A multi-functional unmanned aerial vehicle system and its control method

Abstract

The present invention relates to a multi-functional unmanned aerial vehicle (UAV) system, which includes a UAV device, a server, and an intelligent hangar. The UAV device includes a UAV, a camera, a robotic arm, a robotic hand, a control unit, and a communication unit. The camera is disposed on the side wall of the UAV. One end of the robotic arm is connected to the UAV, and the robotic arm can be folded and placed under the UAV. The robotic hand is detachably connected to the other end of the robotic arm. The robotic hand is a grasping robotic hand, a cleaning robotic hand, a spherical robotic hand, or a human hand-like robotic hand to respectively complete grasping tasks, cleaning tasks, fruit picking tasks, or delicate tasks. The control unit is electrically connected to the UAV, the camera, the robotic arm, and the robotic hand. The communication unit is used to enable the control unit to interact data with the server. The intelligent hangar is electrically connected to the server. The server can receive task instructions and control the intelligent hangar to select a corresponding robotic hand to be installed on the UAV device. The present invention also relates to a control method for the multi-functional UAV system.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a multi-functional unmanned aerial vehicle system and a control method thereof. Background Art

[0002] With the development of technology in the field of unmanned aerial vehicles, more and more unmanned aerial vehicles are applied in the processes of agricultural and industrial production. The existing technology is to fix an unmanned aerial vehicle with a specific type of manipulator to achieve a certain special function. For example, intelligent spraying, aerial recovery of unmanned aerial vehicles, etc. are realized. However, in the existing technology, the functions of the unmanned aerial vehicle are single and fixed, and the function conversion cannot be achieved, which easily causes the problem of idle unmanned aerial vehicles and waste of resources.

[0003] Therefore, there is an urgent need for a multi-functional unmanned aerial vehicle system and a control method thereof to solve the above problems. Summary of the Invention

[0004] An object of the present invention is to provide a multi-functional unmanned aerial vehicle system, which can enable an unmanned aerial vehicle to achieve multiple functions, reduce manual input, and improve product value and economic benefits.

[0005] To achieve this purpose, the present invention adopts the following technical solutions:

[0006] A multi-functional unmanned aerial vehicle system, comprising:

[0007] An unmanned aerial vehicle device, wherein the unmanned aerial vehicle device includes:

[0008] An unmanned aerial vehicle;

[0009] A camera, which is arranged on the side wall of the unmanned aerial vehicle;

[0010] A robotic arm, one end of which is connected to the unmanned aerial vehicle, and the robotic arm can be folded and placed under the unmanned aerial vehicle;

[0011] A manipulator, which is detachably connected to the other end of the robotic arm, and the manipulator is a grasping manipulator, a cleaning manipulator, a spherical manipulator or a human hand-like manipulator to respectively complete grasping tasks, cleaning tasks, fruit picking tasks or fine tasks;

[0012] A control unit, which is electrically connected to the unmanned aerial vehicle, the camera, the robotic arm and the manipulator, and the control unit can control the flight route of the unmanned aerial vehicle, receive the images captured by the camera, and control the actions of the robotic arm and the manipulator;

[0013] A communication unit, which is electrically connected to the control unit;

[0014] A server that can interact with the control unit through the communication unit to exchange data;

[0015] An intelligent library, electrically connected to the server. The server can receive task instructions and control the intelligent library to select a corresponding manipulator to be installed on the UAV device.

[0016] As a preferred embodiment of a multi-functional UAV system, the robotic arm includes a base, a first rotating member, a second rotating member, a third rotating member, a fourth rotating member, a fifth rotating member, a first connecting rod, a second connecting rod, and a third connecting rod. The base is connected to the bottom surface of the UAV. The first rotating member is rotatably connected to the base along the Z-axis. The second rotating member is rotatably connected to the first rotating member along the Y-axis. The first connecting rod is fixedly connected to the second rotating member. The third rotating member is rotatably connected to the first connecting rod along the Y-axis. The second connecting rod is fixedly connected to the third rotating member. The fourth rotating member is rotatably connected to the second connecting rod along the X-axis. The third connecting rod is fixedly connected to the fourth rotating member. The fifth rotating member is rotatably connected to the third connecting rod along the Z-axis. The X-axis coincides with the length direction of the camera. The Z-axis is perpendicular to the bottom surface. The X-axis, the Y-axis, and the Z-axis are perpendicular to each other pairwise.

