CN110192471A - A kind of hickory nut picking and collection device and method based on unmanned plane - Google Patents
A kind of hickory nut picking and collection device and method based on unmanned plane Download PDFInfo
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- CN110192471A CN110192471A CN201910478830.8A CN201910478830A CN110192471A CN 110192471 A CN110192471 A CN 110192471A CN 201910478830 A CN201910478830 A CN 201910478830A CN 110192471 A CN110192471 A CN 110192471A
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- 235000013399 edible fruits Nutrition 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 21
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Classifications
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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
- A01D46/26—Devices for shaking trees or shrubs; Fruit catching devices to be used therewith
- A01D46/264—Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith
-
- 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
- B64D47/00—Equipment not otherwise provided for
-
- 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
-
- 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
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
A kind of hickory nut picking and collection device and method based on unmanned plane, belongs to seed harvester technical field, including picking unmanned plane device, identification positioning system, fixed device, picker, collection device, control centre.Identify that positioning system is located above picking unmanned plane, fixed device, picker are respectively positioned below picking unmanned plane.Unmanned plane during flying is picked to designated position according to identification positioning system, and fixed device is the automatic retractable jaw of two stretchings, for clamping two branch fixed main bodies.Picker realizes that the eccentric speed-changing rotation of fiberglass pole strikes by servo motor, realizes that the variable force to hickory nut branch, displacement are set and varied angle strikes, it is ensured that hickory nut is shot down.It collects unmanned plane to connect with collecting net, the hickory nut shot down drops into collecting net, and collects unmanned plane and be built-in with pressure sensor.The present invention can be realized picking and collect integration, and picks unmanned plane in shots and stop working, and reduce power consumption.
Description
Technical field
The invention belongs to hickory nut seed harvester technical fields, are related to a kind of hickory nut picking and collection based on unmanned plane
Device and method.
Background technique
Hickory nut is the distinctive dry fruit in China and woody oil tree species, has the characteristics that the service life is long, yield is high.Walnut kernel contains
There are unsaturated fatty acid and various trace elements necessary to more protein and human nutrition, existing nursing brain cells, enhancing
The effect of brain function also has effects that moistening lung tonifying Qi, blood-nourishing are relievingd asthma, moistening dryness and resolving phlegm goes the cold of insufficiency type all.
Hickory nut usually grows the rugged mountainous region of topography, and branch is fragile, is easy to fracture, orchard worker is main so far
It takes to climb tree and be picked with the method that bamboo pole beats.This method not only inefficiency, large labor intensity, there is also great
Security risk, hickory nut picks tumble injury accident frequent occurrence.
Current existing walnut picking device can be mainly shearing method, vibratory drilling method, driving etc. according to shedding principle.
For shearing method due to that can only cut one or a string of hickory nuts every time, the utility model such as 204616448 U of Authorization Notice No. CN is special
Benefit cuts fruit using cutting disc, and picking efficiency is lower.Vibratory drilling method is mainly by device and hickory nut branch or branch
Connection occurs resonance effects using device and fruit tree, so that hickory nut is fallen off, but this can cause adverse effect to fruit tree with method,
And device is needed to have biggish driving power.Device volume is bigger simultaneously, is not easy to walk in rugged mountain path.Driving is
The principle for simulating artificial bamboo pole impact is struck using machine, and hickory nut is made to fall off.Such device is apparatus main body portion mostly
It is placed on the ground, external telescopic rod extend into fruit tree top and beats hickory nut or branch, and hickory nut is made to fall off.The method it is excellent
Gesture is that hitting area is larger, and the influence to fruit tree is smaller.But in the past based on the limitation body of device designed by such method
Present: 1. beating units are placed on the ground more, because again the branch of fruit tree is various and telescopic rod must satisfy actual length
Degree needs, and the movement of telescopic rod is significantly limited.2. previous device can only often realize that constant force is beaten, strikes effect and pay no attention to
Think.3. beaing the hickory nut to fall off directly falls in ground, collect more troublesome.
Therefore, it is necessary to design a kind of high efficiency, full-automation, the walnut picking device of high-adaptability and method to meet
The market demand.
