Sugar palm juice collecting system based on unmanned aerial vehicle

Abstract

The invention discloses a sugar palm tree sugar juice collecting system based on an unmanned aerial vehicle, the system comprises a sugar juice collecting platform and the unmanned aerial vehicle which are built below a sugar palm tree inflorescence layer, and the sugar juice collecting platform is provided with a limiting sleeve for limiting each inflorescence to be collected in the inflorescence layer; a parking point corresponding to a sleeve opening of the limiting sleeve is arranged on the sugar juice collecting platform, the parking point is used for placing a liquid storage bottle for collecting flower juice, and the unmanned aerial vehicle is used for transporting the liquid storage bottle between the parking point and the ground. The system further comprises a shielding cleaning module, a platform construction module, an inflorescence limiting module, an inflorescence cutting module, a first transportation module and a second transportation module. All the modules are matched with one another, so that the unmanned aerial vehicle is controlled to collect sugar juice of sugar palms. The sugar palm tree sugar juice collecting device can collect sugar palm tree sugar juice more efficiently and safely.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural production, and in particular to a sugar palm tree sap collection system based on an unmanned aerial vehicle. Background Art

[0002] The sugar palm tree is an evergreen tree of the palm family, tall and straight, and its female flowers can bear fruit. As for sugar-producing plants, the most familiar ones are sugarcane in the south and sugar beet in the north. In fact, the sugar palm of the palm family is also a "sweet hand" in producing sugar. The sugar juice of the sugar palm tree mainly comes from the male inflorescence of the sugar palm tree. Sugar collectors will climb up the sugar palm tree, hang a bamboo tube or a small bucket at the tip of the inflorescence, and then use a knife to cut the inflorescence. The sugar juice in the inflorescence will flow out along the knife edge and drip into the bamboo tube or small bucket.

[0003] However, the sugar palm tree is very tall, and the sugar pickers need to climb up the sugar palm tree to collect the sugar juice. This method of collecting sugar juice is not only a waste of manpower and inefficient, but also has certain risks. Therefore, how to make the sugar palm tree sugar juice collection safer and more efficient has become an urgent problem to be solved. Summary of the invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a sugar palm sap collection system based on drones, aiming to collect the sugar palm sap more efficiently and safely.

[0005] To achieve the above-mentioned purpose, the present invention discloses a sugar palm tree sap collection system based on a drone, the system comprising: a sap collection platform and a drone built below the inflorescence layer of the sugar palm tree, the sap collection platform is provided with a limiting sleeve for limiting each inflorescence to be collected in the inflorescence layer, the sap collection platform is provided with a parking point corresponding to the sleeve opening of the limiting sleeve, the parking point is used to place a liquid storage bottle for collecting flower sap, and the drone is used to transport the liquid storage bottle between the parking point and the ground; the system also comprises: a shielding and cleaning module, a platform construction module, an inflorescence limiting module, an inflorescence cutting module, a first transportation module and a second transportation module;

[0006] The obstruction cleaning module is used to regularly clean and prune the branches of the sugar palm tree between the inflorescence layer and the sugar juice collection platform to reduce the obstruction between the inflorescence layer and the sugar juice collection platform;

[0007] The platform construction module is used to build the juice collection platform below the inflorescence layer; wherein a growth gap is left between the limiting sleeve of the juice collection platform and the corresponding inflorescence to be collected;

[0008] The inflorescence limiting module is used to place the inflorescence to be collected into the sleeve opening of the limiting sleeve; wherein a growth gap is left between the limiting sleeve and the corresponding inflorescence to be collected for limiting;

[0009] The inflorescence cutting module is used to regularly cut the inflorescences to be collected so that the inflorescences to be collected can flow out sugar juice;

[0010] The first transport module is used to control the drone to transport the liquid storage bottle to the corresponding parking point after the inflorescence to be collected is cut to collect the sugar juice flowing out of the inflorescence to be collected;

[0011] The second transport module is used to control the drone to transport the liquid storage bottle back to the ground after the liquid storage bottle completes collecting the sugar juice.

[0012] Optionally, the inflorescence cutting module comprises: a first cutting rod and a first camera, wherein the first camera is arranged at the cutting end of the first cutting rod;

[0013] The first cutting rod is used to cut the inflorescence to be collected so that the inflorescence to be collected flows out sugar juice;

[0014] The first camera is used to monitor the cutting process of the inflorescence to be collected, and guide the first cutting rod to cut so that the incision depth and direction meet the requirements.

