A rose picking device based on a drone

Abstract

The application relates to a rose picking device based on a UAV and belongs to the field of agricultural machinery. The device is composed of a UAV device, a height balance adjusting device, a picking device, a collecting device and a visual identification module. The height balance adjusting device can adjust the height when falling to the ground according to the height of the rose cluster, so as to prevent the rose branches and leaves from being damaged. The foot frame of the device is provided with a ball screw, the length of the foot frame is finely adjusted through the ball screw, and the horizontal state of the device is ensured. The end effector of the picking device is driven through a DC motor, and the rose is picked through the rotation of the rootstock after the rose is picked. The rose is sucked into a collecting bin through the gravity and the suction force of a negative pressure fan. The collecting bin is provided with a flower bud bin and a flower pistil bin, and the two bins are used for storage respectively, so that the picking efficiency is improved.

Description

Technical Field

[0001] This invention relates to a rose-picking device based on a drone, specifically to a rose-picking equipment that utilizes a drone equipped with a height balance adjustment device, a picking device, a collection device, and a vision module, belonging to the field of agricultural machinery. Background Technology

[0002] Roses, as an important ornamental flower and economic crop, have wide applications in horticulture, agriculture, and landscape design. However, traditional rose harvesting methods mainly rely on manual labor, which suffers from high labor intensity, low efficiency, and high labor costs, especially in large-scale rose plantations where labor costs account for a significant proportion. Therefore, rose harvesting devices are mostly ground-based machinery, suitable only for standardized plantations and unable to achieve harvesting in all scenarios. The varying row spacing in domestic rose plantations makes it impossible for ground-based harvesting machinery to complete the harvesting work. Therefore, with the development of drone technology, using drones equipped with harvesting devices can overcome environmental factors such as terrain and density, effectively improving rose harvesting efficiency and reducing costs. Summary of the Invention

[0003] To address the problem of the difficulty in operating ground-based rose-picking machinery, this invention provides a rose-picking device based on unmanned aerial vehicles (UAVs).

[0004] This invention is achieved through the following technical solution: a rose-picking device based on a drone, comprising a drone device, a height balance adjustment device, a picking device, a collecting device, and a visual recognition module. The lower end of the drone device is connected to the collecting device via bolts. The height balance adjustment device is connected to the landing gear at the lower end of the drone device via bolts. The picking device is bolted to the bottom of the connecting plate of the height balance adjustment device and is symmetrically distributed around the bottom of the connecting plate. The bracket of the visual recognition module is bolted to the side of the height balance adjustment device and the side of the end effector of the picking device. The collecting hose of the collecting device is bolted to the picking and collecting compartment of the picking device.

[0005] The height balance adjustment device consists of a connecting plate, a first rotating shaft, a landing gear connecting block, a tripod connecting block, a first stepper motor, a first stepper motor mounting plate, a tripod tail end mounting block, a tripod screw, a tripod DC motor, a first DC motor mounting plate, anti-slip pads, a vertical moving block, a vertical screw, a parallel fixing block, a rocker arm, a rocker arm fixing shaft, and a carbon fiber support rod. The landing gear connecting block is mounted on the connecting plate via the first rotating shaft. The tripod connecting block is bolted to the lower end of the connecting plate. The first stepper motor is bolted to the first stepper motor mounting plate. The first stepper motor mounting plate is bolted to the lower end of the tripod connecting block. The vertical screw... The lever is mounted on the output shaft of the first stepper motor via a coupling. The vertical moving block is threaded onto the vertical lead screw. One end of the rocker arm is pinned to the vertical moving block, and the other end of the rocker arm is fitted into the middle of the rocker arm fixing shaft. The carbon fiber support rods are fitted side-by-side into the parallel fixing block, and the rocker arm, the parallel fixing block, and the carbon fiber support rods are fixed by the rocker arm fixing shaft. The footrest tail end fixing block is mounted on the tail end of the carbon fiber support rod with a double-ended bolt. The footrest lead screw is connected to the output shaft of the footrest DC motor via a coupling. The footrest DC motor is bolted onto the first DC motor fixing plate, and the first DC motor fixing plate is bolted onto the anti-slip foot pad.