Summary of the invention
Existing apparatus there are aiming at the problem that, the present invention provide it is a kind of based on unmanned plane hickory nut picking and collection device
And method.
The technical solution adopted by the present invention are as follows:
A kind of hickory nut picking and collection device based on unmanned plane, comprising: picking unmanned plane device, identification positioning system
System, fixed device, picker, collection device, control centre.
The picking unmanned plane device includes picking unmanned plane 1 and clump weight 11.It is integrated on the picking unmanned plane 1
Identify positioning system, fixed device, picker；The identification positioning system is located at 1 outside of picking unmanned plane, it is ensured that identification view
Open country is not blocked and guarantees that signal transmission is not disturbed.The fixed device and picker are respectively positioned on 1 lower section of picking unmanned plane.
The clump weight 11 is connected on unmanned plane, it is ensured that the center of gravity of whole device is overlapped with the rotation centerline of unmanned plane 1, makes nothing
Man-machine 1 flight is more steady.
The identification positioning system includes positioning device and camera 2.The camera 2 is located at 1 outside of picking unmanned plane.
Make to pick above the flight to fruit tree of unmanned plane 1 using binocular visual positioning technology, entire fruit tree pattern is carried out by camera 2
Quickly traversal is captured, and then carries out feature extraction to mature hickory nut fruit 13 by image recognition processing technology, and will mention
The fruit coordinate of taking-up is transferred to ground control centre.Meanwhile positioning picking 1 position of unmanned plane in real time using global position system
Information, and feedback arrives ground control centre together.The positioning device main function is for picking unmanned plane 1 and satellite
Real-time coordinates information communication.
The fixed device includes Liang Ge retractable jaw mechanism, clamps hickory nut branch 12 respectively.For realizing picking
The fixed function to picking unmanned plane 1 is realized when hickory nut 13.Retractable jaw mechanism includes hinge 10, telescopic rod B9, drives
Dynamic motor 22 and clamping jaw 17, fixed link 19, nut 20, lead screw 21, link mechanism 18, tooth engaged 16.The hinge 10 will picking
Unmanned plane 1 and telescopic rod B9 are hinged, to realize the crawl of different distance branch 12.The driving motor 22 and silk
Thick stick 21 connects, and nut 20 is mounted on lead screw 21, and nut 20 is connect with link mechanism 18, and link mechanism 18 is connect with clamping jaw 17.
The linear movement of nut 20 drives the opening and closing of clamping jaw 17 by link mechanism 18.Tooth engaged 16 is installed on the clamping jaw,
Fastening occlusion when crawl branch 12 may be implemented, increase stability when picking unmanned plane 1 works.
The picker includes connecting rod 8, telescopic rod A7, fixed plate 6, servo motor 5, eccentric shaft 3, fiberglass pole
4A.Described 8 one end of connecting rod connect the other end with picking 1 fuselage of unmanned plane and connect with telescopic rod A7, passes through the length of telescopic rod A7
Degree is flexible, reaches different impact positions to realize.The telescopic rod A7 is connect with fixed plate 6, is equipped with and is watched in fixed link 6
Take motor 5.The servo motor 5 is connect by shaft coupling with eccentric shaft 3.The eccentric shaft 3 and the glass fibers for playing impact
Tie up bar A4 connection.The fiberglass pole A4 points are the main shaft striking rod of horizontal direction and multiple attached impacts of vertical direction
Bar extends to tail end direction by main shaft striking rod top, and attached impact pole length is incremented by successively, forms gradient-structure, increases
Strike range.According to fig. 2 shown in b, horizontal direction impact distance is b, and vertical direction maximum impact distance is a.The striking rod
Using glass fiber material, good toughness, tensile strength is high, and the tensile strength of most common E- glass fibre still can reach
1300Mpa is 2-3 times of ordinary steel, and its coefficient of elasticity is good, can adapt to deformation when impact branch very well.Compared to
Carbon fiber, the cost of glass fibre are tens times lower than carbon fiber.Fiberglass pole 4 is realized by the speed change of servo motor 5
Eccentric speed-changing rotation, since fiberglass pole A4 is affected by gravity, in addition the flexible speciality of fiberglass pole A4 itself, most
Afterwards plus attached striking rod in the axially distinct position of main shaft striking rod, collective effect realize the variable force to fruit branch 12,
Displacement is set and varied angle impact.For the same hickory nut 13, different impact positions and attack angle, the difficulty for making it fall off
Easy degree is different.And hickory nut random distribution in practical picking process, therefore become impact position and attack angle, make hickory nut 13
It is easier to fall off.Impact forces different simultaneously can make 13 connecting portion of hickory nut generate fatigue damage, can also make hickory nut
13 are easier to fall off, and picking effect is good.
