Miniature tea leaf picking unmanned aerial vehicle and application thereof

Abstract

The application belongs to the field of tea picking unmanned aerial vehicle, in order to solve the problems of high cost, low picking efficiency, poor maneuverability of existing unmanned aerial vehicle type tea picker, and complex mechanical structure of picking executor, and large control difficulty, the application provides a kind of miniature tea picking unmanned aerial vehicle, including main rotor, unmanned aerial vehicle body, tail rotor, transmission device, landing gear, flight control system, picker and the like, further including depth camera arranged below the front part of the unmanned aerial vehicle body, picking device arranged below the unmanned aerial vehicle body, cross telescopic frame.The unmanned aerial vehicle of the application identifies suitable tea for picking through a self-provided miniature camera, autonomously plans a path, and uses an on-board blade type end effector to perform accurate picking operation, and is suitable for various complex terrains, is small and flexible, and is low in cost.The unmanned aerial vehicle of the application can improve the picking efficiency and environmental adaptability of tea through cluster operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tea picking unmanned aerial vehicle, and particularly relates to a micro tea picking unmanned aerial vehicle and application thereof. BACKGROUND

[0002] The existing famous tea picking relies on manual picking, which not only has high labor intensity, but also faces the situation of high labor cost, and therefore, a technology and equipment capable of realizing mechanical automatic picking are urgently needed. The tea picking is usually performed by selecting the top one bud and two leaves of the tea tree by an experienced picker. The tea leaves of these parts are usually tender green and contain high tea components, so that the picked tea leaves have better aroma and taste.

[0003] At present, the tea picking equipment popular in the market mainly uses a non-selective method. The non-selective tea picking machine generally uses a blade to cut the branches of the tea tree to cut down the whole tea leaves. This machine can cut down the whole branches of the tea tree for large-area tea picking, but cannot screen the tea leaves, so that the picked tea leaves are mixed with new tender tea leaves and old leaves, and therefore, can only be widely used for making ordinary tea leaves.

[0004] At present, the technical personnel are continuously researching the selective tea picking machine, which mainly includes a ground type and an unmanned aerial vehicle type. The ground type tea picking machine generally scans and identifies the tea tree through a camera, and then picks the qualified tea leaves through a movable mechanical arm. This kind of tea picking machine is only suitable for flat ground or slightly inclined terrain of the tea garden, so that the picking process and the tea quality can be better controlled. For the relatively inclined terrain, the ground type tea picking machine can only be laid on a track to facilitate its movement on the terrain, and the construction cost is high and difficult to popularize.

[0005] In comparison, the unmanned aerial vehicle type tea picking machine is more suitable for the tea garden with complex terrain. The machine marks and identifies the suitable tea leaves through the aerial photography of the tea garden by the on-board camera, and then picks the tea leaves through the on-board mechanical arm and collects the tea leaves through the specially designed collecting device. On the one hand, the use of the unmanned aerial vehicle platform can provide a high-altitude overlooking view to facilitate the observation of the tender leaves on the top of the tea tree, and on the other hand, the unmanned aerial vehicle platform has rapid flight capability and can quickly cover a large range of the tea garden to complete the work.

[0006] However, the existing unmanned aerial vehicle type tea picking machine has large volume and heavy weight, and the airflow formed by the rotor greatly disturbs the tea picking surface, so that it is difficult to accurately position and pick the tea buds. The picking device also often has a complex mechanical structure, which increases the load burden of the unmanned aerial vehicle and also increases the control difficulty and manufacturing cost. SUMMARY

[0007] The present application aims to provide a kind of miniature tea picking unmanned aerial vehicle, including main rotor 1.1, unmanned aerial vehicle body 1.3, tail rotor 1.4, transmission device 1.5, landing gear 1.7, flight control system 1.8, MCU control module 1.3.1, picking control module 1.3.2, also including the depth camera 2 being arranged in the lower portion of the unmanned aerial vehicle body 1.3, mechanism fixing device 3 being arranged in the lower portion of the unmanned aerial vehicle body 1.3, cross telescopic frame 5;

