Durian picking device

Abstract

The application provides a durian picking device, which comprises a UAV main body, a cutting mechanism is installed on one side of the UAV main body, a durian storage frame with a split structure is installed below the cutting mechanism, and a camera is arranged between the cutting mechanism and the durian storage frame; the durian storage frame is connected with an opening and closing driving mechanism, the opening and closing driving mechanism is used for controlling the opening and closing action of the durian storage frame; the UAV main body, the cutting mechanism, the camera and the opening and closing driving mechanism are connected with a control end respectively; a counterweight mechanism is arranged on the side of the UAV main body opposite to the cutting mechanism, the counterweight mechanism is connected with the cutting mechanism through a release mechanism to realize linkage, a visual identification module is connected with the camera, a database module and a control unit respectively, the control unit is connected with the counterweight mechanism, and the application realizes picking of durians based on the UAV technology.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a durian harvesting device. Background Technology

[0002] Durian is delicious, but its thorny growth on trees 20-30 meters tall makes harvesting difficult. Currently, the common method is for workers to climb the tree, cut the stem with a knife, and drop it down, where workers below catch it with cloth bags. This method is not only inefficient, but also poses a risk of workers being hit by falling durians. Summary of the Invention

[0003] To address the aforementioned technical problems, this application provides a durian harvesting device that utilizes drone technology to harvest durians. To achieve the above-mentioned technical features, the objective of this invention is as follows: A durian harvesting device includes a drone body, a cutting mechanism installed on one side of the drone body, a durian storage frame with a split structure installed below the cutting mechanism, and a camera between the cutting mechanism and the durian storage frame. The durian storage box is connected to an opening and closing drive mechanism, which is used to control the opening and closing action of the durian storage box. The main body of the drone, the cutting mechanism, and the opening and closing drive mechanism are respectively connected to the control terminal; A counterweight mechanism is provided on the side of the drone body opposite to the cutting mechanism. The counterweight mechanism is linked to the cutting mechanism through a release mechanism. The visual recognition module is connected to the camera, the database module, and the control unit respectively. The control unit is connected to the counterweight mechanism.

[0004] The durian storage frame is composed of a left mesh rod and a right mesh rod. Each of the left mesh rod and the right mesh rod includes a rod with one end hinged to the main body of the drone, and a frame is installed at the other end of the rod. The left and right net poles are connected by an elastic element, which is located between the drone body and the frame. The opening and closing drive mechanism includes a cam disposed between the left net pole and the right net pole. The cam is located between the elastic element and the drone body and is connected to the output shaft of the first motor.

[0005] The cutting mechanism includes a connecting rod and a mounting plate connected to the main body of the drone. The mounting plate is provided with a sliding groove, and the end of the sliding groove away from the main body of the drone is provided with a guide opening. The first end of the connecting rod is hinged to the eccentric wheel, the eccentric wheel is connected to the output shaft of the second motor, the second end of the connecting rod is equipped with a cutting saw blade, the cutting saw blade is connected to the output shaft of the third motor, and a limiting post that cooperates with the slide groove is provided on the middle section of the connecting rod.

[0006] The outer side of the limiting post is fitted with a rolling sleeve.

[0007] The frame is made of engineering plastic.

[0008] The counterweight mechanism includes a counterweight rod, which includes a tail rod with its first end hinged to the base. The base is connected to the main body of the drone. A counterweight block is slidably mounted on the tail rod. The counterweight block is connected to a linear displacement drive mechanism. The counterweight rod is linked to the cutting structure through the release mechanism. The linear displacement drive mechanism is used to drive the counterweight block to move along the length of the tail rod to adjust the distance between the counterweight block and the second end of the tail rod. In the initial state, the tail rod is tilted away from the main body of the drone under the constraint of the release mechanism. When the cutting saw moves to the preset position and completes the cutting of the durian root, the release mechanism releases the constraint on the tail rod, and the tail rod rotates to a horizontal position.

[0009] The linear displacement drive mechanism includes a frame-type push rod that is movably connected to the tail rod. A cam of equal width is installed inside the frame of the frame-type push rod. The cam of equal width is connected to the output shaft of the fourth motor. One end of the frame-type push rod is connected to the counterweight.

