CN113196945A - Picking system based on unmanned aerial vehicle group cooperative work and use method - Google Patents
Picking system based on unmanned aerial vehicle group cooperative work and use method Download PDFInfo
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- 235000011511 Diospyros Nutrition 0.000 description 46
- 244000236655 Diospyros kaki Species 0.000 description 28
- 241000723267 Diospyros Species 0.000 description 18
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- 244000082204 Phyllostachys viridis Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 235000021016 apples Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
- B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention provides a picking system based on unmanned aerial vehicle group cooperative work and a using method thereof, belonging to the technical field of agriculture. The picking system comprises a picking unmanned machine set, an auxiliary unmanned machine set and a control module. The picking unmanned aerial vehicle set consists of a plurality of picking unmanned aerial vehicles and is used for picking mature fruits on trees; the auxiliary unmanned aerial vehicle unit consists of a plurality of auxiliary unmanned aerial vehicles and is used for cutting off branches influencing the work of the picking unmanned aerial vehicle unit so as to assist picking; the control module is a computer and is used for receiving and analyzing information fed back by the picking unmanned aerial vehicle and the auxiliary unmanned aerial vehicle so as to better coordinate the work of the two unmanned aerial vehicle sets. The invention has high efficiency and reasonable design, and improves the working efficiency and the resource utilization rate by using the unmanned aerial vehicle group; novel structure uses electric putter cooperation, can enlarge the picking scope and improve and pick the flexibility ratio, has higher popularization and application and worth.
Description
Technical Field
The invention belongs to the technical field of automatic fruit picking, and relates to a picking system based on unmanned aerial vehicle group cooperative operation and a using method thereof.
Background
China is one of the world's important fruit producing areas, with annual fruit production at the top of the world. At the present stage, most of fruit planting management still depends on manual treatment, and especially, the fruit picking work needs to consume a large amount of labor, and the mechanization and automation level is low. The persimmon fruits are usually high in growing position and dispersed, and the fruit peels are easy to damage in the picking process, so that the persimmon fruits are typically difficult to pick. Currently, the picking form is mostly manual picking, and generally the picking method is divided into two methods, wherein the first method is that a worker stands on the ground to hold a simple and crude tool made of a long bamboo pole for picking, and positions of persimmons are judged from the bottom and the top by naked eyes, but the efficiency is low, and the requirements on arm strength and eyesight of the worker are high; the second mode is that the workman climbs to the persimmon tree and picks, but this kind of picking mode risk is great, and the workman moves in the crisscross space of branch comparatively inconveniently, easily causes the incident. Therefore, the research and development of the automatic persimmon picking system have important significance for relieving labor force, improving labor production efficiency and the like.
The unmanned aerial vehicle technology develops rapidly in recent years and is widely applied to the fields of military affairs, exploration, agriculture and the like. At present, the unmanned aerial vehicle technology is initially applied to the aspect of high-altitude fruit picking because of the advantages of low cost, high efficiency, flexibility, portability and the like. But current picking technical scheme uses single unmanned aerial vehicle as the operation instrument more, picks through artificial control, has reduced manual work intensity, but has improved operating personnel's technical requirement. Meanwhile, the prior art does not form large-scale division picking, and is lack of further development in aspects of cutting tools, storage modes, remote sensing devices and the like. Besides, persimmon fruit stalk is short, need cut off the branch of being connected with the fruit stalk when picking, and simultaneously, the overhanging branch of persimmon tree is luxuriant, and the persimmon picking in-process can influence the normal function that unmanned aerial vehicle picked the device, and present patent technology still does not have better solution.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a persimmon picking system based on unmanned aerial vehicle group cooperative operation.
The technical scheme adopted by the invention is as follows:
a picking system based on unmanned aerial vehicle group cooperative work is suitable for picking woody plant fruits such as persimmons, apples and the like. The picking system comprises a picking unmanned machine set, an auxiliary unmanned machine set and a control module. The picking unmanned machine set is used for picking ripe fruits on trees; the auxiliary unmanned aerial vehicle set is used for cleaning branches which influence the work of the unmanned aerial vehicle set so as to assist picking; the control module is a mobile device, is in wireless connection with the picking unmanned aerial vehicle set and the auxiliary unmanned aerial vehicle set, and is used for receiving and analyzing information fed back by the picking unmanned aerial vehicle and the auxiliary unmanned aerial vehicle set so as to better coordinate the work of the two unmanned aerial vehicle sets and improve the picking operation efficiency.
Picking unmanned aerial vehicle group have the picking unmanned aerial vehicle that a plurality of structures are the same to constitute, every is picked unmanned aerial vehicle and is including picking unmanned aerial vehicle main part 1, camera a2, light 3, hollow connecting axle 4, rotary platform 5, landing leg frame 13, small motor 19, flange tube seat b20, deep groove ball bearing 21, axle 22, thrust bearing 23, nut 24 and five picking units that the structure is the same, every is picked built-in weight sensor of unmanned aerial vehicle, when picking the number and reaching certain limit, it slowly lifts off the fruit of picking to return the department of taking off to pick unmanned aerial vehicle.
