends, and nozzles 8.7.3 are provided on the free ends; the deformable support can drive multiple nozzles 8.7.3 to move; the controller 4 controls the deformable support to drive the nozzles 8.7.3 toward the opening of the flower according to the flower position information and orientation information, and one nozzle 8.7.3 corresponds to one flower.

[0042] In use, the controller 4 controls the walking mechanism 1 to automatically walk to one side of the fruit tree, or the walking mechanism 1 can be manually remotely controlled to walk to one side of the fruit tree.

[0043] The automatic pollinator for fruit trees provided by this invention obtains the position and orientation of the flowers, and then performs "targeted" pollination on the stamens, which helps to improve pollination accuracy and save pollen usage.

[0044] In some embodiments, the present invention further includes an arc-shaped guide rail, which is horizontally mounted on the walking mechanism 1 and extends circumferentially along the fruit tree. A deformable support member is mounted on the arc-shaped guide rail and can be driven to move by a first driving device. This embodiment achieves scanning pollination, pollinating a large area of ​​flowers without moving the walking mechanism 1. In some embodiments without an arc-shaped guide rail, the controller 4 needs to automatically control or manually remotely control the walking mechanism 1 to move around the fruit tree and pollinate as many flowers as possible.

[0045] Considering the varying sizes of fruit trees' outer contours, a single-curvature arc-shaped guide rail is difficult to apply to fruit trees with significantly different contours. Therefore, in this embodiment of the invention, the arc-shaped guide rail is configured as a variable-diameter guide rail 8.2, equipped with a variable-diameter driving device. The variable-diameter driving device drives the variable-diameter guide rail 8.2 to bend. Normally, the variable-diameter guide rail 8.2 is a straight guide rail. The identification component can identify the contour of the fruit tree and transmit it to the controller 4. The controller 4 controls both ends of the variable-diameter guide rail 8.2 to bend towards the fruit tree based on the contour information, so that the diameter of the variable-diameter guide rail 8.2 adapts to the contour of the fruit tree. The variable-diameter guide rail 8.2 is located on one side of the walking mechanism 1 in the width direction. Specifically, the variable-diameter guide rail 8.2 includes multiple guide rail segments connected sequentially; such as... Figure 3 As shown, the variable diameter drive device includes a support rod assembly 8.1 and a motor. The support rod assembly 8.1 includes two support rods 8.1.1, one end of each support rod 8.1.1 is provided with a gear 8.1.3 and they mesh with each other. The middle of the support rod 8.1.1 is provided with an inner groove extending along its own length direction. The two ends of the variable diameter guide rail 8.2 are placed in the two inner grooves of the two support rods 8.1.1 by pins 8.2.1. Under the drive of the motor, one of the gears 8.1.3 realizes the relative rotation of the two support rods 8.1.1, thereby driving the variable diameter guide rail 8.2 to bend or straighten.

[0046] In this embodiment, during the walking phase of the walking mechanism 1, the variable diameter guide rail 8.2 is straightened and extends along the walking direction of the walking mechanism 1 to reduce obstruction during walking. When the walking mechanism 1 moves into position, the controller 4 controls the variable diameter guide rail 8.2 to change its diameter.

[0047] In some embodiments, an integral spring steel plate 8.2.2 is embedded on the inner side of multiple guide rail sections, making the deformable support move more smoothly. Specifically, the guide rail section is provided with a grooved track, and a long strip spring steel plate 8.2.2 can be provided on the side and / or bottom surface of the grooved track, and the spring steel plate 8.2.2 can be fixed in the groove by snap-fit ​​or other fixing methods.

[0048] In some embodiments, such as Figure 5 As shown, in order to enable the deformable support to move on the variable diameter guide rail 8.2, a sliding seat is provided at the bottom of the deformable support. The sliding seat can move along the variable diameter guide rail 8.2 and drive the deformable support to rotate around the vertical axis. Specifically, the sliding seat includes a motor base 8.3.1, a motor turntable 8.3.2, and a motor wheel 8.3.3. The bottom of the deformable support is set on the motor turntable 8.3.2. The motor wheel 8.3.3 is self-powered. A motor is installed inside the motor base 8.3.1. The motor turntable 8.3.2 is connected to the motor shaft for transmission. The motor drives the motor turntable 8.3.2 to rotate relative to the motor base 8.3.1.

