Picking unmanned aerial vehicle and picking method

Abstract

The invention discloses a picking unmanned aerial vehicle and a picking method. The picking unmanned aerial vehicle comprises a connecting main body, an unmanned aerial vehicle body, a binding mechanism and a cutting mechanism; the unmanned aerial vehicle body is connected with the connecting body and used for carrying the connecting body to fly to one side of a branch where to-be-picked fruits are located. The binding mechanism is connected to the connecting body, and the binding end of the binding mechanism surrounds the connecting body and is provided with an opening for the branches to penetrate through. The cutting-off mechanism comprises a cutting-off driving part and a cutting-off tool, the cutting-off driving part is installed on the connecting body, the driving end of the cutting-off driving part is connected with the cutting-off tool, and the cutting-off driving part is used for driving the cutting-off tool to rotate around the axis of the connecting body so as to cut off the branches within the binding range of the binding mechanism. According to the device, the integrated operation process from branch fixing to cutting off is achieved, the risk of violent shaking or falling of fruits due to the gravity action at the cutting-off moment is effectively prevented through binding and fixing, and the problem of damage caused by direct clamping of the fruits in a traditional scheme is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of agricultural harvesting technology, specifically to a harvesting drone and a harvesting method. Background Technology

[0002] High-priced tropical fruits such as durian, mangosteen, and rambutan typically grow in clusters on the branches of tall trees. Traditional harvesting methods rely heavily on manual climbing or the use of long-handled knives, which is not only inefficient and dangerous but also prone to damage to the fruit flesh due to falling from heights or improper handling, resulting in significant economic losses. Especially for fruits like durian, which have high individual value, a hard outer shell, but delicate flesh, achieving safe high-altitude operations, intact stem cutting, and stable fruit transport during harvesting is a core technological bottleneck for the industry's large-scale and intelligent development.

[0003] In the prior art, solutions for fruit harvesting using drones have been proposed. For example, patent CN119014221A provides a drone harvesting device that uses horizontal and vertical clamping parts to hold the fruit and a retractable top rod structure to buffer pressure and prevent fruit damage.

[0004] However, these drone harvesting solutions mostly use clamping methods to directly act on the fruit itself. Although this enables high-altitude harvesting, directly clamping the fruit can easily damage it, affecting its quality and storage. Especially for fruits like durian, which are large in size and weight and have a special shell structure, the required clamping area is large, and the clamping force and stability requirements are extremely high. Existing clamping solutions have a significant risk of fruit falling off or internal damage due to unstable clamping or cutting vibration. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a harvesting drone and harvesting method to solve the technical problem that the direct action of drones on fruits in the existing technology can easily cause damage.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a harvesting drone, comprising a connecting body, a drone body, a binding mechanism, and a cutting mechanism; the drone body is connected to the connecting body and is used to carry the connecting body to one side of the branch where the fruit to be harvested is located; the binding mechanism is connected to the connecting body, the binding end of the binding mechanism is arranged around the connecting body and has an opening for the branch to pass through; the cutting mechanism includes a cutting drive and a cutting blade, the cutting drive is installed on the connecting body, its drive end is connected to the cutting blade, and is used to drive the cutting blade to rotate around the axis of the connecting body to cut the fruit branch located within the binding range of the binding mechanism.

[0007] In some embodiments, the cutting mechanism further includes a stopper connected to the connecting body and disposed opposite to the cutting blade and avoiding the rotation trajectory of the cutting blade, for pressing against the branch when the cutting blade cuts the branch.

[0008] In some embodiments, the cutting drive has at least two transmission ends that rotate in opposite directions, wherein the two transmission ends that rotate in opposite directions are respectively connected to the cutting tool and the abutment, for driving the cutting tool and the abutment to rotate synchronously in opposite or opposite directions.

[0009] In some embodiments, the cutting drive includes a gear transmission assembly and a rotary drive motor. The gear transmission assembly includes two meshing gears, which are respectively connected to the cutting tool and the abutment. The rotary drive motor is connected to one of the gears and drives the two gears to rotate in opposite directions, so as to drive the cutting tool and the abutment to rotate synchronously in opposite or opposite directions.