The camera a2 is positioned at the top of the picking unmanned aerial vehicle and used for collecting fruit position information, when the picking is not influenced by the surrounding conditions, the picking unmanned aerial vehicle carries out picking work, and when the picking is influenced by the surrounding conditions, the picking unmanned aerial vehicle gives up the target to search the next picking target and transmits the related information of the target to the control module; the illuminating lamp 3 is arranged on the side of the picking unmanned aerial vehicle and is used for operation at night and under the condition of weak light; picking unmanned aerial vehicle fuselage sub-unit connection has a hollow connecting axle 4, and hollow connecting axle 4 below is connected with 5 tops of rotary platform through axle 22, and rotary platform 5 bottom surface is connected with landing leg frame 13. Specifically, the method comprises the following steps: the hollow connecting shaft 4 is internally provided with a small motor 19, a flange tube seat b20, a deep groove ball bearing 21, a thrust bearing 23 and a second connecting shaft 22 with threads at the lower part, wherein the small motor 19 is positioned above and fixed on the inner wall of the hollow connecting shaft 4, the output shaft of the small motor 19 is connected with a flange tube seat b20 through a set screw, the shaft 22 is positioned below the flange tube seat b20 and is connected with the flange tube seat b20 through a screw, and the deep groove ball bearing 21 and the thrust bearing 23 are assembled at the two ends of the shaft to fix the shaft so that the shaft can only rotate. The bottom of the shaft 22 extends out of the hollow connecting shaft 4, the part of the shaft 22 extending out of the hollow connecting shaft 4 is respectively provided with a thrust bearing 23 and the upper part of the rotating platform 5 from top to bottom, and the lowest end of the part of the shaft 22 extending out of the hollow connecting shaft 4 is provided with threads and is assembled with a nut 24. The small-sized motor 19 can drive the second-stage connecting shaft 22 to rotate and is used for adjusting the position of the rotating platform 5.
Five picking units are evenly distributed on the side face of the rotary platform 5, picking operation is carried out on the picking units at the center of the visual field of the camera a2, and when the picking units at the center of the visual field of the camera a2 reach a picking limit number, the rotary platform 5 rotates to enable the next picking unit to move to the center of the visual field to continue picking. Each picking unit comprises a horizontal electric push rod a11, an upward inclined electric push rod b12, a sleeve 9 for containing fruits, a fruit stem cutting device 6 arranged at the outlet of the sleeve, and a camera b7, wherein the camera b7 is used for judging whether target fruits completely enter the sleeve 9. The electric push rod a11 is horizontally arranged, one end of the electric push rod a11 is connected with the side surface of the rotary platform 5 through a pin shaft and can rotate around the pin shaft, and the other end of the electric push rod a11 is connected with the sleeve 9 through a flange tube seat a 10; the electric push rod b12 is obliquely arranged, the top end of the electric push rod b12 is connected with the electric push rod a11 through a pin shaft, the bottom end of the electric push rod b12 is connected with the supporting leg frame 13 through a pin shaft, and the electric push rod b12 can rotate for a certain angle around the pin shafts at the two ends simultaneously. Two electric putter a11, electric putter b12 are used for adjusting the sleeve 9 position and the contained angle of horizontal direction when picking, and at the picking in-process, can adapt to the growth angle of fruit through angular adjustment, improve and pick the scope and pick the flexibility ratio, and ascending electric putter 12 in the slant is used for guaranteeing that sleeve 9 export is in level or ascending state in the slant in order to prevent that the fruit from falling out sleeve 9. The fruit stalk cutting device 6 is used for cutting branches connected with fruits and is positioned at an outlet of the sleeve 9, a double-shaft motor 14 is arranged in the fruit stalk cutting device 6 and serves as a power source, a guide rail 15 is fixed on the inner wall of the bottom of a shell of the fruit stalk cutting device 6, the lower portion of the double-shaft motor 14 is connected with a guide rail sliding block 16, and the double-shaft motor 14 can move along the guide rail sliding block 16 along the guide rail 15. Meanwhile, one shaft of the double-shaft motor 14 is connected with the cutting circular blade 8, the other shaft is connected with a gear 18, the two shafts are positioned at the two ends of the double-shaft motor 14, the gear 18 is meshed with a lower rack 17, and the rack 17 is fixed on the inner wall of the bottom of the shell of the fruit stalk cutting device 6. The rotational movements of the shafts of the two-shaft motor 14 are independent of each other. When picking operation is started, the electric push rod a11 of the picking unit positioned in the center of the visual field of the camera a2 extends out for a proper distance to meet the picking range requirement, the electric push rod b12 extends out for a proper distance to adjust the picking angle, and further, the picking unmanned aerial vehicle main body moves to a proper position according to the real-time information collected by the camera a2 to sleeve the target fruit in the sleeve 9. When the control module determines that the target fruit completely enters the sleeve 9 according to the camera b7, the fruit stalk cutting device 6 starts to work. When the fruit stalk cutting device 6 works, the shaft connected with the double-shaft motor 14 and the cutting circular blade 8 rotates at a high speed, and simultaneously, the shaft connected with the gear 18 and the double-shaft motor 14 rotates slowly, so that the gear 18 moves slowly along the rack 17 to drive the double-shaft motor 14 to move along the guide rail 15 along with the guide rail sliding block 16, and further, the cutting circular blade 8 rotating at a high speed gradually approaches to branches to cut. When the picking unmanned aerial vehicle is unloaded on the ground, the electric push rod a11 of each picking unit extends for a proper distance, the electric push rod b12 contracts for a proper distance, so that the outlet of the sleeve 9 slowly inclines downwards, the end of the double-shaft motor 14 connected with the gear 18 reversely and slowly rotates, further, the gear 18 reversely runs along the rack 17, further, the double-shaft motor 14 reversely moves along the guide rail 15 along with the guide rail slider 16, and further, the cutting circular blade 8 is brought back to the original position by the double-shaft motor 14 to expose the outlet of the sleeve so that the fruit slowly rolls out of the sleeve.
