CN107787864A - Swing arm intelligence feeding device and method - Google Patents
Swing arm intelligence feeding device and method Download PDFInfo
- Publication number
- CN107787864A CN107787864A CN201711256936.0A CN201711256936A CN107787864A CN 107787864 A CN107787864 A CN 107787864A CN 201711256936 A CN201711256936 A CN 201711256936A CN 107787864 A CN107787864 A CN 107787864A
- Authority
- CN
- China
- Prior art keywords
- food
- feeding
- swing arm
- storage container
- mechanical gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 235000013305 food Nutrition 0.000 claims abstract description 140
- 238000005303 weighing Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 21
- 239000000463 material Substances 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 5
- 230000007812 deficiency Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 3
- 235000021055 solid food Nutrition 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
- A01K5/02—Automatic devices
- A01K5/0225—Gravity replenishment from a reserve, e.g. a hopper
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K39/00—Feeding or drinking appliances for poultry or other birds
- A01K39/01—Feeding devices, e.g. chainfeeders
- A01K39/012—Feeding devices, e.g. chainfeeders filling automatically, e.g. by gravity from a reserve
- A01K39/0125—Panfeeding systems; Feeding pans therefor
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
The present invention provides a kind of swing arm intelligence feeding device and method, the intelligent feeding device includes foodstuff storage container, food feeding dish, weighing sensor, controller and swing arm feeding component, the food feeding dish is arranged at the side of foodstuff storage container, the weighing sensor is arranged at the lower section of food feeding dish, and the swing arm feeding component includes swing arm and mechanical gripper；The present invention is moved by swing arm driving mechanical handgrip in the top of foodstuff storage container and food feeding dish, make the food in mechanical gripper crawl foodstuff storage container and launch the food in food feeding dish, the food in food feeding dish is weighed by weighing sensor again, when the food weight being weighed in food feeding dish is less than preset need food weight, controller control machinery handgrip continues to capture the food in foodstuff storage container and dispensing enters in food feeding dish, not only realize intelligent feeding, and realize the accurate measurement crawl for some foods, such as granulated solid food.
Description
Technical field
The present invention relates to intelligent feeding technical field, and in particular to a kind of swing arm intelligence feeding device and method.
Background technology
It is used for the intelligent feeding method and device of pet in the prior art, it can only realize that automatic foodstuff delivering, can not to pet
Realize and crawl is measured to the automatic and accurate of food, often lead to, to the excessive or very few of pet feeding, easily cause the wave of food
Take, or pet does not have enough to eat, and influences the health of pet.
The content of the invention
In order to overcome the above-mentioned problems of the prior art, it is a primary object of the present invention to provide one kind to can be achieved to be directed to
The swing arm intelligence feeding device of the accurate measurement crawl of food.
To achieve these goals, the present invention specifically uses following technical scheme：
The present invention provides a kind of swing arm intelligence feeding device, and the intelligent feeding device includes foodstuff storage container, food
Feeding dish, weighing sensor, controller and swing arm feeding component, the food feeding dish are arranged at the foodstuff storage container
Side, the weighing sensor are arranged at the lower section of the food feeding dish, and the swing arm feeding component includes swing arm and machinery
Handgrip, the swing arm are used to drive the mechanical gripper to move in the top of the foodstuff storage container and food feeding dish, institute
State the food that mechanical gripper is used to capture in the foodstuff storage container and for the food to be launched into the food feeding dish
In, the weighing sensor is used to weigh the food weight Wc in the food feeding dish, and the controller is described for judging
Whether food weight Wc is more than or equal to preset need food feeding weight W, and the controller is additionally operable to judging the food
When weight Wc is less than preset need feeding weight W, the mechanical gripper is controlled to continue to capture the food in the foodstuff storage container
Thing simultaneously launches the food in the food feeding dish.
Preferably, the swing arm feeding component also includes base and drive mechanism, the lower end of the swing arm and the base
Rotation connection, the upper end of the swing arm be connected with the mechanical gripper, the drive mechanism for drive the swing arm rotation and
The mechanical gripper is driven to move up and down, the controller is connected with the drive mechanism, and the controller is described for controlling
The operation of drive mechanism.
Preferably, in addition to distance measuring sensor, the distance measuring sensor are installed on the top of the mechanical gripper, the survey
Away from sensor be used to measure in the foodstuff storage container between food upper surface and the distance measuring sensor present position away from
From.
Preferably, the top of the foodstuff storage container is column, and the bottom of the food holder is frustum.
