CN108901360B - Coconut picking robot with cooperation of double unmanned planes - Google Patents

Coconut picking robot with cooperation of double unmanned planes Download PDF

Info

Publication number
CN108901360B
CN108901360B CN201810626021.2A CN201810626021A CN108901360B CN 108901360 B CN108901360 B CN 108901360B CN 201810626021 A CN201810626021 A CN 201810626021A CN 108901360 B CN108901360 B CN 108901360B
Authority
CN
China
Prior art keywords
coconut
barb
dart
unmanned aerial
aerial vehicle
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.)
Active
Application number
CN201810626021.2A
Other languages
Chinese (zh)
Other versions
CN108901360A (en
Inventor
不公告发明人
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.)
Lu'an kekodar Biotechnology Co.,Ltd.
Original Assignee
Lu'an Kekodar Biotechnology Co ltd
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 Lu'an Kekodar Biotechnology Co ltd filed Critical Lu'an Kekodar Biotechnology Co ltd
Priority to CN201810626021.2A priority Critical patent/CN108901360B/en
Publication of CN108901360A publication Critical patent/CN108901360A/en
Application granted granted Critical
Publication of CN108901360B publication Critical patent/CN108901360B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D46/00Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30Robotic devices for individually picking crops
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

The invention relates to a coconut picking robot with cooperation of double unmanned aerial vehicles, and belongs to the technical field of fruit picking equipment. This robot aims at installing miniature laser cutting machine and barb and darts the transmitter on unmanned aerial vehicle, and unmanned aerial vehicle will miniature laser cutting machine and barb darts the transmitter and takes near ripe coconut, and barb darts the transmitter to the barb that the coconut transmission is connected with unmanned aerial vehicle darts, and the barb darts to inject behind the coconut shell, and miniature laser cutting machine carries out the laser cutting to the coconut base of fruit that the barb darts the locking, and the coconut that breaks away from the coconut palm is darted by the barb and is suspended in midair in the unmanned aerial vehicle below. For guaranteeing the realization of this robot function, still install the singlechip that is used for locking the camera of ripe coconut, is used for information exchange's wireless communication device and the work of controlling this robot on the unmanned aerial vehicle, it adopts two unmanned aerial vehicle cooperations, can pluck the coconut in succession, guarantees the quality of coconut when reducing work load, is superior to current coconut and plucks device and technique.

