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Chinese walnut picking and collecting device and method based on unmanned aerial vehicle

A collection device and unmanned aerial vehicle technology, which is applied in the field of pecan picking equipment, can solve the problems of troublesome collection, unsatisfactory hitting effect, restricted movement of a retractable rod, etc., and achieves easy falling off, reduced power consumption, and high strength. Effect

Active Publication Date: 2019-09-03
DALIAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But the limitation of the device designed based on this kind of method in the past is reflected in: 1. hitting device is placed on the ground more, because the branch of fruit tree is various and telescopic rod must satisfy actual length requirement again, the movement of telescopic rod greatly restricted
2. The previous devices can only achieve constant force beating, and the beating effect is not ideal
3. Knock the pecans that fall off and fall directly to the ground, which is troublesome to collect

Method used

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  • Chinese walnut picking and collecting device and method based on unmanned aerial vehicle
  • Chinese walnut picking and collecting device and method based on unmanned aerial vehicle
  • Chinese walnut picking and collecting device and method based on unmanned aerial vehicle

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Experimental program
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Effect test

Embodiment 1

[0041] This embodiment is as figure 1 As shown, it mainly includes: picking UAV device, identification and positioning system, fixing device, picking device, collecting device, and control center.

[0042] The picking drone device includes a picking drone 1 and a counterweight 11 . The picking UAV 1 is integrated with an identification and positioning system, a fixing device, and a picking device; the identification and positioning system is located outside the picking UAV 1 to ensure that the identification field of view is not blocked and signal transmission is not disturbed. Both the fixing device and the picking device are located below the picking drone 1 . The counterweight 11 is connected to the UAV to ensure that the center of gravity of the entire device coincides with the centerline of rotation of the UAV 1, making the flight of the UAV 1 more stable.

[0043] The identification and positioning system includes a positioning device and a camera 2 . The camera 2 is...

Embodiment 2

[0060] refer to Figure 5 .

[0061] This embodiment is basically the same as Embodiment 1. In this embodiment, it includes a connecting rod 8, a telescopic rod A7, a connecting plate 25, a rigid rod 23, a spring 24, a cam 26, a glass fiber rod B27, and a servo motor 5. One end of the connecting rod is connected to the fuselage of the picking UAV 1 and the other end is connected to the telescopic rod A7, and the length of the telescopic rod A7 is stretched to achieve different striking positions. The telescoping rod A7 is connected with the connecting plate 25, and the connecting plate 25 is equipped with a servo motor. The servo motor 5 is connected with the cam 26, and the servo motor 5 drives the cam 26 to rotate, so that the rigid rod 23 and the glass fiber rod B27 swing up and down. One end of the spring 24 is connected to the connecting plate 25 , and the other end is connected to the rigid rod 23 . The cam 26 is always in contact with the rigid rod 23 under the actio...

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Abstract

The invention discloses a Chinese walnut picking and collecting device and method based on an unmanned aerial vehicle, and belongs to the technical field of picking devices. The Chinese walnut pickingand collecting device comprises a picking unmanned aerial vehicle device, a recognizing and positioning system, a fixing device, a picking device, a collecting device and a control center. The recognizing and positioning system is located on the upper side of the picking unmanned aerial vehicle device. The fixing device and the picking device are both located on the lower side of the picking unmanned aerial vehicle device. The picking unmanned aerial vehicle device flies to a designated position according to the recognizing and positioning system, and the fixing device is composed of two stretching automatic telescopic clamping claws for clamping two branch fixing machine bodies. The eccentric variable-speed rotary striking of a glass fiber rod is realized by the picking device through aservo motor, the variable-force, variable-position and variable-angle striking of Chinese walnut branches is realized, and it is ensured that Chinese walnuts are struck down. A collecting unmanned aerial vehicle is connected with a collecting net, the struck-down Chinese walnuts fall into the collecting net, and a pressure sensor is arranged in the collecting unmanned aerial vehicle. The picking and collecting can be integrated, the picking unmanned aerial vehicle stops working in the striking process, and the electric energy consumption is reduced.

Description

technical field [0001] The invention belongs to the technical field of pecan picking equipment, and relates to a device and method for picking and collecting pecans based on an unmanned aerial vehicle. Background technique [0002] Pecan is a unique dried fruit and woody oil tree species in my country, which has the characteristics of long life and high yield. Walnuts contain more protein, unsaturated fatty acids and a variety of trace elements necessary for human nutrition. They not only nourish brain cells and enhance brain function, but also have the functions of nourishing lungs, nourishing blood and relieving asthma, moistening dryness and reducing phlegm. Various effects of deficiency and cold. [0003] Pecans usually grow in rugged mountainous areas, and the branches are fragile and easily broken. So far, fruit farmers mainly use the method of climbing trees and beating them with bamboo poles. This method is not only inefficient and labor-intensive, but also has gre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/26B64D47/08B64D47/00B64C27/08
CPCA01D46/264B64D47/08B64D47/00B64C27/08B64U10/10B64U2101/00B64U2101/30
Inventor 郭江宋传平徐永波王斌
Owner DALIAN UNIV OF TECH
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