[0017] As a preferred embodiment of a multi-functional UAV system, the robotic arm is threadedly connected, clamped, or electromagnetically connected to the bottom surface of the UAV.

[0018] As a preferred embodiment of a multi-functional UAV system, the grasping manipulator is a pliers-type manipulator or a claw-type manipulator. The pliers-type manipulator includes two jaws, and the claw-type manipulator includes more than two claws.

[0019] As a preferred embodiment of a multi-functional UAV system, the cleaning manipulator includes a connecting rod, a cleaning plate, and a cleaning member. The cleaning plate is rotatably connected to the connecting rod, and the cleaning member is detachably connected to the cleaning plate.

[0020] As a preferred embodiment of a multi-functional UAV system, the spherical manipulator includes two hemispherical shell claws, and the two hemispherical shell claws can be relatively closed to form an empty spherical shell to wrap the fruit and cut off the branches.

[0021] As a preferred embodiment of a multi-functional UAV system, the UAV device further includes a storage bag. A bag rack is provided on the UAV, and the storage bag is sleeved on the bag rack.

[0022] Another object of the present invention is to provide a control method for a multi-functional UAV system. Using this control method, a single UAV can achieve multiple functions, reduce manual input, and improve product value and economic benefits.

[0023] To achieve this purpose, the present invention adopts the following technical solutions:

[0024] A control method for the above-mentioned multifunctional unmanned aerial vehicle system, comprising the following steps:

[0025] S01. The server receives a task instruction, the task instruction includes a task type and a target location, and the task type includes a grasping task, a cleaning task, a fruit picking task, and a fine task;

[0026] S02. The server controls the intelligent hangar to install a corresponding manipulator for the unmanned aerial vehicle device according to the task type;

[0027] S03. The server sends the task instruction to the communication unit of the unmanned aerial vehicle device, and the communication unit transmits the task instruction to the control unit;

[0028] S04. The control unit controls the unmanned aerial vehicle device to fly to the target location, the control unit judges the task object according to the image captured by the camera, and controls the robotic arm and the manipulator to perform task operations;

[0029] S05. The control unit judges whether the task object exists. If it exists, continue to step S04. If it does not exist, the task is completed, and the control unit controls the unmanned aerial vehicle device to return.

[0030] As a preferred solution of the control method for the multifunctional unmanned aerial vehicle system, step S03 further includes the control unit controlling the folding of the robotic arm, and step S04 further includes, before the manipulator performs task operations, the control unit controlling the extension of the robotic arm to make the manipulator approach the task object, and step S05 further includes, when the unmanned aerial vehicle device returns, the control unit controlling the folding of the robotic arm.

[0031] As a preferred solution of the control method for the multifunctional unmanned aerial vehicle system, step S02 further includes the control unit transmitting the power data of the unmanned aerial vehicle device to the server through the communication unit. When the power is lower than the preset power, the server controls the intelligent hangar to replace the battery of the unmanned aerial vehicle device.

[0032] The beneficial effects of the present invention:

[0033] The present invention provides a multi-functional unmanned aerial vehicle (UAV) system, which includes a UAV device, a server, and an intelligent hangar. Among them, the UAV device includes a UAV, a camera, a robotic arm, a robotic hand, a control unit, and a communication unit. The camera is arranged on the side wall of the UAV. One end of the robotic arm is connected to the UAV, and the robotic arm can be folded and placed under the UAV. The robotic hand is detachably connected to the other end of the robotic arm. The robotic hand is a grasping robotic hand, a cleaning robotic hand, a spherical robotic hand, or a human hand-like robotic hand to respectively complete grasping tasks, cleaning tasks, fruit picking tasks, or delicate tasks. The control unit is electrically connected to the UAV, the camera, the robotic arm, and the robotic hand. The control unit can control the flight path of the UAV, receive the images captured by the camera, and control the actions of the robotic arm and the robotic hand. The communication unit is electrically connected to the control unit, and the communication unit is used to enable the control unit to interact data with the server. The intelligent hangar is electrically connected to the server. The server can receive task instructions and control the intelligent hangar to select a corresponding robotic hand to be installed on the UAV device.

