CN107182442A - Pluck unmanned plane - Google Patents

Pluck unmanned plane Download PDF

Info

Publication number
CN107182442A
CN107182442A CN201710489120.6A CN201710489120A CN107182442A CN 107182442 A CN107182442 A CN 107182442A CN 201710489120 A CN201710489120 A CN 201710489120A CN 107182442 A CN107182442 A CN 107182442A
Authority
CN
China
Prior art keywords
aerial vehicle
unmanned aerial
fruit
mechanical arm
rotor unmanned
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710489120.6A
Other languages
Chinese (zh)
Inventor
匡致宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201710489120.6A priority Critical patent/CN107182442A/en
Publication of CN107182442A publication Critical patent/CN107182442A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • A01D46/22—Baskets or bags attachable to the picker
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Remote Sensing (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

The present invention discloses a kind of harvesting unmanned plane, includes multi-rotor unmanned aerial vehicle, it is characterised in that：Mechanical arm is installed, the front end of mechanical arm is provided with device for picking, and frame is provided with autobalance arm in the opposite side of mechanical arm, and the bottom of frame is provided with basketry in the frame of the multi-rotor unmanned aerial vehicle.The present invention can be flown to by multi-rotor unmanned aerial vehicle to any artificial place for being difficult to touch of top fruit sprayer, and fruit tree is plucked.Mechanical arm in multi-rotor unmanned aerial vehicle is plucked by fruit picking device to fruit, and the fruit of harvesting is placed into the basketry being lifted on below multi-rotor unmanned aerial vehicle.And installed in the autobalance arm of the opposite side of mechanical arm, the flexible counterweight to move on autobalance arm of mechanical arm can be followed, to reach the purpose of balance multi-rotor unmanned aerial vehicle.Thus, it is the unmanned plane of complete alternative artificial carry out picking fruit using the present invention.

Description

Pluck unmanned plane
Technical field
The present invention relates to unmanned air vehicle technique field, specifically refer to for the unmanned plane available for harvesting.
Background technology
In fruit tree, have and much belong to arbor fruit trees, particularly perennial fruit tree is tree-like tall and big, after fruit maturation, Harvesting could be completed by needing to use aerial construction, and even direct labor climbs tree harvesting, and picking efficiency is low, and risk factor height. At present, due to the high speed development of society, unmanned plane (unmanned vehicle) has been popularized for a variety of industries of society.But, In planting fruit trees industry, unmanned plane is not used also to substitute artificial progress picking fruit.
The content of the invention
The technical problem to be solved in the present invention provides a kind of unmanned plane that can be used for plucking for cylinder valve.
To solve the technical scheme that above-mentioned technical problem is used：One kind harvesting unmanned plane, includes multi-rotor unmanned aerial vehicle, It is characterized in that：Mechanical arm is installed, the front end of mechanical arm is provided with device for picking, frame in the frame of the multi-rotor unmanned aerial vehicle Autobalance arm is installed in the opposite side of mechanical arm, the bottom of frame is provided with basketry.
On the basis of the above, the multi-rotor unmanned aerial vehicle is provided with NI Vision Builder for Automated Inspection.
On the basis of the above, the multi-rotor unmanned aerial vehicle is provided with global position system.
The beneficial effect brought using the present invention：The present invention can fly to appointing to top fruit sprayer by multi-rotor unmanned aerial vehicle The artificial place for being difficult to touch of meaning, is plucked to fruit tree.Mechanical arm in multi-rotor unmanned aerial vehicle passes through fruit picking device pair Fruit is plucked, and the fruit of harvesting is placed into the basketry being lifted on below multi-rotor unmanned aerial vehicle.And installed in machinery The autobalance arm of the opposite side of arm, can follow the flexible counterweight to move on autobalance arm of mechanical arm, to reach that balance is more The purpose of rotor wing unmanned aerial vehicle.Thus, it is the unmanned plane of complete alternative artificial carry out picking fruit using the present invention.
Brief description of the drawings
Fig. 1 plucks the structural representation of unmanned plane for the present invention.
Embodiment
As shown in figure 1, a kind of harvesting unmanned plane, includes multi-rotor unmanned aerial vehicle 1 and its remote control control system (conventional portion Do not indicated in part, figure).In the present invention, it is provided with the frame of the multi-rotor unmanned aerial vehicle 1 before mechanical arm 2, mechanical arm 2 End is provided with device for picking 3, and frame is provided with autobalance arm 4 in the opposite side of mechanical arm 2, and the bottom of frame is lifted with basketry 5.
The present invention is flown to any artificial place for being difficult to touch of top fruit sprayer, to fruit tree by multi-rotor unmanned aerial vehicle 1 Plucked.Mechanical arm 2 in multi-rotor unmanned aerial vehicle 1 is plucked by device for picking 3 to fruit, and by the fruit of harvesting It is placed into and is lifted in the basketry 5 of the lower section of multi-rotor unmanned aerial vehicle 1 in fact.And installed in the autobalance arm 4 of the opposite side of mechanical arm 2, The flexible of mechanical arm 2 can be followed to move the counterweight 6 on autobalance arm 4, to reach the purpose of balance multi-rotor unmanned aerial vehicle.
Device for picking 3 uses existing device for picking, and while can clamping carpopodium, carpopodium is cut.Mechanical arm 2 can use existing Multi-spindle machining hand, may move device for picking 3 while, rotate device for picking 3.Autobalance arm 4 can use counter weight type counter-jib, put down The counterweight 6 being reciprocally moveable is installed on weighing apparatus arm, counterweight 6 is with the opposite direction movement of device for picking, it is therefore an objective to make many rotors without Man-machine center of gravity is not offset, and multi-rotor unmanned aerial vehicle flight is kept stable.
In order to improve the intelligence degree of unmanned plane, NI Vision Builder for Automated Inspection (conventional portion can be provided with for multi-rotor unmanned aerial vehicle 1 Do not indicated in part, figure), fruit and carpopodium are recognized by NI Vision Builder for Automated Inspection, drive device for picking 3 to carry out plucking fruit.To ensure nobody The accurate navigation of machine, can be provided with global position system (not indicated in conventional components, figure) for multi-rotor unmanned aerial vehicle.
It could be aware that, present invention harvesting unmanned plane is not limited to picking fruit, it may also be used for other plant parts Harvesting is trimmed.

