Picking device, picking equipment and picking method based on aerial mechanical arm platform

Abstract

The invention discloses a picking device, picking equipment and a picking method based on an aerial mechanical arm platform, solves the problem that roots of fruits / seeds need to be accurately found when the picking device shears in a shearing mode in the prior art, and has the beneficial effect of conveniently picking the fruits or the seeds. According to the specific scheme, the picking device based on the aerial mechanical arm platform comprises a picking base, the picking base can be connected with a mechanical arm, the picking base supports a driving power source, the driving power source is connected with a driving cutter, a driven cutter is fixed to the picking base, and the driving cutter and the driven cutter both extend out of the picking base. The driving cutter and the driven cutter are oppositely arranged and have an offset distance, after fruits / seeds enter a picking area between the driving cutter and the driven cutter, the driving power source drives the driving cutter to swing towards the driven cutter, and breaking and picking bending moment for the fruits / seeds is formed; and the joints of the fruits / seeds and the crops are broken under the action of the breaking bending moment.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit / seed picking, in particular to a picking device, a picking equipment and a method based on an aerial mechanical arm platform. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Korean pine cones (also known as pine cones) are the seeds of Korean pine trees. The pine nuts produced by them have the effects of lowering blood pressure (lipid) and anti-aging, and have important economic value. Korean pine trees are tens of meters tall, and most of the Korean pine cones are located at the top of the crown, and a few are located at the end of the side branches, and they are regular in shape (pagoda-shaped). At present, the main ways to pick Korean pine cones include hydraulic vibrators, pine cone picking vehicles, hydrogen balloons, and manual tree climbing. Among them, the hydraulic vibrator violently shakes the trunk of the red pine tree through hydraulic equipment. Although this method has a high picking efficiency, it will cause relatively serious damage to the root system and bark of the red pine; the pine cone picking vehicle manually picks pine cones after lifting people through a tower crane, but the picking height is limited by the height of the tower crane, making it difficult to pick red pine cones at a higher position; the use of hydrogen balloons with manual or automatic control has a high efficiency and was once vigorously promoted. Later, due to the poor stability of the balloons, it was difficult to withstand high-altitude wind speeds above level 3, resulting in frequent drifting of the tower hitters on the hydrogen balloons. The use of hydrogen balloons to pick towers is now prohibited; manual tree climbing is currently the main method of picking red pine cones, but personal injuries and deaths occur frequently. Therefore, it is of great significance to develop more intelligent and efficient unmanned red pine cone picking technology to reduce dependence on manpower.

[0004] However, although a variety of new agricultural machinery has provided new ways for picking red pine cones in recent years, they are still generally faced with low picking efficiency, high risk, easy damage to red pine cones or branches during the picking process, and insufficient space between two adjacent pine trees in the pine forest, and picking equipment is not easy to transport in the pine forest. With the development and maturity of drone technology, the fruit / seed picking technology of aerial robotic arms developed based on drone platforms has been applied and promoted in a variety of agricultural and sideline products. For red pine cones, which are tower-shaped fruits / seeds located at the top of the tree canopy and clustered, Chinese patent application CN202320544447.X (application date 2023.03.20) discloses a pine cone picking drone based on a snake-like robotic arm, which uses a branch shearing mechanism to shear the fruits / seeds of pine cones. Direct shearing has the following two problems:

[0005] The object that needs to be found for direct cutting is the root of the pine cone, which is the connection between the pine cone and the crop. However, the pine tree is tall, and even though the drone is in the air, it is not easy to quickly find the connection between the pine cone and the crop, resulting in low work efficiency.

[0006] Direct shearing requires a large instantaneous shear force and has high requirements on the sharpness of the blade. Once the instantaneous shear force is insufficient, it will easily lead to the problem of difficulty in picking.

[0007] In addition, other fruits / seeds similar to the pagoda shape also face the above-mentioned problems during picking. Summary of the invention

[0008] In view of the deficiencies in the prior art, the object of the present invention is to provide a picking device based on an aerial robotic arm platform to achieve efficient and safe picking of fruits / seeds such as red pine nuts.

[0009] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0010] A picking device based on an aerial mechanical arm platform comprises a picking base, which can be connected to the mechanical arm, the picking base supports a driving power source, the driving power source is connected to an active tool, a passive tool is fixed to the picking base, the active tool and the passive tool both extend from the picking base, the active tool and the passive tool are arranged opposite to each other and there is an offset distance between the two, after the fruit / seed enters a picking area between the active tool and the passive tool, the driving power source drives the active tool to swing toward the passive tool, forming a breaking and picking bending moment for the fruit / seed, so that the connection between the fruit / seed and the crop is broken under the action of the breaking and picking bending moment to achieve the picking of the fruit / seed.