[0034] The multi-functional UAV system can receive task instructions through the server and control the intelligent hangar to select a robotic hand corresponding to the task type to be installed on the UAV device. Then, through the communication unit of the UAV device, the server transmits the task instructions to the control unit of the UAV device, and the control unit can control the flight of the UAV, the actions of the robotic arm and the robotic hand according to the task instructions to finally complete the task. The multi-functional UAV system can enable a single UAV to achieve multiple functions, reduce manual input, and improve product value and economic benefits.

[0035] The present invention also provides a control method for the multi-functional UAV system, including the following steps: S01. The server receives a task instruction, and the task instruction includes a task type and a target location. The task types include grasping tasks, cleaning tasks, fruit picking tasks, and delicate tasks. S02. The server controls the intelligent hangar to install a corresponding robotic hand on the UAV device according to the task type. S03. The server sends the task instruction to the communication unit of the UAV device, and the communication unit transmits the task instruction to the control unit. S04. The control unit controls the UAV device to fly to the target location. The control unit judges the task object according to the images captured by the camera and controls the robotic arm and the robotic hand to perform task operations. S05. The control unit judges whether there is the task object. If there is, continue with step S04. If not, the task is completed, and the control unit controls the UAV device to return. Obviously, using this control method can enable a single UAV to achieve multiple functions, reduce manual input, and improve product value and economic benefits. Description of the Drawings

[0036] Figure 1It is the left view of the drone device (excluding the storage bag and the manipulator) provided by the embodiment of the present invention;

[0037] Figure 2 It is the front view of the drone device (excluding the storage bag) provided by the embodiment of the present invention;

[0038] Figure 3 It is the top view of the drone device (excluding the bag rack, the storage bag and the manipulator) provided by the embodiment of the present invention;

[0039] Figure 4 It is the left view of the drone device (including the storage bag, excluding the robotic arm and the manipulator) provided by the embodiment of the present invention;

[0040] Figure 5 It is the structural schematic diagram of the clamp - type manipulator provided by the embodiment of the present invention;

[0041] Figure 6 It is the structural schematic diagram of the claw - type manipulator provided by the embodiment of the present invention;

[0042] Figure 7 It is the structural schematic diagram of the cleaning - type manipulator provided by the embodiment of the present invention;

[0043] Figure 8 It is the structural schematic diagram of the ball - type manipulator provided by the embodiment of the present invention;

[0044] Figure 9 It is the structural schematic diagram of the human - hand - type manipulator provided by the embodiment of the present invention.

[0045] In the figure:

[0046] 1. Drone; 2. Camera;

[0047] 3. Robotic arm; 31. Base; 32. First rotating member; 33. Second rotating member; 34. Third rotating member; 35. Fourth rotating member; 36. Fifth rotating member; 37. First connecting rod; 38. Second connecting rod; 39. Third connecting rod;

[0048] 4. Manipulator; 41. Clamp - type manipulator; 411. Claw; 42. Claw - type manipulator; 421. Gripping claw; 43. Cleaning - type manipulator; 431. Connecting rod; 432. Cleaning plate; 44. Ball - type manipulator; 441. Hemispherical shell claw; 45. Human - hand - type manipulator;

[0049] 5. Storage bag; 6. Bag rack. Detailed implementation manners

[0050] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all of them.

[0051] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0052] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact of the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the horizontal height of the first feature is lower than that of the second feature.

[0053] In the prior art, the functions of the unmanned aerial vehicle 1 are single and fixed, and the function conversion cannot be realized, which easily causes the problem of the unmanned aerial vehicle 1 being idle and resource waste. Therefore, this embodiment provides a multi-functional unmanned aerial vehicle system to solve the above problems.