[0008] The mechanism fixing device 3 is composed of connecting block 3.1, vertical connecting plate 3.2 and cross telescopic frame fixing rod 3.3;

[0009] The connecting block 3.1 is fixedly connected to the bottom of the unmanned aerial vehicle body 1.3;

[0010] Two pieces of the vertical connecting plate 3.2 are fixedly connected to the opposite sides of the connecting block 3.1;

[0011] The lower ends of the two pieces of the vertical connecting plate 3.2 are respectively fixed to the cross telescopic frame fixing rod 3.3;Opposite vertical connecting plates 3.2 are also provided with slide table assembly 4;

[0012] The slide table assembly 4 is composed of linear servo 4.1, sliding block 4.2 and sliding groove 4.3;

[0013] The sliding groove 4.3 is fixed to the vertical connecting plate 3.2, and the sliding block 4.2 is driven by the linear servo 4.1 to slide up and down in the sliding groove 4.3;

[0014] The cross telescopic frame 5 is composed of two middle connecting rods, two lower connecting rods and two short connecting rods cross-hinged,

[0015] The upper ends of the two short connecting rods are hinged by connecting pins, and the connecting pins hinging the two short connecting rods are fixedly connected to the sliding block 4.2;

[0016] The lower ends of the two short connecting rods are respectively hinged to the upper ends of a middle connecting rod by connecting pins, the middle portions of the two middle connecting rods are provided with through holes, the two middle connecting rods cross each other at the through holes, and the two through holes overlap;The cross telescopic frame fixing rod 3.3 passes through the overlapping through holes, so that the two middle connecting rods are hinged to each other;

[0017] The lower end of each of the two middle connecting rods is hingedly connected to the upper end of a lower connecting rod via a connecting pin; the two lower connecting rods are hingedly connected to each other in a cross shape; the lower end of each of the two lower connecting rods is connected to a clamping arm; the two clamping arms form a picking clamp 6.1; the lower end of each clamping arm is a clamping head, and a shearing blade 6.2 is arranged below the clamping head, and the cutting edge of the shearing blade 6.2 protrudes from the clamping head;

[0018] When the sliding block 4.2 slides upward, the two clamping arms tighten to move the two clamping heads closer to each other to clamp the tea stem, and the cutting edges of the two shearing blades 6.2 move closer to each other until they partially overlap to cut the tea stem.

[0019] Preferably, the length of the main rotor 1.1 is within 20 cm, the length of the unmanned aerial vehicle body 1.3 is not more than 20 cm, and the distance between the plane on which the main rotor 1.1 is located and the clamping head in the close-together state is not less than 15 cm, so as to reduce the irregular disturbance of the airflow generated by the unmanned aerial vehicle rotor to the tea stem with one bud and two leaves, thereby reducing the complexity of the picking control algorithm and improving the picking accuracy.

[0020] The application also provides an application of the miniature tea leaf picking unmanned aerial vehicle, which comprises the following steps:

[0021] constructing a miniature tea leaf picking unmanned aerial vehicle system,

[0022] The miniature tea leaf picking unmanned aerial vehicle system comprises an information processing unit, a plurality of miniature tea leaf picking unmanned aerial vehicles, a plurality of landing support tables 7, and a plurality of collection boxes.

[0023] The landing support table 7 provides support for the landing gear below the miniature tea leaf picking unmanned aerial vehicle, so that the miniature tea leaf picking unmanned aerial vehicle is parked on the landing support table 7. The upper surface of the landing support table 7 is provided with a rectangular groove, and the groove is used to accommodate the mechanism fixing device 3, the sliding block assembly 4, the cross-shaped telescopic frame 5, and the picking clamp 6.1 below the miniature tea leaf picking unmanned aerial vehicle.

[0024] The upper surface of the collection box is provided with a strip-shaped collection opening. The collection box is arranged in the ridge ditch close to the tea tree, so as to reduce the flight distance of the miniature tea leaf picking unmanned aerial vehicle between the tea tree and the collection box when picking one bud and two leaves. The collection opening is provided in a strip shape and is used to match the shape of the ridge ditch. When the ridge ditch is in a straight line shape, the collection opening is in a straight line strip shape. When the shape of the ridge ditch is arc-shaped, the collection opening is also provided in an arc-shaped strip shape.

