Remote control type lotus seedpod picking machine

Abstract

The invention discloses a remote control type unmanned aerial vehicle lotus seedpod picking machine, and relates to the technical field of agricultural machinery, in particular to an aquatic crop picking machine. The device comprises a remote control unmanned aerial vehicle and a picking device loaded below the remote control unmanned aerial vehicle, the remote control unmanned aerial vehicle serves as carrying equipment, and the picking device serves as execution equipment and comprises a clamping steering engine, a shearing steering engine, a transmission connecting rod mechanism, a three-jaw connecting rod mechanism and a shearing mechanism. The clamping steering engine drives the three-jaw connecting rod mechanism to clamp lotus seedpods through the transmission connecting rod mechanism, and the shearing steering engine drives the three-jaw connecting rod mechanism to rotate and shear stems of the lotus seedpods through gear speed reduction, so that lotus seedpod picking is completed. The device is low in equipment cost, light in weight and high in cruising ability, the problem that lotus field picking is difficult is solved, the picking cost is reduced, and the picking efficiency is improved.

Description

Technical Field

[0001] The invention relates to intelligent mechanical equipment, in particular to a picking machine Background Art

[0002] The invention relates to the technical field of agricultural machinery, and in particular to an aquatic crop picking machine. Summary of the invention

[0003] As a specialty agricultural product, lotus pods and their products are widely loved by people; however, traditional manual picking is inefficient and has high labor costs. As the output of lotus pods increases, a large number of semi-automatic and automated products are being developed in China for lotus pod picking.

[0004] For example, a Chinese invention patent has disclosed a lotus pod automatic harvesting system and its operation method for standardized lotus fields, the device includes multiple harvesting drones, an automatic collection mechanism and a system controller, wherein the harvesting drone includes a drone body, a harvesting mechanism, a visual module and a flight harvesting controller. However, the device is only applicable to standardized farmland.

[0005] For example, a Chinese invention patent has disclosed a dual-drone collaborative automatic lotus pod harvesting system and method, which includes a pilot drone equipped with a coarse identification and positioning module and a trajectory planning module, and a harvesting drone equipped with a precise identification and positioning module and a multi-directional picking module. However, the dual-drone application cost is high and dual-drone collaboration is difficult.

[0006] For example, a Chinese invention patent has disclosed a lotus pod picking manipulator based on a drone and a picking method thereof, which is designed with an arm with a combined guide groove and integrates the power output end of the traction mechanism and the clamping mechanism on it, so that the traction mechanism drives the clamping mechanism to move on the arm and realizes the picking, collection and delivery of lotus pods. However, the clamping and shearing actions require switching workstations, which makes the structure complex and the equipment bulky.

[0007] In order to solve the above problems, improve the battery life of picking equipment, reduce equipment costs, and adapt to irregular lotus field environments, it is necessary to develop a remote-controlled drone lotus pod picking machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is the front view of the present invention (clamping jaws clamped state) Figure 2 This is the left side view of the present invention (the clamp is released) Figure 3 This is a bottom view of the present invention (the clamp is released) Figure 4 The drone above the present invention Figure 5 The schematic diagram of the three-claw connecting rod mechanism of the present invention is as follows: Figure 6 The right angle cutter head in the embodiment 1 of the present invention Figure 7 This is the middle waist blade tip of the embodiment 2 of the present invention. Among them, the figure numbers are: picking drone 1 picking mechanism 2 power supply 3 fuselage 4 rotor 5 visual camera 6 control board 7 drive 8 frame 9 clamping servo 10 shearing servo 11 transmission connecting rod mechanism 12 three-claw connecting rod mechanism 13 rotary shearing mechanism 14 push-pull crank 15 connecting rod 16 push-pull arm 17 claw bracket 18 steering disc 19 claw seat 20 short connecting rod 21 long connecting rod 22 triangular connecting rod 23 knife seat connecting rod 24 knife head 25 right-angle knife head 26 isosceles knife head 27 small gear 28 large gear 29 DETAILED DESCRIPTION

[0009] The present invention is further described in detail below in conjunction with specific embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0010] Examples of certain embodiments of the present invention are given below, which are not intended to limit the scope of the present invention. Example

[0011] The present invention provides a remote control lotus pod picking machine, comprising a picking drone and a picking mechanism. The picking drone is controlled by remote control and visual assistance, and is used as a carrier to load the picking mechanism to a designated working area. The picking mechanism is installed at the center of the lower end of the drone, so that the center of gravity of the drone is centered and the operation is more stable.

[0012] The picking drone includes a power supply, a rotor, a visual camera, a control panel, and a driver. The power supply simultaneously supplies power for the flight of the picking drone and the movement of the picking mechanism. The rotors are evenly distributed around the upper side of the fuselage. The visual camera collects target object information in real time and compares it with the model in the image library to determine whether the photographed target is a lotus pod, and establishes a corresponding relationship based on the camera coordinate system and the tool coordinate system, calculates the distance between the three-claw linkage mechanism and the target object, and assists the shearing drone in positioning for shearing. The control panel, as the main control part of the entire device, receives the control signal from the remote control device on the one hand, and receives and processes the image collected by the visual camera on the other hand, and finally outputs the control signal to drive the servo to operate through the driver.