[0049] There are several ways to implement deformable supports, such as setting up multiple robotic arms, each corresponding to a nozzle 8.7.3. However, the cost of using robotic arms is relatively high. Therefore, in some embodiments, such as... Figure 4 As shown, the deformable support includes a linear module 8.4, multiple electric push rods 8.5, multiple contouring rods 8.6, and multiple telescopic rods 8.7.2. The bottom of the linear module 8.4 is fixedly mounted on a sliding base. The linear module 8.4 has multiple sliders, each slider corresponding to one electric push rod 8.5. The base of the electric push rod 8.5 is mounted on the slider. The free end of the electric push rod 8.5 is connected to several contouring rods 8.6. The contouring rods 8.6 can rotate around a horizontal axis and are driven by a motor. Figure 6 As shown, the universal adapter 8.7.1 is connected to the contour rod 8.6 via a slip ring motor. One end of the telescopic rod 8.7.2 is connected to the universal adapter 8.7.1 via a servo motor, enabling the rotation of the telescopic rod 8.7.2. A nozzle is provided at the other end of the telescopic rod 8.7.2. Specifically, the universal adapter 8.7.1 has a through hole, and the slip ring motor has an inner ring and an outer ring. The inner ring of the slip ring motor is fixedly connected to the contour rod 8.6, and the outer ring is fixedly installed in the through hole of the universal adapter 8.7.1. The slip ring motor drives the universal adapter 8.7.1 to rotate, thereby causing the telescopic rod 8.7.2 to rotate. A hinge seat is provided outside the sleeve forming the through hole. The telescopic rod 8.7.2 is hinged to the outside of the sleeve via a horizontal shaft, and the axis of the horizontal shaft is perpendicular to the axis of the through hole. A rotary motor is provided at one end of the horizontal shaft to drive the rotation of the horizontal shaft and thus the rotation of the telescopic rod 8.7.2. In addition, the telescopic rod 8.7.2 and the universal adapter 8.7.1 can be connected by another slip ring motor and driven to rotate by the slip ring motor. That is, the outer ring of the slip ring motor is fixed on the sleeve forming the through hole, and the inner ring of the slip ring motor is connected to the telescopic rod 8.7.2 for transmission and the slip ring motor drives the telescopic rod 8.7.2 to rotate. The axes of the two slip ring motors on the universal adapter 8.7.1 are perpendicular.

[0050] In some embodiments, a ranging radar 2 is provided on the walking mechanism 1. When the variable diameter guide rail 8.2 is in a straight state, its center line is a vertical first straight line, and the ranging radar 2 is set on the first straight line. The ranging radar 2 is communicatively connected to the controller 4. The ranging radar 2 is used to detect the distance L between the first straight line and the tree trunk and transmit it to the controller 4. The controller 4 controls the variable diameter guide rail 8.2 to bend to a radius of L.

[0051] In some embodiments, a visual navigation camera 3 is provided on the walking mechanism 1. The visual navigation camera 3 is communicatively connected to the controller 4. The visual navigation camera 3 surveys the overall structure of the standardized dwarf dense planting orchard, determines the location of the fruit trees that need to be pollinated, and performs path navigation accordingly. Driven by the walking mechanism 1, the automatic pollinator reaches the vicinity of the fruit trees that need to be pollinated.

[0052] In some embodiments, the nozzle 8.7.3 is connected to the hydraulic pump 6 and the air pump 9 via a hose to supply pollen liquid and gas.

[0053] If necessary, prune the branches of dwarf densely planted fruit trees before pollination. The branches grow radially from the main trunk to the surrounding areas, and the cross-section of their outer contour is circular.