Preferably, in addition to annular feeding cover plate, the annular feeding cover plate lid is together in the upper of the foodstuff storage container
It is open, material taking mouth is offered in the middle part of the annular feeding cover plate.
Preferably, lid is also wrapped, it is described upper to be covered at the material taking mouth of the annular feeding cover plate.
Corresponding, the present invention also provides a kind of swing arm intelligence feeding method, including step：
Step S11, swing arm is rotated, mechanical gripper is in the surface of foodstuff storage container.
Step S16, the food that mechanical gripper is captured in foodstuff storage container are launched in food feeding dish.
Step S17, weigh the food weight Wc in the food feeding dish.
Step S18, judges whether Wc >=W sets up.
When judged result is no, then step S11 is carried out.
Wherein, W is default demand feeding weight.
Preferably, the step 16 further comprises step：
Step S161, mechanical gripper open.
Step S162, mechanical gripper highly decline H.
Step S163, mechanical gripper capture the food in foodstuff storage container.
Step S164, mechanical gripper highly rise H.
Step S165, swing arm turn to the surface of food feeding dish.
Step S166, mechanical gripper unclamp, and launch food.
Wherein, H is the distance between the upper surface of food and mechanical gripper top in storage container.
Preferably, step is also included after the step S11：
Step S12, measure the distance between the upper surface of food and mechanical gripper top H in foodstuff storage container.
Step S13, judges whether H+L ＞ H1+H2 set up.
When judged result when being, then to carry out step S14, when judged result is no, then step S16 is carried out.
Step S14, food surplus deficiency in prompting food storage container.
Wherein, H1 is the distance between mechanical gripper top and foodstuff storage container top, and H2 is foodstuff storage container
Highly, L is maximum length when mechanical gripper closes.
Preferably, also include also including step S15 after step S10, the step S14 before the step S11；：
Step S10, cover in opening.
Step S15, covers lid.
Compared to prior art, intelligent feeding device of the invention includes foodstuff storage container, food feeding dish, biography of weighing
Sensor, controller and swing arm feeding component, the food feeding dish is arranged at the side of the foodstuff storage container, described to weigh
Sensor is arranged at the lower section of the food feeding dish, and the swing arm feeding component includes swing arm and mechanical gripper, so as to pass through
Swing arm driving mechanical handgrip moves in the top of foodstuff storage container and food feeding dish, holds mechanical gripper crawl food storage
Food in device simultaneously launches food in food feeding dish, then weighs the food in food feeding dish by weighing sensor,
When the food weight being weighed in food feeding dish is more than or equal to preset need feeding weight, then stop crawl food, when
When the food weight being weighed in food feeding dish is less than preset need feeding weight, then controller control machinery handgrip continues to grab
Taking food the food in storage container and launch the food in food feeding dish, the present invention not only realizes intelligent feeding,
And the accurate measurement crawl for some foods is realized, such as granulated solid food, it is therefore prevented that to the excessive of pet feeding
Or it is few, that is, the feeding amount to pet is ensure that, turn avoid the waste for causing food.
Brief description of the drawings
Fig. 1 is the front view of the swing arm intelligence feeding device of the embodiment of the present invention；
Fig. 2 is the top view of the swing arm intelligence feeding device of the embodiment of the present invention；
Fig. 3 is the swing arm intelligence feeding method flow diagram of the embodiment of the present invention；
Fig. 4 is the method flow diagram of step S16 in Fig. 3；
In figure, 1, foodstuff storage container；2nd, food feeding dish；3rd, weighing sensor；4th, swing arm feeding component；41st, it is mechanical
Handgrip；42nd, swing arm；43rd, base；44th, upright driving mechanism；5th, distance measuring sensor；6th, annular feeding cover plate；7th, upper lid.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, the embodiment of the present invention provides a kind of swing arm intelligence feeding device, the intelligent feeding device includes food
Thing storage container 1, food feeding dish 2, weighing sensor 3, controller and swing arm feeding component 4.Wherein, food feeding dish 2 is set
It is placed in the side of foodstuff storage container 1；Weighing sensor 3 is installed on the lower section of food feeding dish 2；Swing arm feeding component 4 includes
Swing arm 42 and mechanical gripper 41, so as to by the driving mechanical handgrip 41 of swing arm 42 in foodstuff storage container 1 and food feeding dish 2
Top is moved, and mechanical gripper 41 is captured the food in foodstuff storage container 1 and is launched food in food feeding dish 2.And
Weighing sensor 3 is used to weigh the food weight Wc in food feeding dish 2, and controller is then used to judge whether food weight Wc is big
In or equal to preset need feeding weight W, when judged result is no, controller control machinery handgrip 41 continues crawl food and deposited
Food in storage container 1 simultaneously launches the food in food feeding dish 2.When judged result for when being, then controller control machine
Tool handgrip 41 stops crawl food.