[0054] As Figures 1-4 shown, the multi-functional unmanned aerial vehicle system includes an unmanned aerial vehicle device, a server, and an intelligent hangar. Among them, the unmanned aerial vehicle device is communicatively connected to the server, and the intelligent hangar is electrically connected to the server. The server can receive the task instructions given by the staff and control the intelligent hangar to select the corresponding manipulator 4 to be installed on the unmanned aerial vehicle device according to the task instructions. The server can also transmit the task instructions to the unmanned aerial vehicle device, enabling the unmanned aerial vehicle device to execute the tasks and realizing the automated processing of the overall process.

[0055] Specifically, the unmanned aerial vehicle device includes an unmanned aerial vehicle 1, a camera 2, a robotic arm 3, a manipulator 4, a control unit, and a communication unit.

[0056] One end of the robotic arm 3 is detachably connected to the drone 1, and the robotic arm 3 can be folded and placed under the drone 1. Preferably, the robotic arm 3 includes a base 31, a first rotating member 32, a second rotating member 33, a third rotating member 34, a fourth rotating member 35, a fifth rotating member 36, a first connecting rod 37, a second connecting rod 38, and a third connecting rod 39. The X-axis coincides with the length direction of the camera 2, the Z-axis is perpendicular to the bottom surface, and the X-axis, Y-axis, and Z-axis are perpendicular to each other in pairs. The base 31 is connected to the bottom surface of the drone 1, and the first rotating member 32 is rotatably connected to the base 31 along the Z-axis, that is, the working angle of the whole robotic arm 3 can be adjusted. The second rotating member 33 is rotatably connected to the first rotating member 32 along the Y-axis, and the first connecting rod 37 is fixedly connected to the second rotating member 33, that is, the robotic arm 3 can be rotated in the plane where the X-axis and Z-axis are located to realize the folding of the robotic arm 3. The third rotating member 34 is rotatably connected to the first connecting rod 37 along the Y-axis, and the second connecting rod 38 is fixedly connected to the third rotating member 34. Similarly, the rotation characteristics of the third rotating member 34 can realize the rotation of the part of the robotic arm 3 connected downstream of the third rotating member 34 in the plane where the X-axis and Z-axis are located to realize the folding of this part of the robotic arm 3. The fourth rotating member 35 is rotatably connected to the second connecting rod 38 along the X-axis, and the third connecting rod 39 is fixedly connected to the fourth rotating member 35. The rotation characteristics of the fourth rotating member 35 can realize the rotation of the part of the robotic arm 3 and the manipulator 4 connected downstream of the fourth rotating member 35 in the plane where the Y-axis and Z-axis are located to realize the extension and contraction of the manipulator 4 in the Y-axis direction. The fifth rotating member 36 is rotatably connected to the third connecting rod 39 along the Z-axis, and the manipulator 4 is detachably connected to the fifth rotating member 36, that is, the fine adjustment of the position of the manipulator 4 in the X-axis or Y-axis direction can be realized.

[0057] Optionally, the robotic arm 3 is threadedly connected, clamped, or electromagnetically connected to the bottom surface of the drone 1. It can be known that the above connection methods can all realize the detachable connection between the robotic arm 3 and the drone 1, so that the drone 1 has two working modes with and without the robotic arm 3, and it is convenient for the repair and replacement of the robotic arm 3. The rotation clamping method between the single-lens reflex camera lens and the fuselage can be selected to realize rapid assembly and disassembly. The magnetic adsorption method between the electro-permanent magnet and the magnetic permeable part can also be selected to realize the connection. Optionally, the electro-permanent magnet is arranged on the bottom surface of the drone 1, and the magnetic permeable part is arranged at the end of the robotic arm 3. The intelligent hangar controls the electro-permanent magnet to be magnetized. As the magnetic force of the electro-permanent magnet continuously increases, it can adsorb the magnetic permeable part to form an adsorption force to fix the robotic arm 3 under the drone 1. The intelligent hangar controls the electro-permanent magnet to be demagnetized, and the robotic arm 3 can be separated from the drone 1.

