CN115735561B - A digital fruit picking intelligent drone - Google Patents

A digital fruit picking intelligent drone Download PDF

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Publication number
CN115735561B
CN115735561B CN202211448431.5A CN202211448431A CN115735561B CN 115735561 B CN115735561 B CN 115735561B CN 202211448431 A CN202211448431 A CN 202211448431A CN 115735561 B CN115735561 B CN 115735561B
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fruit
picking
drone
mechanical arm
digital
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CN115735561A (en
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姜风春
韩筱凡
李培仪
徐元浩
董涛
李海新
杨振林
高华兵
孙齐
董万鹏
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Harbin Engineering University
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Harbin Engineering University
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Abstract

本发明提供了一种基于数字化的果实采摘智能无人机，针对果树多处丘陵地带，地势较为崎岖，同时果树相较于地面较高，现有技术无法完成采摘工作，又无法充分保护果实外表皮。本发明可以实现自动识别果实、抓取、切割果梗等功能；同时无人机配备5G信号设备和数字孪生系统，可以从远端进行果实采摘监控和预测，并保证其在外完成采摘工作的信号良好；其中无人机采摘机械臂采用视觉图像处理配合压力传感器，可以完成无人机自主识别果实位置与大小；数字孪生系统进行果实采摘预测并且实时监控采摘设备的健康状况，如遇设备损坏可及时返航进行维修；果实采摘篮配有重力传感器，可自行完成任务进行返航。果实采摘无人机可以减少人力的劳动强度，提升采摘工作效率。

The present invention provides a digital-based intelligent fruit-picking drone, which is aimed at many hilly areas with fruit trees. The terrain is relatively rugged, and the fruit trees are higher than the ground. The existing technology cannot complete the picking work and cannot fully protect the outer skin of the fruit. The present invention can realize the functions of automatic identification of fruits, grabbing, and cutting fruit stems; at the same time, the drone is equipped with 5G signal equipment and a digital twin system, which can monitor and predict fruit picking from a remote end, and ensure that the signal is good when it completes the picking work outside; the drone picking mechanical arm adopts visual image processing and pressure sensors, which can complete the drone's autonomous identification of the position and size of the fruit; the digital twin system predicts fruit picking and monitors the health status of the picking equipment in real time. If the equipment is damaged, it can return to the home in time for repair; the fruit picking basket is equipped with a gravity sensor, which can complete the task and return to the home by itself. Fruit picking drones can reduce the labor intensity of manpower and improve the efficiency of picking work.

Description

Intelligent unmanned aerial vehicle is picked to fruit based on it is digital
Technical Field
The invention relates to the technical field of agricultural unmanned aerial vehicles, in particular to an intelligent unmanned aerial vehicle for picking fruits based on digitization.
Background
The fruit picking is an agricultural activity performed according to the mature period of the fruit, and the fruit is manually picked when the fruit is busy, so that the efficiency is low, the fruit can be picked in a hurry, and the quality is not guaranteed.
The picking robot is developed and utilized to perform picking activities, the speed during harvesting can be effectively improved, the quality of fruits can be uniformly standardized, and the experience of consumers is ensured. However, as the fruit trees are in hilly areas and have rough terrain, and meanwhile, the fruit trees are higher than the ground, the picking work cannot be completed in the prior art, the existing fruit picking equipment mainly picks the fruits from the ground, the fruits are clamped by mechanical power transmission, the fruits are manually picked, the damage to the fruits is large, the appearance of the fruits cannot be protected, meanwhile, most picking equipment cannot operate due to rough terrain, manual control is still needed for picking the fruits, the labor cost is high, and the labor intensity is high.
Most of the existing unmanned aerial vehicle fruit picking equipment is designed only aiming at the problem that fruits at high positions cannot be picked, and the protection of outer skins of the fruits is considered at the same time. In the fruit picking process, fruit searching still needs to be manually conducted, so that the unmanned aerial vehicle is operated to pick the fruits, and the labor intensity cannot be reduced.
