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CN-224218939-U - Unmanned aerial vehicle for cutting fruit stalks

CN224218939UCN 224218939 UCN224218939 UCN 224218939UCN-224218939-U

Abstract

The utility model relates to an unmanned aerial vehicle for cutting fruit stalks. This unmanned aerial vehicle uses four rotor unmanned aerial vehicle fuselage as main framework, and the screw safety cover is established in the four corners, built-in screw motor and screw. The telescopic electric control scissor head is arranged at the central axis of the front end of the machine body and consists of a rotating motor, an electric telescopic rod and an electric scissor head, so that flexible operation can be realized. The front end is also equipped with a vision system comprising a TOF camera and a structured light camera for accurate positioning. The control circuit board in the machine body integrates various chips and interfaces, realizes control and data transmission of all the components, and interacts with the mushroom-shaped antenna and the remote control terminal through the wireless communication chip. In addition, this unmanned aerial vehicle can realize that fruit is picked intellectuality, unmanned, promotes picking efficiency, eliminates overhead operation potential safety hazard, provides effective solution for wisdom agriculture.

Inventors

  • XU HAIRONG
  • LI QINGYING

Assignees

  • 上海工程技术大学

Dates

Publication Date
20260512
Application Date
20250429

Claims (7)

  1. 1. An unmanned aerial vehicle for cutting fruit stalks, the unmanned aerial vehicle comprises a four-rotor unmanned aerial vehicle body, and is characterized in that, The four-rotor unmanned aerial vehicle body comprises a main body and propeller protection covers arranged at four corners of the main body, wherein a propeller motor and a propeller are arranged in the propeller protection covers; The front end of the four-rotor unmanned aerial vehicle body is provided with a telescopic electric control scissor head positioned on the axis of the unmanned aerial vehicle, the telescopic electric control scissor head is provided with a rotating motor, an electric telescopic rod, an electric scissor head and a scissor head signal control flat cable, the rotating motor, the electric telescopic rod and the electric scissor head are all connected with the scissor head signal control flat cable, the rotating motor is fixedly arranged at the front end of the four-rotor unmanned aerial vehicle body, the tail end of the electric telescopic rod is arranged on a rotating shaft of the rotating motor, and the front end of the electric telescopic rod is provided with the electric scissor head; a visual system is arranged at the front end of the four-rotor unmanned aerial vehicle body, and comprises a TOF camera and a structured light camera; The inside at four rotor unmanned aerial vehicle fuselage is equipped with control circuit board, be equipped with TOF camera winding displacement interface on control circuit board, structure light camera winding displacement interface, image processing chip, position sensor, flight control chip, scissors head control chip and wireless communication chip, TOF camera winding displacement interface, structure light camera winding displacement interface all link to each other with image processing chip, scissors head signal control winding displacement links to each other with scissors head control chip, position sensor, screw motor all link to each other with flight control chip, image processing chip, flight control chip, scissors head control chip all link to each other with wireless communication chip, wireless communication chip links to each other with the mushroom antenna of installing at four rotor unmanned aerial vehicle fuselage tops.
  2. 2. The unmanned aerial vehicle for cutting fruit stalks according to claim 1, wherein the main body comprises a flight control housing, the flight control housing is composed of a plurality of hole plates fixedly connected by screws, the hole plates on two sides are connected with a pair of horn arms, and a propeller protecting cover is fixedly installed at the tail ends of the horn arms.
  3. 3. The unmanned aerial vehicle for cutting fruit stalks according to claim 2, wherein a lithium battery is installed in the flight control shell in a buckling manner and is connected with the control circuit board through a battery flat cable; The lithium cell bottom is equipped with the type-C mouth that charges that is used for charging, and the waist shape hole that is used for exposing type-C mouth that charges is seted up to the bottom of flight control casing.
  4. 4. The unmanned aerial vehicle for cutting fruit stalks as claimed in claim 1, The electric telescopic rod is provided with an electric push rod and a push rod controller, and the rear end base of the electric push rod is fixed on the rotating shaft of the rotating motor; The electric scissor head comprises a fixed blade and a movable blade which are connected in a rotating way, the fixed blade is fixed at the front end of the electric push rod, a blade driving motor is arranged on the fixed blade, a blade rotating gear is fixed on a rotating shaft of the blade driving motor, and a tooth blade meshed with the blade rotating gear is arranged at the tail part of the movable blade.
  5. 5. The unmanned aerial vehicle for cutting fruit stalks as claimed in claim 4, The fixed blade is fixed with a sleeve, and the sleeve is inserted into the front end of the electric push rod and fixed by a screw.
  6. 6. The unmanned aerial vehicle for cutting fruit stalks according to claim 2, wherein the weight is detachably mounted in the flight control housing.
  7. 7. The unmanned aerial vehicle for cutting fruit stalks according to claim 1, wherein the image processing chip comprises a TOF camera data processing chip, a structured light camera data processing chip and an image fusion chip, the TOF camera data processing chip and the structured light camera data processing chip are respectively connected with a TOF camera wire arrangement interface and a structured light camera wire arrangement interface, and the TOF camera data processing chip and the structured light camera data processing chip are connected with the image fusion chip.