Supplementary unmanned aerial vehicle group constitute by a plurality of the same supplementary unmanned aerial vehicle of structure, every supplementary unmanned aerial vehicle includes supplementary unmanned aerial vehicle main part 25, camera c26, electric putter c27, arm, steering wheel a28, steering wheel b29, scissors device 30. The camera c26 is located at the top of the main body 25 of the auxiliary unmanned aerial vehicle and used for collecting relevant information, an electric push rod c27 is arranged on one side face of the main body 25, the electric push rod c27 is connected with a five-degree-of-freedom mechanical arm, a scissor device 30 is arranged at the front end of the mechanical arm, and the opening and closing actions of the scissor device 30 are controlled by a steering engine a28 and a steering engine b 29. Supplementary unmanned aerial vehicle's electric putter c27 cooperation arm can promote the flexibility ratio of supplementary unmanned aerial vehicle's working range and work by a wide margin.
After the fruits stored in the sleeve 9 of the picking unit in the center of the visual field of the camera a2 of the picking unmanned aerial vehicle reach the rated quantity, the rotating platform 5 can rotate along with the shaft 22 under the action of the small motor 19 in the hollow connecting shaft 4 so as to switch the next picking unit, the picking operation is guaranteed to be always carried out in the visual field of the camera a2, and the picking is guaranteed to be carried out smoothly. When the fruits stored in the sleeve 9 of each picking unit reach the rated quantity, the picking unmanned aerial vehicle returns to the ground for unloading.
The fruit picked by the picking system based on the cooperative operation of the unmanned aerial vehicle group is preferably persimmon.
A use method of a picking system based on cooperative work of an unmanned aerial vehicle group comprises the following steps:
in the first step, the camera a2 at the top of the picking unmanned aerial vehicle collects the position, shape and other information of the target and feeds the information back to the control module.
Secondly, the control module judges the peripheral conditions (such as the length of the branch at the overhanging part and the condition of the branch at the periphery) of the target position, and when the peripheral conditions do not influence picking, the electric push rod a11 and the electric push rod b12 of the picking unit positioned in the center of the visual field of the camera a2 extend out for a proper distance, wherein the electric push rod a11 is used for meeting the picking range requirement, and the electric push rod b12 is used for adjusting the picking angle; picking unmanned aerial vehicle main part 1 moves to suitable position according to the real-time information that camera a2 gathered in order to overlap target persimmon in sleeve 9. When the control module determines that the target persimmon completely enters the sleeve 9 according to the camera b7, the stalk cutting device 6 starts to cut. When the fruit stalk cutting device 6 works, the shaft connected with the double-shaft motor 14 and the cutting circular blade 8 rotates at a high speed, and meanwhile, the shaft connected with the gear 18 and the double-shaft motor 14 rotates slowly, so that the gear 18 moves slowly along the rack 17 to drive the double-shaft motor 14 to move along the guide rail 15 along with the guide rail slide block 16, and the cutting circular blade 8 rotating at a high speed gradually approaches to branches to cut. After the operation of the fruit stalk cutting device 6 is finished, if the picking unit where the fruit stalk cutting device 6 is located needs to carry out the next picking operation, the cutting circular blade 8 stops rotating, one end of the double-shaft motor 14 connected with the gear 18 rotates slowly in a reverse direction, further, the gear 18 advances along the rack 17 in a reverse direction, further, the double-shaft motor 14 moves along the guide rail 15 in a reverse direction along with the guide rail slide block 16, and further, the cutting circular blade 8 is brought back to the original position by the double-shaft motor 14 to wait for the next picking operation; if the persimmons stored in the sleeve 9 of the picking unit where the fruit stalk cutting device 6 is located reach the rated quantity, the shaft of the double-shaft motor 14 connected with the cutting circular blade 8 and the shaft of the double-shaft motor 14 connected with the gear 18 stop working, and the cutting circular blade 8 blocks the outlet of the sleeve to prevent the persimmons from falling out.
Thirdly, when the side branches of the target are luxuriant and the picking condition is complex and the picking is affected, the picking unmanned aerial vehicle gives up the target to search for the next picking target; meanwhile, after the control module receives information, the auxiliary unmanned aerial vehicle in the idle state is distributed to go to the target to cut out the branches affecting picking.
And fourthly, after the cleaning work of the auxiliary unmanned aerial vehicle is finished, the auxiliary unmanned aerial vehicle returns and feeds back the information of the target position to the control module. The control module redistributes a picking unmanned aerial vehicle in an idle state to the target position for picking operation after receiving the information.