The collection device includes collecting unmanned plane 14 and collecting net 15.The collecting net 15 and collection unmanned plane 14 connect
It connects, multi rack collects unmanned plane 14 and jointly struts collecting net 15.Realize picking unmanned plane 1 to satellite by satellite positioning tech
Real-time position information is sent ground control centre by real-time position information transmission, satellite, and ground control centre sends information
Unmanned plane 1 is collected to hickory nut, the flight path of unmanned plane 1 is collected in control.Ensure that hickory nut collection unmanned plane 1 can be same in real time
Step tracks the lower section of picking the struck hickory nut of unmanned plane 1, guarantees that the hickory nut 13 shot down can fall in collecting net 15.
It collects unmanned plane 14 and is built-in with pressure sensor, and be provided with maximum pressure value.When 13 weight of hickory nut of collection
Reach pre-set pressure value, picking unmanned plane 1 receives feedback and stops impact, and hickory nut collects unmanned plane 14 and will collect automatically
Hickory nut be put into designated position.1 lower section of unmanned plane is picked when the hickory nut in collecting net empties and reaches again, picks nobody
Machine 1 starts to strike hickory nut 13.
Further, the picker can also be with flowering structure: including connecting rod 8, telescopic rod A7, connecting plate 25, just
Property bar 23, spring 24, cam 26, fiberglass pole B27, servo motor 5.Described connecting rod one end and picking 1 fuselage of unmanned plane
The connection other end is connect with telescopic rod A7, by the telescopic of telescopic rod A7, reaches different impact positions to realize.Institute
It states telescopic rod A7 to connect with connecting plate 25, servo motor is installed on connecting plate 25.The servo motor 5 is connect with cam 26,
Servo motor 5 is rotated with moving cam 26, swings up and down rigid rod 23 and fiberglass pole B27.Described 24 one end of spring with
Connecting plate 25 connects, and the other end is connect with rigid rod 23.The cam 26 under spring force always with rigid rod 23
Contact.The rigid rod 23 is connect with the fiberglass pole B27 for playing impact.The fiberglass pole B27 points are level side
To main shaft striking rod and vertical direction attached striking rod, increase impact range, fiberglass pole B27 and fiberglass pole
A4 structure is identical.
A kind of hickory nut picking and collection method based on unmanned plane, comprising the following steps:
Step 1: picking unmanned plane 1 makes to pick above the flight to fruit tree of unmanned plane 1 using binocular visual positioning technology, and
It carries out quickly traversal to entire fruit tree pattern using camera 2 to capture, using image recognition processing technology to mature hickory nut
13 carry out feature extraction, and 13 coordinate of hickory nut extracted is transferred to ground control centre.Meanwhile utilizing satellite positioning system
System 1 location information of unmanned plane of positioning picking in real time, and feedback arrives ground control centre together.
Step 2: coordinate position of the picking unmanned plane 1 according to hickory nut 13, flight are arrived the top of branch 12, are ensured simultaneously
Picking unmanned plane 1 is not interfered by branch 12.
Step 3: on two branches I and II that the telescopic rod B9 on fixed device reaches clamping jaw 17, by driving motor 22
It drives the nut 20 on lead screw 21 mobile, is closed clamping jaw 17, clamp branch 12.It picks unmanned plane 1 and stops flight.
Step 4: telescopic rod B9 rotates to suitable angle, telescopic rod B9 elongation is close to 13 tree of hickory nut for needing to pick
12 top of branch.It is collected simultaneously unmanned plane 14 and connects the flight of collecting net 15 to 13 lower section of hickory nut for needing to pick.