Disclosure of Invention
Aiming at the problems of low efficiency of picking artificial fruits, damaged fruit appearance Pi Yi, low digitization and intelligent degree of an unmanned aerial vehicle and the like, the invention provides unmanned aerial vehicle equipment for picking fruits, which has rapid response and almost no damage to fruits and can automatically search fruits and finish picking.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
The utility model provides an intelligent unmanned aerial vehicle equipment is picked to fruit based on it is digital, includes four wing unmanned aerial vehicle main parts, unmanned aerial vehicle main part below universal device and power transmission assembly, load the telescopic four-axis arm in universal device both sides, the arm end is by can carrying out the end effector that automatic identification snatched and constitute, and universal device below is equipped with detachable fruit and picks basket.
The four-wing unmanned aerial vehicle main body is internally provided with a remote sensing device, a GPS positioning device, a central controller, a device detection chip and a small 5G signal receiving device.
The remote sensing device and the GPS positioning device can enable the unmanned aerial vehicle to quickly and accurately reach the fruit picking site without manual transportation and remote control under fruit trees.
The device detection chip adopts a digital twin system, can conduct behavior prediction and simulation, can provide an optimal fruit picking angle and direction through calculation and simulation grabbing actions in the fruit picking process, reasonably plans a picking path so as to protect fruits to the greatest extent, and meanwhile, detects health conditions of unmanned aerial vehicle devices and mechanical arm devices, avoids damage and the like of the devices in the picking process, and aims at the variety, size and state of different fruits, the digital twin system can conduct picking evaluation on the fruits and compare the fruits with the fruits after actual picking, so that the fruits without fester are ensured.
The small-size 5G signal receiving device is built-in inside the unmanned aerial vehicle main body, and a large number of fruit trees can shield signals in the fruit picking work process, and the 5G signal receiving device can ensure that the unmanned aerial vehicle receives signals stably and can feed back the real-time position and the picking condition.
The universal device is loaded under the unmanned aerial vehicle and is matched with the unmanned aerial vehicle main body by virtue of the circular guide rail, and the universal device can rotate to ensure that the mechanical arm can perform multidirectional picking operation. The power transmission assembly and the electric power assembly are arranged in the universal device to provide power for the mechanical arms loaded on two sides of the universal device.
The power transmission assembly comprises a universal device power transmission device and a mechanical arm power transmission device.
The mechanical arm power transmission device is arranged in the universal device and is used for transmitting power to the mechanical arm according to the instruction to finish the grabbing action.
The four-axis mechanical arm can complete XYZ-axis translational motion, X-axis rotational motion and end effector grabbing motion. The device is matched with the universal device through the circular guide rail, so that the device can complete X-axis rotation, the middle section of the mechanical arm is connected through the special-shaped plate, the two sides of the special-shaped plate are connected with the hydraulic rod and the mechanical arm rod piece, the hydraulic rod and the mechanical arm rod piece on the two sides are connected with the special-shaped plate by means of the shaft, the rotation operation of the device can be guaranteed, and the tail end of the hydraulic rod is connected with the tail end executing device.
The end effector adopts a pressure sensor and visual image processing, so that the end effector can automatically recognize the position and the size of fruits, the fruits are contacted through the pressure sensor on the picking finger, and the top automatic cutting device is used for cutting the fruits.
The end effector is mainly composed of a control part and a mechanical working part.
The control part consists of a motor controller, a central control panel and a switching power supply.
The control part is mainly responsible for controlling signals of the singlechip, the central control panel can quickly respond when receiving the transmission signals from the singlechip, and the central control panel is connected with the battery pack and the motor controller to realize forward and reverse rotation of the motor, so that picking finger grabbing and loosening actions are completed.
The control part is combined with the power assembly in the universal device, the singlechip transmits signals to the central controller and simultaneously transmits signals to the central controller in the unmanned aerial vehicle, the central controller in the unmanned aerial vehicle transmits signals to the power assembly in the universal transmission device according to the signals, and the motor controls the mechanical arm to adjust the azimuth.