Fifthly, when persimmons stored in a sleeve 9 of a picking unit positioned in the center of the visual field of a camera a2 of the picking unmanned aerial vehicle reach a rated number, the rotating platform 5 can rotate along with the shaft 22 under the action of a small motor 19 in the hollow connecting shaft 4 to switch the next picking unit, so that the picking operation is always carried out in the visual field of the camera a2, and the picking is ensured to be carried out smoothly; when the persimmon stored in the picking unit of the picking unmanned aerial vehicle does not reach the rated quantity, the picking unmanned aerial vehicle continuously searches and picks the next target. When the persimmons stored in the sleeve 9 of each picking unit reach the rated quantity, the picking unmanned aerial vehicle returns to the ground, further, the electric push rod a11 of each picking unit extends out for a proper distance, the electric push rod b12 contracts for a proper distance, so that the outlet of the sleeve 9 slowly inclines downwards, meanwhile, one end of the double-shaft motor 14 connected with the gear 18 reversely and slowly rotates, further, the gear 18 reversely runs along the rack 17, further, the double-shaft motor 14 reversely moves along the guide rail 15 along the guide rail slide block 16, and further, the cutting circular blade 8 is taken back to the original position by the double-shaft motor 14 to expose the outlet of the sleeve so that the persimmons slowly roll out of the sleeve.
The invention has the beneficial effects that:
(1) according to the invention, the picking unmanned aerial vehicle and the auxiliary unmanned aerial vehicle are combined, so that the picking efficiency is improved, and the effect of 1+1>2 is achieved.
(2) The invention has novel structure, uses the combination of two telescopic arms, enlarges the picking range and improves the picking flexibility.
(3) The invention realizes the intellectualization and the less humanization of the persimmon picking work and greatly reduces the work risk of workers.
Drawings
Fig. 1 is a schematic diagram of the picking unmanned aerial vehicle of the invention.
Fig. 2 is a schematic view of the internal structure of the fruit stalk cutting device of the picking unmanned aerial vehicle in the invention.
Fig. 3 is a schematic view of the internal structure of the hollow connecting shaft of the picking unmanned aerial vehicle in the invention.
Fig. 4 is a schematic diagram of the auxiliary unmanned aerial vehicle according to the present invention.
FIG. 5 is a flow chart of the operation of the unmanned aerial vehicle cluster according to the present invention.
FIG. 6 is a schematic diagram of modules of the present invention.
In the figure: the unmanned aerial vehicle comprises a main body of a picking unmanned aerial vehicle 1, cameras a, 3 and illuminating lamps, 4 hollow connecting shafts, 5 rotating platforms, 6 fruit stalk cutting devices, 7 cameras b, 8 cutting circular blades, 9 sleeves, 10 flange tube seats a, 11 electric push rods a, 12 electric push rods b, 13 supporting leg frames, 14 double-shaft motors, 15 guide rails, 16 guide rail sliders, 17 racks, 18 gears, 19 small motors, 20 flange tube seats b, 21 deep groove ball bearings, 22 shafts, 23 thrust bearings, 24 nuts, 25 auxiliary unmanned aerial vehicle main bodies, 26 cameras c, 27 electric push rods c, 28 steering gears a, 29 steering gears b and 30 scissors devices.
Detailed Description
The following detailed description of the specific embodiments of the present invention is made with reference to the accompanying drawings and picking examples of overlong branches extending from target persimmons:
a persimmon picking system based on cooperative operation of an unmanned aerial vehicle group. The picking system comprises a picking unmanned machine set, an auxiliary unmanned machine set and a control module. The picking unmanned machine set is used for picking persimmons ripe on trees; the auxiliary unmanned aerial vehicle set is used for cleaning branches which influence the work of the unmanned aerial vehicle set so as to assist picking; the control module is a mobile device, is in wireless connection with the picking unmanned aerial vehicle set and the auxiliary unmanned aerial vehicle set, and is used for receiving and analyzing information fed back by the picking unmanned aerial vehicle and the auxiliary unmanned aerial vehicle set so as to better coordinate the work of the two unmanned aerial vehicle sets and improve the picking operation efficiency.
Picking unmanned aerial vehicle group have the picking unmanned aerial vehicle that a plurality of structures are the same to constitute, every is picked unmanned aerial vehicle and is including picking unmanned aerial vehicle main part 1, camera a2, light 3, hollow connecting axle 4, rotary platform 5, landing leg frame 13, small motor 19, flange tube seat b20, deep groove ball bearing 21, axle 22, thrust bearing 23, nut 24 and five picking units that the structure is the same, every is picked built-in weight sensor of unmanned aerial vehicle, when picking the number and reaching certain limit, it slowly lifts off the fruit of picking to return the department of taking off to pick unmanned aerial vehicle.
