The invention provides a rotary wing type unmanned aerial vehicle-based pine cone picking robot, which comprises a picking unmanned aerial vehicle body, a plurality of unmanned aerial vehicle propellers, an intelligent control main body case, a power supply system, an unmanned aerial vehicle flight control system, a pine cone identifying and positioning module, an intelligent control module, a branch cutting device, an actuator height adjusting device and a camera group, a plurality of unmanned aerial vehicle propellers are arranged above the picking unmanned aerial vehicle body, and the intelligent control main body case is installed on a supporting frame at the bottom of the picking unmanned aerial vehicle body. Position information of pine cones is recognized and obtained through machine vision, the unmanned aerial vehicle flies to a proper position, the branch cutting device reaches the position needing to be cut, the mechanical claw grabs the branch needing to be cut, the branch where the pine cones are located is sawed and cut off, then the mechanical claw is released, the pine cones naturally fall off, and pine cone picking is completed. The device can adapt to various working environments, and can cut branches and trunks and pick pine cones efficiently and precisely under the condition of protecting seed trees.

    本发明提供一种基于旋翼式无人机的松果采摘机器人,包括采摘无人机机身、若干无人机螺旋桨、智能控制主体机箱、电源系统、无人机飞控系统、松果识别定位模块、智能控制模块、树枝切割装置、执行器高度调节装置、摄像头组,若干无人机螺旋桨设置在采摘无人机机身的上方,所述智能控制主体机箱安装在采摘无人机机身底部的支撑架上。通过机器视觉来识别获取松果的位置信息、无人机飞行至合适位置、树枝切割装置到达所需切割的位置,机械爪抓住需要切割的树枝,锯动切断松果所在树枝,接着释放机械爪,松果自然掉落,完成松果采摘,使用方便,可操作性强,能够适应多种作业环境,可以在保护母树的情况下高效率、高精准的切割枝干,采摘松果。


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    Title :

    Pine cone picking robot based on rotor wing type unmanned aerial vehicle


    Additional title:

    一种基于旋翼式无人机的松果采摘机器人


    Contributors:
    SUN QI (author) / ZHANG YANCHAO (author) / LIU ZHANHAO (author)

    Publication date :

    2023-05-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    A01D Ernten , HARVESTING / B64U



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