CN110431999A - A kind of planer-type fruit automatic harvester device people - Google Patents
A kind of planer-type fruit automatic harvester device people Download PDFInfo
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- CN110431999A CN110431999A CN201910733013.2A CN201910733013A CN110431999A CN 110431999 A CN110431999 A CN 110431999A CN 201910733013 A CN201910733013 A CN 201910733013A CN 110431999 A CN110431999 A CN 110431999A
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- mechanical arm
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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Abstract
The present invention relates to field of agricultural robots, and in particular to a kind of planer-type automatic harvester device people that can be identified fruit color and classify.Two-way simultaneous Softening is used the object of the present invention is to provide a kind of, harvest efficiency is high；Realize woodland independent navigation, it is high to complex road condition adaptability；Recovery process is flexible harvesting, can reduce fruit damage ratio；The amount of labour of worker can be effectively reduced in high degree of automation；Strong applicability can be used for the harvesting of a variety of different fruits；The classification harvesting of fruit, the extensive planer-type fruit automatic harvester device people of application scenarios can be achieved.A kind of planer-type fruit automatic harvester device people, including camera 3, gyroscope 22, walking mechanism, gantry mechanism, harvesting mechanism and collection system.
Description
Technical field
The present invention relates to field of agricultural robots, and in particular to a kind of planer-type that can be identified fruit color and classify
Automatic harvester device people.
Background technique
With stepping up for economic growth and living standard, people are also increasing to the demand of fruit, increasingly increase
Long fruits output promotes the rapid development of modern automation harvesting technique and equipment.Traditional fruit harvesting mode mainly according to
It is harvested by manpower, not only working efficiency is low, takes a long time, but also large labor intensity, with certain risk.With certainly
The progress of dynamicization technology and the development of machine vision technique, the mechanical equipment that can be identified and be harvested automatically also gradually develop
Come.The labor intensity of worker can be significantly reduced in automation production recovery arrangement, improves operating efficiency, and help more to be advised
The orchard management of generalized works.Robot for automating harvesting can obtain image information by video camera, pass through image
Processing technique arranges image information, identifies correlated characteristic, effective information is extracted, so as to realize that woodland is led automatically
Boat, automatic identification fruit color and progress space orientation etc..Field navigation can pass through the row of industrial personal computer contexture by self robot
Walk path.Identification fruit color helps to carry out classification picking to the fruit of different colours in automatic harvesting, to adapt to the later period
To the different disposal of different colours fruit.After image processing system obtains the spatial positional information of fruit, by industrial personal computer to machinery
Arm carries out trajectory planning, and control mechanical arm is precisely harvested.
Summary of the invention
In view of the above technical problems, two-way simultaneous Softening, harvest efficiency are used the object of the present invention is to provide a kind of
It is high；Realize woodland independent navigation, it is high to complex road condition adaptability；Recovery process is flexible harvesting, can reduce fruit damage ratio；From
Dynamicization degree is high, and the amount of labour of worker can be effectively reduced；Strong applicability can be used for the harvesting of a variety of different fruits；Fruit can be achieved
Real classification harvesting, the extensive planer-type fruit automatic harvester device people of application scenarios.