The camera a2 is positioned at the top of the picking unmanned aerial vehicle and used for collecting persimmon position information, when the picking is not influenced by the surrounding conditions, the picking unmanned aerial vehicle carries out picking work, and when the picking is influenced by the surrounding conditions, the picking unmanned aerial vehicle gives up the target to search the next picking target and transmits the related information of the target to the control module; the illuminating lamp 3 is arranged on the side of the picking unmanned aerial vehicle and is used for operation at night and under the condition of weak light; picking unmanned aerial vehicle fuselage sub-unit connection has a hollow connecting axle 4, and hollow connecting axle 4 below is connected with 5 tops of rotary platform through axle 22, and rotary platform 5 bottom surface is connected with landing leg frame 13. Specifically, the method comprises the following steps: the hollow connecting shaft 4 is internally provided with a small motor 19, a flange tube seat b20, a deep groove ball bearing 21, a thrust bearing 23 and a second connecting shaft 22 with threads at the lower part, wherein the small motor 19 is positioned above and fixed on the inner wall of the hollow connecting shaft 4, the output shaft of the small motor 19 is connected with a flange tube seat b20 through a set screw, the shaft 22 is positioned below the flange tube seat b20 and is connected with the flange tube seat b20 through a screw, and the deep groove ball bearing 21 and the thrust bearing 23 are assembled at the two ends of the shaft to fix the shaft so that the shaft can only rotate. The bottom of the shaft 22 extends out of the hollow connecting shaft 4, the part of the shaft 22 extending out of the hollow connecting shaft 4 is respectively provided with a thrust bearing 23 and the upper part of the rotating platform 5 from top to bottom, and the lowest end of the part of the shaft 22 extending out of the hollow connecting shaft 4 is provided with threads and is assembled with a nut 24. The small-sized motor 19 can drive the second-stage connecting shaft 22 to rotate and is used for adjusting the position of the rotating platform 5.
Five picking units are evenly distributed on the side face of the rotary platform 5, picking operation is carried out on the picking units at the center of the visual field of the camera a2, and when the picking units at the center of the visual field of the camera a2 reach a picking limit number, the rotary platform 5 rotates to enable the next picking unit to move to the center of the visual field to continue picking. Each picking unit comprises a horizontal electric push rod a11, an upward oblique electric push rod b12, a sleeve 9 for containing fruits, a fruit stem cutting device 6 arranged at the outlet of the sleeve, and a camera b7, wherein the camera b7 is used for judging whether target persimmons completely enter the sleeve 9. The electric push rod a11 is horizontally arranged, one end of the electric push rod a11 is connected with the side surface of the rotary platform 5 through a pin shaft and can rotate around the pin shaft, and the other end of the electric push rod a11 is connected with the sleeve 9 through a flange tube seat a 10; the electric push rod b12 is obliquely arranged, the top end of the electric push rod b12 is connected with the electric push rod a11 through a pin shaft, the bottom end of the electric push rod b12 is connected with the supporting leg frame 13 through a pin shaft, and the electric push rod b12 can rotate for a certain angle around the pin shafts at the two ends simultaneously. Two electric putter a11, electric putter b12 are used for adjusting the sleeve 9 position and the contained angle of horizontal direction when picking, and at the picking in-process, can adapt to the growth angle of fruit through angular adjustment, improve and pick the scope and pick the flexibility ratio, and ascending electric putter 12 in the slant is used for guaranteeing that sleeve 9 export is in level or ascending state in the slant in order to prevent that the fruit from falling out sleeve 9. The fruit stalk cutting device 6 is used for cutting branches connected with fruits and is positioned at an outlet of the sleeve 9, a double-shaft motor 14 is arranged in the fruit stalk cutting device 6 and serves as a power source, a guide rail 15 is fixed on the inner wall of the bottom of a shell of the fruit stalk cutting device 6, the lower portion of the double-shaft motor 14 is connected with a guide rail sliding block 16, and the double-shaft motor 14 can move along the guide rail sliding block 16 along the guide rail 15. Meanwhile, one shaft of the double-shaft motor 14 is connected with the cutting circular blade 8, the other shaft is connected with a gear 18, the two shafts are positioned at the two ends of the double-shaft motor 14, the gear 18 is meshed with a lower rack 17, and the rack 17 is fixed on the inner wall of the bottom of the shell of the fruit stalk cutting device 6. The rotational movements of the shafts of the two-shaft motor 14 are independent of each other. When picking operation is started, the electric push rod a11 of the picking unit positioned in the center of the visual field of the camera a2 extends out for a proper distance to meet the picking range requirement, the electric push rod b12 extends out for a proper distance to adjust the picking angle, and further, the picking unmanned aerial vehicle main body moves to a proper position to sleeve the target persimmon in the sleeve 9 according to the real-time information collected by the camera a 2. When the control module determines that the target persimmon completely enters the sleeve 9 according to the camera b7, the stalk cutting device 6 starts to work. When the fruit stalk cutting device 6 works, the shaft connected with the double-shaft motor 14 and the cutting circular blade 8 rotates at a high speed, and simultaneously, the shaft connected with the gear 18 and the double-shaft motor 14 rotates slowly, so that the gear 18 moves slowly along the rack 17 to drive the double-shaft motor 14 to move along the guide rail 15 along with the guide rail sliding block 16, and further, the cutting circular blade 8 rotating at a high speed gradually approaches to branches to cut. When the picking unmanned aerial vehicle is unloaded on the ground, the electric push rod a11 of each picking unit extends for a proper distance, the electric push rod b12 contracts for a proper distance, so that the outlet of the sleeve 9 slowly inclines downwards, the end of the double-shaft motor 14 connected with the gear 18 reversely rotates slowly, further, the gear 18 reversely runs along the rack 17, further, the double-shaft motor 14 reversely moves along the guide rail 15 along with the guide rail slide block 16, and further, the cutting circular blade 8 is taken back to the original position by the double-shaft motor 14 to expose the outlet of the sleeve so that the persimmons can slowly roll out of the sleeve.