[0054] The specific working process and working principle of this invention are as follows:

[0055] S1. Preparation and Start-up:

[0056] First, transport the automatic pollinator to the standardized dwarf dense planting orchard, add the prepared pollen solution to the pollen solution tank 7, and start the controller 4. At this time, the walking mechanism 1, the ranging radar 2, the visual navigation camera 3, the pollination camera 5, the hydraulic pump 6, and the air pump 9 start to be powered and work.

[0057] S2. Location and Tree / Flower Information Collection:

[0058] The visual navigation camera 3 surveys the overall structure of the standardized dwarf densely planted orchard, determines the location of the fruit trees that need pollination, and guides the automatic pollinator along its path. Driven by the walking mechanism 1, the automatic pollinator reaches the vicinity of the fruit trees that need pollination. During the movement of the walking mechanism 1, the low-position pollination camera 5.1 and the high-position pollination camera 5.2 of the pollination camera 5 acquire real-time images of the fruit trees at high and low positions, respectively, obtaining the outline shape information of the fruit trees, as well as the position coordinates and orientation information of the flowers.

[0059] S3. Variable Diameter Guide Rail 8.2 Precise Deformation:

[0060] When the ranging radar 2 detects the trunk of the fruit tree, it returns the distance L between the trunk and the automatic pollinator to the controller 4. The controller 4 controls the support rod assembly 8.1 to gradually close from the open state, that is, the angle between the two support rods 8.1.1 decreases; driven by the two support rods 8.1.1, the pin 8.2.1 of the variable diameter guide rail 8.2 slides inward in the inner groove 8.1.2 of the support rod 8.1.1, and the spring steel plate 8.2.2 keeps the variable diameter guide rail 8.2 in an arc shape, and the radius of the variable diameter guide rail 8.2 decreases until the radius of the variable diameter guide rail 8.2 is the same as the distance between the trunk and the automatic pollinator, at which point the support rod assembly 8.1 stops closing and maintains this state.

[0061] S4. Contouring Deformation and Target Pollination:

[0062] The motor wheel 8.3.3 of the sliding motor 8.3 drives the sliding motor 8.3 and the linear module 8.4 on the upper part of the motor turntable 8.3.2 to move to one end of the variable diameter guide rail 8.2. Since the branches of the dwarf densely planted fruit trees are pruned before pollination, their branches grow radially from the main trunk. Therefore, the rotation of the motor turntable 8.3.2 causes the linear module 8.4 and the electric push rod 8.5 to turn towards the trunk. Based on the obtained flower position coordinates, the low-position slider 8.4.2 and high-position slider 8.4.3 of the linear module 8.4 drive the electric push rod 8.5 to move up and down. At the same time, the electric push rod 8.5 extends to drive the contour rod 8.6 closer to the flower. Based on the fruit tree outline shape information collected by the pollination camera 5, the contour rod 8.6 performs contour deformation to mimic the fruit tree outline. Based on the flower orientation information, the universal adapter 8.7.1 of the pollination end 8.7 rotates through a slip ring motor, and the telescopic rod 8.7.2 rotates through a servo motor, thereby aligning the nozzle 8.7.3 with the flower orientation. The telescopic rod 8.7.2 extends and retracts through the built-in micro electric push rod 8.5, driving the nozzle 8.7.3 closer to the flower. The controller 4 controls the hydraulic pump 6 and the air pump 9 to spray pollen liquid, ultimately achieving "target-based" pollination.

[0063] S5. Scanning pollination:

[0064] After pollination in the designated area is completed, the telescopic rod 8.7.2 retracts, and the sliding motor 8.3 moves along the variable-diameter guide rail 8.2 to the next pollination area. Based on the tree's outline, the electric push rod 8.5 and the contour rod 8.6 perform contouring deformation. Similarly, based on the flower's position coordinates and orientation, the universal joint 8.7.1 and the telescopic rod 8.7.2 at the powder end 8.7 rotate and extend, allowing the nozzle 8.7.3 to perform "target-based" pollination. When the sliding motor 8.3 moves along the variable-diameter guide rail 8.2 to the other end, the "scanning" pollination of the entire tree is completed.