Claims (3)

1. one kind harvesting unmanned plane, includes multi-rotor unmanned aerial vehicle, it is characterised in that：Pacify in the frame of the multi-rotor unmanned aerial vehicle Equipped with mechanical arm, the front end of mechanical arm is provided with device for picking, and frame is provided with autobalance arm, frame in the opposite side of mechanical arm Bottom basketry is installed.
2. harvesting unmanned plane according to claim 1, it is characterised in that：The multi-rotor unmanned aerial vehicle is provided with machine vision system System.
3. harvesting unmanned plane according to claim 1 or 2, it is characterised in that：The multi-rotor unmanned aerial vehicle is provided with satellite Position system.
CN201710489120.6A 2017-06-24 2017-06-24 Pluck unmanned plane Pending CN107182442A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710489120.6A CN107182442A (en) 2017-06-24 2017-06-24 Pluck unmanned plane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710489120.6A CN107182442A (en) 2017-06-24 2017-06-24 Pluck unmanned plane

Publications (1)

Publication Number Publication Date
CN107182442A true CN107182442A (en) 2017-09-22

Family

ID=59878324

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710489120.6A Pending CN107182442A (en) 2017-06-24 2017-06-24 Pluck unmanned plane

Country Status (1)

Country Link
CN (1) CN107182442A (en)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107593667A (en) * 2017-10-26 2018-01-19 深圳市雷凌广通技术研发有限公司 A kind of unmanned plane with harvesting cellular functionality based on Internet of Things
CN107985673A (en) * 2017-12-14 2018-05-04 赵秀波 A kind of pears device for picking
CN108214517A (en) * 2018-03-08 2018-06-29 贵州电网有限责任公司 It is a kind of can buckling duct structure screen of trees cleaning air-robot
CN108353632A (en) * 2018-04-02 2018-08-03 广东海洋大学 A kind of device of Combined type remote control fruit-picking
CN108633482A (en) * 2018-07-06 2018-10-12 华南理工大学 A kind of fruit picking aircraft
CN108886957A (en) * 2018-06-18 2018-11-27 海建平 A kind of automatic coconut stripper unit based on unmanned plane
CN108901360A (en) * 2018-06-18 2018-11-30 海建平 Double unmanned planes cooperation coconut picking robots
CN109168632A (en) * 2018-10-11 2019-01-11 侍雨 A kind of intelligent solanaceous vegetable picker system based on unmanned plane and TOF imaging technique
CN109436322A (en) * 2018-09-18 2019-03-08 昆明理工大学 One kind is small-sized to pluck fruit unmanned plane and its working method
CN109601135A (en) * 2018-12-27 2019-04-12 浙江工业大学 A kind of high-altitude nut fruits picker
CN110192471A (en) * 2019-06-04 2019-09-03 大连理工大学 A kind of hickory nut picking and collection device and method based on unmanned plane
CN111418349A (en) * 2020-03-19 2020-07-17 南京赫曼机器人自动化有限公司 Intelligent fruit picking robot and method for realizing fruit picking
CN111824409A (en) * 2019-11-28 2020-10-27 南京航空航天大学 Unmanned aerial vehicle's area cutting wing section rotor molding is picked
CN111874204A (en) * 2019-11-28 2020-11-03 南京航空航天大学 Cutting shape unmanned aerial vehicle frame of horn is stabilized in area
CN113424706A (en) * 2021-06-24 2021-09-24 华南农业大学 Unmanned aerial vehicle self-balancing picking device based on lever principle and control method thereof
CN114342660A (en) * 2021-12-27 2022-04-15 江西中轻智能设备股份有限公司 Plant protection unmanned aerial vehicle convenient to pick based on thing networking
CN114916318A (en) * 2022-05-30 2022-08-19 华南农业大学 Automatic fruit harvesting device carried on unmanned aerial vehicle and control method thereof

