Description:4. DESCRIPTION
Technical Field of the invention

The present invention relates to aerial robotic systems, specifically to a grasping mechanism for drones designed for agricultural applications. This system focuses on tree grasping for autonomous or semi-autonomous harvesting of fruits from tall trees, such as coconut, ice apple and areca palms.

Background of the invention

Coconut harvesting traditionally relies on manual climbing, which is labor-intensive, unsafe, and time-consuming. While mechanized alternatives have emerged, they are often bulky, energy-inefficient, or lack adaptability for diverse tree sizes.

Various inventions in the domain have attempted to address these challenges. For instance, US20230278732A1 discloses an aerial harvesting system that uses an unmanned aerial vehicle (UAV) for tree trimming and cutting. This system includes a pendulum motion damping mechanism to stabilize the harvesting tool. However, it lacks a self-locking grasping mechanism, which is crucial for energy efficiency during autonomous operations.

EP4156904A1 introduces a remotely or autonomously controlled UAV for harvesting trees. The system integrates tools for holding and transporting tree parts, emphasizing remote operations but not addressing energy conservation through passive mechanisms.

Another invention, US20090277536A1, describes a tree climbing and trimming apparatus with a circular frame and hinged sections for gripping tree trunks. While this device is mechanically robust, it is not designed for aerial applications or lightweight operation essential for UAVs.

Existing solutions demonstrate partial features such as autonomous operation or mechanical stability, but they fail to combine adaptability, energy efficiency, and lightweight construction in a single system that can be fit to a drone and can be operated keeping the drone idle and also existing systems are intended for cutting the tree trunk but the present system aids in harvesting fruits. These limitations inspired the development of the present invention, which integrates a passive self-locking grasping mechanism, lightweight aluminum trusses, and modular components. By addressing the gaps in prior art, this invention presents a robust, versatile solution for modern agricultural harvesting.

Brief Summary of the invention

The following presents a simplified summary of the disclosure in order to provide a basic understanding to the reader. This summary is not an extensive overview of the disclosure and it does not identify key/critical elements of the invention or delineate the scope of the invention. Its sole purpose is to present some concepts disclosed herein in a simplified form as a prelude to the more detailed description that is presented later.

It is a primary object of the present invention to design a lightweight and energy-efficient aerial grasping system compatible with multi-rotor drones for agricultural applications.

It is yet another object of invention to develop a self-locking grasping mechanism that ensures secure tree holding without continuous power input.

It is yet another object of invention to enable adaptability for varying tree trunk sizes using adjustable, modular components.

It is yet another object of invention to ensure safe, reliable, and stable operation during autonomous or manual harvesting tasks.

It is yet another object of invention to simplify drone-based agricultural processes by reducing system complexity and optimizing energy usage.

According to an aspect of the present invention, an innovative aerial robotic grasping system designed to enhance the efficiency and safety of harvesting fruits from tall trees, such as coconut, ice apple, and areca nut trees. The system is lightweight, energy-efficient, and adaptable, making it an ideal solution for modern agricultural applications. By integrating advanced mechanisms and leveraging principles of both active and passive locking, the invention significantly improves the limitations of existing systems in terms of energy consumption, adaptability, and operational reliability.

In accordance with the aspect of the present invention the aerial grasping system comprises a robust, lightweight grasping mechanism that can be attached to a multi-rotor drone. The core components include two adjustable jaws, a telescopic joint mechanism, and a rotational locking system. The jaws are designed using hollow aluminum trusses or tubes, making them lightweight and structurally rigid. These jaws can expand and contract laterally to grasp tree trunks of varying diameters, ensuring flexibility and adaptability for different tree types and sizes. The telescopic links act as a structural support system, firmly securing the mechanism against the tree trunk once grasped.

In accordance with the aspect of the present invention, a unique feature of the system is its passive self-locking capability. Unlike conventional systems that require continuous power input to maintain grip, the invention utilizes lead screw-driven actuators that secure the jaws in place without requiring power after activation. This significantly reduces energy consumption, allowing the drone to conserve battery life for essential flight and operational tasks. The rotational locking mechanism, powered by a servo motor, enables a 360° grip around the tree trunk, ensuring complete stability during operations.

