A fruit picking system based on a drone with a telescopic grabbing arm

Abstract

The present invention relates to a fruit picking system based on a drone with a telescopic gripping arm, comprising a drone and a ground collection and sorting mobile platform; the drone comprises a universal joint telescopic gripping arm and a fruit storage cabin; the fruit storage cabin is arranged on the body of the drone, the top of the fruit storage cabin is provided with a fruit inlet, the bottom is provided with a fruit outlet, and the fruit outlet is provided with an openable and closable bottom cover; the universal joint telescopic gripping arm comprises an upper and lower rotating arm, a horizontal rotating arm, a bamboo-jointed 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 collection and sorting mobile platform comprises a fruit collection and sorting box, wheels, a sorting concave plate, a telescopic top rod, a rotating top plate and a color sensor. The present invention can replace manual picking of high-altitude fruits of trees such as persimmons, and effectively reduce the breakage rate of fruits.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit picking unmanned aerial vehicles, and in particular relates to a fruit picking system based on an unmanned aerial vehicle with a telescopic grabbing arm. Background Art

[0002] At present, most of the fruit picking is still backward manual picking, which is inefficient, time-consuming and labor-intensive; the labor cost is also getting higher and higher; and for automatic fruit picking, most of them are grabbed by mechanical equipment on the ground through mechanical claws. However, when facing higher fruits, such as persimmons of trees, it is difficult for ground equipment to reach; and the development of drone fruit picking is extremely immature and rarely used; with the continuous development of drone technology, there are more and more opportunities and methods for exploring and developing drone fruit picking, and drone fruit picking can solve the problem of high-altitude fruit picking. For example, the Chinese utility model patent "A high-efficiency picking device for garden persimmons" (CN205755596U) provides a garden persimmon high-efficiency picking device with low risk during picking, high picking efficiency, and not easy to damage the peel during picking. However, for the picking of tall tree fruits, manual picking still has risks, and this technology cannot be separated from the input of labor. For large areas of persimmons and other tree fruits, the situation of manual time-consuming and labor-intensive still exists. The Chinese invention patent application "A vibrating fruit picking machine based on gear rotation" (CN111713261A) uses the discontinuity between the rotating teeth of the gear to make a vibrator. The vibrator acts on the tree to make the tree shake, and the ripe fruits fall under the action of the shaking. The equipment is equipped with soft materials surrounding the tree to catch the fallen fruits to ensure that they will not be damaged by external forces. However, this technology is difficult to implement for tall trees such as persimmons. Vibrating the persimmon tree is likely to cause damage to the tree, and the persimmon fruit has a soft skin, so the breakage rate of the vibrated persimmon fruit is high. The Chinese invention patent application "A small fruit picking drone and its working method" (CN109436322A) is used in the picking of fruits or nuts. The operator controls the drone to fly to the target fruit through a remote control, and uses lithium batteries as energy to complete the instructions transmitted by wireless signals, thereby clamping the fruit and sawing off the fruit stalk, completing the harvesting process of fruits that are difficult to pick by common means. However, the drone's small size results in a small load capacity. The patent requires the drone itself to be close to the target fruit. For fruit trees with long branches, it is difficult for the drone to fly into the branches, and flying too close may cause the drone to fall or damage the fruit tree. Summary of the invention

[0003] In response to the above technical problems, the purpose of the present invention is to provide a fruit picking system based on a drone with a telescopic grab arm, which can replace manual high-altitude fruit picking. The grab arm of the drone can be extended into the tree crown to minimize the damage rate to the fruit trees and fruits. In conjunction with the ground collection and sorting mobile platform, the drone can dock and unload after picking a certain amount of fruit.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] A fruit picking system based on a drone with a telescopic grabbing arm comprises a drone 1 and a ground collecting and sorting mobile platform 24.

[0006] The drone 1 is a multi-rotor drone whose blades 2 are driven to rotate by a blade rotation motor 3 , and a machine foot 6 is provided at the bottom of the drone 1 .

[0007] The drone 1 further comprises a universal joint telescopic grab arm and a fruit storage compartment 12 .