[0010] In some embodiments, the binding mechanism includes a rebar winding component, a winding drive component, a rotating binding component, and a rebar guiding structure; the rebar winding component is installed on the connecting body and has rebar wound on it; the winding drive component is connected to the rebar winding component and is used to drive the rebar winding component to rotate to wind and unwind the rebar; the rebar guiding structure is located on one side of the connecting body and is used to guide the released rebar to be bound around the connecting body; the rotating binding component is located on one side of the connecting body, and its binding end corresponds to the guiding position of the rebar guiding structure, and is used to tighten the rebar wrapped around the outside of the connecting body.

[0011] In some embodiments, the rotating binding member includes a rotating claw and a telescopic drive member. The telescopic drive member is mounted on one side of the connecting body, with its telescopic end facing the connecting body and connected to the rotating claw. The rotating claw has at least two parallel tightening ends, which tighten the reinforcing bar by rotating relative to each other.

[0012] In some embodiments, the harvesting drone further includes a limiting structure, which includes a limiting rod and a limiting drive. The limiting rod is rotatably disposed in a groove on one side of the connecting body and located below the binding mechanism. The rotational stroke of the limiting rod includes a limiting position protruding from the binding mechanism and a retracted position retracted into the binding mechanism. The limiting drive is connected to the limiting rod and is used to drive the limiting rod to switch between the limiting position and the retracted position.

[0013] In some embodiments, the harvesting drone further includes a suspension structure connected to the drone body and the connecting body, for suspending the connecting body on a branch at a target location.

[0014] In some embodiments, the harvesting drone further includes a take-up and release structure, which includes a take-up and release motor, a take-up and release drum, and a take-up and release rope. The take-up and release motor is installed on the drone body, and its output end is connected to the take-up and release drum. One end of the take-up and release rope is wound around the take-up and release drum, and the other end is connected to the connecting body. The take-up and release motor can rotate in both directions to drive the take-up and release drum to rotate, thereby driving the take-up and release rope to take up or release.

[0015] Secondly, the present invention also provides a harvesting method using a harvesting drone as described in any of the above claims, the method comprising: Control the drone body to fly to one side of the branch where the fruit to be picked is located, so that the branch passes through the opening of the binding mechanism; The binding mechanism is activated to secure the branches and connecting body together by binding them together. Start the cutting drive to drive the cutting blade to rotate around the axis of the connecting body and cut off the branches within the binding range of the binding mechanism; After the cutting is completed, the cut fruit is transported to the designated collection area for unloading.

[0016] Compared with existing technologies, the harvesting drone and harvesting method provided by this invention, by setting up a connecting body, a drone body, a binding mechanism, and a cutting mechanism, allows the drone body to carry the connecting body to the target location. The entire harvesting process eliminates the need for close human contact with the fruit at high altitude, significantly improving operational safety. The binding mechanism, through binding ends arranged around the connecting body, can stably fix the branch containing the fruit to the connecting body without direct contact with the fruit, effectively avoiding the squeezing damage to the fruit caused by traditional clamping methods. The cutting mechanism, through a cutting drive component, drives a cutting blade to rotate around the axis of the connecting body to cut the bound branch, ensuring the stability of the cutting process and the smoothness of the cut, thus achieving non-contact binding and cutting operations. The coordinated operation of the binding and cutting mechanisms realizes an integrated operation process from branch fixing to cutting, ensuring the accuracy of the cutting position and effectively preventing the risk of violent shaking or falling of the fruit due to gravity at the moment of cutting, effectively avoiding the damage problems caused by directly clamping the fruit in traditional solutions. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the harvesting drone and harvesting method provided in the embodiments of the present invention; Figure 2This is a schematic diagram of the overall structure of the harvesting drone and harvesting method provided in another embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of the connection body of the harvesting drone and harvesting method provided in the embodiment of the present invention; Figure 4 This is a schematic diagram of the main body connecting the harvesting drone and harvesting method provided in an embodiment of the present invention; Figure 5 This is a top-view cross-sectional structural diagram of the binding mechanism of the harvesting drone and harvesting method provided in the embodiment of the present invention; Figure 6 This is a top view cross-sectional structural diagram of the cutting mechanism of the harvesting drone and harvesting method provided in the embodiments of the present invention; Figure 7 This is a side view of the connection body of the harvesting drone and harvesting method provided in an embodiment of the present invention; Figure 8 This is a schematic cross-sectional view of the limiting rod of the harvesting drone and harvesting method provided in the embodiment of the present invention when it is in the limiting position; Figure 9 This is a schematic cross-sectional view of the limiting rod of the harvesting drone and harvesting method provided in the embodiment of the present invention when it is in the retracted position.