Step 5: servo motor 5 drives fiberglass pole A4 rotation by eccentric shaft or drives glass by cam 26
Fiber rod B27 is swung up and down, and is struck to branch 12, and hickory nut 13 is fallen, and lower section collecting net 15 catches hickory nut 13.
It realizes the picking of hickory nut 13 and collects.
Step 6: picker stops impact, picking unmanned plane 1 starts to fly.Driving motor 22 inverts, and clamping jaw 17 is opened
It opens.Telescopic rod A7 is returned to original state.
Step 7: repeating step 1 to step 5, until the tree hickory nut 13 has been picked.
Step 8: the picking flight of unmanned plane 1 arrives other one after detecting that the hickory nut 13 on one tree has been picked
Tree, repeats step 1 to step 6.
Step 9: picking unmanned plane 1 stops picking when the pressure suffered by the pressure sensor reaches preset value,
Collecting unmanned plane 14 can fly to designated position, after hickory nut 13 is unloaded, return the hickory nut 13 for needing to pick
Lower section.Then step 1 is repeated to step 6.
Step 10: after the completion of all picking tasks, picking unmanned plane 1 ground of flying back stops working, and collects unmanned plane 14
Hickory nut 13 in collecting net 15 is transported to designated position, collection unmanned plane 14 flies to ground and stops working.
The invention has the benefit that
1) it realizes that high-altitude is picked using unmanned plane, any artificial or ground machine can be arrived at and be difficult to the place reached,
It is not limited by landform, avoids manually picking the security risk occurred during climbing.
2) by grasping mechanism make unmanned plane it is stable be parked in aerial, unmanned plane stops working in shots, can be with
The consumption for reducing electric energy, improves the working time of unmanned plane.
3) under the weather condition of strong wind, the amplitude that branch waves with the wind is larger, and extremely unstable, is easy in shots
Generate interference phenomenon.Branch is clamped using two clamping jaws, so that two branches is guaranteed a certain distance, beating unit is with two branches
It moves together, interference will not be generated, strike more stable.
4) fiberglass pole intensity is high, good toughness, and certain deformation can be generated during rotation, and track is one
Arc-shaped curved surface.Speed is different at different radii, can be realized variable force, displacement is set and varied angle impact.For the same mountain core
Peach, different impact positions and attack angle, the complexity for making it fall off are different.And hickory nut is random in practical picking process
Distribution, therefore become impact position and attack angle, make hickory nut be easier to fall off.Impact forces different simultaneously, can make mountain core
Peach connecting portion generates fatigue damage, and hickory nut can also be made to be easier to fall off, and picking effect is good.
5) it is collected automatically using unmanned plane with collecting net, hickory nut is avoided to fall the fiber crops for needing individually to pick up afterwards on the ground
It is tired, collection efficiency is greatly improved, while the automatic picking of hickory nut can be fully achieved.
Detailed description of the invention
Fig. 1 is device overall diagram.
Fig. 2 a is shots figure, and Fig. 2 b is impact effect picture.
Fig. 3 collecting fruit figure.
Fig. 4 is the portion A enlarged drawing.
Fig. 5 picker figure.
In figure: 1 picking unmanned plane；2 cameras；3 eccentric shafts；4 fiberglass pole A；5 servo motors；6 fixed plates；7 is flexible
Bar A；8 connecting rods；9 telescopic rod B；10 hinges；11 clump weights；12 branches；13 hickory nuts；14 collect unmanned plane；15 collecting nets；16 sting
Close tooth；17 clamping jaws；18 link mechanisms；19 fixed links；20 nuts；21 lead screws；22 driving motors；23 rigid rods；24 springs；25 connect
Fishplate bar；26 cams；27 fiberglass pole B.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Embodiment one
The present embodiment one is as shown in Figure 1, specifically including that picking unmanned plane device, identification positioning system, fixed device, adopting
Device and picking, collection device, control centre.
The picking unmanned plane device includes picking unmanned plane 1 and clump weight 11.It is integrated on the picking unmanned plane 1
Identify positioning system, fixed device, picker；The identification positioning system is located at 1 outside of picking unmanned plane, it is ensured that identification view
Open country is not blocked and guarantees that signal transmission is not disturbed.The fixed device and picker are respectively positioned on 1 lower section of picking unmanned plane.