[0008] The fruit storage compartment 12 is arranged on the body of the drone 1 , and a fruit inlet 4 is arranged on the top of the fruit storage compartment 12 , and a fruit outlet 31 is arranged on the bottom, and an openable and closable bottom cover 8 is arranged at the fruit outlet 31 .

[0009] The universal joint telescopic gripper arm includes an upper and lower rotating arm 10, a horizontal rotating arm 11, a bamboo-jointed telescopic rod 17 and a mechanical gripper; the mechanical gripper includes a gripper pinching finger 13, a pressure sensor 14, a gripper image recognition camera 15, a gripper palm 16 and a gripper rotation motor 18.

[0010] The upper and lower rotating arm 10 is installed at the front end of the drone 1 through a horizontal rotating axis; the horizontal rotating arm 11 is installed at the front end of the upper and lower rotating arm 10 through a vertical rotating axis; the bamboo-type telescopic rod 17 is fixedly connected to the mounting hole of the horizontal rotating arm 11, and when the bamboo-type telescopic rod 17 is in the retracted state, the whole is located in the mounting hole of the horizontal rotating arm 11; the gripper rotating motor 18 is installed at the front end of the bamboo-type telescopic rod 17; the gripper palm 16 is fixedly connected to the rotating axis of the gripper rotating motor 18; three gripper kneading fingers 13 are evenly installed on the gripper palm 16, and a pressure sensor 14 is provided on the side of each gripper kneading finger 13 that contacts the fruit; the gripper image recognition camera 15 is installed at the center of the gripper palm 16 for identifying and processing fruit images.

[0011] The ground collecting and sorting mobile platform 24 includes a fruit collecting and sorting box 20 , wheels 22 , a sorting concave plate 25 , a telescopic top rod 28 , a rotating top plate 29 and a color sensor 30 .

[0012] The ground collecting and sorting mobile platform 24 realizes omnidirectional movement through four wheels 22; the fruit collecting and sorting box 20 is arranged on the ground collecting and sorting mobile platform 24, and a groove for the feet 6 of the drone 1 to dock is provided at the rear of the top end of the fruit collecting and sorting box 20, so that the drone 1 can be stably docked on the fruit collecting and sorting box 20.

[0013] A fruit entrance 32 corresponding to the fruit outlet 31 of the fruit storage compartment 12 of the drone 1 is provided on the top of the fruit collecting and sorting box 20; the sorting concave plate 25 is arranged below the fruit entrance 32 along the forward direction of the mobile platform; the cross-section of the sorting concave plate 25 is arc-shaped, and can stably accommodate the fruits entering through the fruit entrance 32; the sorting concave plate 25 includes a front arc portion, a middle horizontal portion and a rear arc portion in sequence along the forward direction of the mobile platform; the ends of the front arc portion and the rear arc portion are fixedly connected to the top wall of the fruit collecting and sorting box 20; the rear arc portion is located directly below the fruit entrance 32.

[0014] The color sensor 30 is installed in the middle of the top wall of the fruit collecting and sorting box 20 to identify the maturity of the fruit rolling on the middle horizontal part of the sorting concave plate 25.

[0015] A plurality of sorting holes 34 are provided on the bottom plate surface of the middle horizontal part of the sorting concave plate 25 at equal intervals along the forward direction of the moving platform; a telescopic top rod 28 vertically fixed to the bottom plate of the fruit collecting and sorting box 20 is arranged in each sorting hole 34; a rotating top plate 29 is provided at the top end of each telescopic top rod 28 through a rotating shaft parallel to the forward direction of the moving platform; the upper surface of the rotating top plate 29 and the edge of the sorting hole 34 are located in the same horizontal plane; the rotating shaft is driven by a stepping motor.

[0016] The telescopic top rod 28 and the sorting concave plate 25 separate the fruit collecting and sorting box 20 into a left sorting bin and a right sorting bin; the telescopic top rod 28 pushes the fruit resting on the rotating top plate 29 upward and above the left and right edges of the sorting concave plate 25; the corresponding rotating top plate 29 tilts to the left or right according to the maturity of the fruit identified by the color sensor 30, and sorts the fruit into the left sorting bin or the right sorting bin.

[0017] The side walls of the fruit collecting and sorting box 20 corresponding to the left sorting bin and the right sorting bin are respectively provided with box side covers 33.