[0018] Explanation of reference numerals in the attached figures: 1. Connecting body; 11. Groove; 12. Hanging ring; 2. UAV body; 3. Binding mechanism; 31. Mounting shell; 32. Rebar winding component; 33. Winding drive component; 34. Rotating binding component; 341. Rotating claw; 342. Telescopic drive component; 35. Rebar guiding structure; 351. First guide rod; 352. Second guide rod; 36. Support rod; 4. Cutting mechanism; 41. Cutting drive component; 42. Cutting tool; 421. Chip wheel; 412. Cutting motor; 43. Abutment; 5. Limiting structure; 51. Limiting rod; 52. Limiting drive component; 521. Adjusting screw; 522. Sliding sleeve; 523. Micro-adjusting motor; 53. Linkage rod; 6. Suspension structure; 7. Retraction and extension structure. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] To address the technical problem that direct application of drones to fruit during harvesting can easily cause damage, this invention provides a harvesting drone and harvesting method that integrates the entire process from fixing branches to cutting. This ensures the accuracy of the cutting position and effectively prevents the risk of the fruit shaking or falling due to gravity at the moment of cutting by binding and fixing it, thus effectively avoiding the damage problem caused by directly clamping the fruit in traditional methods.

[0021] Please see Figures 1 to 6 In a first aspect, embodiments of this application provide a harvesting drone, including a connecting body 1, a drone body 2, a binding mechanism 3, and a cutting mechanism 4; the drone body 2 is connected to the connecting body 1 and is used to carry the connecting body 1 to one side of the branch where the fruit to be harvested is located; the binding mechanism 3 is connected to the connecting body 1, the binding end of the binding mechanism 3 is arranged around the connecting body 1, and has an opening for the branch to pass through; the cutting mechanism 4 includes a cutting drive 41 and a cutting blade 42, the cutting drive 41 is installed on the connecting body 1, and its driving end is connected to the cutting blade 42, used to drive the cutting blade 42 to rotate around the axis of the connecting body 1, so as to cut the fruit branch located within the binding range of the binding mechanism 3.

[0022] In this device, the drone body 2 carries the connecting body 1 to the branch of the fruit to be harvested. A binding mechanism 3 surrounds the opening formed by the connecting body 1, allowing the branch to pass through. The branch then enters the binding range of the binding mechanism 3 through the opening. The binding end then secures the branch to the connecting body 1, forming a stable connection. Finally, a cutting drive 41 drives a cutting blade 42 to rotate around the axis of the connecting body 1, thereby cutting the branch within the binding range. This design concentrates the force on the branch rather than the fruit itself, fundamentally avoiding damage such as squeezing and collision that may occur when directly contacting the fruit or when it falls due to instability. It is particularly suitable for fruits such as durian and mangosteen, which require high protection during harvesting.

[0023] Preferably, in this design, the connecting body 1 adopts a cylindrical structure with a diameter larger than that of the target branch. A hanging ring 12 is provided at the top of the connecting body 1 for direct attachment to the drone body 2 or connection to other operating mechanisms located between the connecting body 1 and the drone body 2. The bottom of the connecting body 1 is designed as a conical structure, facilitating the removal of the tied branches by workers after harvesting to obtain the fruit.

