Vibration reduction balancing device based on picking unmanned aerial vehicle

Abstract

The invention discloses a vibration reduction balancing device based on a picking unmanned aerial vehicle. The vibration reduction balancing device comprises the unmanned aerial vehicle, an undercarriage, a picking mechanism, a balancing mechanism, an active vibration reduction mechanism and a passive vibration reduction mechanism. The passive vibration reduction mechanism comprises a balance vibration reduction supporting plate and a passive vibration reduction assembly which are arranged on the undercarriage. The picking mechanism comprises a picking rod, a shearing and clamping mechanism and a shearing and clamping driving mechanism; the active vibration reduction mechanism comprises a vibration reduction controller, a first vibration damper, a second vibration damper and an attitude sensor; the balance mechanism comprises a guide frame arranged on the balance vibration reduction supporting plate, a balancing weight arranged on the guide frame in a sliding mode and a balance driving mechanism arranged on the balance vibration reduction supporting plate. When the device is used for picking, the situation that the unmanned aerial vehicle cannot keep balance due to center-of-gravity shift of the unmanned aerial vehicle can be prevented, meanwhile, vibration generated by the unmanned aerial vehicle can be reduced, shaking in the picking process is reduced, and the harvesting stability is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural harvesting, and in particular to a vibration reduction and balancing device based on a harvesting drone. Background Art

[0002] At present, the picking technology of lychees and longans is manual picking, which leads to high labor costs and low economic benefits. Lychees and longans are usually planted on mountainous land. Due to the planting terrain and the height of the fruit trees, manual picking is further inconvenient, resulting in some fruits being unable to be picked and rotting, affecting economic benefits.

[0003] Therefore, in order to solve the above problems, drones are used to replace manual picking, which saves labor, and drones have certain advantages in picking fruits such as lychees and longans. Drones can adapt to mountainous terrain, can perform high-altitude operations, and have relatively low cost. However, due to the heavy weight of fruit bunches such as lychees and longans, the extended picking arm plus the weight of the fruit will cause the center of gravity of the drone to shift, making it impossible for the drone to maintain balance, and the vibration generated by the drone's fuselage will also increase the drone's picking arm, which will cause certain damage to the stability of the drone. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned problems and provide a vibration-damping and balancing device based on a harvesting drone. During harvesting, the device can prevent the drone's center of gravity from shifting, causing the drone to be unable to maintain balance. At the same time, it can reduce the vibration generated by the drone, thereby reducing the shaking during the picking process and ensuring the stability of the harvest.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A vibration reduction and balancing device based on a harvesting drone comprises a drone, a landing gear arranged at the lower end of the drone, a harvesting mechanism for harvesting fruits, a balancing mechanism for maintaining the balance of the drone, an active vibration reduction mechanism for actively reducing vibration of the harvesting mechanism, and a passive vibration reduction mechanism for passively reducing vibration of the harvesting mechanism and the balancing mechanism; wherein:

[0007] The passive vibration reduction mechanism comprises a balance vibration reduction support plate arranged on the landing gear and a passive vibration reduction assembly arranged between the balance vibration reduction support plate and the landing gear;

[0008] The picking mechanism comprises a picking rod arranged on the balanced vibration-damping support plate, a shearing and clamping mechanism arranged at the end of the picking rod for cutting and clamping the fruit stem, and a shearing and clamping driving mechanism arranged on the balanced vibration-damping support plate for driving the shearing and clamping mechanism to perform shearing and clamping movements;

[0009] The active vibration reduction mechanism includes a vibration reduction controller arranged on the UAV, a first vibration reduction device connected between the vibration reduction controller and the picking rod, a second vibration reduction device arranged at the end of the picking rod, and a posture sensor; the posture sensor is connected to the vibration reduction controller;

[0010] The balancing mechanism comprises a guide frame arranged on a balancing vibration-damping support plate, a counterweight block slidably arranged on the guide frame, and a balancing driving mechanism arranged on the balancing vibration-damping support plate for driving the counterweight block to move.

[0011] The working principle of the above-mentioned vibration reduction and balancing device based on the harvesting drone is:

[0012] After the drone takes off, the vibration generated by the drone is transmitted to the balanced vibration reduction support plate after being damped by the passive vibration reduction component, thereby achieving vibration reduction of the picking mechanism and the balancing mechanism. The vibration of the balanced vibration reduction support plate will drive the picking rod to vibrate, and the first vibration absorber and the second vibration absorber will suppress the front end vibration of the picking rod again; in the process of picking fruits, the shearing and clamping mechanism will put pressure on the picking rod at the moment of shearing and clamping the fruit and releasing the fruit (fruit stalk), and the picking rod will be deformed. At this time, the first vibration absorber can play a good damping role of damping adjustment when it feels the sudden change of force, and reduce the vibration of the picking rod to achieve the purpose of stable harvesting; in the process of picking fruits, at the moment of shearing and clamping the fruit, the shearing and clamping mechanism will be deformed downward first due to the gravity of the fruit. At this time, the counterweight block is driven by the balancing drive mechanism to move in the direction away from the shearing and clamping mechanism, and the center of gravity is adjusted to achieve balance; when the fruit needs to be released, at the moment of releasing the fruit, the counterweight block is driven by the balancing drive mechanism to move in the direction close to the shearing and clamping mechanism, and the center of gravity is adjusted to achieve balance.