In accordance with the aspect of the present invention the operation of the system is simple and efficient. When the drone approaches the tree, the jaws expand to encircle the trunk, guided by servo-actuated linear sliders. Once the jaws make contact, the self-locking mechanism engages, and the rotational lock secures the system. With the tree firmly grasped, the drone can halt or power down its motors, minimizing energy usage. The system can then perform various tasks such as harvesting or cutting with additional tools or systems mounted on the drone. After completing the operation, the locking mechanisms disengage, and the drone releases the tree, ready to move to the next target.

In accordance with the aspect of the present invention the modular design of the mechanism allows for easy attachment and detachment from the drone, enabling quick transitions between tasks. It is also remotely operable, with the option for autonomous control through preprogrammed algorithms, making it suitable for both manual and automated agricultural operations.

In accordance with the aspect of the present invention, It is energy efficient, adaptable to varying tree sizes, lightweight in construction, and reliable in performance under demanding conditions.

Further objects, features, and advantages of the invention will be readily apparent from the following description of the preferred embodiments thereof, taken in conjunction with the accompanying drawings.

Brief Summary of the Drawings

The invention will be further understood from the following detailed description of a preferred embodiment taken in conjunction with an appended drawing, in which:

Fig. 1 illustrates the CAD model of the aerial grasping mechanism, in accordance with the exemplary embodiment of the present invention;

Fig. 2 illustrates the Grasping system mounted on a multi-rotor drone, in accordance with the exemplary embodiment of the present invention;

Fig. 3 illustrates the Prototype aerial grasping system holding a coconut tree trunk, in accordance with the exemplary embodiment of the present invention;

Fig. 4 illustrates the internal structure and assembly of the grasping mechanism, in accordance with the exemplary embodiment of the present invention;

Fig. 5 illustrates the depicts the mounting and alignment of the grasping system with the drone, in accordance with the exemplary embodiment of the present invention;

Fig. 6 illustrates the demonstrates functionality by showing how the system interacts with objects, in accordance with the exemplary embodiment of the present invention;

Detailed Description of the invention

It is to be understood that the present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The present disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. In addition, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.

The use of “including”, “comprising” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. The terms “a” and “an” herein do not denote a limitation of quantity, but rather denote the presence of at least one of the referenced items. Further, the use of terms “first”, “second”, and “third”, and the like, herein do not denote any order, quantity, or importance, but rather are used to distinguish one element from another.

According to an exemplary embodiment of the present invention, an aerial robotic grasping system designed for agricultural applications, particularly for harvesting fruits from tall trees such as coconuts, ice apples, and areca nuts. This system incorporates a lightweight grasping mechanism that can be attached to multi-rotor drones (114), ensuring operational efficiency, adaptability, and energy conservation. The system addresses key challenges faced by existing solutions, such as high energy consumption, limited adaptability, and payload constraints, by integrating inventive features and advanced materials.

In accordance with an exemplary embodiment of the present invention, the grasping mechanism forms the core of the invention and comprises two adjustable jaws (102) made of hollow aluminum trusses or tubes. These trusses ensure a lightweight yet rigid structure capable of withstanding operational stresses while minimizing the load on the drone. The jaws (102) are mounted on linear sliders actuated by lead screw-based linear actuators (104) driven by servos. This arrangement enables precise lateral expansion and contraction of the jaws, allowing them to securely grasp tree trunks of various diameters. The high strength-to-weight ratio of the aluminum trusses ensures that the system remains robust while being lightweight enough for drone compatibility.

In accordance with an exemplary embodiment of the present invention, to enhance stability during operations, the system incorporates telescopic joint mechanisms. These mechanisms are constructed from square aluminum pipes (108) and connect the two jaws, providing longitudinal support against the tree trunk. The telescopic design allows the system to dynamically adapt to different tree sizes, ensuring a secure and reliable grip. The longitudinal and lateral adjustments work in tandem to create a versatile mechanism capable of accommodating varying tree dimensions and shapes.

In accordance with an exemplary embodiment of the present invention, a key feature of the invention is the 360° rotational locking mechanism powered by a servo motor. Once the jaws are in place and the tree trunk is securely grasped, the rotational lock engages to provide a complete circumferential grip around the trunk. This ensures stability during tasks and prevents accidental slippage or release. The locking mechanism is complemented by the lead screw-based actuators (104), which incorporate a passive self-locking design (110). This unique feature eliminates the need for continuous power input to maintain the grip, significantly conserving the drone’s battery life and enhancing overall energy efficiency.

