A vibration reduction and balancing device based on a harvesting drone

Abstract

The present invention discloses a vibration reduction and balancing device based on a harvesting drone, comprising a drone, a landing gear, a harvesting mechanism, a balancing mechanism, an active vibration reduction mechanism, and a passive vibration reduction mechanism; the passive vibration reduction mechanism comprises a balancing vibration reduction support plate and a passive vibration reduction assembly arranged on the landing gear; the harvesting mechanism comprises a harvesting rod, a shearing clamping mechanism, and a shearing clamping drive mechanism; the active vibration reduction mechanism comprises a vibration reduction controller, a first vibration damper, a second vibration damper, and a posture sensor; the balancing mechanism comprises a guide frame arranged on the balancing vibration reduction support plate, a counterweight block slidably arranged on the guide frame, and a balancing drive mechanism arranged on the balancing vibration reduction support plate. During harvesting, the device can prevent the drone's center of gravity from shifting, causing the drone to lose balance, and can also reduce the vibration generated by the drone, thereby reducing shaking during the harvesting process and ensuring the stability of the harvest.

Description

Technical Field

[0001] The present 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] Currently, lychees and longans are harvested manually, resulting in high labor costs and low economic returns. Lychees and longans are typically grown on mountainous terrain, where the height of the trees further increases the inconvenience of manual harvesting. This can lead to some fruit rotting before being harvested, impacting economic returns.

[0003] Therefore, to address these issues, drones have been used to replace manual picking, saving labor and offering certain advantages for harvesting fruits like lychees and longans. Drones can adapt to mountainous terrain, operate at high altitudes, and are relatively inexpensive to operate. However, due to the heavy weight of bunches of fruit like lychees and longans, the extended picking arms combined with the weight of the fruit can cause the drone's center of gravity to shift, making it unbalanced. Furthermore, the vibrations caused by the drone's fuselage to the picking arms can be amplified, compromising the drone's stability. 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 picking drone. During picking, 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 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,

[0007] The passive vibration reduction mechanism includes a balanced vibration reduction support plate provided on the landing gear and a passive vibration reduction assembly provided between the balanced vibration reduction support plate and the landing gear;

[0008] The picking mechanism includes a picking rod provided on the balanced vibration-damping support plate, a shearing and clamping mechanism provided at the end of the picking rod for cutting and clamping the fruit stems, and a shearing and clamping driving mechanism provided 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 provided on the UAV, a first vibration reducer connected between the vibration reduction controller and the picking rod, a second vibration reducer provided 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 includes a guide frame arranged on a balancing vibration-damping support plate, a counterweight block slidably arranged on the guide frame, and a balancing drive 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 attenuated by the passive vibration reduction component and then transmitted to the balancing vibration reduction support plate, thereby achieving vibration reduction for 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 and second vibration absorbers will again suppress the vibration of the front end of the picking rod. During the fruit picking process, 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 vibration absorber can effectively play a vibration reduction role of damping adjustment when sensing the sudden change in force, thereby reducing the vibration of the picking rod and achieving the purpose of stable harvesting. During the fruit picking process, at the moment of shearing and clamping the fruit, the shearing and clamping mechanism will be deformed downward due to the gravity of the fruit. At this time, the balancing drive mechanism drives the counterweight block to move away from the shearing and clamping mechanism, completing the center of gravity adjustment and achieving balance. When the fruit needs to be released, at the moment of releasing the fruit, the balancing drive mechanism drives the counterweight block to move toward the shearing and clamping mechanism, completing the center of gravity adjustment and achieving balance.

[0013] In a preferred embodiment of the present invention, the landing gear includes two symmetrically arranged support rod groups, each of which includes a transverse rod and a vertical rod fixed between the transverse rod and the bottom of the drone; the balancing and vibration-damping support plate is mounted on the vertical rod. By providing two symmetrical support rod groups, the drone's takeoff and landing stability is ensured, while also facilitating the installation of the balancing and vibration-damping support plate.

