The invention discloses an apple picking structure and method based on an unmanned aerial vehicle additionally provided with a mechanical arm. The structure comprises an unmanned aerial vehicle assembly, a control mainboard, a first brushless motor, a rotor wing, an image acquisition assembly, a camera, a mechanical arm assembly, an electric cylinder base, a sliding seat and an elastic clamping jaw. The method comprises the following steps: 1, constructing equipment; 2, planning a path; step 3, image acquisition; step 4, apple grading judgment; step 5, picking apples; step 6, apple grading; according to the method, through image information denoising anti-interference processing, effective color feature extraction, denoising filtering processing and judgment in combination with the deep neural network, the accuracy of apple maturity detection is higher, apples are graded through defect feature analysis, the quality of apple picking is more uniform, and the quality of apple picking is improved. And the apple picking device is provided with the elastic clamping jaws, so that the apple picking device can be suitable for apples of different sizes and shapes, and the apples are not prone to being damaged in the picking process.
本发明公开了基于无人机加装机械臂摘苹果的结构及方法,结构包括无人机组件、控制主板、第一无刷电机、旋翼、图像采集组件、摄像头、机械臂组件、电缸底座、滑动座和弹性夹爪;方法包括步骤一,设备构建;步骤二,规划路径;步骤三,图像采集;步骤四,苹果分级判定;步骤五,苹果采摘;步骤六,苹果分级;本发明通过图像信息去噪抗干扰处理,提取有效的颜色特征并进行去噪滤波处理,结合深度神经网络进行判断,对于苹果成熟度检测的准确性更高,通过缺陷特征分析对苹果进行分级处理,使得苹果采摘的品质更为统一,便于后续进行分类销售处理,设计有弹性夹爪,可以适用于不同尺寸形状的苹果,且在采摘过程中不易于损伤苹果。
Apple picking structure and method based on unmanned aerial vehicle additionally provided with mechanical arm
基于无人机加装机械臂摘苹果的结构及方法
2024-05-24
Patent
Electronic Resource
Chinese
European Patent Office | 2023
|European Patent Office | 2023
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