[0013] In a preferred embodiment of the present invention, the landing gear includes two mutually symmetrical support rod groups, each support rod group includes a transverse rod and a vertical rod fixed between the transverse rod and the bottom of the drone; the balance vibration reduction support plate is arranged on the vertical rod. By arranging two mutually symmetrical support rod groups, the stability of the drone's take-off and landing can be ensured, and the installation of the balance vibration reduction support plate is also facilitated.

[0014] Preferably, the passive vibration reduction assembly includes a vibration reduction ring arranged between the vertical rod and the balanced vibration reduction support plate and a plurality of vibration reduction components arranged between the balanced vibration reduction support plate and the transverse rod, and each vibration reduction component includes a vibration reduction sleeve sleeved on the transverse rod and a spring vibration reduction support column connected between the balanced vibration reduction support plate and the vibration reduction sleeve. In the above structure, the vibration reduction sleeve is installed on the transverse rod, the vibration reduction ring is installed on the vertical rod, the vibration of the drone fuselage is transmitted through the vibration reduction sleeve and the vibration reduction ring, the spring vibration reduction support column absorbs energy and reduces vibration from multiple positions, the vibration reduction sleeve and the vibration reduction ring use vibration reduction materials to reduce the vibration transmitted to the balanced vibration reduction support plate, thereby achieving vibration reduction of the picking mechanism and the balancing mechanism; after the vibration of the balanced vibration reduction support plate is suppressed by the first vibration absorber, the picking rod is further damped, so that the vibration of the front end of the picking rod is reduced, and the purpose of stable harvesting is achieved. Among them, the vibration damping ring and the vibration damping sleeve need to select corresponding materials according to the actual vibration frequency of the drone for corresponding high, medium and low frequency vibration damping materials. The stiffness of the spring of the spring vibration damping support column needs to be selected according to the vibration frequency of the drone to achieve partial vibration reduction effect.

[0015] Preferably, the passive vibration reduction mechanism also includes a balanced vibration reduction assembly arranged between the guide frame and the balanced vibration reduction support plate, and the balanced vibration reduction assembly includes a balanced support shaft arranged at the lower end of the balanced vibration reduction support plate and parallel to the picking rod, a balanced bracket arranged on the guide frame, and a hydraulic spring damper arranged between the balanced support shaft and the balanced bracket. In the above structure, the vibration of the UAV fuselage is reduced by the passive vibration reduction assembly, so that the vibration transmitted to the balanced vibration reduction support plate is reduced, and the vibration of the balanced vibration reduction support plate will be transmitted to the hydraulic spring damper. After the vibration is reduced by the hydraulic spring damper, the vibration of the counterweight block is reduced, so as to achieve the purpose of stabilizing the posture of the UAV during harvesting; in addition, the balanced vibration reduction assembly can also support the guide frame to ensure the stability of the guide frame installation, and the structural layout is reasonable and very compact.

[0016] Preferably, the balancing drive mechanism includes a balancing drive motor, a balancing gear and a balancing rack arranged on a balancing vibration damping support plate, wherein the counterweight block is connected to the guide frame via a sliding frame, one end of the balancing rack is fixedly connected to the sliding frame, the main shaft of the balancing drive motor is connected to the balancing gear, and the balancing gear and the balancing rack are meshed with each other. The balancing drive motor drives the balancing gear to move, thereby driving the movement of the balancing rack, thereby driving the movement of the sliding frame, and finally realizing the movement of the counterweight block, thereby ensuring the stability of the center of gravity of the drone during picking. Specifically, when the balancing drive motor rotates forward, the balancing rack moves in a direction away from the shear clamping mechanism (backward), so that the counterweight block moves in a direction away from the shear clamping mechanism to complete the counterweight action; when the balancing drive motor rotates reversely, the balancing rack moves in a direction close to the shear clamping mechanism (forward), so that the counterweight block moves in a direction close to the shear clamping mechanism to reset, thereby completing the adjustment of the center of gravity balance.

[0017] Preferably, the shearing and clamping mechanism includes a first shearing knife arranged at the end of the picking rod, a second shearing knife hinged to the first shearing knife, a first clamping member arranged on the first shearing knife, and a second clamping member arranged on the second shearing knife, and the shearing and clamping driving mechanism drives the second shearing knife to move. In the above structure, the second shearing knife of the shearing and clamping driving mechanism rotates around the position hinged to the first shearing knife, so that the first shearing knife and the second shearing knife are brought close to each other, thereby cutting off the fruit stalk; while the first shearing knife and the second shearing knife are brought close to each other, the first clamping member and the second clamping member are also brought close to each other, so that the first clamping member and the second clamping member can clamp the cut fruit stalk, ensuring that the fruit will not fall, and facilitating the drone to transport it to the designated location for collection.

[0018] Preferably, a pressure sensor is provided between the first shearing knife and the picking rod. By providing the pressure sensor, the weight of the picked fruit can be measured, which is convenient for the balancing mechanism to perform balance adjustment.