[0015] Optionally, a first track is set on both sides of the bottle mouth of the liquid storage bottle, and a second track corresponding to the first track is set under the drone; when the drone transports the liquid storage bottle, the drone first transports the second track to the bottom of the first track for alignment, and then rises to allow the first track to be mounted on the second track.

[0016] Optionally, the first transport module is specifically used to:

[0017] After the inflorescence to be collected is cut, the drone is controlled to collect a first image of the sugar palm tree in real time during the flight; a first flight path is planned according to the first image; and the drone is controlled to transport the liquid storage bottle to the corresponding parking point along the first flight path to collect the sugar juice flowing out of the inflorescence to be collected.

[0018] Optionally, the second transport module is specifically used for

[0019] After the liquid storage bottle completes collecting the sugar juice, the drone is controlled to collect a second image of the ground in real time during the flight; a second flight path is planned according to the second image; and the drone is controlled to transport the liquid storage bottle back to the ground along the second flight path.

[0020] Optionally, the second transport module controls the drone to transport the liquid storage bottle according to a preset duration.

[0021] Optionally, a weighing sensor and a wireless communicator are provided at the bottom of the liquid storage bottle;

[0022] The weighing sensor is used to measure the weight of the liquid storage bottle during the sugar juice collection process;

[0023] The wireless communication module is used for sending a transportation request to the second transportation module in response to the liquid storage bottle reaching a preset weight, so that the liquid storage bottle is transported back to the ground.

[0024] Optionally, a funnel is arranged between the limiting sleeve and the liquid storage bottle, the top of the funnel faces the limiting sleeve, and the bottom of the funnel faces the opening of the liquid storage bottle, and the funnel is used to expand the range of sugar juice collection.

[0025] Optionally, the liquid storage bottle is a rectangular box-shaped structure, and a clamping mechanism is provided under the drone, and the clamping mechanism is used to clamp the liquid storage bottle to transport the liquid storage bottle.

[0026] Beneficial effects of the present invention: 1. The present invention realizes the automatic collection of sugar palm tree sugar juice by building a sugar juice collection platform below the inflorescence layer of the sugar palm tree, setting a parking point for placing a liquid storage bottle for collecting flower juice on the sugar juice collection platform and a drone for transporting the liquid storage bottle between the parking point and the ground, saving manpower and effectively improving the collection efficiency; at the same time, during the sugar juice collection process, there is no need for sugar collectors to climb up the tall sugar palm tree, reducing the potential safety hazard of falling. 2. The sugar juice collection platform of the present invention is provided with a limiting sleeve for limiting each inflorescence to be collected in the inflorescence layer. The present invention can effectively ensure the outflow direction of the sugar juice of the inflorescence to be collected by setting the limiting sleeve, avoid the sugar juice from not being able to smoothly enter the liquid storage bottle, reduce the loss caused by the inability of part of the sugar juice to flow into the liquid storage bottle, and improve the sugar juice collection efficiency. 3. A first track is set on both sides of the bottle mouth of the liquid storage bottle, and a second track corresponding to the first track is set below the drone; when the drone transports the liquid storage bottle, the drone first transports the second track to the bottom of the first track for alignment, and then rises to make the first track framed on the second track. The present invention can transport the liquid storage bottle safely and stably through such a mechanism, thereby preventing the sugar juice from spilling during the transportation process.

[0027] In summary, the present invention can collect the sugar palm tree sap more efficiently and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a sugar palm tree sap collection system based on an unmanned aerial vehicle provided by a specific embodiment of the present invention;

[0029] Figure 2 It is a structural schematic diagram of various modules of a sugar palm tree sap collection system based on a drone provided by a specific embodiment of the present invention. DETAILED DESCRIPTION

[0030] The present invention discloses a sugar palm tree sap collection system based on drones. Those skilled in the art can refer to the content of this article and appropriately improve the technical details to achieve it. It should be particularly noted that all similar substitutions and modifications are obvious to those skilled in the art, and they are all considered to be included in the present invention. The method and application of the present invention have been described through preferred embodiments, and relevant personnel can obviously modify or appropriately change and combine the methods and applications described herein without departing from the content, spirit and scope of the present invention to implement and apply the technology of the present invention.

[0031] The applicant has found through research that the sugar palm tree is very tall, and the sugar pickers need to climb up the sugar palm tree to collect the sugar juice. This collection method is not only a waste of manpower and inefficient, but also has certain risks. Therefore, how to make the sugar palm tree sugar juice collection safer and more efficient has become an urgent problem to be solved.