[0006] The harvesting device comprises a second stepper motor, a second stepper motor mounting plate, an upper rotating disk, a lower rotating disk, a robotic arm, a rotary servo motor, a second rotating shaft, a left end cover, a right end cover, a first robotic arm forearm plate, a second robotic arm forearm plate, a third robotic arm, an electric push rod, an electric push rod mounting plate, a DC motor, a second DC motor mounting plate, an end effector, and a harvesting and collecting bin. The second stepper motor is bolted to the second stepper motor mounting plate, which is bolted to the lower end of the connecting plate of the height balance adjustment device. The upper and lower rotating disks are bolted together, and the lower rotating disk is welded to the robotic arm. The left end cover is bolted to the left side of the robotic arm, and the right end cover is bolted to the right side of the robotic arm. The left side of the second rotating shaft is fixed to the left side of the robotic arm's main arm via a left end cap and bearing, and the right side of the second rotating shaft is fixed to the right side of the robotic arm's main arm via a right end cap and bearing. The rotating servo motor is fixedly installed on the left side of the robotic arm's main arm via bolts. The output shaft of the rotating servo motor is connected to the second rotating shaft via a coupling. The first and second robotic arm forearm plates are distributed on both sides of the second rotating shaft and fixed with bolts. The electric push rod is installed on the second robotic arm forearm plate via an electric push rod fixing plate and bolts. The third robotic arm is installed on the output section of the electric push rod via bolts. The DC motor is installed on the third robotic arm via a second DC motor fixing plate. The end effector is installed on the output shaft of the DC motor via a coupling. The harvesting and collection bin is installed on the side of the end effector via bolts.

[0007] The collection device consists of a collection chamber, a collection chamber filter baffle, a negative pressure fan, a negative pressure fan mounting plate, a collection chamber door, a collection hose, and hinges. The collection chamber is bolted to the bottom of the drone device. The collection chamber filter baffle is bolted to the middle of the collection chamber, dividing the collection chamber into a bud chamber and a pistil chamber. The negative pressure fan is bolted to the side of the collection chamber via the negative pressure fan mounting plate. The collection chamber door is bolted to the side of the collection chamber via hinges. The collection hose is bolted to the bottom of the collection chamber.

[0008] The visual recognition module consists of a binocular camera, a control board, and a bracket. The binocular camera is fixedly mounted on the outside of the bracket with bolts, and the control board is mounted on the inside of the bracket with bolts.

[0009] The advantages of this invention are that it enables the harvesting of roses using a drone-mounted rose-picking device. The height balance adjustment device uses a stepper motor to drive a vertical moving block up or down, which in turn rotates the carbon fiber support rods, thus adjusting the overall height of the device. All three sets of carbon fiber support rods are driven by the same motor, preventing asynchronous rotation. The DC motor at the lower end of the carbon fiber support rods drives a fixed block at the end of the leg to move on a lead screw, allowing for fine-tuning of the leg lengths to prevent the harvesting device from landing on soft soil and becoming unstable. The collection device includes a collection chamber to store the harvested roses. A filter partition in the collection chamber separates the stamens and buds. A motor-driven negative pressure fan creates negative pressure, allowing the roses to enter the collection chamber through a collection hose. The harvesting device... The end effector of the device is connected to a DC motor via a coupling. The DC motor controls the rotation of the end effector and the picking and collecting bin, thereby picking the roses by rotating the roses and their stems. At this time, a negative pressure fan is activated, sucking the roses that fall into the picking and collecting bin under their own weight into the collecting bin. The picking device of this invention has four degrees of freedom: a second stepper motor drives the upper and lower rotating disks, which in turn drive the upper arm of the robotic arm to rotate; a rotary servo motor drives the second rotating shaft, which in turn drives the lower arm plates of the first and second robotic arms to rotate; an electric push rod moves the third robotic arm telescopically; and the DC motor drives the end effector to rotate, which can control the end effector to reach the designated picking position. The binocular camera of the visual recognition module of this invention can identify the roses and provide their three-dimensional coordinates. In summary, this device can overcome environmental factors such as planting terrain and planting density to complete the rose picking work, improve the efficiency of rose picking, and can be widely used in rose picking. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of the present invention;