[0014] Preferably, the passive vibration reduction assembly includes a vibration reduction ring arranged between the vertical rod and the balance vibration reduction support plate and a plurality of vibration reduction components arranged between the balance vibration reduction support plate and the transverse rod, each vibration reduction component including a vibration reduction sleeve sleeved on the transverse rod and a spring vibration reduction support column connected between the balance vibration reduction support plate and the vibration reduction sleeve. In the above structure, the vibration reduction sleeve is installed on the transverse rod, and 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 vibration, thereby reducing the vibration transmitted to the balance vibration reduction support plate, thereby achieving vibration reduction of the picking mechanism and the balancing mechanism. After the vibration of the balance 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, thereby achieving the purpose of stable harvesting. Among them, the vibration damping ring and the vibration damping sleeve need to select corresponding materials for corresponding high, medium and low frequency vibration damping materials according to the actual vibration frequency of the drone. 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 balancing vibration reduction assembly provided between the guide frame and the balancing vibration reduction support plate, and the balancing vibration reduction assembly includes a balancing support shaft provided at the lower end of the balancing vibration reduction support plate and parallel to the picking rod, a balancing bracket provided on the guide frame, and a hydraulic spring damper provided between the balancing support shaft and the balancing bracket. In the above structure, the vibration of the drone fuselage is reduced by the passive vibration reduction assembly, so that the vibration transmitted to the balancing vibration reduction support plate is reduced, and the vibration of the balancing vibration reduction support plate is transmitted to the hydraulic spring damper. After the vibration is reduced by the hydraulic spring damper, the vibration of the counterweight is reduced, thereby achieving the purpose of stabilizing the drone's posture during harvesting; in addition, the balancing vibration reduction assembly can also support the guide frame, ensuring the stable installation of the guide frame, 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 shearing clamping mechanism (backward), causing the counterweight block to move in a direction away from the shearing clamping mechanism to complete the balancing action; when the balancing drive motor rotates reversely, the balancing rack moves in a direction close to the shearing clamping mechanism (forward), causing the counterweight block to move in a direction close to the shearing 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 provided at the end of the picking rod, a second shearing knife hinged to the first shearing knife, a first clamping member provided on the first shearing knife, and a second clamping member provided on the second shearing knife, and the shearing and clamping drive mechanism drives the second shearing knife to move. In the above structure, the second shearing knife of the shearing and clamping drive mechanism rotates around the position where it is hinged to the first shearing knife, so that the first shearing knife and the second shearing knife move closer to each other, thereby cutting off the fruit stem; while the first shearing knife and the second shearing knife move closer to each other, the first clamping member and the second clamping member also move closer to each other, so that the first clamping member and the second clamping member can clamp the cut fruit stem, ensuring that the fruit does 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 blade and the picking rod. By providing the pressure sensor, the weight of the picked fruit can be measured, which facilitates 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 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. The shear clamping drive motor drives the shear clamping gear to move, thereby driving the shear clamping rack to move back and forth, thereby driving 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, driving 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 shearing the fruit; the shear clamping drive motor rotates reversely, driving 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 loosening the fruit.

[0020] Furthermore, the second shearing blade is connected to the shearing clamping rack via a pull rod, which 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 balancing vibration damping support plate, and the shear clamping drive motor, shear clamping gear, balancing drive motor, and balancing gear are all disposed within the motor box. The motor box protects the shear clamping drive motor, shear clamping gear, balancing drive motor, and balancing gear, and also serves to securely mount the shear clamping drive motor and balancing drive motor, making the overall structure more compact.

[0022] Preferably, the counterweight is a battery-powered counterweight. This provides electrical energy to the drone, the shearing and clamping drive mechanism, and the balancing drive mechanism. The motor controller's decision mechanism controls the movement of the drone's heavier battery counterweight, allowing the drone to adjust its center of gravity after harvesting, preventing severe tilt and ensuring safety during harvesting without adding extra weight.

[0023] Preferably, 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 positioning the drone body; 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 the perceived environmental information.

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

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

[0026] 2. In the vibration-damping balancing device of the present invention, during the fruit picking process, the shearing and clamping mechanism will exert pressure on the picking rod at the moment of cutting 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 fruit picking process, at the moment of cutting 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 to complete the center of gravity adjustment and 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 to complete the center of gravity adjustment and achieve balance, thereby preventing the center of gravity from being seriously shifted and causing the drone to crash. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The figure 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 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] Figure 9 It is a schematic diagram of the three-dimensional structure of part of the picking mechanism in the present invention.

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

[0038] Figure 11 It is a structural schematic 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 solutions of the present invention, the present invention will be 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 This embodiment discloses a vibration reduction and balancing device based on a picking drone, including a drone 1, a landing gear 7 arranged at the lower end of the drone 1, a picking mechanism 2 for picking 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 picking mechanism 2, and a passive vibration reduction mechanism 3 for passively reducing vibration of the picking 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 mounted 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 center 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 of the drone body 101. The onboard computer 106 is used for processing perceived environmental information and is located at the bottom of the drone body 101. The rotor motor 107 of the drone body 101 is used to drive the propellers, providing power for the drone 1. The GPS positioning module 103 is a GPS, the binocular camera 104 is a T265, and the depth camera 105 is a D435i.