The clump weight 11 is connected on unmanned plane, it is ensured that the center of gravity of whole device is overlapped with the rotation centerline of unmanned plane 1, makes nothing
Man-machine 1 flight is more steady.
The identification positioning system includes positioning device and camera 2.The camera 2 is located at 1 outside of picking unmanned plane.
Make to pick above the flight to fruit tree of unmanned plane 1 using binocular visual positioning technology, entire fruit tree pattern is carried out by camera 2
Quickly traversal is captured, and then carries out feature extraction to mature hickory nut fruit 13 by image recognition processing technology, and will mention
The fruit coordinate of taking-up is transferred to ground control centre.Meanwhile positioning picking 1 position of unmanned plane in real time using global position system
Information, and feedback arrives ground control centre together.
The fixed device includes Liang Ge retractable jaw mechanism, clamps hickory nut branch 12 respectively.For realizing picking
The fixed function to picking unmanned plane 1 is realized when hickory nut 13.Retractable jaw mechanism includes hinge 10, telescopic rod B9, drives
Dynamic motor 22 and clamping jaw 17, fixed link 19, nut 20, lead screw 21, link mechanism 18, tooth engaged 16.The hinge 10 will picking
Unmanned plane 1 and telescopic rod B9 are hinged, to realize the crawl of different distance branch 12.The driving motor 22 and silk
Thick stick 21 connects, and nut 20 is mounted on lead screw 21, and nut 20 is connect with link mechanism 18, and link mechanism 18 is connect with clamping jaw 17.
The linear movement of nut 20 drives the opening and closing of clamping jaw 17 by link mechanism 18.Tooth engaged 16 is installed on the clamping jaw,
Fastening occlusion when crawl branch 12 may be implemented, increase stability when picking unmanned plane 1 works.
The picker includes connecting rod 8, telescopic rod A7, fixed plate 6, servo motor 5, eccentric shaft 3, fiberglass pole
4A.Described 8 one end of connecting rod connect the other end with picking 1 fuselage of unmanned plane and connect with telescopic rod A7, passes through the length of telescopic rod A7
Degree is flexible, reaches different impact positions to realize.The telescopic rod A7 is connect with fixed plate 6, is equipped with and is watched in fixed link 6
Take motor 5.The servo motor 5 is connect by shaft coupling with eccentric shaft 3.The eccentric shaft 3 and the glass fibers for playing impact
Tie up bar A4 connection.The fiberglass pole A4 points are the main shaft striking rod of horizontal direction and the attached striking rod of vertical direction, are increased
Impact range is added.According to fig. 2 shown in b, horizontal direction impact distance is b, and vertical direction maximum impact distance is a.It is described to hit
It makes bar and uses glass fiber material, good toughness, tensile strength is high, and the tensile strength of most common E- glass fibre still can reach
1300Mpa is 2-3 times of ordinary steel, and its coefficient of elasticity is good, can adapt to deformation when impact branch very well.Compared to
Carbon fiber, the cost of glass fibre are tens times lower than carbon fiber.Fiberglass pole 4 is realized by the speed change of servo motor 5
Eccentric speed-changing rotation, since fiberglass pole A4 is affected by gravity, in addition the flexible speciality of fiberglass pole A4 itself, most
Afterwards plus attached striking rod in the axially distinct position of main shaft striking rod, collective effect realize the variable force to fruit branch 12,
Displacement is set and varied angle impact.For the same hickory nut 13, different impact positions and attack angle, the difficulty for making it fall off
Easy degree is different.And hickory nut random distribution in practical picking process, therefore become impact position and attack angle, make hickory nut 13
It is easier to fall off.Impact forces different simultaneously can make 13 connecting portion of hickory nut generate fatigue damage, can also make hickory nut
13 are easier to fall off, and picking effect is good.
The collection device includes collecting unmanned plane 14 and collecting net 15.The collecting net 15 and collection unmanned plane 14 connect
It connects, multi rack collects unmanned plane 14 and jointly struts collecting net 15.Realize picking unmanned plane 1 to satellite by satellite positioning tech
Real-time position information is sent ground control centre by real-time position information transmission, satellite, and ground control centre sends information
Unmanned plane 1 is collected to hickory nut, the flight path of unmanned plane 1 is collected in control.Ensure that hickory nut collection unmanned plane 1 can be same in real time
Step tracks the lower section of picking the struck hickory nut of unmanned plane 1, guarantees that the hickory nut 13 shot down can fall in collecting net 15.