[0032] Therefore, the embodiment of the present invention provides a sugar palm tree sap collection system based on the drone 102, such as Figure 1 and Figure 2 As shown, the system includes: a sugar juice collection platform 101 and a drone 102 built below the inflorescence layer of the sugar palm tree, the sugar juice collection platform 101 is provided with a limiting sleeve 103 for limiting each inflorescence 106 to be collected in the inflorescence layer, the sugar juice collection platform 101 is provided with a parking point 104 corresponding to the sleeve opening of the limiting sleeve 103, the parking point 104 is used to place a liquid storage bottle 105 for collecting flower juice, and the drone 102 is used to transport the liquid storage bottle 105 between the parking point 104 and the ground.

[0033] The system further includes: an obstruction cleaning module 201, a platform construction module 202, an inflorescence limiting module 203, an inflorescence cutting module 204, a first transport module 205 and a second transport module 206;

[0034] The shielding and clearing module 201 is used to regularly clean and prune the branches of the sugar palm tree between the inflorescence layer and the sugar juice collecting platform 101 to reduce the shielding between the inflorescence layer and the sugar juice collecting platform 101 .

[0035] The platform construction module 202 is used to construct the juice collection platform 101 below the inflorescence layer; wherein a growth gap is left between the limiting sleeve 103 of the juice collection platform 101 and the corresponding inflorescence 106 to be collected.

[0036] The inflorescence limiting module 203 is used to place the inflorescence 106 to be collected into the sleeve opening of the limiting sleeve 103; wherein a growth gap is left between the limiting sleeve 103 and the corresponding inflorescence 106 to be collected for limiting.

[0037] The inflorescence cutting module 204 is used to regularly cut the inflorescences 106 to be collected so that the inflorescences 106 to be collected can flow out sugar juice.

[0038] The first transport module 205 is used to control the drone 102 to transport the liquid storage bottle 105 to the corresponding parking point 104 after the inflorescence 106 to be collected is cut, so as to collect the sugar juice flowing out of the inflorescence 106 to be collected.

[0039] The second transport module 206 is used to control the drone 102 to transport the liquid storage bottle 105 back to the ground after the liquid storage bottle 105 has completed collecting the sugar juice.

[0040] It should be noted that the embodiments of the present invention make the sugar juice collection platform 101 and the drone 102 more efficient and safe through the arrangement of the sugar juice collection platform 101 and the drone 102. It effectively avoids the safety accidents that sugar pickers may fall and get injured due to the need to climb trees. It should be noted that the inflorescence layer is the layer where most inflorescences are located, and there are very few or no inflorescences below the horizontal plane of this layer.

[0041] In this specific embodiment, the inflorescence cutting module 204 includes: a first cutting rod and a first camera, the first camera being disposed at the cutting end of the first cutting rod;

[0042] A first cutting rod is used to cut the inflorescence 106 to be collected so that the inflorescence 106 to be collected can flow out sugar juice;

[0043] The first camera is used to monitor the cutting process of the inflorescence 106 to be collected, and guide the first cutting rod to cut so that the incision depth and direction meet the requirements.

[0044] It should be noted that the first cutting rod includes a long rod and a cutting head, and the cutting head is sent to the vicinity of the inflorescence 106 to be collected by the long rod, and then the cutting direction and cutting depth of the cutting head are determined by the first camera. Such a structure can effectively ensure that the sugar juice flowing out of the incision of the inflorescence 106 to be collected can accurately flow to the top of the parking point 104, so that the sugar juice can accurately flow into the liquid storage bottle 105 later.

[0045] In this specific embodiment, a first track is set on both sides of the bottle mouth of the liquid storage bottle 105, and a second track corresponding to the first track is set under the drone 102; when the drone 102 transports the liquid storage bottle 105, the drone 102 first transports the second track to the bottom of the first track for alignment, and then rises to allow the first track to be mounted on the second track.

[0046] It should be noted that such a structure can make the liquid storage bottle 105 more stable during transportation and prevent the sugar juice from spilling.

[0047] In another specific embodiment, the liquid storage bottle 105 is a rectangular box-shaped structure, and a clamping mechanism is provided under the drone 102 , and the clamping mechanism is used to clamp the liquid storage bottle 105 to transport the liquid storage bottle 105 .

[0048] It should be noted that, similar to the prior art package drone transportation, the liquid storage bottle 105 can move with the drone 102 by clamping.

