The invention discloses an automatic lotus seedpod harvesting system and method based on cooperation of double unmanned aerial vehicles, and belongs to the technical field of aquatic vegetable harvesting equipment.The system comprises a piloting unmanned aerial vehicle carrying a coarse recognition and positioning module and a trajectory planning module and a harvesting unmanned aerial vehicle carrying a fine recognition and positioning module and a multidirectional picking module; the coarse identification positioning module comprises a first binocular vision and is used for capturing a lotus seedpod gathering position; the trajectory planning module is used for planning an operation flight path of the harvesting unmanned aerial vehicle in the harvesting operation space; the fine identification and positioning module comprises a second binocular vision and is used for capturing single lotus seedpods to be picked; the multi-azimuth picking module comprises a picking terminal and a posture adjusting mechanism for driving the picking terminal to rotate at multiple angles, and the flight path of the harvesting operation of the unmanned aerial vehicle is planned in advance by designing the piloting unmanned aerial vehicle, so that the time of searching for lotus seedpods to be harvested can be remarkably shortened; and the effects of saving energy consumption and improving the harvesting operation efficiency are achieved.
本发明公开了一种基于双无人机协作的莲蓬自动收获系统及方法,属于水生蔬菜收获装备技术领域,所述系统包括载有粗识别定位模块和轨迹规划模块的引航无人机以及载有精识别定位模块和多方位采摘模块的采收无人机;所述粗识别定位模块包括第一双目视觉,用于捕捉莲蓬聚集处;所述轨迹规划模块用于规划采收无人机在采收作业空间内的作业飞行路径;所述精识别定位模块包括第二双目视觉,用于捕捉待采摘的单支莲蓬;所述多方位采摘模块包括采摘终端以及带动所述采摘终端多角度转动的调姿机构,通过设计引航无人机对采收无人机的采收作业飞行路径提前进行规划,可显著缩短其搜寻待收获莲蓬的时间,起到节省能源消耗并提高收获作业效率的作用。
Automatic lotus seedpod harvesting system and method based on cooperation of double unmanned aerial vehicles
一种基于双无人机协作的莲蓬自动收获系统及方法
2024-06-07
Patent
Electronic Resource
Chinese
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