[0019] Preferably, the shear clamping drive mechanism includes a shear clamping drive motor, a shear clamping gear and a shear clamping rack arranged on a balanced vibration reduction support plate, wherein one end of the shear clamping rack is hinged to the second shearing knife, the main shaft of the shear clamping drive motor is connected to the shear clamping gear, and the shear clamping gear and the shear clamping rack are meshed with each other. The shear clamping drive motor drives the shear clamping gear to move, drives the shear clamping rack to move forward and backward, and then drives the second shearing knife to move, so that the first shearing knife and the second shearing knife complete the shearing and loosening action; specifically, the shear clamping drive motor rotates forward, drives the shear clamping rack to move in a direction away from the shear clamping mechanism (backward), so that the first shearing knife and the second shearing knife complete the shearing of the fruit; the shear clamping drive motor rotates reversely, drives the shear clamping rack to move in a direction close to the shear clamping mechanism (forward), so that the first shearing knife and the second shearing knife complete the loosening of the fruit.

[0020] Furthermore, the second shearing knife is connected to the shearing clamping rack by a pull rod, and the pull rod is located inside the picking rod, so that the pull rod can be smaller and more compact, and is easy to install inside the picking rod.

[0021] Furthermore, a motor box is provided on the balance vibration reduction support plate, and the shear clamping drive motor, shear clamping gear, balance drive motor and balance gear are all arranged in the motor box. By providing the motor box, the shear clamping drive motor, shear clamping gear, balance drive motor and balance gear can be protected, and the shear clamping drive motor and balance drive motor can also be installed and fixed, making the overall structure more compact.

[0022] Preferably, the counterweight is a battery counterweight. The battery counterweight provides electrical energy to the drone, the shear clamping drive mechanism and the balancing drive mechanism. The judgment mechanism of the motor controller controls the movement of the heavier battery counterweight on the drone as a whole, so that the drone can adjust its center of gravity after picking, so that the drone will not have a serious posture tilt, ensuring the safety of the drone during picking without adding extra weight.

[0023] Preferably, the drone includes a drone body, a laser radar arranged on the drone body, a GPS positioning module, a binocular camera, a depth camera and an onboard computer; the laser radar is used for environmental information detection; the GPS positioning module is used for drone body positioning; the binocular camera and the depth camera are used for environmental perception and target fruit (fruit bunch) identification and positioning; the onboard computer is used for processing perceived environmental information.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. In the vibration reduction and balancing device of the present invention, the vibration generated by the drone is transmitted to the balancing vibration reduction support plate after being reduced by the passive vibration reduction component, thereby achieving vibration reduction of the picking mechanism and the balancing mechanism. The vibration of the balancing vibration reduction support plate will drive the vibration of the picking rod, and the first vibration absorber and the second vibration absorber will suppress the front end vibration of the picking rod again; by combining the passive vibration reduction mechanism with the active vibration reduction mechanism box, the vibration of the end of the picking rod is reduced to ensure the stability of picking.

[0026] 2. In the vibration-damping balancing device of the present invention, during the process of picking fruits, the shearing and clamping mechanism will exert pressure on the picking rod at the moment of shearing and clamping the fruit and releasing the fruit (the fruit stalk), causing the picking rod to deform. At this time, the first shock absorber can play a good vibration-damping role of damping adjustment when it senses the sudden change in force, thereby reducing the vibration of the picking rod and achieving the purpose of stable harvesting.

[0027] 3. In the vibration-damping balancing device of the present invention, during the process of picking fruits, at the moment of cutting and clamping the fruits, the shearing and clamping mechanism will be deformed downward first due to the gravity of the fruits. At this time, the counterweight block is driven by the balancing drive mechanism to move in the direction away from the shearing and clamping mechanism to complete the center of gravity adjustment and achieve balance. When the fruits need to be released, at the moment of releasing the fruits, the counterweight block is driven by the balancing drive mechanism to move in the direction close to the shearing and clamping mechanism to complete the center of gravity adjustment and achieve balance, thereby preventing the drone from crashing due to a serious shift in the center of gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of a vibration reduction and balancing device based on a harvesting drone in the present invention.

[0029] Figure 2 It is a structural schematic diagram of the torque balancing principle of the balancing mechanism in the present invention.

[0030] Figure 3 It is a schematic diagram of the three-dimensional structure of the UAV in the present invention.

[0031] Figure 4 This is a schematic diagram of the three-dimensional structure of the vibration reduction and balancing device of the present invention without the UAV and the landing gear.

[0032] Figure 5 for Figure 4 A partial enlarged view of the .

[0033] Figure 6 It is a schematic diagram of the three-dimensional structure of the passive vibration reduction mechanism in the present invention.

[0034] Figure 7 It is a schematic diagram of the three-dimensional structure of the picking mechanism and the balancing mechanism in the present invention.

[0035] Figure 8It is a schematic diagram of the three-dimensional structure of part of the picking mechanism and the balancing mechanism in the present invention.

[0036] Fig. 9 It is a schematic diagram of the three-dimensional structure of part of the picking mechanism in the present invention.

[0037] Fig.10 It is a schematic diagram of the three-dimensional structure of the balancing mechanism in the present invention.

[0038] Fig.11 It is a schematic structural diagram of the second shock absorber in the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0040] See also Figure 1-Figure 2 The present embodiment discloses a vibration reduction and balancing device based on a harvesting drone, comprising a drone 1, a landing gear 7 arranged at the lower end of the drone 1, a harvesting mechanism 2 for harvesting fruits 9, a balancing mechanism 4 for maintaining the balance of the drone 1, an active vibration reduction mechanism 6 for actively reducing vibration of the harvesting mechanism 2, and a passive vibration reduction mechanism 3 for passively reducing vibration of the harvesting mechanism 2 and the balancing mechanism 4.