Supplementary unmanned aerial vehicle group constitute by a plurality of the same supplementary unmanned aerial vehicle of structure, every supplementary unmanned aerial vehicle includes supplementary unmanned aerial vehicle main part 25, camera c26, electric putter c27, arm, steering wheel a28, steering wheel b29, scissors device 30. The camera c26 is located at the top of the main body 25 of the auxiliary unmanned aerial vehicle and used for collecting relevant information, an electric push rod c27 is arranged on one side face of the main body 25, the electric push rod c27 is connected with a five-degree-of-freedom mechanical arm, a scissor device 30 is arranged at the front end of the mechanical arm, and the opening and closing actions of the scissor device 30 are controlled by a steering engine a28 and a steering engine b 29. Supplementary unmanned aerial vehicle's electric putter c27 cooperation arm can promote the flexibility ratio of supplementary unmanned aerial vehicle's working range and work by a wide margin.
After persimmons stored in the sleeve 9 of the picking unit in the center of the visual field of the camera a2 of the picking unmanned aerial vehicle reach the rated quantity, the rotating platform 5 can rotate together with the shaft 22 under the action of the small motor 19 in the hollow connecting shaft 4 so as to switch the next picking unit, the picking operation is guaranteed to be carried out in the visual field of the camera a2 all the time, and the picking is guaranteed to be carried out smoothly. When persimmons stored in the sleeve 9 of each picking unit reach the rated quantity, the picking unmanned aerial vehicle returns to the ground for unloading.
The use method of the persimmon picking system based on the cooperative operation of the unmanned aerial vehicle group specifically comprises the following steps:
under the control and coordination of the control module, the unmanned aerial vehicle cluster sequentially carries out corresponding work. Picking unmanned aerial vehicle during operation, be located pick camera a2 on unmanned aerial vehicle main part 1 and transmit the information acquisition back of target persimmon 32 department for control module at first, control module judges the complicated back of peripheral branch 31 condition of target persimmon department, distributes picking unmanned aerial vehicle skips this target, continues to look for the target to distribute an auxiliary unmanned aerial vehicle who is in idle state simultaneously and go to target persimmon 32 and locate to clear up the operation. After the auxiliary drone reaches the vicinity of the target persimmon, the cutting position of the scissors device 30 is determined by the camera c26 located on the auxiliary drone main body 25. After the position is determined, the electric push rod c27 extends out by a proper length, the steering engine a28 adjusts the cutting angle of the scissor device, the steering engine b29 works to cut off the overhanging tree 31 of the scissor device 30, after the work is completed, the unmanned aerial vehicle is assisted to feed back information, after the computer receives the information, the unmanned aerial vehicle is assisted to fly back to the original place to be armed or execute the next task according to the system condition command, and meanwhile, a picking unmanned aerial vehicle in an idle state is allocated to go to the target persimmon 32 to pick.
As shown in fig. 1, after the picking unmanned aerial vehicle reaches the vicinity of the target persimmon 32, the position of the target persimmon 32 is determined by a camera a2 on the main body 1 of the picking unmanned aerial vehicle, then, a picking unit at the center of the field of vision of the camera starts picking operation, an electric push rod a11 of the picking unit is adjusted, a sleeve 9 with a flange seat a10 connected with the electric push rod a11 extends outwards for a certain length, during the adjustment of the electric push rod a11, an electric push rod b12 starts working, the angle between the outlet of the sleeve 9 and the horizontal plane is adjusted, the picking action of the picking unmanned aerial vehicle is matched, and the target persimmon 32 is completely placed in the sleeve 9. After the persimmon is confirmed to completely enter the sleeve 9 through the camera b7 at the outlet of the sleeve 9, as shown in fig. 1 and 2, the shaft connected with the cutting circular blade 8 in the fruit stalk cutting device 6 starts to rotate at a high speed, and simultaneously the shaft connected with the gear 18 starts to rotate slowly, and then under the action of the gear 18 and the rack 17, the double-shaft motor 14 moves along the guide rail 15 along with the guide rail slide block 16, so that the cutting circular blade rotating at a high speed is gradually close to the branches. After the cutting is completed, the shaft of the dual-shaft motor 14 connected to the cutting circular blade 8 stops rotating, and the shaft of the dual-shaft motor 14 connected to the gear 18 starts to rotate slowly in the reverse direction to move the cutting circular blade to the original position for the next picking work. When the number of persimmons stored in the sleeve 9 of the picking unit is about to reach the limited number, after the last cutting operation of the fruit stalk cutting device 6 is completed, both shafts of the double-shaft motor 14 stop working, and at the moment, the outlet of the sleeve 9 is blocked by the cutting circular blade 8 to prevent the stored persimmons from falling.
