An outdoor high-altitude harvesting and transportation device

Abstract

This utility model discloses an outdoor high-altitude fruit picking and transportation device, belonging to the field of agricultural equipment technology. It includes a walking mechanism with an installation platform. The installation platform has several lifting and transporting mechanisms, and several material frames are located on the middle section of the platform. A drone is mounted on top of the lifting mechanisms, and the drone has a gripping mechanism. The end of the gripping mechanism has a robotic arm and a vision processing module. A flexible thin-film pressure sensor is located inside the robotic arm, and the vision processing module is used to identify the material and its location information and transmit this information to the drone. This utility model avoids the dangers of manual high-altitude fruit picking, improves fruit picking efficiency, prevents fruit damage, adapts to complex ground environments, and solves the problems of dense fruit trees hindering drone flight and the low efficiency caused by the cumbersome actions of drones when retrieving fruit.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural equipment technology, specifically relating to an outdoor high-altitude harvesting and transportation device. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] The fruit industry is currently large-scale, with high annual output and market value. While harvesting machines can handle ground-level and lower-level fruit picking, existing ground-level harvesting robots for crops like tomatoes and strawberries cannot cover high-altitude areas. Agricultural drones are only used for spraying pesticides and do not integrate harvesting functions. Therefore, harvesting fruit from taller outdoor trees still mainly relies on manual labor. However, traditional harvesting methods have the following key problems:

[0004] Labor shortages and high costs mean that a large number of seasonal workers need to be recruited every year. Manual harvesting is costly and there is uncertainty in worker recruitment. It is impossible to guarantee that enough workers can be recruited during the fruit ripening period, nor can it be guaranteed that the workers' harvesting skills can complete the fruit harvesting task. If the fruit cannot be fully harvested during the ripening period, it will directly cause significant losses.

[0005] High-altitude operations are risky and inefficient. Many fruits are located at high altitudes, and manual climbing and picking are dangerous and prone to falling accidents. At the same time, the rate of missed picking of fruits at high altitudes is as high as 15%-20%, which can easily lead to serious waste.

[0006] Existing technologies include using drones for high-altitude fruit harvesting. However, current harvesting drones only prune or forcibly break branches to harvest fruit. The fruit-breaking action relies on multi-axis coordination, resulting in slow response and high energy consumption. Furthermore, manual intervention is required for packing after harvesting, lacking a fully automated "harvesting-transfer-packing" process. Current drones also have weak fruit recognition capabilities, leading to a high rate of missed harvests and requiring manual control. They are also unable to adapt to dense foliage environments, exhibiting weak obstacle avoidance capabilities in complex branch conditions, making it difficult to stably approach fruit, resulting in poor flight stability. The cumbersome fruit retrieval process also leads to low efficiency. Additionally, current drone harvesting operations result in high fruit damage rates. Existing mechanical claws often use rigid gripping (such as pneumatic manipulators) and lack force feedback control, making fruit easily crushed and damaged, especially soft-skinned fruits like apples and pears.

[0007] In addition, when picking fruit in outdoor orchards, the ground is usually muddy, uneven, and sloping, making the transportation process after picking difficult and making it hard to achieve stable transportation. Utility Model Content

[0008] The purpose of this invention is to provide an outdoor high-altitude fruit picking and transportation device that avoids the dangers of manual high-altitude fruit picking operations, improves fruit picking efficiency, prevents fruit damage, adapts to complex ground environments, and solves the problems of dense fruit trees hindering drone flight and the low efficiency caused by the complicated actions of drones when retrieving fruit.

[0009] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0010] In a first aspect, an embodiment of the present invention provides an outdoor high-altitude harvesting and transportation device, including a walking mechanism, the walking mechanism being provided with an installation platform, the installation platform being provided with a plurality of lifting mechanisms and a transport mechanism, and the middle installation platform of the plurality of lifting mechanisms and the transport mechanism being provided with a plurality of material frames.

[0011] The top of the plurality of lifting mechanisms is equipped with a drone, the drone is equipped with a gripping mechanism, the end of the gripping mechanism is equipped with a robotic arm and a vision processing module, the inner side of the robotic arm is equipped with a flexible thin film pressure sensor, and the vision processing module is used to identify materials and material position information and transmit them to the drone.