[0018] A buffer slope 5 is provided at the fruit inlet 4 .

[0019] A bottom cover slide rail 19 is provided at the bottom of the drone 1 , and the bottom cover 8 is slidably disposed on the bottom cover slide rail 19 .

[0020] The drone 1 further includes a front view image recognition camera 7 and a side view image recognition camera 9; the front view image recognition camera 7 and the side view image recognition camera 9 are installed at the front end of the drone 1, and are used to collect images in front and on both sides of the drone respectively.

[0021] In the initial state, the upper and lower rotating arms 10, the horizontal rotating arm 11, and the bamboo-jointed telescopic rod 17 of the universal joint telescopic grabbing arm are located in the body groove of the drone 1, and the mechanical grabber is located above the fruit inlet 4.

[0022] The ground collection and sorting mobile platform 24 further includes a rotating camera 21 and a side image recognition camera 23; the rotating camera 21 is arranged at the top front part of the fruit collection and sorting box 20, and a side image recognition camera 23 is arranged on both sides of the fruit collection and sorting box 20. The rotating camera 21 and the side image recognition camera 23 are used to survey the driving conditions of the ground collection and sorting mobile platform 24.

[0023] The upper surface of the rotating top plate 29 is provided with a circular groove so that the fruit can stay on the rotating top plate 29 stably.

[0024] The left sorting bin and the right sorting bin are both provided with a plurality of primary buffer ramps 26 corresponding one to one with the sorting holes 34. The upper ends of the primary buffer ramps 26 are fixedly connected to the left edge or the right edge of the sorting concave plate 25, and are used to buffer the fruits entering the left sorting bin and the right sorting bin to avoid fruit damage.

[0025] A secondary buffer ramp 27 is provided below each primary buffer ramp 26 ; the upper end of the secondary buffer ramp 27 is fixedly connected to the side wall of the fruit collecting and sorting box 20 .

[0026] Six sorting holes 34 are provided on the middle horizontal portion of the sorting concave plate 25 .

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. Reduce the labor cost of picking high-altitude fruits such as persimmons, and reduce the time-consuming, labor-intensive and safety issues caused by manual operation;

[0029] 2. The setting of pressure sensors reduces the breakage rate of persimmons. An image recognition camera is installed on the palm of the gripper at the end of the bamboo-jointed telescopic rod to identify and process persimmon images. A pressure sensor is installed on the gripper's kneading finger on the palm of the gripper to ensure that persimmons and other fruits are pinched within a given force. The given force can also be adjusted through the single-chip microcomputer to adapt to the hardness of different fruits and prevent damage to the fruits during grasping.

[0030] 3. It provides a new idea for picking fruits from high-altitude trees;

[0031] 4. Provide a solution to the problem that it is difficult for drones to enter tree branches during flight. The bamboo-jointed telescopic pole equipped with the drone ensures that the drone can send the picking hand to the designated long-distance target without the fuselage entering the tree branches;

[0032] 5. Use a universal joint swing arm with a bamboo telescopic rod and assemble it on the drone to achieve all-round, all-directional, high-altitude aiming and grabbing of persimmons within the drone's field of view;

[0033] 6. The rear of the drone is a fruit storage cabin with a slope inside, which acts as a buffer when the persimmons fall into it, effectively reducing the damage rate of the fruit;

[0034] 7. After the drone is docked on the ground collection and sorting mobile platform, the bottom cover can slide along the bottom cover slide rail. When it slides open, the fruits in the chassis can fall out, making it convenient and efficient to unload the fruits;

[0035] 8. The sorting concave plate, primary buffer ramp and secondary buffer ramp in the ground collection and sorting mobile platform play a triple buffering protection role and the function of conveying fruits, effectively preventing the fruits from being damaged;

[0036] 9. The cross-section of the sorting concave in the ground collecting and sorting mobile platform is arc-shaped, which can stably accommodate the fruits entering from the fruit entrance. The sorting concave includes a front arc portion, a middle horizontal portion and a rear arc portion in sequence along the forward direction of the mobile platform. The front arc portion and the rear arc portion keep the fruit in the middle horizontal portion after stabilization. A plurality of sorting holes are evenly spaced on the bottom plate of the middle horizontal portion of the sorting concave along the forward direction of the mobile platform, and a telescopic top rod vertically fixed to the bottom plate of the fruit collecting and sorting box is arranged in each sorting hole. A rotating top plate is provided at the top of each telescopic top rod through a rotating shaft parallel to the forward direction of the mobile platform. The upper surface of the rotating top plate and the edge of the sorting hole are located in the same horizontal plane, and a circular groove is provided on the upper surface of the rotating top plate, so that the fruit can stably stay on the rotating top plate.

