Intelligent fruit picking unmanned aerial vehicle
By designing a smart fruit picking drone, using camera positioning, shearing module shearing fruit handles and propeller components to achieve stable flight, solving the problems of low efficiency and high risk in traditional picking methods, and achieving efficient, safe and low-cost fruit picking.
Patent Information
- Application Number
- CN202421246295.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-03
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-06-03
AI Technical Summary
The prior art has problems of low efficiency, high risk and high cost when picking fruits such as durian and coconut on tropical trees efficiently and safely. In particular, the robotic arm picking technology has insufficient recognition accuracy, robotic arm flexibility and tree shape adaptability, resulting in unsatisfactory picking efficiency and fruit damage rate.
Design a smart fruit picking drone, equipped with a camera module, a shear module, a picking net and a propeller assembly, and position the fruit through the camera, and cut the fruit handles through the shear module, and the fruit falls into the picking net, and use the propeller assembly to achieve stable flight and precise picking.
It has achieved low risk, low cost and high efficiency fruit picking, and the fruits after picking are intact, solving the efficiency and safety problems of traditional picking methods.
Smart Images
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Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an intelligent fruit picking unmanned aerial vehicle. Background Art
[0002] The large-scale production of durian and coconut faces a significant challenge - efficient and safe fruit picking. These two fruits mainly grow on tall and lush tropical trees, and their growing environment is often complex. The traditional manual picking method is not only inefficient, but also has high risks and high costs. Although some coconut picking technologies have appeared on the market, such as mobile chair-type pickers that combine mechanical devices and manual operations, and automated picking equipment equipped with robotic arms, these technologies still have obvious limitations: mobile chair-type equipment relies on manual operation, which is not only labor-intensive, but also needs to be improved in safety during high-altitude operations; and robotic arm picking technology may lead to unsatisfactory picking efficiency and fruit damage rate due to insufficient fruit recognition accuracy, robotic arm flexibility, and adaptability to complex tree shapes. Utility Model Content
[0003] The utility model aims to at least solve the technical problems existing in the prior art. To this end, the utility model proposes an intelligent fruit picking drone that can fly to a designated location to perform picking operations with low risk, low cost, high efficiency, and a high intact rate of the picked fruits.
[0004] According to some embodiments of the utility model, an intelligent fruit picking drone includes a base, a top plate is connected to the top of the base, a cutting module and a camera module are arranged at the front end of the top plate, a picking net is arranged at the front end of the base, the picking net is located below the cutting module, a plurality of arms are extended outward around the top of the base, a propeller assembly is connected to the arms, the propeller assembly includes a propeller support, a propeller blade is rotatably connected to the propeller support, the propeller support is connected to a connecting rod, a protective ring is connected to the end of the connecting rod, the protective ring is located at the periphery of the propeller blade, and a power supply battery for power supply is arranged on the base.
[0005] According to some embodiments of the present invention, an intelligent fruit picking drone has at least the following beneficial effects:
[0006] The utility model is provided with a plurality of arms extending outwardly around the top of the base, the arms are connected to propeller assemblies, the propeller assemblies include propeller supports, the propeller supports are rotatably connected with propeller blades, so that the UAV can fly to a certain height, and at the same time, the propeller supports are connected to a connecting rod, and the end of the connecting rod is connected to a protective ring, and the protective ring is located at the periphery of the propeller blades, so that the propeller blades will not collide with external objects, thereby ensuring the stability of flight, and the fruit to be picked can be found through the camera module, and then the fruit stalks are cut by the cutting module, and the fruit will fall into the picking net. The utility model can fly to the designated location and perform picking operations with low risk, low cost, high efficiency, and a high rate of intactness of the picked fruits.
[0007] According to some embodiments of the utility model, an intelligent fruit picking drone, the base includes two longitudinal beams, two transverse beams and a bottom plate, the two longitudinal beams are arranged side by side, the two transverse beams are respectively arranged horizontally at the front and rear ends of the two longitudinal beams, the front and rear ends of the bottom plate are respectively connected to the two transverse beams, and multiple interface frames are arranged on both sides of the base, and the support arms are installed one by one on the interface frames.
[0008] According to an intelligent fruit picking drone in some embodiments of the utility model, side rods are provided on both sides of the top plate, and the top of the interface frame is connected to the side rods.
[0009] According to some embodiments of the utility model, an intelligent fruit picking drone is provided with two electric adjustment frames on both sides of the base, an electronic speed regulator is provided between the two electric adjustment frames on the same side, an electric adjustment lever is provided between the two electric adjustment frames, the electric adjustment lever is located at the top of the electronic speed regulator, and the top of the electric adjustment frame is connected to the connecting rod.
[0010] According to an intelligent fruit picking drone in some embodiments of the utility model, the support arm and the propeller assembly are provided with four, and the propeller blades and the protective ring are provided at the upper and lower ends of the propeller support.