[0025] A plurality of miniature tea leaf picking unmanned aerial vehicles are used to form a cluster,

[0026] When the cluster reaches the target tea plantation area, the information processing unit uses the unmanned aerial vehicle attitude information, the position information of each micro tea picking unmanned aerial vehicle, and the depth information provided by the depth camera to perform real-time path planning for each micro tea picking unmanned aerial vehicle, and transmits the planning result to the flight control system on each micro tea picking unmanned aerial vehicle to realize autonomous flight, and the cluster autonomously allocates the area to perform the tea picking task;

[0027] The depth camera of the micro tea picking unmanned aerial vehicle is used to collect real-time image data to detect the tea leaf condition under the unmanned aerial vehicle; the information processing unit uses the real-time image data for tea leaf recognition;

[0028] When tea leaves meeting the picking requirements are identified, their position information is marked, and the information processing unit performs new path planning; one of the micro tea picking unmanned aerial vehicles is made to reach the picking position; the picking position is calculated by the information processing unit based on the position information;

[0029] After the micro tea picking unmanned aerial vehicle reaches the picking position, the depth camera on it transmits the image of the top end of the tea tree to the MCU control module 1.3.1 on the micro tea picking unmanned aerial vehicle in real time;

[0030] The MCU control module 1.3.1 identifies one bud and two leaves in the image using a target detection algorithm and locates the picking point, and the picking control module 1.3.2 controls the slide assembly 4 to pick:

[0031] The slide assembly 4 uses a linear servo 4.1 to slide a drive slider 4.2 in a sliding groove 4.3 upward, thereby driving a cross telescopic frame 5 to extend downward; when the slider 4.2 moves to the top end, the collet clamps the stem of one bud and two leaves, and a cutting blade 6.2 cuts off the stem, thereby realizing the picking of the top end of the tea tree with one bud and two leaves;

[0032] The collet is provided with a straight tooth structure, and the collet clamps the picked tea leaves;

[0033] After completing the tea picking, the information processing unit controls the micro tea picking unmanned aerial vehicle to reach above the collection box closest to the tea tree,

[0034] The MCU control module 1.3.1 identifies the collection port using a target detection algorithm and locates the collection port, and the picking control module 1.3.2 controls the slide assembly 4 to drop the tea leaves:

[0035] The linear servo 4.1 is started, so that the slider 4.2 slides downward in the sliding groove 4.3, and the cross telescopic frame 5 is retracted upward;

[0036] The tea leaves held by the clamping head fall into the collecting box under the action of gravity;

[0037] When the cluster completes the tea picking task of the target area or the single micro tea picking drone is insufficient in power, the information processing unit controls the micro tea picking drone to move above the landing support table 7, the linear actuator 4.1 slides the sliding block 4.2 to the top end of the sliding groove 4.3, the cross telescopic frame 5 is stretched to the maximum to reduce the size in the horizontal direction and facilitate landing, and the micro tea picking drone lands on the landing support table 7, completing the task of returning and landing.

[0038] Advantages:

[0039] 1. The present application designs a micro bionic unmanned aerial vehicle type tea picker, which can recognize suitable tea leaves through a built-in micro camera, plan a path autonomously, and use an on-board blade type end effector for precise picking operation. This type of unmanned aerial vehicle tea picker is suitable for various complex terrains, is small and flexible, and has low cost. Through cluster operation, it has certain advantages in tea picking efficiency and environmental adaptability. The present application provides a selective tea picking unmanned aerial vehicle specially used for tea picking. The unmanned aerial vehicle realizes high-precision identification and positioning of tea plants by carrying a depth camera, and realizes precise picking operation based on this. The unmanned aerial vehicle has a self-defined picking function, can preferentially pick high-quality tea leaves according to preset tea grading characteristics and indexes, and realizes graded picking of tea leaves. Compared with traditional non-selective picking robots, the unmanned aerial vehicle significantly reduces plant damage, and the picked tea has higher economic value.

