Visual positioning bionic snake mouth picking mechanism, unmanned aerial vehicle harvesting device and unmanned aerial vehicle harvesting method

Abstract

The invention discloses a visual positioning bionic snake mouth picking mechanism, an unmanned aerial vehicle harvesting device and an unmanned aerial vehicle harvesting method. The bionic snake mouthpicking mechanism comprises a snake mouth upper portion, a snake mouth lower portion and a snake neck, the snake mouth upper portion and the snake mouth lower portion are mainly used for picking, thesnake neck is mainly used for harvesting, and the bionic snake mouth picking mechanism is mounted on an unmanned aerial vehicle body through a support. The picking mechanism has excellent bionic effect, bionic shapes of the snake mouth upper portion and the snake mouth lower portion can be effectively applicable to fruit picking in the picking process, blades are arranged and simulate actions ofteeth, quick response of electromagnets and rotating motors is achieved, so that fruits can be rapidly separated from plants, the picking mechanism has excellent error-tolerant rate and correspondingresponse measures in aspects such as positioning picking deviation of the fruits and obstacles environment response, labor intensity is low, and damage to the fruits and injury to workers can be effectively avoided in the picking process.

Description

technical field [0001] The invention relates to the field of picking machinery, in particular to a visual positioning bionic snake mouth picking mechanism, an unmanned aerial vehicle harvesting device and a harvesting method. Background technique [0002] Camellia oleifera, apple and other fruits are the most important crops in my country. Taking camellia oleifera as an example, the picking has the following characteristics: most fruit trees are planted in mountainous areas, especially in the south where the mountain roads are uneven, and large-scale machinery cannot go up the mountain to work; when harvesting camellia oleifera, light movements are required, and the branches and newly opened buds must not be damaged. , otherwise it will seriously affect the output of the coming year. At present, the picking of camellia oleifera fruit is basically completed by manual picking. The fruit is separated from the fruit tree by external force, and then the fruit is put into the fra...

AI Technical Summary

Problems solved by technology

At present, the picking of camellia oleifera fruit is basically done by manual picking, and the fruit is separated from the fruit tree by external force, and then the fruit is put into the frame; this picking method is labor-intensive and the picking efficiency is low

Most of the existing picking robots are a combination of a car and a manipulator. The car can reach the target point manually or through navigation, and most of the picking work is done by the manipulator. When the manipulator is working, when picking fruits with a higher height, It also needs to be equipped with a lifting platform; when the picking position is wrong, even a small position deviation may lead to unsuccessful picking, and it is necessary to re-align the fruit and repeat the previous action for picking, which will inevitably lead to waste of time and reduction of efficiency

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