Description

Coconut picking robot with cooperation of double unmanned planes
Technical Field
The invention relates to a coconut picking robot with cooperation of double unmanned aerial vehicles, and belongs to the technical field of fruit picking equipment.
Background
At present, because of the particularity of coconut trees and coconuts, the coconuts cannot be picked by large-scale machinery, and the coconut picking work is basically finished by picking personnel climbing coconut trees through a tree climbing tool for a long time. With the increasing demand and planting amount of coconuts, the manual picking cannot adapt to the industrial development of the whole coconuts. It goes without saying that the efficiency of manual picking is very low and the manpower consumption is enormous, and to some extent the disadvantages of manual picking, which are not changed, inhibit the development of the coconut industry. On the other hand, the process of manually picking the coconuts has huge potential safety hazards, the height of the coconut tree is between 15m and 30m, and the coconuts grow at positions close to the crown of the tree, so that picking personnel need to climb to a high position to pick the coconuts, the coconuts are sparse in white and dense, and if the protection measures of the picking personnel or the climbing apparatus is in trouble, the picking personnel are likely to fall off the tree. The safety accidents that the dropped coconuts are hit to ground picking personnel in the picking process are not delayed in the safety accidents that the dropped coconuts are hit by the dropped coconuts and even die every year. Therefore, in view of various defects existing in the manual coconut picking, the design of the double unmanned aerial vehicle cooperation coconut picking robot is particularly necessary.
This kind of device is plucked to automatic coconut based on unmanned aerial vehicle utilizes unmanned aerial vehicle to carry and plucks the device and carry out the coconut and pick work, replaces artifical tree climbing to pick, can effectively improve and pick efficiency, also reduces artifical safe risk of picking. The robot can be flexibly controlled, and not only can be manually controlled to pick the fruits, but also can be automatically picked without manual control. Therefore, the robot can overcome the defects existing in most manual picking and promote the development of the coconut industry.
Disclosure of Invention
In order to solve the defects of the prior art, the technical problems to be solved by the invention are as follows: install miniature laser cutting machine and barb and darted the transmitter on unmanned aerial vehicle, unmanned aerial vehicle will miniature laser cutting machine and barb darted the transmitter and take near ripe coconut, and barb darted the transmitter to the barb dart that the coconut transmission is connected with unmanned aerial vehicle, and the barb darts and injects behind the coconut shell, and miniature laser cutting machine carries out laser cutting to the coconut fruit base that the barb darted the locking, and the coconut that breaks away from the coconut palm is darted by the barb and is suspended in midair in the unmanned aerial vehicle below. In order to ensure the realization of the function of the robot, the unmanned aerial vehicle is also provided with a camera for locking the mature coconut, a wireless communication device for information exchange and a singlechip for controlling the work of the robot. The robot can continuously pick coconuts, reduces workload, ensures the quality of the coconuts, and is superior to the existing device and technology for picking the coconuts.
The technical scheme adopted by the invention is as follows: the coconut picking robot with the cooperation of the two unmanned aerial vehicles comprises the unmanned aerial vehicle, a wireless communication device, a single chip microcomputer, a camera, a barb dart emitter, a micro laser cutting machine and a mechanical arm; the wireless communication device, the camera, the barb dart emitter, the micro laser cutting machine and the mechanical arm are arranged on the unmanned aerial vehicle; the wireless communication device, the camera, the barb dart emitter, the miniature laser cutting machine and the mechanical arm are all connected with the single chip microcomputer; the unmanned aerial vehicle computer control ends are in wireless communication through a wireless communication device; unmanned aerial vehicle is with miniature laser cutting machine, near ripe coconut is taken to barb dart and barb dart transmitter, camera locking a ripe coconut, video transmission to computer control end that wireless communication device gathered the camera, whether staff judges to pluck the coconut that has locked, the barb dart transmitter launches the barb dart to the coconut after the affirmation, the barb dart injects in the coconut shell, later little shape laser cutting machine carries out laser cutting to the pedicel of coconut, the coconut that breaks away from with the coconut tree is darted by the barb and hangs in unmanned aerial vehicle's below, accomplish another ripe coconut again after plucking of a coconut, pluck the work in succession.
Furthermore, the micro laser cutting machine is an existing device and is used for cutting the fruit pedicle of the coconut, the working principle of the micro laser cutting machine is that a focused high-power-density laser beam is utilized to irradiate a cutting body, so that the irradiated object is rapidly melted, vaporized and burned or reaches a burning point, and meanwhile, the melted substance is blown off by means of high-speed airflow coaxial with the laser beam, so that the object is cut, and the laser cutting machine has the advantages of accurate and rapid cutting and small deformation of the cutting body; the laser emitter of the miniature laser cutting machine is provided with the miniature camera, and the miniature laser cutting machine is used for providing necessary image data when the coconut pedicel is locked by the miniature laser cutting machine and helping the laser emitter to accurately cut the coconut pedicel.
Furthermore, the mechanical arm is an existing device, the existing technology of the robot arm is adopted, the arm can be folded and bent at any position of a joint, and the top end of the arm can rotate by 360 degrees; the arm is installed in unmanned aerial vehicle's upper end, and miniature laser cutting machine is installed on its top, and after camera locking coconut, specific position is sent laser cutting machine to the arm activity back to make laser emitter aim at the fruit base of coconut, make laser cutting machine realize accurate, quick cutting.
