Fruit picking system based on unmanned aerial vehicle with telescopic grabbing arm

Abstract

The invention relates to a fruit picking system based on an unmanned aerial vehicle with a telescopic grabbing arm. The fruit picking system comprises the unmanned aerial vehicle and a ground collecting and sorting moving platform. The unmanned aerial vehicle comprises a universal joint telescopic grabbing arm and a fruit storage cabin; the fruit storage cabin is arranged on the unmanned aerial vehicle body, a fruit inlet is formed in the top of the fruit storage cabin, a fruit outlet is formed in the bottom of the fruit storage cabin, and a bottom cover capable of being opened and closed is arranged at the fruit outlet; the universal joint telescopic gripper arm comprises an up-down rotating arm, a horizontal rotating arm, a bamboo joint type telescopic rod and a mechanical gripper; the mechanical gripper comprises a gripper kneading finger, a pressure sensor, a gripper image recognition camera, a gripper palm and a gripper rotating motor; the ground collecting and sorting moving platform comprises a fruit collecting and sorting box body, wheels, a sorting concave plate, a telescopic ejector rod, a rotary ejector disc and a color sensor. The invention can replace manual picking of arbor high-altitude fruits such as persimmons, and the damage rate of the fruits is effectively reduced.

Description

technical field [0001] The invention belongs to the technical field of fruit-picking unmanned aerial vehicles, in particular to a fruit-picking system based on an unmanned aerial vehicle with telescopic gripping arms. Background technique [0002] At this stage, most of the fruit picking is still backward manual picking, which is inefficient, time-consuming and labor-intensive; labor costs are also getting higher and higher; and for automatic fruit picking, most of them use mechanical equipment on the ground to grasp through mechanical claws. However, in the face of higher fruits, such as tree persimmons, ground equipment is difficult to reach; and the development of drone fruit picking is extremely immature and rarely used; with the continuous development of drone technology, no There are more and more opportunities and methods for man-machine fruit picking to be explored and developed. UAV fruit picking can solve the problem of high-altitude fruit picking. Such as Chinese...

AI Technical Summary

Problems solved by technology

However, the small size of the UAV leads to a small loading capacity. The patent requires the UAV itself to be close to the target fruit. For arbor fruit trees with long branches, it is difficult for the UAV to fly into the interior of the branch, and too close will cause the UAV to fall. or fruit tree damage

Images