[0011] According to some embodiments of the utility model, an intelligent fruit picking drone comprises a head base and a camera, wherein the camera base is arranged at the bottom of the front end of the top plate, a rotating part is connected to the top of the camera base, the camera is arranged at the front end of the rotating part, and a camera battery is arranged on the outside of the rotating part, and the camera battery is used to power the camera.
[0012] According to some embodiments of the utility model, an intelligent fruit picking drone, the shearing module includes a mechanical arm base, a bottom connecting rod, an end connecting rod and a pair of scissors, the mechanical arm base is arranged at the front end of the top plate, the bottom connecting rod is rotatably connected to the mechanical arm base, a first driving motor is arranged on the mechanical arm base, the output end of the first driving motor is connected to the bottom connecting rod, the end connecting rod is rotatably connected to the bottom connecting rod, a second driving motor is arranged on the end connecting rod, the output end of the second driving motor is connected to the bottom connecting rod, a third driving motor is arranged at the front end of the end connecting rod, and the output end of the third driving motor is connected to the scissors.
[0013] According to an intelligent fruit picking drone in some embodiments of the utility model, landing gears are provided on both sides of the base, and a fixing rod is provided between the two landing gears.
[0014] According to some embodiments of the utility model, an intelligent fruit picking drone includes an electromagnetic ejection component, which includes an electromagnetic base plate, an inclined plate and a plurality of conductive coils. A guide rail is provided on the electromagnetic base plate, the inclined plate is connected to the front end of the guide rail, the conductive coils are arranged on both sides of the guide rail, and a long strip magnet is fixed to the top of the fixing rod.
[0015] According to an intelligent fruit picking drone in some embodiments of the utility model, bionic wings are provided on both sides of the top plate.
[0016] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
[0018] Figure 1 It is a structural schematic diagram of an embodiment of the utility model.
[0019] Figure 2 It is a structural schematic diagram of a base according to an embodiment of the utility model.
[0020] Figure 3 It is a structural schematic diagram of a shearing module according to an embodiment of the utility model.
[0021] Figure 4 The figure is a schematic structural diagram of a camera module according to an embodiment of the present utility model.
[0022] Figure 5 It is a structural schematic diagram of a propeller assembly according to an embodiment of the utility model.
[0023] Figure 6 It is a schematic structural diagram of the electromagnetic ejection assembly of an embodiment of the utility model.
[0024] Reference numerals: 1, base, 2, top plate, 3, cutting module, 4, camera module, 5, picking net, 6, propeller assembly, 7, power supply battery, 8, electromagnetic ejection assembly, 9, bionic wings, 10, electronic speed regulator;
[0025] 101, support arm, 102, longitudinal beam, 103, cross beam, 104, bottom plate, 105, interface frame, 106, electric adjustment frame, 107, electric adjustment lever, 108, landing gear, 109, fixing rod;
[0026] 201, sidebar;
[0027] 301, robot arm base, 302, bottom connecting rod, 303, end connecting rod, 304, scissors, 305, first driving motor, 306, second driving motor, 307, third driving motor;
[0028] 401, camera base, 402, camera, 403, rotating part, 404, camera battery;
[0029] 601, propeller support, 602, propeller blade, 603, connecting rod, 604, protective ring;
[0030] 801. electromagnetic base plate, 802. inclined plate, 803. conductive coil, 804. guide rail, 805. magnet. DETAILED DESCRIPTION
[0031] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.
[0032] In the description of the present invention, it should be understood that the descriptions involving orientation, such as up, down, left, right, front, back, etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the modules or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0033] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.
[0034] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.
[0035] like Figure 1-Figure 6 As shown, an embodiment of the utility model provides an intelligent fruit picking drone.
[0036] A smart fruit picking drone comprises a base 1, wherein a top plate 2 is connected to the top of the base 1, a cutting module 3 and a camera module 4 are arranged at the front end of the top plate 2, a picking net 5 is arranged at the front end of the base 1, and the picking net 5 is located below the cutting module 3, a plurality of arms 101 are extended outwardly around the top of the base 1, and a propeller assembly 6 is connected to each of the arms 101, and the propeller assembly 6 comprises a propeller support 601, and a propeller blade 602 is rotatably connected to the propeller support 601, and the propeller support 601 is connected to a connecting rod 603, and a protective ring 604 is connected to the end of the connecting rod 603, and the protective ring 604 is located at the periphery of the propeller blade 602, and a power supply battery 7 for power supply is arranged on the base 1.