[0024] Please see Figures 1 to 5To achieve a stable and reliable circumferential binding function, in some possible embodiments, the binding mechanism 3 includes a mounting housing 31, a rebar winding component 32, a winding drive component 33, a rotating binding component 34, and a rebar guiding structure 35. The mounting housing 31 is fixedly mounted on the outside of the connecting body 1 by a support rod 36, and has an installation cavity inside. The rebar winding component 32 is a winding drum, which is rotatably mounted inside the installation cavity, and rebar is wound on the winding drum. The winding drive component 33 is a motor, which is connected to the winding drum and is used to drive the winding drum to rotate to wind up and unwind the rebar. One side of the mounting housing 31 is provided with an outlet for leading out the rebar, and the rebar guiding structure 35 includes two oppositely arranged first... Guide rod 351 and guide rod 352 are provided. One end of the first guide rod 351 is fixed to the outlet position of the mounting housing 31, and the other end is configured as an arc-shaped structure surrounding the outside of the connecting body 1. A first guide channel is opened on the inner side of the first guide rod 351 near the connecting body 1. The second guide rod 352 is also fixed to the mounting housing 31, and a second guide channel is opened on its inner side. The opening between the first guide rod 351 and the second guide rod 352 is formed. Through the guide channels of the first guide rod 351 and the second guide rod 352, when the rebar is released from the winding drum, the rebar can be led out from the outlet and guided along the arc-shaped path to the outside of the connecting body 1, so that the rebar naturally wraps around the branch and the connecting body 1. A rotating binding member 34 is provided on one side of the connecting body 1, and its binding end corresponds to the guiding position of the rebar guiding structure 35. It is used to tighten the rebar wrapped around the outside of the connecting body 1. Once the reinforcing bar is wrapped, its two ends or specific parts are within the range of action of the rotating binding member 34. The rotating binding member 34 is activated to twist or knot the reinforcing bar, thereby tightening the wrapped reinforcing bar, making the binding ring tightly contracted and firmly locked, thus completing the binding and fixing.

[0025] Specifically, in one possible embodiment, the rotating binding member 34 includes a rotating claw 341 and a telescopic drive member 342. The telescopic drive member 342 is a cylinder, which is installed in the mounting housing 31 on one side of the connecting body 1. The telescopic end of the telescopic drive member 342 faces the connecting body 1 and is provided with an electric rotating shaft, which is connected to the rotating claw 341. The rotating claw 341 has two claws arranged side by side, forming a clamping space between the two claws for accommodating the reinforcing bar. When the reinforcing bar is guided around the outside of the connecting body 1 one or more times, the telescopic drive member 342 drives the rotating claw 341 to extend towards the connecting body 1, so that the claw clamping space covers part of the reinforcing bar that is wrapped around the outside of the connecting body 1. Then, the electric rotating shaft drives the rotating claw 341 to rotate around an axis perpendicular to the connecting body 1, tightening the reinforcing bar. Under the tightening action of the rotating claw 341, the reinforcing bar will be tightly wrapped around the outside of the branch and the connecting body 1, forming a fixed structure similar to a knot, thereby binding the branch to the outside of the connecting body 1.

[0026] Furthermore, the outlet position of the housing 31 is also equipped with a cutting structure, which can be a cutting knife structure or a shearing pliers structure, to ensure that the reinforcing bars are accurately cut after the binding is completed, and to avoid excess reinforcing bars affecting subsequent operations.

[0027] Of course, in other possible embodiments, the specific form of the connecting body 1 and the binding structure is not limited to this. For example, the connecting body 1 can be a square column or a polygonal structure, as long as it can provide a stable installation base for the binding mechanism 3 and the cutting mechanism 4. The binding mechanism 3 can also use flexible binding materials such as nylon rope and tape, and achieve the circumferential fixation of the branches by the cooperation of the winding wheel and the guide wheel. At the same time, a heating and melting component is set to cut the binding material to complete the binding process.

[0028] Please see Figure 3 , Figure 4 , Figure 6 and Figure 7 To stabilize the branches and prevent them from rotating or shifting during the cutting process, and to further improve cutting accuracy, in some possible embodiments, the cutting mechanism 4 also includes a stop 43. The stop 43 is a rod-shaped structure connected to the connecting body 1 and positioned opposite to the cutting blade 42, avoiding the rotation trajectory of the cutting blade 42, thereby preventing motion interference. When the cutting blade 42 begins to cut the branch, the stop 43 moves synchronously, firmly pressing the branch against it from the other side, forming a multi-point fixation of the cutting point together with the binding mechanism 3, effectively suppressing the vibration and deformation of the branch at the moment of cutting. In addition, the end of the stop 43 can be provided with anti-slip texture or elastic buffer pad, which can increase friction to prevent slippage when pressing against the branch, and avoid damage to the branch surface caused by rigid contact.

