A picking unmanned aerial vehicle and self-driven parking platform linkage picking system and method

Abstract

The application discloses a picking unmanned aerial vehicle and self-driving parking platform linkage picking system and method, the picking system comprises a self-driving parking platform and a picking unmanned aerial vehicle; the self-driving parking platform is provided with a fruit box, a first cable winding and unwinding device and a power supply; the first cable winding and unwinding device can wind a first cable connected between the picking unmanned aerial vehicle and the power supply; the picking system further comprises an auxiliary unmanned aerial vehicle; the auxiliary unmanned aerial vehicle comprises a second unmanned aerial vehicle body and a sliding buckle, and the first cable passes through the sliding buckle; the auxiliary unmanned aerial vehicle can make a cable part between the picking unmanned aerial vehicle and the first cable winding and unwinding device have a corner; the self-driving parking platform is provided with a second cable winding and unwinding device connected with the auxiliary unmanned aerial vehicle; and the first cable winding and unwinding device can wind a second cable connected between the auxiliary unmanned aerial vehicle and the power supply. In the application, the auxiliary unmanned aerial vehicle makes the first cable have a corner, so that the first cable can easily bypass a specific position of a fruit tree, prevents the first cable from being entangled with branches, and can avoid the self-driving parking platform from frequently moving to cooperate with the picking unmanned aerial vehicle to perform picking work, thereby improving picking efficiency.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) fruit harvesting technology, and in particular to a harvesting system and method that links a harvesting UAV with a self-propelled parking platform. Background Technology

[0002] Currently, traditional manual apple harvesting has numerous drawbacks. Harvesting efficiency is low; for large orchards, completing the harvest can take weeks or even months, affecting the apples' market availability and significantly increasing labor costs. Furthermore, the precision of manual harvesting is difficult to guarantee, resulting in a fruit damage rate as high as 10%-15%, severely impacting economic benefits. In addition, the complex orchard environment, with tall trees and rugged terrain, presents numerous safety hazards, leading to frequent accidents during harvesting each year. Existing auxiliary harvesting equipment is also unsatisfactory; simple tools are cumbersome, and large machinery is limited by terrain, making it difficult to operate effectively in mountainous and hilly orchards.

[0003] Against this backdrop, drone technology offers new hope for apple harvesting, enabling rapid harvesting through flexible flight. However, issues such as insufficient battery life and inconvenient parking and maintenance limit efficiency. In existing technology, patent CN118575661A discloses a method using a tethered cable to provide continuous power to the drone, with a winding mechanism to adjust the cable length to reduce its impact on flight. This approach can alleviate the battery life and cable entanglement problems to some extent. However, when operating near dense branches or thick trunks, the tethered path of a single "platform-drone" segment still inevitably conflicts with the tree's geometry. In actual operation, the only way to change the relative geometry between the cable and the tree is by moving the ground platform, requiring frequent movement of the walking device to assist harvesting. This also creates blind spots where direct access is impossible or impossible, reducing continuous operation efficiency and increasing the risk of malfunctions. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a harvesting system and method that links a harvesting drone with a self-driving parking platform, which can avoid blind spots in harvesting, avoid frequent movement of mobile vehicles to assist in harvesting, and improve harvesting efficiency.

[0005] Technical Solution: To achieve the above objectives, the present invention provides a harvesting drone and self-propelled parking platform linkage harvesting system, which includes a self-propelled parking platform and a harvesting drone capable of parking on the self-propelled parking platform; the harvesting drone includes a first drone body and a harvesting claw; the self-propelled parking platform has a fruit box, a first cable winding device and a power supply; the first cable winding device can wind up the first cable connecting the harvesting drone and the power supply; the first drone body has a binocular camera;

[0006] It also includes an auxiliary drone capable of being parked on the self-propelled parking platform; the auxiliary drone includes a second drone body and a sliding buckle, through which the first cable passes;

[0007] The auxiliary drone enables the cable section between the harvesting drone and the first cable take-up and drop device to have a bend;

[0008] The self-propelled parking platform has a second cable winding and unwinding device for connecting the auxiliary drone; the second cable winding and unwinding device is capable of winding up the second cable connecting the auxiliary drone and the power source.