It collects unmanned plane 14 and is built-in with pressure sensor, and be provided with maximum pressure value.When 13 weight of hickory nut of collection
Reach pre-set pressure value, picking unmanned plane 1 receives feedback and stops impact, and hickory nut collects unmanned plane 14 and will collect automatically
Hickory nut be put into designated position.1 lower section of unmanned plane is picked when the hickory nut in collecting net empties and reaches again, picks nobody
Machine 1 starts to strike hickory nut 13.
A kind of picking of hickory nut 13 and collection method, based on hickory nut 13 pick 1 device of unmanned plane, identification positioning system,
Fixed device, picker, collection device, control centre
Step 1: picking unmanned plane 1 makes to pick above the flight to fruit tree of unmanned plane 1 using binocular visual positioning technology, and
It carries out quickly traversal to entire fruit tree pattern using camera 2 to capture, using image recognition processing technology to mature hickory nut
13 carry out feature extraction, and 13 coordinate of hickory nut extracted is transferred to ground control centre.Meanwhile utilizing satellite positioning system
System 1 location information of unmanned plane of positioning picking in real time, and feedback arrives ground control centre together.
Step 2: coordinate position of the picking unmanned plane 1 according to hickory nut 13, flight are arrived the top of branch 12, are ensured simultaneously
Picking unmanned plane 1 is not interfered by branch 12.
Step 3: on two branches I and II that the telescopic rod B9 on fixed device reaches clamping jaw 17, by driving motor 22
It drives the nut 20 on lead screw 21 mobile, is closed clamping jaw 17, clamp branch 12.It picks unmanned plane 1 and stops flight.
Step 4: telescopic rod B9 rotates to suitable angle, telescopic rod B9 elongation is close to 13 tree of hickory nut for needing to pick
12 top of branch.It is collected simultaneously unmanned plane 14 and connects the flight of collecting net 15 to 13 lower section of hickory nut for needing to pick.
Step 5: servo motor 5 drives fiberglass pole rotation by eccentric shaft or drives glass fibers by cam 26
Dimension bar B27 is swung up and down, and is struck to branch 12, is fallen hickory nut 13, lower section collecting net 15 catches hickory nut 13.It is real
The existing picking of hickory nut 13 and collection.
Step 6: picker stops impact, picking unmanned plane 1 starts to fly.Driving motor 22 inverts, and clamping jaw 17 is opened
It opens.Telescopic rod A7 is returned to original state.
Step 7: repeating step 1 to step 5, until the tree hickory nut 13 has been picked.
Step 8: the picking flight of unmanned plane 1 arrives other one after detecting that the hickory nut 13 on one tree has been picked
Tree, repeats step 1 to step 6.
Step 9: picking unmanned plane 1 stops picking when the pressure suffered by the pressure sensor reaches preset value,
Collecting unmanned plane 14 can fly to designated position, after hickory nut 13 is unloaded, return the hickory nut 13 for needing to pick
Lower section.Then step 1 is repeated to step 6.
Step 10: after the completion of all picking tasks, picking unmanned plane 1 ground of flying back stops working, and collects unmanned plane 14
Hickory nut 13 in collecting net 15 is transported to designated position, collection unmanned plane 14 flies to ground and stops working.
Embodiment two
With reference to Fig. 5.
The present embodiment and embodiment one are substantially consistent, in the present embodiment, including connecting rod 8, telescopic rod A7, connecting plate 25,
Rigid rod 23, spring 24, cam 26, fiberglass pole B27, servo motor 5.Described connecting rod one end and picking 1 machine of unmanned plane
The body connection other end is connect with telescopic rod A7, by the telescopic of telescopic rod A7, reaches different impact positions to realize.