[0011] In the picking device based on the aerial robot arm platform as described above, the offset distance between the active tool and the passive tool is adjustable to meet the picking needs of fruits / seeds of different sizes. For large fruits, the length between the active tool and the passive tool can be adjusted.

[0012] As described above, in a picking device based on an aerial robotic arm platform, the active tool includes an active tool extension rod, the active tool extension rod is connected to the driving power source, the active tool extension rod is connected to the first tool head, and the length of the active tool is ensured by the active tool extension rod.

[0013] The passive tool comprises a passive tool extension rod, which is fixed to the picking base. The passive tool extension rod is connected to the second tool head through a telescopic column, thereby effectively ensuring the length of the passive tool.

[0014] In the above-mentioned picking device based on the aerial manipulator platform, the active tool is provided with an enveloping sawtooth structure on the inner edge of the passive tool, and the passive tool is also provided with an enveloping sawtooth structure on the inner edge of the active tool, so as to ensure close contact between the active tool, the passive tool and the fruit / seed, and avoid slippage between the active tool, the passive tool and the fruit / seed;

[0015] The inner cutting edges of the active tool and the passive tool are both curved, and a convex portion is provided on the inner side of the active tool and the passive tool away from the driving power source to further prevent the fruit / seed from slipping.

[0016] In the above-mentioned picking device based on the aerial robot arm platform, in order to realize the transmission of torque, the driving power source is connected to the active tool through a transmission mechanism.

[0017] As described above, a picking device based on an aerial robotic arm platform is provided with a support rod fixedly arranged at the picking base, one end of the passive tool is fixed at the support rod, one end of the active tool is also arranged at the support rod, and the transmission mechanism is a gear transmission mechanism, one end of the active tool is connected to some gears in the gear transmission mechanism to drive the active tool to swing through the gear transmission mechanism.

[0018] As described above, a picking device based on an aerial robotic arm platform, the gear transmission mechanism includes an active bevel gear, the active bevel gear is fixed to the output end of the driving power source, the active bevel gear is meshed with the driven flat gear, the driven flat gear is meshed with the fan-shaped flat gear, the fan-shaped flat gear is sleeved on the circumferential direction of the support rod, and the fan-shaped flat gear is connected to the active tool.

[0019] In the picking device based on the aerial manipulator arm platform as described above, the driving power source includes a driving motor and a rechargeable battery, the picking base supports the driving motor and the rechargeable battery, the driving motor is detachably connected to the rechargeable battery, and the picking base is detachably connected to the end plate.

[0020] In a second aspect, the present invention further provides a drone picking device, comprising a drone, the drone is connected to a mechanical arm, the mechanical arm is connected to the above-mentioned picking device based on an aerial mechanical arm platform, the drone remotely communicates with a ground controller, and the control unit of the ground controller or the drone is connected to the above-mentioned driving power source;

[0021] The robotic arm comprises multiple sections, and two adjacent sections of the robotic arm are connected via bendable joints or retractable joints.

[0022] In a third aspect, the present invention further provides a fruit / seed picking method, which uses the above-mentioned drone picking device and includes the following contents:

[0023] The drone is connected to the mechanical arm, and the mechanical arm is connected to the picking device based on the aerial mechanical arm platform;

[0024] The drone drives a harvesting device based on an aerial mechanical arm platform to fly to a set height. The drone scans the crops, obtains the location information of the fruits / seeds, and sends it to the ground controller;

[0025] The operator controls the movement of the UAV according to the position information of the fruit / seed displayed on the ground controller, so that the active cutter and the passive cutter come to the position of the fruit / seed. After the fruit / seed enters the picking area between the active cutter and the passive cutter, the ground controller directly controls or controls the driving power source through the control unit of the UAV. The driving power source drives the active cutter to swing toward the passive cutter, forming a bending moment for breaking and picking the fruit / seed, so that the connection between the fruit / seed and the crop is broken under the action of the bending moment to achieve the picking of the fruit / seed.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1) The present invention provides a picking device, which has a simple and reasonable structural arrangement. An active tool and a passive tool are integrally arranged with a distance between them. The active tool can swing toward the passive tool. When both are in contact with fruits or seeds (such as red pine cones), the driving power source can drive the active tool to swing toward the passive tool, forming a bending moment for breaking the red pine cones. This is beneficial for breaking the connection between the red pine cones and the pine trees under the action of the breaking bending moment to achieve the picking of the red pine cones. There is no need to find the roots of the red pine cones, but only to find the red pine cones that are larger than the roots, which is relatively beneficial to improving work efficiency. Moreover, there is no need to require a large instantaneous force as in the prior art, and it is beneficial to pick dry pine cones by breaking them.