The mechanical working part consists of a motor, a cutting device, a push rod and picking fingers.
The mechanical working part is mainly used for outputting and transmitting power of the end effector, torque generated by the motor is transmitted to picking fingers through the push rod and the like, and the motor is controlled to perform forward and reverse rotation and cutting movement of the cutting device according to the instruction of the control part.
The end effector mainly comprises picking fingers, a push rod, a clamping ring, a connecting rod, a rack, a pin, a motor driver, a pressure sensor, a visual sensor, a singlechip and the like.
The picking fingers, the push rods, the clamping rings, the connecting rods, the machine frame and the like are controlled by the motor to carry out fruit picking and cutting actions, and the picking fingers protect the fruit epidermis from being damaged through the arc-shaped appearance of the picking fingers.
The visual sensor is arranged on the frame, performs visual recognition on fruits, transmits signals to the singlechip, and transmits singlechip recognition signals to a central controller in the unmanned aerial vehicle and a central controller in the end effector, wherein the central controller in the unmanned aerial vehicle searches positions, controls the mechanical arm, and the central controller in the end effector transmits picking finger closing signals to the motor driver to control the picking fingers to be closed.
The pressure sensor is arranged on the inner side of the picking finger, the closing action is completed through the picking finger, and when the picking finger contacts fruits, the pressure sensor receives pressure to reach a threshold value, and signals are transmitted to the singlechip. After the single chip microcomputer recognizes the signal, a stop instruction is sent to the motor driver, and the cutting device at the upper end of the picking finger slowly opens the picking finger after cutting to finish the picking process on the fruit stem part of the fruit.
The digital twin system is characterized in that the visual sensor and the pressure sensor are used for transmitting signals to the singlechip through the identification of the size, the type and the position of fruits, and correspondingly adjusting the threshold value according to different fruit types and the size pressure sensor, and meanwhile, the digital twin system is used for planning an optimal picking path according to different fruit types and sizes.
The singlechip is used for identifying the signal transmitted by the pressure sensor reaching the threshold value and the image signal transmitted by the visual identification sensor, and controlling the motor driver to complete related actions.
The fruit picking basket is connected to the bottom end of the universal transmission device through the detachable hook and the hanging rope, the gravity sensor is installed at the connection position of the hanging rope and the universal device, after the mechanical arm finishes fruit picking work, the singlechip transmits signals to the central controller in the unmanned aerial vehicle, the singlechip sends out instructions to the mechanical arm, the fruits which are picked are placed in the picking basket below, when the fruits in the fruit basket reach the threshold value in the gravity sensor, the gravity sensor sends out instructions to the central controller of the unmanned aerial vehicle, and the unmanned aerial vehicle returns.
The digital fruit picking intelligent unmanned aerial vehicle device is characterized by being rapid in response, free of damage to outer skin of the fruits, capable of automatically identifying the fruits and automatically completing picking, and is different from some road fruit picking devices on the market and fruit picking unmanned aerial vehicles needing manual control.
The digital fruit picking intelligent unmanned aerial vehicle equipment is characterized in that damage can occur at the joint of the fruit stalks and the epidermis when the causal stalks are separated, and the tail end executor is provided with a blade cutting structure at the front end of the picking finger to cut the fruit stalks, so that the fruit epidermis is protected from damage.
According to the digital fruit picking intelligent unmanned aerial vehicle equipment, four picking finger radians of the end effector conform to the shape of the fruit, the fruit can be well wrapped, and the angle of the picking finger can be adjusted according to the sizes and the shapes of different fruits.
The digital fruit picking intelligent unmanned aerial vehicle equipment can be used for carrying out picking prediction according to different fruits, and adjusting the threshold according to the types and the sizes of the fruits, so that various fruit epidermis can be protected during picking.