[0009] The auxiliary drone, harvesting drone, self-propelled parking platform, first cable retraction device, and second cable retraction device can all be controlled by the control system.

[0010] Furthermore, the sliding buckle connects to the first rod, and the second rod is connected to the second drone body; the first rod and the second rod are slidably mounted relative to each other, and a spring is provided between them; the spring causes the two rods to have a tendency to move closer to each other.

[0011] Furthermore, the second rod is a hollow tube with an axially extending groove that penetrates its wall; the rod end of the second rod has a flange; the first rod extends into the second rod, and a guide pin is fixed to the end of the first rod, which can slide along the groove; the spring is sleeved on the outer wall of the second rod, with its two ends abutting against the guide pin and the flange, respectively.

[0012] Furthermore, the first cable winding device includes a first winding reel and a first winding motor, wherein the first winding motor is capable of causing the first winding reel to rotate forward or in reverse.

[0013] Furthermore, the second cable take-up and undo device includes a second take-up reel and a second take-up motor; the second take-up motor is capable of causing the second take-up reel to rotate forward or in reverse.

[0014] Furthermore, the picking claw includes a claw base, a first hinge seat fixedly mounted relative to the claw base, and a second hinge seat slidable relative to the claw base; an equal number of connecting rods and picking claws are rotatably mounted on the first hinge seat and the second hinge seat respectively, and the connecting rods and picking claws are hinged to each other in a one-to-one correspondence; the picking claw also includes a drive mechanism for driving the second hinge seat to slide.

[0015] Furthermore, the drive mechanism includes a drive motor, a first gear, a second gear, a lead screw, and a lead screw nut; the first gear and the second gear mesh with each other and are respectively connected to the output shaft of the drive motor and the lead screw; the lead screw nut is connected to the second hinge seat through an optical shaft.

[0016] Furthermore, the sliding buckle has a buckle body and a pair of rollers mounted on the buckle body; the rollers have a structure that is thinner in the middle and thicker at both ends.

[0017] A harvesting method linking a harvesting drone and a self-propelled parking platform, based on the aforementioned harvesting drone and self-propelled parking platform linkage harvesting system, and implemented by a control system, includes the following steps:

[0018] Step S1: Control the harvesting drone to fly to the planned first transition point, and simultaneously control the first cable retraction device to release the first cable so that the length of the released first cable matches the first distance, which is the real-time distance between the harvesting drone and the self-driving parking platform. The first transition point can be determined manually, that is, the operator sends a flight control command to the control system via the remote controller to control the harvesting drone to a specific position and then presses the confirmation button to determine the first transition point. Alternatively, the first transition point can be determined automatically by the control system based on collected environmental data. Here, the length of the released first cable can be slightly greater than the first distance.

[0019] Step S2: Control the auxiliary drone to fly to the second transition point, which is located at a specific position of the first transition point, such as making the sliding buckle 20cm below the first transition point; at the same time, control the second cable retraction device to release the second cable so that the length of the released second cable is adapted to the second distance, which is the real-time distance between the auxiliary drone and the self-driving parking platform; here, the length of the released second cable can be slightly greater than the second distance;

[0020] Step S3: Keep the auxiliary drone hovering at the second transition point and control the harvesting drone to carry out harvesting operations.

[0021] Furthermore, step S3, controlling the harvesting drone to perform harvesting operations, includes:

[0022] Step S31: Acquire images with depth data using the binocular camera, identify the fruits within them, and determine the location of the target fruit;

[0023] Step S32: Control the harvesting drone to fly to the target fruit to carry out the harvesting task, and at the same time control the first cable retraction device to release the first cable, keeping the length of the released first cable adapted to the required length; the actual released first cable can be longer than the theoretically required length, which is the sum of the distance between the target fruit and the second transition point and the distance between the second transition point and the self-driving parking platform.

