Autonomous Fruit-Harvesting UAV With Netted Cage and Extendable Arm
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Solution Overview
Problem
Conventional orchard harvesting devices are large, expensive, and inefficient, with limitations in mobility and the ability to reach fruit at tree tops, while existing drones lack the necessary arm structure and functionality for effective harvesting and pruning, leading to manual labor dependence and damage to soft-shell fruits.
Innovation Solution
An autonomous unmanned aircraft vehicle (UAV) equipped with a computing system, fruit detection unit, anti-collision system, and a protruding netted cage for navigating and harvesting fruits without damaging them, enabling selective and efficient harvesting and pruning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If conventional large tracks with robotic arms are used for harvesting, then harvesting automation is achieved, but the device size becomes large and expensive with limited mobility
Solution Approach 1:
The patent transitions from ground-based robotic systems to aerial drone-based harvesting, moving the harvesting mechanism from the ground dimension to the aerial dimension. This allows the drone to access tree canopies and reach fruits at various heights without requiring long ground-based robotic arms, thereby reducing device complexity while maintaining automation.
Solution Approach 2:
The harvesting system is segmented into modular components: the drone body, the extendable arm with secateurs, the fruit detection camera, and the collection container. This segmentation allows each component to be optimized independently and facilitates easier deployment and maintenance, reducing overall system complexity and cost.
2Extent of automation
If ground-based robotic vehicles are used, then automation is achieved, but mobility and passability are limited due to ground complexity
Solution Approach 1:
By moving the harvesting platform from ground level to aerial space, the drone gains the ability to navigate over complex terrain, uneven ground, and through dense vegetation without being constrained by ground conditions. This dimensional change provides superior mobility and adaptability to various orchard environments.
3Object-affected harmful factors
If existing drones with protection nets are used, then basic protection is provided, but harvesting functionality is not achieved
Solution Approach 1:
The protection net is designed to serve multiple functions: it protects the drone from vegetation damage during flight, acts as a collection container for harvested fruits, and provides a structure for mounting additional harvesting components. This multi-functionality transforms a passive protective element into an active harvesting tool, simultaneously providing protection and enabling productivity.
Solution Approach 2:
The patent merges the protection net function with the fruit collection function by integrating the net into the drone structure and using it both for safety and for receiving harvested fruits. This combination eliminates the need for separate protection and collection systems, improving productivity while maintaining protection.
4Device complexity
If existing drones without extendable arms are used, then simple structure is maintained, but ability to reach and harvest fruits is insufficient
Solution Approach 1:
The arm is designed as an extendable dynamic structure that can lengthen to reach distant fruits and retract when not needed. This dynamic capability provides extended reach without permanently increasing the drone's size or complexity, allowing the structure to adapt its length based on harvesting requirements.
5Productivity
If selective harvesting is implemented, then fruit quality is improved, but manual labor requirements increase during short harvesting period
Solution Approach 1:
The drone is equipped with fruit detection cameras and sensors that provide real-time feedback on fruit ripeness, position, and quality. This feedback enables the automated selection and harvesting of ripe fruits, eliminating the need for manual inspection and selection while maintaining high fruit quality standards.
Solution Approach 2:
The drone system performs self-inspection and self-selection of fruits through its onboard detection systems, automatically identifying and harvesting ripe fruits without human intervention. This self-service capability eliminates manual labor requirements while maintaining selective harvesting quality.
6Measurement precision
If high resolution mapping is done by low-flying drones, then image resolution is improved, but deployment of anchors becomes time-consuming
Solution Approach 1:
The drone uses its own body and mounted equipment as reference markers for positioning and mapping, eliminating the need for separate anchor deployment. The drone's known position and orientation, combined with its onboard sensors and cameras, enable it to perform self-localization and create accurate maps without external anchor points.
Data Source
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AI summary
The present invention provides an improved, autonomous unmanned aircraft vehicle (UAV) for harvesting or diluting fruit, and a control unit for coordinating flight and/or harvesting missions thereof, as well as a system and method for harvesting fruits.