The invention relates to a fruit picking system based on an unmanned aerial vehicle with a telescopic grabbing arm. The fruit picking system comprises the unmanned aerial vehicle and a ground collecting and sorting moving platform. The unmanned aerial vehicle comprises a universal joint telescopic grabbing arm and a fruit storage cabin; the fruit storage cabin is arranged on the unmanned aerial vehicle body, a fruit inlet is formed in the top of the fruit storage cabin, a fruit outlet is formed in the bottom of the fruit storage cabin, and a bottom cover capable of being opened and closed is arranged at the fruit outlet; the universal joint telescopic gripper arm comprises an up-down rotating arm, a horizontal rotating arm, a bamboo joint type telescopic rod and a mechanical gripper; the mechanical gripper comprises a gripper kneading finger, a pressure sensor, a gripper image recognition camera, a gripper palm and a gripper rotating motor; the ground collecting and sorting moving platform comprises a fruit collecting and sorting box body, wheels, a sorting concave plate, a telescopic ejector rod, a rotary ejector disc and a color sensor. The invention can replace manual picking of arbor high-altitude fruits such as persimmons, and the damage rate of the fruits is effectively reduced.
本发明涉及一种基于具有伸缩抓手臂的无人机的水果采摘系统,包括无人机和地面收集分拣移动平台;无人机包括万向节伸缩式抓手臂和存果舱;存果舱设置在无人机的机体上,存果舱的顶部设有进果口,底部设有出果口,出果口处设有可开闭的底盖;所述万向节伸缩式抓手臂包括上下转动臂、水平转动臂、竹节式伸缩杆和机械抓手;机械抓手包括抓手捏合指、压力传感器、抓手图像识别摄像头、抓手掌和抓手旋转马达;地面收集分拣移动平台包括果实收集分拣箱体、车轮、分拣凹板、伸缩顶杆、旋转顶盘和色彩传感器。本发明能够代替人工摘取柿子等乔木类的高空水果,并有效降低果实的破损率。
Fruit picking system based on unmanned aerial vehicle with telescopic grabbing arm
一种基于具有伸缩抓手臂的无人机的水果采摘系统
2022-02-18
Patent
Elektronische Ressource
Chinesisch
IPC: | A01D Ernten , HARVESTING / B07C Sortieren von Postgut , POSTAL SORTING / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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