To achieve the goals above, the present invention provides the following technical scheme that
A kind of planer-type fruit automatic harvester device people, including camera 3, gyroscope 22, walking mechanism, gantry mechanism,
Harvest mechanism and collection system；Wherein,
Walking mechanism includes chassis 1, crawler belt 2 and push rod 19；Wherein, crawler belt 2 is located at 1 lower part of chassis；Push rod 19 includes solid
Fixed end and tache motorice, the fixing end of push rod 19 are arranged on chassis 1, and the tache motorice of push rod 19 can be to the lateral movement on chassis 1；
The front end on chassis 1 is equipped with camera 3；
Gyroscope 22 is installed on chassis 1；
Gantry mechanism includes gantry beam 7, motor 13, column 15, turntable 16, supporting leg 17 and universal wheel 18；Wherein,
The tache motorice of supporting leg 17 and push rod 19 is connected；The upper end of supporting leg 17 be equipped with turntable 16, turntable 16 be positioned above
Column 15 be connected；By rotating turntable 16, gantry mechanism can be made to be rotated with 15 axle center of column；
Gantry beam 7 includes horizontal segment and vertical section；The upper end of column 15 and the horizontal segment of gantry beam 7 are connected with rack-and-pinion
It connects mode to be connected, by being mounted on the motor 13 of 15 upper end of column, gear rotation can be controlled, to drive 7 edge of gantry beam
Moved far from or close to the direction of column 15；The vertical section lower end of gantry beam 7 and the supporting leg 17 of column 15
Lower end is respectively equipped with universal wheel 18；
Harvesting mechanism includes the first lifting platform 14, the second lifting platform 5, first mechanical arm 9 and second mechanical arm 6；
First lifting platform 14 is connected with column 15, can move up and down along column 15, the first lifting platform 14 and first
Mechanical arm 9 is connected；Second lifting platform 5 is connected with the vertical section of gantry beam 7, can move up and down along the vertical section of gantry beam 7, the
Two lifting platforms 5 are connected with second mechanical arm 6；
First mechanical arm 9 and second mechanical arm 6 respectively include mechanical arm body 28, depth camera 29 and gripper 30；In machine
The end of tool arm body 28 is equipped with gripper 30 by mechanical arm motor box；Depth camera 29 is mounted on mechanical arm motor box,
Positioned at the top of gripper 30；
Collection system include upper hopper 8, lower funnel 21, the first hose 10, the second hose 11, third hose 20, air pump 12,
Slide unit 25, sliding slot 27 and turnover box 4；Wherein,
Upper hopper 8 is located on the horizontal segment of gantry beam 7, opening upwards；Air pump 12 is located at the upper end of column 15；Upper hopper
8 are connect by the first hose 10 with air pump 12, and air pump 12 is connect with the upper end of the second hose 11, the lower end of the second hose 11 and the
Three hoses 20 are connected by three ports；
Lower funnel 21 is fixed on column 15, opening upwards, and lower funnel 21 and third hose 20 connect, third hose 20
It is connected with slide unit 25；
Sliding slot 27 is arranged on chassis 1, and by motor driven, slide unit 25 can move back and forth horizontally on sliding slot 27；Week
Turnning box 4 is placed on chassis 1, and side is parallel with sliding slot 27.
Push rod 19 is using double push rod parallel modes.
First mechanical arm 9 and second mechanical arm 6 are six degree of freedom series connection mechanical arm.
Compared with prior art, the beneficial effects of the present invention are:
The present invention, by video camera to video capture is carried out in front of robot, passes through using industrial personal computer as control centre
Python+OpenCV carries out real-time Dynamic Recognition, extracts robot advance route by image processing techniques, then be aided with gyro
The correction of instrument, the two is used in combination, to realize the woodland independent navigation of robot.
Present invention application crawler type walking mechanism suitable for steadily moving ahead in orchard, and can rotate in place, to complicated road
Condition has certain flexibility and adaptability.
The present invention realizes release to gantry structure using double push rod parallel modes and withdraws that double push rod parallel modes can make dragon
The release of door and withdrawal process, which are stablized, to be carried out, and the shaking during this is reduced.
The present invention carries out fruit harvesting using the mode that convertible gantry mechanism is combined with mechanical arm.Before harvesting, produce
Gantry makes gantry across fruit tree, is harvested by the mechanical arm on the gantry of two sides to fruit.After harvesting, gantry is gone back to.
The span at gantry can be adjusted adaptively, adapt to different fruit tree width.
The present invention acquires fruit tree three-dimensional information by depth camera, identifies fruit color by image procossing, and to fruit
Space orientation is carried out, accurate, classification picking to fruit are then carried out by mechanical arm.
The present invention is conveyed by fruit of the flexible duct to harvesting, and assists conveying by air pump, and guarantee conveyed
The fairness of journey reduces the breakage rate of transmission process fruit.
The present invention harvests overall process and is controlled by industrial personal computer, it can be achieved that automating harvesting.
The present invention harvests job information and can be automatically stored, and operator is facilitated to inspect periodically adjustment equipment.
1, the present invention uses two-way simultaneous Softening, and harvest efficiency is high.
2, woodland independent navigation may be implemented in the present invention, high to complex road condition adaptability.
3, recovery process of the invention is flexible harvesting, can reduce fruit damage ratio.