[0010] The release mechanism includes a restraint rope connected at one end to the counterweight rod, and a counterweight body at the other end of the restraint rope; In the initial state, the restraint rope is fitted into the notch on the eccentric wheel, and the counterweight is located below the notch.

[0011] A protective net is installed on the top of the mounting plate.

[0012] A method for operating the durian harvesting device includes the following steps: S1: In the initial state, the durian storage box is in the open state. The camera acquires the durian location information and transmits the acquired information to the control terminal of the drone body. After the control terminal acquires the durian location information, it adjusts the drone body to move closer to the durian fruit. S2: The camera takes a picture of the durian and inputs it into the visual recognition module. The visual recognition module evaluates the size of the durian and, through the data built into the database, assesses the quality of the durian and sends it to the control unit. S3: The control unit sends an adjustment signal to the counterweight mechanism based on the weight of the durian to complete the counterweight setting. S4: After obtaining the durian location information, the control terminal adjusts the position of the drone body so that the durian fruit is included inside the durian storage box in the open state and the neck of the durian is within the cutting range of the cutting mechanism. S5: The control terminal controls the durian storage box to close and the cutting mechanism to perform a cutting action; While the cutting mechanism moves along the preset trajectory to cut the neck of the durian, the release mechanism releases the constraint on the counterweight mechanism to achieve counterweight, so that the main body of the drone remains balanced after the durian falls into the durian storage box. S6: Control the main body of the drone to fly to the ground, open the durian storage box, and take out the durian.

[0013] This application's durian harvesting device includes a drone body, a camera, a visual recognition module, a cutting mechanism, a durian storage basket, and a counterweight mechanism. The visual recognition module is connected to the camera, a database module, and a control unit, while the control unit is connected to the counterweight mechanism. The visual recognition module identifies the pixel area occupied by the durian in photos taken by the camera. The database module stores data on the relationship between the durian's pixel area and its mass, derived from big data statistics. The counterweight mechanism is linked to the cutting mechanism via a release mechanism. Initially, the durian storage basket is open. The camera acquires the durian's position information and transmits it to the drone's control unit. After acquiring the durian's position information, the control unit adjusts the drone body to approach the durian. The camera's built-in laser rangefinder measures the distance between the camera and the durian, allowing the camera to take a picture of the durian and input the photo into the visual recognition module. The visual recognition module processes the image, calculates the pixel area occupied by the durian, and searches the database for this pixel area to obtain an estimated durian mass. The estimated mass is then sent to the control unit. The control unit, based on the durian's mass, sends... An adjustment signal is sent to the counterweight mechanism to complete the counterweight setting; then, the position of the drone body is further adjusted so that the durian fruit is placed inside the durian storage basket in the open state and the neck of the durian is within the cutting range of the cutting mechanism; the control end controls the durian storage basket to close and the cutting mechanism to perform the cutting action through the opening and closing drive mechanism; while the cutting mechanism moves along the preset trajectory to complete the cutting of the durian neck, the release mechanism releases the constraint on the counterweight mechanism to achieve counterweight, so that the drone body is kept balanced after the durian falls into the durian storage basket; the drone body is controlled to fly to the ground, open the durian storage basket, and take out the durian, thus completing the harvesting process of a single durian. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1This is a front view of a durian harvesting device provided in an embodiment of the present invention; Figure 2 This is a top view of a durian harvesting device provided in an embodiment of the present invention; Figure 3 A bottom view of a durian harvesting device provided in an embodiment of the present invention; Figure 4 This is a top view of a durian harvesting device according to an embodiment of the present invention during a cutting operation; Figure 5 This is a schematic diagram of the structure of the mounting plate provided in an embodiment of the present invention; Figure 6 This is a front view of the counterweight mechanism provided in an embodiment of the present invention; Figure 7 A top view of the counterweight mechanism provided in an embodiment of the present invention; Figure 8 This is a partial view of the tail boom in an inclined state according to an embodiment of the present invention; Figure 9 This is a partial view of the tail boom in a horizontal position according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the eccentric wheel provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the release mechanism provided in an embodiment of the present invention; In the diagram: 1. Drone body; 2. Cutting mechanism; 2a. Connecting rod; 2b. Mounting plate; 2b1. Slide groove; 2c. Guide opening; 2d. Eccentric wheel; 2d1. Notch; 2e. Limiting post; 2f. Second motor; 2g. Cutting saw blade; 2h. Rolling sleeve; 2i. Third motor; 3. Durian storage frame; 3a. Left net pole; 3b. Right net pole; 3c. Rod body; 3d. Frame body; 4. Camera; 5. Opening and closing drive mechanism; 5a. Cam; 5b. First motor; 6. Counterweight mechanism; 6a. Counterweight rod; 6a1. Tail rod; 6a2. Counterweight block; 6a3. Slide sleeve; 6b. Linear displacement drive mechanism; 6b. Frame push rod; 6b1. Equal width cam; 6b2. Fourth motor; 6b3. Release mechanism; 7. Restraint rope; 7a. Counterweight body; 7b. Electromagnet; 7c. Base; 8. Elastic element; 9. Protective net; 10. Detailed Implementation

