CN111480457A - Automatic visual identification picking device for Chinese prickly ash and control method thereof - Google Patents
Automatic visual identification picking device for Chinese prickly ash and control method thereof Download PDFInfo
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- CN111480457A CN111480457A CN202010361753.0A CN202010361753A CN111480457A CN 111480457 A CN111480457 A CN 111480457A CN 202010361753 A CN202010361753 A CN 202010361753A CN 111480457 A CN111480457 A CN 111480457A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- G06V20/40—Scenes; Scene-specific elements in video content
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- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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Abstract
The invention discloses an automatic visual identification picking device for peppers and a control method thereof. The lower part of the frame is provided with a power device, and the power device is connected with four wheels by a front shaft and a rear shaft and driven by a motor. The picture acquisition device is respectively positioned at the top end of the Z guide rail of the mobile device and on the operation part, and the picture acquired in real time is processed and compared with a target picture, and then a corresponding instruction is sent out to enable the operation part to work. The operation part consists of a three-degree-of-freedom mechanical arm, and a cutting blade is arranged at the foremost end of the three-degree-of-freedom mechanical arm, so that the picking of the Chinese prickly ash is realized. The invention can replace manpower to realize the high-efficiency automatic picking action of the Chinese prickly ash, thereby realizing manual assistance or unmanned operation and simultaneously carrying out adaptive control according to various garden conditions.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to an automatic visual identification and picking device for peppers and a control method thereof.
Background
The pepper is an economic crop widely planted in China. At present, harvesting mainly depends on manual picking and auxiliary harvesting by means of simple tools such as scaling ladders, fruit picking knives and the like. The research on the forest fruit harvesting machinery is still in the beginning stage in China, and mature and advanced practical machines and tools are not reported yet. In the harvesting mode adopted in the prior art, although the harvesting efficiency of the peppers can be better improved, the required manual labor force is still huge.
Meanwhile, the machine vision, the image processing technology and the navigation technology are greatly developed, the machine vision technology is an indispensable technology for realizing automation of various agricultural productions such as control of growth environment of animals and plants, planting, weeding, pruning, picking, plant protection, fertilization and cultivation, and the normal work of any agricultural production robot depends on correct identification of a working object; the navigation technology is popularized and applied in the operation of automobiles, airplanes, ships and the like, and for agricultural robots walking in a large range, an important research subject is to establish a navigation system for determining the position and the walking direction of a robot body, so the navigation technology is very important.
The existing unmanned automobile technology has a certain level, namely research results of image processing, path planning and control system research can be referred to, but as a robot system for agricultural cultivation, the covered technical content is common to the common unmanned automobile and has great difference. The countries such as japan and usa have been developed earlier in research of agricultural robots and have relatively mature technologies, and various agricultural production robots, transplanting robots, fertilizing robots, etc. have been developed, and the technologies and applications thereof are in the front of the world. The research of China on the aspect of agricultural robots also achieves certain achievements, for example, the vegetable grafting robot developed by the Chinese agriculture university is widely applied. The robot for picking cones developed by northeast forestry university well solves the problem of picking cones by hand tools in the manual market. But also has certain problem simultaneously, and the intelligent degree that general agricultural robot exists is not enough, too much needs artificial intervention, often leads to the fact too high manufacturing cost.
Disclosure of Invention
The invention provides a pepper automatic visual identification picking device and a control method thereof, which solve the defects of low intelligent degree and low picking efficiency of a pepper picking robot in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the automatic visual identification picking device for the Chinese prickly ash comprises a frame, a power device, a walking device, a moving device and an operation part; the power device is positioned at the lower part of the frame, the upper part of the frame is provided with a moving device, and the top end of the moving device is provided with an operation part; the operation part comprises a rotating chassis connected with the top of the moving device, the rotating chassis is connected with a first mechanical arm through a first steering engine, the first mechanical arm is connected with a second mechanical arm through a second steering engine, the top of the front end of the second mechanical arm is connected with a cutting blade, the cutting blade comprises a movable blade and a fixed blade, and the movable blade is connected with a small motor; the mobile device is provided with a video device; the frame is provided with a GPS navigation device, a gyroscope, a horizontal sensor, a speed sensor and an electric control system.
Furthermore, the moving device is composed of an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, the X-axis guide rail is connected with the Y-axis guide rail through a first clamping groove, the X-axis guide rail is connected with the Z-axis guide rail through a second clamping groove, and the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail are driven by a motor to operate and are controlled by an electric control system.