4, the amount of labour of worker can be effectively reduced in high degree of automation of the present invention.
5, strong applicability of the present invention can be used for the harvesting of a variety of different fruits.
6, the classification harvesting of the achievable fruit of the present invention, application scenarios are extensive.
Detailed description of the invention
Fig. 1 is a kind of planer-type fruit automatic harvester device people's structure chart of the present invention；
Fig. 2 is working state schematic representation of the present invention；
Fig. 3 is body chassis rearview of the present invention；
Fig. 4 is body chassis top view of the present invention；
Fig. 5 is mechanical arm tail end detailed schematic of the invention.
Appended drawing reference therein are as follows:
1 chassis, 2 crawler belt
3 camera, 4 turnover box
5 second lifting platform, 6 second mechanical arm
7 gantry beam, 8 upper hopper
9 first mechanical arm, 10 first hose
11 second hose, 12 air pump
13 motor, 14 first lifting platform
15 column, 16 turntable
17 supporting leg, 18 universal wheel
19 push rod, 20 third hose
21 lower 22 gyroscopes of funnel
23 control panel, 24 display screen
25 slide unit, 26 outlet spout
The mechanical arm body of 27 sliding slot 28
29 depth camera, 30 gripper
31 fruit trees
Specific embodiment
Invention is further explained with reference to the accompanying drawings and examples.
As shown in Fig. 1~5, planer-type fruit automatic harvester device people of the invention includes camera 3, gyroscope 22, row
Walk mechanism, gantry mechanism, harvesting mechanism and collection system.Wherein:
Walking mechanism includes chassis 1, crawler belt 2 and push rod 19.
Crawler belt 2 is located at 1 lower part of chassis.Robot uses crawler travel mode, and the sprocket wheel on crawler belt is using elastic installation side
Formula can better adapt to the topography that field slightly just rises and falls, and guarantee that robot more smoothly walks.
Push rod 19 includes fixing end and tache motorice, and the fixing end of push rod 19 is arranged on chassis 1.The tache motorice energy of push rod 19
Enough lateral movements to chassis 1.Push rod 19 can reduce shaking using double push rod parallel modes, which, guarantee that push rod is released
With the stability of rollback, keep the overall operation of robot more stable.
The front end on chassis 1 is equipped with camera 3, and camera 3 can shoot the video in front of robot, and transfer data to
Industrial personal computer, industrial personal computer are handled video by image processing techniques, the advance route of robot are extracted, by extracting
Preceding road route control robot direction of advance.
Gyroscope 22 is installed on chassis 1, for the direction of advance of correcting robot, prevents robot from deviateing road
Line.
Gantry mechanism includes gantry beam 7, motor 13, column 15, turntable 16, supporting leg 17 and universal wheel 18.
The tache motorice of supporting leg 17 and push rod 19 is connected.The upper end of supporting leg 17 be equipped with turntable 16, turntable 16 be positioned above
Column 15 be connected.By rotating turntable 16, gantry mechanism can be made to be rotated with 15 axle center of column.
Gantry beam 7 includes horizontal segment and vertical section.The upper end of column 15 and the horizontal segment of gantry beam 7 are connected with rack-and-pinion
It connects mode to be connected, by being mounted on the motor 13 of 15 upper end of column, gear rotation can be controlled, to drive 7 edge of gantry beam
Moved far from or close to the direction of column 15.Which is adapted to the case where different 31 width of fruit tree, makes machine
Device people's application scenarios are more extensive.The vertical section lower end of gantry beam 7 and 17 lower end of supporting leg of column 15 are respectively equipped with universal
Wheel 18, can not only play a supporting role to gantry mechanism, but also gantry mechanism is made to have certain flexibility, can carry out well
Rotation and advance.
Harvesting mechanism includes the first lifting platform 14, the second lifting platform 5, first mechanical arm 9 and second mechanical arm 6.
First lifting platform 14 is connected with column 15, can move up and down along column 15, the first lifting platform 14 and first
Mechanical arm 9 is connected.Second lifting platform 5 is connected with the vertical section of gantry beam 7, can move up and down along the vertical section of gantry beam 7, the
Two lifting platforms 5 are connected with second mechanical arm 6.First lifting platform 14 and the second lifting platform 5, which pass through to move up and down, is suitable for different height
The fruit tree 31 of degree and fruit.