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104919981A (en) * 2015-07-13 2015-09-23 绍兴文理学院 Unmanned aerial vehicle Chinese torreya fruit picker
CN204998755U (en) * 2015-08-24 2016-01-27 深圳市诺亚星辰科技开发有限公司 Rotor unmanned aerial vehicle balance adjustment device
CN205454643U (en) * 2016-01-27 2016-08-17 东北林业大学 Unsettled harvesting ware of forestry branches of tall trees pine nut

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104919981A (en) * 2015-07-13 2015-09-23 绍兴文理学院 Unmanned aerial vehicle Chinese torreya fruit picker
CN204998755U (en) * 2015-08-24 2016-01-27 深圳市诺亚星辰科技开发有限公司 Rotor unmanned aerial vehicle balance adjustment device
CN205454643U (en) * 2016-01-27 2016-08-17 东北林业大学 Unsettled harvesting ware of forestry branches of tall trees pine nut

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107593667A (en) * 2017-10-26 2018-01-19 深圳市雷凌广通技术研发有限公司 A kind of unmanned plane with harvesting cellular functionality based on Internet of Things
CN107985673A (en) * 2017-12-14 2018-05-04 赵秀波 A kind of pears device for picking
CN108214517A (en) * 2018-03-08 2018-06-29 贵州电网有限责任公司 It is a kind of can buckling duct structure screen of trees cleaning air-robot
CN108214517B (en) * 2018-03-08 2023-10-31 贵州电网有限责任公司 Longitudinally-bendable air robot for cleaning tree barriers of duct structure
CN108353632A (en) * 2018-04-02 2018-08-03 广东海洋大学 A kind of device of Combined type remote control fruit-picking
CN108353632B (en) * 2018-04-02 2024-01-05 广东海洋大学 Combined remote control fruit picking device
CN108901360B (en) * 2018-06-18 2021-11-30 六安科科达尔生物科技有限公司 Coconut picking robot with cooperation of double unmanned planes
CN108886957B (en) * 2018-06-18 2021-09-28 六安科科达尔生物科技有限公司 Automatic coconut picking device based on unmanned aerial vehicle
CN108886957A (en) * 2018-06-18 2018-11-27 海建平 A kind of automatic coconut stripper unit based on unmanned plane
CN108901360A (en) * 2018-06-18 2018-11-30 海建平 Double unmanned planes cooperation coconut picking robots
CN108633482A (en) * 2018-07-06 2018-10-12 华南理工大学 A kind of fruit picking aircraft
CN109436322B (en) * 2018-09-18 2022-02-08 昆明理工大学 Small fruit picking unmanned aerial vehicle and working method thereof
CN109436322A (en) * 2018-09-18 2019-03-08 昆明理工大学 One kind is small-sized to pluck fruit unmanned plane and its working method
CN109168632A (en) * 2018-10-11 2019-01-11 侍雨 A kind of intelligent solanaceous vegetable picker system based on unmanned plane and TOF imaging technique
CN109601135A (en) * 2018-12-27 2019-04-12 浙江工业大学 A kind of high-altitude nut fruits picker
CN110192471A (en) * 2019-06-04 2019-09-03 大连理工大学 A kind of hickory nut picking and collection device and method based on unmanned plane
CN111874204A (en) * 2019-11-28 2020-11-03 南京航空航天大学 Cutting shape unmanned aerial vehicle frame of horn is stabilized in area
CN111824409A (en) * 2019-11-28 2020-10-27 南京航空航天大学 Unmanned aerial vehicle's area cutting wing section rotor molding is picked
CN111874204B (en) * 2019-11-28 2021-10-01 南京航空航天大学 Cutting shape unmanned aerial vehicle frame of horn is stabilized in area
CN111824409B (en) * 2019-11-28 2021-11-23 南京航空航天大学 Unmanned aerial vehicle's area cutting wing section rotor molding is picked
CN111418349A (en) * 2020-03-19 2020-07-17 南京赫曼机器人自动化有限公司 Intelligent fruit picking robot and method for realizing fruit picking
CN113424706A (en) * 2021-06-24 2021-09-24 华南农业大学 Unmanned aerial vehicle self-balancing picking device based on lever principle and control method thereof
CN114342660A (en) * 2021-12-27 2022-04-15 江西中轻智能设备股份有限公司 Plant protection unmanned aerial vehicle convenient to pick based on thing networking
CN114916318A (en) * 2022-05-30 2022-08-19 华南农业大学 Automatic fruit harvesting device carried on unmanned aerial vehicle and control method thereof
CN114916318B (en) * 2022-05-30 2023-05-02 华南农业大学 Automatic fruit harvesting device carried on unmanned aerial vehicle and control method thereof

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Application publication date: 20170922