The telescopic rod A7 is connect with connecting plate 25, is equipped with servo motor on connecting plate 25.The servo motor 5 connects with cam 26
It connects, servo motor 5 is rotated with moving cam 26, swings up and down rigid rod 23 and fiberglass pole B27.Described 24 one end of spring
It is connect with connecting plate 25, the other end is connect with rigid rod 23.The cam 26 under spring force always with rigid rod
23 contacts.The rigid rod 23 is connect with the fiberglass pole B27 for playing impact.The fiberglass pole B27 points are level
The main shaft striking rod in direction and the attached striking rod of vertical direction, increase impact range.
Embodiment described above only expresses embodiments of the present invention, and but it cannot be understood as to the invention patent
Range limitation, it is noted that for those skilled in the art, without departing from the inventive concept of the premise, also
Several modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (6)
1. a kind of hickory nut picking and collection device based on unmanned plane, which is characterized in that the hickory nut picking and collection
Device includes: picking unmanned plane device, identification positioning system, fixed device, picker, collection device, control centre；It is described
Identification positioning system, fixed device, picker are integrated in picking unmanned plane (1)；
The picking unmanned plane device includes picking unmanned plane (1)；
The identification positioning system includes positioning device and camera (2), is set on the outside of picking unmanned plane (1)；
The fixation device includes Liang Ge retractable jaw mechanism, is set to and picks two sides below unmanned plane (1), in shots
For clamping fixed picking unmanned plane (1) fuselage of two branches, and unmanned plane (1) is picked in shots and is stopped working；
The picker is located at below picking unmanned plane (1), between Liang Ge retractable jaw mechanism；The picker packet
Include connecting rod (8), telescopic rod A (7), fixed plate (6), servo motor (5), eccentric shaft (3), fiberglass pole A (4)；The company
Extension bar (8) one end connect the other end with picking unmanned plane (1) fuselage and connect with telescopic rod A (7), is stretched by telescopic rod A (7) length
Different impact positions is realized in contracting；The telescopic rod A (7) is connect by fixed plate (6) with servo motor (5)；The servo electricity
Machine (5) is connect by eccentric shaft (3) with the fiberglass pole A (4) for playing impact；The fiberglass pole A (4) is divided into level
The main shaft striking rod in direction and the attached striking rod of vertical direction realize fiberglass pole A by the speed change of servo motor (5)
(4) eccentric speed-changing rotation is deformed in fiberglass pole A (4) rotary course, and track is an arc-shaped curved surface, different
Speed is different at radius, can be realized the variable force to fruit branch (12), displacement is set and varied angle impact, it is ensured that hickory nut quilt
It shoots down；
The collection device includes collecting unmanned plane (14) and collecting net connected to it (15), collects unmanned plane (14) and is built-in with
Pressure sensor；Realize that the real-time position information of satellite is transmitted in picking unmanned plane (1) by satellite positioning tech, satellite will be real
When location information be sent to ground control centre, ground control centre will send information to collecting fruit unmanned plane (14), collect
Unmanned plane (14) can real-time synchronization track picking the struck fruit of unmanned plane lower section, guarantee that the fruit shot down can be fallen on
In collecting net.
2. a kind of hickory nut picking and collection device based on unmanned plane according to claim 1, which is characterized in that described
Picker can also be with flowering structure: including connecting rod (8), telescopic rod A (7), rigid rod (23), spring (24), connecting plate
(25), cam (26), fiberglass pole B (27), servo motor (5)；Described connecting rod (8) one end and picking unmanned plane (1) machine
The body connection other end is connect with telescopic rod A (7), realizes different impact positions by telescopic rod A (7) telescopic；It is described to stretch
Contracting bar A (7) is connect with connecting plate (25), installs servo motor (5) on connecting plate (25)；Spring (24) top with connect
It is connect in the middle part of connection in the middle part of plate (25), bottom end and rigid rod (23), rigid rod (23) end and the glass fibre for playing impact
Bar B (27) connection；The servo motor (5) is connect with cam (26), and cam (26) is under spring force always and just
Property bar (23) contact, servo motor (5) band moving cam (26) rotate, make the bottom on rigid rod (23) and fiberglass pole B (27)
It is dynamic；The fiberglass pole B (27) is divided into the attached striking rod of the main shaft striking rod and vertical direction of horizontal direction.