[0042] See also Figure 1 、 Figure 4 and Figure 6 The passive vibration reduction mechanism 3 includes a balance vibration reduction support plate 301 provided on the landing gear 7 and a passive vibration reduction component provided between the balance 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 mounted on the balancing and vibration-damping support plate 301, a shearing and clamping mechanism mounted at the end of the picking rod 201 for cutting and clamping the fruit stems, and a shearing and clamping drive mechanism mounted on the balancing and 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 considered forward, while the horizontal direction in which the drone 1 moves away from the shearing and clamping mechanism is considered rearward. The balancing mechanism 4 is mounted at the rear end of the balancing and vibration-damping support plate 301, and the picking rod 201 is mounted at the front end of the balancing and 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 Figure 11 The active vibration reduction mechanism 6 includes a vibration reduction controller 601 mounted on the drone 1, a first vibration damper 602 connected between the vibration reduction controller 601 and the picking rod 201, a second vibration damper 603 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 damper 603 is bolted to the end of the picking rod 201, and the posture sensor 604 is fixed to the inner wall of the end of the picking rod 201 via a gasket. The second vibration damper 603 is a triangular truss-like structure. The installation position of the active vibration reduction mechanism 6 has little effect on the axial symmetry of the entire vibration reduction and balancing device, and the control stability is good.

[0046] See also Figure 1-Figure 7 and Figure 11The principle of active vibration reduction of 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. 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 velocity, vibration angle, vibration displacement, and vibration frequency, and transmits it to the vibration control controller 601. The vibration control controller 601 then processes the data and determines, based on the attitude data from the flight control system, whether the vibration at the end of the picking rod 201 is normal flight, such as attitude changes caused by pitch, yaw, and roll, or attitude changes caused by the end of the picking rod 201 relative to the drone 1. The controller then generates a control signal to control the input current of the first and second vibration dampers 602 and 603, thereby changing their damping and achieving partial vibration control of the end of the picking rod 201. The first vibration damper 602 is a magnetorheological damper. Adjusting the current can change its magnetic field strength, thereby changing the yield strength of the magnetorheological fluid, achieving real-time and continuously variable damping force. This controller has the characteristics of fast response speed, low energy consumption, and a wide controllable damping force range. Second vibration absorber 603 is a magnetorheological resonant mass damper, comprising a central circular block, three dampers, and three springs. The three dampers are arranged in a circular pattern, one end connected to the central circular block and the other to the picking rod 201. The springs are mounted on the dampers, and the central circular block serves as a mass block. Vibration at the end of the picking rod 201 is reduced by determining the mass ratio, natural frequency ratio, and damping ratio parameters of the damper to the picking mechanism 2. During stable flight, the pre-adjusted damping value of first vibration absorber 602 and the mass ratio, natural frequency ratio, and damping ratio parameters of second vibration absorber 603 to the picking mechanism 2 shift the natural frequency of the picking rod 201 away from the resonance region, effectively suppressing the amplitude and achieving vibration control at 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 the displacement vector, velocity vector and acceleration vector respectively; [M], [C], [K] are the mass matrix, damping matrix and stiffness matrix of the 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 and second vibration absorbers 602 and 603. Based on the structural design principles and the key parameters of the picking bar 201, the variable damping range of the first vibration absorber 602 can be determined. Multiple nonlinear fitting is then used to determine the relationship between damping and the vibration amplitude and frequency of the shear clamping mechanism. In the event that the drone 1 encounters strong winds, the drone's attitude changes significantly, or the shear clamping mechanism suddenly clamps the fruit 9, increasing the weight at the end of the shear clamping mechanism, the attitude sensor 604 detects vibration information, and the vibration control controller 601 determines the output control signal to control the current to adjust the damping of the first and second vibration absorbers 602 and 603. This achieves active vibration reduction of the picking bar 201 in the event of strong winds and significant attitude changes. During this active vibration reduction process, the vibration amplitude of the picking bar 201 is reduced due to the damping energy dissipated by the first and second vibration absorbers 602 and 603, effectively controlling multi-dimensional vibration and demonstrating the controllability and high robustness of the active control scheme.

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

[0053] See also Figure 1 and Figure 3 The landing gear 7 comprises two symmetrically arranged 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 drone 1. The balancing and vibration-damping support plates 301 are mounted on the vertical rods 702. The two vertical rods 702 are arranged in a figure-eight pattern. The two symmetrical support rod groups ensure stable takeoff and landing of the drone 1, facilitate the installation of the balancing and vibration-damping support plates 301, and provide a cushioning effect during takeoff and landing.