[0058] Such as Figures 5-9As shown, the robotic arm 4 is a grasping robotic arm, a cleaning robotic arm 43, a spherical robotic arm 44, or a human - hand - like robotic arm 45. Different robotic arms 4 can perform different types of tasks. The grasping robotic arm is used to perform grasping tasks, the cleaning robotic arm 43 is used to perform cleaning tasks, the spherical robotic arm 44 is used to perform fruit - picking tasks, and the human - hand - like robotic arm 45 is used to perform delicate tasks.

[0059] As Figures 5-6 shown, optionally, the grasping robotic arm is a pliers - type robotic arm 41 or a claw - type robotic arm 42. The pliers - type robotic arm 41 includes two pliers jaws 411, and the claw - type robotic arm 42 includes more than two clamping claws 421.

[0060] As Figure 7 shown, optionally, the cleaning robotic arm 43 includes a connecting rod 431, a cleaning plate 432, and a cleaning member. The cleaning plate 432 is rotatably connected to the connecting rod 431, and the cleaning member is detachably connected to the cleaning plate 432. The cleaning member can be a cleaning cloth, which can be clamped on the cleaning plate 432, and the cleaning plate 432 plays a role in supporting the cleaning cloth. It can be known that the surface of the cleaning plate 432 with the cleaning member contacts the surface of the object to be cleaned to achieve cleaning.

[0061] As Figure 8 shown, optionally, the spherical robotic arm 44 includes two hemispherical shell claws 441. The two hemispherical shell claws 441 can be relatively closed to form an empty spherical shell to wrap the fruit and cut off the branches.

[0062] In order to enable the drone 1 to have the function of storing and carrying items to carry multiple items or fruits, optionally, the drone device further includes a storage bag 5. A bag - placing rack 6 is provided on the drone 1, and the storage bag 5 is sleeved on the bag - placing rack 6. Optionally, two bag - placing racks 6 are symmetrically provided on the drone 1, and one storage bag 5 is sleeved on each bag - placing rack 6. When the robotic arm 4 grasps an item or picks a fruit, it will be placed in the two storage bags 5 in sequence to ensure weight balance and the flight stability of the drone 1.

[0063] The camera 2 is provided on the side wall of the drone 1. Of course, in other embodiments, multiple cameras 2 can also be provided to expand the shooting angle. Optionally, the drone device further includes an identification member. The identification member is provided on the drone and is used to identify the task object. The task object is the item to be grasped or the fruit to be picked, etc. Optionally, the identification member is an infrared sensor.

[0064] The control unit of the drone device is electrically connected to the drone 1, the camera 2, the identification component, the robotic arm 3, and the robotic hand 4. The control unit can control the flight path of the drone 1 and can also receive the images captured by the camera 2 to determine whether there is a task object or obtain information about the existence of a task object from the identification component. The control unit can also control the actions of the robotic arm 3 and the robotic hand 4. The communication unit is electrically connected to the control unit, and the communication unit is used to enable the control unit to interact data with the server.

[0065] Optionally, the multi-functional drone system further includes a mobile terminal. The mobile terminal is communicatively connected to the server. The images captured by the drone device obtained by the server in real time can be transmitted to the mobile terminal, and the staff can view them in real time through the mobile terminal. The staff can also issue task instructions on the mobile terminal to create tasks in real time, and can also view whether the drone device has completed the task on the mobile terminal to understand the task progress in real time.

[0066] The control method of the above multi-functional drone system provided in this embodiment includes the following steps:

[0067] S01. Task creation stage.

[0068] The staff creates a task on the mobile terminal, including selecting a task type and specifying a target location. The task types include grasping tasks, cleaning tasks, fruit picking tasks, and delicate tasks, etc. Of course, in other embodiments, it also includes spraying tasks and aerial recovery tasks, etc.

[0069] The mobile terminal sends the task instruction to the server, and the server receives the task instruction. The task instruction includes the above-mentioned task type and target location.

[0070] S02. Task preparation stage.