[0029] To enhance the clamping and fixing effect on branches and optimize the structure for synchronous reverse drive, in some possible embodiments, the cutting drive 41 is designed with at least two transmission ends rotating in opposite directions. One transmission end is connected to and drives the cutting tool 42, while the other transmission end rotating in opposite directions is connected to and drives the aforementioned abutment 43. When the cutting drive 41 is working, it can simultaneously drive the cutting tool 42 and the abutment 43, causing them to rotate synchronously in opposite or opposite directions. This synchronizes the cutting action of the tool with the clamping action of the abutment 43, creating a dynamic rotational clamping effect that further improves the stability and efficiency of the cutting process.

[0030] Specifically, in one embodiment, the cutting drive 41 includes a gear transmission assembly and a rotary drive motor. The gear transmission assembly consists of two meshing gears, one of which is connected to the cutting tool 42, and the other is connected to the abutment 43. The rotary drive motor is connected to the power input shaft of one of the gears. When the rotary drive motor starts, it drives the gear connected to it to rotate, and through the gear meshing relationship, it drives the other gear to rotate in the opposite direction, thereby achieving synchronous reverse rotation of the cutting tool 42 and the abutment 43. The cutting tool 42 includes a chip wheel 421 and a cutting motor 412. The output shaft of the cutting motor 412 is fixedly connected to the central shaft of the chip wheel 421. The outer periphery of the chip wheel 421 is provided with multiple helically distributed carbide cutting edges, which can efficiently cut the branches at high speed.

[0031] Of course, in other possible embodiments, the cutting drive 41 can also adopt other structural forms, such as using a dual-output shaft motor to directly provide the driving force for reverse rotation, or using multiple sets of pulleys and synchronous belts to achieve power transmission, as long as the synchronous reverse movement requirements of the cutting tool 42 and the abutment 43 can be met. The abutment 43 can also be directly fixed to the connecting body 1 and remain stationary and abutting when the cutting tool 42 rotates and cuts.

[0032] Please see Figures 1 to 4 , Figure 8 , Figure 9In high-altitude fruit harvesting operations, to completely avoid the risk of fruit branches accidentally detaching from the connecting body 1 due to gravity, vibration, or loosening of reinforcing bars after the binding and cutting processes, in some possible embodiments, the harvesting drone also includes a limiting structure 5. The limiting structure 5 includes a limiting rod 51 and a limiting drive component 52. The limiting rod 51 is rotatably disposed in a groove 11 opened in the side wall of the connecting body 1 via a rotating shaft, located directly below the binding operation area where the binding mechanism 3 performs the binding operation. The rotational stroke of the limiting rod 51 includes a limiting position protruding from the binding mechanism 3 and a retracted position retracted into the binding mechanism 3. The limiting drive component 52 is connected to the limiting rod 51 and is used to drive the limiting rod 51 to switch between the limiting position and the retracted position. Specifically, the limiting drive component 52 includes an adjusting screw 521, a sliding sleeve 522, and a micro-adjusting motor 523. The micro-adjusting motor 523 is installed inside the connecting body 1, and its output shaft is connected to the adjusting screw 521. The adjusting screw 521 is coaxially fixed inside the connecting body 1. The sliding sleeve 522 is fitted onto the adjusting screw 521 and connected to the rotating end of the limiting rod 51 via the linkage rod 53. The sliding sleeve 522 can slide within the connecting body 1 and is threadedly connected to the adjusting screw 521. One end of the linkage rod 53 is fixedly connected to the rotating end of the limiting rod 51, and the other end is slidably connected to the slide groove. When the micro-adjusting motor 523 is started, it drives the adjusting screw 521 to rotate. Under the action of the thread, the sliding sleeve 522 moves axially along the adjusting screw 521, and drives the limiting rod 51 to rotate around the axis via the linkage rod 53. After the binding mechanism 3 completes the binding of the branches, the limiting drive 52 drives the limiting rod 51 from the retracted position to the limiting position. At this time, the limiting rod 51 protrudes from the surface of the connecting body 1 and is located below the binding steel bar, forming an upward-opening structure with the connecting body 1, thus providing bottom support for the binding structure and effectively preventing the branches from sliding down due to loose binding or accidental force. When the fruit is transported to the designated location and needs to be removed, the limiting drive 52 reverses its direction, causing the limiting rod 51 to rotate back to the retracted position, avoiding obstruction to the removal of the branches.