In accordance with an exemplary embodiment of the present invention, the modular mounting structure further enhances the system’s versatility. The grasping mechanism is equipped with detachable mounts, allowing for quick attachment and detachment from the drone. This modular design facilitates seamless transitions between tasks and simplifies maintenance or component replacement. The lightweight construction of the system, achieved through the use of aluminum and carbon fiber materials, minimizes payload impact and enables extended flight durations for the drone.

In accordance with an exemplary embodiment of the present invention, the system can operate in both manual and autonomous modes. In manual mode, a remote controller is used to operate the servos and actuators (104), providing flexibility for human operators. In autonomous mode, the system is powered by a microcontroller that executes preprogrammed algorithms for tree detection, alignment, and grasping. This mode leverages sensors and advanced control algorithms to ensure precise operation without human intervention. The microcontroller coordinates the movements of the jaws (102), telescopic links, and rotational locking mechanism, ensuring synchronized operation for efficient tree grasping and harvesting.

In accordance with an exemplary embodiment of the present invention, the operation of the invention begins with the drone approaching the target tree trunk. In autonomous mode, onboard sensors assist in detecting and aligning the drone with the trunk. Once aligned, the linear actuators (104) expand the jaws (102) laterally to encircle the trunk. The telescopic pipes then adjust to provide longitudinal support, ensuring the mechanism is securely positioned around the tree. After the grasping mechanism locks into place, the rotational locking system engages, providing a full 360° grip and stabilizing the system.

In accordance with an exemplary embodiment of the present invention, with the tree securely grasped, the drone can halt or power down its motors, conserving energy for other essential operations. Additional tools, such as cutters or harvesters, can be mounted on the drone to perform tasks such as fruit harvesting or trimming. Once the task is complete, the rotational lock disengages, and the linear actuators (104) retract the jaws and telescopic links, allowing the drone to release the tree and move to the next target. This efficient process ensures quick transitions between operations, enhancing productivity.

In accordance with an exemplary embodiment of the present invention, the aerial robotic grasping system offers several inventive features that distinguish it from existing solutions. The passive self-locking design (110) enhances energy efficiency, while the lightweight construction minimizes payload constraints. The adaptability of the mechanism to different tree sizes ensures reliable performance across diverse agricultural environments. The 360° rotational locking mechanism provides unmatched stability, reducing the risk of accidental release. Additionally, the system’s modular and versatile design enables easy integration with various drones and tools, catering to both manual and autonomous operational requirements.

Referring to drawings now, Figure1 illustrates the model of the aerial robotic grasping mechanism, showcasing the core components including the adjustable jaws (102), telescopic joint mechanism, and modular mounting structure. The adjustable jaws (102), made of hollow aluminum trusses/ tubes, are depicted in an expanded position to demonstrate their adaptability to varying tree trunk diameters. The figure also highlights the placement of the linear actuators (104), lead screws (106), and sliders, which facilitate precise lateral and longitudinal adjustments. The telescopic joints connecting the jaws (102) are shown extended, providing structural support during operation. This configuration ensures secure and reliable tree gripping while maintaining the lightweight and compact design of the mechanism.

Figure 2 depicts the grasping mechanism integrated with a multi-rotor drone (114). The modular mounts (112) are shown affixed to the drone’s frame, enabling easy attachment and detachment. The figure highlights how the grasping mechanism is positioned around the tree trunk, demonstrating the operational alignment of the jaws and telescopic links. Additionally, the rotational locking mechanism is shown in its engaged state, providing a 360° secure grip around the trunk. This setup emphasizes the seamless integration of the grasping mechanism with the drone for performing agricultural tasks such as fruit harvesting.

Figure 3 presents the prototype of the aerial robotic grasping system in action, securely attached to a coconut tree trunk. The jaws (102) are shown gripping the tree, while the telescopic links provide additional support for stability. The passive self-locking (110) feature is visually represented by the fixed position of the jaws (102) without active power input. The rotational locking mechanism is demonstrated in its operational mode, highlighting the system’s stability and reliability. The figure also showcases the lightweight design and compact structure, ensuring compatibility with drones for extended aerial operations.

Figure 4 presents the core design of the aerial robotic grasping mechanism, showcasing its primary components, including the adjustable jaws, lead screw-based actuators (104), and telescopic joint mechanisms. The detailed layout highlights the modular structure, designed to provide a lightweight yet robust grasping system adaptable to varying tree trunk sizes.