When the number of persimmons stored in the sleeve 9 of the picking unit is about to reach the limited number, as shown in fig. 1 and 3, the small motor 19 in the hollow shaft 4 rotates slowly, and the interaction among the hollow shaft 4, the flange seat b20, the deep groove ball bearing 21, the shaft 22, the thrust bearing 2 and the nut 24 drives the rotating platform 5 to rotate, so that the picking unit rotates out of the center of the visual field of the camera a2 and the second picking unit rotates into the center of the visual field of the camera a2 to continue picking work. When the picking unmanned aerial vehicle reaches the limited load, the picking unmanned aerial vehicle returns to the takeoff position to lift the persimmons off.
As shown in fig. 1 and 2, after the picking unmanned aerial vehicle returns to the takeoff, the electric push rods a11 of all picking units slowly extend outwards, and the electric push rods b12 of all picking units work, so that the sleeve outlet of each picking unit slowly inclines downwards, then the shaft of each picking unit connected with the gear 18 slowly rotates reversely, the cutting circular blade 8 of each picking unit is moved to the original position to completely open the outlet of each picking unit sleeve 9, and stored persimmons slowly roll out of the sleeve. After the persimmon is unloaded, all electric push rods of all picking units are restored to the original positions, the picking unmanned aerial vehicle is adjusted to be in the initial state, and the next step of instruction of the control module is waited and implemented.
The above-mentioned embodiments only express the embodiments of the present invention, but not should be understood as the limitation of the scope of the invention patent, it should be noted that, for those skilled in the art, many variations and modifications can be made without departing from the concept of the present invention, and these all fall into the protection scope of the present invention.
Claims (3)
1. A picking system based on cooperative operation of an unmanned aerial vehicle group is characterized in that the picking system comprises a picking unmanned aerial vehicle group, an auxiliary unmanned aerial vehicle group and a control module; the unmanned picking machine set is used for picking fruits ripe on trees; the auxiliary unmanned aerial vehicle set is used for cleaning branches influencing the work of the unmanned aerial vehicle set so as to assist picking; the control module is used for receiving and analyzing information fed back by the picking unmanned aerial vehicle and the auxiliary unmanned aerial vehicle and coordinating the work of the two unmanned aerial vehicle sets;
the picking unmanned aerial vehicle set comprises a plurality of picking unmanned aerial vehicles with the same structure, each picking unmanned aerial vehicle comprises a picking unmanned aerial vehicle main body (1), a camera a (2), a lighting lamp (3), a hollow connecting shaft (4), a rotating platform (5), a supporting leg frame (13) and five picking units with the same structure, and a weight sensor is arranged in each picking unmanned aerial vehicle;
the camera a (2) is positioned at the top of the picking unmanned aerial vehicle and used for collecting fruit position information, and the illuminating lamp (3) is arranged on the side part of the picking unmanned aerial vehicle; the lower part of the picking unmanned aerial vehicle body is connected with a hollow connecting shaft (4), the lower part of the hollow connecting shaft (4) is connected with the top of a rotating platform (5) through a shaft (22), and the bottom surface of the rotating platform (5) is connected with a supporting leg frame (13); a small motor (19), a flange pipe seat b (20), a deep groove ball bearing (21), a thrust bearing (23) and a second connecting shaft (22) are arranged in the hollow connecting shaft (4); the small-sized motor (19) can drive the secondary connecting shaft (22) to rotate, so that the position of the rotating platform (5) is adjusted;
five picking units are uniformly distributed on the side surface of the rotary platform (5), the picking units pick at the central position of the visual field of the camera a (2), and when the picking units positioned at the central position of the visual field of the camera a (2) reach a picking limit number, the rotary platform (5) rotates to enable the next picking unit to move to the central position of the visual field to continue picking; each picking unit comprises an electric push rod a (11), an electric push rod b (12), a sleeve (9) for containing fruits, a fruit stem cutting device (6) arranged at the outlet of the sleeve and a camera b (7), wherein the camera b (7) is used for judging whether target fruits completely enter the sleeve (9); the electric push rod a (11) is horizontally arranged, one end of the electric push rod a is connected with the side surface of the rotary platform (5) through a pin shaft and can rotate around the pin shaft, and the other end of the electric push rod a is connected with the sleeve (9); the electric push rod b (12) is obliquely arranged, the top end of the electric push rod b is connected with the electric push rod a (11), and the bottom end of the electric push rod b is connected with the supporting leg frame (13) and can rotate around pin shafts at two ends simultaneously; the two electric push rods are used for adjusting the position of the sleeve (9) during picking and the included angle between the sleeve and the horizontal direction; the fruit stalk cutting device (6) is positioned at the outlet of the sleeve (9), a double-shaft motor (14) is arranged in the fruit stalk cutting device, a guide rail (15) is fixed on the inner wall of the bottom of the shell, the lower part of the fruit stalk cutting device is connected with a guide rail sliding block (16), and the double-shaft motor (14) can move along the guide rail sliding block (15) along with the guide rail sliding block (16); meanwhile, one shaft of the double-shaft motor (14) is connected with the cutting circular blade (8), the other shaft of the double-shaft motor is connected with a gear (18), the two shafts are positioned at two ends of the double-shaft motor (14), the rotary motions of the shafts of the double-shaft motor (14) are mutually independent, the gear (18) is meshed with a lower rack (17), and the rack (17) is fixed on the shell of the fruit stalk cutting device (6);
the auxiliary unmanned aerial vehicle set comprises a plurality of auxiliary unmanned aerial vehicles with the same structure, and each auxiliary unmanned aerial vehicle comprises an auxiliary unmanned aerial vehicle main body (25), a camera c (26), an electric push rod c (27), a mechanical arm, a steering engine a (28), a steering engine b (29) and a scissor device (30); the camera c (26) is located at the top of the main body (25) of the auxiliary unmanned aerial vehicle and used for collecting information, one side of the main body (25) is provided with an electric push rod c (27), the electric push rod c (27) is connected with a five-degree-of-freedom mechanical arm, the front end of the mechanical arm is provided with a scissors device (30), and the opening and closing actions of the scissors device (30) are controlled by a steering engine a (28) and a steering engine b (29);
when the fruits stored in a sleeve (9) of a picking unit in the center of the visual field of a camera a (2) of the picking unmanned aerial vehicle reach a rated number, a rotating platform (5) rotates along with a shaft (22) under the action of a small motor (19) in a hollow connecting shaft (4) to switch the next picking unit, so that the picking operation is always carried out in the visual field of the camera a (2); when the fruits stored in the sleeve (9) of each picking unit reach the rated quantity, the picking unmanned aerial vehicle returns to the ground for unloading.