Further, for complex and special picking conditions, the micro laser cutting machine and the barb dart emitter can be respectively installed on two unmanned aerial vehicles, namely one unmanned aerial vehicle is responsible for picking coconuts, and the other unmanned aerial vehicle is responsible for cutting pedicles of coconuts; the two unmanned aerial vehicles are respectively provided with a wireless communication device, a singlechip and a camera, and the wireless communication devices are responsible for the wireless communication between the unmanned aerial vehicles and the control computer as well as between the two unmanned aerial vehicles; two unmanned aerial vehicles are respectively with miniature laser cutting machine (7), near ripe coconut is taken simultaneously to barb dartlike weapon and barb dartlike weapon transmitter, camera locking same ripe coconut on two unmanned aerial vehicles, barb dartlike weapon transmitter is to coconut epidermis transmission barb dartlike weapon, the barb dartlike weapon injects in the coconut shell, later miniature laser cutting machine carries out the laser cutting to the fruit base of coconut, the coconut that breaks away from with the coconut tree is hung by the barb dartlike weapon and is responsible for the unmanned aerial vehicle below of taking, accomplish two unmanned aerial vehicles of back of taking of a coconut and lock another ripe coconut again, carry out the work of taking jointly.
Furthermore, the barb dart launcher is an existing device, and is arranged below the picking end unmanned aerial vehicle and consists of a motor, a spring and a launching barrel, the motor pulls the barb dart to compress the spring after rotating, and the spring releases to eject the barb dart after the motor is powered off; the barb dart is made of stainless steel, the appearance of the barb dart is similar to that of a fish dart, the specific size of the barb dart is determined according to actual conditions, one end of the barb dart is connected to a motor of a barb dart emitter through a high-strength rope, the length of the rope is determined according to actual conditions, the unmanned aerial vehicle is connected with a plurality of barb dart emitters, one barb dart is arranged in each barb dart emitter, and one barb dart is used when one coconut is picked; the barbed dart with the coconut is directly hung at the bottom of the unmanned aerial vehicle at the picking end after being contracted by a rope of a motor of the emitter; the thickness of the coconut shell is between 3cm and 5cm, the depth of the barb dart inserted into the coconut shell can be controlled by adjusting the launching force of the barb launcher and the distance between the launcher and the coconut, and the barb dart can hang the coconut without penetrating through the coconut shell in principle.
Further, the camera is current device, and its effect is the growth situation of gathering the coconut on the one hand, makes things convenient for the staff to judge whether be fit for picking, and the distance of coconut and survey unmanned aerial vehicle and coconut is waited to pluck in the locking on the one hand, and the work of darting the transmitter for the barb and miniature laser cutting machine provides necessary data.
Further, this kind of device is taken to automatic coconut based on unmanned aerial vehicle both can manual control accomplish and pick, and whether the coconut that locks at present is picked to the video decision that the staff received according to the computer control end promptly, if the coconut on the coconut tree all needs to be picked, this robot also can be automatically to the coconut on the same coconut tree pluck one by one.
The model of the singlechip in the circuit diagram of the robot is AT89C51, C is a camera, A is a barb dart launcher, and D is a laser launching tube. A clock circuit: the crystal oscillator is used for providing basic clock signals for the systems, and one crystal oscillator is commonly used by one system so as to keep all parts synchronous; the sizes of the two resonance capacitors depend on the load capacitance value of the crystal oscillator and are used for filtering interference. In order to ensure the operation of the singlechip, a reset circuit is added to the singlechip. The reset circuit has the following functions: the power-on reset may reset the internal memory; synchronizing internal and external clock signals; when the voltage fluctuates or is unstable, the reset circuit delays the circuit until the circuit is stable; when the program has an error, the single chip microcomputer is restored to a normal operation state through the reset circuit. The wireless communication circuit adopts a sound meter device, so that the circuit stability is obviously improved. In addition, the frequency stability is almost the same as that of a crystal oscillator, the fundamental frequency can reach hundreds of kilohertz, and compared with the crystal oscillator, the circuit is very simple. The barb dart launching device is controlled by the electromagnetic valve, the electromagnetic valve is electrified after the barb dart launching device receives a throwing instruction, the launching device is started, and the barb dart can be launched. The mechanical arm consists of a forward and reverse rotating direct current motor and an L298 chip. The L298 chip is a motor driving chip and is used for driving a motor to work. The main working device of the micro laser transmitter is a laser transmitting tube, and the laser transmitting tube transmits laser to cut the coconuts.
The overall process of the device is described as follows: the growing state of coconut is gathered to the last camera of unmanned aerial vehicle, launches state information through wireless communication, obtains the instruction and launches the barb dart to the coconut, cuts unmanned aerial vehicle afterwards and cuts the fruit base for the coconut under the cutting hangs in the below of plucking unmanned aerial vehicle.
The double unmanned aerial vehicles cooperate with the coconut picking robot, and the control method comprises the following steps:
step 1, controlling the unmanned aerial vehicle to fly to the position near the coconut to be picked by a worker.