[0028] 2) In the present invention, the offset distance between the active tool and the passive tool is adjustable. For fruits or seeds of different maturity and size, the length between the active tool and the passive tool can be adjusted to meet the picking requirements of fruits or seeds of different maturity and length. In addition, when the clamping force of the active tool and the passive tool on the fruit or seed is the same, the larger the offset distance between the active tool and the passive tool, the greater the picking torque applied to the fruit or seed.

[0029] 3) In the present invention, an enveloping serrated structure is provided on the inner side of the active tool and the passive tool, and the inner surfaces of the two are curved, which is beneficial for the active tool and the passive tool to guide the red pine cones to a suitable position and angle for picking along the enveloping serrated structure when approaching fruits or seeds (such as red pine cones), thereby ensuring the accuracy and stability of the active tool and the passive tool when contacting the red pine cones. Moreover, the serrated structure can enhance the gripping force after capturing the red pine cones without damaging the pine nuts inside the red pine cones, which is beneficial for achieving reliable and efficient approach and picking of pagoda-shaped red pine cones.

[0030] 4) In the drone picking equipment of the present invention, the drone is connected to the robotic arm, and the robotic arm is connected to the picking device. The overall aerial robotic arm is based on the drone platform and has good adaptability. With the assistance of the drone vision system and in cooperation with the ground controller, the picking device is quickly delivered to the effective picking area through the robotic arm, which significantly improves the efficiency of fruit or seed picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 It is a schematic diagram (first shell section) of a picking device based on an aerial robot arm platform according to one or more embodiments of the present invention.

[0033] Figure 2 It is a top view of the cooperation between an active tool and a passive tool in a picking device based on an aerial robot arm platform according to one or more embodiments of the present invention.

[0034] Figure 3 It is a schematic diagram of a first cutter head or a second cutter head in a picking device based on an aerial robot arm platform according to one or more embodiments of the present invention.

[0035] Figure 4 is a schematic diagram of a drone harvesting device according to one or more embodiments of the present invention.

[0036] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0037] Wherein: 1. active tool, 2. active tool extension rod, 3. support rod, 4. sector flat gear, 5. support shaft, 6. drive motor, 7. rechargeable battery, 8. active bevel gear, 9. driven flat gear, 10. passive tool extension rod, 11. telescopic column, 12. passive tool, 13. first shell, 14. second shell, 15. third shell, 16. end plate, 17. first tool head, 18. second tool head, 19. convex part, 20. drone, 21. rigid rod, 22. bendable joint, 23. telescopic joint, 24. telescopic rod. DETAILED DESCRIPTION

[0038] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof;

[0040] As introduced in the background technology, the picking device in the prior art needs to accurately locate the root of the fruit or seed when shearing, and has high requirements for instantaneous shear force. In order to solve the above technical problems, the present invention proposes a picking device based on an aerial robotic arm platform.

[0041] Embodiment 1

[0042] In a typical embodiment of the present invention, reference is made to Figure 1 As shown, a picking device based on an aerial robot arm platform, taking the picking of red pine cones as an example, includes a picking base, the picking base can be connected to the robot arm 21, the picking base supports a driving power source, the driving power source is connected to an active tool 1, a passive tool 12 is fixed to the picking base, the active tool 1 and the passive tool 12 are both extended from the picking base, the active tool 1 and the passive tool 12 are arranged opposite to each other and there is an offset distance between the two, after the pine cone enters the picking area between the active tool 1 and the passive tool 12, the driving power source drives the active tool 1 to swing toward the passive tool 12, forming a breaking and picking bending moment for the pine cone, so that the connection between the red pine cone and the crop is broken under the action of the breaking and picking bending moment to achieve the picking of the red pine cone.