[0041] See also Figure 1-Figure 3 The drone 1 includes a drone body 101, a laser radar 102 arranged on the drone body 101, a GPS positioning module 103, a binocular camera 104, a depth camera 105 and an onboard computer 106; the laser radar 102 is used for environmental information detection and is located in the middle of the top of the drone body 101; the GPS positioning module 103 is used for positioning the drone body 101 and is located at the rear of the top of the drone body 101; the binocular camera 104 and the depth camera 105 are used for environmental perception and target fruit 9 (fruit bunch) identification and positioning and are located at the front end of the drone body 101; the onboard computer 106 is used for processing the perceived environmental information and is located at the lower end of the drone body 101; the rotor motor 107 of the drone body 101 is used to drive the propeller to rotate and provide power for the drone 1. The GPS positioning module 103 is GPS, the binocular camera 104 is T265, and the depth camera 105 is D435i.

[0042] See also Figure 1 , Figure 4 and Figure 6 The passive vibration reduction mechanism 3 includes a balanced vibration reduction support plate 301 arranged on the landing gear 7 and a passive vibration reduction component arranged between the balanced vibration reduction support plate 301 and the landing gear 7.

[0043] See also Figure 1 , Figure 4-Figure 9 The picking mechanism 2 includes a picking rod 201 disposed on the balanced vibration-damping support plate 301, a shearing and clamping mechanism disposed at the end of the picking rod 201 for cutting and clamping the fruit stem, and a shearing and clamping driving mechanism disposed on the balanced vibration-damping support plate 301 for driving the shearing and clamping mechanism to perform shearing and clamping movements. In this embodiment, the horizontal direction in which the drone 1 approaches the shearing and clamping mechanism is the front, and the horizontal direction in which the drone 1 moves away from the shearing and clamping mechanism is the rear; the balancing mechanism 4 is disposed at the rear end of the balanced vibration-damping support plate 301, and the picking rod 201 is disposed at the front end of the balanced vibration-damping support plate 301.

[0044] See also Figure 1 , Figure 4-Figure 9 The fixed end of the picking rod 201 is fixedly connected to the balance vibration reduction support plate 301 to ensure the stable installation of the picking rod 201.

[0045] See also Figure 1-Figure 7 and Fig.11 The active vibration reduction mechanism 6 includes a vibration reduction controller 601 arranged on the drone 1, a first vibration reduction device 602 connected between the vibration reduction controller 601 and the picking rod 201, a second vibration reduction device 603 arranged at the end of the picking rod 201, and a posture sensor 604; the posture sensor 604 is connected to the vibration reduction controller 601; the vibration reduction controller 601 is located below the depth camera 105, the second vibration reduction device 603 is fixed to the end of the picking rod 201 by bolts, and the posture sensor 604 is fixed to the inner wall of the end of the picking rod 201 by a gasket. The second vibration reduction device 603 is a triangular truss-like structure, and the installation position of the active vibration reduction mechanism 6 has little effect on the axial symmetry of the entire vibration reduction balancing device, and the control stability is good.

[0046] See also Figure 1-Figure 7 and Fig.11The principle of active vibration reduction by the active vibration reduction mechanism 6 is as follows: the connection between the first vibration absorber 602 and the picking rod 201 is below the rotor of the UAV 1, and the wind load generated by the rotor of the UAV 1 is dissipated by adjusting the damping of the first vibration absorber 602. The second vibration absorber 603 is located at the end of the picking rod 201, which is the position where the amplitude of the picking rod 201 is the largest. Installing the second vibration absorber 603 at this position and adjusting the damping can achieve a better amplitude suppression effect. When the end of the picking rod 201 vibrates, the attitude sensor 604 detects vibration information, such as vibration speed, vibration angle, vibration displacement, and vibration frequency, and transmits it to the vibration reduction controller 601. Then the vibration reduction controller 601 processes the data and determines whether the vibration of the end of the picking rod 201 is normal flight according to the attitude data of the flight control, such as the attitude change caused by pitch, yaw and roll or the attitude change caused by the end of the picking rod 201 relative to the drone 1. Then a control signal is generated to control the input current of the first shock absorber 602 and the second shock absorber 603 to change its damping, so as to achieve the partial vibration control effect of the end of the picking rod 201. Among them, the first shock absorber 602 is a magnetorheological damper. Adjusting the magnitude of the current can change its magnetic field strength and thus change the yield strength of the magnetorheological fluid, so as to achieve real-time continuously variable damping force, and has the characteristics of fast response speed, low energy consumption, and wide controllable damping force range. The second shock absorber 603 is a magnetorheological resonant mass damper, including a middle round block, three dampers and three springs. The three dampers are distributed in a circle, one end of which is connected to the middle round block and the other end is connected to the picking rod 201. The spring is sleeved on the damper. The middle round block is a mass block. The vibration reduction of the end of the picking rod 201 can be achieved by determining the mass ratio, natural frequency ratio and damping ratio parameters of the damper and the picking mechanism 2. In a stable flight state, the natural frequency of the picking rod 201 moves to avoid the resonance area through the pre-adjusted damping value of the first shock absorber 602 and the mass ratio, natural frequency ratio and damping ratio parameters of the second shock absorber 603 and the picking mechanism 2, which has a better amplitude suppression effect and can achieve vibration control of the end of the picking rod 201.