[0037] The utility model is provided with a plurality of arms 101 extending outwardly around the top of the base 1, and the arms 101 are connected to the propeller assembly 6, and the propeller assembly 6 includes a propeller support 601, and the propeller blade 602 is rotatably connected to the propeller support 601, so that the UAV can fly to a certain height, and at the same time, the propeller support 601 is connected to the connecting rod 603, and the end of the connecting rod 603 is connected to the protective ring 604, and the protective ring 604 is located at the periphery of the propeller blade 602, so that the propeller blade 602 will not collide with external objects, thereby ensuring the stability of flight, and the camera module 4 can be used to find the fruit to be picked, and then the fruit stalk is cut by the cutting module 3, and the fruit will fall into the picking net 5. The utility model can fly to the designated location and perform picking operations with low risk, low cost, high efficiency, and a high intact rate of the picked fruits.
[0038] In the intelligent fruit picking drone described in this embodiment, the base 1 includes two longitudinal beams 102, two transverse beams 103 and a bottom plate 104. The two longitudinal beams 102 are arranged side by side, and the two transverse beams 103 are respectively arranged horizontally at the front and rear ends of the two longitudinal beams 102. The front and rear ends of the bottom plate 104 are respectively connected to the two transverse beams 103. A plurality of interface frames 105 are arranged on both sides of the base 1, and the support arms 101 are installed one by one on the interface frames 105. Specifically, the interface frames 105 extend upward along the base 1, and the support arms 101 are installed on the interface frames 105. The support arms 101 extend obliquely upward so that the propeller assembly 6 is distributed on the top periphery of the top plate 2.
[0039] In the intelligent fruit picking drone described in this embodiment, side rods 201 are provided on both sides of the top plate 2, and the top of the interface frame 105 is connected to the side rods 201. Specifically, the above arrangement enables the base 1 and the top plate 2 to be connected through the side rods 201, and the structural stability is good.
[0040] In the intelligent fruit picking drone described in this embodiment, two electric adjustment frames 106 are arranged on both sides of the base 1, and an electronic speed regulator 10 is arranged between the two electric adjustment frames 106 on the same side, and an electric adjustment lever 107 is arranged between the two electric adjustment frames 106, and the electric adjustment lever 107 is located at the top of the electronic speed regulator 10, and the top of the electric adjustment frame 106 is connected to the connecting rod 603. Specifically, the electronic speed regulator 106 is mainly used to adjust the speed of the motor, and controls the start and stop and speed of the motor by receiving signals from the remote control. The above structure has good stability, and the electric adjustment lever 107 is arranged at the same time, which can effectively prevent external objects from colliding with the electronic speed regulator 10.
[0041] In the intelligent fruit picking drone described in this embodiment, the support arm 101 and the propeller assembly 6 are provided with four, and the propeller blades 602 and the protective ring 604 are provided at the upper and lower ends of the propeller support 601. Specifically, the four-wing double-layer propeller blade 602 structure is adopted, and the lift is significantly improved compared with the single-layer propeller of an ordinary drone. At the same time, the protective ring 604 on the periphery of the propeller effectively addresses the problem of the drone wing colliding with the leaves when the leaves are too large.
[0042] In the intelligent fruit picking drone described in this embodiment, the camera module 4 includes a camera base 401 and a camera 402. The camera base 401 is arranged at the front bottom of the top plate 2. The top of the camera base 401 is connected with a rotating member 403. The camera 402 is arranged at the front end of the rotating member 403. A camera battery 404 is arranged on the outside of the rotating member 403. The camera battery 404 is used to power the camera 402. Specifically, by setting the rotating member 403, the camera 402 is more flexible. The camera 402 can rotate 180° to focus on the fruit on the tree, thereby guiding the cutting module 3 to cut the root of the coconut or durian, so that the fruit falls into the collection net under the action of gravity.
[0043] The intelligent fruit picking drone described in this embodiment, the shearing module 3 includes a mechanical arm base 301, a bottom connecting rod 302, an end connecting rod 303 and a pair of scissors 304, the mechanical arm base 301 is arranged at the front end of the top plate 2, the bottom connecting rod 302 is rotatably connected to the mechanical arm base 301, a first driving motor 305 is arranged on the mechanical arm base 301, the output end of the first driving motor 305 is connected to the bottom connecting rod 302, the end connecting rod 303 is rotatably connected to the bottom connecting rod 302, a second driving motor 306 is arranged on the end connecting rod 303, the output end of the second driving motor 306 is connected to the bottom connecting rod 302, a third driving motor 307 is arranged at the front end of the end connecting rod 303, and the output end of the third driving motor 307 is connected to the scissors 304. Specifically, the shearing module 3 is driven by a motor. The first drive motor 305 can rotate the bottom connecting rod 302. The second drive motor 306 makes the end connecting rod 303 rotate relative to the bottom connecting rod 302. The two sets of motors greatly enhance the flexibility of the mechanical shears. The third drive motor 307 drives the scissors 304 to shear the roots of the fruit and make it fall into the collection net.