[0024] Step S3: After the harvesting drone harvests the fruit, it returns to its home base and releases the fruit into the fruit box.

[0025] Beneficial Effects: The harvesting drone and self-propelled parking platform linkage harvesting system and method of the present invention have the following beneficial effects:

[0026] (1) In this invention, an auxiliary drone is added on the basis of the prior art. The auxiliary drone makes the first cable have a bend, which makes it easy for the first cable to bypass a specific position of the fruit tree. The specific position can be the thickest part of the fruit tree. This prevents the first cable from getting tangled with the branches, avoids the frequent movement of the self-driving parking platform to cooperate with the picking drone to perform picking operations, avoids picking dead corners, improves picking efficiency and avoids malfunctions.

[0027] (2) By setting an elastic mechanism between the sliding buckle and the second drone body, a buffer can be formed to prevent the auxiliary drone from hindering the movement of the harvesting drone.

[0028] (3) The harvesting method of the present invention achieves effective management of the first cable by coordinating the control of the harvesting drone, the auxiliary drone, and the self-propelled parking platform. The auxiliary drone hovers at the second transition point, causing the first cable to form a bend, effectively bypassing the main trunk or dense branches of the fruit tree and avoiding cable entanglement. At the same time, the two sets of cable reeling and releasing devices dynamically release the cable according to the real-time distance, ensuring continuous power supply and preventing cable slack. This method significantly reduces the need for frequent platform movement and improves operational stability and harvesting efficiency. Attached Figure Description

[0029] Figure 1 A structural diagram of a harvesting system that integrates a harvesting drone with a self-propelled parking platform;

[0030] Figure 2 A structural diagram of the harvesting drone;

[0031] Figure 3 A structural diagram of the picking claw;

[0032] Figure 4 A structural diagram of the drive mechanism for the harvesting claw;

[0033] Figure 5 A structural diagram to aid in the design of the drone;

[0034] Figure 6 This is a diagram of the internal structure of a self-driving parking platform.

[0035] In the diagram: 1-Self-propelled parking platform; 2-Harvesting drone; 21-First drone body; 22-Harvesting claw; 221-Claw holder; 222-First hinge seat; 223-Second hinge seat; 224-Harvesting claw; 225-Connecting rod; 226-Drive motor; 227-First gear; 228-Second gear; 229-Lead screw; 2210-Lead screw nut; 2211-Optical axis; 23-Binocular camera; 3-Fruit box; 4-First cable reel 41-First winding wheel; 42-First winding motor; 5-Power supply; 6-Auxiliary UAV; 61-Second UAV body; 62-Sliding buckle; 62a-Buck body; 62b-Roller; 63-First rod; 64-Second rod; 64a-Slide groove; 64b-Flange; 65-Spring; 66-Guide pin; 7-First cable; 8-Second cable winding and unwinding device; 81-Second winding wheel; 82-Second winding motor; 9-Second cable. Detailed Implementation

[0036] The invention will now be further described with reference to the accompanying drawings.

[0037] like Figure 1 The harvesting drone and self-propelled parking platform linkage harvesting system shown includes a self-propelled parking platform 1 and a harvesting drone 2 that can be parked on the self-propelled parking platform 1; the harvesting drone 2 includes a first drone body 21 and a harvesting claw 22; the self-propelled parking platform 1 has a fruit box 3, a first cable winding device 4 and a power supply 5; the first cable winding device 4 can wind up the first cable 7 connecting the harvesting drone 2 and the power supply 5; the first drone body 21 has a binocular camera 23.

[0038] The self-driving parking platform 1 has a self-moving vehicle body and multiple wheels.

[0039] The harvesting system also includes an auxiliary drone 6 that can be parked on the self-propelled parking platform 1; such as Figure 5 As shown, the auxiliary drone 6 includes a second drone body 61 and a sliding buckle 62, through which the first cable 7 passes;

[0040] The auxiliary drone 6 enables the cable portion between the harvesting drone 2 and the first cable take-up and drop device 4 to have a bend;

[0041] The self-driving parking platform 1 has a second cable winding device 8 for connecting the auxiliary drone 6; the second cable winding device 8 is capable of winding up the second cable 9 connecting the auxiliary drone 6 and the power supply 5.