[0047] At the same time, the dynamic model of the picking rod 201-active vibration reduction mechanism 6 is constructed:

[0048]

[0049] Among them, {x}, {x ·}, {x ··} are displacement vector, velocity vector and acceleration vector respectively; [M], [C], [K] are mass matrix, damping matrix and stiffness matrix of picking rod-active vibration reduction mechanism system respectively;

[0050] {F_wind(t)} is the rotor wind load vector; To balance the vibration acceleration of the vibration-damping support plate 301;

[0051] {F_TMD} is the force generated by the first shock absorber 602 and the second shock absorber 603. According to the structural design principle and the main parameters of the picking rod 201, the variable damping range of the first shock absorber 602 can be determined, and multiple nonlinear fittings are used to obtain the relationship between damping and the vibration amplitude and vibration frequency of the shear clamping mechanism. When the drone 1 encounters strong winds, the attitude of the drone 1 changes significantly, and the shear clamping mechanism suddenly clamps the fruit 9, resulting in an increase in the weight at the end of the shear clamping mechanism, the attitude sensor 604 detects vibration information and the vibration reduction controller 601 decides to output a control signal to control the current to adjust the damping of the first shock absorber 602 and the second shock absorber 603, so as to achieve active vibration reduction of the picking rod 201 when the drone 1 encounters strong winds and the attitude of the drone 1 changes significantly. In the process of active vibration reduction, the amplitude of the picking rod 201 is reduced due to the damping energy consumption of the first shock absorber 602 and the second shock absorber 603, and the effective control of multi-dimensional vibration is achieved, which has the controllability and high robustness of the active control scheme.

[0052] See also Figure 1 , Figure 4 , Figure 6-Figure 8 and Fig.10 The balancing mechanism 4 includes a guide frame 401 arranged on the balancing vibration reduction support plate 301, a counterweight block 402 slidably arranged on the guide frame 401, and a balancing driving mechanism arranged on the balancing vibration reduction support plate 301 for driving the counterweight block 402 to move.

[0053] See also Figure 1 and Figure 3 The landing gear 7 includes two mutually symmetrical support rod groups, each support rod group includes a transverse rod 701 and a vertical rod 702 fixed between the transverse rod 701 and the bottom of the UAV 1; the balance vibration reduction support plate 301 is arranged on the vertical rod 702; the two vertical rods 702 are distributed in an eight-shaped shape. By setting two mutually symmetrical support rod groups, the stability of the UAV 1 taking off and landing can be ensured, and the balance vibration reduction support plate 301 can be easily installed. In addition, it plays a buffering role when the UAV 1 takes off and lands.

[0054] See also Figure 1 , Figure 3 , Figure 4 and Figure 6The passive vibration reduction assembly includes a vibration reduction ring 302 arranged between the vertical rod 702 and the balanced vibration reduction support plate 301 and a plurality of vibration reduction components arranged between the balanced vibration reduction support plate 301 and the transverse rod 701, each vibration reduction component includes a vibration reduction sleeve 303 sleeved on the transverse rod 701 and a spring vibration reduction support column 304 connected between the balanced vibration reduction support plate 301 and the vibration reduction sleeve 303. In the above structure, the vibration-damping sleeve 303 is installed on the transverse rod 701, and the vibration-damping ring 302 is installed on the vertical rod 702. The vibration of the UAV 1 fuselage is transmitted through the vibration-damping sleeve 303 and the vibration-damping ring 302. The spring vibration-damping support column 304 absorbs energy and reduces vibration from multiple positions. The vibration-damping sleeve 303 and the vibration-damping ring 302 use vibration-damping materials to reduce vibration, so that the vibration transmitted to the balance vibration-damping support plate 301 is reduced, thereby achieving vibration reduction of the picking mechanism 2 and the balance mechanism 4; after the vibration of the balance vibration-damping support plate 301 is suppressed by the first vibration absorber 602, the picking rod 201 is further reduced, so that the front end vibration of the picking rod 201 is reduced, and the purpose of stable harvesting is achieved. Among them, the vibration-damping ring 302 and the vibration-damping sleeve 303 need to select corresponding materials according to the actual vibration frequency of the UAV 1 for corresponding high, medium and low frequency vibration-damping materials, and the stiffness of the spring of the spring vibration-damping support column 304 needs to be selected according to the vibration frequency of the UAV 1 to achieve a partial vibration reduction effect.

[0055] See also Figure 1 , Figure 3 , Figure 4 and Figure 6 In this embodiment, there are four vibration-damping components, which are distributed on four diagonal corners of the balance vibration-damping support plate 301.

[0056] See also Figure 1 , Figure 3 , Figure 4 and Figure 6The passive vibration reduction mechanism 3 also includes a balanced vibration reduction assembly arranged between the guide frame 401 and the balanced vibration reduction support plate 301, and the balanced vibration reduction assembly includes a balanced support shaft 305 arranged at the lower end of the balanced vibration reduction support plate 301 and parallel to the picking rod 201, a balanced bracket 306 arranged on the guide frame 401, and a hydraulic spring damper 307 arranged between the balanced support shaft 305 and the balanced bracket 306; the hydraulic spring damper 307 is connected to the balanced support shaft 305 through a fixed hole. In the above structure, the vibration of the fuselage of the UAV 1 is reduced by the passive vibration reduction component, so that the vibration transmitted to the balance vibration reduction support plate 301 is reduced, and the vibration of the balance vibration reduction support plate 301 is transmitted to the hydraulic spring damper 307. After the vibration reduction of the hydraulic spring damper 307, the vibration of the counterweight block 402 is reduced, so as to achieve the purpose of stabilizing the posture of the UAV 1 during harvesting; in addition, the balance vibration reduction component can also support the guide frame 401, ensure the stable installation of the guide frame 401, and the structural layout is reasonable and very compact.

