A picking drone debugging platform

Abstract

The present invention relates to a debugging platform for a harvesting drone, comprising a support frame, a rotating support frame, a sensor, and a host computer. The support frame comprises a base frame, a telescopic rod, a universal head, and an adapter plate, which are arranged in order from bottom to top. The harvesting drone is fixed to the adapter plate. The rotating support frame comprises a rotating support rod, a rotating disc, and a fruit fixing rod. The rotating disc is mounted above the adapter plate via the rotating support rod. The fruit fixing rod rotates on a horizontal plane via the rotating disc. The fruit fixing rod is used to suspend fruit. Sensors for measuring the three-axis acceleration, three-axis angular velocity, and three-axis angle of the harvesting drone are mounted on the adapter plate. The host computer is used to collect data while observing sensor data in real time. The present invention simulates a drone harvesting scenario, solves the problems of difficulty in simulating harvesting with a harvesting drone and complicated parameter debugging, and belongs to the technical field of harvesting drone auxiliary equipment.

Description

Technical Field

[0001] The present invention relates to a harvesting drone auxiliary device, and in particular to a harvesting drone debugging platform. Background Art

[0002] With the development of society, people's demand for fruit quality and processing output has gradually increased. The labor force for traditional fruit and vegetable picking accounts for nearly half of the total labor force in the entire production process. Traditional fruit picking methods have problems of low efficiency and high labor intensity. Unmanned and intelligent operations in orchards have become a trend, and drone picking has broad market prospects.

[0003] Implementing drone harvesting technology requires various functional debugging. However, current drone debugging systems can only debug drones in normal motion, and are unable to simulate drone harvesting scenarios or collect and analyze data. This results in limited debugging functionality and poor auxiliary effects. Summary of the Invention

[0004] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide a picking drone debugging platform that can simulate picking scenes for debugging.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A harvesting drone debugging platform includes a support frame, a rotating frame, sensors, and a host computer. The support frame comprises, from bottom to top, a base frame, a telescopic rod, a universal head, and an adapter plate. The harvesting drone is fixed to the adapter plate. The rotating frame comprises a rotating support rod, a rotating disc, and a fruit-holding rod. The rotating disc is mounted above the adapter plate via the rotating support rod. The fruit-holding rod rotates horizontally via the rotating disc and is used to suspend the fruit. Sensors for measuring the harvesting drone's three-axis acceleration, three-axis angular velocity, and three-axis angle are mounted on the adapter plate. The host computer monitors sensor data in real time and collects data simultaneously. This structure simulates a real-world harvesting scenario and can be used to test and optimize the efficiency and stability of harvesting drones.

[0007] As a preferred option, the base frame is fixed to the ground in a cross shape, with the lower end of the telescopic rod fixedly connected to the center of the base frame's cross shape and the upper end connected to the universal head; the telescopic rod extends and retracts vertically. This structure allows the drone to maintain Z-axis freedom during commissioning, facilitating simulation of fruit picking at different heights.

[0008] As a preferred option, the adapter plate is provided with multiple through holes to reduce its weight; the adapter plate is made of carbon fiber. This structure is simple and durable, significantly reducing the weight of the adapter plate while maintaining strength, allowing for more precise control of the drone.

[0009] As a preferred option, a universal joint is used, with the joint located in the middle of the adapter plate. The adapter plate also has a mounting hole in the middle, into which the sensor is mounted. This structure allows the universal joint and adapter plate to rotate relative to each other, simulating a real-world drone flight scenario.

[0010] As a preference, the rotating support rod includes three straight rods, two vertical straight rods are fixed at both ends of the base frame, and a horizontal straight rod is fixed at the upper ends of the two vertical straight rods; the rotating disc is fixed at the upper end of the horizontal straight rod and is located directly above the adapter plate.

[0011] Preferably, the rotating disc comprises an inner ring and an outer ring. The inner ring is connected to the fruit-holding rod, while the outer ring is connected to the rotating support rod. The inner ring is higher than the outer ring and rotates relative to the outer ring. With this structure, the fruit-holding rod can rotate horizontally, facilitating the precise positioning and tracking of the fruit by the harvesting drone.

[0012] Preferably, the fruit holding rod is a long straight rod with the rotating disc located in the middle of the rod. The length of the fruit holding rod is greater than the horizontal straight rod length of the rotating support rod. Fruit holders are provided at the lower ends of both ends of the fruit holding rod. With this structure, the fruit holding rod can rotate 360 degrees horizontally, allowing for a variety of picking angles.