[0016] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0017] To achieve the above-mentioned technical features, the objective of this invention is as follows: See appendix Figure 1-4A durian harvesting device includes a drone body 1, a cutting mechanism 2 installed on one side of the drone body, a durian storage frame 3 with a split structure installed below the cutting mechanism 2, and a camera 4 between the cutting mechanism 2 and the durian storage frame 3. The durian storage frame 3 is connected to an opening and closing drive mechanism 5, which controls the opening and closing action of the durian storage frame 3. The drone body 1, the cutting mechanism 2, the camera 4, and the opening and closing drive mechanism 5 are all connected to a control terminal. A counterweight mechanism 6 is provided on the side of the drone body 1 opposite to the cutting mechanism 2. The counterweight mechanism 6 is linked to the cutting mechanism 2 through a release mechanism 7. A visual recognition module is connected to the camera 4, a database module, and a control unit. The control unit is connected to the counterweight mechanism 6.

[0018] This application's durian harvesting device includes a drone body 1, a camera 4, a visual recognition module, a cutting mechanism 2, a durian storage basket 3, and a counterweight mechanism 6. The visual recognition module is connected to the camera 4, a database module, and a control unit, while the control unit is connected to the counterweight mechanism 6. The visual recognition module is used to identify the pixel area occupied by the durian in the photos taken by the camera 4. The database module stores data on the relationship between the durian pixel area and its mass, derived from big data statistics. The counterweight mechanism 6 is linked to the cutting mechanism 2 via a release mechanism 7. Initially, the durian storage basket 3 is open. Camera 4 acquires the durian's location information and transmits it to the control terminal of the drone body 1. After acquiring the durian's location information, the control terminal adjusts the drone body 1 to move closer to the durian. The laser ranging module built into camera 4 measures the distance between camera 4 and the durian, and then camera 4 takes a picture of the durian and inputs the photo into the visual recognition module. The visual recognition module processes the image, calculates the pixel area occupied by the durian, and searches the database for this pixel area to obtain the estimated durian quality. Subsequently, the quality of the durian is assessed and sent to the control unit. The control unit sends an adjustment based on the durian's quality. The signal is sent to the counterweight mechanism 6 to complete the counterweight setting; then the position of the drone body 1 is further adjusted so that the durian fruit is placed inside the durian storage basket 3 in the open state and the neck of the durian is within the cutting range of the cutting mechanism 2; the control end controls the durian storage basket 3 to close and the cutting mechanism 2 to perform the cutting action through the opening and closing drive mechanism 5; while the cutting mechanism 2 moves along the preset trajectory to complete the cutting of the durian neck, the release mechanism 7 releases the constraint on the counterweight mechanism 6 to achieve counterweight, so that the drone body 1 is kept balanced after the durian falls into the durian storage basket 3; the drone body 1 is controlled to fly to the ground, open the durian storage basket 3, and take out the durian, thus completing the harvesting process of a single durian.