[0057] See also Figure 1 , Figure 4 , Figure 6-Figure 8 and Fig.10 The balance drive mechanism includes a balance drive motor 403, a balance gear 404 and a balance rack 405 arranged on the balance vibration reduction support plate 301, wherein the counterweight 402 is connected to the guide frame 401 through a sliding frame 406, one end of the balance rack 405 is fixedly connected to the sliding frame 406 through bolts and nuts, the main shaft of the balance drive motor 403 is connected to the balance gear 404, and the balance gear 404 and the balance rack 405 are meshed with each other; a fixing frame 407 for fixing the counterweight 402 is provided on the sliding frame 406. The balance drive motor 403 drives the balance gear 404 to move, thereby driving the movement of the balance rack 405, thereby driving the movement of the sliding frame 406, and finally realizing the movement of the counterweight 402, and ensuring the stability of the center of gravity of the drone 1 during picking. Specifically, the balancing drive motor 403 rotates forward, and the balancing rack 405 moves in the direction away from the shear clamping mechanism (backward), so that the counterweight block 402 moves in the direction away from the shear clamping mechanism to complete the balancing action; the balancing drive motor 403 rotates reversely, and the balancing rack 405 moves in the direction close to the shear clamping mechanism (forward), so that the counterweight block 402 moves in the direction close to the shear clamping mechanism to reset, thereby completing the adjustment of the center of gravity balance.

[0058] The balance rack 405 may be a rack disposed on a push rod.

[0059] See also Figure 1 , Figure 4-Figure 9The shearing and clamping mechanism includes a first shearing knife 202 arranged at the end of the picking rod 201, a second shearing knife 203 hinged to the first shearing knife 202, a first clamping member 204 arranged on the first shearing knife 202, and a second clamping member 205 arranged on the second shearing knife 203, and the shearing and clamping driving mechanism drives the second shearing knife 203 to move. In the above structure, the second shearing knife 203 of the shearing and clamping driving mechanism rotates around the position hinged to the first shearing knife 202, so that the first shearing knife 202 and the second shearing knife 203 are brought close to each other, thereby cutting off the fruit stalk; while the first shearing knife 202 and the second shearing knife 203 are brought close to each other, the first clamping member 204 and the second clamping member 205 are also brought close to each other, so that the first clamping member 204 and the second clamping member 205 can clamp the cut fruit stalk, ensuring that the fruit 9 will not fall, so that the drone 1 can be transported to the designated location for collection.

[0060] See also Figure 7-Figure 9 A pressure sensor 206 is provided between the first shearing knife 202 and the picking rod 201. By providing the pressure sensor 206, the weight of the picked fruit 9 can be measured, which is convenient for the balancing mechanism 4 to perform balance adjustment.

[0061] See also Figure 7-Figure 9 The lower end of the first shearing knife 202 is fixed to the end of the picking rod 201 by two bolts, nuts and a gasket, and the pressure sensor 206 is located between the gasket and the first shearing knife 202.

[0062] See also Figure 7-Figure 9 The shear clamping drive mechanism includes a shear clamping drive motor 207, a shear clamping gear 208 and a shear clamping rack 209 arranged on a balancing vibration-damping support plate 301, wherein one end of the shear clamping rack 209 is hinged to the second shearing knife 203, the main shaft of the shear clamping drive motor 207 is connected to the shear clamping gear 208, and the shear clamping gear 208 and the shear clamping rack 209 are meshed with each other. The shear clamping gear 208 is driven to move by the shear clamping drive motor 207, which drives the shear clamping rack 209 to move forward and backward, and then drives the second shearing knife 203 to move, so that the first shearing knife 202 and the second shearing knife 203 complete the shearing and loosening action; specifically, the shear clamping drive motor 207 rotates forward, drives the shear clamping rack 209 to move in a direction away from the shear clamping mechanism (backward), so that the first shearing knife 202 and the second shearing knife 203 complete the shearing of the fruit 9; the shear clamping drive motor 207 rotates reversely, drives the shear clamping rack 209 to move in a direction close to the shear clamping mechanism (forward), so that the first shearing knife 202 and the second shearing knife 203 complete the loosening of the fruit 9.

[0063] See also Figure 7-Figure 9The second shearing knife 203 is connected to the shearing clamping rack 209 via a pull rod 210. The pull rod 210 is located inside the picking rod 201, so that the pull rod 210 can be smaller and more compact, and is easy to install inside the picking rod 201.

[0064] See also Figure 1 , Figure 4 and Figure 7-10 , the balance vibration reduction support plate 301 is provided with a motor box 5, and the shear clamping drive motor 207, the shear clamping gear 208, the balance drive motor 403 and the balance gear 404 are all arranged in the motor box 5. The motor controller 8 is also provided at the lower end of the motor box 5. The motor controller 8 is responsible for driving the shear clamping drive motor 207 and the balance drive motor 403 at the same time, and reading the rotation state of the shear clamping drive motor 207 and the balance drive motor 403. The motor controller 8 is also responsible for receiving and processing the signal from the pressure sensor 206. By setting the motor box 5, the shear clamping drive motor 207, the shear clamping gear 208, the balance drive motor 403 and the balance gear 404 can be protected, and the shear clamping drive motor 207 and the balance drive motor 403 can also be installed and fixed, so that the overall structure becomes more compact. The shear clamping drive motor 207 and the balance drive motor 403 are symmetrically arranged to make the center of gravity of the structure more stable.