[0040] 2. The present application uses a simple tea picking device to accurately pick one bud and two leaves at the top of a tea tree. Large unmanned aerial vehicle tea picking robots usually have multi-degree-of-freedom mechanical structures to improve the flexibility of picking tea leaves. However, complex mechanical structures need to consider and manage more factors during design, manufacturing, maintenance and application to improve the reliability and performance of the entire structure. Although the simple tea picking device cannot perform complex movements, the addition of a vision system can help it complete the tea picking task.

[0041] 3、The present application provides a small tea picking unmanned aerial vehicle, compared with the ground type tea picking robot, the device carries out tea picking in the form of unmanned aerial vehicle, and has higher flexibility without considering the restriction of tea garden terrain. Compared with the large unmanned aerial vehicle type tea picking robot, the device is small in size, which makes the unmanned aerial vehicle have higher mobility and flexibility, low power consumption, higher efficiency through the cluster operation mode. At the same time, in the tea picking process, the small unmanned aerial vehicle can realize accurate tea bud recognition and positioning, more accurate picking operation and control, and reduce the collision and disturbance to the tea tree. Compared with the two, the micro unmanned aerial vehicle tea picking robot has a lighter structure and lower energy consumption, thereby reducing the manufacturing cost, improving the endurance time and energy use efficiency.

[0042] 4、The present application draws lessons from the bionic principle of flying animals' group hunting, and adopts a distributed tea picking unmanned aerial vehicle system for efficient tea picking. The unmanned aerial vehicle cluster realizes comprehensive coverage and efficient collection of the tea garden through bionic perception and cooperative control. Through perception and judgment, the unmanned aerial vehicle cluster can autonomously distribute tasks and reasonably plan routes. With the help of advanced algorithms and cooperative control, the unmanned aerial vehicle cluster dynamically adjusts the position and attitude to achieve the best picking effect. The application of bionic principle enriches the intelligence and adaptability of the unmanned aerial vehicle cluster in the tea picking process, and improves the overall yield and production efficiency of the tea garden compared with single unmanned aerial vehicle operation. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced below, and some specific embodiments of the present application will be described in detail below with reference to the drawings in an exemplary but non-limiting manner. The same reference signs in the drawings indicate the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0044] Figure 1 It is an overall structural diagram of the micro tea picking unmanned aerial vehicle of the present application.

[0045] Figure 2 It is a bottom view isometric assembly drawing of Figure 1

[0046] Figure 3 It is a layout diagram of integrated modules in the unmanned aerial vehicle body.

[0047] Figure 4 It is an overall isometric assembly drawing of the tea picking device.

[0048] Figure 5 It is a rear view isometric assembly drawing of Figure 3

[0049] Figure 6 ​​Figure 1 is an overall axonometric assembly view of the mechanism fixing device and the sliding platform assembly.

[0050] Figure 7 Figure 1 is an overall axonometric assembly view of the mechanism fixing device and the sliding platform assembly.

[0051] In the drawings, the codes are as follows: 1 is a UAV, 1.1 is a main rotor, 1.2 is a rotor rod, 1.3 is a UAV body, 1.3.1 is an MCU control module, 1.3.2 is a picking control module, 1.3.3 is a wireless communication module, 1.3.4 is a power module, 1.4 is a tail rotor, 1.5 is a transmission device, 1.6 is a tail rotor motor, 1.7 is a landing gear, 1.8 is a flight control system, 2 is a depth camera, 3 is a mechanism fixing device, 3.1 is a connecting block, 3.2 is a vertical connecting plate, 3.3 is a telescopic mechanism fixing rod. 4 is a sliding platform assembly, 4.1 is a linear actuator, 4.2 is a sliding block, 4.3 is a sliding groove. 5 is a cross telescopic frame, 5.1 is a connecting pin, 5.2 is a connecting rod, 5.3 is a bolt. 6 is a tea picking assembly, 6.1 is a picking clamp, 6.2 is a shearing blade. 7 is a landing support platform. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0053] It is now provided that the spatial orientation of the micro tea picking UAV of the present application is as shown in the figure, with the position of the depth camera 2 as "front", the position of the UAV tail rotor 1.4 as "back", the position of the UAV main rotor as "up", and the position of the tea picking assembly as "down". Figure 1