[0071] The server controls the intelligent hangar to install the corresponding robotic hand 4 for the drone device according to the task type. That is, when the task type is a grasping task, a grasping robotic hand is installed; when the task type is a cleaning task, a cleaning robotic hand 43 is installed; when the task type is a fruit picking task, a spherical robotic hand 44 is installed. In other embodiments, other types of robotic hands 4 can also be set to complete other types of tasks.

[0072] Optionally, the control unit of the drone device transmits the power data of the drone device to the server through the communication unit. When the power is lower than the preset power, the server controls the intelligent hangar to replace the battery of the drone device.

[0073] S03. Task receiving stage.

[0074] After the intelligent library completes the preparatory work, it sends a completion signal to the server. The server can then send a task instruction to the communication unit of the UAV device. The communication unit transmits the task instruction to the control unit, and the control unit controls the folding of the robotic arm 3. The UAV device is ready to take off.

[0075] S04. Task execution stage.

[0076] The control unit of the UAV device controls the UAV device to fly to the target location. The control unit determines whether there is a task object and the specific location of the task object in the target location area based on the image captured by the camera 2 or the recognition information of the recognition component. The control unit can then control the extension of the robotic arm 3 and control the cooperation between the robotic arm 3 and the manipulator 4 to perform task operations. That is, the manipulator 4 grabs an item and places it in the storage bag 5, or cleans the target stain on the item, or picks the target fruit and places it in the storage bag 5.

[0077] Optionally, when there are multiple task objects, after the control unit obtains the positions of the multiple task objects, it can obtain the optimal path for task processing. The control unit can then control the UAV device to process the multiple task objects in sequence according to this optimal path.

[0078] S05. Task ending stage.

[0079] After the above-mentioned multiple task objects are processed, the control unit controls the UAV 1 to fly within the area of the target location, and at the same time controls the camera 2 and / or the recognition component to identify whether there are still task objects. If there are, continue with step S04. If not, the task is completed. The control unit sends a task completion signal to the server through the communication unit, and the staff can learn about it from the mobile terminal. At the same time, the control unit controls the folding of the robotic arm 3 and controls the return of the UAV device.

[0080] Optionally, the UAV device can return to the collection location of the items or fruits to transport the items or fruits there. Then the UAV device returns to the intelligent library for maintenance to prepare for the execution of the next task.

[0081] The above multi-functional UAV system can enable a single UAV 1 to achieve multiple functions, making one thing serve multiple purposes, thereby increasing the value and economic benefits of the product. Moreover, using the above control method, the multi-functional UAV system can achieve intelligent and automated processing of multiple task types, which is conducive to accelerating the automation process of agricultural or industrial production. And the multi-functional UAV system can achieve full-process monitoring, saving manpower while also enabling real-time understanding of the task progress and improving the user experience.

[0082] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A multi-functional unmanned aerial vehicle system, characterized in that, Comprising: A drone device, the drone device comprising: A drone (1); A camera (2), the camera (2) being disposed on the side wall of the drone (1); A robotic arm (3), one end of the robotic arm (3) being connected to the drone (1), the robotic arm (3) being capable of being folded and placed under the drone (1); A robotic hand (4), the robotic hand (4) being detachably connected to the other end of the robotic arm (3), the robotic hand (4) being a grasping robotic hand, a cleaning robotic hand (43), a spherical robotic hand (44) or a human - hand - like robotic hand (45) to respectively complete grasping tasks, cleaning tasks, fruit - picking tasks or delicate tasks; A control unit, the control unit being electrically connected to the drone (1), the camera (2), the robotic arm (3) and the robotic hand (4), the control unit being capable of controlling the flight path of the drone (1), receiving the images captured by the camera (2), and controlling the actions of the robotic arm (3) and the robotic hand (4); A communication unit, the communication unit being electrically connected to the control unit; A server, the server being capable of interacting with the control unit through the communication unit for data; An intelligent hangar, the intelligent hangar being electrically connected to the server, the server being capable of receiving task instructions and controlling the intelligent hangar to select a corresponding robotic hand (4) to be installed on the drone device.