2. The picking system based on the cooperative operation of the unmanned aerial vehicle group as claimed in claim 1, wherein the small motor (19) is fixed above the inner wall of the hollow connecting shaft (4), and the output shaft of the small motor is connected with a flange tube seat b (20); the shaft (22) is positioned below the flange pipe seat b (20) and is connected with the flange pipe seat b (20); the deep groove ball bearing (21) and a thrust bearing (23) are assembled at two ends of the shaft (22) to fix the position of the shaft so that the shaft can only rotate.
3. A method for using the unmanned aerial vehicle cluster cooperative picking system according to claim 1 or 2, comprising the following steps:
firstly, when picking operation is started, a camera a (2) at the top of a picking unmanned aerial vehicle collects position and shape information of a target and feeds the position and shape information back to a control module;
secondly, the control module judges the peripheral conditions of the position of the target, and when the peripheral conditions do not influence picking, the electric push rod a (11) and the electric push rod b (12) of the picking unit positioned in the center of the visual field of the camera a (2) extend out for proper distances; the picking unmanned aerial vehicle main body (1) moves to a proper position, and target fruits are sleeved in the sleeve (9); when the control module determines that the target fruit completely enters the sleeve (9) according to the camera b (7), the fruit stem cutting device (6) starts cutting;
when the fruit stalk cutting device (6) works, a shaft connected with the double-shaft motor (14) and the cutting circular blade (8) rotates at a high speed, and meanwhile, a shaft connected with the double-shaft motor (14) and the gear (18) rotates slowly, so that the gear (18) advances slowly along the rack (17) to drive the double-shaft motor (14) to move along the guide rail (15) along the guide rail sliding block (16), and the cutting circular blade (8) rotating at a high speed is close to branches to cut;
after the fruit stalk cutting device (6) finishes the operation, if the picking unit where the fruit stalk cutting device (6) is located needs to carry out the next picking operation, the cutting circular blade (8) stops rotating, one end of the double-shaft motor (14) connected with the gear (18) reversely and slowly rotates, and the cutting circular blade (8) is brought back to the original position by the double-shaft motor (14); if the fruits stored in the sleeve (9) of the picking unit where the fruit stalk cutting device (6) is located reach the rated quantity, the shaft of the double-shaft motor (14) connected with the cutting circular blade (8) and the shaft of the double-shaft motor (14) connected with the gear (18) stop working, and the cutting circular blade (8) blocks the outlet of the sleeve;
thirdly, when the surrounding environment of the target position influences picking, the picking unmanned aerial vehicle gives up the target to search for the next picking target; meanwhile, after the control module receives the information, an auxiliary unmanned aerial vehicle in an idle state is allocated to go to the target for cutting operation;
fourthly, returning after finishing the cleaning work of the auxiliary unmanned aerial vehicle, and feeding back the information of the target position to the control module; the control module redistributes a picking unmanned aerial vehicle in an idle state to a target position for picking operation;
fifthly, when the fruits in the sleeve (9) of the picking unit reach a rated quantity, the rotating platform (5) rotates along with the shaft (22) under the action of the small motor (19) to switch the next picking unit; when the number of the fruits stored in the picking unit is not up to the rated number, the picking unmanned aerial vehicle continuously searches and picks the next target; after the fruits stored in the sleeve (9) of each picking unit reach the rated quantity, the picking unmanned aerial vehicle returns to the ground, and when unloading, the electric push rod a (11) and the electric push rod b (12) of each picking unit are matched to enable the outlet of the sleeve (9) to incline downwards slowly, and meanwhile, the cutting circular blade (8) is brought back to the original position by the double-shaft motor (14), so that the fruits roll out of the sleeve (9) slowly.
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