[0012] As a further technical solution, the walking mechanism includes a chassis, with a plurality of walking wheels on both sides of the chassis, and tracks on the outer sides of the plurality of walking wheels. Shock-absorbing structures are provided on both sides of the chassis near the plurality of walking wheels, and the shock-absorbing structures are connected to the plurality of walking wheels.

[0013] As a further technical solution, the shock absorption structure includes a bent handle structure, which is disposed on both sides of the chassis near the driving wheels. The bent handle structure is detachably connected to the chassis by bolts. A spring is connected to the end of the bent handle structure away from the driving wheels, and the end of the spring away from the bent handle structure is connected to the chassis.

[0014] As a further technical solution, the lifting mechanism has four parts respectively set at the corners of the installation platform. The lifting mechanism is set as a scissor lift platform. The top of the scissor lift platform is equipped with a power module. The power module is connected to the drone through a line to supply power to the drone.

[0015] As a further technical solution, the conveying mechanism has two symmetrically arranged at both ends of the installation platform, and a loading platform is provided on the middle installation platform of the two conveying mechanisms, and a number of material boxes are provided on the loading platform.

[0016] The handling mechanism is configured as a robotic arm with four degrees of freedom. The working end of the robotic arm near the material box is provided with a telescopic structure, and the end of the telescopic structure is connected to a clamping structure.

[0017] As a further technical solution, the clamping structure is provided with a strip plate, and two clamping plates are provided at a certain distance along the length direction on the side of the strip plate near the material frame. The two clamping plates are slidably connected to the strip plate along the length direction. The two clamping plates are provided with protruding structures that are adapted to the edge of the material frame.

[0018] As a further technical solution, the plurality of material frames includes a plurality of first material frames and a plurality of second material frames disposed in the middle of the installation platform, wherein the size of the second material frames is smaller than that of the first material frames.

[0019] As a further technical solution, a gripping mechanism is installed on the top of the drone. The gripping mechanism has a base, and a plurality of drive motors are provided at one end of the base. The plurality of drive motors are connected to a gear structure. The gear structure has a main shaft. A steering shaft is provided at the bottom of the main shaft. A crank slide structure is provided on the base. A slide block is provided at one end of the crank slide structure. The other end of the crank slide structure is connected to the main shaft.

[0020] The upper part of the main shaft is connected to a universal joint via a universal joint, and the universal joint is connected to a rotating shaft via a universal joint. The rotating shaft is provided with a sleeve on the outside, and the sleeve is connected to the slide via a support sleeve.

[0021] A support arm is provided between the rotating shaft and the main shaft; a robot arm is provided at the end of the rotating shaft away from the universal joint, and the vision processing module is located at the end of the base near the robot arm.

[0022] As a further technical solution, the drive motor has two motors symmetrically arranged on both sides of one end of the base;

[0023] The gear structure includes a first gear, two second gears, a third gear, and two fourth gears. The output ends of the two drive motors are respectively connected to the two second gears. The lower part of the steering shaft is provided with the first gear, and the upper part of the steering shaft is provided with the third gear. The first gear meshes with the second gear through the fourth gear, and the third gear meshes with the second gear through the fourth gear.

[0024] The crank slide structure also includes a slide, a connecting rod, and a rocker arm. The slide has a sliding groove, the slide block is slidably embedded in the slide, the slide is connected to the connecting rod, the connecting rod is connected to the rocker arm, and the rocker arm is connected to the main shaft.

[0025] As a further technical solution, the drone is equipped with a flight controller and a vision processing module that are connected in communication. The flight controller is used to control the drone to take off, fly in the air and return to the field for recovery based on the material and material location information. The drone is also equipped with an obstacle avoidance module that is connected in communication with the flight controller. The obstacle avoidance module is used to identify obstacles during the drone's flight and transmit the obstacle information to the flight controller to control the drone's flight and prevent collisions.