2. The multi-functional unmanned aerial vehicle system according to claim 1, characterized in that, The robotic arm (3) includes a base (31), a first rotating member (32), a second rotating member (33), a third rotating member (34), a fourth rotating member (35), a fifth rotating member (36), a first connecting rod (37), a second connecting rod (38) and a third connecting rod (39). The base (31) is connected to the bottom surface of the drone (1). The first rotating member (32) is rotatably connected to the base (31) along the Z - axis. The second rotating member (33) is rotatably connected to the first rotating member (32) along the Y - axis. The first connecting rod (37) is fixedly connected to the second rotating member (33). The third rotating member (34) is rotatably connected to the first connecting rod (37) along the Y - axis. The second connecting rod (38) is fixedly connected to the third rotating member (34). The fourth rotating member (35) is rotatably connected to the second connecting rod (38) along the X - axis. The third connecting rod (39) is fixedly connected to the fourth rotating member (35). The fifth rotating member (36) is rotatably connected to the third connecting rod (39) along the Z - axis. The X - axis coincides with the length direction of the camera (2). The Z - axis is perpendicular to the bottom surface. The X - axis, the Y - axis and the Z - axis are perpendicular to each other pairwise.

3. The multi-functional unmanned aerial vehicle system according to claim 1, characterized in that, The robotic arm (3) is threadedly connected, clamped or electromagnetically connected to the bottom surface of the drone (1).

4. The multi-functional unmanned aerial vehicle system according to claim 1, characterized in that, The grasping robotic hand is a pliers - type robotic hand (41) or a claw - type robotic hand (42). The pliers - type robotic hand (41) includes two pliers jaws (411). The claw - type robotic hand (42) includes more than two clamping jaws (421).

5. The multi-functional unmanned aerial vehicle system according to claim 1, characterized in that, The cleaning manipulator (43) includes a connecting rod (431), a cleaning plate (432) and a cleaning member. The cleaning plate (432) is rotatably connected to the connecting rod (431), and the cleaning member is detachably connected to the cleaning plate (432).

6. The multi-functional unmanned aerial vehicle system according to claim 1, characterized in that, The spherical manipulator (44) includes two hemispherical shell claws (441). The two hemispherical shell claws (441) can be relatively closed into an empty spherical shell to wrap the fruit and cut off the branches.

7. The multi-functional unmanned aerial vehicle system according to claim 1, characterized in that, The drone device further includes a storage bag (5). A bag placement rack (6) is provided on the drone (1), and the storage bag (5) is sleeved on the bag placement rack (6).

8. A control method for the multi-functional unmanned aerial vehicle system according to any one of claims 1-7, characterized in that, It includes the following steps: S01. The server receives a task instruction, which includes a task type and a target location. The task type includes a grasping task, a cleaning task, a fruit picking task, and a fine task; S02. The server controls the intelligent warehouse to install the corresponding manipulator (4) for the drone device according to the task type; S03. The server sends the task instruction to the communication unit of the drone device, and the communication unit transmits the task instruction to the control unit; S04. The control unit controls the drone device to fly to the target location. The control unit judges the task object according to the image captured by the camera (2), and controls the robotic arm (3) and the manipulator (4) to perform task operations; S05. The control unit judges whether there is the task object. If so, it continues with step S04. If not, the task is completed, and the control unit controls the drone device to return.

9. The control method for the multi-functional unmanned aerial vehicle system according to claim 8, characterized in that, Step S03 further includes the control unit controlling the folding of the robotic arm (3). Step S04 further includes, before the manipulator (4) performs task operations, the control unit controlling the extension of the robotic arm (3) so that the manipulator (4) approaches the task object. Step S05 further includes, when the drone device returns, the control unit controlling the folding of the robotic arm (3).

10. The control method for the multi-functional unmanned aerial vehicle system according to claim 8, characterized in that, Step S02 further includes the control unit transmitting the power data of the drone device to the server through the communication unit. When the power is lower than the preset power, the server controls the intelligent warehouse to replace the battery of the drone device.

Images