A drone transport device and operating method

Abstract

This invention discloses a drone transport device and operating method. The device includes a walking mechanism and a transport platform and a fruit-collecting mechanism mounted on the walking mechanism. The transport platform includes a fixed platform, a telescopic platform, and a telescopic drive mechanism. The fixed platform is equipped with a locking mechanism for securing the drone. The telescopic platform is connected to the drive end of the telescopic drive mechanism. The drone is equipped with a picking mechanism for picking bunches of fruit. The fruit-collecting mechanism includes a fruit-collecting basket connected to the telescopic platform. In the non-picking state, both the telescopic platform and the fruit-collecting basket are located below the fixed platform. In the picking state, the telescopic platform and the fruit-collecting basket extend to the outside of the fixed platform. This invention enables stable transport of drones in orchard environments, which is beneficial for improving the automation level of fruit picking.

Description

Technical Field

[0001] This invention relates to unmanned aerial vehicle (UAV) transportation platforms and methods, specifically to a UAV transport device and operating method. Background Technology

[0002] Lychee, longan, and other cluster-shaped fruits are specialty fruits of tropical and subtropical regions, possessing significant economic value. They are widely cultivated in the hilly areas of southwestern, southern, and southeastern China.

[0003] Currently, lychee and longan harvesting is mainly done manually, typically by climbing trees or using ladders. This high-altitude work position and limited mobility result in low harvesting efficiency and can easily lead to delays in post-harvest preservation and storage, causing a decline in fruit quality. Therefore, developing automated harvesting drones for lychee, longan, and other bunch-fruit harvesting methods is economically viable to reduce harvesting costs.

[0004] However, fruit-picking drones are still in their infancy. There is a lack of vehicles that can carry drones in orchard environments, and in most cases, manual handling of drones is still required. Automated picking work needs to be improved. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems and provide a drone transport device that can transport drones smoothly in an orchard environment, thereby improving the level of automation in fruit harvesting.

[0006] Another object of the present invention is to provide a method for unmanned aerial vehicle (UAV) transport operations.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A drone transport device includes a walking mechanism and a transport platform and a fruit-collecting mechanism mounted on the walking mechanism;

[0009] The transport platform includes a fixed platform, a telescopic platform, and a telescopic drive mechanism; the fixed platform is equipped with a locking mechanism for fixing the drone; the telescopic platform is connected to the drive end of the telescopic drive mechanism; the drone is equipped with a picking mechanism for picking bunches of fruit.

[0010] The fruit collecting mechanism includes a fruit collecting basket, which is connected to a telescopic platform.

[0011] In the non-harvesting state, both the telescopic platform and the fruit collection basket are located below the fixed platform; in the harvesting state, the telescopic platform and the fruit collection basket extend to the outside of the fixed platform.

[0012] The working principle of the above-mentioned drone carrier device is as follows:

[0013] During operation, the drone is secured to a fixed platform via a locking mechanism. The walking mechanism, controlled by the drone itself or remotely, moves through the orchard to transport the drone to the vicinity of the target fruit tree. A telescopic drive mechanism extends the telescopic platform from below the fixed platform until the platform and the fruit-collecting basket extend to the outside of the fixed platform. The locking mechanism is released, transferring the drone to the telescopic platform. Harvesting begins; the drone takes off from the telescopic platform, approaches the corresponding fruit, and the harvesting mechanism cuts and clamps the fruit's branches. The drone returns with the fruit and lands on the telescopic platform, where the harvesting mechanism releases the fruit, which is then stored in a nearby fruit-collecting basket. The drone takes off again until the harvest is complete.

[0014] After the harvesting is completed, the drone is transferred to a fixed platform and secured with a locking mechanism. The telescopic platform and fruit basket are then retracted under the fixed platform by a telescopic drive mechanism, which greatly reduces the size of the transport device, avoids collisions or scrapes with the fruit trees, and improves the stability of the transport.