Furthermore, the video equipment comprises a first camera and a second camera, the second camera is arranged at the top of the Z axis of the moving device, the first camera is arranged at the front end of the second mechanical arm, and the first camera and the second camera have an image recognition function and an automatic dust removal function.
Furthermore, the walking device is connected with a brake mechanism.
Further, the power device comprises an engine or a battery.
Further, when the engine is adopted as a power device, the automatic pepper picking device further comprises a throttle control mechanism, a gear shifting mechanism and a clutch device, wherein the throttle control mechanism and the gear shifting mechanism are connected with the engine, the throttle control mechanism is used for controlling power output of the engine, and the gear shifting mechanism is used for controlling and adjusting power transmission.
The control method of the automatic visual identification picking device for the peppers comprises the following steps:
s1: the remote control device is used for controlling a receiving device arranged in the electric control system to work and setting an initial running direction, and the remote control device controls the electric control system to work through signals;
s2: checking whether the remote control device sends a stop command or not, if so, executing S12, if not, the electric control system analyzes the road surface condition of the running direction according to the video images collected by the first camera and the second camera, judging whether a target object exists in the front of the running direction, if not, searching the target through the adjustment of the second camera, determining the advancing direction of the locomotive, and executing S9;
s3, analyzing the road condition of the running direction according to the video images collected by the first camera and the second camera, judging whether the running front is an obstacle or a ravine, if no object is found, the locomotive continues to move forward to search for the object in the original direction, if the obstacle or the ravine is found, the obstacle is avoided or the direction of the locomotive is determined by adjusting the second camera,
s4: if the target object same as the sample exists, respectively judging the distance between the obstacle and the vehicle body by using the ultrasonic sensor and the infrared sensor, comprehensively judging the image result and the sensor result to obtain a distance signal, and if the distance is greater than a first threshold value, for example, more than 2 meters, continuing to move forwards;
s5: when the distance is smaller than a first threshold value, adjusting a given running speed, shifting gears, continuously correcting the accelerator according to a speed sensor, enabling the vehicle to run forwards when the vehicle speed is small, and judging whether the vehicle needs to run forwards when the distance is smaller than a second threshold value, for example, 0.1 meter;
s6: detecting the gradient of the current road surface through a gyroscope and a level sensor, and executing S7 if the detected current gradient is larger than a certain gradient;
s7: controlling the lens of the second camera to rotate 180 degrees, enabling the set running direction to be reverse, controlling the gear shifting device, the clutch device and the accelerator control mechanism to run by the electric control system, judging to turn left or right by a certain angle according to the result of image analysis, when the camera runs to a first threshold value away from a next target object which is the same as the sample, executing S8 according to a signal whether to continue to move ahead obtained by S5 if the camera needs to move ahead, and executing S9 if the camera does not need to move ahead;
s8: the electric control system controls the gear shifting device, the clutch device and the accelerator control mechanism to operate, judges that the gear shifting device, the clutch device and the accelerator control mechanism turn left or right for a certain angle according to the result of image analysis so as to search for a picking point suitable for a target object, gives a low-speed operating speed, shifts gears, reduces the accelerator, reduces the speed, measures a real-time speed through a speed sensor, and judges whether an oil way needs to be reduced or not;
s9: through image analysis, when a certain angle difference exists between the rotating angle and the target object, the direction is adjusted to enable the wheels of the vehicle to be aligned, the vehicle is driven to move straight for a certain time, the distance between the vehicle body and the target object is continuously detected through an image analysis method in the time period, and whether a larger direction needs to be adjusted again to return to a workable path for operation is judged;
s10: judging whether the current position is within the range of an operation point or not, if so, starting picking operation, controlling the gear shifting device, the clutch device and the accelerator control mechanism to operate by the electric control system, stopping the vehicle after the operation point is reached, controlling the stretching and the rotation of the mechanical arm by the electric control system, and starting the operation of the movable blade to realize the picking of the target object; execution of S2;
s11: if not, adjusting the original running direction of the locomotive, adjusting a large angle, running for a small amount of time, continuously judging the distance between the locomotive body and the edge of the target object by using the image, starting to finely adjust the positions of the mechanical arm and the cutting blade when the distance reaches a certain small value, enabling the cutting blade to reach the optimal operation point, and starting to execute S2;
s12: the electric control system controls the gear shifting device to be in a stop state, cuts off the clutch device and stops the throttle control mechanism.