[0033] Please see Figure 1 and Figure 2To assist in limiting and stabilizing the attitude of the drone or the position of the connecting body 1 relative to the branch during the binding and cutting process, and to prevent positional deviation caused by wind, body swaying, or operational reaction forces, in some possible embodiments, the harvesting drone also includes a suspension structure 6. The suspension structure 6 adopts a rod-type hook structure, which is installed on the drone or fixed below the drone by magnetic attraction or hanging, and connected to the drone body and the connecting body 1. When the suspension structure 6 is installed above the drone, after the drone body 2 flies to the target position, it can hang the suspension structure 6 near the corresponding branch. At this time, the drone body 2 can hover, forming a temporary fixing point with the branch through the hook. The supporting effect of the suspension structure 6 offsets part of the reaction force generated during operation, thereby reducing the swaying amplitude of the connecting body 1. When the suspension structure 6 is fixed below the drone by magnetic attraction or hanging, after the drone flies to the target position and hangs the suspension structure 6 near the corresponding branch, it can disconnect from the connection with the suspension structure 6, allowing the suspension structure 6 to hang independently on the branch. At this time, the drone body 2 can adjust its position or perform other operational tasks.

[0034] Please see Figure 1 and Figure 2 To enable the connecting body 1 to move flexibly up and down relative to the drone body 2, thus allowing the fruit to be safely and controllably delivered to the ground or collection platform after the branches are cut without the drone body 2 descending as a whole, in some possible embodiments, a take-up and release structure 7 is also provided between the drone body 2 and the connecting body 1. The take-up and release structure 7 includes a take-up and release motor, a take-up and release drum, and a take-up and release rope. The take-up and release motor is fixedly installed on the load-bearing structure of the drone body 2, and its output shaft is directly or through a reduction mechanism connected to the take-up and release drum, providing power for take-up and release. One end of the take-up and release rope is securely wound around the take-up and release drum, and the other end is reliably connected to the connecting body 1 below.

[0035] In the initial stage when the drone body 2 carries the connecting body 1 to the target fruit, the take-up and release rope is in a tightened state. After the binding and cutting actions are completed and the fruit branch is firmly fixed to the connecting body 1, the control system can instruct the take-up motor to start, drive the take-up and release drum to rotate, start releasing the take-up and release rope, and control the connecting body 1 and the fruit on it to descend slowly and controllably until the fruit is gently placed on the ground, collection basket, conveyor belt or collection platform.

[0036] Please see Figures 1 to 9 Secondly, embodiments of this application also provide a harvesting method using a harvesting drone as described in any of the above embodiments, the method comprising: S1: Control the drone body 2 to carry the connecting body 1 to one side of the branch where the fruit to be picked is located, so that the branch passes through the opening of the binding mechanism 3.

[0037] S2: Activate the binding mechanism 3 to bind and fix the branches and connecting body 1 together.

[0038] S3: Start the cutting drive 41, drive the cutting cutter 42 to rotate around the axis of the connecting body 1, and cut the fruit branches within the binding range of the binding mechanism 3.

[0039] S4: After cutting, send the cut fruit to the designated collection area for unloading.