Description

Unmanned aerial vehicle for cutting fruit stalks Technical Field The utility model relates to an unmanned aerial vehicle, in particular to an unmanned aerial vehicle for cutting fruit stalks. Background In the field of fruit picking, especially for fruit picking operations with high heights, the traditional mode has a plurality of defects. For a long time, a method of picking by manually climbing onto a tree or picking by means of a mechanical lifting device is widely adopted by people. This conventional mode not only consumes a lot of manpower and time costs, but also is inefficient in operation. For example, in a large orchard, it takes several times to manually pick up tall fruits one by one to complete the picking task for a field. More importantly, these traditional picking modes present serious safety hazards. When the tree is picked by climbing on the tree manually, the picking personnel can be damaged by falling due to branch fracture, self-sliding and the like; when using mechanical lifting equipment, safety accidents caused by equipment faults and improper operation can also be faced. These safety problems not only threaten the life health of the picking personnel, but also bring potential economic losses to the orchard operation. Along with the development of science and technology, unmanned aerial vehicles gradually get wide application in various fields by virtue of the advantages of flexibility, maneuverability, intelligence and the like. In the aspect of fruit picking, the unmanned aerial vehicle provides a new thought and a new method for solving the difficult problem of high-altitude picking. The design is based on the background, and aims to achieve the intelligence and unmanned picking of fruits, effectively improve the efficiency and safety of picking operation, and create a more efficient, intelligent and safe picking solution for fruit farmers. Disclosure of utility model The utility model provides an unmanned aerial vehicle for cutting fruit stalks, and aims to solve the problems of low efficiency and high potential safety hazard of the traditional fruit picking mode. This unmanned aerial vehicle is through can be at aerial discernment fruit handle position and cutting, is showing and is promoting picking efficiency. The specific scheme is as follows: An unmanned aerial vehicle for cutting fruit stalks, the unmanned aerial vehicle comprises a four-rotor unmanned aerial vehicle body, The four-rotor unmanned aerial vehicle body comprises a main body and propeller protection covers arranged at four corners of the main body, wherein a propeller motor and a propeller are arranged in the propeller protection covers; The front end of the four-rotor unmanned aerial vehicle body is provided with a telescopic electric control scissor head positioned on the axis of the unmanned aerial vehicle, the telescopic electric control scissor head is provided with a rotating motor, an electric telescopic rod, an electric scissor head and a scissor head signal control flat cable, the rotating motor, the electric telescopic rod and the electric scissor head are all connected with the scissor head signal control flat cable, the rotating motor is fixedly arranged at the front end of the four-rotor unmanned aerial vehicle body, the tail end of the electric telescopic rod is arranged on a rotating shaft of the rotating motor, and the front end of the electric telescopic rod is provided with the electric scissor head; a visual system is arranged at the front end of the four-rotor unmanned aerial vehicle body, and comprises a TOF camera and a structured light camera; The inside at four rotor unmanned aerial vehicle fuselage is equipped with control circuit board, be equipped with TOF camera winding displacement interface on control circuit board, structure light camera winding displacement interface, image processing chip, position sensor, flight control chip, scissors head control chip and wireless communication chip, TOF camera winding displacement interface, structure light camera winding displacement interface all link to each other with image processing chip, scissors head signal control winding displacement links to each other with scissors head control chip, position sensor, screw motor all link to each other with flight control chip, image processing chip, flight control chip, scissors head control chip all link to each other with wireless communication chip, wireless communication chip links to each other with the mushroom antenna of installing at four rotor unmanned aerial vehicle fuselage tops. Further, the main machine body comprises a flight control shell, the flight control shell is composed of a plurality of hole plates fixedly connected through screws, the hole plates on two sides are connected with a pair of machine arms, and a propeller protecting cover is fixedly installed at the tail end of each machine arm. Furthermore, a lithium battery is arranged in the flight control shell in a buckling m