[0015] In a preferred embodiment of the present invention, the locking mechanism comprises several sets, each including two sets of locking components. Each set of locking components includes a magnetic strip and a rotating buckle. The magnetic strip is fixedly mounted on a fixed platform for magnetically securing the drone's landing gear. The fixed platform has a rotating groove that engages with the rotating buckle, located below the magnetic strip. The length of the rotating groove is less than the length of the magnetic strip. The rotating buckle has a partially annular structure, with a portion fitting into the rotating groove. With this structure, to release the drone from the lock, the rotating buckle is rotated inwards so that its opening faces upwards, allowing the drone to be moved. To lock the drone, the drone's landing gear is aligned with and placed on the magnetic strip for magnetic fixation. The rotating buckle is then rotated outwards to enclose the drone's landing gear, further securing the drone and allowing it to better adapt to the uneven terrain of the orchard during transport, facilitating a smoother transport of the drone to the target fruit tree.

[0016] Furthermore, the inner side of the rotating buckle is provided with an anti-slip structure.

[0017] In a preferred embodiment of the present invention, a vehicle-mounted identification mechanism is provided on the fixed platform. This mechanism includes a rotatable rotating rod and a vehicle-mounted depth camera. The rotating rod is vertically mounted on the fixed platform, and the vehicle-mounted depth camera is positioned at the top of the rotating rod. With this structure, as the rotating rod rotates, the vehicle-mounted depth camera performs omnidirectional target identification of the surrounding fruit trees, thereby selecting the optimal target fruit tree for harvesting.

[0018] In a preferred embodiment of the present invention, a support guide frame is provided below the telescopic platform, and the support guide frame and the fixed platform are provided with a linear guide structure. This ensures that when the telescopic platform is extended outward, it will not be damaged due to uneven stress caused by the UAV being located on the telescopic platform, making it more stable and reliable, and can more effectively reduce the fault tolerance rate of UAV take-off and landing.

[0019] In a preferred embodiment of the present invention, the upper surface of the telescopic platform is provided with a landing code for UAV positioning; a monocular camera is provided at the bottom of the UAV. This allows the UAV to acquire real-time image information of the landing code below, further accurately locate its descent position, and complete autonomous precision landing more efficiently.

[0020] In a preferred embodiment of the present invention, the telescopic drive mechanism includes a telescopic drive motor and a telescopic transmission assembly. The telescopic drive motor is fixed on a fixed platform, and the telescopic transmission assembly includes a lead screw and a lead screw nut, the lead screw nut being fixedly connected to the telescopic platform.

[0021] In a preferred embodiment of the present invention, the fruit collection basket has a foldable structure; in the folded state, the fruit collection basket has a flat structure; and in the unfolded state, the fruit collection basket has a bucket-shaped structure.

[0022] Furthermore, the fruit collection basket is connected to the telescopic platform via a telescopic sliding structure, and in the non-harvesting state, the fruit collection basket is located above the telescopic platform.

[0023] In a preferred embodiment of the present invention, the harvesting mechanism includes an electric telescopic rod, an electric saw, and an electric clamp. One end of the electric telescopic rod is connected to a drone, and the other end is connected to the electric saw and the electric clamp. The electric clamp is located below the electric saw. Compared with traditional pruning methods, this method improves the efficiency of harvesting clustered fruits and facilitates the adjustment of the harvesting distance using the telescopic rod. This prevents the drone from becoming unbalanced and overturning due to contact with fruit tree branches and leaves during harvesting, thus avoiding damage to the drone and injury or death to nearby workers.

[0024] In a preferred embodiment of the present invention, the drone is equipped with a GPS locator and a terminal depth camera.

[0025] A method for unmanned aerial vehicle (UAV) transport operations includes the following steps:

[0026] The drone is secured to a fixed platform using a locking mechanism;

[0027] The drone is transported to the vicinity of the target fruit tree by controlling the walking mechanism to move in the orchard through self-propelled or remote-controlled means.

