A self-balancing picking device for unmanned aerial vehicles based on the principle of leverage and its control method

Abstract

The invention discloses an unmanned aerial vehicle self-balancing picking device based on the principle of leverage and a control method thereof. Platform, rear pole main body, counterweight box, scissors mechanism, weight sensor and fruit branch clamping mechanism; when in use, first fix the device on the drone, search for the target through the image collected by the binocular vision camera and fine-tune the position of the drone , and then through the central control to control the electric fruit picking device to perform the picking operation and the work of the ball screw sliding table. The calculation results are used to adjust the telescopic length to basically balance the sudden increase in the weight of the sudden increase in the front-end load mutation fruit picked by the UAV, so as to ensure the stability of the UAV. The invention is suitable for use in the fields of fruit harvesting and pruning in forest orchards.

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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