As shown in Fig. 2 swing arm feeding component 4 also includes base 43 and drive mechanism, wherein, drive mechanism includes vertical drive
Motivation structure 44 and horizontal drive mechanism.Horizontal drive mechanism and controller be may be contained within base 43, and upright driving mechanism 44 is set
It is placed in the upper end of swing arm 42.The lower end of swing arm 42 is rotatablely connected with base 43, at the same the lower end of swing arm 42 also with horizontal drive machine
Structure is connected, and the upper end of swing arm 42 is connected with mechanical gripper 41, while mechanical gripper 41 is also connected with upright driving mechanism 44.Control
Device is then connected with horizontal drive mechanism, upright driving mechanism 44 respectively.So as to by controller control upright driving mechanism 44 or
Horizontal drive mechanism is run, and makes upright driving mechanism 44 drive mechanical gripper 41 to move up and down, to realize that crawl food storage is held
Food in device 1；Horizontal drive mechanism driving swing arm 42 is rotated in the horizontal direction, mechanical gripper 41 is deposited by food
The top of storage container 1 is moved to the top of food feeding dish 2 or is moved to foodstuff storage container 1 by the top of food feeding dish 2
Top, with realize food is launched in food feeding dish 2.
In order to detect whether the surplus of the food in foodstuff storage container 1 sufficient in real time, i.e. food in foodstuff storage container 1
Whether the height of thing is more than the height L of mechanical gripper 41, is additionally provided with distance measuring sensor 5, distance measuring sensor 5 can be Laser Measuring
Away from one kind in sensor or ultrasonic distance-measuring sensor or infrared distance sensor.Distance measuring sensor 5 is installed on mechanical gripper
41 top, before mechanical gripper 41 does not decline, food in foodstuff storage container 1 is measured by the distance measuring sensor 5
The distance between upper surface and the present position of distance measuring sensor 5.
Specific deterministic process, such as：Assuming that the height of foodstuff storage container 1 is H2, height when mechanical gripper 41 closes is
L；And before mechanical gripper 41 does not decline, the distance between the top of mechanical gripper 41 and the top of foodstuff storage container 1 are H1, i.e.,
The present position of distance measuring sensor 5 and the upper surface distance of foodstuff storage container 1 are H1；Distance measuring sensor 5 detects that food stores
The distance between the upper surface of food and the present position of distance measuring sensor 5 are H in container 1；As H+L ＞ H1+H2, then it represents that food
The surplus deficiency of food in thing storage container 1, user need to add food.
In the present embodiment, annular feeding cover plate 6 and upper lid 7 are additionally provided with, annular feeding cover plate 6 is covered on food storage
The upper shed of container 1, and the middle part of annular feeding cover plate 6 offers material taking mouth, and upper lid 7 is covered on annular feeding cover plate 6
At material taking mouth.Assuming that Breadth Maximum is D after mechanical gripper 41 opens, the radius of the material taking mouth of annular feeding cover plate 6 is R, then needs
Meet R ＞ 2D, to ensure that mechanical gripper 41 can be stretched into foodstuff storage container 1.The present invention passes through annular feeding cover plate 6 and upper lid
7 setting can prevent dust from falling into foodstuff storage container 1, while can prevent the food of foodstuff storage container 1 from becoming tide.
In addition, the top of foodstuff storage container 1 is column, bottom is arranged to frustum, the angle of inclination of bottom frustum
For 35 ° -45 °, and the bottom of foodstuff storage container 1 has certain width.So that the memory capacity of foodstuff storage container 1
It is bigger, when 1 memory capacity of foodstuff storage container need to be increased, only increase the diameter or width of the upper mast of foodstuff storage container 1
Degree, without increasing the total height of foodstuff storage container 1, while the bottom of the foodstuff storage container 1 is wider, center of gravity ratio
Surely, it is not easy to turned over by pet.
It is corresponding, the invention also discloses a kind of swing arm intelligence feeding method, as shown in figure 3, the intelligent feeding method
Comprise the following steps：
Step S10, cover in opening.
Step S11, swing arm is rotated, mechanical gripper is in the surface of foodstuff storage container.
Step S12, measure the distance between the upper surface of food and mechanical gripper top H in foodstuff storage container.