[0054] The connection relationship of the components of the present application is as shown in the figure, a micro tea picking UAV, comprising a UAV 1, a depth camera 2, a mechanism fixing device 3, a sliding platform assembly 4, a cross telescopic frame 5, and a tea picking assembly 6. Figure 1

[0055] As shown in the figure, a micro tea picking UAV, comprising a UAV 1, a depth camera 2, a mechanism fixing device 3, a sliding platform assembly 4, a cross telescopic frame 5, and a tea picking assembly 6. Figure 2 ​​As shown, the entire UAV adopts a miniature design, in which the length of the main rotor 1.1 is limited within 20 cm, and the length of the body 1.3 is also not more than 20 cm. Due to the application of the miniature design, the manufacturing cost of the UAV is effectively reduced. At the same time, this design also makes the UAV show higher mobility and flexibility in the complex tea garden environment, and is not affected by the position of the tea buds on the tea tree picking surface. The flight control system 1.8 installed on the platform below the UAV is responsible for executing the flight control algorithm to realize the autonomous navigation task of the UAV. The UAV body 1.3 integrates multiple modules, including the MCU control module 1.3.1, the picking control module 1.3.2, the wireless communication module 1.3.3, and the power module 1.3.4. The MCU control module 1.3.1 is used for real-time autonomous route planning and the operation of high-level algorithms such as tea leaf recognition. The picking control module 1.3.2 is used to control the tea leaf picking device. The wireless communication module 1.3.3 is used to send the UAV position information and receive other UAV position information, realizing the communication and cooperative work between UAVs. The power module 1.3.4 provides power for the entire system. In the UAV platform, the motor transmits power to the rotor rod 1.2 through the transmission device 1.5, thereby driving the main rotor 1.1 to generate lift. At the same time, the tail rotor motor 1.6 provides power for the tail rotor 1.4. In addition, the design purpose of the landing gear 1.7 is to provide stable support during the take-off and landing of the UAV, and effectively alleviate the impact force during landing. The depth camera 2 is installed below the nose of the UAV, and its position ensures that the depth camera can provide accurate depth information during autonomous navigation. This installation position accurately avoids the landing gear 1.7, so as not to cause any obstruction to the camera's field of view. Such a design enables the depth camera to effectively collect image information of the pickable tea leaves below the UAV, providing key position data support for the application of tea leaf picking tasks.

[0056] As shown in Figure 4 , Figure 5 The entire tea leaf picking device is composed of a mechanism fixing device 3, a sliding table assembly 4, a cross telescopic frame 5, and a tea leaf picking assembly 6. The entire device is installed below the UAV body 1.3 platform behind the flight control system 1.8.

[0057] As shown in Figure 6As shown, the whole mechanism fixing device 3 is composed of three parts, connecting block 3.1, vertical connecting plate 3.2 and telescopic mechanism fixing rod 3.3. The connecting block 3.1 is located at the top of the mechanism fixing device and is connected with the platform below the unmanned aerial vehicle. The symmetric rectangular grooves are arranged in the middle of the front and back of the connecting block for fixing the vertical connecting plate 3.2 to prevent it from moving left and right. The upper end of the vertical connecting plate 3.2 is fastened in the groove through bolts to prevent it from moving up and down. The lower end of the vertical connecting plate 3.2 is connected with the front and back two plates through the telescopic mechanism fixing rod 3.3 to provide a fixed fulcrum for the cross telescopic frame 5. The movement fulcrum of the cross telescopic frame 5 is provided by the sliding table assembly 4 between the vertical connecting plates 3.2. The sliding table assembly is composed of a linear actuator 4.1, a sliding block 4.2 and a sliding groove 4.3. The sliding groove 4.3 is attached to the rear vertical connecting plate, and the sliding block 4.2 slides up and down in the sliding groove 4.3 under the drive of the linear actuator 4.1. The top of the sliding block is connected with the top connecting pin of the telescopic mechanism 5, and the up and down sliding of the sliding block 4.2 will drive the telescopic mechanism 5 to extend or retract.