3. a kind of hickory nut picking and collection device based on unmanned plane according to claim 1 or 2, which is characterized in that
In the fixed device retractable jaw mechanism include hinge (10), telescopic rod B (9), driving motor (22), clamping jaw (17),
Fixed link (19), nut (20), lead screw (21), link mechanism (18), tooth engaged (16)；Telescopic rod B (9) top passes through
Hinge (10) is connect with picking unmanned plane (1), and (9) bottom end telescopic rod B is connect with fixed link (19), can grab different distance
Branch (12)；Described lead screw (21) one end is connect with driving motor (22), and the other end is connect with fixed link (19)；Nut
(20) it is set on lead screw (21), and is connect with link mechanism (18), link mechanism (18) end is connect with clamping jaw (17)；Nut
(20) linear movement drives the opening and closing of clamping jaw (17) by link mechanism (18)；Tooth engaged (16) are installed on the clamping jaw.
4. a kind of hickory nut picking and collection device based on unmanned plane according to claim 1 or 2, which is characterized in that
The picking unmanned plane device further includes the clump weight (11) being connected in picking unmanned plane (1), it is ensured that the weight of whole device
The heart is overlapped with the rotation centerline of picking unmanned plane (1).
5. a kind of hickory nut picking and collection device based on unmanned plane according to claim 3, which is characterized in that described
Picking unmanned plane device further include be connected to picking unmanned plane (1) on clump weight (11), it is ensured that the center of gravity of whole device with
The rotation centerline for picking unmanned plane (1) is overlapped.
6. a kind of hickory nut picking and collection method for realizing unmanned plane based on any device of claim 1-5, special
Sign is, comprising the following steps:
Step 1: picking unmanned plane (1) utilizes above binocular visual positioning technical flying to fruit tree, and right using camera (2)
Entire fruit tree pattern carries out quickly traversal and captures, and carries out feature to mature hickory nut (13) using image recognition processing technology and mentions
It takes, and the hickory nut extracted (13) coordinate is transferred to ground control centre；Meanwhile it being positioned in real time using global position system
Unmanned plane (1) location information is picked, and feedback arrives ground control centre together；
Step 2: the top of branch (12) is arrived in coordinate position of picking unmanned plane (1) according to hickory nut, flight, while ensuring to adopt
Unmanned plane (1) is plucked not interfered by branch (12)；
Step 3: on two branches I and II that the telescopic rod B (9) on fixed device reaches clamping jaw (17), by driving motor
(22) it drives the nut (20) on lead screw (21) mobile, is closed clamping jaw, clamp branch (12)；Unmanned plane (1) is picked to stop flying
Row；
Step 4: telescopic rod B (9) rotates to suitable angle, telescopic rod B (9) elongation is close to the hickory nut (13) for needing to pick
Above branch (12)；It is collected simultaneously below unmanned plane (14) connection collecting net (15) flight to the hickory nut (13) for needing to pick；
Step 5: servo motor (5) drives fiberglass pole A (4) rotation by eccentric shaft or drives glass by cam (26)
Glass fiber rod B (27) is swung up and down, and is struck to branch (12), and hickory nut (13) is fallen, and lower section collecting net (15) is by mountain
Walnut (13) is caught；It realizes hickory nut (13) picking and collects；
Step 6: picker stops impact, picking unmanned plane (1) starts to fly；Driving motor (22) reversion, clamping jaw (17)
It opens；Telescopic rod A (7) is returned to original state；
Step 7: repeating step 1 to step 5, until the tree hickory nut (13) has been picked；
Step 8: picking unmanned plane (1) flight arrives other one after detecting that the hickory nut (13) on one tree has been picked
Tree, repeats step 1 to step 6；
Step 9: when the pressure suffered by the pressure sensor built in collecting fruit unmanned plane reaches preset value, picking
Unmanned plane (1) stops picking, collects unmanned plane (14) flight and arrives designated position, after hickory nut (13) unloading, returns needs
Below the hickory nut (13) of picking；Then step 1 is repeated to step 6；
Step 10: after the completion of all picking tasks, picking unmanned plane (1) ground of flying back stops working, and collects unmanned plane (14)
Hickory nut (13) in collecting net (15) is transported to designated position, and flies to ground and stops working.
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