[0011] Figure 2 for Figure 1 A schematic diagram of a Chinese drone;

[0012] Figure 3 for Figure 1 Schematic diagram of the medium-height balance adjustment device;

[0013] Figure 4 for Figure 1 A schematic diagram of the harvesting device;

[0014] Figure 5 for Figure 1 A schematic diagram of the collection device;

[0015] Figure 6 for Figure 1 A schematic diagram of the visual recognition module;

[0016] Figure 7 for Figure 3 A schematic diagram of the telescoping and diameter-changing section;

[0017] Figure 8 for Figure 3 A schematic diagram of the telescopic section of the mid-legs;

[0018] Figure 9 for Figure 3 A schematic diagram of the vertically moving block;

[0019] Figure 10 for Figure 3 Schematic diagram of parallel fixed blocks;

[0020] Figure 11 for Figure 4 A schematic diagram of the harvesting and collection bins;

[0021] Figure 12 for Figure 4 A schematic diagram showing the position of the second rotation axis;

[0022] In the diagram, 1 is the drone device, 2 is the collection device, 3 is the harvesting device, 4 is the visual recognition module, and 5 is the altitude balance adjustment device.

[0023] 201. Collection hose; 202. Collection chamber door; 203. Hinge; 204. Collection chamber; 205. Collection chamber filter baffle; 206. Negative pressure fan mounting plate; 207. Negative pressure fan.

[0024] 301. Second stepper motor; 302. Second stepper motor mounting plate; 303. Upper rotary disk; 304. Lower rotary disk; 305. Robotic arm upper arm; 306. Rotary servo motor; 307. Second rotating shaft; 308. Left end cover; 309. Right end cover; 310. First robotic arm forearm plate; 311. Second robotic arm forearm plate; 312. Electric push rod; 313. Electric push rod mounting plate; 314. Third robotic arm; 315. DC motor; 316. Second DC motor mounting plate; 317. End effector; 318. Harvesting and collecting bin.

[0025] 401. Bracket; 402. Control board; 403. Binocular camera;

[0026] 501. Landing gear connecting block; 502. Connecting plate; 503. Tripod connecting block; 504. Carbon fiber support rod; 505. Parallel fixing block; 506. Rocker arm; 507. Rocker arm fixing shaft; 508. Vertical moving block; 509. Tripod tail end fixing block; 510. Tripod lead screw; 511. First DC motor fixing plate; 512. Tripod DC motor; 513. Anti-slip pad; 514. Vertical lead screw; 515. First stepper motor fixing plate; 516. First stepper motor; 517. First rotating shaft;

[0027] from Figure 7 The shape of the expansion and contraction section can be seen in the image. Detailed Implementation

[0028] A drone-based rose-picking device comprises a drone device 1, a height balance adjustment device 5, a picking device 3, a collection device 2, and a visual recognition module 4. The lower end of the drone device 1 is connected to the collection device 2 via bolts. The height balance adjustment device 5 is connected to the landing gear at the lower end of the drone device 1 via bolts. The picking device 3 is bolted to the bottom of the connecting plate 502 of the height balance adjustment device 5 and is symmetrically distributed around the bottom of the connecting plate 502. The bracket 401 of the visual recognition module 4 is bolted to the side of the height balance adjustment device 5 and the side of the end effector 317 of the picking device 3. The collection hose 201 of the collection device 2 is bolted to the picking and collecting chamber 318 of the picking device 3.