Step S13, judges whether H+L ＞ H1+H2 set up.
When judged result when being, then to carry out step S14, carrying out step S15 again afterwards, when judged result is no, then
Carry out step S16.
Step S14, food surplus deficiency in prompting food storage container；
Step S15, covers lid.
Step S16, the food that mechanical gripper is captured in foodstuff storage container are launched in food feeding dish.
Step S17, weigh the food weight Wc in food feeding dish.
Step S18, judges whether Wc >=W sets up.
When judged result when being, then to carry out step S15, when judged result is no, then step S11 is carried out.
Wherein, H1 is the distance between mechanical gripper top and foodstuff storage container top, and H2 is foodstuff storage container
Highly, L is maximum length when mechanical gripper closes；W is default demand feeding weight, and W ＞ ρ * V, ρ are the close of food
Degree, V are the volume that mechanical gripper once captures food.
As shown in figure 4, above-mentioned steps S16 further comprises the steps：
Step S161, mechanical gripper open.
Step S162, mechanical gripper highly decline H.
Step S163, mechanical gripper capture the food in foodstuff storage container.
Step S164, mechanical gripper highly rise H.
Step S165, swing arm turn to the surface of food feeding dish.
Step S166, mechanical gripper open, and launch food.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (10)
1. a kind of swing arm intelligence feeding device, it is characterised in that including foodstuff storage container, food feeding dish, weighing and sensing
Device, controller and swing arm feeding component, the food feeding dish are arranged at the side of the foodstuff storage container, the biography of weighing
Sensor is arranged at the lower section of the food feeding dish, and the swing arm feeding component includes swing arm and mechanical gripper, and the swing arm is used
In driving the mechanical gripper to be moved in the top of the foodstuff storage container and food feeding dish, the mechanical gripper is used to grab
Take the food in the foodstuff storage container and for the food to be launched in the food feeding dish, the weighing sensor
For weighing the food weight Wc in the food feeding dish, the controller is used to judge whether the food weight Wc is more than
Or equal to preset need feeding weight W, the controller is additionally operable to judging that the food weight Wc is less than preset need feeding
During weight W, the mechanical gripper is controlled to continue to capture the food in the foodstuff storage container and launch the food into described
In food feeding dish.
2. swing arm intelligence feeding device according to claim 1, it is characterised in that the swing arm feeding component also includes bottom
Seat and drive mechanism, the lower end of the swing arm are connected with the base rotation, and the upper end of the swing arm connects with the mechanical gripper
Connect, the drive mechanism is used to drive the swing arm to rotate and drives the mechanical gripper to move up and down, the controller and institute
Drive mechanism connection is stated, the controller is used for the operation for controlling the drive mechanism.
3. swing arm intelligence feeding device according to claim 1, it is characterised in that also including distance measuring sensor, the survey
The top of the mechanical gripper is installed on away from sensor, the distance measuring sensor is used to measure food in the foodstuff storage container
The distance between upper surface and the distance measuring sensor present position.
4. swing arm intelligence feeding device according to claim 1, it is characterised in that the top of the foodstuff storage container is
Column, the bottom of the food holder is frustum.
5. according to the swing arm intelligence feeding device of claim 1 or 2 or 3, it is characterised in that also including annular feeding lid
Plate, the annular feeding cover plate lid are opened up in the middle part of the annular feeding cover plate together in the upper shed of the foodstuff storage container
There is material taking mouth.
6. swing arm intelligence feeding device according to claim 5, it is characterised in that also wrap lid, it is described upper to be covered on
At the material taking mouth of the annular feeding cover plate.
A kind of 7. swing arm intelligence feeding method, it is characterised in that gather including step：
Step S11, swing arm is rotated, mechanical gripper is in the surface of foodstuff storage container；
Step S16, the food that mechanical gripper is captured in foodstuff storage container are launched in food feeding dish；
Step S17, weigh the food weight Wc in the food feeding dish；
Step S18, judges whether Wc >=W sets up；
When judged result is no, then step S11 is carried out；
Wherein, W is default demand feeding weight.
8. swing arm intelligence feeding method according to claim 7, it is characterised in that the step 16 further comprises walking
Suddenly：
Step S161, mechanical gripper open；
Step S162, mechanical gripper highly decline H；
Step S163, mechanical gripper capture the food in foodstuff storage container；
Step S164, mechanical gripper highly rise H；
Step S165, swing arm turn to the surface of food feeding dish；
Step S166, mechanical gripper open, and launch food；
Wherein, H is the distance between the upper surface of food and mechanical gripper top in storage container.