According to the digital fruit picking intelligent unmanned aerial vehicle equipment, the mechanical arms on two sides of the digital fruit picking intelligent unmanned aerial vehicle equipment can independently finish picking work, and the picking efficiency is improved.
The digital fruit picking intelligent unmanned aerial vehicle equipment can conduct signal communication in real time, so that remote operators can master the position and the condition of the unmanned aerial vehicle in real time, and the digital twin system can conduct real-time health condition monitoring and simulation planning of picking paths on the unmanned aerial vehicle equipment.
The digital fruit picking intelligent unmanned aerial vehicle can improve fruit picking efficiency and ensure that the fruit epidermis is protected from being damaged in the picking process.
The digital fruit picking intelligent unmanned aerial vehicle can carry out remote monitoring through a digital twin system, and detects and controls fruit type quality, picking amount and picking efficiency.
The digital fruit picking intelligent unmanned aerial vehicle can set the weight of the fruit to be picked according to the preset requirement, when the weight in the fruit basket reaches the required weight, the gravity sensor can send a return instruction to the unmanned aerial vehicle central controller, and therefore full-flow automatic picking is achieved.
Compared with the prior art, the invention has the beneficial effects that:
The invention provides unmanned fruit picking machine equipment which is rapid in response, almost free of damage, capable of automatically searching fruits and completing picking, and capable of achieving the functions of automatically identifying the fruits, grabbing, cutting the fruit stalks and the like, meanwhile, the unmanned machine is provided with 5G signal equipment and a digital twin system, can conduct fruit picking monitoring and prediction from a far end, and ensures good signal of the completion of picking work outside. The unmanned aerial vehicle picking mechanical arm adopts visual image processing and is matched with the pressure sensor, so that the unmanned aerial vehicle can automatically recognize the position and the size of fruits, the digital twin system can predict fruit picking and monitor the health condition of picking equipment in real time, the unmanned aerial vehicle can return to the sea in time for maintenance if the equipment is damaged, the gravity sensor can measure the weight of the fruits in the fruit picking basket, and the unmanned aerial vehicle can return to the sea automatically when the required weight is achieved. The intelligent unmanned aerial vehicle for picking the digitized fruits can reduce labor intensity and improve picking work efficiency.
The invention fully utilizes the sensing real-time performance of the pressure sensor and the recognition diversity of the visual sensor, can autonomously control the picking finger force according to the sensing of the pressure sensor, ensures the protection of the fruit epidermis in the fruit picking process, can adjust the picking finger according to the pressure data and the image recognition data of different fruits to finish the picking of different fruits, can detect the health condition of each device of the unmanned aerial vehicle after the picking is finished by the digital twin system to judge whether the unmanned aerial vehicle needs to return, and is internally provided with a 5G signal receiving device, a remote sensing device and a GPS positioning device to ensure that the unmanned aerial vehicle can accurately reach the picking place and a remote operator can acquire the real-time position of the unmanned aerial vehicle, and the gravity sensor can ensure the fruit picking weight requirement to finish the full-automatic fruit picking process.
Drawings
FIG. 1 is a schematic diagram of a digital fruit picking intelligent unmanned aerial vehicle;
FIG. 2 is a schematic diagram of a digital fruit picking intelligent unmanned aerial vehicle mechanical arm end effector;
FIG. 3 is a top view of the digital fruit picking intelligent drone;
FIG. 4 is a schematic diagram of a digital fruit picking intelligent unmanned aerial vehicle mechanical arm;
fig. 5 is a schematic diagram of the connection of the shaped plates of the mechanical arm.
Detailed Description
The details of the present invention and its specific embodiments are further described below with reference to the accompanying drawings.
In combination with figures 1, 2,3, 4 and 5, the invention designs unmanned fruit picking machine equipment which can be used for searching fruits and completing picking fruits and has rapid response and almost no damage to the fruits.