[0058] As shown in Figure 7 The cross telescopic frame 5 is the transmission device of the whole tea leaf picking device. The mechanism is composed of four long connecting rods and two short connecting rods which are crossed with each other and connected by connecting pins. The top connecting pin is connected with the sliding block 4.2, the middle two connecting rods are connected by the telescopic mechanism fixing rod 3.3, and the ends of the two connecting rods at the bottom are connected with the tea leaf picking assembly 6 by bolts. The tea leaf picking assembly is composed of a picking clamp 6.1 and a shearing blade 6.2. The upper end of the picking clamp 6.1 is rigidly connected with the connecting rod, and the sidewall of the clamp head at the end is provided with a straight tooth structure to ensure that one bud and two leaves are stably clamped during the carrying and returning process. The lower end of the clamp head is equipped with a sharp shearing blade, and the blade is slightly longer than the clamp head, so that the clamp head can easily clamp and cut off one bud and two leaves during picking.

[0059] The working steps of the picking device are as follows:

[0060] In the actual tea leaf picking process, multiple devices are used to form an unmanned aerial vehicle cluster to autonomously pick tea leaves in a certain area. The unmanned aerial vehicle cluster simulates the hunting behavior of a flock of flying birds, and each bird perceives the position of the other birds and cooperates to capture the target within the field of view. The unmanned aerial vehicle cluster imitates this characteristic to pick tea leaves.

[0061] Step 1: refer to Figures 1-7Before the UAVs take off or land, the slider 4.2 in the picking device slides to the top end, and the picking device is stretched to the maximum. In order to ensure the safe and smooth take-off and landing of the UAV, a special landing support platform 7 is designed. The platform is made of solid material and has a rectangular groove on the surface. The depth of the groove is more than the length of the entire tea picking device, the width is greater than the width of the tea picking device, and the length is less than the length of the landing gear. The groove as an embedded area can also protect the picking device and landing gear from the risk of collision and damage.

[0062] During the take-off of the UAV cluster, each UAV starts the main rotor 1.1 to achieve flight and maintains stable flight and good heading control through the tail rotor 1.4. When the UAV cluster reaches the target tea plantation area, the MCU control module 1.3.1 of each UAV uses the fusion of multiple information (such as UAV attitude information, the position information of each UAV, and the depth information provided by the depth camera 2) to perform real-time path planning and transmit the planning results to the flight control system 1.8 to achieve autonomous flight capability. The UAV cluster imitates the hunting behavior of animal flocks and can autonomously allocate areas for tea picking tasks.

[0063] Step 2: During the autonomous navigation of the UAV, the depth camera 2 installed under the nose collects image data to detect the pickable tea situation located below the UAV. These real-time image data will be transmitted to the MCU control module 1.3.1 for tea recognition. When tea that meets the picking requirements is found, its position information will be marked and combined with other multi-source information for new path planning to achieve the goal of reaching the picking location. During the flight to the target tea, the entire UAV system will continuously perform real-time route planning to ensure that the UAV can reach the optimal picking location.

[0064] Step 3: After the UAV reaches the optimal picking location, the depth camera 2 will transmit the image of the top end of the tea tree to the MCU control module 1.3.1 in real time. The MCU control module 1.3.1 will perform accurate image recognition to identify one bud and two leaves in the image and calculate the optimal picking location. Since the UAV is small in size and the picking location is a certain distance from the main rotor, the downward wind force will not cause the stems of one bud and two leaves to shake violently and irregularly.

[0065] When the UAV reaches the optimal picking position, the picking control module 1.3.2 controls the linear servo 4.1 to operate, drives the sliding block 4.2 to slide upward in the sliding groove 4.3, and then drives the cross telescopic frame 5 to extend downward. When the sliding block 4.2 moves to the top end, the picking chuck in the tea leaf picking assembly 6 will clamp the stem of the one-bud-two-leaf, and at the same time, the cutting blade 6.2 will cut off the stem, so as to realize the picking of the one-bud-two-leaf at the top of the tea tree. The straight-tooth structure of the picking chuck will ensure the clamping of the picked tea leaves, so as to ensure that they will not fall off during the return and recovery process.