[0042] The auxiliary drone 6, the harvesting drone 2, the self-propelled parking platform 1, the first cable winding and unwinding device 4, and the second cable winding and unwinding device 8 can all be controlled and operated by the control system.

[0043] In this invention, an auxiliary drone 6 is added on the basis of the existing technology. The auxiliary drone 6 makes the first cable 7 have a bend, which makes it easier for the first cable 7 to bypass a specific position of the fruit tree. The specific position can be the thickest part of the fruit tree. This prevents the first cable 7 from getting entangled with the branches and avoids the self-propelled parking platform 1 from moving frequently to cooperate with the picking drone 2 to perform picking operations, thereby improving picking efficiency and avoiding malfunctions.

[0044] Preferably, the sliding buckle 62 is connected to the first rod 63, and the second rod 64 is connected to the second drone body 61; the first rod 63 and the second rod 64 are slidably installed relative to each other, and a spring 65 is provided between them; the spring 65 causes the two rods to have a tendency to move closer to each other.

[0045] Preferably, the second rod portion 64 is a hollow tube and has an axially extending groove 64a that penetrates the tube wall; the rod end of the second rod portion 64 has a flange portion 64b; the first rod portion 63 extends into the second rod portion 64, and a guide pin 66 is fixed at the end of the first rod portion 63, the guide pin 66 being able to slide along the groove 64a; the spring 65 is sleeved on the outer wall of the second rod portion 64, and its two ends respectively abut against the guide pin 66 and the flange portion 64b.

[0046] By setting an elastic mechanism between the sliding buckle 62 and the second drone body 61, a buffer can be formed to prevent the auxiliary drone 6 from hindering the movement of the harvesting drone 2.

[0047] like Figure 6 As shown, the first cable winding and unwinding device 4 includes a first winding reel 41 and a first winding motor 42, the first winding motor 42 being able to cause the first winding reel 41 to rotate forward or reverse. The second cable winding and unwinding device 8 includes a second winding reel 81 and a second winding motor 82; the second winding motor 82 being able to cause the second winding reel 81 to rotate forward or reverse.

[0048] By setting up the first cable retraction device 4 and the second cable retraction device 8, the length of the cable connecting the corresponding UAV can be ensured to be appropriate, preventing the cable from being too long and loose, which could easily get tangled in tree branches.

[0049] Preferably, the picking claw 22 includes a claw base 221, a first hinge seat 222 fixedly mounted relative to the claw base 221, and a second hinge seat 223 slidable relative to the claw base 221; as shown Figure 3 As shown, an equal number of connecting rods 225 and picking claws 224 are rotatably mounted on the first hinge seat 222 and the second hinge seat 223, respectively. The connecting rods 225 and picking claws 224 are connected in a one-to-one hinge connection. The picking claw 22 also includes a driving mechanism for driving the second hinge seat 223 to slide.

[0050] Preferably, such as Figure 4 As shown, the drive mechanism includes a drive motor 226, a first gear 227, a second gear 228, a lead screw 229, and a lead screw nut 2210; the first gear 227 and the second gear 228 mesh with each other and are respectively connected to the output shaft of the drive motor 226 and the lead screw 229; the lead screw nut 2210 is connected to the second hinge seat 223 through an optical shaft 2211.

[0051] With the above structure, the drive motor 226 drives the lead screw 229 to rotate through the first gear 227 and the second gear 228, which enables the lead screw nut 2210 to translate, thereby causing the second hinge seat 223 to translate relative to the first hinge seat 222, thus realizing the opening and closing control of all picking claws 224.

[0052] Preferably, the sliding buckle 62 has a buckle body 62a and a pair of rollers 62b mounted on the buckle body 62a; the rollers 62b have a structure that is thin in the middle and thick at both ends, so as to reduce the resistance of the first cable 7 to the first cable 7 when the first cable 7 passes through the sliding buckle 62 and ensure smoothness.