Step 2, a coconut is locked simultaneously to the camera on the unmanned aerial vehicle to wireless communication device transmits the video information who gathers to computer terminal, and the staff can confirm whether the coconut of locking can be picked according to the video.
Step 3, if the staff sends at computer terminal to unmanned aerial vehicle and picks the instruction after, the singlechip removes once more according to the position control unmanned aerial vehicle of the coconut of camera locking, makes the barb dart transmitter in order to guarantee that the barb dart does not shoot the distance of wearing the coconut shell and is close the coconut of locking.
Step 4, after the unmanned aerial vehicle reaches a specific position, the single chip microcomputer controls the barb dart emitter to emit a barb dart to the locked coconut; after the barb dart is launched, the wireless communication device sends information that the barb dart is launched to the singlechip.
And 5, after receiving the information fed back by the wireless communication device, the single chip microcomputer controls the unmanned aerial vehicle to move to a position suitable for the laser cutting machine to work, then controls the mechanical arm to work, enables the laser transmitter to be aligned to the pedicel of the coconut to be picked, and then the laser cutting machine performs laser cutting work on the pedicel.
And 6, after the fruit base is cut off, hanging the coconut separated from the coconut tree below the unmanned aerial vehicle by the barb dart.
And 7, when the coconuts hung below the picking end unmanned aerial vehicle reach a certain number, the working personnel control the unmanned aerial vehicle to return to the ground, and the coconuts are picked continuously after being taken down.
The working principle of the invention is as follows: install miniature laser cutting machine and barb and darted the transmitter on unmanned aerial vehicle, unmanned aerial vehicle will miniature laser cutting machine and barb darted the transmitter and take near ripe coconut, and barb darted the transmitter to the barb dart that the coconut transmission is connected with unmanned aerial vehicle, and the barb darts and injects behind the coconut shell, and miniature laser cutting machine carries out laser cutting to the coconut fruit base that the barb darted the locking, and the coconut that breaks away from the coconut palm is darted by the barb and is suspended in midair in the unmanned aerial vehicle below. In order to ensure the realization of the function of the robot, the unmanned aerial vehicle is also provided with a camera for locking the mature coconut, a wireless communication device for information exchange and a singlechip for controlling the work of the robot.
Compared with the prior art, the invention has the beneficial effects that: 1. the unmanned aerial vehicle is used for replacing manual tree climbing for picking, so that the safety risk in the picking process is reduced; 2. the number of personnel required in the picking process is reduced, and a large amount of picking cost is reduced; 3. the robot can work quickly and continuously, and the picking efficiency is greatly improved; 4. the miniature laser cutting machine is adopted to cut the pedicel, so that the cutting deformation is small, the cutting speed is high, and the coconut picking quality is improved; 5. the working personnel can know the condition of the coconut to be picked through the camera, and can pick the coconut thoroughly according to the preference, so that the quality of the coconut is improved; 6. the robot can realize automatic picking, has extremely low requirement on users, and can be widely popularized and used.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the construction of a barbed dart and a barbed dart launcher in accordance with the present invention;
FIG. 3 is a circuit diagram of a control system of the barbed dart launcher in the present invention;
FIG. 4 is a circuit diagram of a control system of the micro laser cutting machine according to the present invention;
the reference numbers in the figures are: 1-unmanned aerial vehicle; 2-a wireless communication device; 3, a singlechip; 4-a camera; 5-barbed darts; 6-barbed dart launcher; 7-a miniature laser cutting machine; 8-mechanical arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Please refer to fig. 1, the coconut picking robot with cooperation of two unmanned planes is characterized in that: the device comprises an unmanned aerial vehicle 1, a wireless communication device 2, a singlechip 3, a camera 4, a barb dart 5, a barb dart emitter 6, a micro laser cutting machine 7 and a mechanical arm 8; the wireless communication device 2, the camera 4, the barb dart 5, the barb dart emitter 6, the micro laser cutting machine 7 and the mechanical arm 8 are arranged on the unmanned aerial vehicle 1; the wireless communication device 2, the camera 4, the barb dart emitter 6, the micro laser cutting machine 7 and the mechanical arm 8 are all connected with the singlechip 3; the unmanned aerial vehicle 1 carries out wireless communication between computer control ends through a wireless communication device 2; unmanned aerial vehicle is with miniature laser cutting machine 7, barb dart 5 and barb dart transmitter 6 are taken near ripe coconut, camera 4 locks a ripe coconut, wireless communication device 2 transmits computer control end with the video transmission that camera 4 gathered, whether staff judges to pluck the coconut that has locked, confirmation back barb dart transmitter 6 launches barb dart 5 to the coconut, barb dart 5 injects in the coconut shell, later little shape laser cutting machine 7 carries out laser cutting to the pedicel of coconut, the coconut dart 5 that breaks away from with the coconut tree hangs in unmanned aerial vehicle 1's below by barb, accomplish another ripe coconut again after the plucking of a coconut, pluck work in succession.
The micro laser cutting machine 7 is an existing device, the working principle of the micro laser cutting machine is that a focused high-power-density laser beam is utilized to irradiate a cutting body, so that the irradiated object is rapidly melted, vaporized and burned or reaches a burning point, and meanwhile, the melted substance is blown off by means of high-speed airflow coaxial with the laser beam, so that the object is cut, and the laser cutting machine has the advantages of being accurate and rapid in cutting and small in deformation of the cutting body; the laser emitter of the miniature laser cutting machine is provided with the miniature camera, and the miniature laser cutting machine is used for providing necessary image data when the coconut pedicel is locked by the miniature laser cutting machine and helping the laser emitter to accurately cut the coconut pedicel.