[0066] Step 4: After completing the tea picking, the MCU control module 1.3.1 will combine the position information of the collection box and other multi-source information to plan the collection path. When the UAV reaches above the collection box, the picking control module 1.3.2 controls the linear servo 4.1 to reverse, drives the sliding block 4.2 to slide downward in the sliding groove 4.3, and at the same time, the cross telescopic frame 5 is retracted upward. During this process, due to the action of gravity, the picked tea leaves will naturally fall into the collection box. Such a design ensures that the tea leaves can be successfully recovered and stored in the designated collection box, thereby successfully completing the entire picking task.

[0067] Step 5: When the UAV cluster completes the tea picking task in the target area or the single UAV is out of power, the UAV will perform the return task. During the return process, the UAV will use the position information of the landing support platform 7 and other multi-source information to plan the return path. Once the UAV reaches above the landing support platform 7, the picking control module 1.3.2 will control the linear servo 4.1 to operate until the sliding block 4.2 slides to the top end of the sliding groove 4.3, and at the same time, the cross telescopic frame will be extended to the maximum limit. Next, the UAV will safely land on the landing support platform 7, thereby completing the return and landing task.

[0068] The above is only part of the specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. The use of a micro tea leaf picking drone, characterized in that, The method comprises the following steps: Construct a micro tea picking unmanned aerial vehicle system, The micro tea picking unmanned aerial vehicle system comprises a plurality of micro tea picking unmanned aerial vehicles, a landing support table (7), a collection box, and an information processing unit; The landing support table (7) provides support for the landing gear below the micro tea picking unmanned aerial vehicle, so that the micro tea picking unmanned aerial vehicle is parked on the landing support table (7), and the upper surface of the landing support table (7) is provided with a rectangular groove, and the groove is used to accommodate the mechanism fixing device (3), the sliding table assembly (4), the cross telescopic frame (5), and the picking clamp (6.1) below the micro tea picking unmanned aerial vehicle; The upper surface of the collection box is provided with a strip-shaped collection opening, and the collection box is arranged in the ridge ditch close to the tea tree, so as to reduce the flight distance of the micro tea picking unmanned aerial vehicle when picking one bud and two leaves from the tea tree and the collection box; A plurality of micro tea picking unmanned aerial vehicles are used to form a cluster, When the cluster reaches the target operation tea garden area, the information processing unit uses unmanned aerial vehicle attitude information, position information of each micro tea picking unmanned aerial vehicle, and depth information provided by a depth camera to perform real-time path planning for each micro tea picking unmanned aerial vehicle, and transmits the planning result to the flight control system on each micro tea picking unmanned aerial vehicle to realize autonomous flight capability, and the cluster autonomously allocates the area to perform the tea picking task; The depth camera of the micro tea picking unmanned aerial vehicle is used to collect real-time image data to detect the tea leaf condition below the unmanned aerial vehicle; the information processing unit uses the real-time image data to perform tea leaf recognition; When the tea leaf meeting the picking requirement is identified, the position information is marked, the information processing unit performs new path planning, and one of the plurality of micro tea picking unmanned aerial vehicles reaches the picking position; the picking position is calculated based on the position information by the information processing unit; After the micro tea picking unmanned aerial vehicle reaches the picking position, the depth camera thereon transmits the image of the top terminal of the tea tree to the MCU control module (1.3.1) on the micro tea picking unmanned aerial vehicle in real time; The MCU control module (1.3.1) identifies one bud and two leaves in the image by using a target detection algorithm, and positions the picking point, and the picking control module (1.3.2) controls the sliding table assembly (4) to pick: The sliding table assembly (4) uses a linear servo (4.1) to slide the driving sliding block (4.2) upward in the sliding groove (4.3), and then drives the cross telescopic frame (5) to extend downward; when the sliding block (4.2) moves to the top end, the chuck clamps