[0037] 10. A color sensor is installed on the top of the inner wall of the ground collection and sorting mobile platform, which can identify the color of the fruit falling on the sorting concave plate and then screen the maturity of the fruit;

[0038] 11. The middle telescopic top rod in the ground collection and sorting mobile platform can be extended and retracted up and down, and the rotating top plate can swing left and right. After the fruit color is identified, it can be effectively sorted. The telescopic top rod 28 is pushed upward, and the rotating top plate 29 swings left and right, so that the fruits of different colors and maturity are pushed to the left and right sides respectively, and reach the bottom of both sides along the primary buffer ramp and the secondary buffer ramp on both sides;

[0039] 12. The rotating camera and side image recognition camera in the ground collection and sorting mobile platform play the role of surveying road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1It is a structural schematic diagram of a fruit picking system based on a drone with a telescopic grabbing arm of the present invention;

[0041] Figure 2 It is a schematic diagram of the three-dimensional structure of the drone 1 of the present invention;

[0042] Figure 3 It is a side view structural schematic diagram of the drone 1 of the present invention;

[0043] Figure 4 for Figure 3 A cross-sectional view of

[0044] Figure 5 Schematic diagram of the bottom structure of the drone 1 of the present invention;

[0045] Figure 6 It is a schematic structural diagram of the initial state of the universal joint telescopic grabbing arm of the drone 1 of the present invention;

[0046] Figure 7 It is a structural schematic diagram of the universal joint telescopic grabbing arm of the drone 1 of the present invention in the working state (the bamboo-jointed telescopic rod 17 is retracted);

[0047] Figure 8 It is a structural schematic diagram of the working state of the universal joint telescopic grab arm (the bamboo-jointed telescopic rod 17 is extended) of the drone 1 of the present invention;

[0048] Fig. 9 This is a schematic diagram of the internal structure of the fruit collection and sorting box 20 of the present invention;

[0049] Fig.10 It is a cross-sectional structural schematic diagram of a fruit picking system based on a drone with a telescopic grabbing arm of the present invention;

[0050] Fig.11 It is a schematic side sectional structure diagram of the fruit collecting and sorting box 20 of the present invention.

[0051] The accompanying drawings are marked as follows:

[0052] 1 Drone 2 Fan Blades

[0053] 3 Fan blade rotation motor 4 Fruit inlet

[0054] 5 Buffer slope 6 Machine feet

[0055] 7 Front view image recognition camera 8 Bottom cover

[0056] 9 Side view image recognition camera 10 Up and down rotating arm

[0057] 11 Horizontal rotating arm 12 Fruit storage compartment

[0058] 13 Gripper pinch finger 14 Pressure sensor

[0059] 15 Gripper image recognition camera 16 Gripper palm

[0060] 17 Bamboo-type telescopic rod 18 Grip rotation motor

[0061] 19 Bottom cover slide rail 20 Fruit collection and sorting box

[0062] 21 Rotating Camera 22 Wheels

[0063] 23 Side image recognition camera 24 Ground collection and sorting mobile platform

[0064] 25 Sorting concave plate 26 Primary buffer ramp

[0065] 27 Secondary buffer ramp 28 Telescopic top rod

[0066] 29 Rotating top plate 30 Color sensor

[0067] 31 Fruit outlet 32 ​​Fruit inlet

[0068] 33 Box side cover 34 Sorting hole DETAILED DESCRIPTION

[0069] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0070] like Figure 1 As shown, a fruit picking system based on a drone with a telescopic grabbing arm of the present invention comprises a drone 1 and a ground collecting and sorting mobile platform 24;

[0071] like Figure 2 to Figure 5 As shown, the UAV 1 is a multi-rotor UAV whose blades 2 are driven to rotate by a blade rotation motor 3 , and a machine foot 6 is provided at the bottom of the UAV 1 .