[0026] The beneficial effects of the above-described embodiments of this utility model are as follows:

[0027] This utility model provides an outdoor high-altitude fruit picking and transportation device that enables fully unmanned operation. A drone equipped with a grasping mechanism and a vision processing module identifies the fruit's location and works with a robotic arm to complete the picking action. A lifting mechanism raises the working platform, expanding the drone's operating radius. A transport mechanism places the boxed fruit appropriately, and a walking mechanism transports the material frame full of fruit. This achieves full automation of the "identification-picking-transfer-storage" process, eliminating the need for manual intervention in high-altitude picking, boxing, and transport in traditional methods. It enables unmanned automated high-altitude fruit picking and solves the problems of dense fruit trees hindering drone flight and the low efficiency caused by cumbersome fruit return operations.

[0028] Furthermore, this invention improves safety and harvesting efficiency, replacing high-risk operations with drones that replace manual climbing, completely eliminating the risk of falls from heights, and significantly reducing the rate of missed harvests. Specifically, the vision processing module accurately identifies the location of fruits in complex branch environments, the drone obstacle avoidance module scans the environment in real time, the flight controller dynamically plans obstacle avoidance paths, and the drone performs multi-angle obstacle avoidance flight for harvesting, reducing blind spots inherent in traditional manual harvesting. The grasping mechanism, through a universal joint and crank-slide structure, enables the robotic arm to rotate while retracting its grip, efficiently picking fruits. The robotic arm also incorporates a flexible thin-film pressure sensor that provides real-time feedback on the robotic arm's force, adaptively adjusting the gripping pressure to avoid squeezing damage to soft-skinned fruits like apples and pears caused by rigid robotic arms. Additionally, the drone's continuous operation capability is enhanced; the power module at the top of the lifting mechanism continuously supplies power to the drone via wiring, overcoming the bottleneck of drone battery life and supporting long-term, large-scale harvesting.

[0029] The track and shock-absorbing structure of the walking mechanism, namely the spring and bent handle structure, achieve two-stage buffering, effectively absorbing ground bumps, adapting to complex ground environments, and preventing fruit from being damaged by vibration and collision during transportation. Attached Figure Description

[0030] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0031] Figure 1 This is a schematic diagram of an outdoor high-altitude harvesting and transportation device for harvesting operations provided in Embodiment 1 of this utility model;

[0032] Figure 2 This is a schematic diagram of the overall structure of an outdoor high-altitude harvesting and transportation device provided in Embodiment 1 of this utility model;

[0033] Figure 3 This is a three-dimensional schematic diagram of the gripping mechanism provided in Embodiment 1 of this utility model installed on a drone;

[0034] Figure 4 This is a front view of the gripping mechanism provided in Embodiment 1 of this utility model installed on a drone;

[0035] Figure 5 This is a top view of the gripping mechanism provided in Embodiment 1 of this utility model installed on a drone;

[0036] Figure 6 This is a schematic diagram of the gripping mechanism provided in Embodiment 1 of this utility model;

[0037] Figure 7 This is a schematic diagram of the structure of the robotic arm provided in Embodiment 1 of this utility model;

[0038] Figure 8 This is a schematic diagram of the lifting mechanism provided in Embodiment 1 of this utility model;

[0039] Figure 9 This is a schematic diagram of the conveying mechanism provided in Embodiment 1 of this utility model;

[0040] Figure 10 This is a schematic diagram of the walking mechanism provided in Embodiment 1 of this utility model;

[0041] Figure 11 This is a schematic diagram of the shock-absorbing structure provided in Embodiment 1 of this utility model.

[0042] The diagram is for illustrative purposes only.

[0043] Among them, 1. Walking mechanism; 11. Walking wheel; 12. Track; 13. Bend structure; 14. Spring;

[0044] 2. Lifting mechanism; 21. Power module;

[0045] 3. Handling mechanism; 31. Telescopic structure; 32. Clamping structure;

[0046] 4. Material box;

[0047] 5. Drones;

[0048] 6. Gripping mechanism; 61. Robotic arm; 62. Vision processing module; 63. Base; 64. Spindle; 65. First gear; 66. Drive motor; 67. Second gear; 68. Steering shaft; 69. Slide table; 610. Slide block; 611. Rocker arm; 612. Connecting rod; 613. Universal joint; 614. Universal shaft; 615. Rotary shaft; 616. Supporting crank arm; 617. Sleeve; 618. Third gear; 619. Supporting sleeve; 620. Fourth gear; 621. Flexible thin-film pressure sensor. Detailed Implementation

[0049] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0050] Example 1

[0051] In a typical embodiment of this utility model, such as Figures 1 to 11 As shown, an outdoor high-altitude harvesting and transportation device is provided, including a walking mechanism 1. The walking mechanism 1 is provided with an installation platform. The installation platform is provided with a plurality of lifting mechanisms 2 and a transport mechanism 3. The middle installation platform of the plurality of lifting mechanisms 2 and transport mechanism 3 is provided with a loading platform. The loading platform is provided with a plurality of material boxes 4.