The mechanical arm 8 is an existing device, the existing technology of a robot arm is adopted, the arm can be folded and bent at any position of a joint, and the top end of the arm can rotate by 360 degrees; arm 8 installs in unmanned aerial vehicle 1's upper end, and miniature laser cutting machine 7 is installed on its top, and after camera 4 locking coconut, arm 8 moves about the back and sends laser cutting machine 7 to specific position to make laser emitter aim at the fruit base of a fruit of coconut, make laser cutting machine 7 realize accurate, quick cutting.
For complex and special picking conditions, a micro laser cutting machine 7 and a barb dart emitter 6 can be respectively installed on two unmanned aerial vehicles, namely, one unmanned aerial vehicle is responsible for picking coconuts, and the other unmanned aerial vehicle is responsible for cutting pedicels of coconuts; the two unmanned aerial vehicles are respectively provided with a wireless communication device 2, a singlechip 3 and a camera 4, and the wireless communication devices are responsible for the wireless communication between the unmanned aerial vehicles and the control computer as well as between the two unmanned aerial vehicles; two unmanned aerial vehicles are respectively with miniature laser cutting machine 7, near ripe coconut is taken simultaneously to barb dartlike weapon 5 and barb dartlike weapon transmitter 6, camera 4 on two unmanned aerial vehicles locks same ripe coconut, barb dartlike weapon transmitter 6 is to coconut epidermis transmission barb 5, the barb dartlike weapon injects in the coconut shell, later miniature laser cutting machine 7 carries out laser cutting to the pedicel of coconut, the coconut that breaks away from with the coconut tree is hung by the barb and is responsible for the unmanned aerial vehicle below of taking, accomplish two unmanned aerial vehicles of back of taking of a coconut and lock another ripe coconut again, carry out the work of taking jointly.
The barb dart launcher 6 is an existing device, is arranged below the picking end unmanned aerial vehicle 1 and consists of a motor, a spring and a launching barrel, the motor pulls the barb dart to compress the spring after rotating, and the spring releases to eject the barb dart 5 after the motor is powered off; the barb dart 5 is made of stainless steel, the appearance of the barb dart is similar to that of a fish dart, the specific size of the barb dart is determined according to actual conditions, one end of the barb dart 5 is connected to a motor of the barb dart emitter 6 through a high-strength rope, the length of the rope is determined according to actual conditions, the unmanned aerial vehicle 1 is connected with a plurality of barb dart emitters 6, one barb dart 5 is arranged in each barb dart emitter, and one barb dart 5 is used when one coconut is picked; the barbed dart 5 with the coconut is directly hung at the bottom of the unmanned aerial vehicle at the picking end after being contracted by a rope of a motor of the emitter; the thickness of the coconut shell is 3cm-5cm, the depth of the barb dart 5 inserted into the coconut shell can be controlled by adjusting the launching force of the barb launcher 6 and the distance between the launcher and the coconut, and the barb dart 5 can hang the coconut without penetrating through the coconut shell in principle.
Referring to fig. 3 and 4, in the system circuit diagram of the robot, the model of a singlechip is AT89C51, C is a camera, a is a barbed dart launcher, and D is a laser launch tube. A clock circuit: the crystal oscillator is used for providing basic clock signals for the systems, and one crystal oscillator is commonly used by one system so as to keep all parts synchronous; the sizes of the two resonance capacitors depend on the load capacitance value of the crystal oscillator and are used for filtering interference. In order to ensure the operation of the singlechip, a reset circuit is added to the singlechip. The reset circuit has the following functions: the power-on reset may reset the internal memory; synchronizing internal and external clock signals; when the voltage fluctuates or is unstable, the reset circuit delays the circuit until the circuit is stable; when the program has an error, the single chip microcomputer is restored to a normal operation state through the reset circuit. The wireless communication circuit adopts a sound meter device, so that the circuit stability is obviously improved. In addition, the frequency stability is almost the same as that of a crystal oscillator, the fundamental frequency can reach hundreds of kilohertz, and compared with the crystal oscillator, the circuit is very simple. The barb dart launching device is controlled by the electromagnetic valve, the electromagnetic valve is electrified after the barb dart launching device receives a throwing instruction, the launching device is started, and the barb dart can be launched. The mechanical arm consists of a forward and reverse rotating direct current motor and an L298 chip. The L298 chip is a motor driving chip and is used for driving a motor to work. The main working device of the micro laser transmitter is a laser transmitting tube, and the laser transmitting tube transmits laser to cut the coconuts.
The overall process of the device is described as follows: the growing state of coconut is gathered to the last camera of unmanned aerial vehicle, launches state information through wireless communication, obtains the instruction and launches the barb dart to the coconut, cuts unmanned aerial vehicle afterwards and cuts the fruit base for the coconut under the cutting hangs in the below of plucking unmanned aerial vehicle.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the spirit and scope of the present invention, and various modifications and improvements of the technical solutions of the present invention made by those skilled in the art without departing from the spirit of the present invention should fall within the scope of the present invention.