[0019] As one implementation method, in this embodiment, see... Figure 1 , Figure 3The durian storage basket 3 is composed of a left mesh rod 3a and a right mesh rod 3b. Both the left mesh rod 3a and the right mesh rod 3b include a rod 3c with one end hinged to the main body of the drone 1, and a frame 3d is installed at the other end of the rod 3c. The left mesh rod 3a and the right mesh rod 3b are connected by an elastic element 9, which is located between the main body of the drone 1 and the frame 3d. The opening and closing drive mechanism 5 includes a cam 5a disposed between the left mesh rod 3a and the right mesh rod 3b. The cam 5a is located between the elastic element 9 and the main body of the drone 1. The cam 5a is connected to the output shaft of the first motor 5b. The cam 5a rotates with the output shaft of the first motor 5b, and under the action of the elastic force of the elastic element 9, it drives the left mesh rod 3a and the right mesh rod 3b to open and close.

[0020] As one implementation method, in this embodiment, see... Figure 1-5 The cutting mechanism 2 includes a connecting rod 2a and a mounting plate 2b connected to the drone body 1. The mounting plate 2b is provided with a groove 2b1, and the end of the groove 2b1 away from the drone body 1 is provided with a guide port 2c. The first end of the connecting rod 2a is hinged to an eccentric wheel 2d, which is connected to the output shaft of the second motor 2f. The second end of the connecting rod 2a is equipped with a cutting saw blade 2g, which is connected to the output shaft of the third motor 2i. A limiting post 2e that cooperates with the groove is provided on the middle section of the connecting rod 2a. With the above-mentioned crank-slider mechanism, the eccentric wheel 2d rotates with the output shaft of the second motor 2f, and moves the cutting saw blade 2g and the third motor 2i along a preset trajectory to complete the cutting of the durian neck.

[0021] Further, see Figure 1 The outer side of the limiting post 2e is fitted with a rolling sleeve 2h. The rolling sleeve is designed to generate rolling friction and reduce the resistance when the limiting post slides.

[0022] In one embodiment, the frame 3D is made of engineering plastic to achieve high strength and light weight.

[0023] As one implementation method, in this embodiment, see... Figure 1-4 , Figure 6-9 The counterweight mechanism 6 includes a counterweight rod 6a, which includes a tail rod 6a1 with its first end hinged to the base 8. The base 8 is connected to the drone body 1. The tail rod 6a1 is fitted into the center hole of the counterweight block 6a2, which is connected to the linear displacement drive mechanism 6b. The counterweight rod 6a is linked to the cutting mechanism 2 via a release mechanism 7. The control unit sends an adjustment signal to the linear displacement drive mechanism 6b based on the weight of the durian. The linear displacement drive mechanism 6b drives the counterweight block 6a2 to move along the length of the tail rod 6a1 to adjust the distance between the counterweight block 6a2 and the second end of the tail rod 6a1, thus completing the counterweight setting. In the initial state, the tail rod 6a1 is tilted away from the drone body 1 under the constraint of the release mechanism 7. Figure 8 When the cutting saw moves to the preset position and completes the cutting of the durian root, the release mechanism 7 releases the constraint on the tail rod 6a1. Under the action of gravity, the tail rod 6a1 rotates outward until it abuts against the base 8 and is in a horizontal position. Figure 9 This completes the counterweight action.

[0024] As one implementation, in this embodiment, referring to 6-7, two sliding sleeves 6a3 are fixed on the tail rod 6a1. The linear displacement drive mechanism 6b includes a frame-type push rod 6b1 movably connected to the tail rod 6a1. The rods at both ends of the frame-type push rod 6b1 are fitted into the sliding sleeves 6a3, thus forming a movable connection. An equal-width cam 6b2 is installed inside the frame of the frame-type push rod 6b1. The equal-width cam 6b2 is connected to the output shaft of the fourth motor 6b3. One end of the frame-type push rod 6b1 is connected to the counterweight 6a2. The control unit calculates based on the mass of the durian (and the structural data of the device in this application) to ensure the balance of the drone body 1 after the durian fruit falls into the durian storage basket 3. Then, the rotation angle of the output shaft of the fourth motor 6b3 is adjusted to drive the equal-width cam 6b2, so as to realize the displacement of the counterweight 6a2 along the length direction of the tail rod 6a1, thereby realizing the adjustment of the counterweight.