[0052] The top of each of the lifting mechanisms 2 is equipped with a drone 5, and the drone 5 is equipped with a gripping mechanism 6. The end of the gripping mechanism 6 is equipped with a robotic arm 61 and a vision processing module 62. The robotic arm 61 is equipped with a flexible thin film pressure sensor 621 on its inner side. The vision processing module 62 is used to identify materials and material position information and transmit them to the drone 5.

[0053] With this setup, the drone 5 is equipped with a grasping mechanism 6 and a vision processing module 62 to identify the fruit's location. It works in conjunction with a robotic arm 61 to complete the picking action. The lifting mechanism 2 raises the working platform, expanding the drone 5's operating radius. The transport mechanism 3 places the boxed fruit in a reasonable position. The walking mechanism 1 transports the material box 4, which is fully loaded with fruit, to achieve full automation of the "identification-picking-transfer-storage" process. This eliminates the need for manual intervention in the high-altitude picking, boxing, and transporting processes in the traditional model, enabling unmanned automated high-altitude fruit picking operations.

[0054] As a further technical solution, the walking mechanism 1 includes a chassis, with a plurality of walking wheels 11 on both sides of the chassis, and tracks 12 on the outer sides of the plurality of walking wheels 11. Shock-absorbing structures are provided on both sides of the chassis near the plurality of walking wheels 11, and the shock-absorbing structures are connected to the plurality of walking wheels 11.

[0055] Through the above settings, the overall passability of the device in complex terrain is improved. The walking mechanism 1 adopts tracks 12 to increase the ground contact area and prevent slipping or sinking in muddy or sloping terrain. In addition, the shock absorption structure ensures the stability of transportation in complex terrain, buffers ground bumps, further protects the fruit, and avoids damage to the fruit due to vibration and collision during transportation.

[0056] In this embodiment, considering the driving force during operation, in order to prevent the track walking mechanism 1 from jamming or stopping due to insufficient motor driving force, a three-phase asynchronous motor of model 90s-4 is selected as the driving mechanism. This motor can output a maximum of 1.5HP horsepower and 1.1KW power, with a line voltage of 380V and a speed of 1400R / min.

[0057] As a further technical solution, the shock absorption structure includes a bent handle structure 13, which is disposed on both sides of the chassis near the traveling wheel 11. The bent handle structure 13 is detachably connected to the chassis by bolts. A spring 14 is connected to the end of the bent handle structure 13 away from the traveling wheel 11, and the end of the spring 14 away from the bent handle structure 13 is connected to the chassis.

[0058] In this embodiment, the bending handle structure 13, in conjunction with the spring 14, achieves shock absorption during device transportation. Specifically, when the bottom of the track 12 senses rough terrain, the bending handle structure 13 compresses the spring 14 to absorb shock. Furthermore, the bending handle structure 13 is bolted to the chassis, facilitating the replacement or repair of damaged parts.

[0059] As a further technical solution, the lifting mechanism 2 is provided with four parts respectively set at the corners of the installation platform. The lifting mechanism 2 is set as a scissor lift platform. The top of the scissor lift platform is provided with a power module 21. The power module 21 is connected to the drone 5 through a line to supply power to the drone 5.

[0060] With this setup, the scissor lift platform works in conjunction with the drone 5. The lift platform rises, and the drone 5 delivers the picked fruit to the second material box 4 at the top of the lift platform, reducing the distance the drone 5 flies back and forth to the platform at the bottom and reducing cumbersome procedures. When the fruit in the material box 4 on the lift platform reaches a certain weight, the lift platform descends to a suitable position, and the transport mechanism 3 places the second material box 4 into the first material box 4, realizing the overall transfer and storage of the fruit. At the same time, the transport mechanism 3 places the empty second material box 4 on top of the lifting mechanism 2, and the lifting mechanism 2 rises to a suitable position to cooperate with the drone 5 for harvesting.