Claims (2)

1. Two unmanned aerial vehicle cooperation coconut picking robot, its characterized in that: the device comprises an unmanned aerial vehicle (1), a wireless communication device (2), a single chip microcomputer (3), a camera (4), a barb dart (5), a barb dart emitter (6), a laser cutting machine (7) and a mechanical arm (8); the wireless communication device (2), the camera (4), the barb dart (5), the barb dart emitter (6), the laser cutting machine (7) and the mechanical arm (8) are arranged on the unmanned aerial vehicle (1); the wireless communication device (2), the camera (4), the barb dart emitter (6), the laser cutting machine (7) and the mechanical arm (8) are all connected with the single chip microcomputer (3); the unmanned aerial vehicle (1) carries out wireless communication between computer control ends through a wireless communication device (2); unmanned aerial vehicle is with laser cutting machine (7), barb dart (5) and barb dart transmitter (6) are taken near ripe coconut, camera (4) lock a ripe coconut, wireless communication device (2) transmit the video that camera (4) were gathered to the computer control end, whether staff judges the coconut of picking up and having locked, confirm back barb dart transmitter (6) and launch barb (5) to the coconut, barb dart (5) inject in the coconut shell, later laser cutting machine (7) carry out laser cutting to the pedicel of coconut, the coconut that breaks away from with the coconut tree is hung in the below of unmanned aerial vehicle (1) by barb dart (5), accomplish another coconut again after the picking up of a coconut ripe, pick up work in succession; for complex and special picking conditions, a laser cutting machine (7) and a barb dart emitter (6) are respectively installed on two unmanned aerial vehicles, namely one unmanned aerial vehicle is responsible for picking coconuts, and the other unmanned aerial vehicle is responsible for cutting pedicels of the coconuts; the two unmanned aerial vehicles are respectively provided with a wireless communication device (2), a singlechip (3) and a camera (4), and the wireless communication devices are responsible for the wireless communication between the unmanned aerial vehicles and the control computer and between the two unmanned aerial vehicles; the two unmanned aerial vehicles respectively bring a laser cutting machine (7), a barb dart (5) and a barb dart transmitter (6) to the positions near a mature coconut, cameras (4) on the two unmanned aerial vehicles lock the same mature coconut, the barb dart transmitter (6) transmits the barb dart (5) to the coconut skin, the barb dart (5) is inserted into a coconut shell, then the laser cutting machine (7) performs laser cutting on the fruit base of the coconut, the coconut separated from a coconut tree is hung below the unmanned aerial vehicle in charge of picking by the barb dart (5), after picking of one coconut is completed, the two unmanned aerial vehicles lock another mature coconut again, and picking work is carried out together;
the laser cutting machine (7) is used for cutting the pedicel of the coconut; the working principle is that a focused high-power-density laser beam is used for irradiating a cutting body, so that the irradiated object is rapidly melted, vaporized and burned or reaches a burning point, and meanwhile, the melted substance is blown off by means of high-speed airflow coaxial with the laser beam, so that the object is cut; the laser emitter of the laser cutting machine (7) is provided with a miniature camera which is used for providing necessary image data when the coconut pedicel is locked by the laser cutting machine (7) and helping the laser emitter to accurately cut the coconut pedicel;
the mechanical arm (8) is arranged at the joint and can be folded and bent randomly, and the top end of the mechanical arm (8) can rotate by 360 degrees; the mechanical arm (8) is installed at the upper end of the unmanned aerial vehicle (1), the laser cutting machine (7) is installed at the top end of the mechanical arm, after the coconut is locked by the camera (4), the laser cutting machine (7) is sent to a specific position after the mechanical arm (8) moves, and the laser emitter is aligned to the fruit base of the coconut, so that the laser cutting machine (7) can cut accurately and quickly;
the barb dart launcher (6) is installed below the picking end unmanned aerial vehicle (1), the barb dart launcher (6) consists of a motor, a spring and a launch canister, the spring is arranged inside the launch canister, the barb dart (5) is installed in the front of the launch canister before being launched, the motor is arranged at the rear of the launch canister, one end of the barb dart (5) is connected by a high-strength rope, the rope passes through the launch canister and then is fixed on the motor, the motor rotates to pull the barb dart compression spring, the spring releases the barb dart (5) after the motor is powered off, and the motor rotates to contract the rope to enable a coconut to be hung below the unmanned aerial vehicle (1) after the coconut is separated from a coconut tree; the barb dart (5) is made of stainless steel, the appearance of the barb dart is similar to that of a fish dart, the unmanned aerial vehicle (1) is provided with a plurality of barb dart emitters (6), each barb dart emitter is internally provided with one barb dart (5), and each barb dart (5) is used when one coconut is picked; the thickness of the coconut shell is 3cm-5cm, the depth of the barb dart (5) inserted into the coconut shell can be controlled by adjusting the launching force of the barb dart launcher (6) and the distance between the launcher and the coconut, and the barb dart (5) can hang the coconut and does not penetrate through the coconut shell in principle;
the coconut picking robot with the cooperation of the two unmanned aerial vehicles has the control method comprising the following steps:
step 1, controlling an unmanned aerial vehicle to fly to the position near a coconut to be picked by a worker;
step 2, simultaneously locking a coconut by a camera on the unmanned aerial vehicle, transmitting the acquired video information to a computer terminal by the wireless communication device, and determining whether the locked coconut can be picked or not by a worker according to the video;
step 3, if the worker sends a picking instruction to the unmanned aerial vehicle at the computer terminal, the single chip controls the unmanned aerial vehicle to move again according to the position of the coconut locked by the camera, so that the barb dart emitter ensures that the distance that the barb dart does not penetrate through the coconut shell is close to the locked coconut;
step 4, after the unmanned aerial vehicle reaches a specific position, the single chip microcomputer controls the barb dart emitter to emit a barb dart to the locked coconut; after the barb dart is launched, the wireless communication device sends information that the barb dart is launched to the singlechip;
step 5, after receiving the information fed back by the wireless communication device, the single chip microcomputer controls the unmanned aerial vehicle to move to a position suitable for the laser cutting machine to work, then the mechanical arm is controlled to work, the laser emitter is aligned to the pedicel of the coconut to be picked, and then the laser cutting machine carries out laser cutting work on the pedicel;
step 6, after the fruit base is cut off, hanging the coconut separated from the coconut tree below the unmanned aerial vehicle by the barb dart;
and 7, when the coconuts hung below the picking end unmanned aerial vehicle reach a certain number, the working personnel control the unmanned aerial vehicle to return to the ground, and the coconuts are picked continuously after being taken down.
2. The dual unmanned aerial vehicle cooperative coconut picking robot of claim 1, characterized in that: the model of the singlechip is AT89C 51.
CN201810626021.2A 2018-06-18 2018-06-18 Coconut picking robot with cooperation of double unmanned planes Active CN108901360B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810626021.2A CN108901360B (en) 2018-06-18 2018-06-18 Coconut picking robot with cooperation of double unmanned planes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810626021.2A CN108901360B (en) 2018-06-18 2018-06-18 Coconut picking robot with cooperation of double unmanned planes