[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 multiple 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 mounted on the transverse rod 701, and the vibration-damping ring 302 is mounted on the vertical rod 702. The vibration of the drone 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 locations. The vibration-damping sleeve 303 and the vibration-damping ring 302 use vibration-damping materials to reduce vibration, thereby reducing the vibration transmitted to the balanced vibration-damping support plate 301, thereby achieving vibration reduction for the picking mechanism 2 and the balancing mechanism 4. After the vibration of the balanced vibration-damping support plate 301 is suppressed by the first vibration damper 602, the picking rod 201 is further damped, reducing the vibration at the front end of the picking rod 201 and achieving the purpose of stable harvesting. The vibration-damping ring 302 and the vibration-damping sleeve 303 need to be selected according to the actual vibration frequency of the drone 1 to form corresponding high, medium, and low frequency vibration-damping materials. The spring stiffness of the spring vibration-damping support column 304 needs to be selected according to the vibration frequency of the drone 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 the 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 balancing vibration reduction assembly arranged between the guide frame 401 and the balancing vibration reduction support plate 301, and the balancing vibration reduction assembly includes a balancing support shaft 305 arranged at the lower end of the balancing vibration reduction support plate 301 and parallel to the picking rod 201, a balancing bracket 306 arranged on the guide frame 401, and a hydraulic spring damper 307 arranged between the balancing support shaft 305 and the balancing bracket 306; the hydraulic spring damper 307 is connected to the balancing support shaft 305 through a fixed hole. In the above structure, the vibration of the drone 1 fuselage 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, thereby achieving the purpose of stabilizing the posture of the drone 1 during harvesting; in addition, the balance vibration reduction component can also support the guide frame 401, ensuring 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 Figure 10 The balancing drive mechanism includes a balancing drive motor 403, a balancing gear 404, and a balancing rack 405, mounted on the balancing vibration damping support plate 301. The counterweight 402 is connected to the guide frame 401 via a sliding frame 406. One end of the balancing rack 405 is fixedly connected to the sliding frame 406 via bolts and nuts. The main shaft of the balancing drive motor 403 is connected to the balancing gear 404, which meshes with the balancing rack 405. A fixing frame 407 is provided on the sliding frame 406 for securing the counterweight 402. The balancing drive motor 403 drives the balancing gear 404, which in turn drives the balancing rack 405, which in turn drives the sliding frame 406, ultimately achieving movement of the counterweight 402. This ensures the stability of the center of gravity of the drone 1 during harvesting. 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 can be a rack provided on a push rod.

[0059] See also Figure 1 、 Figure 4-Figure 9The shearing and clamping mechanism includes a first shearing knife 202 provided 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 provided on the first shearing knife 202, and a second clamping member 205 provided on the second shearing knife 203. The shearing and clamping driving mechanism drives the second shearing knife 203 to move. In the above structure, the shearing and clamping driving mechanism rotates the second shearing knife 203 around the hinged position with the first shearing knife 202, so that the first shearing knife 202 and the second shearing knife 203 are brought closer to each other, thereby cutting off the fruit stem; while the first shearing knife 202 and the second shearing knife 203 are brought closer to each other, the first clamping member 204 and the second clamping member 205 are also brought closer to each other, so that the first clamping member 204 and the second clamping member 205 can clamp the cut fruit stem, ensuring that the fruit 9 will not fall, and facilitating the drone 1 to transport it 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 facilitates 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 engaged with each other. The shear clamping gear 208 is driven by the shear clamping drive motor 207 to move, driving the shear clamping rack 209 to move forward and backward, and then driving 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, driving the shear clamping rack 209 to move in the 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, driving the shear clamping rack 209 to move in the 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 by a pull rod 210. The pull rod 210 is located inside the picking rod 201, and the purpose is 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 balancing vibration damping support plate 301 is provided with a motor box 5, and the shear clamping drive motor 207, the shear clamping gear 208, the balancing drive motor 403 and the balancing gear 404 are all arranged in the motor box 5. The lower end of the motor box 5 is also provided with a motor controller 8, which is responsible for driving the shear clamping drive motor 207 and the balancing drive motor 403 at the same time, and reading the rotation status of the shear clamping drive motor 207 and the balancing drive motor 403. The motor controller 8 is also responsible for receiving and processing the signal from the pressure sensor 206. By providing the motor box 5, the shear clamping drive motor 207, the shear clamping gear 208, the balancing drive motor 403 and the balancing gear 404 can be protected, and the shear clamping drive motor 207 and the balancing drive motor 403 can also be installed and fixed, making the overall structure more compact. The shear clamping drive motor 207 and the balancing drive motor 403 are arranged symmetrically with each other, making the center of gravity of the structure more stable.