The fruit picking basket is mainly composed of a 13 four-wing unmanned aerial vehicle main body, a14 universal transmission device, a 15 four-axis mechanical arm, a16 fruit picking basket and a 17 hanging rope, wherein the 14 universal transmission device is connected with the 13 unmanned aerial vehicle main body through a top circular guide rail, free rotation between the universal transmission device and the unmanned aerial vehicle is ensured, and the 16 fruit picking basket is connected with the hanging rope through peripheral hooks.
The four-axis mechanical arm 15 is mainly composed of an end effector 18, a hydraulic rod 19, a mechanical arm connecting rod 20, a mechanical arm special-shaped connecting plate 21 and a rotatable base, wherein the end effector mainly comprises a picking finger 1, a push rod 7, a clamping ring 10, a connecting rod 3, a rack 4, a pin 9, a motor driver 2, a pressure sensor 11, a visual sensor 8, a single chip microcomputer 8 and the like, the mechanical arm special-shaped connecting plate 21, the mechanical arm connecting rod 20 and the hydraulic rod 19 are connected to two sides of the mechanical arm special-shaped connecting plate 21 through shafts, the hydraulic rod and the mechanical arm rod piece below are fixed on a fixed special-shaped plate through screws, the end effector is connected with the hydraulic rod and the mechanical arm rod piece through shafts, clearance fit between the shafts and the rod piece and the shaft hole is guaranteed, the mechanical arm and the universal transmission device can freely rotate through guide rails is guaranteed, a circuit assembly is arranged in the universal transmission device, and the universal transmission device is powered by an unmanned aerial vehicle internal battery.
The digital fruit picking intelligent unmanned aerial vehicle has the following specific working process:
The unmanned aerial vehicle is operated by a remote operator, and reaches a required picking work place according to the setting of a built-in GPS system and a remote sensing system of the unmanned aerial vehicle. The method comprises the steps that 11, a visual sensor identifies fruits, signals are transmitted to an 8 single-chip microcomputer, the 8 single-chip microcomputer transmits instructions and demands to an end effector controller and an unmanned aerial vehicle central controller respectively according to the signals, the unmanned aerial vehicle central controller judges and controls the unmanned aerial vehicle to adjust the gestures according to the distances, the positions and the orientations of the signals, a digital twin system carries out simulation picking work according to the signals transmitted by the visual sensor, the simulation results are transmitted to the unmanned aerial vehicle central controller, unmanned aerial vehicle gesture adjustment is carried out again according to the signals, the simulation path signals are transmitted to the 8 single-chip microcomputer in the end effector after adjustment, the single-chip microcomputer sends instructions to the end effector according to the signals, the 6 motor is controlled to start rotating, and the unmanned aerial vehicle central controller carries out driving, 1 picking and directing to inner movement to clamp the fruits; the method comprises the steps of detecting whether the contact force between a picking finger and fruits reaches a pressure threshold value by a pressure sensor, sending a signal to an 8 single chip microcomputer if the contact force reaches the pressure threshold value, controlling a 6 motor to stop running, so as to realize that the picking finger clamps fruits 1, starting running of a 12 cutting device, transmitting the signal to a central controller of an unmanned aerial vehicle by the 8 single chip microcomputer after cutting is finished, controlling a 15 mechanical arm to rotate, enabling the 15 mechanical arm to move downwards to a 16 fruit picking basket, enabling the 15 mechanical arm to reach a designated position, rotating the 6 motor, loosening the 1 picking finger, sending the fruits into the 16 fruit picking basket, completing one-time picking, detecting the health condition of the whole equipment by a digital twin system when picking is finished, detecting the health condition of the whole equipment, and detecting blade abrasion, unmanned aerial vehicle wing abrasion and other parts if return is required, submitting the requirements to a remote operator, judging whether return is required according to actual conditions, after a certain amount of fruit picking is finished, and judging whether the weight in the fruit basket reaches a threshold value by a gravity sensor above the fruit picking basket, and sending an instruction to an unmanned aerial vehicle central controller by the gravity sensor and returning when the weight reaches the threshold value.