Publications (2)

Publication Number Publication Date
CN108901360A CN108901360A (en) 2018-11-30
CN108901360B true CN108901360B (en) 2021-11-30

Family

ID=64419673

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810626021.2A Active CN108901360B (en) 2018-06-18 2018-06-18 Coconut picking robot with cooperation of double unmanned planes

Country Status (1)

Country Link
CN (1) CN108901360B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2022155111A (en) * 2021-03-30 2022-10-13 トヨタ自動車株式会社 Server apparatus, system, flight vehicle, and operation method for system
CN113196945B (en) * 2021-04-28 2022-03-22 大连理工大学 Picking system based on unmanned aerial vehicle group cooperative work and use method
ES2940833A1 (en) * 2021-11-11 2023-05-11 Iglesias Luis Manuel Riesgo EQUIPMENT AND PROCEDURE FOR TAKING SAMPLES, MEASUREMENTS AND RECORDS OF PHOTOGRAMMETRIC, PHYSICAL AND CHEMICAL PARAMETERS OF THE DEGREE OF MATURITY OF A FRUIT (Machine-translation by Google Translate, not legally binding)

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203924022U (en) * 2014-06-14 2014-11-05 国网四川省电力公司双流县供电分公司 A kind of floater draw-gear
CN204616448U (en) * 2015-04-03 2015-09-09 西华大学 Many rotors walnut picking device
CN105501441A (en) * 2015-12-16 2016-04-20 无锡同春新能源科技有限公司 Unmanned tomato picking machine
US9409656B2 (en) * 2013-02-28 2016-08-09 Kabushiki Kaisha Topcon Aerial photographing system
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
CN106612944A (en) * 2017-01-04 2017-05-10 四川克瑞斯航空科技有限公司 Portable type light trimming structure of unmanned aerial vehicle (UAV) provided with multiple rotary wings
CN106828902A (en) * 2017-02-18 2017-06-13 深圳市乐业科技有限公司 A kind of Intelligent unattended machine for picking fruit based on Internet of Things
KR20170084905A (en) * 2016-01-13 2017-07-21 주식회사 내비오닉스코리아 Rotary Hitting Apparatus
CN107182442A (en) * 2017-06-24 2017-09-22 匡致宇 Pluck unmanned plane
CN107672806A (en) * 2017-11-06 2018-02-09 郑州航空港飘天下物联网科技有限公司 Harvesting outstanding float device and its operation principle
CN207083509U (en) * 2017-06-13 2018-03-13 重庆市鸿琦无花果开发有限公司 A kind of unmanned plane fig picker with deceleration