[0043] refer to Figure 1 As shown, the picking base includes a first shell 13, a transmission mechanism is arranged in the first shell 13, a driving power source is connected to the active tool 1 through the transmission mechanism, the transmission mechanism is specifically a gear transmission mechanism, and the forward and reverse motions of the driving power source can be converted into clamping and releasing motions between the active tool 1 and the passive tool 12 through the gear transmission mechanism, the first shell 13 supports the support rod 3, the support rod 3 is vertically connected to one side of the first shell 13, one end of the passive tool extension rod 10 is fixed to the support rod 3, the active tool extension rod 10 is also arranged at the support rod 3, the distance between the active tool extension rod 10 and the passive tool extension rod is greater than 10 mm, the transmission mechanism is a gear transmission mechanism, one end of the active tool 1 is connected to the fan-shaped flat gear 4 in the gear transmission mechanism, so as to drive the active tool to swing through the gear transmission mechanism;

[0044] Specifically, the gear transmission mechanism includes an active bevel gear 8, which is fixed to the output end of the driving power source, the active bevel gear 8 is meshed with the driven flat gear 9, the support shaft 5 is set through the driven flat gear 9, the support shaft 5 is fixed to the first shell 13, the driven flat gear 9 is meshed with the fan-shaped flat gear 4, a protruding bar is set on one side of the fan-shaped flat gear 4, the protruding bar is sleeved on the annular direction of the support rod 3, and the protruding bar of the fan-shaped flat gear is connected to the active tool extension rod 2, which can be connected specifically by screws.

[0045] It is easy to understand that there is an offset distance between the active tool 1 and the passive tool 12, and the offset distance between the active tool 1 and the passive tool 12 is adjustable, which can meet the picking needs of red pine cones of different sizes. For large fruits, the length between the active tool 1 and the passive tool 12 can be adjusted, and the larger the offset distance between the active tool 1 and the passive tool, the greater the picking torque applied to the red pine cones.

[0046] Specifically, refer to Figure 2 As shown, the active tool 1 includes an active tool extension rod 2, which is connected to the first cutter head 17 by bolts, and the length of the active tool is ensured by the active tool extension rod; the passive tool 12 includes a passive tool extension rod 10, which is fixed to the support rod 3, and the passive tool extension rod 10 is connected to the second cutter head 18 by a retractable column 11, which effectively ensures the length of the passive tool 12, so that the distance between the first cutter head and the second cutter head is less than the length of the pine cone, and the distance between the first cutter head and the second cutter head is usually greater than 30 mm.

[0047] The retractable column 11 may be a rigid retractable joint, and two adjacent rigid retractable joints may be detachably connected, and when the picking device is on the ground, the operator may make adjustments in advance.

[0048] In this embodiment, reference Figure 2 and Figure 3 As shown, the inner edges of the first cutter head 17 and the second cutter head 18 are both enveloped serrated structures, ensuring close contact between the active tool 1, the passive tool 12 and the pine cones. In this way, when the first cutter head and the second cutter head approach the red pine cones, they can reliably constrain the red pine cones between the active tool and the passive tool, thereby achieving effective mechanical auxiliary locking of the picking target; and the first cutter head and the second cutter head are designed with serrated structures at the inner edges of the cutter heads, which can enhance the gripping force of the two tools on the red pine cones when picking, making it less likely to slip, thereby improving the efficiency of the picking operation.

[0049] Moreover, the inner edges of the first blade head 17 and the second blade head 18 are both curved, and a convex portion 19 is provided on the side of the inner edges of the first blade head and the second blade head away from the driving power source. The convex portions 19 of the first blade head and the second blade head are arranged relative to each other, so that the side close to the driving power source is a concave portion, and the convex portion 19 and the concave portion have a smooth transition. The arrangement of the convex portion is conducive to limiting the position of the pine cone, thereby further preventing the red pine cone from slipping.

[0050] It should be explained that the driving power source includes a driving motor 6 and a rechargeable battery. In order to ensure that sufficient picking bending moment is generated at the active tool, the driving motor is a high-torque motor. The driving motor is connected to the rechargeable battery 7. The driving motor 6 is driven by the rechargeable battery 7 to output torque to the gear transmission mechanism, that is, the torque transmitted from the driving motor 6 is output to the active tool extension arm 2 through the active bevel gear 8, the driven flat gear 9, and the fan-shaped flat gear 4, thereby driving the active tool 1 to move toward the passive tool 12.