[0061] In this embodiment, a hydraulic component and a weight sensor can be installed on the lifting mechanism 2. The hydraulic component is controlled by the weight sensor. When the second material box 4 at the top of the lifting mechanism 2 is full, the weight sensor reaches a set value and controls the hydraulic component to lower the lifting mechanism 2. After the second material box 4 on the lowered lifting mechanism 2 is removed and replaced with an empty second material box 4, the weight sensor reaches a set value and controls the hydraulic component to raise the lifting mechanism 2 to a reasonable position to cooperate with the drone 5 to pick the fruit.

[0062] The top power module 21 provides real-time power to the drone 5 via a cable, solving the battery life bottleneck of the drone 5 and supporting long-term operation.

[0063] As a further technical solution, the conveying mechanism 3 is provided with two symmetrically arranged at both ends of the installation platform, and a loading platform is provided on the middle installation platform of the two conveying mechanisms 3, and a plurality of material boxes 4 are provided on the loading platform.

[0064] The handling mechanism 3 is configured as a robotic arm with four degrees of freedom. The working end of the robotic arm near the material box 4 is provided with a telescopic structure 31, and the end of the telescopic structure 31 is connected to a clamping structure 32.

[0065] In this embodiment, the working range of the four-degree-of-freedom robotic arm covers the entire platform, accurately grabbing the second material box 4 and placing it into the first material box 4, reducing manual labor. The end of the telescopic structure 31 is connected to the clamping structure 32, which can flexibly adjust its position to adapt to the packing requirements of material boxes 4 of different sizes.

[0066] As a further technical solution, the clamping structure 32 is provided with a strip plate, and two clamping plates are provided at a certain distance along the length direction on the side of the strip plate near the material frame 4. The two clamping plates are slidably connected to the strip plate along the length direction. The two clamping plates are provided with protruding structures that are adapted to the edge of the material frame 4.

[0067] In this embodiment, the sliding clamp adjusts the spacing along the strip plate to accommodate material frames 4 of different sizes. The protrusion of the clamp fits into the edge of the material frame 4 to prevent the frame from shifting or tipping over during transportation.

[0068] As a further technical solution, the plurality of material frames 4 includes a plurality of first material frames 4 and a plurality of second material frames 4 disposed in the middle of the installation platform, wherein the size of the second material frames 4 is smaller than that of the first material frames 4. In this embodiment, the combination of large and small frames improves the space utilization of the platform and adapts to scenarios of harvesting multiple varieties in a single operation.

[0069] As a further technical solution, a gripping mechanism 6 is installed on the top of the drone 5. The gripping mechanism 6 has a base 63. One end of the base 63 is provided with a plurality of drive motors 66. The plurality of drive motors 66 are connected to a gear structure. The gear structure is provided with a main shaft 64. A steering shaft 68 is provided at the bottom of the main shaft. A crank slide 69 structure is provided on the base 63. One end of the crank slide 69 structure is provided with a slide block 610. The other end of the crank slide 69 structure is connected to the main shaft 64.

[0070] The upper part of the main shaft 64 is connected to the universal joint 614, the universal joint 614 is connected to the universal joint 613, the universal joint 613 is connected to the rotating shaft 615, the rotating shaft 615 is provided with a sleeve 617 on the outside, and the sleeve 617 is connected to the slide 610 through the support sleeve 619.

[0071] A support arm 616 is provided between the rotating shaft 615 and the main shaft 64; a robot arm 61 is provided at the end of the rotating shaft 615 away from the universal joint 613, and the vision processing module 62 is located at the end of the base 63 near the robot arm 61.

[0072] As a further technical solution, the drive motor 66 is provided with two motors symmetrically arranged on both sides of one end of the base 63;

[0073] The gear structure includes a first gear 62, two second gears 67, a third gear 618, and two fourth gears 620. The output ends of the two drive motors 66 are respectively connected to the two second gears 67. The lower part of the steering shaft 68 is provided with the first gear 62, and the upper part of the steering shaft 68 is provided with the third gear 618. The first gear 62 meshes with the second gear 67 through the fourth gear 620, and the third gear 618 meshes with the second gear 67 through the fourth gear 620.