[0028] The telescopic platform is driven by a telescopic drive mechanism to extend from below the fixed platform until the telescopic platform and the fruit collection basket extend to the outside of the fixed platform.

[0029] Release the locking mechanism from the drone and transfer the drone to the telescopic platform;

[0030] The harvesting process begins with a drone taking off from a telescopic platform. After approaching the corresponding fruit, the harvesting mechanism cuts and clamps the branch of the fruit. The drone returns with the fruit and lands on the telescopic platform. The harvesting mechanism releases the fruit, which is then stored in a collection basket. The drone takes off again until the harvesting is complete. The fruit in the collection basket is then transferred to a special collection device.

[0031] After the harvesting is completed, the drone is transferred to a fixed platform and secured with a locking mechanism; the telescopic platform and fruit basket are then retracted below the fixed platform via a telescopic drive mechanism.

[0032] Finally, the drone is transported to the next work area or returned via a walking mechanism.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. The drone transport device of the present invention can transport drones smoothly in the orchard environment, which is conducive to improving the automation level of fruit picking.

[0035] 2. By setting up a retractable transport platform, in non-harvesting conditions, the retractable platform and fruit basket can be retracted to the bottom of the fixed platform via a telescopic drive mechanism, allowing the drone to be placed on the fixed platform. This greatly reduces the size of the transport device, avoids collisions or scratches with fruit trees, and improves the stability of transport.

[0036] 3. By setting up a telescopic platform, the area of ​​the drone's take-off and landing platform is increased, allowing more drones to take off and land simultaneously, thus improving work efficiency. Attached Figure Description

[0037] Figure 1-2 This is a three-dimensional structural diagram of the unmanned aerial vehicle (UAV) carrier device of the present invention in two different states.

[0038] Figure 3 for Figure 2 A magnified view of X in the image.

[0039] Figure 4 This is a partial cross-sectional view of the locking mechanism of the present invention and the landing gear of the UAV.

[0040] Figure 5 This is a partial three-dimensional structural diagram of the telescopic drive mechanism of the present invention.

[0041] Figure 6 for Figure 2 A magnified view of the Y-axis.

[0042] Figure 7 This is a flowchart of the operation method of the unmanned aerial vehicle (UAV) carrier device of the present invention. Detailed Implementation

[0043] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0044] See Figure 1-2 The drone transport device of this embodiment includes a walking mechanism and a transport platform and a fruit collection mechanism mounted on the walking mechanism; the walking mechanism includes a track assembly 1, the specific structure of which can be referred to in the prior art.

[0045] See Figure 1-2 The transport platform includes a fixed platform 2, a telescopic platform 3, and a telescopic drive mechanism; the fixed platform 2 is rigidly connected to the track assembly 1, and both sides of the fixed platform 2 adopt a reasonable triangular hollow design, which is conducive to greatly reducing the weight of the vehicle platform.

[0046] Furthermore, the fixed platform 2 is equipped with a high-performance processor and an outdoor power supply; specifically, the high-performance server and the outdoor power supply are both horizontally aligned in a straight line, specifically an NVIDIA RTX 3090Ti high-performance processor and a 220V outdoor power supply, to provide computing power for image recognition processing and power support for flight endurance, making the overall structure lighter and more stable and reliable during harvesting operations.

[0047] See Figure 1-2 The telescopic platform 3 and the telescopic drive mechanism are both provided in two sets, and the two sets of telescopic drive mechanisms drive in opposite directions; the fruit collecting mechanism includes a fruit collecting basket 5, which is connected to the telescopic platform 3; there are two fruit collecting baskets 5; in the non-harvesting state, the telescopic platform 3 and the fruit collecting basket 5 are both located below the fixed platform 2; in the harvesting state, the two sets of telescopic platforms 3 extend to both sides of the fixed platform 2 respectively.