[0013] As a preferred embodiment, the fruit holder includes a hanging ear and a suspension member simulating a branch. The hanging ear is fixed to the lower end of the end of the fruit fixing rod. The upper end of the suspension member is fixed to the hanging ear, and the lower end is fixed to the fruit. With this structure, the structure is simple, and it is easy to fix and replace the fruit, which is convenient for picking simulation.

[0014] As a preferred option, the sensor is a three-axis sensor. With this structure, the sensor can measure the acceleration, angular velocity, and angle change of the harvesting drone on three axes, obtaining real-time status data of the drone, thereby helping users to optimize corresponding parameters.

[0015] Preferably, the host computer is connected to the sensor via a wired or wireless connection. With this structure, the host computer can observe and visualize sensor data in real time, helping users analyze the performance of the harvesting drone in real time and adjust and optimize its parameters.

[0016] The present invention has the following advantages:

[0017] 1. The harvesting scenario is simulated, which can be used to test and optimize the working efficiency and stability of harvesting drones.

[0018] 2. The rotating bracket can rotate horizontally to simulate the scene of drone picking fruits in different directions and to test the drone's tracking algorithm.

[0019] 3. The host computer can observe data in real time through sensors and visualize sensor data to help users analyze the performance of the harvesting drone and adjust and optimize its parameters.

[0020] 4. The device has a simple structure and most of the materials used are aluminum profiles, which are economical, strong and durable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Front view of the commissioning platform for harvesting drones.

[0022] Figure 2 Rear view of the commissioning platform for the harvesting drone.

[0023] Figure 3 A side view of the commissioning platform for the harvesting drone.

[0024] Figure 4 A three-dimensional image of the debugging platform for the harvesting drone.

[0025] Among them, 1 is the base frame, 2 is the telescopic rod, 3 is the universal head, 4 is the adapter plate, 5 is the rotating support rod, 6 is the rotating disk, 7 is the fruit fixing rod, 8 is the sensor, 9 is the fruit, and 10 is the host computer. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to specific implementation methods.

[0027] A picking drone debugging platform includes a support frame, a rotating support frame, a sensor, and a host computer; the support frame includes a base frame, a telescopic rod, a universal head, and an adapter plate arranged in sequence from bottom to top, and the picking drone is fixed on the adapter plate; the rotating support frame includes a rotating support rod, a rotating disk, and a fruit fixing rod, the rotating disk is mounted above the adapter plate via the rotating support rod, the fruit fixing rod rotates on a horizontal plane via the rotating disk, and the fruit fixing rod is used to suspend fruit; sensors for measuring the three-axis acceleration, three-axis angular velocity, and three-axis angle of the picking drone are installed on the adapter plate; the host computer is used to collect data while observing sensor data in real time.

[0028] The base frame is fixed on the ground in a cross shape, the lower end of the telescopic rod is fixedly connected to the cross center of the base frame, and the upper end is connected to the universal head; the telescopic rod is telescopic in the vertical direction.

[0029] The adapter plate is provided with multiple through holes to reduce the weight of the adapter plate; the adapter plate is made of carbon fiber.

[0030] The universal head adopts a universal ball head, and the universal head is located in the middle of the adapter plate; the middle of the adapter plate is also provided with a mounting hole, and the sensor is arranged in the mounting hole.

[0031] The rotating support rod includes three straight rods, two vertical straight rods are fixed at both ends of the base frame, and a horizontal straight rod is fixed at the upper ends of the two vertical straight rods; the rotating disc is fixed at the upper end of the horizontal straight rod and is located directly above the adapter plate.

[0032] The rotating disc comprises an inner ring and an outer ring. The inner ring is connected to the fruit fixing rod, and the outer ring is connected to the rotating support rod. The inner ring is higher than the outer ring and rotates relative to the outer ring.

[0033] The fruit fixing rod is a long straight rod, and the rotating disc is located in the middle of the fruit fixing rod; the length of the fruit fixing rod is greater than the horizontal straight rod length of the rotating support rod; fruit holders are provided at the lower ends of both ends of the fruit fixing rod.

[0034] The fruit fixer comprises a hanging ear and a suspension piece simulating a tree branch. The hanging ear is fixed to the lower end of the end of the fruit fixing rod. The upper end of the suspension piece is fixed to the hanging ear, and the lower end is fixed to the fruit.

[0035] The sensor is a three-axis sensor.

[0036] The host computer is connected to the sensor by wire or wirelessly, and this embodiment adopts wired connection.