[0049] In this specific embodiment, the first transport module 205 is specifically used for:

[0050] After the inflorescence 106 to be collected is cut, the drone 102 is controlled to collect a first image of the sugar palm tree in real time during the flight; a first flight path is planned according to the first image; and the drone 102 is controlled to transport the liquid storage bottle 105 to the corresponding parking point 104 according to the first flight path to collect the sugar juice flowing out of the inflorescence 106 to be collected.

[0051] In this specific embodiment, the second transport module 206 is specifically used for:

[0052] After the liquid storage bottle 105 completes collecting the sugar juice, the drone 102 is controlled to collect a second image of the ground in real time during the flight; a second flight path is planned based on the second image; and the drone 102 is controlled to transport the liquid storage bottle 105 back to the ground along the second flight path.

[0053] It should be noted that both of these two embodiments plan the flight path through image recognition, which can achieve fully automatic control of the drone 102. Compared with manual control, on the one hand, automated control can plan the best path and achieve energy saving; on the other hand, automated control is more precise, and it is less likely to make mistakes in subtle operations such as parking and lifting the liquid storage bottle 105.

[0054] In this specific embodiment, the second transport module 206 controls the drone 102 to transport the liquid storage bottle 105 according to a preset duration.

[0055] It should be noted that the preset time can be set according to the size of the liquid storage bottle 105. It usually takes 8-12 hours for a liquid storage bottle 105 of a normal size to be filled with sugar juice, so the preset time can also refer to this.

[0056] In this specific embodiment, a weighing sensor and a wireless communicator are provided at the bottom of the liquid storage bottle 105;

[0057] A weighing sensor for measuring the weight of the liquid storage bottle 105 during the sugar juice collection process;

[0058] The wireless communication module is used to send a transportation request to the second transportation module 206 in response to the liquid storage bottle 105 reaching a preset weight, so that the liquid storage bottle 105 is transported back to the ground.

[0059] It should be noted that the setting of the weighing sensor and the wireless communicator can ensure that the liquid storage bottle 105 can be immediately transported back to the ground once it is full. On the one hand, it can increase the efficiency of nectar collection, and on the other hand, it can ensure that the liquid storage bottle 105 is transported after being full, thereby increasing transportation efficiency.

[0060] In this specific embodiment, the limiting sleeve 103 includes a limiting rod and a sleeve opening, and the limiting rod is used through an avoidance structure to enable the drone 102 to move between the sleeve opening and the parking point 104.

[0061] It should be noted that the avoidance structure leaves space for the drone 102 to avoid collision.

[0062] In this specific embodiment, a funnel is arranged between the limiting sleeve 103 and the liquid storage bottle 105, the top of the funnel faces the limiting sleeve 103, and the bottom of the funnel faces the opening of the liquid storage bottle 105, and the funnel is used to expand the range of sugar juice collection.

[0063] It should be noted that the funnel setting can prevent part of the sugar juice from spilling outside the liquid storage bottle 105, thereby improving the collection efficiency.

[0064] The embodiment of the present invention realizes the automatic collection of sugar palm tree sugar juice by constructing a sugar palm tree sugar juice collection platform 101 below the inflorescence layer of the sugar palm tree, providing a parking point 104 for placing a liquid storage bottle 105 for collecting flower juice on the sugar palm tree and a drone 102 for transporting the liquid storage bottle 105 between the parking point 104 and the ground, thereby saving manpower and effectively improving the collection efficiency; at the same time, during the sugar palm tree sugar juice collection process, there is no need for sugar collectors to climb up the tall sugar palm tree, reducing the safety hazard of falling.

[0065] The juice collection platform 101 of the embodiment of the present invention is provided with a limiting sleeve 103 for limiting the position of each inflorescence 106 to be collected in the inflorescence layer. The embodiment of the present invention can effectively ensure the outflow direction of the juice of the inflorescence 106 to be collected by providing the limiting sleeve 103, avoid the juice from failing to enter the liquid storage bottle 105 smoothly, reduce the loss caused by the failure of some juice to flow into the liquid storage bottle 105, and improve the efficiency of juice collection.

[0066] First tracks are arranged on both sides of the bottle mouth of the liquid storage bottle 105, and second tracks corresponding to the first tracks are arranged under the drone 102; when the drone 102 transports the liquid storage bottle 105, the drone 102 first transports the second tracks to the bottom of the first tracks for alignment, and then rises to allow the first tracks to be mounted on the second tracks. The embodiment of the present invention can transport the liquid storage bottle 105 safely and stably through such a mechanism, and avoid spilling of sugar juice during transportation.

[0067] In summary, the embodiments of the present invention can collect the sugar palm sap more efficiently and safely.