[0048] See Figure 2-4The fixed platform 2 is equipped with a locking mechanism for securing the drone 4. This locking mechanism comprises several units, each including two sets of locking components. Each set of locking components includes a magnetic strip 6 and a rotating latch 7. The magnetic strip 6 is fixedly mounted on the fixed platform 2 and is used to magnetically secure the landing gear 4-1 of the drone 4. The fixed platform 2 has a rotating groove 2-1 that mates with the rotating latch 7. This rotating groove 2-1 is located below the magnetic strip 6. The length of the rotating groove 2-1 is less than the length of the magnetic strip 6. The rotating latch 7 has a partially annular structure, and a portion of the rotating latch 7 fits into the rotating groove 2-1. With this structure, to release the drone 4 from the lock, the rotating latch 7 is rotated inwards so that its opening faces upwards, allowing the drone 4 to be moved. When it is necessary to lock the drone 4, align the landing gear 4-1 of the drone 4 with the magnetic strip 6 and place it on the magnetic strip 6. The magnetic strip 6 will then magnetically hold the drone in place. Rotate the rotating buckle 7 outward so that it wraps around the landing gear 4-1 of the drone 4, thereby further limiting and fixing the drone 4. This will allow it to better adapt to the uneven terrain in the orchard during transportation and facilitate a smoother transport of the drone 4 to the target fruit tree.

[0049] Furthermore, the inner side of the rotating buckle 7 is provided with an anti-slip structure 8.

[0050] See Figure 1-2 The fixed platform 2 is equipped with a vehicle-mounted identification mechanism, which includes a rotatable rotating rod 9 and a vehicle-mounted depth camera 10. The rotating rod 9 is vertically mounted on the fixed platform 2, and the vehicle-mounted depth camera 10 is mounted on top of the rotating rod 9. Through this structure, as the rotating rod 9 rotates, the vehicle-mounted depth camera 10 performs target identification of the surrounding fruit trees from all directions, thereby selecting the optimal target fruit tree for harvesting.

[0051] See Figure 1-2 The telescopic platform 3 is provided with a support guide frame 11 below it, which has a linear guide structure with the fixed platform 2. This ensures that when the telescopic platform 3 is extended outward, it will not be damaged due to uneven force caused by the UAV 4 being located on the telescopic platform 3, making it more stable and reliable, and can more effectively reduce the fault tolerance rate of the UAV 4 during take-off and landing.

[0052] Furthermore, the upper surface of the telescopic platform 3 is equipped with landing and takeoff codes for the UAV 4 to locate itself; a monocular camera is installed at the bottom of the UAV 4. This allows the UAV 4 to acquire real-time image information of the landing and takeoff codes below, further accurately locate its descent position, and complete autonomous fixed-point landing more efficiently.

[0053] See Figure 5The telescopic drive mechanism includes a telescopic drive motor 12 and a telescopic transmission assembly. The telescopic drive motor 12 is fixed on the fixed platform 2. The telescopic transmission assembly includes a lead screw 13 and a lead screw nut 14. The lead screw nut 14 is fixedly connected to the telescopic platform 3.

[0054] See Figure 1-2 The fruit collection basket 5 has a foldable structure. In the folded state, the fruit collection basket 5 has a flat structure; in the non-folded state, the fruit collection basket 5 has a bucket-shaped structure.

[0055] Furthermore, the fruit collection basket 5 is connected to the telescopic platform 3 via a telescopic sliding structure, and in the non-harvesting state, the fruit collection basket 5 is located above the telescopic platform 3. Specifically, the telescopic sliding structure can refer to existing technology.

[0056] See Figure 6 The drone 4 is equipped with a harvesting mechanism for picking bunches of fruit. This mechanism includes an electric telescopic rod 15, an electric saw 16, and an electric clamp 17. One end of the electric telescopic rod 15 is connected to the drone 4, and the other end is connected to the electric saw 16 and the electric clamp 17. The electric clamp 17 is located below the electric saw 16. Compared to traditional pruning methods, this improves the efficiency of picking bunches of fruit and allows for adjustment of the harvesting distance using the telescopic rod. This prevents the drone 4 from becoming unbalanced and overturning due to contact with fruit tree branches during harvesting, thus avoiding damage to the drone 4 and injury to nearby workers.