Because the unmanned aerial vehicle performs fruit picking activities in the denser fruit tree forests, the unmanned aerial vehicle has an automatic obstacle avoidance function and avoids obstacles of leaves and branches, so that the safety of the unmanned aerial vehicle is ensured; after the picking work is finished, the unmanned aerial vehicle records fruit picking, and the digital twin system monitors the health condition of unmanned aerial vehicle equipment in real time, so that the unmanned aerial vehicle can continue to finish tasks; the visual sensor can identify different fruit types, sizes and positions and transmit signals, the pressure sensor in the picking finger can select and set a threshold according to the different fruit types and sizes identified by the visual sensor, so that the outer skin is not damaged while the fruit is wrapped by the different fruit types and sizes, the digital twin system is combined with the visual sensor and the pressure sensor to evaluate the quality of the fruit, ensure the fresh state of the fruit during picking, and return the real-time data of the fruit picking to a far-end operator, thereby ensuring that the picked fruit is good, the fruit in the fruit picking basket can be observed in real time, the joint of a fruit picking basket hanging rope and a universal transmission device can be provided with a camera to monitor the fruit in the fruit picking basket and transmit a real-time picture to an operation end, the blade cutting device is arranged at the top end effector of a mechanical arm of the unmanned aerial vehicle to cut the fruit skin due to the damage of the fruit stalks, the fruit skin is protected from damage, four fingers are in accordance with the radian, the fruit picking finger shape can be good, the fruit picking finger can be wrapped by different shapes, and the remote sensing device can be adjusted in angle and positioned by the remote sensing device 5, the invention can ensure that the unmanned aerial vehicle can accurately reach a picking place, and a remote operator can acquire the real-time position of the unmanned aerial vehicle, is suitable for places where conventional picking equipment cannot be used, such as hills, mountains and the like, has wide application range, solves the problem that fruits of higher fruit trees are difficult to pick and the like, does not need to be operated in the field, is different from operators on the market, needs to operate the unmanned aerial vehicle at a short distance, can operate from the remote end, reduces labor cost and improves picking efficiency.

Claims (7)

1.一种基于数字化的果实采摘智能无人机，其特征在于：包括四翼无人机主体，无人机主体下方万向传输装置和动力传输总成，装载在万向传输装置两侧的可伸缩的四轴机械臂，四轴机械臂末端由可进行自动识别抓取的末端执行器组成，万向传输装置下方装备可拆卸式果实采摘篮，所述四轴机械臂由末端执行器、液压杆、机械臂连接杆、机械臂异形连接板和可转动底座组成；末端执行器由采摘指、推杆、卡环、连杆、机架、销、电机驱动器、压力传感器、视觉传感器和单片机组成，所述四轴机械臂可进行多自由度自由旋转，包括XYZ轴平移，X轴旋转；机械臂异形连接板，机械臂连接杆和液压杆通过轴连接在机械臂异形连接板两侧，下方液压杆和机械臂杆件通过螺钉固定在机械臂异形连接板上，末端执行器依靠轴与液压杆和机械臂杆件相连接，保证轴与杆件、轴孔之间为间隙配合，可以自由转动；所述末端执行器内部设置有视觉传感器和压力传感器，所述视觉传感器对果实种类、大小和位置进行感知，通过数据分析对果实进行判断，利用数字孪生系统对果实采摘路径进行模拟和规划，根据模拟结果对果实采摘路径提出最优化方案，无人机根据最优化方案对果实进行采摘，利用压力传感器对果实进行压力感知，保证在包裹果实的同时最大程度保护果实表皮，通过切割刀片对果梗进行切割，将果实放置于果实采摘篮中完成采摘，果实采摘篮通过重力传感器感知采摘果实重量，当达到所需重量后，无人机自动返航。