[0065] See also Figures 1-10 , 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 serving as the pivot point. The distance L1 between the fruit 9 and the horizontal center of gravity O plus the distance L2 between the center of gravity of the counterweight 402 and the horizontal center of gravity O serve as the lever. The distance X moved by the counterweight 402 is defined as X, where X = L2 - L. One end of the lever is the weight G of the counterweight 402, and the other end is the weight F of the fruit 9. L1, L, and G are constants and can be measured directly. L2 and F are variables, with F measured by the pressure sensor 206. However, the actual weight F of the fruit 9 differs from the value F1 measured by the pressure sensor 206 by a certain amount, ΔF. This difference can be calculated by fitting the difference between the weight F of the fruit 9 and the value F1 measured by the pressure sensor 206 for different weights. The motor controller 8 then processes the data to achieve F = F1 + ΔF. Initially, due to the weight of picking rod 201, to maintain the center of gravity of drone 1, the center of gravity of counterweight 402 is designed to be at a distance L from the horizontal center of gravity O, where L2 = L. After picking fruit 9, to maintain the horizontal center of gravity, balancing rack 405 needs to move counterweight 402 backward by a distance X = L2 - L. Based on the principle of torque balance, the formula F*L1 = G*X is obtained. At this point, motor controller 8 calculates this formula and drives balancing drive motor 403 backward by a distance X, completing the center of gravity adjustment. Among them, in this embodiment, L1 is 650mm, L is 75mm, L2 is at least 75mm, and L2 is at most 247mm. According to F*L1=G*X, if the counterweight block 402 weighs 900g, then during the harvesting operation, a maximum weight 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-powered counterweight. It provides power to the drone 1, the shearing and clamping drive mechanism, and the balancing drive mechanism. The motor controller 8 controls the movement of the heavier battery counterweight 402, which is heavier overall than the drone 1. This allows the drone 1 to adjust its center of gravity after harvesting, preventing it from severely tilting. This ensures the safety of the drone 1 during harvesting without adding any extra weight.

[0068] See also Figures 1-11 The working principle of the vibration reduction and balancing device based on the harvesting drone is as follows:

[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. After the first vibration damping by the vibration damping ring 302 and the spring vibration damping support column 304, it is transmitted to the balance vibration damping support plate 301. The first vibration damper 602 and the second vibration damper 603 suppress the front end vibration of the picking rod 201 again, and the hydraulic spring damper 307 suppresses the vibration of the counterweight block 402.

[0070] During the process of picking fruits 9, there will be pressure on the picking rod 201 at the moment 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, and reduce the vibration of the picking rod 201 to achieve 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 first due to the gravity of the fruit 9, and then 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 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, causing the picking rod 201 to vibrate more and the drone 1 to crash.

[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 considered as equivalent replacement methods and are included in the scope of protection 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 includes a balanced vibration reduction support plate provided on the landing gear and a passive vibration reduction assembly provided between the balanced vibration reduction support plate and the landing gear; The picking mechanism includes a picking rod provided on the balanced vibration-damping support plate, a shearing and clamping mechanism provided at the end of the picking rod for cutting and clamping the fruit stems, and a shearing and clamping driving mechanism provided 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 provided on the UAV, a first vibration reducer connected between the vibration reduction controller and the picking rod, a second vibration reducer provided at the end of the picking rod, and a posture sensor; the posture sensor is connected to the vibration reduction controller; The balancing mechanism includes a guide frame arranged on a balancing vibration-damping support plate, a counterweight block slidably arranged on the guide frame, and a balancing drive 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, characterized in that: The landing gear includes two support rod groups arranged symmetrically with each other, 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.

3. The vibration reduction and balancing device based on a harvesting drone according to claim 2, 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 balancing vibration reduction assembly arranged between the guide frame and the balancing vibration reduction support plate, the balancing vibration reduction assembly includes a balancing support shaft arranged at the lower end of the balancing vibration reduction support plate and parallel to the picking rod, a balancing bracket arranged on the guide frame, and a hydraulic spring damper arranged between the balancing support shaft and the balancing bracket.

5. The vibration reduction and balancing device based on a harvesting drone according to claim 1, characterized in that: 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 and the guide frame are connected 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, 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, 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, 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 engaged with each other.

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

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 positioning the drone body; the binocular camera and the depth camera are used for environmental perception and target fruit identification and positioning; the onboard computer is used to process the perceived environmental information.

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