[0053] A harvesting method linking a harvesting drone and a self-propelled parking platform, based on the aforementioned harvesting drone and self-propelled parking platform linkage harvesting system, and implemented by a control system, includes the following steps:

[0054] Step S1: Control the harvesting drone 2 to fly to the planned first transition point, and simultaneously control the first cable retraction device 4 to release the first cable 7 so that the length of the released first cable 7 matches the first distance, which is the real-time distance between the harvesting drone 2 and the self-driving parking platform 1. The first transition point can be determined manually, that is, the operator sends a flight control command to the control system via the remote controller to control the harvesting drone 2 to a specific position and then presses the confirmation button to determine the first transition point. Alternatively, the first transition point can be determined automatically by the control system based on collected environmental data. Here, the length of the released first cable 7 can be slightly greater than the first distance.

[0055] Step S2: Control the auxiliary drone 6 to fly to the second transition point, which is located at a specific position of the first transition point, such as making the sliding buckle 62 20cm below the first transition point; at the same time, control the second cable retraction device 8 to release the second cable 9 so that the length of the released second cable 9 is adapted to the second distance, which is the real-time distance between the auxiliary drone 6 and the self-driving parking platform 1; here, the length of the released second cable 9 can be slightly greater than the second distance;

[0056] Step S3: Keep the auxiliary drone 6 hovering at the second transition point and control the harvesting drone 2 to carry out harvesting operations.

[0057] Preferably, step S3, controlling the harvesting drone 2 to perform harvesting operations, includes:

[0058] Step S31: Acquire images with depth data using the binocular camera 23, identify the fruits within them, and determine the location of the target fruit;

[0059] Step S32: Control the harvesting drone 2 to fly to the target fruit to carry out the harvesting task, and at the same time control the first cable retraction device 4 to release the first cable 7, keeping the length of the released first cable 7 adapted to the required length; the actual released first cable 7 can be greater than the theoretically required length, which is the sum of the distance between the target fruit and the second transition point and the distance between the second transition point and the self-driving parking platform 1.

[0060] Step S3: After the harvesting drone 2 harvests the fruit, it returns to its home base and releases the fruit into the fruit box 3.

[0061] The harvesting method of this invention achieves effective management of the first cable 7 through the coordinated control of the harvesting drone 2, the auxiliary drone 6, and the self-propelled parking platform 1. The auxiliary drone 6 hovers at the second transition point, causing the first cable to form a bend, effectively bypassing the main trunk or dense branches of the fruit tree and avoiding cable entanglement. At the same time, two sets of cable retraction and deployment devices dynamically release the cable according to the real-time distance, ensuring continuous power supply and preventing cable slack. This method significantly reduces the need for frequent platform movements, improves operational stability and harvesting efficiency, and reduces the system failure rate.

[0062] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A harvesting system linking a harvesting drone and a self-driving parking platform, comprising a self-driving parking platform (1) and a harvesting drone (2) capable of parking on the self-driving parking platform (1); the harvesting drone (2) comprises a first drone body (21) and a harvesting claw (22); the self-driving parking platform (1) has a fruit box (3), a first cable winding device (4) and a power supply (5); the first cable winding device (4) is capable of winding up a first cable (7) connecting the harvesting drone (2) and the power supply (5); the first drone body (21) has a binocular camera (23). Its features are: It also includes an auxiliary drone (6) that can be parked on the self-driving parking platform (1); the auxiliary drone (6) includes a second drone body (61) and a sliding buckle (62), through which the first cable (7) passes. The auxiliary drone (6) enables the cable portion between the harvesting drone (2) and the first cable take-up and drop device (4) to have a bend; The self-driving parking platform (1) has a second cable winding device (8) for connecting the auxiliary drone (6); the second cable winding device (8) is capable of winding up the second cable (9) connecting the auxiliary drone (6) and the power supply (5). The auxiliary drone (6), the harvesting drone (2), the self-driving parking platform (1), the first cable winding and unwinding device (4), and the second cable winding and unwinding device (8) can all be controlled and operated by the control system.

2. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 1, characterized in that, The sliding buckle (62) is connected to the first rod (63), and the second rod (64) is connected to the second UAV body (61); the first rod (63) and the second rod (64) are slidably installed relative to each other, and a spring (65) is provided between them; the spring (65) causes the two rods to have a tendency to move closer to each other.

3. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 2, characterized in that, The second rod (64) is a hollow tube and has an axially extending groove (64a) that penetrates its tube wall; the rod end of the second rod (64) has a flange (64b); the first rod (63) extends into the second rod (64), and a guide pin (66) is fixed at the end of the first rod (63), which can slide along the groove (64a); the spring (65) is sleeved on the outer wall of the second rod (64), and its two ends abut against the guide pin (66) and the flange (64b) respectively.

4. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 1, characterized in that, The first cable take-up and undo device (4) includes a first take-up reel (41) and a first take-up motor (42), the first take-up motor (42) being able to make the first take-up reel (41) rotate forward or reverse.

5. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 1, characterized in that, The second cable take-up and undo device (8) includes a second take-up reel (81) and a second take-up motor (82); the second take-up motor (82) can make the second take-up reel (81) rotate forward or in reverse.

6. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 1, characterized in that, The picking claw (22) includes a claw base (221), a first hinge base (222) fixedly installed relative to the claw base (221), and a second hinge base (223) that can slide relative to the claw base (221); the first hinge base (222) and the second hinge base (223) are respectively rotatably mounted with an equal number of connecting rods (225) and picking claws (224), and the connecting rods (225) and picking claws (224) are connected in a one-to-one hinge connection; the picking claw (22) also includes a driving mechanism for driving the second hinge base (223) to slide.

7. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 6, characterized in that, The drive mechanism includes a drive motor (226), a first gear (227), a second gear (228), a lead screw (229), and a lead screw nut (2210); the first gear (227) and the second gear (228) mesh with each other and are respectively connected to the output shaft of the drive motor (226) and the lead screw (229); the lead screw nut (2210) is connected to the second hinge seat (223) through an optical shaft (2211).

8. The harvesting drone and self-propelled parking platform linkage harvesting system according to claim 1, characterized in that, The sliding buckle (62) has a buckle body (62a) and a pair of rollers (62b) mounted on the buckle body (62a); the rollers (62b) have a structure that is thin in the middle and thick at both ends.

9. A method for harvesting in conjunction with a harvesting drone and a self-propelled parking platform, based on the harvesting drone and self-propelled parking platform linkage harvesting system described in claim 1, and implemented by a control system, characterized in that, The methods include: Step S1: Control the harvesting drone (2) to fly to the planned first transition point, and at the same time control the first cable retraction device (4) to release the first cable (7) so that the length of the released first cable (7) is adapted to the first distance, the first distance being the real-time distance between the harvesting drone (2) and the self-driving parking platform (1). Step S2: Control the auxiliary drone (6) to fly to the second transition point, which is located in a specific direction of the first transition point; at the same time, control the second cable retraction device (8) to release the second cable (9) so that the length of the released second cable (9) is adapted to the second distance, which is the real-time distance between the auxiliary drone (6) and the self-driving parking platform (1). Step S3: Keep the auxiliary drone (6) hovering at the second transition point and control the harvesting drone (2) to carry out harvesting operations.

10. The harvesting method combining a harvesting drone and a self-propelled parking platform according to claim 9, characterized in that, Step S3, which involves controlling the harvesting drone (2) to perform harvesting operations, includes: Step S31: Acquire images with depth data using the binocular camera (23), identify the fruits in the images, and determine the location of the target fruits; Step S32: Control the harvesting drone (2) to fly to the target fruit to carry out the harvesting task, and at the same time control the first cable retraction device (4) to release the first cable (7) to keep the length of the released first cable (7) adapted to the required length; Step S3: After the harvesting drone (2) harvests the fruit, the harvesting drone (2) returns and releases the fruit into the fruit box (3).

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