1. A digital fruit picking intelligent drone, characterized in that it includes a four-wing drone body, a universal transmission device and a power transmission assembly below the drone body, a retractable four-axis mechanical arm mounted on both sides of the universal transmission device, the end of the four-axis mechanical arm is composed of an end effector that can automatically identify and grasp, and a detachable fruit picking basket is equipped below the universal transmission device. The four-axis mechanical arm is composed of an end effector, a hydraulic rod, a mechanical arm connecting rod, a mechanical arm special-shaped connecting plate and a rotatable base; the end effector is composed of a picking finger, a push rod, a clamp ring, a connecting rod, a frame, a pin, a motor driver, a pressure sensor, a visual sensor and a single-chip microcomputer, and the four-axis mechanical arm can rotate freely with multiple degrees of freedom, including XYZ axis translation and X axis rotation; a mechanical arm special-shaped connecting plate, a mechanical arm connecting rod and a hydraulic rod are connected to both sides of the mechanical arm special-shaped connecting plate through an axis, and the lower hydraulic rod and the mechanical arm rod The components are fixed to the special-shaped connecting plate of the robotic arm by screws, and the end effector is connected to the hydraulic rod and the robotic arm rod by an axis to ensure that the axis, the rod and the axis hole are clearance-matched and can rotate freely; a visual sensor and a pressure sensor are arranged inside the end effector, and the visual sensor senses the type, size and position of the fruit, judges the fruit through data analysis, and uses the digital twin system to simulate and plan the fruit picking path. According to the simulation results, an optimization plan is proposed for the fruit picking path, and the drone picks the fruit according to the optimization plan, and uses the pressure sensor to sense the pressure of the fruit to ensure that the fruit skin is protected to the greatest extent while wrapping the fruit, and the fruit stalk is cut by a cutting blade, and the fruit is placed in a fruit picking basket to complete the picking. The fruit picking basket senses the weight of the picked fruit through a gravity sensor, and when the required weight is reached, the drone automatically returns. 2.根据权利要求1所述的基于数字化的果实采摘智能无人机，其特征在于：所述四轴机械臂与万向传动装置之间依靠导轨相连接，保证机械臂与万向传动装置之间可以自由转动；万向传动装置中装有电路总成，由无人机内部电池向万向传动装置和机械臂进行供电，万向传动装置下方装有挂绳，果实采摘篮依靠挂钩与挂绳相连接，挂绳与万向传动装置连接处装有重力传感器。2. According to the digital fruit picking intelligent drone described in claim 1, it is characterized in that: the four-axis mechanical arm and the universal transmission device are connected by a guide rail to ensure that the mechanical arm and the universal transmission device can rotate freely; the universal transmission device is equipped with a circuit assembly, and the universal transmission device and the mechanical arm are powered by the internal battery of the drone. A hanging rope is installed under the universal transmission device, and the fruit picking basket is connected to the hanging rope by a hook, and a gravity sensor is installed at the connection between the hanging rope and the universal transmission device. 3.根据权利要求2所述的基于数字化的果实采摘智能无人机，其特征在于：所述末端执行器的四根采摘指固定于机架，依靠连杆连接电机驱动器，压力传感器均布在四根采摘指内侧，视觉传感器固定于机架，通过视觉传感器对果实种类、大小和位置进行识别，单片机通过接收传感器信号，对中央控制器发出指令，数字孪生系统根据视觉传感器所发出的数据进行虚拟采摘的路径模拟，提出最优采摘路径，根据最优采摘路径对机械臂以及末端执行器发出指令同时无人机调整自身姿态，机械臂和末端执行器根据指令对果实进行摘取，末端执行器中的采摘指内侧均布压力传感器，根据果实种类和大小，当压力达到阈值，采摘指停止运动，末端执行器顶端切割装置对果梗进行切割，完成果实采摘过程，切割完毕后单片机将信号传输至中央控制器，并根据中央控制器指令，四轴机械臂将果实放置于果实采摘篮中。