[0025] As one implementation method, in this embodiment, see... Figure 1-2 , Figure 4 The release mechanism 7 includes a restraint rope 7a connected at one end to a counterweight rod 6a, and a counterweight 7b at the other end of the restraint rope 7a. In the initial state, the restraint rope 7a is fitted into a notch 2d1 on the eccentric wheel 2d, and the counterweight 7b is located below the notch 2d1. The angle α from the notch 2d1 on the eccentric wheel 2d to the hinge point where the connecting rod 2a and the eccentric wheel 2d are hinged is known. (See...) Figure 10 Therefore, it can be seen that from the time the restraining rope 7a is released from the eccentric wheel 2d until the cutting saw blade 2g completely cuts the durian stem, the angle of motion required for the eccentric wheel 2d to move is 180-α. Through theoretical calculation and experiment, the time T required for the tail rod 6a1 to be released from the inclined state to the horizontal state can be obtained. Therefore, the rotational speed of the second motor 2f can be set to S=(180-α) / 360*T, so as to ensure that when the cutting saw blade 2g completely cuts the durian stem, the counterweight rod 6a is exactly in the horizontal position, thereby enabling the main body of the drone 1 to reach the torque balance state.

[0026] As one implementation method, in this embodiment, see... Figure 1 , Figure 2 A protective net 10 is installed on the top of the mounting plate 2b. The protective net 10 is made of plastic or metal to prevent the cutting mechanism 2 from being affected by falling branches and leaves from the durian tree.

[0027] As one implementation method, in this embodiment, see... Figure 11The release mechanism 7 includes an electromagnet 7c disposed between the tail rod 6a1 and the base 8. When the second motor 2f rotates to a preset angle, the cutting saw blade 2g completes the cutting of the durian neck, the electromagnet 7c is de-energized, and the tail rod 6a1 rotates outward until it abuts against the base 8 in a horizontal position. Figure 9 This achieves the counterweight function.

[0028] A method for operating a durian harvesting device includes the following steps: S1: In the initial state, the durian storage basket 3 is in the open state, the camera 4 acquires the durian location information and transmits the acquired information to the control terminal of the drone body 1. After the control terminal acquires the durian location information, it adjusts the drone body 1 to move closer to the durian fruit. S2: The camera 4 takes a picture of the durian and inputs it into the visual recognition module. The visual recognition module evaluates the size of the durian and, through the data built into the database, evaluates the quality of the durian and sends it to the control unit. S3: The control unit sends an adjustment signal to the counterweight mechanism 6 according to the weight of the durian to complete the counterweight setting. S4: After the control terminal obtains the durian location information, it adjusts the position of the drone body 1 so that the durian fruit is included inside the durian storage basket 3 in the open state and the neck of the durian is within the cutting range of the cutting mechanism 2. S5: The control terminal controls the durian storage basket 3 to close and the cutting mechanism 2 to perform a cutting action; While the cutting mechanism 2 moves along the preset trajectory to cut the neck of the durian, the release mechanism releases the constraint on the counterweight mechanism 6 to achieve counterweight, so that the main body of the drone 1 remains balanced after the durian falls into the durian storage basket 3. S6: Control the main body of the drone 1 to fly to the ground, open the durian storage basket 3, and take out the durian.