[0013] The picking mechanism includes a frame, a clamping servo, a shearing servo, a transmission connecting rod mechanism, a three-claw connecting rod mechanism, and a rotary shearing mechanism. The frame is installed on the expansion position at the lower part of the UAV, and the clamping servo and the shearing servo are installed thereon, and provides motion support for the transmission connecting rod mechanism, the three-claw connecting rod mechanism, and the rotary shearing mechanism. The clamping servo converts the rotary motion into the linear motion of the claw bracket through the transmission connecting rod mechanism, and the three-claw connecting rod mechanism converts the linear motion of the claw bracket into a clamping action. The shearing servo drives the three-claw connecting rod mechanism to rotate through gear reduction, thereby completing the shearing.

[0014] The transmission connecting rod mechanism includes a clamping servo, a push-pull crank, a connecting rod, a push-pull arm, and a claw bracket. The push-pull crank is connected to the clamping servo through a steering wheel. One end of the connecting rod is hinged to the push-pull crank, and the other end is hinged to the push-pull arm. When the claw bracket is in the highest position, the transmission connecting rod mechanism is in a dead point position, and the clamping servo brake locks the three-claw connecting rod mechanism to clamp the lotus head. The control system sets the software limit by controlling the rotation angle of the servo. The frustum at the lower end of the claw bracket cooperates with the concave hole at the lower end of the frame to perform mechanical limit to avoid excessive clamping and damage to the lotus head.

[0015] The three-claw linkage mechanism includes a claw seat and three groups of short links, a long link, a triangular link, a tool holder link, and a tool head. The claw seat is interference fit at the lower end of the frame through a slewing support. The upper end of the long link is hinged to the outside of any one of the three claws of the claw seat, and the lower end is hinged to the outside of the tool holder link. The upper end of the triangular link is hinged to the corresponding claw at the lower end of the claw bracket, and the lower end is hinged to the inner side of the tool holder link. One end of the short link is hinged to the inner side of the corresponding claw of the claw seat, and the other end is hinged to the middle of the triangular link. The lower end of the tool holder link is provided with a tool tip mounting hole for mounting the tool tip. The remaining two groups of claws are consistent with the above assembly relationship.

[0016] The cutter head is a right-angle cutter head. When the cutter head is worn or broken, the cutter head can be removed and replaced with a new one. The tip of the cutter head is a right-angle triangle, wherein the tip angle is 30°, which is conducive to the tip of the cutter penetrating the lotus stem during the clamping process, and the blade angle is 15°, which is conducive to cutting the lotus stem during the rotation process.

[0017] The rotary shearing mechanism includes a rotary servo, a steering plate, a small gear and a large gear. The small gear is connected to the shearing servo through the steering plate, thereby driving the small gear to rotate. The large gear is interference fit with the claw seat. The small gear drives the large gear and the claw seat to rotate together. The claw seat drives the three-claw connecting rod mechanism to rotate together so that the knife tips in three directions rotate around the lotus stem, thereby cutting off the lotus stem. The torque can be increased after gear reduction. Therefore, a small-power servo can be selected to meet the needs, reducing the size and cost of the motor.

[0018] During the working process of the picking mechanism, in the first step, the remote control device remotely controls the picking drone to reach the designated working area and move it above the lotus head, and swings the push-pull crank clockwise to make it in the lowest position, at which time the claw bracket is in the lowest position and the three-claw connecting rod mechanism is in an open state; in the second step, the visual camera monitors the distance from the clamping claw to the lotus head in real time and assists the drone to fine-tune the position to a suitable clamping position; in the third step, the clamping motor drives the push-pull crank to swing 120° counterclockwise, and the claw bracket moves upward to the highest position driven by the transmission connecting rod mechanism, and the transmission connecting rod mechanism The structure reaches the dead point position, the clamping claws clamp and clamp the lotus pod; the fourth step, the shearing motor works for 2S, the small gear drives the large gear and the three-claw connecting rod mechanism to rotate 360° clockwise to cut off the lotus pod stem; the fifth step, the picking drone moves up 0.4-0.6m to ensure that the lotus root silk is broken and then flies to the temporary hopper; the sixth step, the clamping motor drives the push-pull crank to swing 120° clockwise, and the claw bracket moves downward to the lowest position driven by the transmission connecting rod mechanism, the transmission connecting rod mechanism leaves the dead point position, the clamping claws are released, and the lotus pod is thrown into the temporary hopper; completing a working cycle. Example

[0019] The present invention provides a remote control lotus pod picking machine, comprising a picking drone and a picking mechanism. The picking drone is controlled by remote control and visual assistance, and is used as a carrier to load the picking mechanism to a designated working area. The picking mechanism is installed at the center of the lower end of the drone, so that the center of gravity of the drone is centered and the operation is more stable.