[0072] The drone 1 further includes a universal joint telescopic grab arm, a front view image recognition camera 7 , a side view image recognition camera 9 and a fruit storage compartment 12 .

[0073] The fruit storage compartment 12 is arranged on the body of the drone 1, and a fruit inlet 4 is arranged on the top of the fruit storage compartment 12, and a fruit outlet 31 is arranged on the bottom. An openable and closable bottom cover 8 is arranged at the fruit outlet 31. A buffer slope 5 is arranged at the fruit inlet 4 to prevent fruit damage. A bottom cover slide rail 19 is arranged at the bottom of the drone 1, and the bottom cover 8 is slidably arranged on the bottom cover slide rail 19.

[0074] The front view image recognition camera 7 and the side view image recognition camera 9 are installed at the front end of the UAV 1, and are used to collect images in front of and on both sides of the UAV respectively to assist flight.

[0075] like Figure 6 , Figure 7 , Figure 8 As shown, the universal joint telescopic grab arm is used to realize all-round high-altitude grabbing of fruits within the field of view of the drone; the universal joint telescopic grab arm includes an upper and lower rotating arm 10, a horizontal rotating arm 11, a bamboo-shaped telescopic rod 17 and a mechanical grabber; the mechanical grabber includes a grabber pinching finger 13, a pressure sensor 14, a grabber image recognition camera 15, a grabber palm 16 and a grabber rotation motor 18;

[0076] The upper and lower rotating arm 10 is installed at the front end of the drone 1 through a horizontal rotating axis; the horizontal rotating arm 11 is installed at the front end of the upper and lower rotating arm 10 through a vertical rotating axis; the bamboo-type telescopic rod 17 is fixedly connected to the mounting hole of the horizontal rotating arm 11, and when the bamboo-type telescopic rod 17 is in the retracted state, the whole is located in the mounting hole of the horizontal rotating arm 11; the gripper rotating motor 18 is installed at the front end of the bamboo-type telescopic rod 17; the gripper palm 16 is fixedly connected to the rotating shaft of the gripper rotating motor 18; three gripper kneading fingers 13 are evenly installed on the gripper palm 16, and a pressure sensor 14 is provided on the side of each gripper kneading finger 13 that contacts the fruit to ensure that the fruit is pinched within a given force to prevent the fruit from being damaged; the gripper image recognition camera 15 is installed at the center of the gripper palm 16 for identifying and processing fruit images.

[0077] In the initial state, the upper and lower rotating arms 10, the horizontal rotating arm 11, and the bamboo-jointed telescopic rod 17 of the universal joint telescopic grabbing arm are located in the body groove of the drone 1, and the mechanical grabber is located above the fruit inlet 4.

[0078] like Figure 1 , Fig. 9 and Fig.10 As shown, the ground collection and sorting mobile platform 24 includes a fruit collection and sorting box 20, a rotating camera 21, wheels 22, a side image recognition camera 23, a sorting concave plate 25, a primary buffer ramp 26, a secondary buffer ramp 27, a telescopic top rod 28, a rotating top plate 29 and a color sensor 30.

[0079] The ground collecting and sorting mobile platform 24 realizes omnidirectional movement through four wheels 22; the fruit collecting and sorting box 20 is arranged on the ground collecting and sorting mobile platform 24, and the top rear part of the fruit collecting and sorting box 20 is provided with a groove for the feet 6 of the drone 1 to dock, so that the drone 1 can be stably docked on the fruit collecting and sorting box 20; the rotating camera 21 is arranged at the top front part of the fruit collecting and sorting box 20, and a side image recognition camera 23 is provided on both sides of the fruit collecting and sorting box 20. The rotating camera 21 and the side image recognition camera 23 are used to survey the driving conditions of the ground collecting and sorting mobile platform 24.