9. swing arm intelligence feeding method according to claim 7, it is characterised in that also include step after the step S11
Suddenly：
Step S12, measure the distance between the upper surface of food and mechanical gripper top H in foodstuff storage container；
Step S13, judges whether H+L ＞ H1+H2 set up；
When judged result when being, then to carry out step S14, when judged result is no, then step S16 is carried out；
Step S14, food surplus deficiency in prompting food storage container；
Wherein, H1 is the distance between mechanical gripper top and foodstuff storage container top, and H2 is the height of foodstuff storage container,
L is maximum length when mechanical gripper closes.
10. swing arm intelligence feeding method according to claim 9, it is characterised in that also include step before the step S11
Also include step S15 after rapid S10, the step S14；Step S10, cover in opening；Step S15, covers lid.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711256936.0A CN107787864B (en) | 2017-12-04 | 2017-12-04 | Swing arm type intelligent food taking device and method |
| PCT/CN2018/080848 WO2019109555A1 (en) | 2017-12-04 | 2018-03-28 | Swing arm type intelligent feeding device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711256936.0A CN107787864B (en) | 2017-12-04 | 2017-12-04 | Swing arm type intelligent food taking device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107787864A true CN107787864A (en) | 2018-03-13 |
| CN107787864B CN107787864B (en) | 2021-06-04 |
Family
ID=61538126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711256936.0A Active CN107787864B (en) | 2017-12-04 | 2017-12-04 | Swing arm type intelligent food taking device and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107787864B (en) |
| WO (1) | WO2019109555A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484701A (en) * | 2018-11-22 | 2019-03-19 | 浙江省农业科学院 | A kind of tangerine piece quantifies capture apparatus and its implementation |
| WO2019109555A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市前海乐航科技有限公司 | Swing arm type intelligent feeding device and method |
| CN114885848A (en) * | 2022-03-22 | 2022-08-12 | 浙江同济科技职业学院 | Pet management robot |
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| CN202617976U (en) * | 2012-05-21 | 2012-12-26 | 无锡北邮感知技术产业研究院有限公司 | Auto-control feeding device |
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| DK199900057U4 (en) * | 1999-02-09 | 2000-06-23 | Landmeco Oelgod As | Feed bowl and feeding system for poultry, especially hens and chickens |
| NL1024326C2 (en) * | 2003-09-19 | 2005-03-22 | Lely Entpr Ag | Device for gripping and moving material, such as roughage for example. |
| NL2011412C2 (en) * | 2013-09-10 | 2015-03-12 | Lely Patent Nv | FEED CAR. |
| RU2572199C1 (en) * | 2014-11-10 | 2015-12-27 | Евгений Александрович Оленев | Method of distribution stalked feed and device for its implementation |
| CN107787864B (en) * | 2017-12-04 | 2021-06-04 | 深圳市乐航智能科技有限公司 | Swing arm type intelligent food taking device and method |
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- 2017-12-04 CN CN201711256936.0A patent/CN107787864B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202617976U (en) * | 2012-05-21 | 2012-12-26 | 无锡北邮感知技术产业研究院有限公司 | Auto-control feeding device |
| CN103598108A (en) * | 2013-11-19 | 2014-02-26 | 无锡伊佩克科技有限公司 | Automatic-rationing pet feeding device |
| CN204263182U (en) * | 2014-10-22 | 2015-04-15 | 浙江中烟工业有限责任公司 | A kind of cigarette flexible catching robot |
| CN204822116U (en) * | 2015-07-09 | 2015-12-02 | 广东海川智能机器股份有限公司 | Automatic material distributor |
| CN106607891A (en) * | 2015-10-21 | 2017-05-03 | 李仲男 | Travelling mechanical gripper |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019109555A1 (en) * | 2017-12-04 | 2019-06-13 | 深圳市前海乐航科技有限公司 | Swing arm type intelligent feeding device and method |
| CN109484701A (en) * | 2018-11-22 | 2019-03-19 | 浙江省农业科学院 | A kind of tangerine piece quantifies capture apparatus and its implementation |
| CN109484701B (en) * | 2018-11-22 | 2021-10-26 | 浙江省农业科学院 | Orange slice quantitative grabbing equipment and implementation method thereof |
| CN114885848A (en) * | 2022-03-22 | 2022-08-12 | 浙江同济科技职业学院 | Pet management robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019109555A1 (en) | 2019-06-13 |
| CN107787864B (en) | 2021-06-04 |
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