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10555460B2 (en) * 2015-10-05 2020-02-11 Amrita Vishwa Vidyapeetham Automated drone for harvesting produce

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9409656B2 (en) * 2013-02-28 2016-08-09 Kabushiki Kaisha Topcon Aerial photographing system
CN203924022U (en) * 2014-06-14 2014-11-05 国网四川省电力公司双流县供电分公司 A kind of floater draw-gear
CN204616448U (en) * 2015-04-03 2015-09-09 西华大学 Many rotors walnut picking device
CN105501441A (en) * 2015-12-16 2016-04-20 无锡同春新能源科技有限公司 Unmanned tomato picking machine
KR20170084905A (en) * 2016-01-13 2017-07-21 주식회사 내비오닉스코리아 Rotary Hitting Apparatus
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
CN106612944A (en) * 2017-01-04 2017-05-10 四川克瑞斯航空科技有限公司 Portable type light trimming structure of unmanned aerial vehicle (UAV) provided with multiple rotary wings
CN106828902A (en) * 2017-02-18 2017-06-13 深圳市乐业科技有限公司 A kind of Intelligent unattended machine for picking fruit based on Internet of Things
CN207083509U (en) * 2017-06-13 2018-03-13 重庆市鸿琦无花果开发有限公司 A kind of unmanned plane fig picker with deceleration
CN107182442A (en) * 2017-06-24 2017-09-22 匡致宇 Pluck unmanned plane
CN107672806A (en) * 2017-11-06 2018-02-09 郑州航空港飘天下物联网科技有限公司 Harvesting outstanding float device and its operation principle

Also Published As

Publication number Publication date
CN108901360A (en) 2018-11-30

Similar Documents

Publication Publication Date Title
CN108901360B (en) Coconut picking robot with cooperation of double unmanned planes
CN109862778B (en) System and method for unmanned fleet management for harvesting and dilution
US11212964B2 (en) Method of controlling an automated drone for harvesting produce
US10212876B2 (en) Aerial deployment planting methods and systems
US20060150602A1 (en) Method and apparatus for remotely assisted harvester
CN108886957B (en) Automatic coconut picking device based on unmanned aerial vehicle
CN204616448U (en) Many rotors walnut picking device
WO2020087384A1 (en) Control method, apparatus, surveying and mapping unmanned aerial vehicle, and spraying unmanned aerial vehicle
CN105394020A (en) Bionic bird driving unmanned plane
CN210869604U (en) Bird robot is driven in airport intelligence patrolling and examining
CN207850190U (en) A kind of anti-unmanned aerial vehicle control system
CN109845482B (en) Garlic sprout harvesting intelligent robot and working method thereof
CN204993670U (en) Meteorological automatic acquisition equipment of tobacco field based on remote monitoring
JP2020130070A (en) Fruit harvesting apparatus
CN207689918U (en) A kind of red fire ant ant nest monitoring system based on unmanned plane
CN204142105U (en) The gun-launcher bullet that recording is scouted can be taken
CN109916227A (en) A kind of anti-unmanned aerial vehicle control system and method
CN211832594U (en) Airport bird repellent device
AU2019272337B2 (en) Aerial deployment planting methods and systems
CN202713923U (en) Giant panda habitat aerial seeding afforestation system
CN102870530A (en) Air seeding afforestation system at panda habitat and method for air seeding afforestation
CN113312991A (en) Front-end intelligent recognition system based on unmanned aerial vehicle
CN207379361U (en) A kind of multi-functional airborne version unmanned plane catcher
CN104251647A (en) Dual-purpose shell head with shooting, recording and reconnoitering functions
CN110209155A (en) The image collecting device and its processing method of work machine are cut for agriculture

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20210913

Address after: 237000 1301, building a, Lu'an science and technology entrepreneurship service center, Lu'an economic and Technological Development Zone, Anhui Province

Applicant after: Lu'an kekodar Biotechnology Co.,Ltd.

Address before: Kunming University of technology, no.727, Jingming South Road, Chenggong District, Kunming, Yunnan 650000

Applicant before: Hai Jianping

GR01 Patent grant
GR01 Patent grant