[0051] In this embodiment, the picking base supports the driving motor 6 and the rechargeable battery 7. The picking base also includes a second shell 14, which is connected to the first shell 13. The second shell can be a cylindrical shell, in which the driving motor 6 is arranged. The second shell can be a circular shell. A third shell 15 is arranged at one end of the second shell 13, which can be a rectangular shell. The rechargeable battery 7 is placed in the third shell. The third shell is detachably connected to the end plate, and can be snap-connected or bolted. The third shell is disassembled relative to the end plate to realize the replacement of the rechargeable battery 7. The end plate is connected to the drone through a mechanical arm.

[0052] In addition, before the drone picking equipment takes off, ensure that the rechargeable battery 7 is in a fully charged state to meet the needs of more than ten drone take-offs and landings to pick red pine nuts. The picking operation time of one drone take-off and landing is about one hour, during which the drone battery needs to be replaced, while the power of the rechargeable battery 7 can meet the aerial picking operation of the picking device for a whole day.

[0053] In addition, the active tool 1, the passive tool 12 and the picking base are all coated with pine oil, which avoids problems such as structural adhesion and mechanical response lag caused by repeated contact with pine branches and pine cones with a large amount of pine oil during the picking process, reduces the failure rate of the picking device, and effectively improves the efficiency, stability and controllability of the red pine cone picking process.

[0054] The picking device provided in the present embodiment adopts an active tool and a passive tool with adjustable offset distance, which can convert the shear force applied by the traditional picking tool on the object into bending moment, forming a "breaking and picking" technology for tower-shaped fruits / seeds such as red pine cones. The interior of the two tools is an envelope-shaped serrated structure, which fully guarantees the accuracy and stability of the two tools when they come into contact with the red pine cones, effectively reduces the damage to the fruits / seeds inside the red pine cones, and with the assistance of a robotic arm, achieves safe and efficient picking of red pine cones of different heights, different fruit cluster types, and different growth directions; by adjusting the offset distance between the active tool and the passive tool, it can adapt to pine cones of different sizes and maturity states, solves the problems of low efficiency and poor safety in traditional red pine cone picking methods, reduces the fruit / seed damage rate, and has broad application prospects and economic benefits.

[0055] Embodiment 2

[0056] This embodiment provides a drone picking device, referring to Figure 4 As shown, it includes a drone 20, the drone 20 is connected to a mechanical arm 21, the mechanical arm 21 is connected to the picking device based on the aerial mechanical arm platform, the drone communicates remotely with the ground controller, and the control unit of the ground controller or the drone is connected to the driving motor;

[0057] Among them, the ground controller includes a computer and a remote control, the remote control is used to control the movement of the UAV, the ground controller can be a computing terminal, the computing terminal is connected to the UAV, the computing terminal has a display screen, the image collected by the UAV is displayed through the display screen, the computing terminal is connected to the drive motor or the control unit of the UAV is connected to the drive motor.

[0058] It should be noted that the robotic arm includes multiple sections, and two adjacent sections of the robotic arm are connected by a bendable joint or a retractable joint. The robotic arm includes 4 sections, the first section is hingedly connected to the abdomen of the drone, a bendable joint 22 is set between the second section and the first section, a bendable joint 22 is set between the second section and the third section, and a telescopic tube is set between the third section and the fourth section as a retractable joint 23. The first and second sections of the robotic arm are both rigid rods 21, and the third and fourth sections are both retractable rods 24. The angle between the first and second sections is usually greater than 90°, and the angle between the second and third sections may be greater than or equal to or less than 90°. The fourth section and the third section may be located in the same straight line, the bendable joint is a bendable joint for an existing robotic arm, and the retractable joint may be an existing telescopic tube joint, which will not be repeated. The fourth section is connected to the outside of the second shell 14 in the picking base, and can be snap-connected to the second shell, or can be detachably connected by bolts, so as to realize the connection between the robotic arm and the picking device.

[0059] Embodiment 3

[0060] This embodiment provides a fruit / seed picking method, such as picking red pine nuts, using a drone picking device described in Embodiment 2, including the following contents:

[0061] The drone is connected to the mechanical arm, and the mechanical arm is connected to the picking device based on the aerial mechanical arm platform;

[0062] The drone drives a picking device based on an aerial mechanical arm platform to fly to a set height. The drone scans the pine tree, obtains the location information of the pine cones, and sends it to the ground controller;