[0068] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0069] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0070] The above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A sugar palm tree sap collection system based on drones, characterized in that: The system comprises: a sugar juice collection platform and a drone built below the inflorescence layer of the sugar palm tree, wherein the sugar juice collection platform is provided with a limiting sleeve for limiting the position of each inflorescence to be collected in the inflorescence layer, and the sugar juice collection platform is provided with a parking point corresponding to the sleeve opening of the limiting sleeve, wherein the parking point is used to place a liquid storage bottle for collecting flower juice, and the drone is used to transport the liquid storage bottle between the parking point and the ground; the system further comprises: a shielding and cleaning module, a platform construction module, an inflorescence limiting module, an inflorescence cutting module, a first transportation module and a second transportation module; The obstruction cleaning module is used to regularly clean and prune the branches of the sugar palm tree between the inflorescence layer and the sugar juice collection platform to reduce the obstruction between the inflorescence layer and the sugar juice collection platform; The platform construction module is used to build the juice collection platform below the inflorescence layer; wherein a growth gap is left between the limiting sleeve of the juice collection platform and the corresponding inflorescence to be collected; The inflorescence limiting module is used to place the inflorescence to be collected into the sleeve opening of the limiting sleeve; wherein a growth gap is left between the limiting sleeve and the corresponding inflorescence to be collected for limiting; The inflorescence cutting module is used to regularly cut the inflorescences to be collected so that the inflorescences to be collected can flow out sugar juice; The first transport module is used to control the drone to transport the liquid storage bottle to the corresponding parking point after the inflorescence to be collected is cut to collect the sugar juice flowing out of the inflorescence to be collected; The second transport module is used to control the drone to transport the liquid storage bottle back to the ground after the liquid storage bottle completes collecting the sugar juice.

2. The sugar palm sap collection system based on drone according to claim 1, characterized in that: The inflorescence cutting module comprises: a first cutting rod and a first camera, wherein the first camera is arranged at the cutting end of the first cutting rod; The first cutting rod is used to cut the inflorescence to be collected so that the inflorescence to be collected flows out sugar juice; The first camera is used to monitor the cutting process of the inflorescence to be collected, and guide the first cutting rod to cut so that the incision depth and direction meet the requirements.

3. The sugar palm tree sap collection system based on drone according to claim 1, characterized in that: A first track is arranged on both sides of the bottle mouth of the liquid storage bottle, and a second track corresponding to the first track is arranged under the drone; when the drone transports the liquid storage bottle, the drone first transports the second track to the bottom of the first track for alignment, and then rises to allow the first track to be mounted on the second track.

4. The sugar palm sap collection system based on drone according to claim 1, characterized in that: The first transport module is specifically used for: After the inflorescence to be collected is cut, the drone is controlled to collect a first image of the sugar palm tree in real time during the flight; a first flight path is planned according to the first image; and the drone is controlled to transport the liquid storage bottle to the corresponding parking point along the first flight path to collect the sugar juice flowing out of the inflorescence to be collected.

5. The sugar palm sap collection system based on drone according to claim 1, characterized in that: The second transport module is specifically used for After the liquid storage bottle completes collecting the sugar juice, the drone is controlled to collect a second image of the ground in real time during the flight; a second flight path is planned according to the second image; and the drone is controlled to transport the liquid storage bottle back to the ground along the second flight path.

6. The sugar palm sap collection system based on drone according to claim 1, characterized in that: The second transport module controls the drone to transport the liquid storage bottle according to a preset time.

7. The UAV-based sugar palm sap collection system according to claim 1, characterized in that: A weighing sensor and a wireless communicator are arranged at the bottom of the liquid storage bottle; The weighing sensor is used to measure the weight of the liquid storage bottle during the sugar juice collection process; The wireless communication module is used for sending a transportation request to the second transportation module in response to the liquid storage bottle reaching a preset weight, so that the liquid storage bottle is transported back to the ground.

8. The UAV-based sugar palm sap collection system according to claim 1, characterized in that: A funnel is arranged between the limiting sleeve and the liquid storage bottle, the top of the funnel faces the limiting sleeve, and the bottom of the funnel faces the opening of the liquid storage bottle. The funnel is used to expand the range of sugar juice collection.

9. The sugar palm sap collection system based on drone according to claim 1, characterized in that: The liquid storage bottle is a rectangular box-shaped structure, and a clamping mechanism is arranged under the drone, and the clamping mechanism is used to clamp the liquid storage bottle to transport the liquid storage bottle.

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