Claims

1. A durian harvesting device, characterized in that: The device includes a drone body, a cutting mechanism installed on one side of the drone body, a durian storage frame with a split structure installed below the cutting mechanism, and a camera between the cutting mechanism and the durian storage frame. The durian storage box is connected to an opening and closing drive mechanism, which controls the opening and closing action of the durian storage box; the drone body, the cutting mechanism, and the opening and closing drive mechanism are respectively connected to a control terminal. A counterweight mechanism is provided on the side of the drone body opposite to the cutting mechanism. The counterweight mechanism is linked to the cutting mechanism through a release mechanism. The visual recognition module is connected to the camera, the database module, and the control unit respectively. The control unit is connected to the counterweight mechanism. The cutting mechanism includes a connecting rod and a mounting plate connected to the main body of the drone. The mounting plate is provided with a sliding groove, and the end of the sliding groove away from the main body of the drone is provided with a guide opening. The first end of the connecting rod is hinged to the eccentric wheel, the eccentric wheel is connected to the output shaft of the second motor, the second end of the connecting rod is equipped with a cutting saw blade, the cutting saw blade is connected to the output shaft of the third motor, and a limiting post that cooperates with the slide groove is provided on the middle section of the connecting rod. The counterweight mechanism includes a counterweight rod, which includes a tail rod with its first end hinged to the base. The base is connected to the main body of the drone. A counterweight block is slidably mounted on the tail rod. The counterweight block is connected to a linear displacement drive mechanism. The counterweight rod is linked to the cutting mechanism through the release mechanism. The linear displacement drive mechanism is used to drive the counterweight block to move along the length of the tail rod to adjust the distance between the counterweight block and the second end of the tail rod. In the initial state, the tail rod is tilted away from the main body of the drone under the constraint of the release mechanism. When the cutting saw moves to the preset position and completes the cutting of the durian root, the release mechanism releases the constraint on the tail rod, and the tail rod rotates to a horizontal position. The linear displacement drive mechanism includes a frame-type push rod that is movably connected to the tail rod. A cam of equal width is installed inside the frame of the frame-type push rod. The cam of equal width is connected to the output shaft of the fourth motor. One end of the frame-type push rod is connected to the counterweight. The release mechanism includes a restraint rope connected at one end to the counterweight rod, and a counterweight body at the other end of the restraint rope; In the initial state, the restraint rope is fitted into the notch on the eccentric wheel, and the counterweight is located below the notch.

2. The durian harvesting device according to claim 1, characterized in that: The durian storage frame is composed of a left mesh rod and a right mesh rod. Each of the left mesh rod and the right mesh rod includes a rod with one end hinged to the main body of the drone, and a frame is installed at the other end of the rod. The left and right net poles are connected by an elastic element, which is located between the drone body and the frame. The opening and closing drive mechanism includes a cam disposed between the left net pole and the right net pole. The cam is located between the elastic element and the drone body and is connected to the output shaft of the first motor.

3. The durian harvesting device according to claim 2, characterized in that: The outer side of the limiting post is fitted with a rolling sleeve.

4. A durian harvesting device according to claim 3, characterized in that: The frame is made of engineering plastic.

5. A durian harvesting device according to claim 4, characterized in that: A protective net is installed on the top of the mounting plate.

6. A method for operating the durian harvesting device according to any one of claims 1-5, characterized in that, Includes the following steps: S1: In the initial state, the durian storage box is in the open state. The camera acquires the durian location information and transmits the acquired information to the control terminal of the drone body. After the control terminal acquires the durian location information, it adjusts the drone body to move closer to the durian fruit. S2: The camera takes a picture of the durian and inputs it into the visual recognition module. The visual recognition module evaluates the size of the durian and, through the data built into the database, assesses the quality of the durian and sends it to the control unit. S3: The control unit sends an adjustment signal to the counterweight mechanism according to the weight of the durian to complete the counterweight setting; S4: After obtaining the durian location information, the control terminal adjusts the position of the drone body so that the durian fruit is included inside the durian storage box in the open state and the neck of the durian is within the cutting range of the cutting mechanism. S5: The control terminal controls the durian storage box to close and the cutting mechanism to perform a cutting action; While the cutting mechanism moves along the preset trajectory to cut the neck of the durian, the release mechanism releases the constraint on the counterweight mechanism to achieve counterweight, so that the main body of the drone remains balanced after the durian falls into the durian storage box. S6: Control the main body of the drone to fly to the ground, open the durian storage box, and take out the durian.

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