[0063] The operator controls the movement of the UAV according to the position information of the red pine cones displayed on the ground controller, so that the active tool and the passive tool come to the location of the red pine cones. After the red pine cones enter the picking area between the active tool and the passive tool, the ground controller directly controls or controls the driving power source through the control unit of the UAV. The driving power source drives the active tool to swing toward the passive tool, forming a bending moment for breaking and picking the red pine cones, so that the connection between the red pine cones and the pine branches is broken under the action of the breaking and picking bending moment to achieve the picking of the red pine cones.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A picking device based on an aerial mechanical arm platform, characterized in that: The picking base includes a picking base, which can be connected to a robotic arm. The picking base supports a driving power source, which is connected to an active tool. A passive tool is fixed to the picking base. Both the active tool and the passive tool extend from the picking base. The active tool and the passive tool are arranged opposite to each other and there is an offset distance between the two. After the fruit / seed enters a picking area between the active tool and the passive tool, the driving power source drives the active tool to swing toward the passive tool, forming a bending moment for breaking and picking the fruit / seed, so that the connection between the fruit / seed and the crop is broken under the action of the bending moment to achieve the picking of the fruit / seed.

2. A picking device based on an aerial mechanical arm platform according to claim 1, characterized in that: The offset distance between the active tool and the passive tool is adjustable.

3. A picking device based on an aerial mechanical arm platform according to claim 2, characterized in that: The active tool comprises an active tool extension rod, the active tool extension rod is connected to the driving power source, and the active tool extension rod is connected to the first tool head. The passive tool comprises a passive tool extension rod, which is fixed to the picking base and connected to the second tool head via a telescopic column.

4. The picking device based on the aerial mechanical arm platform according to claim 1 is characterized in that: The inner cutting edge of the active tool facing the passive tool is provided with an envelope-shaped sawtooth structure, and the inner cutting edge of the passive tool facing the active tool is also provided with an envelope-shaped sawtooth structure. The inner cutting edges of the active tool and the passive tool are both curved, and a convex portion is provided on the inner side of the active tool and the passive tool away from the driving power source.

5. The picking device based on the aerial mechanical arm platform according to claim 1 is characterized in that: The driving power source is connected to the active tool through a transmission mechanism.

6. A picking device based on an aerial mechanical arm platform according to claim 5, characterized in that: A support rod is fixedly arranged at the picking base, one end of the passive tool is fixed at the support rod, one end of the active tool is also arranged at the support rod, and the transmission mechanism is a gear transmission mechanism, one end of the active tool is connected to some gears in the gear transmission mechanism to drive the active tool to swing through the gear transmission mechanism.

7. A picking device based on an aerial mechanical arm platform according to claim 6, characterized in that: The gear transmission mechanism includes an active bevel gear, which is fixed to the output end of the driving power source, the active bevel gear is meshed with the driven flat gear, the driven flat gear is meshed with the fan-shaped flat gear, the fan-shaped flat gear is sleeved on the annular direction of the support rod, and the fan-shaped flat gear is connected to the active tool.

8. The picking device based on the aerial mechanical arm platform according to claim 1 is characterized in that: The driving power source includes a driving motor and a rechargeable battery. The picking base supports the driving motor and the rechargeable battery. The driving motor is detachably connected to the rechargeable battery. The picking base is detachably connected to the end plate.

9. A drone picking device, characterized in that: It comprises a drone, the drone is connected to a mechanical arm, the mechanical arm is connected to a picking device based on an aerial mechanical arm platform according to any one of claims 1 to 8, the drone communicates remotely with a ground controller, and the control unit of the ground controller or the drone is connected to the driving power source; The robotic arm comprises multiple sections, and two adjacent sections of the robotic arm are connected via bendable joints or retractable joints.

10. A method for picking fruits or seeds, characterized in that: The drone picking device according to claim 9 comprises the following contents: The drone is connected to the mechanical arm, and the mechanical arm is connected to the picking device based on the aerial mechanical arm platform; The drone drives a harvesting device based on an aerial mechanical arm platform to fly to a set height. The drone scans the crops, obtains the location information of the fruits / seeds, and sends it to the ground controller; The operator controls the movement of the UAV according to the position information of the fruit / seed displayed on the ground controller, so that the active cutter and the passive cutter come to the position of the fruit / seed. After the fruit / seed enters the picking area between the active cutter and the passive cutter, the ground controller directly controls or controls the driving power source through the control unit of the UAV. The driving power source drives the active cutter to swing toward the passive cutter, forming a bending moment for breaking and picking the fruit / seed, so that the connection between the fruit / seed and the crop is broken under the action of the bending moment to achieve the picking of the fruit / seed.

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