[0029] The height balance adjustment device 5 is composed of a connecting plate 502, a first rotating shaft 517, a landing gear connecting block 501, a tripod connecting block 503, a first stepper motor 516, a first stepper motor fixing plate 515, a tripod tail end fixing block 509, a tripod lead screw 510, a tripod DC motor 512, a first DC motor fixing plate 511, anti-slip pads 513, a vertical moving block 508, a vertical lead screw 514, a parallel fixing block 505, a rocker arm 506, a rocker arm fixing shaft 507, and a carbon fiber support rod 504. The landing gear connecting block 501 is mounted on the connecting plate 502 via the first rotating shaft 517. The tripod connecting block 503 is bolted to the lower end of the connecting plate 502. The first stepper motor 516 is bolted to the first stepper motor fixing plate 515. The first stepper motor fixing plate 515 is bolted to the tripod connecting block 503. At the lower end, the vertical lead screw 514 is mounted on the output shaft of the first stepper motor 516 via a coupling. The vertical moving block 508 is threadedly connected to the vertical lead screw 514. One end of the rocker arm 506 is pinned to the vertical moving block 508, and the other end of the rocker arm 506 is sleeved in the middle of the rocker arm fixing shaft 507. The carbon fiber support rod 504 is sleeved in parallel in the parallel fixing block 505, and the rocker arm 506, the parallel fixing block 505, and the carbon fiber support rod 504 are fixed by the rocker arm fixing shaft 507. The footrest tail end fixing block 509 is mounted on the tail end of the carbon fiber support rod 504 via a double-ended bolt. The footrest lead screw 510 is connected to the output shaft of the footrest DC motor 512 via a coupling. The footrest DC motor 512 is bolted to the first DC motor fixing plate 511, and the first DC motor fixing plate 511 is bolted to the anti-slip foot pad 513.

[0030] The harvesting device 3 comprises a second stepper motor 301, a second stepper motor mounting plate 302, an upper rotating disk 303, a lower rotating disk 304, a robotic arm upper arm 305, a rotary servo motor 306, a second rotating shaft 307, a left end cover 308, a right end cover 309, a first robotic arm lower arm plate 310, a second robotic arm lower arm plate 311, a third robotic arm 314, an electric push rod 312, an electric push rod mounting plate 313, a DC motor 315, a second DC motor mounting plate 316, an end effector 317, and a harvesting and collecting bin. Composed of 318, the second stepper motor 301 is bolted to the second stepper motor mounting plate 302, the second stepper motor mounting plate 302 is bolted to the lower end of the connecting plate 502 of the height balance adjustment device 5, the upper rotating disk 303 and the lower rotating disk 304 are bolted together, the lower rotating disk 304 is welded to the upper arm 305 of the robotic arm, the left end cover 308 is bolted to the left side of the upper arm 305 of the robotic arm, and the right end cover 309 is bolted to the upper arm of the robotic arm. On the right side of 305, the left side of the second rotating shaft 307 is fixed to the left side of the robotic arm's main arm 305 via a left end cover 308 and a bearing. The right side of the second rotating shaft 307 is fixed to the right side of the robotic arm's main arm 305 via a right end cover 309 and a bearing. A rotating servo motor 306 is bolted to the left side of the robotic arm's main arm 305. The output shaft of the rotating servo motor 306 is connected to the second rotating shaft 307 via a coupling. The first robotic arm forearm plate 310 and the second robotic arm forearm plate 311 are distributed on both sides of the second rotating shaft 307. Furthermore, the electric push rod 312 is fixed to the second robotic arm forearm plate 311 via the electric push rod fixing plate 313 and bolts. The third robotic arm 314 is fixed to the output section of the electric push rod 312 via bolts. The DC motor 315 is fixed to the third robotic arm 314 via the second DC motor fixing plate 316. The end effector 317 is fixed to the output shaft of the DC motor 315 via a coupling. The picking and collecting bin 318 is fixed to the side of the end effector 317 via bolts.

