Unmanned aerial vehicle self-balancing picking device based on lever principle and control method thereof

Abstract

The invention discloses an unmanned aerial vehicle self-balancing picking device based on a lever principle and a control method thereof. The device comprises an electric fruit picking device, a camera fixing support, a binocular vision camera assembly, a front rod body, a connecting mechanism, a ball screw sliding table, a rear rod body, a balance weight box, a shear mechanism, a weight sensor and a fruit branch clamping mechanism. During use, the device is fixed on an unmanned aerial vehicle, a target is searched for through images collected by a binocular vision camera, the position of the unmanned aerial vehicle is finely adjusted, and then the electric fruit picking device is controlled by a center controller to execute picking operation and work of the ball screw sliding table. After picking is completed, the weight sensor feeds back preliminary detection quality information of the fruits to an unmanned aerial vehicle processor, and then the ball screw sliding table adjusts the telescopic length based on a calculation result of the lever principle to basically balance the suddenly increased weight of the fruits due to sudden load change at the front end of the unmanned aerial vehicle during picking, so that the stability of the unmanned aerial vehicle is ensured. The device is suitable for being used in the fields of fruit harvesting and pruning in the forest and orchard.

Description

technical field [0001] The invention belongs to the technical field of intelligent manufacturing, in particular to an unmanned aerial vehicle self-balancing picking device based on the principle of leverage and a control method thereof. Background technique [0002] When the drone is unloaded, its center of gravity is placed on the central axis of the fuselage, so as to achieve the balance of the drone during flight. However, due to the different application fields of drones, the weight of the equipment carried by them will vary greatly. For example, installing a digital camera, professional video camera, medicine box, medicine powder container, etc. on the nose position will affect the center of gravity of the drone, thereby affecting the balance of the drone during flight. In order to improve the balance of the UAV, the method of setting "counterweight" is usually used at present, that is, when the nose is equipped with some equipment, by loading a certain weight object o...

AI Technical Summary

Problems solved by technology

[0003] Although the "counterweight" adjustment method can alleviate the problem of unbalanced center of gravity of the UAV, it increases the load of the UAV, increases the power consumption of the electric UAV, and affects the endurance time and flight safety of the UAV.

At the same time, when the UAV is operating, the weight of the load will gradually change (increase or decrease) as the operation progresses, and then continuously change the position of the center of gravity of the UAV, thus affecting the weight of the UAV during flight. balance

[0004] At present, there are few social applications for fruit picking by drones. Most of the existing fruit picking by drones is to collect small fruits. Human-picked

The balance of the drone itself cannot cope with the sudden increase in the weight of the front end after fruit picking

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