[0044] In the intelligent fruit picking drone described in this embodiment, landing gears 108 are provided on both sides of the base 1, and a fixing rod 109 is provided between the two landing gears 108. Specifically, the height of the landing gear 108 is greater than the depth of the collection net.
[0045] The intelligent fruit picking drone described in this embodiment includes an electromagnetic ejection assembly 8, which includes an electromagnetic bottom plate 801, an inclined plate 802 and a plurality of conductive coils 803. A guide rail 804 is provided on the electromagnetic bottom plate 801, the inclined plate 802 is connected to the front end of the guide rail 804, the conductive coils 803 are arranged on both sides of the guide rail 804, and a long strip magnet 805 is fixed on the top of the fixing rod 109. Specifically, the above-mentioned setting adopts electromagnetic ejection, which solves the problem of limited continuous flight time of current drones by electromagnetic ejection, and lifts the drone with the help of external force, effectively saving power consumption in the take-off stage, extending the flight time, and improving the picking efficiency.
[0046] In the intelligent fruit picking drone described in this embodiment, both sides of the top plate 2 are provided with bionic wings 9. Specifically, the bionic wings 9 are made of carbon fiber material, are lightweight, and can effectively increase lift during catapult takeoff, extend hovering time, and reduce power consumption.
[0047] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.
Claims
1. An intelligent fruit picking drone, characterized by: It includes a base, a top plate is connected to the top of the base, a cutting module and a camera module are arranged at the front end of the top plate, a picking net is arranged at the front end of the base, the picking net is located below the cutting module, a plurality of arms are extended outwards around the top of the base, a propeller assembly is connected to the arms, the propeller assembly includes a propeller support, a propeller blade is rotatably connected to the propeller support, the propeller support is connected to a connecting rod, a protective ring is connected to the end of the connecting rod, the protective ring is located on the periphery of the propeller blade, and a power supply battery for power supply is arranged on the base.
2. The intelligent fruit picking drone according to claim 1, characterized in that: The base includes two longitudinal beams, two transverse beams and a bottom plate. The two longitudinal beams are arranged side by side. The two transverse beams are respectively arranged horizontally at the front and rear ends of the two longitudinal beams. The front and rear ends of the bottom plate are respectively connected to the two transverse beams. Multiple interface frames are arranged on both sides of the base, and the support arms are installed one by one on the interface frames.
3. The intelligent fruit picking drone according to claim 2, characterized in that: Side bars are arranged on both sides of the top plate, and the top of the interface frame is connected to the side bars.
4. The intelligent fruit picking drone according to claim 3, characterized in that: Two electric adjustment frames are arranged on both sides of the base, an electronic speed regulator is arranged between the two electric adjustment frames on the same side, an electric adjustment lever is arranged between the two electric adjustment frames, the electric adjustment lever is located at the top of the electronic speed regulator, and the top of the electric adjustment frame is connected to the connecting rod.
5. The intelligent fruit picking drone according to claim 1, characterized in that: The support arms and the propeller assemblies are provided in four numbers, and the propeller blades and the protective ring are provided at the upper and lower ends of the propeller support.
6. The intelligent fruit picking drone according to claim 1, characterized in that: The camera module includes a camera base and a camera, wherein the camera base is arranged at the front bottom of the top plate, a rotating part is connected to the top of the camera base, the camera is arranged at the front end of the rotating part, a camera battery is arranged on the outside of the rotating part, and the camera battery is used to power the camera.
7. The intelligent fruit picking drone according to claim 1, characterized in that: The shearing module includes a robotic arm base, a bottom connecting rod, an end connecting rod and a pair of scissors. The robotic arm base is arranged at the front end of the top plate, the bottom connecting rod is rotatably connected to the robotic arm base, a first driving motor is arranged on the robotic arm base, the output end of the first driving motor is connected to the bottom connecting rod, the end connecting rod is rotatably connected to the bottom connecting rod, a second driving motor is arranged on the end connecting rod, the output end of the second driving motor is connected to the bottom connecting rod, a third driving motor is arranged at the front end of the end connecting rod, and the output end of the third driving motor is connected to the scissors.
8. The intelligent fruit picking drone according to claim 1, characterized in that: Landing gears are arranged on both sides of the base, and a fixing rod is arranged between the two landing gears.
9. The intelligent fruit picking drone according to claim 8, characterized in that: It includes an electromagnetic ejection assembly, which includes an electromagnetic base plate, an inclined plate and multiple conductive coils. A guide rail is provided on the electromagnetic base plate, the inclined plate is connected to the front end of the guide rail, the conductive coils are arranged on both sides of the guide rail, and a long strip magnet is fixed on the top of the fixing rod.
10. The intelligent fruit picking drone according to claim 1, characterized in that: Bionic wings are arranged on both sides of the top plate.