[0031] The collection device 2 consists of a collection chamber 204, a collection chamber filter baffle 205, a negative pressure fan 207, a negative pressure fan mounting plate 206, a collection chamber door 202, a collection hose 201, and a hinge 203. The collection chamber 204 is bolted to the bottom of the drone device 1. The collection chamber filter baffle 205 is bolted to the middle of the collection chamber 204, dividing the collection chamber 204 into a bud chamber and a pistil chamber. The negative pressure fan 207 is bolted to the side of the collection chamber 204 via the negative pressure fan mounting plate 206. The collection chamber door 202 is bolted to the side of the collection chamber 204 via the hinge 203. The collection hose 201 is bolted to the bottom of the collection chamber 204.

[0032] The visual recognition module 4 is composed of a binocular camera 403, a control board 402 and a bracket 401. The binocular camera 403 is fixedly installed on the outside of the bracket 401 by bolts, and the control board 402 is installed on the inside of the bracket 401 by bolts.

[0033] During operation, the drone device 1 takes off. The binocular camera 403 identifies the location information of the rose. The control board 402 processes its three-dimensional coordinates and controls the device to fly to the given location. Before landing, it controls the first stepper motor 516, which drives the carbon fiber support rod 504 to rotate to the appropriate position via the vertical lead screw 514. The device lands on the ground. The control board 402 detects the horizontal angle of the device and controls the tripod DC motor 512 to rotate. The output shaft of the tripod DC motor 512 controls the tripod lead screw 510 until the mechanism is in a horizontal position. The binocular camera 403 is activated, identifies the rose, and records its location. Information is fed back to the control board 402. The control board 402 controls the second stepper motor 301, the rotary servo motor 306, and the electric push rod 312 of the picking device 3 to make the end effector 317 reach the root of the rose. The end effector 317 drives the bionic finger to hold the root of the rose. The DC motor 315 at the tail of the end effector 317 controls the rotation of the end effector 317, thereby picking the rose. When the rose is successfully picked, information is fed back to the control board 402. The control board 402 controls the negative pressure fan 207 to start. The strong suction draws the rose from the collection hose 201 into the collection device 2, and the picking is completed.

[0034] For those skilled in the art, any changes, modifications, substitutions, and variations made to the embodiments without departing from the principles and spirit of the present invention, based on the teachings of the present invention, still fall within the protection scope of the present invention.

Claims

1. A rose-picking device based on a drone, comprising a drone device, a height balance adjustment device, a picking device, a collecting device, and a visual recognition module, characterized in that: The lower end of the drone device is connected to the collection device via bolts. The altitude balance adjustment device is connected to the landing gear at the lower end of the drone device via bolts. The picking device is bolted to the bottom of the connecting plate of the altitude balance adjustment device, and is symmetrically distributed at the bottom of the connecting plate. The bracket of the vision recognition module is bolted to the side of the altitude balance adjustment device and the side of the end effector of the picking device. The collection hose of the collection device is bolted to the picking collection bin of the picking device. The vision recognition module consists of a binocular camera, a control board, and a bracket. The binocular camera is used to identify roses and provide their three-dimensional coordinates. The control board controls the picking device to perform picking based on the position information fed back by the binocular camera. The height balance adjustment device comprises a connecting plate, a first rotating shaft, a landing gear connecting block, a tripod connecting block, a first stepper motor, a first stepper motor fixing plate, a tripod tail end fixing block, a tripod lead screw, a tripod DC motor, a first DC motor fixing plate, anti-slip pads, a vertical moving block, a vertical lead screw, a parallel fixing block, a rocker arm, a rocker arm fixing shaft, and a carbon fiber support rod. The vertical moving block is threaded onto the vertical lead screw. One end of the rocker arm is pinned to the vertical moving block, and the other end of the rocker arm is fitted into the middle of the rocker arm fixing shaft. The carbon fiber support rods are fitted side-by-side into the parallel fixing blocks, and the rocker arm, parallel fixing blocks, and carbon fiber support rods are fixed by the rocker arm fixing shaft. The first stepper motor drives... The vertical screw rotates, causing the vertical moving block to move along the vertical screw. This, in turn, drives three sets of carbon fiber support rods to rotate synchronously via a rocker arm, a rocker arm fixing shaft, and a parallel fixing block, thus adjusting the overall height of the height balance adjustment device. The control board detects the horizontal angle of the device after it lands on the ground and controls the rotation of the tripod DC motor. The output shaft of the tripod DC motor controls the tripod screw drive, causing the fixed block at the tail end of the tripod to move on the tripod screw until the height balance adjustment device is in a horizontal position. The harvesting device consists of a second stepper motor, a second stepper motor fixing plate, an upper rotating disk, a lower rotating disk, a robotic arm upper arm, a rotary servo motor, a second rotating shaft, a left end cover, a right end cover, a first robotic arm lower arm plate, and a second... The system comprises a robotic arm forearm plate, a third robotic arm, an electric push rod, an electric push rod mounting plate, a DC motor, a second DC motor mounting plate, an end effector, and a picking and collecting bin. The second stepper motor is bolted to the second stepper motor mounting plate, which is bolted to the lower end of the connecting plate of the height balance adjustment device. The upper and lower rotating disks are bolted together, and the lower rotating disk is welded to the upper arm of the robotic arm. The control board controls the second stepper motor, the rotary servo motor, and the electric push rod to bring the end effector to the rose stem. The end effector uses bionic fingers to grip the rose stem, and the DC motor controls the rotation of the end effector to pick the rose.The collection device consists of a collection chamber, a collection chamber filter baffle, a negative pressure fan, a negative pressure fan mounting plate, a collection chamber door, a collection hose, and hinges. The collection chamber filter baffle is located in the middle of the collection chamber, dividing it into a bud chamber and a stamen chamber. When a rose is picked, the control panel activates the negative pressure fan, allowing the rose to enter the collection chamber through the collection hose.