[0065] See also Figure 1-Figure 10 , the torque balancing principle of the balancing mechanism 4 is:

[0066] In this embodiment, a lever mechanism is formed with the horizontal center of gravity O of the drone 1 as the rotation fulcrum, the distance L1 of the fruit 9 from the horizontal center of gravity O plus the distance L2 of the center of gravity of the counterweight 402 from the horizontal center of gravity O as the lever, and the distance moved by the counterweight 402 is X, and X=L2-L. Among them, one end of the lever is the gravity G of the counterweight 402, and the other end is the gravity F of the fruit 9. Among them, L1, L, and G are constants and are directly measured. L2 and F are variables, and F is measured by the pressure sensor 206. However, there is a certain difference between the actual weight F of the fruit 9 and the measured value F1 of the pressure sensor 206, and the difference is ΔF. ΔF can be obtained by fitting the difference between the weight F of the fruit 9 with different weights and the measured value F1 of the pressure sensor 206 for many times, and then the motor controller 8 performs data processing so that F=F1+ΔF. At the initial moment, since the picking rod 201 has a certain weight, in order to maintain the center of gravity of the drone 1, the design makes the distance between the center of gravity of the counterweight block 402 and the horizontal center of gravity O be L at the initial moment, and L2 = L at this time. After picking the fruit 9, in order to maintain the position of the horizontal center of gravity, the balance rack 405 needs to move the counterweight block 402 backward, and the moving distance X = L2-L. According to the moment balance principle, the formula F*L1 = G*X is obtained. At this time, the motor controller 8 calculates the formula and drives the balance drive motor 403 to move backward by a distance X to complete the center of gravity adjustment. Among them, in this embodiment, L1 is 650mm, L is 75mm, L2 is 75mm at the minimum, and L2 is 247mm at the maximum. According to F*L1=G*X, if the counterweight block 402 weighs 900g, then during the harvesting operation, a maximum of about 238g of fruit 9 can be balanced. This design can balance the weight of a cluster of fruits 9 of certain varieties of longan, such as Shixia longan, through the counterweight block 402, thereby reducing the pressure on the flight control and achieving the purpose of stabilizing the posture of the drone 1 during harvesting, preventing the center of gravity from being seriously offset, resulting in increased vibration of the picking rod 201 and the crash of the drone 1.

[0067] See also Figure 1-Figure 2 , Figure 4 and Figure 8 , the counterweight 402 is a battery counterweight. The battery counterweight provides power to the drone 1, the shearing and clamping drive mechanism, and the balancing drive mechanism. The judgment mechanism of the motor controller 8 controls the movement of the battery counterweight 402, which is heavier than the drone 1 as a whole, so that the drone 1 can adjust its center of gravity after picking, so that the drone 1 will not have a serious posture tilt, ensuring the safety of the drone 1 during picking without adding extra weight.

[0068] See also Figure 1-Figure 11 , the working principle of the above-mentioned vibration reduction and balancing device based on the harvesting drone is:

[0069] After the drone 1 takes off, the vibration generated by the rotor motor 107 is transmitted through the vibration damping ring 302 and the vibration damping sleeve 303, and after being transmitted to the balance vibration damping support plate 301 through the primary vibration damping of the vibration damping ring 302 and the spring vibration damping support column 304, the front end vibration of the picking rod 201 is suppressed again through the first vibration damper 602 and the second vibration damper 603, and the vibration of the counterweight 402 is suppressed through the hydraulic spring damper 307.

[0070] During the process of picking fruits 9, there will be pressure on the picking rod 201 at the moments of cutting and clamping the fruits 9 and releasing the fruits 9, and the picking rod 201 will be deformed. At this time, the first shock absorber 602 can play a good role in damping adjustment when it senses the sudden change in force, thereby reducing the vibration of the picking rod 201 and achieving the purpose of stable harvesting.

[0071] During the process of picking the fruit 9, the shearing and clamping drive motor 207 drives the pull rod 210 to pull backward. At the moment of cutting and clamping the fruit 9, the shearing and clamping mechanism and the picking rod 201 will be deformed downward by the gravity of the fruit 9, and then the pressure sensor 206 detects the sudden change of force and sends the measured value to the motor controller 8. The motor controller 8 also determines whether the shearing and clamping drive motor 207 has rotated forward. If the change in the value of the pressure sensor 206 and the signal that the shearing and clamping drive motor 207 has rotated forward are received at the same time, it is determined that the fruit 9 has been picked. The motor controller 8 drives the balancing drive motor 403 to rotate forward, so that the balancing rack 405 is pushed backward, and the counterweight block 402 is moved backward. According to the principle of torque balance, the center of gravity is adjusted to achieve balance. When the fruit 9 needs to be released, the shearing and clamping drive motor 207 drives the pull rod 210 forward to release the shearing and clamping mechanism. At the moment of releasing the fruit 9, the pressure sensor 206 detects the sudden change in force and sends the measured value to the motor controller 8. The motor controller 8 also determines whether the shearing and clamping drive motor 207 has been reversed. If the change in the value of the pressure sensor 206 and the signal that the shearing and clamping drive motor 207 has been reversed are received at the same time, it is determined that the fruit 9 has been released, and the balancing drive motor 403 is driven to reverse, so that the balancing rack 405 moves forward and the counterweight block 402 is moved forward. According to the principle of torque balance, the center of gravity is adjusted to achieve the purpose of stabilizing the posture of the drone 1 during harvesting, and to prevent the center of gravity from being seriously offset, resulting in increased vibration of the picking rod 201 and crashing of the drone 1.