[0080] like Fig.11 As shown, the top of the fruit collecting and sorting box 20 is provided with a fruit inlet 32 ​​corresponding to the fruit outlet 31 of the fruit storage compartment 12 of the drone 1. The sorting concave 25 is arranged below the fruit inlet 32 ​​along the advancing direction of the mobile platform; the cross section of the sorting concave 25 is arc-shaped, and can stably accommodate the fruits entering through the fruit inlet 32; the sorting concave 25 includes a front arc portion, a middle horizontal portion and a rear arc portion in sequence along the advancing direction of the mobile platform; the ends of the front arc portion and the rear arc portion are fixedly connected to the top wall of the fruit collecting and sorting box 20; the rear arc portion is located directly below the fruit inlet 32, and is used to buffer the fruits entering through the fruit inlet 32 ​​to avoid fruit damage; the front arc portion and the rear arc portion allow the fruits to remain in the middle horizontal portion after being stabilized.

[0081] The color sensor 30 is installed in the middle of the top wall of the fruit collecting and sorting box 20 to identify the maturity of the fruits rolling on the middle horizontal part of the sorting concave plate 25.

[0082] The bottom plate surface of the middle horizontal part of the sorting concave plate 25 is provided with a plurality of sorting holes 34 at equal intervals along the moving direction of the mobile platform; each sorting hole 34 is provided with a telescopic top rod 28 vertically fixed to the bottom plate of the fruit collecting and sorting box 20; the top of each telescopic top rod 28 is provided with a rotating top plate 29 through a rotating shaft parallel to the moving direction of the mobile platform; the upper surface of the rotating top plate 29 and the edge of the sorting hole 34 are located in the same horizontal plane; the rotating shaft is driven by a stepping motor. The upper surface of the rotating top plate 29 is provided with a circular groove, so that the fruit can be stably parked on the rotating top plate 29.

[0083] The telescopic top rod 28 and the sorting concave plate 25 separate the fruit collecting and sorting box 20 into a left sorting bin and a right sorting bin; the telescopic top rod 28 pushes the fruit resting on the rotating top plate 29 upward and above the left and right edges of the sorting concave plate 25; the corresponding rotating top plate 29 tilts to the left or right according to the maturity of the fruit identified by the color sensor 30, and sorts the fruit into the left sorting bin or the right sorting bin.

[0084] The side walls of the fruit collecting and sorting box 20 corresponding to the left sorting bin and the right sorting bin are respectively provided with box side covers 33.

[0085] The left sorting bin and the right sorting bin are both provided with a plurality of primary buffer ramps 26 corresponding one to one with the sorting holes 34. The upper ends of the primary buffer ramps 26 are fixedly connected to the left edge or the right edge of the sorting concave plate 25, and are used to buffer the fruits entering the left sorting bin and the right sorting bin to avoid fruit damage.

[0086] Preferably, a secondary buffer ramp 27 is provided below each primary buffer ramp 26 ; the upper end of the secondary buffer ramp 27 is fixedly connected to the side wall of the fruit collecting and sorting box 20 .

[0087] Preferably, according to the loading capacity of the fruit storage compartment 12 of the drone 1, six sorting holes 34 are provided on the middle horizontal portion of the sorting concave plate 25.

[0088] The working process of the present invention is as follows:

[0089] The fruit picking system based on the drone with the telescopic gripping arm of the present invention operates in a fruit forest of tall trees such as persimmon trees. After the drone 1 takes off, it approaches the fruit tree, rotates the universal joint telescopic gripping arm out through the up and down rotating arm 10, and adjusts the position of the mechanical gripper by swinging up and down until the center point of the target fruit is located in the middle of the upper and lower positions of the field of view of the gripper image recognition camera 15, and the up and down rotating arm 10 stops swinging; then the horizontal rotating arm 11 starts to swing left and right until the center point of the target fruit is located in the horizontal position center of the field of view of the gripper image recognition camera 15, and the horizontal rotating arm 11 stops swinging, and the universal joint telescopic gripping arm successfully aims at the target fruit; at this time, the bamboo-jointed telescopic rod 17 starts to extend linearly until the gripping palm 16 stops extending when it approaches the target fruit, and the gripping hand kneading finger 13 pinches toward the middle, and stops kneading when the pressure on the pressure sensor 14 reaches a predetermined value, and at this time, the gripping palm 16 rotates one circle under the drive of the gripping hand rotating motor 18, and the fruit is successfully removed;