2. The rose-picking device based on a drone as described in claim 1, characterized in that: The landing gear connecting block is mounted on the connecting plate via the first rotating shaft. The tripod connecting block is mounted on the lower end of the connecting plate via bolts. The first stepper motor is bolted to the first stepper motor mounting plate. The first stepper motor mounting plate is bolted to the lower end of the tripod connecting block. The vertical lead screw is mounted on the output shaft of the first stepper motor via a coupling.

3. The rose-picking device based on a drone as described in claim 1, characterized in that: The tail end fixing block of the tripod is installed at the tail end of the carbon fiber support rod by double-ended bolts. The tripod lead screw is connected to the output shaft of the tripod DC motor by a coupling. The tripod DC motor is installed on the first DC motor fixing plate by bolts. The first DC motor fixing plate is installed on the anti-slip foot pad by bolts.

4. The rose-picking device based on a drone as described in claim 1, characterized in that: The left end cap is bolted to the left side of the robotic arm's main arm, and the right end cap is bolted to the right side of the robotic arm's main arm. The left side of the second rotating shaft is bolted to the left side of the robotic arm's main arm via the left end cap and a bearing, and the right side of the second rotating shaft is bolted to the right side of the robotic arm's main arm via the right end cap and a bearing. The rotating servo is bolted to the left side of the robotic arm's main arm, and the output shaft of the rotating servo is connected to the second rotating shaft via a coupling. The first and second robotic arm forearm plates are distributed on both sides of the second rotating shaft and are bolted together. The electric push rod is mounted on the second robotic arm forearm plate via an electric push rod fixing plate and bolts. The third robotic arm is bolted to the output section of the electric push rod. The DC motor is mounted on the third robotic arm via a second DC motor fixing plate. The end effector is mounted on the output shaft of the DC motor via a coupling. The harvesting and collecting bin is bolted to the side of the end effector.

5. The rose-picking device based on a drone as described in claim 1, characterized in that: The collection chamber is bolted to the bottom of the drone device. The filter baffle of the collection chamber is bolted to the middle of the collection chamber, dividing the collection chamber into a bud chamber and a pistil chamber. The negative pressure fan is bolted to the side of the collection chamber via a negative pressure fan fixing plate. The collection chamber door is bolted to the side of the collection chamber via a hinge. The collection hose is bolted to the bottom of the collection chamber. The binocular camera is bolted to the outside of the bracket. The control board is bolted to the inside of the bracket.

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