the stem of one bud and two leaves, and the cutting blade (6.2) cuts off the stem, so as to realize the picking of one bud and two leaves at the top of the tea tree; The chuck is provided with a straight tooth structure, and the tea leaf after picking is clamped by the chuck. After the tea leaves are picked, the information processing unit controls the micro tea picking drone to reach above the nearest collection box from the tea tree, the MCU control module (1.3.1) uses a target detection algorithm to identify the collection port and locate it, and the picking control module (1.3.2) controls the sliding table assembly (4) to drop the tea leaves: The linear steering engine (4.1) starts, so that the sliding block (4.2) slides downward in the sliding groove (4.3), and the cross telescopic frame (5) shrinks upward; The tea leaves held by the chuck fall into the collection box under the action of gravity; When the cluster completes the tea picking task in the target area or the power of a single micro tea picking drone is insufficient, the information processing unit controls the micro tea picking drone to move above the landing support platform (7), the linear steering engine (4.1) slides the sliding block (4.2) to the top of the sliding groove (4.3), and the cross telescopic frame (5) is stretched to the maximum to reduce the horizontal size for easy landing, and the micro tea picking drone lands on the landing support platform (7); The micro tea picking drone comprises a main rotor (1.1), a drone body (1.3), a tail rotor (1.4), a transmission device (1.5), a landing gear (1.7), a flight control system (1.8), an MCU control module (1.3.1), a picking control module (1.3.2), characterized in that it further comprises a depth camera (2) arranged below the drone body (1.3), a mechanism fixing device (3) arranged below the drone body (1.3), and a cross telescopic frame (5); The mechanism fixing device (3) is composed of a connecting block (3.1), a vertical connecting plate (3.2), and a cross telescopic frame fixing rod (3.3); The connecting block (3.1) is fixedly connected to the bottom of the drone body (1.3); Two vertical connecting plates (3.2) are fixedly connected to opposite sides of the connecting block (3.1); Two parts of the cross telescopic frame fixing rod (3.3) are respectively fixed to the lower ends of the two oppositely arranged vertical connecting plates (3.2); a sliding table assembly (4) is further arranged between the oppositely arranged vertical connecting plates (3.2); The sliding table assembly (4) is composed of a linear steering engine (4.1), a sliding block (4.2), and a sliding groove (4.3); The sliding groove (4.3) is fixed to the vertical connecting plate (3.2), and the sliding block (4.2) is driven by the linear steering engine (4.1) to slide up and down in the sliding groove (4.3); The cross telescopic frame (5) is composed of two middle connecting rods, two lower connecting rods, and two short connecting rods cross-connected, The upper ends of the two short connecting rods are connected by a connecting pin, and the connecting pin connecting the two short connecting rods is fixedly connected with the sliding block (4.2); The lower ends of the two short connecting rods are respectively hinged to the upper ends of a middle connecting rod through connecting pins, the middle portions of the two middle connecting rods are provided with through holes, the two middle connecting rods are crossed with each other at the through holes, and the two through holes are overlapped; the crossed telescopic frame fixing rod (3.3) passes through the overlapped through holes, so that the two middle connecting rods are hinged to each other; The lower ends of the two middle connecting rods are respectively hinged to the upper ends of a lower connecting rod through connecting pins; the middle portions of the two lower connecting rods are crossed and hinged to each other; the lower ends of the two lower connecting rods are respectively connected with a clamping arm; the two clamping arms form a picking clamp (6.1); the lower end of the clamping arm is a clamping head, and a shearing blade (6.2) is arranged below the clamping head, and the cutting edges of the shearing blades (6.2) protrude from the clamping head; When the sliding block (4.2) slides upward, the two clamping arms tighten to make the two clamping heads close to each other to clamp tea stems, and the cutting edges of the two shearing blades (6.2) close to each other until partially overlap to cut the tea stems.

2. The use of a micro tea leaf picking drone according to claim 1, wherein, The length of the main rotor (1.1) is within 20 cm, the length of the unmanned aerial vehicle body (1.3) is not more than 20 cm, and the distance between the plane where the main rotor (1.1) is located and the clamping head in the close-together state is not less than 15 cm.

Images