[0074] The crank slide 69 structure also includes a slide 69, a connecting rod 612 and a rocker arm 611. The slide 69 is provided with a sliding groove. The slide seat 610 is slidably embedded in the slide 69. The slide 69 is connected to the connecting rod 612. The connecting rod 612 is connected to the rocker arm 611. The rocker arm 611 is connected to the main shaft 64.

[0075] In this embodiment, the drive motor 66 drives the gear set to further drive the main shaft 64, and transmits torque to the rotating shaft 615 through the universal joint 613. With the help of the crank slide 69 structure and the flexible thin film pressure sensor 621 inside the robot arm 61, the force is fed back in real time, and the gripping pressure is adaptively adjusted. When the robot arm 61 grips the fruit in the gaps between branches, it can adaptively grip the fruit and pull it while rotating, so as to efficiently pick the fruit from the branch and avoid damage to the fruit.

[0076] Specifically, the robotic arm 61 is a five-claw robotic arm controlled by a servo motor. The servo motor is a 20kg DS3120 large servo motor, which uses metal gears, weighs 60g, and can rotate 360°. It not only has a long lifespan but also a maximum output torque of 6.8N. Since the maximum weight of a single fruit is approximately 3N, the robotic arm 61 can grasp the fruit. The robotic arm 61, in conjunction with a flexible thin-film pressure sensor 621, provides force feedback to rationally control the gripping force and avoid damaging the fruit.

[0077] The gripping mechanism 6 enables the robotic arm 61 to perform both telescopic and rotary movements. The telescopic movement utilizes a crank-slide 69 structure, which is driven by a drive motor 66 that drives a gear set to further drive the main shaft 64, converting the rotation of the crank into the movement of the slide 69. This causes the slide 69 to move along the groove on the slide block 610, thus achieving the telescopic movement. The rotary movement is achieved through a universal joint 613 with a 90-degree rotation. The rotation of the main shaft 64 is converted into the rotation of the rotating shaft 615, thus achieving the rotary movement of the robotic arm 61.

[0078] The drive motor 66 uses two 42 stepper motors, which are 42BYGH48S motors. They weigh 0.35Kg, have a step angle of 1.8°, can output 5.5KgF.cm torque, and have a moment of inertia of 68g.cm3. They have stable speed and low noise, and the torque can meet the operation requirements. They are also lightweight and have great reliability when mounted on the UAV 5.

[0079] The stepper motor drive module uses a DMOS microstepping driver with converter and overcurrent protection, model A4988.

[0080] As a further technical solution, the UAV 5 is equipped with a flight controller and a vision processing module 62 that are connected in communication. The flight controller is used to control the UAV 5 to take off, fly in the air and return to the field for recovery based on the material and material location information. The UAV 5 is also equipped with an obstacle avoidance module that is connected in communication with the flight controller. The obstacle avoidance module is used to identify obstacles during the flight of the UAV 5 and transmit the obstacle information to the flight controller to control the flight of the UAV 5 and prevent collisions.

[0081] In this embodiment, the vision processing module 62 is an OpenMV module, specifically an upgraded version of OpenMVR3. OpenMV4R3 is an embedded machine vision module that uses an STM32H74VIT6 processor with a 400MHz clock frequency, 1M of RAM, and 2M of Flash memory. It belongs to the Cortex-M series of chips.

[0082] The image sensor uses the OmniVision OV7725 image sensor chip, supporting resolutions of QVGA, QQVGA, and HQVGA. It boasts high recognition accuracy and can be used for color recognition, number recognition, barcode scanning, QR code scanning, image recognition, and face recognition. All pins have a 5V withstand voltage and a 3.3V output, with a maximum input and output of 25mA, meeting the electrical operating conditions of common electronic components and offering ease of use.

[0083] The visual processing module 62 described above enables the judgment and location of fruit ripeness. Any required recognition can be achieved through programming. OpenMV can acquire telephoto, near-photo, and wide-angle images by equipping it with multiple cameras.