As shown in figure 5, first mechanical arm 9 and second mechanical arm 6 respectively include mechanical arm body 28, depth camera 29 and hand
Pawl 30.First mechanical arm 9 and second mechanical arm 6 are six degree of freedom series connection mechanical arm, are adapted to the position of different fruits.In machine
The end of tool arm body 28 is equipped with gripper 30 by mechanical arm motor box.The profiling finger of 30 front of gripper is in mechanical arm electricity
It is opened and closed under the driving of machine, clamps fruit.Depth camera 29 is mounted on mechanical arm motor box, positioned at the top of gripper 30.Depth
The color image and depth image of 29 shooting, collecting fruit tree 31 of camera, and transfer data to industrial personal computer, industrial personal computer to image into
Row is further processed, and is obtained the three-dimensional information of fruit tree 31, can be identified the color of fruit, and detects the space bit of fruit
It sets, by controlling the movement of mechanical arm and lifting platform, can be accurate to up to fruit position, and fruit is picked by gripper 30.
Collection system include upper hopper 8, lower funnel 21, the first hose 10, the second hose 11, third hose 20, air pump 12,
Slide unit 25, sliding slot 27 and turnover box 4.Wherein,
Upper hopper 8 is located on the horizontal segment of gantry beam 7, opening upwards, and air pump 12 is located at the upper end of column 15.Upper hopper
8 are connect by the first hose 10 with air pump 12, and air pump 12 is connect with the upper end of the second hose 11, the lower end of the second hose 11 and the
Three hoses 20 are connected by three ports.
Lower funnel 21 is fixed on column 15, opening upwards, and lower funnel 21 and third hose 20 connect, third hose 20
It is connected with slide unit 25.
Sliding slot 27 is arranged on chassis 1, and by motor driven, slide unit 25 can move back and forth horizontally on sliding slot 27.Week
Turnning box 4 is placed on chassis 1, and side is parallel with sliding slot 27, can be replaced immediately.
Upper hopper 8 receives the fruit that second mechanical arm 6 is picked, and enters the first hose 10, will by the suction of air pump 12
Fruit in first hose 10 is drawn onto the second hose 11, and enters third hose 20 by three ports.
Lower funnel 21 receives the fruit that first mechanical arm 9 is picked, and is directly entered third hose 20.Fruit in third hose 20
It is real to pass through slide unit 25, it is rolled out from the outlet spout 26 of the third hose 20 on slide unit 25, into turnover box 4.On slide unit 25 and chassis 1
Sliding slot 27 connect, by motor driven, the fruit of different colours can be put into week by the horizontal sliding on sliding slot 27 of slide unit 25
In the different zones of turnning box 4 separated.Specifically, mechanical arm believes the color of fruit via depth camera when picking fruit
Breath is sent to industrial personal computer.There are the different zones separated using partition in turnover box 4, industrial personal computer control outlet spout 26 is moved to difference
The fruit of different colours is placed into corresponding region by region.
Chassis 1, turntable 16, the first lifting platform 14, the second lifting platform 5 and slide unit 25 are respectively equipped with built-in motor.
Industrial personal computer and depth camera 29, air pump 12, mechanical arm motor and chassis 1, turntable 16, the first lifting platform 14, the
The electrical connection of the built-in motor of two lifting platforms 5 and slide unit 25.Industrial personal computer controls the advance on chassis 1, stops as complete machine control core
Vehicle；The rotation of turntable 16；The lifting of first lifting platform 14, the second lifting platform 5；Receive the image information of depth camera 29；Driving
First mechanical arm 8, second mechanical arm 5 complete picking movement；Control air pump 12 and the mobile packing storage for completing fruit of slide unit 25
Work.
Human-computer interaction interface is shown on control panel 23, control, letter in conjunction with display screen 24 for operator's realization to complete machine
The functions such as breath interaction.Display screen 24 and control panel 23 are mounted on above industrial personal computer, and control panel is located at 24 right side of display screen.