Figure 5 presents the integration of the grasping mechanism with a multi-rotor drone (114). It illustrates the modular attachment system, ensuring seamless integration with the drone's frame. The positioning demonstrates how the grasping system aligns with the drone for efficient operation, maintaining stability and reducing payload stress during agricultural tasks.

Figure 6 presents the operational functionality of the grasping mechanism in use. The system is shown actively engaging with a simulated object (tree trunk), with the adjustable jaws (102) securing the object firmly. The illustration highlights the system's adaptability and energy-efficient passive self-locking (110) mechanism.
Figure 7 presents a top-view overview of the aerial robotic grasping system integrated with the drone. It showcases the system in action, emphasizing the alignment of the drone with the grasping mechanism during operation. The illustration highlights the lightweight construction and stability achieved during agricultural harvesting tasks.

According to one embodiment of the invention, the aerial robotic grasping system of the present invention can also be used to carry drone signal jammer to disrupt the communication signals between a drone and its operator.

According to one embodiment of the invention, the aerial robotic grasping system of the present invention has numerous applications in controlling of movement of unwanted drones apart from harvesting of fruits from tall trees.

It will be recognized that the above-described subject matter may be embodied in other specific forms without departing from the scope or essential characteristics of the disclosure. Thus, it is understood that the subject matter is not to be limited by the previous illustrative details, but it is rather to be defined by the appended claims.

While specific embodiments of the invention have been shown and described in detail to illustrate its novel and inventive features, it is understood that the invention may be embodied otherwise without departing from such principles.
, Claims:1. An aerial robotic grasping system (100) for harvesting fruits from tall trees, comprising:
a. a lightweight grasping mechanism with adjustable jaws (102) made of hollow aluminum trusses/tubes for structural rigidity and reduced weight;
b. servo-driven linear actuators (104) coupled with lead screws (106) to facilitate lateral expansion and contraction of the jaws (102), enabling adaptability to varying tree trunk diameters;
c. a telescopic joint mechanism comprising aluminum square pipes (108) connecting the jaws (102), providing longitudinal support during tree grasping;
d. a 360° rotational locking mechanism powered by a servo motor for secure attachment around the tree trunk;
e. a passive self-locking design (110) in the actuators (104) to maintain grip without requiring continuous power input;
f. modular mounts (112) for quick attachment and detachment from a multi-rotor drone (114);
g. a control system operable in manual and autonomous modes, wherein the autonomous mode uses a microcontroller for executing preprogrammed algorithms to detect, align with, and grasp tree trunks; and
h. wherein the system conserves energy, ensure stability, and accommodate diverse tree trunk sizes for reliable harvesting operations.

2. The aerial robotic grasping system as claimed in claim 1, wherein the hollow aluminum trusses forming the adjustable jaws (102) are configured as a lattice structure to provide an optimal strength-to-weight ratio.

3. The aerial robotic grasping system as claimed in claim 1, wherein the servo-driven linear actuators (104) are configured with anti-backlash lead screws (106) to prevent unintended movement of the jaws (102) during operation.

4. The aerial robotic grasping system as claimed in claim 1, wherein the telescopic joint mechanism includes multiple adjustable segments to enable dynamic adaptation to tree trunks of varying heights and diameters.

5. The aerial robotic grasping system as claimed in claim 1, wherein the 360° rotational locking mechanism includes a fail-safe mechanism to prevent accidental disengagement during operations.

6. The aerial robotic grasping system as claimed in claim 1, wherein the modular mounts (112) are designed with quick-release mechanisms for seamless attachment and detachment from the multi-rotor drone (114).

7. The aerial robotic grasping system as claimed in claim 1, wherein the control system integrates a sensor array comprising cameras and ultrasonic sensors for precise alignment with the tree trunk during autonomous operations.

8. The aerial robotic grasping system as claimed in claim 1, wherein the passive self-locking design (110) of the actuators (104) incorporates a mechanical locking feature to enhance energy efficiency during extended gripping periods.

9. The aerial robotic grasping system as claimed in claim 1, wherein the system is configured to support additional tools, including cutting mechanisms or harvesters, mounted on the drone for performing agricultural tasks.

10. The aerial robotic grasping system as claimed in claim 1, wherein the microcontroller in the autonomous control system includes a feedback loop to monitor and adjust the grasping force in real time based on the tree trunk's structural properties.