[0084] In addition, in this embodiment, the UAV 5 is selected as the Yuanhang ZD680PRO quadcopter UAV 5, and the flight controller of the UAV 5 model is selected as the PIX2.4.8 flight controller as the control center of the UAV 5. The flight controller has the function of stabilizing the flight attitude of the UAV 5 and controlling the UAV 5 to fly autonomously or semi-autonomously. Under the control of the flight controller, the UAV 5 can complete the entire flight process, including take-off, aerial flight, mission execution and return recovery.

[0085] The drive unit of UAV 5 uses a Langyu X4120 series brushless motor, which provides the main power for UAV 5. The obstacle avoidance module can realize obstacle avoidance function to prevent UAV 5 from accidentally colliding with other objects during operation, and can also realize upward collision avoidance, improving the stability of UAV 5 during operation. In this embodiment, the Ledi obstacle avoidance module is selected.

[0086] With the above settings, the obstacle avoidance module scans the branch environment in real time, the flight controller dynamically plans the path to prevent collisions that could cause crashes or damage to the fruit, the vision processing module 62 locates the fruit, the flight controller navigates to approach, the robotic arm 61 flexibly picks the fruit, and the fruit returns to the lifting platform. The entire process requires no human intervention.

[0087] This utility model provides an outdoor high-altitude fruit picking and transportation device with fully unmanned operation. The drone 5 is equipped with a grasping mechanism 6 and a vision processing module 62 to identify the fruit position and cooperate with the robotic arm 61 to complete the picking action. The lifting mechanism 2 raises the working platform to expand the working radius of the drone 5. The transport mechanism 3 places the boxed fruits in a reasonable manner. The walking mechanism 1 transports the material box 4 full of fruits, realizing the full-process automation of "identification-picking-transfer-storage". It eliminates the manual intervention in the high-altitude picking, boxing and transporting links in the traditional mode and realizes unmanned automated high-altitude fruit picking operation.

[0088] Furthermore, this invention improves safety and harvesting efficiency, replacing high-risk operations. The drone 5 replaces manual climbing, completely eliminating the risk of falls from heights, while significantly reducing the missed harvest rate. Specifically, the vision processing module 62 accurately identifies the fruit position in complex branch environments, the drone 5's obstacle avoidance module scans the environment in real time, the flight controller dynamically plans obstacle avoidance paths, and the drone 5 performs multi-angle obstacle avoidance flight for harvesting, reducing blind spots in traditional manual harvesting. The grasping mechanism 6, through the setting of a universal joint 614 and a crank slide 69 structure, enables the robotic arm 61 to rotate while retracting and grasping, efficiently picking fruits. In addition, the robotic arm 61 has a built-in flexible thin-film pressure sensor 621 that provides real-time feedback on the force of the robotic arm 61, adaptively adjusting the grasping pressure to avoid squeezing damage to soft-skinned fruits such as apples and pears caused by the rigid robotic arm 61 during harvesting. Furthermore, the continuous operation capability of the drone 5 is improved. The power module 21 at the top of the lifting mechanism 2 provides continuous power to the drone 5 through a circuit, breaking through the battery life bottleneck of the drone 5 and supporting long-term large-scale harvesting.

[0089] The track 12 of the walking mechanism 1 and the shock absorption structure, namely the spring 14 plus the bent handle structure 13, achieve a two-stage buffer, effectively absorbing ground bumps, adapting to complex ground environments, and preventing the fruit from being damaged by vibration and collision during transportation.

[0090] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An outdoor high-altitude picking and transporting device, characterized in that, The system includes a walking mechanism, which is equipped with an installation platform. The installation platform is equipped with a plurality of lifting mechanisms and a conveying mechanism, and the middle installation platform of the plurality of lifting mechanisms and conveying mechanisms is equipped with a plurality of material boxes. The top of the plurality of lifting mechanisms is equipped with a drone, the drone is equipped with a gripping mechanism, the end of the gripping mechanism is equipped with a robotic arm and a vision processing module, the inner side of the robotic arm is equipped with a flexible thin film pressure sensor, and the vision processing module is used to identify materials and material position information and transmit them to the drone.