The course of work of the invention are as follows:
Start robot by control panel 23.When robot starting, the One On The Chassis video camera 3 starts simultaneously, shooting
Video in front of robot, and transfer data to and be integrated in the One On The Chassis industrial personal computer.In industrial personal computer to video at
Reason, extracts the advance route of robot.Robot advances by crawler belt 2, it is ensured that walks and stablizes in field.It is traveling across
Cheng Zhong can carry out correcting to the advance route of robot positioned at the One On The Chassis gyroscope 22, prevent robot from wandering off,
Cause adverse effect.
Before harvesting to fruit tree 31, push rod 19 releases gantry structure, and double push rod parallel types keep the process steady.Turntable
16 rotations, driving gantry structure, which is rotated by 90 °, to be produced, and carries out recovery operations.Robot moves ahead, and drives gantry structure across fruit tree
31.Column 15 is connect with turntable 16, is supported by supporting leg 17, and is equipped with universal wheel 18, convenient for gantry structure steering with before
Into.Column 15 is connect with gantry beam 7 by rack-and-pinion, and gantry span can be adjusted under the action of motor 13, is adapted to different
Tree is wide.First mechanical arm 9 is connected by the first lifting platform 14 with column 15, and second mechanical arm 6 passes through the second lifting platform 5 and dragon
Door beam 7 is connected, and can carry out autonomous height adjustment.Mechanical arm includes mechanical arm body 28, depth camera 29, gripper 30.Harvesting
When, the depth camera 29 in mechanical arm body 28 acquires 31 three-dimensional information of fruit tree, feeds back to industrial personal computer, is carried out by industrial personal computer
Processing, identifies the fruit of different colours, and carry out space orientation, mechanical arm cooperation shifting of being connected by lifting platform with six degree of freedom
It is dynamic, it is accurate to reach fruit position, and fruit is picked by gripper 30.Fruit is put into lower funnel 21 by first mechanical arm 9, into third
Hose 20；Fruit is put into upper hopper 8 by second mechanical arm 6, and by the first hose 10, fruit is sucked the second hose by air pump 12
11, and enter third hose 20 by three ports.Fruit in third hose 20 is rolled out by slide unit 25 from outlet spout 26, into
Enter turnover box 4, during being somebody's turn to do, flexible hose can effectively reduce fruit damage ratio.Slide unit 25 is connected with chassis 1 by sliding slot 27,
Slide unit 25 27 levels can slide along the chute, to realize the classified storage for different colours fruit.
After harvesting, push rod 19 retracts, and gantry mechanism is driven to withdraw, and the rotation of turntable 16 resets gantry mechanism, machine
People restPoses.
The process can show real-time status on the display 24, can carry out simple operations by control panel 23.
Claims (3)
1. a kind of planer-type fruit automatic harvester device people, it is characterised in that: including camera (3), gyroscope (22), vehicle with walking machine
Structure, gantry mechanism, harvesting mechanism and collection system；Wherein,
Walking mechanism includes chassis (1), crawler belt (2) and push rod (19)；Wherein, crawler belt (2) is located at chassis (1) lower part；Push rod
It (19) include fixing end and tache motorice, the fixing end of push rod (19) is arranged on chassis (1), and the tache motorice of push rod (19) can be to
The lateral movement on chassis (1)；
The front end on chassis (1) is equipped with camera (3)；
Gyroscope (22) are installed on chassis (1)；
Gantry mechanism includes gantry beam (7), motor (13), column (15), turntable (16), supporting leg (17) and universal wheel (18)；
Wherein,
Supporting leg (17) and the tache motorice of push rod (19) are connected；The upper end of supporting leg (17) be equipped with turntable (16), turntable (16) be located at
Column (15) above it is connected；By rotating turntable (16), gantry mechanism can be made with column (15) for axle center progress
Rotation；
Gantry beam (7) includes horizontal segment and vertical section；The upper end of column (15) and the horizontal segment of gantry beam (7) are with rack-and-pinion
Connection type is connected, and by being mounted on the motor (13) of column (15) upper end, gear rotation can be controlled, thus with driven portal
Beam (7) is moved along the direction far from or close to column (15)；The vertical section lower end of gantry beam (7) and column
(15) supporting leg (17) lower end is respectively equipped with universal wheel (18)；