3. According to claim 2, the digital fruit picking intelligent drone is characterized in that: the four picking fingers of the end effector are fixed to the frame, connected to the motor driver by a connecting rod, pressure sensors are evenly distributed on the inner side of the four picking fingers, and the visual sensor is fixed to the frame. The type, size and position of the fruit are identified by the visual sensor. The single-chip microcomputer sends instructions to the central controller by receiving the sensor signal. The digital twin system simulates the virtual picking path according to the data sent by the visual sensor, proposes the optimal picking path, and sends instructions to the mechanical arm and the end effector according to the optimal picking path. At the same time, the drone adjusts its own posture, and the mechanical arm and the end effector pick the fruit according to the instructions. The inner side of the picking fingers in the end effector is evenly distributed with pressure sensors. According to the type and size of the fruit, when the pressure reaches the threshold, the picking fingers stop moving, and the cutting device at the top of the end effector cuts the fruit stalk to complete the fruit picking process. After the cutting is completed, the single-chip microcomputer transmits the signal to the central controller, and according to the instructions of the central controller, the four-axis mechanical arm places the fruit in the fruit picking basket. 4.根据权利要求3所述的基于数字化的果实采摘智能无人机，其特征在于：所述重力传感器设置在万向传动装置与挂绳的连接处。4. The digital fruit picking intelligent drone according to claim 3 is characterized in that the gravity sensor is arranged at the connection between the universal transmission device and the hanging rope. 5.根据权利要求4所述的基于数字化的果实采摘智能无人机，其特征在于：所述动力传输总成包括万向装置动力传输装置和机械臂动力传输装置。5. The digital fruit picking intelligent drone according to claim 4 is characterized in that the power transmission assembly includes a universal device power transmission device and a mechanical arm power transmission device. 6.根据权利要求5所述的基于数字化的果实采摘智能无人机，其特征在于：所述四翼无人机主体，其内部装遥感装置、GPS定位装置、中央控制器、设备检测芯片以及小型5G信号接收装置。6. The digital fruit-picking intelligent drone according to claim 5 is characterized in that: the four-wing drone body is equipped with a remote sensing device, a GPS positioning device, a central controller, an equipment detection chip and a small 5G signal receiving device. 7.根据权利要求6所述的基于数字化的果实采摘智能无人机，其特征在于：所述遥感装置与GPS定位装置可使无人机迅速准确到达果实采摘地点，无需人工运输并无需在果树下进行遥控；7. The digital fruit picking intelligent drone according to claim 6, characterized in that: the remote sensing device and the GPS positioning device can enable the drone to quickly and accurately reach the fruit picking location without manual transportation and remote control under the fruit tree; 所述设备检测芯片，采用数字孪生系统，可进行行为预测与模拟，在果实摘取过程中可通过计算与模拟抓取动作提供最优果实采摘角度与方位，合理规划采摘路径，从而最大程度保护果实；同时对无人机设备以及机械臂设备进行健康状况检测，避免设备在采摘过程中发生损毁情况，针对不同果实的种类、大小和状态，数字孪生系统会针对果实进行采摘评估，并与实际采摘后果实进行对比，确保没有出现溃烂的果实；The equipment detection chip adopts a digital twin system to predict and simulate behavior. During the fruit picking process, it can provide the optimal fruit picking angle and orientation by calculating and simulating the grabbing action, and reasonably plan the picking path, so as to protect the fruit to the greatest extent. At the same time, the health status of the drone equipment and the robotic arm equipment is checked to avoid damage to the equipment during the picking process. According to the types, sizes and states of different fruits, the digital twin system will evaluate the picking of the fruits and compare them with the actual picked fruits to ensure that there are no rotten fruits. 所述小型5G信号接收装置，其内置于无人机主体内部，由于果实采摘工作进行过程中大量果树会对信号进行屏蔽，5G信号接收装置保证无人机接收信号稳定，将实时位置和采摘情况进行反馈。The small 5G signal receiving device is built into the main body of the drone. Since a large number of fruit trees will shield the signal during the fruit picking process, the 5G signal receiving device ensures that the drone receives stable signals and provides feedback on the real-time position and picking situation.
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