[0020] The picking drone includes a power supply, a rotor, a visual camera, a control panel, and a driver. The power supply simultaneously supplies power for the flight of the picking drone and the movement of the picking mechanism. The rotors are evenly distributed around the upper side of the fuselage. The visual camera collects target object information in real time and compares it with the model in the image library to determine whether the photographed target is a lotus pod, and establishes a corresponding relationship based on the camera coordinate system and the tool coordinate system, calculates the distance between the three-claw linkage mechanism and the target object, and assists the shearing drone in positioning for shearing. The control panel, as the main control part of the entire device, receives the control signal from the remote control device on the one hand, and receives and processes the image collected by the visual camera on the other hand, and finally outputs the control signal to drive the servo to operate through the driver.

[0021] The picking mechanism includes a frame, a clamping servo, a shearing servo, a transmission connecting rod mechanism, a three-claw connecting rod mechanism, and a rotary shearing mechanism. The frame is installed on the expansion position at the lower part of the UAV, and the clamping servo and the shearing servo are installed thereon, and provides motion support for the transmission connecting rod mechanism, the three-claw connecting rod mechanism, and the rotary shearing mechanism. The clamping servo converts the rotary motion into the linear motion of the claw bracket through the transmission connecting rod mechanism, and the three-claw connecting rod mechanism converts the linear motion of the claw bracket into a clamping action. The shearing servo drives the three-claw connecting rod mechanism to rotate through gear reduction, thereby completing the shearing.

[0022] The transmission connecting rod mechanism includes a clamping servo, a push-pull crank, a connecting rod, a push-pull arm, and a claw bracket. The push-pull crank is connected to the clamping servo through a steering wheel. One end of the connecting rod is hinged to the push-pull crank, and the other end is hinged to the push-pull arm. When the claw bracket is in the highest position, the transmission connecting rod mechanism is in a dead point position, and the clamping servo brake locks the three-claw connecting rod mechanism to clamp the lotus head. The control system sets the software limit by controlling the rotation angle of the servo. The frustum at the lower end of the claw bracket cooperates with the concave hole at the lower end of the frame to perform mechanical limit to avoid excessive clamping and damage to the lotus head.

[0023] The three-claw linkage mechanism includes a claw seat and three groups of short links, a long link, a triangular link, a tool holder link, and a tool head. The claw seat is interference fit at the lower end of the frame through a slewing support. The upper end of the long link is hinged to the outside of any one of the three claws of the claw seat, and the lower end is hinged to the outside of the tool holder link. The upper end of the triangular link is hinged to the corresponding claw at the lower end of the claw bracket, and the lower end is hinged to the inner side of the tool holder link. One end of the short link is hinged to the inner side of the corresponding claw of the claw seat, and the other end is hinged to the middle of the triangular link. The lower end of the tool holder link is provided with a tool tip mounting hole for mounting the tool tip. The remaining two groups of claws are consistent with the above assembly relationship.

[0024] The cutter head is an isosceles cutter head. When the cutter head is worn or broken, the cutter head can be removed and replaced with a new one. The tip of the cutter head is an isosceles triangle, wherein the tip angle is 120° and the blade angle is 15°. During the clamping process, the three cutter tips close into a complete circle to cut the lotus stem.

[0025] During the working process of the picking mechanism, in the first step, the remote control device remotely controls the picking drone to reach the designated working area and move it above the lotus head, and swings the push-pull crank clockwise to make it in the lowest position, at which time the claw bracket is in the lowest position and the three-claw connecting rod mechanism is in an open state; in the second step, the visual camera monitors the distance from the clamping claw to the lotus head in real time and assists the drone to fine-tune the position to a suitable clamping position; in the third step, the clamping motor drives the push-pull crank to swing 120° counterclockwise, and the claw bracket moves upward to the highest position driven by the transmission connecting rod mechanism. position, the transmission connecting rod mechanism reaches the dead point position, the clamping claw clamps, clamps the lotus pod and cuts the stem; the fourth step, the UAV rotates 360 degrees in situ to ensure that the lotus pod stem is disconnected; the fifth step, the harvesting UAV moves up 0.4-0.6m to ensure that the lotus root silk is disconnected and then flies to the temporary hopper; the sixth step, the clamping motor drives the push-pull crank to swing 120 degrees clockwise, and the claw bracket moves downward to the lowest position driven by the transmission connecting rod mechanism, the transmission connecting rod mechanism leaves the dead point position, the clamping claw releases, and the lotus pod is thrown into the temporary hopper; completing a working cycle.

Claims

1. A remote-controlled lotus pod picking machine, characterized in that: It adopts replaceable blades and anti-loosening structure. By setting the dead point at the time of clamping, the motor brake is used to prevent the transmission connecting rod mechanism and the three-claw connecting rod mechanism from loosening, and the lotus pod is clamped. The clamping and cutting integrated design is adopted. The blade penetrates the lotus pod stem while clamping, and the cutting is completed through the subsequent rotation action.

2. The remote control lotus pod picking machine according to claim 1, characterized in that: The machine adopts a lightweight design and does not have a storage bin. It adopts a crank connecting rod mechanism, and the three-claw connecting rod mechanism completes the clamping action through the joint action of 5 connecting rods.

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