[0065] S6. Whole-area pollination in the orchard:

[0066] Based on the navigation and positioning information, the walking mechanism 1 moves to the vicinity of the next fruit tree and repeats steps S2 to S5, ultimately achieving full-area pollination of the fruit trees in the entire standardized dwarf dense-planted orchard. Finally, the support rod group 8.1 opens, that is, the angle between the two support rods 8.1.1 expands to 180 degrees; the spring steel plate 8.2.2 returns to its original straight state, and the pin 8.2.1 of the variable diameter guide rail 8.2 expands outward in the support rod groove 8.1.2 of the support rod 8.1.1, returning to the non-operating state, so as to be suitable for the walking and transportation of the automatic pollinator for dwarf dense-planted fruit trees.

[0067] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An automatic pollinator for fruit trees, characterized in that: include: The walking mechanism is self-powered. A pollen tank is mounted on the walking mechanism and is used to contain pollen. The nozzles are provided in multiple ways and are connected to the pollen liquid tank via flexible hoses. A jet drive assembly is used to drive the pollen liquid in the pollen tank to be sprayed out through the nozzle. The identification component is used to identify the location coordinates and orientation information of flowers on a target fruit tree and transmit them to the controller. A deformable support member has multiple free ends, and the nozzles are provided on the free ends; the deformable support member can drive the multiple nozzles to move; the controller controls the deformable support member to drive the nozzles toward the opening of the flower according to the flower position information and orientation information, and one nozzle corresponds to one flower. It also includes an arc-shaped guide rail, which is horizontally arranged on the walking mechanism and extends along the circumference of the fruit tree. The deformable support is arranged on the arc-shaped guide rail and can be driven to move by the first driving device. The arc-shaped guide rail is a variable diameter guide rail and is equipped with a variable diameter driving device, which drives the variable diameter guide rail to bend. Under normal conditions, the variable diameter guide rail is a straight guide rail. The recognition component can recognize the outline of the fruit tree and send it to the controller. The controller controls the two ends of the variable diameter guide rail to bend towards the fruit tree according to the outline information of the fruit tree so that the diameter of the variable diameter guide rail is adapted to the outline of the fruit tree. The variable diameter guide rail includes multiple guide rail segments connected in sequence; the variable diameter drive device includes a support rod assembly and a motor. The support rod assembly includes two support rods, one end of which is provided with a gear and they mesh with each other. The middle of the support rod is provided with an inner groove extending along its own length direction. The two ends of the variable diameter guide rail are placed in the two inner grooves of the two support rods by pins; one of the gears, driven by the motor, realizes the relative rotation of the two support rods, thereby causing the variable diameter guide rail to bend or straighten.

2. The automatic fruit tree pollinator according to claim 1, characterized in that: The inner side of each of the guide rail sections is embedded with an integral spring steel plate.

3. The automatic fruit tree pollinator according to any one of claims 1-2, characterized in that: The deformable support is provided with a sliding seat at its bottom, which can move along the variable diameter guide rail and drive the deformable support to rotate around the vertical axis.

4. The automatic fruit tree pollinator according to claim 3, characterized in that: The deformable support includes a linear module, multiple electric push rods, multiple contouring rods, multiple universal joints, and multiple telescopic rods. The bottom of the linear module is fixedly mounted on the sliding base. The linear module has multiple sliders, each slider corresponding to one electric push rod. The base of the electric push rod is mounted on the slider. The free end of the electric push rod is connected to several contouring rods. The contouring rods can rotate around a horizontal axis and are driven by a motor. The universal joints are connected to the contouring rods via a slip ring motor. One end of the telescopic rod is connected to the universal joint via a servo motor, and the other end is equipped with a nozzle.

5. The automatic fruit tree pollinator according to claim 4, characterized in that: The walking mechanism is equipped with a ranging radar. When the variable diameter guide rail is in a straight state, its center line is a vertical first straight line, and the ranging radar is set on the first straight line. The ranging radar is communicatively connected to the controller. The ranging radar is used to detect the distance L between the first straight line and the tree trunk and transmit it to the controller. The controller controls the variable diameter guide rail to bend to a radius of L.

6. The automatic fruit tree pollinator according to claim 5, characterized in that: The walking mechanism uses a tracked walking method.

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