[0057] See Figure 1-2 The UAV 4 is equipped with a GPS locator 18 and a terminal depth camera 19.

[0058] See Figure 1-7 The unmanned aerial vehicle (UAV) transport operation method of this embodiment includes the following steps:

[0059] (1) Operation process of transporting the drone to the target fruit tree:

[0060] The drone 4 is placed on the fixed platform 2 and is attracted and overlapped with the magnetic strip 6. The drone 4 is then fixed on the fixed platform 2 by rotating the buckle 7.

[0061] The vehicle-mounted depth camera 10 and the top rotating rod 9 are activated. The rotating rod 9 rotates 360°, driving the vehicle-mounted depth camera 10 to continuously scan the fruit trees in the orchard and collect RGB images and depth images of the fruit trees. The high-performance processor mounted on the top of the track assembly 1 runs the image recognition program to determine the target fruit trees nearby that are suitable for harvesting by the drone 4.

[0062] If a suitable fruit tree is found nearby, the target fruit tree positioning program on the high-performance processor is run, the three-dimensional coordinates of the target are input to the track assembly 1, the position of the track assembly 1 is started and adjusted, and the drone 4 is transported to the target fruit tree.

[0063] The telescopic platform 3 is driven to extend from below the fixed platform 2 by the telescopic drive mechanism until the telescopic platform 3 and the fruit collection basket 5 extend to the outside of the fixed platform 2; the locking mechanism is released from the lock on the drone 4, and the drone 4 is transferred to the telescopic platform 3.

[0064] (2) The process of drone 4 taking off to pick target clustered fruits:

[0065] The UAV 4 takes off autonomously from the take-off and landing platform 3 and activates the terminal depth camera 19 (455 binocular visual depth camera) to collect depth images of the target bunch of fruit in the fruit tree in front, and runs the image recognition program to determine whether the fruit branches of the target bunch of fruit in front are suitable for picking through existing image recognition technology.

[0066] Once a target fruit branch is identified ahead, the fruit branch positioning program on the high-performance processor is run. The three-dimensional coordinates of the target are input to the drone 4, and the position of the drone 4 is adjusted so that the drone 4 flies accurately in front of the fruit branch to be pruned. The safe picking distance is adjusted by the electric telescopic rod 15, and the electric clamp 17 is closed. The fruit branch is then cut by the electric saw 16, completing the picking operation of the drone 4.

[0067] (3) Operation process after the drone 4 completes fruit picking:

[0068] Drone 4, carrying the harvested bunches of fruit, receives an automatic return command from the track assembly 1. Following the GPS locator 18 on top of Drone 4, it flies to above the landing markers on the coordinate board and hovers at a preset altitude. The monocular camera on the bottom of Drone 4 acquires real-time images of the landing markers below, further adjusting its attitude to accurately pinpoint its descent location, completing an autonomous landing. It then releases the electric clamp 17, placing the harvested bunches of fruit into the fruit collection basket 5; the fruit in the basket 5 is then transferred to a specialized collection device.

[0069] The drone 4 is transferred to the fixed platform 2 and secured by the locking mechanism; the telescopic platform 3 and the fruit basket 5 are retracted under the fixed platform 2 by the telescopic drive mechanism; finally, the drone 4 is transported to the next work area or returned by the walking mechanism.