2. The outdoor high-altitude picking and transporting device according to claim 1, characterized in that, The walking mechanism includes a chassis, with a plurality of walking wheels on both sides of the chassis, and tracks on the outer sides of the plurality of walking wheels. Shock-absorbing structures are provided on both sides of the chassis near the plurality of walking wheels, and the shock-absorbing structures are connected to the plurality of walking wheels.

3. The outdoor high-altitude harvesting and transportation device as described in claim 2, characterized in that, The shock absorption structure includes a bent handle structure, which is disposed on both sides of the chassis near the driving wheels. The bent handle structure is detachably connected to the chassis by bolts. A spring is connected to the end of the bent handle structure away from the driving wheels, and the end of the spring away from the bent handle structure is connected to the chassis.

4. The outdoor high-altitude picking and transporting device according to claim 1, characterized in that, The lifting mechanism has four sections located at the corners of the installation platform. The lifting mechanism is a scissor lift platform. A power module is located on the top of the scissor lift platform. The power module is connected to the drone via a line to supply power to the drone.

5. The outdoor high-altitude picking and transporting device according to claim 1, characterized in that, The conveying mechanism has two symmetrically arranged at both ends of the installation platform. The middle installation platform of the two conveying mechanisms is provided with a loading platform, and the loading platform is provided with several material boxes. The handling mechanism is configured as a robotic arm with four degrees of freedom. The working end of the robotic arm near the material box is provided with a telescopic structure, and the end of the telescopic structure is connected to a clamping structure.

6. The outdoor high-altitude picking and transporting device according to claim 5, characterized in that, The clamping structure is provided with a strip plate, and two clamping plates are provided at a certain distance along the length direction on the side of the strip plate near the material frame. The two clamping plates are slidably connected to the strip plate along the length direction. The two clamping plates are provided with protruding structures that are adapted to the edge of the material frame.

7. The outdoor high-altitude picking and transporting device according to claim 1, characterized in that, The plurality of material frames includes a plurality of first material frames and a plurality of second material frames disposed in the middle of the installation platform, wherein the size of the second material frames is smaller than that of the first material frames.

8. The outdoor high-altitude picking and transporting device according to claim 1, characterized in that, The top of the drone is equipped with a gripping mechanism, which has a base. One end of the base is equipped with several drive motors, which are connected to a gear structure. The gear structure has a main shaft, and a steering shaft is provided at the bottom of the main shaft. The base is equipped with a crank slide structure, one end of which is equipped with a slide block, and the other end of which is connected to the main shaft. The upper part of the main shaft is connected to a universal joint via a universal joint, and the universal joint is connected to a rotating shaft via a universal joint. The rotating shaft is provided with a sleeve on the outside, and the sleeve is connected to the slide via a support sleeve. A support arm is provided between the rotating shaft and the main shaft; a robot arm is provided at the end of the rotating shaft away from the universal joint, and the vision processing module is located at the end of the base near the robot arm.

9. The outdoor high-altitude picking and transporting device according to claim 8, characterized in that, The drive motor has two motors, which are symmetrically arranged on both sides of one end of the base. The gear structure includes a first gear, two second gears, a third gear, and two fourth gears. The output ends of the two drive motors are respectively connected to the two second gears. The lower part of the steering shaft is provided with the first gear, and the upper part of the steering shaft is provided with the third gear. The first gear meshes with the second gear through the fourth gear, and the third gear meshes with the second gear through the fourth gear. The crank slide structure also includes a slide, a connecting rod, and a rocker arm. The slide has a sliding groove, the slide block is slidably embedded in the slide, the slide is connected to the connecting rod, the connecting rod is connected to the rocker arm, and the rocker arm is connected to the main shaft.

10. The outdoor high-altitude picking and transporting device according to claim 1, characterized in that, The drone is equipped with a flight controller and a vision processing module that are connected in communication. The flight controller is used to control the drone to take off, fly in the air and return to the field for recovery based on the material and its location information. The drone is also equipped with an obstacle avoidance module that is connected in communication with the flight controller. The obstacle avoidance module is used to identify obstacles during the drone's flight and transmit the obstacle information to the flight controller to control the drone's flight and prevent collisions.

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