Harvesting mechanism includes the first lifting platform (14), the second lifting platform (5), first mechanical arm (9) and second mechanical arm (6)；
First lifting platform (14) is connected with column (15), can move up and down along column (15), the first lifting platform (14) with
First mechanical arm (9) is connected；Second lifting platform (5) is connected with the vertical section of gantry beam (7), can be along the vertical of gantry beam (7)
Section moves up and down, and the second lifting platform (5) and second mechanical arm (6) are connected；
First mechanical arm (9) and second mechanical arm (6) respectively include mechanical arm body (28), depth camera (29) and gripper
(30)；In the end of mechanical arm body (28), gripper (30) are equipped with by mechanical arm motor box；Depth camera (29) is mounted on
On mechanical arm motor box, it is located at the top of gripper (30)；
Collection system include upper hopper (8), lower funnel (21), the first hose (10), the second hose (11), third hose (20),
Air pump (12), slide unit (25), sliding slot (27) and turnover box (4)；Wherein,
Upper hopper (8) is located on the horizontal segment of gantry beam (7), opening upwards；Air pump (12) is located at the upper end of column (15)；On
Funnel (8) is connect by the first hose (10) with air pump (12), and air pump (12) is connect with the upper end of the second hose (11), and second is soft
The lower end of pipe (11) is connect with third hose (20) by three ports；
Lower funnel (21) is fixed on column (15), opening upwards, and lower funnel (21) and third hose (20) connection, third are soft
Pipe (20) is connected with slide unit (25)；
Sliding slot (27) is arranged on chassis (1), and by motor driven, slide unit (25) can move back and forth horizontally on sliding slot (27)
It is dynamic；Turnover box (4) is placed on chassis (1), and side is parallel with sliding slot (27).
2. planer-type fruit automatic harvester device people as shown in claim 1, it is characterised in that: push rod (19) is using double push rods
Parallel mode.
3. planer-type fruit automatic harvester device people as shown in claim 1, it is characterised in that: first mechanical arm (9) and
Two mechanical arms (6) are six degree of freedom series connection mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910733013.2A CN110431999B (en) | 2019-08-09 | 2019-08-09 | Gantry type automatic fruit harvesting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910733013.2A CN110431999B (en) | 2019-08-09 | 2019-08-09 | Gantry type automatic fruit harvesting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110431999A true CN110431999A (en) | 2019-11-12 |
| CN110431999B CN110431999B (en) | 2020-08-11 |
Family
ID=68434155
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910733013.2A Active CN110431999B (en) | 2019-08-09 | 2019-08-09 | Gantry type automatic fruit harvesting robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111587666A (en) * | 2020-06-20 | 2020-08-28 | 青岛农业大学 | Agricultural cooperation robot with plant protection, picking function are integrative |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
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| CN203646084U (en) * | 2013-12-12 | 2014-06-18 | 刘静 | Intelligent and multifunctional operating vehicle |
| CN106852224A (en) * | 2016-12-23 | 2017-06-16 | 东莞理工学院 | A kind of automatic information collecting device based on wine-growing |
| CN109328652A (en) * | 2018-11-27 | 2019-02-15 | 山东农业大学 | A kind of castatopsis fissa grape picking machine and its control method |
| CN109479504A (en) * | 2018-12-31 | 2019-03-19 | 西北农林科技大学 | A kind of fruit and vegetable picking hexapod robot and its working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5426927A (en) * | 1994-07-26 | 1995-06-27 | Howard J. Greenwald | Automated fruit picker |
| CN203646084U (en) * | 2013-12-12 | 2014-06-18 | 刘静 | Intelligent and multifunctional operating vehicle |
| CN106852224A (en) * | 2016-12-23 | 2017-06-16 | 东莞理工学院 | A kind of automatic information collecting device based on wine-growing |
| CN109328652A (en) * | 2018-11-27 | 2019-02-15 | 山东农业大学 | A kind of castatopsis fissa grape picking machine and its control method |
| CN109479504A (en) * | 2018-12-31 | 2019-03-19 | 西北农林科技大学 | A kind of fruit and vegetable picking hexapod robot and its working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111587666A (en) * | 2020-06-20 | 2020-08-28 | 青岛农业大学 | Agricultural cooperation robot with plant protection, picking function are integrative |
| CN112720410A (en) * | 2020-12-25 | 2021-04-30 | 浙江理工大学 | Double-arm small fruit and vegetable harvesting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110431999B (en) | 2020-08-11 |
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