[0072] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A vibration reduction and balancing device based on a harvesting drone, characterized in that: The invention comprises a drone, a landing gear arranged at the lower end of the drone, a picking mechanism for picking fruits, a balancing mechanism for maintaining the balance of the drone, an active vibration reduction mechanism for actively reducing vibration of the picking mechanism, and a passive vibration reduction mechanism for passively reducing vibration of the picking mechanism and the balancing mechanism; wherein, The passive vibration reduction mechanism comprises a balance vibration reduction support plate arranged on the landing gear and a passive vibration reduction assembly arranged between the balance vibration reduction support plate and the landing gear; The picking mechanism comprises a picking rod arranged on the balanced vibration-damping support plate, a shearing and clamping mechanism arranged at the end of the picking rod for cutting and clamping the fruit stem, and a shearing and clamping driving mechanism arranged on the balanced vibration-damping support plate for driving the shearing and clamping mechanism to perform shearing and clamping movements; The active vibration reduction mechanism includes a vibration reduction controller arranged on the UAV, a first vibration reduction device connected between the vibration reduction controller and the picking rod, a second vibration reduction device arranged at the end of the picking rod, and a posture sensor; the posture sensor is connected to the vibration reduction controller; The balancing mechanism comprises a guide frame arranged on a balancing vibration-damping support plate, a counterweight block slidably arranged on the guide frame, and a balancing driving mechanism arranged on the balancing vibration-damping support plate for driving the counterweight block to move.

2. The vibration reduction and balancing device based on a harvesting drone according to claim 1 is characterized in that: The landing gear comprises two support rod groups arranged symmetrically to each other, each support rod group comprises a transverse rod and a vertical rod fixed between the transverse rod and the bottom of the UAV; the balance vibration reduction support plate is arranged on the vertical rod.

3. The vibration reduction and balancing device based on a harvesting drone according to claim 2 is characterized in that: The passive vibration reduction assembly includes a vibration reduction ring arranged between the vertical rod and the balanced vibration reduction support plate and a plurality of vibration reduction components arranged between the balanced vibration reduction support plate and the transverse rod, each vibration reduction component includes a vibration reduction sleeve sleeved on the transverse rod and a spring vibration reduction support column connected between the balanced vibration reduction support plate and the vibration reduction sleeve.

4. The vibration reduction and balancing device based on a harvesting drone according to claim 3 is characterized in that: The passive vibration reduction mechanism also includes a balanced vibration reduction assembly arranged between the guide frame and the balanced vibration reduction support plate, and the balanced vibration reduction assembly includes a balanced support shaft arranged at the lower end of the balanced vibration reduction support plate and parallel to the picking rod, a balanced bracket arranged on the guide frame, and a hydraulic spring damper arranged between the balanced support shaft and the balanced bracket.

5. The vibration reduction and balancing device based on a harvesting drone according to claim 1 is characterized in that: The balancing drive mechanism includes a balancing drive motor, a balancing gear and a balancing rack arranged on a balancing vibration reduction support plate, wherein the counterweight block is connected to the guide frame via a sliding frame, one end of the balancing rack is fixedly connected to the sliding frame, the main shaft of the balancing drive motor is connected to the balancing gear, and the balancing gear and the balancing rack are meshed with each other.

6. The vibration reduction and balancing device based on a harvesting drone according to claim 2 is characterized in that: The shearing and clamping mechanism includes a first shearing knife arranged at the end of the picking rod, a second shearing knife hinged to the first shearing knife, a first clamping piece arranged on the first shearing knife, and a second clamping piece arranged on the second shearing knife. The shearing and clamping drive mechanism drives the second shearing knife to move.

7. The vibration reduction and balancing device based on a harvesting drone according to claim 6 is characterized in that: A pressure sensor is provided between the first shearing knife and the picking rod.

8. The vibration reduction and balancing device based on a harvesting drone according to claim 6 is characterized in that: The shear clamping drive mechanism includes a shear clamping drive motor, a shear clamping gear and a shear clamping rack arranged on a balancing vibration-damping support plate, wherein one end of the shear clamping rack is hinged to the second shearing knife, the main shaft of the shear clamping drive motor is connected to the shear clamping gear, and the shear clamping gear and the shear clamping rack are meshed with each other.

9. The vibration reduction and balancing device based on a harvesting drone according to claim 1 is characterized in that: The counterweight block is a battery counterweight block.

10. The vibration reduction and balancing device based on a harvesting drone according to claim 1, characterized in that: The drone includes a drone body, a laser radar, a GPS positioning module, a binocular camera, a depth camera and an onboard computer arranged on the drone body; the laser radar is used for environmental information detection; the GPS positioning module is used for drone body positioning; the binocular camera and the depth camera are used for environmental perception and target fruit identification and positioning; the onboard computer is used for processing perceived environmental information.

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