[0040] This application embodiment also provides a specific implementation step to illustrate the above steps S1-S4, which specifically include: Step 1: Staff scan the target fruit tree area using a ground control terminal or the drone's built-in visual recognition system to locate the fruit to be harvested and its corresponding branch positions, and plan the drone's flight path. Following the planned path, the drone body 2, carrying the connecting body 1, departs from the takeoff point and gradually approaches the target branch. Using image recognition algorithms, it determines the alignment direction of the opening of the binding mechanism 3 and adjusts the drone's hovering attitude to ensure the branch accurately passes through the opening of the binding mechanism 3, guaranteeing that the branch enters the binding range of the binding mechanism 3.

[0041] Step 2: The binding mechanism 3 starts working. The winding drive 33 drives the winding drum to release the reinforcing bar. After the reinforcing bar is led out through the outlet, it naturally wraps around the branch and the connecting body 1 along the outside of the first guide rod 351 and the second guide rod 352 under the action of the arc-shaped guide channel. After the reinforcing bar has wrapped around the branch a preset number of times, the telescopic drive 342 of the rotating binding member 34 drives the rotating claw 341 to extend, so that its claw clamps the reinforcing bar wrapped around the space. Then, the electric rotating shaft drives the rotating claw 341 to rotate, tightening the reinforcing bar to form a fixed structure. At the same time, the cutting structure at the outlet of the housing 31 is activated to cut off the excess reinforcing bar, completing the binding and fixing.

[0042] Step 3: After the binding and fixing are completed, the cutting drive 41 of the cutting mechanism 4 starts to work, driving the cutting cutter 42 to rotate around the axis of the connecting body 1 through the gear transmission assembly, while simultaneously driving the abutment 43 to rotate synchronously in the opposite direction. As the cutter rotates and cuts into the branch, the abutment 43 simultaneously presses against the branch from the other side, forming a dynamic rotational clamping effect. The cutting wheel 421 of the cutting cutter 42 rotates at high speed under the drive of the cutting motor 412, cutting off the fruit branch within the binding range of the binding mechanism 3. Before the cutting is completed, the limiting rod 51 is always in the limiting position, which can effectively support the steel reinforcement binding structure after the branch is cut, preventing the fruit from suddenly falling due to gravity. When the cutting cutter 42 completely cuts the branch, the cutting drive 41 drives the gear to rotate in the opposite direction, returning the cutting cutter 42 and the abutment 43 to their initial positions.

[0043] Step 4: The control system instructs the take-up and release mechanism 7 to begin operation. The take-up and release motor drives the take-up and release drum to rotate and release the take-up and release ropes. The connecting body 1, carrying the cut fruit and branch segments, descends smoothly, allowing the fruit to land stably on the ground, collection platform, or collection basket. Subsequently, the limit drive component 52 drives the limit rod 51 to rotate from the limit position to the retracted position, allowing the steel bars and branches to detach naturally under the weight of the fruit or be easily removed by the staff. After the fruit is unloaded, the take-up and release motor rotates in the opposite direction, retracting the take-up and release ropes and raising the connecting body 1 back below the drone body 2, ready for the next harvesting task.

[0044] This solution utilizes a connecting body 1, a drone body 2, a binding mechanism 3, and a cutting mechanism 4. The drone body 2 carries the connecting body 1 to the target location, eliminating the need for close human contact with the fruit at high altitudes during the harvesting process, significantly improving operational safety. The binding mechanism 3, with its binding end surrounding the connecting body 1, stably secures the branch containing the fruit to the connecting body 1 without direct contact, effectively avoiding the squeezing damage to the fruit caused by traditional clamping methods. The cutting mechanism 4, through a cutting drive component 41, drives a cutting blade 42 to rotate around the axis of the connecting body 1 to cut the bound branch, ensuring stability and a clean cut, thus achieving non-contact binding and cutting of the fruit. The coordinated operation of the binding mechanism 3 and the cutting mechanism 4 realizes an integrated workflow from branch fixing to cutting, ensuring the accuracy of the cutting position and effectively preventing the risk of violent shaking or falling of the fruit due to gravity at the moment of cutting, thus effectively avoiding the damage problems caused by direct fruit clamping in traditional solutions.

