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

A technology for visual positioning and bionic snakes, which is applied to picking machines, agricultural machinery and implements, unmanned aerial vehicles, etc., can solve the problems of low picking efficiency, high labor intensity, and unsuccessful picking, etc., and achieve good bionic effects without difficulty. Collision, fast response characteristics, stable and firm effect

Inactive Publication Date: 2020-02-07
ZHONGKAI UNIV OF AGRI & ENG +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0041] Such as figure 1 , figure 2 , image 3 As shown, a visual positioning drone harvesting device includes a drone main body 1 and a visual positioning bionic snake mouth picking mechanism 2; the bionic snake mouth picking mechanism 2 is installed on the drone main body 1 through a bracket 6, The inside of the support 6 is provided with a circuit, and the circuit is used to supply power to electromagnets, rotating motors, binocular cameras, distance sensors and other equipment that require electricity. The installation method of the bracket 6 is pluggable, that is, a line is arranged inside the bracket, and the end of the bracket is similar to a power plug, and the power is obtained by plugging it into the drone.

[0042] The bionic snake mouth picking mechanism 2 for visual positioning includes the upper part 3 of the snake mouth, the lower part 4 of the snake mouth and the snake neck 5 . The upper part 3 of the snake mouth includes an upper round cap 7, the upper edge...

Embodiment 2

[0048] Such as Figure 5 As shown, when there are multiple fruits at the fruit position of the image location, when the bionic snake mouth picking mechanism is close to the fruit, since the shape of the snake mouth is conical, using its guidance, the fruit next to the target fruit can follow the outer contour, Move to side position, so just make target fruit be in correct picking position, wherein main picking execution step is identical with embodiment 1.

Embodiment 3

[0050] Such as Figure 6 As shown, when there are many obstructive branches above and below the target fruit, when the bionic snake mouth picking mechanism is close to the fruit, because of the circular slope designed along the outer side of the snake mouth, it can well guide the branches up and down without affecting the picking. Wherein the main picking execution steps are the same as in Example 1.

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A01D46/30G05D1/08G05D1/10
CPCA01D46/30G05D1/0808G05D1/101B64U10/10B64U2101/00
Inventor 唐昀超邹湘军何建华朱立学陈明猷高一华黄钊丰黄矿裕
Owner ZHONGKAI UNIV OF AGRI & ENG
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