[0090] Then the universal joint telescopic gripping arm is reset to the initial state, the gripping finger 13 is loosened outward, and the fruit falls into the fruit storage compartment 12; after the fruit storage compartment 12 is full, the drone 1 lands on the fruit collection and sorting box 20 of the ground collection and sorting mobile platform 24, and opens the bottom cover 8 for unloading;

[0091] The unloaded fruits fall into the sorting concave plate 25 from the fruit entrance 32 and stably stop on the rotating top plate 29; at this time, the color sensor 30 identifies the color of the fruits rolling on the sorting concave plate 25 and identifies the maturity of the fruits; then the telescopic top rod 28 pushes upward to make the fruits higher than the left and right edges of the sorting concave plate 25; the corresponding rotating top plate 29 tilts to the left or right according to the maturity of the fruits identified by the color sensor 30, and pushes the fruits of different colors and maturity to the left or right, and the fruits reach the bottom of the left sorting bin and the right sorting bin along the primary buffer ramp 26 and the secondary buffer ramp 27; after the sorting is completed, the side cover 33 of the box body is opened to take out the sorted fruits.

Claims

1. A fruit picking system based on a drone with a telescopic grabbing arm, comprising a drone (1) and a ground collecting and sorting mobile platform (24); The drone (1) is a multi-rotor drone whose blades (2) are driven to rotate by a blade rotating motor (3), and a machine foot (6) is provided at the bottom of the drone (1); the characteristics are: The drone (1) further comprises a universal joint telescopic grabbing arm and a fruit storage cabin (12); The fruit storage compartment (12) is arranged on the body of the drone (1), the top of the fruit storage compartment (12) is provided with a fruit inlet (4), the bottom is provided with a fruit outlet (31), and the fruit outlet (31) is provided with an openable and closable bottom cover (8); The universal joint telescopic gripper arm comprises an upper and lower rotating arm (10), a horizontal rotating arm (11), a bamboo-jointed telescopic rod (17) and a mechanical gripper; the mechanical gripper comprises a gripper kneading finger (13), a pressure sensor (14), a gripper image recognition camera (15), a gripper palm (16) and a gripper rotation motor (18); The upper and lower rotating arms (10) are mounted on the front end of the drone (1) via a horizontal rotating shaft; the horizontal rotating arm (11) is mounted on the front end of the upper and lower rotating arms (10) via a vertical rotating shaft; the bamboo-jointed telescopic rod (17) is fixedly connected to the mounting hole of the horizontal rotating arm (11), and when the bamboo-jointed telescopic rod (17) is in a retracted state, the entire rod is located in the mounting hole of the horizontal rotating arm (11); the gripper rotating motor (18) is mounted on the front end of the bamboo-jointed telescopic rod (17); the gripper palm (16) is fixedly connected to the rotating shaft of the gripper rotating motor (18); three gripper kneading fingers (13) are evenly mounted on the gripper palm (16), and a pressure sensor (14) is provided on the side of each gripper kneading finger (13) that contacts the fruit; the gripper image recognition camera (15) is mounted at the center of the gripper palm (16) for recognizing and processing the fruit image; The ground collection and sorting mobile platform (24) comprises a fruit collection and sorting box (20), wheels (22), a sorting concave plate (25), a telescopic top rod (28), a rotating top plate (29) and a color sensor (30); The ground collection and sorting mobile platform (24) is omnidirectionally movable via four wheels (22); the fruit collection and sorting box (20) is arranged on the ground collection and sorting mobile platform (24); a groove for the feet (6) of the drone (1) to dock is provided at the top rear of the fruit collection and sorting box (20), so that the drone (1) can be stably docked on the fruit collection and sorting box (20); The top of the fruit collecting and sorting box (20) is provided with a fruit inlet (32) corresponding to the fruit outlet (31) of the fruit storage compartment (12) of the drone (1); the sorting concave plate (25) is arranged below the fruit inlet (32) along the forward direction of the mobile platform; the cross section of the sorting concave plate (25) is in the shape of an arc, and can stably accommodate the fruits entering through the fruit inlet (32); the sorting concave plate (25) comprises a front arc portion, a middle horizontal portion and a rear arc portion in sequence along the forward direction of the mobile platform; the ends of the front arc portion and the rear arc portion are fixedly connected to the top wall of the fruit collecting and sorting box (20); the rear arc portion is located directly below the fruit inlet (32); The color sensor (30) is installed in the middle of the top wall of the fruit collecting and sorting box (20) and is used to identify the maturity of the fruit rolling on the middle horizontal part of the sorting concave plate (25); A plurality of sorting holes (34) are provided on the bottom plate surface of the middle horizontal part of the sorting concave plate (25) at equal intervals along the moving direction of the moving platform; a telescopic top rod (28) vertically fixed to the bottom plate of the fruit collecting and sorting box (20) is arranged in each sorting hole (34); a rotating top plate (29) is provided at the top end of each telescopic top rod (28) via a rotating shaft parallel to the moving direction of the moving platform; the upper surface of the rotating top plate (29) and the edge of the sorting hole (34) are located in the same horizontal plane; the rotating shaft is driven by a stepping motor; The telescopic top rod (28) and the sorting concave plate (25) separate the fruit collecting and sorting box (20) into a left sorting bin and a right sorting bin; the telescopic top rod (28) pushes the fruit resting on the rotating top plate (29) upwards and above the left and right edges of the sorting concave plate (25); the corresponding rotating top plate (29) tilts leftward or rightward according to the maturity of the fruit identified by the color sensor (30), and sorts the fruit into the left sorting bin or the right sorting bin; The side walls of the fruit collecting and sorting boxes (20) corresponding to the left sorting bin and the right sorting bin are respectively provided with box side covers (33); A buffer slope (5) is provided at the fruit inlet (4); A bottom cover slide rail (19) is provided at the bottom of the drone (1), and the bottom cover (8) is slidably arranged on the bottom cover slide rail (19).