[0045] In the description of this application, it should be noted that the terms "upper" and "lower," etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0046] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0047] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A harvesting drone, characterized in that, include: Connecting main body; The drone body is connected to the connecting body and is used to carry the connecting body to one side of the branch where the fruit to be picked is located; A binding mechanism is connected to the connecting body, the binding end of the binding mechanism is arranged around the connecting body, and has an opening for the branch to pass through; as well as The cutting mechanism includes a cutting drive and a cutting cutter. The cutting drive is mounted on the connecting body and its driving end is connected to the cutting cutter. It is used to drive the cutting cutter to rotate around the axis of the connecting body to cut the fruit branches within the binding range of the binding mechanism.

2. The harvesting drone according to claim 1, characterized in that, The cutting mechanism also includes a stopper, which is connected to the connecting body and is positioned opposite to the cutting blade and avoids the rotation trajectory of the cutting blade, for pressing against the branch when the cutting blade cuts the branch.

3. The harvesting drone according to claim 2, characterized in that, The cutting drive has at least two transmission ends that rotate in opposite directions, wherein the two transmission ends that rotate in opposite directions are respectively connected to the cutting tool and the abutment, for driving the cutting tool and the abutment to rotate synchronously in opposite or opposite directions.

4. The harvesting drone according to claim 3, characterized in that, The cutting drive includes a gear transmission assembly and a rotary drive motor. The gear transmission assembly includes two meshing gears, which are respectively connected to the cutting tool and the abutment. The rotary drive motor is connected to one of the gears and is used to drive the two gears to rotate in opposite directions, so as to drive the cutting tool and the abutment to rotate synchronously in opposite or opposite directions.

5. The harvesting drone according to claim 1, characterized in that, The binding mechanism includes a rebar winding component, a winding drive component, a rotating binding component, and a rebar guiding structure. The rebar winding component is installed on the connecting body and has rebar wound around it. The winding drive component is connected to the rebar winding component and is used to drive the rebar winding component to rotate to wind up and unwind the rebar. The rebar guiding structure is located on one side of the connecting body and is used to guide the released rebar to be bound around the connecting body. The rotating binding component is located on one side of the connecting body, and its binding end corresponds to the guiding position of the rebar guiding structure, and is used to tighten the rebar wrapped around the outside of the connecting body.

6. The harvesting drone according to claim 5, characterized in that, The rotating binding component includes a rotating claw and a telescopic drive component. The telescopic drive component is installed on one side of the connecting body, with its telescopic end facing the connecting body and connected to the rotating claw. The rotating claw has at least two parallel tightening ends, and the two tightening ends tighten the reinforcing bar by rotating relative to each other.

7. The harvesting drone according to claim 6, characterized in that, It also includes a limiting structure, which includes a limiting rod and a limiting drive. The limiting rod is rotatably disposed in a groove on one side of the connecting body and located below the binding mechanism. The rotational stroke of the limiting rod includes a limiting position protruding from the binding mechanism and a retracted position retracted into the binding mechanism. The limiting drive is connected to the limiting rod and is used to drive the limiting rod to switch between the limiting position and the retracted position.

8. The harvesting drone according to claim 1, characterized in that, It also includes a suspension structure, which is connected to the UAV body and the connecting body, and is used to suspend the connecting body on the branch at the target location.

9. The harvesting drone according to claim 1, characterized in that, It also includes a take-up and release structure, which includes a take-up and release motor, a take-up and release drum, and a take-up and release rope. The take-up and release motor is installed on the UAV body, and its output end is connected to the take-up and release drum. One end of the take-up and release rope is wound around the take-up and release drum, and the other end is connected to the connecting body. The take-up and release motor can rotate in both directions to drive the take-up and release drum to rotate, thereby driving the take-up and release rope to take up or release.

10. A harvesting method, characterized in that, Using the harvesting drone as described in any one of claims 1-9, the method includes: Control the drone body to fly to one side of the branch where the fruit to be picked is located, so that the branch passes through the opening of the binding mechanism; The binding mechanism is activated to secure the branches and connecting body together by binding them together. Start the cutting drive to drive the cutting blade to rotate around the axis of the connecting body and cut off the branches within the binding range of the binding mechanism; After cutting, the cut fruit is sent to the designated collection area for unloading.

Images