[0070] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle carrying device, characterized by, The walking mechanism, a carrying platform arranged on the walking mechanism, and a fruit collecting mechanism; The carrying platform comprises a fixed platform, an extendable platform, and an extension driving mechanism; the fixed platform is provided with a locking mechanism for fixing a UAV; the extendable platform is connected with a driving end of the extension driving mechanism; the UAV is provided with a picking mechanism for picking string-shaped fruits; The fruit collecting mechanism comprises a fruit collecting basket connected with the extendable platform; In a non-picking state, the extendable platform and the fruit collecting basket are located below the fixed platform; in a picking state, the extendable platform and the fruit collecting basket extend to the outside of the fixed platform.

2. The drone carrying device of claim 1, wherein, The locking mechanism comprises a plurality of locking assemblies, each of which comprises a magnetic strip and a rotating buckle; the magnetic strip is fixedly arranged on the fixed platform and used for magnetically fixing a landing gear of the UAV; the fixed platform is provided with a rotating groove matched with the rotating buckle, which is located below the magnetic strip; the length of the rotating groove is less than that of the magnetic strip; the rotating buckle has a partial annular structure, and a partial part of the rotating buckle is matched in the rotating groove.

3. The drone carrying device of claim 2, wherein, An anti-skid structure is arranged on the inner side of the rotating buckle.

4. The drone carrying device of claim 1, wherein, The fixed platform is provided with a vehicle-mounted identification mechanism comprising a self-rotating rotating rod and a vehicle-mounted depth camera; the rotating rod is vertically arranged on the fixed platform, and the vehicle-mounted depth camera is arranged on the top of the rotating rod.

5. The drone carrying device of claim 1, wherein, A support guide frame is arranged below the extendable platform, and a linear guide structure is arranged between the support guide frame and the fixed platform.

6. The drone carrying device of claim 1, wherein, A landing code for positioning the UAV is arranged on the upper surface of the extendable platform; and a monocular camera is arranged at the bottom of the UAV.

7. The drone carrying device of claim 1, wherein, The extension driving mechanism comprises an extension driving motor and an extension transmission assembly; the extension driving motor is fixed on the fixed platform; the extension transmission assembly comprises a lead screw and a lead screw nut, and the lead screw nut is fixedly connected with the extendable platform.

8. The drone carrying device of claim 1, wherein, The fruit collecting basket has a foldable structure; in a folded state, the fruit collecting basket has a flat plate structure; and in a non-folded state, the fruit collecting basket has a bucket structure; The fruit collecting basket is connected with the extendable platform through an extension sliding structure; in a non-picking state, the fruit collecting basket is located above the extendable platform.

9. The drone carrying device of claim 1, wherein, The picking mechanism comprises an electric telescopic rod, an electric saw, and an electric clamp; one end of the electric telescopic rod is connected with the UAV, and the other end of the electric telescopic rod is connected with the electric saw and the electric clamp; the electric clamp is located below the electric saw.

10. A method for operating the unmanned aerial vehicle carrying device according to any one of claims 1-9, characterized in that, The method comprises the following steps: fixing the UAV on the fixed platform through the locking mechanism; controlling the walking mechanism to move in the orchard by self-driving or remote control, and transporting the UAV to the vicinity of a target fruit tree; driving the extendable platform to extend from below the fixed platform by the extension driving mechanism until the extendable platform and the fruit collecting basket extend to the outside of the fixed platform; unlocking the UAV by the locking mechanism, and transferring the UAV to the extendable platform; starting picking work, flying the UAV from the extendable platform, cutting and clamping the branch of the corresponding fruit by the picking mechanism after approaching the fruit, returning and landing the UAV on the extendable platform with the fruit, releasing the fruit by the picking mechanism, and storing the fruit by the fruit collecting basket; The unmanned aerial vehicle takes off again until the picking work is completed; the fruits in the fruit collecting basket are transferred to a special collecting device; After the picking work is completed, the unmanned aerial vehicle is transferred to a fixed platform and is fixed through a locking mechanism; The telescopic platform and the fruit collecting basket are driven to retract below the fixed platform through a telescopic driving mechanism; Finally, the unmanned aerial vehicle is transported to the next working area or returned through the walking mechanism.

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