2. The fruit picking system based on a drone with a telescopic grab arm according to claim 1, characterized in that: The unmanned aerial vehicle (1) further comprises a front field of view image recognition camera (7) and a side field of view image recognition camera (9); the front field of view image recognition camera (7) and the side field of view image recognition camera (9) are installed at the front end of the unmanned aerial vehicle (1) and are used to collect images in front of and on both sides of the unmanned aerial vehicle, respectively.

3. The fruit picking system based on a drone with a telescopic grab arm according to claim 1, characterized in that: In the initial state, the upper and lower rotating arms (10), the horizontal rotating arms (11), and the bamboo-jointed telescopic rod (17) of the universal joint telescopic gripping arm are located in the body groove of the drone (1), and the mechanical gripper is located above the fruit inlet (4).

4. The fruit picking system based on a drone with a telescopic grab arm according to claim 1, characterized in that: The ground collection and sorting mobile platform (24) further comprises a rotating camera (21) and a side image recognition camera (23); the rotating camera (21) is arranged at the front of the top of the fruit collection and sorting box (20), and a side image recognition camera (23) is arranged on both sides of the fruit collection and sorting box (20); the rotating camera (21) and the side image recognition camera (23) are used to survey the driving conditions of the ground collection and sorting mobile platform (24).

5. The fruit picking system based on a drone with a telescopic grab arm according to claim 1, characterized in that: The upper surface of the rotating top plate (29) is provided with a circular groove, so that the fruit can stay on the rotating top plate (29) stably.

6. The fruit picking system based on a drone with a telescopic grab arm according to claim 1, characterized in that: A plurality of primary buffer ramps (26) corresponding to the sorting holes (34) are provided in the left sorting bin and the right sorting bin. The upper ends of the primary buffer ramps (26) are fixedly connected to the left edge or the right edge of the sorting concave plate (25) to buffer the fruits entering the left sorting bin and the right sorting bin to avoid damage to the fruits.

7. The fruit picking system based on a drone with a telescopic grab arm according to claim 6, characterized in that: A secondary buffer ramp (27) is provided below each primary buffer ramp (26); the upper end of the secondary buffer ramp (27) is fixedly connected to the side wall of the fruit collecting and sorting box (20).

8. The fruit picking system based on a drone with a telescopic grabbing arm according to any one of claims 1 to 7, characterized in that: Six sorting holes (34) are provided on the middle horizontal portion of the sorting concave plate (25).

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