[0037] The harvesting drone debugging platform can be debugged in two ways: the first involves debugging the drone's flight control before takeoff to ensure safe takeoff, equivalent to a test flight. This also involves observing the drone's end-device before and after it grabs fruit. The second involves testing the drone's hovering using a telescopic rod to see if it can maintain a stable hover aimed at the fruit. Rotating the fruit-fixing rod tests the drone's tracking algorithm to see if it can maintain a hovering position and track the fruit.

[0038] The first debugging method includes the following steps:

[0039] In the first step, a plurality of holes are provided on the top of the adapter plate 4 for connecting the lower base plate of the drone, and the harvesting drone is fixedly installed on top of the adapter plate 4.

[0040] In the second step, the drone is connected to the universal head 3 through the adapter plate, which can achieve a tilt within 45 degrees and a 360-degree rotation. At this time, the flight control of the drone can be debugged.

[0041] In the third step, the fruit that you want to simulate picking is fixed and hung on the fruit fixing rod 7, and the picking drone is controlled to pick the fruit. During the picking process, the sensor 8 measures the status data of the drone and visualizes the data in real time through the host computer 10. At this time, the changes in the drone's parameters "before picking" and "after picking the fruit" can be observed, which is convenient for parameter adjustment and optimization.

[0042] Thus, a test picking process ends.

[0043] The second debugging method includes the following steps:

[0044] The first step is to fix the harvesting drone on top of the adapter plate 4.

[0045] In the second step, the drone can be freely raised and lowered in the Z-axis direction through the telescopic rod 2. At this time, the height-fixing system carried by the drone can be debugged.

[0046] In the third step, the drone is connected to the universal head 3 through the adapter plate, which can achieve 360-degree rotation. At this time, the fruit fixing rod 7 fixed on the rotating disk 6 is rotated, and the fruit moves accordingly. By observing the relative position of the drone and the fruit, the tracking algorithm carried by the drone can be tested.

[0047] The present invention simulates the drone picking scene, solving the problems of difficulty in simulating picking by the drone and complicated parameter debugging.

[0048] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A harvesting drone debugging platform, characterized by: It includes a support frame, a rotating support frame, a sensor, and a host computer; the support frame includes a base frame, a telescopic rod, a universal head, and an adapter plate arranged in sequence from bottom to top, and the picking drone is fixed on the adapter plate; the rotating support frame includes a rotating support rod, a rotating disc, and a fruit fixing rod. The rotating disc is mounted above the adapter plate through the rotating support rod, and the fruit fixing rod rotates on the horizontal plane through the rotating disc. The fruit fixing rod is used to hang fruits; sensors for measuring the three-axis acceleration, three-axis angular velocity, and three-axis angle of the picking drone are installed on the adapter plate; the host computer is used to observe the sensor data in real time and perform data acquisition; The base frame is fixed on the ground in a cross shape, the lower end of the telescopic rod is fixedly connected to the cross center of the base frame, and the upper end is connected to the universal head; the telescopic rod is telescopic in the vertical direction; The rotating support rod includes three straight rods, two of which are vertical straight rods fixed at both ends of the base frame, and a horizontal straight rod fixed at the upper ends of the two vertical straight rods; the rotating disc is fixed at the upper end of the horizontal straight rod and is located directly above the adapter plate; The rotating disc includes an inner ring and an outer ring, the inner ring is connected to the fruit fixing rod, and the outer ring is connected to the rotating support rod. The inner ring is higher than the outer ring and rotates relative to the outer ring. The fruit fixing rod is a long straight rod, and the rotating disc is located in the middle of the fruit fixing rod; the length of the fruit fixing rod is greater than the horizontal straight rod length of the rotating support rod; fruit holders are provided at the lower ends of both ends of the fruit fixing rod.

2. A harvesting drone debugging platform according to claim 1, characterized in that: The adapter plate is provided with multiple through holes to reduce the weight of the adapter plate; the adapter plate is made of carbon fiber.

3. The harvesting drone debugging platform according to claim 1, characterized in that: The universal head adopts a universal ball head, and the universal head is located in the middle of the adapter plate; the middle of the adapter plate is also provided with a mounting hole, and the sensor is arranged in the mounting hole.

4. The harvesting drone debugging platform according to claim 1, characterized in that: The fruit fixer comprises a hanging ear and a suspension piece simulating a tree branch. The hanging ear is fixed to the lower end of the end of the fruit fixing rod. The upper end of the suspension piece is fixed to the hanging ear, and the lower end is fixed to the fruit.

5. The harvesting drone debugging platform according to claim 1, characterized in that: The sensor is a three-axis sensor.

6. The harvesting drone debugging platform according to claim 1, characterized in that: The host computer is connected to the sensor via wired or wireless communication.

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