The invention has the following beneficial effects:
the device can replace manpower to realize uninterrupted and fatigue-free farming behaviors so as to realize unmanned operation, and the device realizes the capabilities of autonomous learning, analysis and storage, path re-planning and the like by means of the self-learning functions of fuzzy logic, neural network and intelligent simulation technology, so that the artificial intervention is reduced to the maximum extent, and the aim of automatic operation is fulfilled; meanwhile, the adaptability control can be carried out according to various road conditions.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention.
In the figure, 1-a frame, 2-a power device, 3-a walking device, 4-a moving device, 5-a working part, 6-an X-axis guide rail, 7-a Y-axis guide rail, 8-a Z-axis guide rail, 9-a rotating chassis, 10-a first mechanical arm, 11-a second mechanical arm, 12-a first camera, 13-a second camera, 14-a cutting blade, 15-a movable blade, 16-a fixed blade, 17-a first steering engine, 18-a second steering engine, 19-a first clamping groove, 20-a second clamping groove, 21-a walking transmission shaft and 22-an electric control system.
Detailed Description
The invention is described in further detail below with reference to the figures and the examples, but without limiting the invention.
An automatic vision recognition picking device for peppers as shown in fig. 1 comprises a frame 1 and a power device 2, wherein the power device 2 is positioned at the lower part of the frame 1 and is used for providing power for the whole automatic vision recognition picking device for peppers, and the power device 2 can be an engine or a battery or other devices capable of providing power as a preference.
The lower part of the frame 1 is provided with a walking device 3, the walking device 3 is used for bearing the whole automatic visual identification picking device of the Chinese prickly ash and driving the automatic visual identification picking device of the Chinese prickly ash to move back and forth or rotate left and right, and the power device 2 and the walking device 3 are connected through a walking transmission shaft 21 and transmit power. The front and the back of the walking device 3 are provided with an infrared sensor and an ultrasonic sensor which are used for detecting the front and the back road information of the automatic pepper picking device, and the road information comprises barrier information and the like.
In addition, a GPS navigation device, a gyroscope, a horizontal sensor and a speed sensor are arranged on the frame 1, wherein the GPS navigation device is used for acquiring position coordinate information of the automatic pepper picking device and planning a path by using the position coordinate information and a previous GPS running track, the gyroscope and the horizontal sensor are used for acquiring gradient information of a road surface where the automatic pepper picking device is located, and the speed sensor is used for measuring the running speed of the current automatic pepper picking device.
A cutting blade 14 for work is attached to the front of the second mechanical arm 11, the cutting blade 14 including a movable blade 15 and a fixed blade 16, and specifically, the cutting blade 14 connects the movable blade 15 and the fixed blade 16 together by a small motor.
Video equipment is installed on the top of the middle of the mobile device 4 and the most front end of the second mechanical arm 11, and preferably a first camera 12 and a second camera 13 can be adopted, wherein the models of the first camera 12 and the second camera 13 are not required, but 360-degree rotation shooting can be realized to acquire images of the road surface in all directions. The first camera 12 and the second camera 13 have an image recognition function, that is, the first camera 12 and the second camera 13 can recognize information such as trees, and can also recognize other obstacles and situations that may hinder the operation of the device, such as walls and deep trenches, by recognizing a target obstacle. In addition, the mirror surfaces of the first camera 12 and the second camera 13 have an automatic dust removing function, and specifically, the function is realized by a pneumatic dust removing device arranged on the first camera 12 and the second camera 13, and the pneumatic dust removing device can have various options, for example, an air storage tank is arranged on the frame 1, and an air blowing nozzle is arranged on the mirror surfaces of the first camera 12 and the second camera 13, so as to blow air to the mirror surfaces to realize the purpose of dust removal.
The power device 2 is also provided with an electric control system 14, the electric control system 14 is used for carrying out data analysis and corresponding control on the operation of the whole pepper picking device, and the object of the data analysis comprises the analysis of information such as a road surface in front of the device and the like, the analysis of the operation path of the selected power part and the like. In addition, in the actual control, the path planning and obstacle avoidance and target object finding are performed by using position coordinate information, image information, various sensor information and the like, the power output of the power device 2 is controlled, and the running angles of the first mechanical arm 10 and the second mechanical arm 11 are controlled by controlling the rotating chassis 9, so that the position of the cutting blade 14 is adjusted to reach the optimal picking point.
In addition, the pepper picking device further comprises a brake mechanism, wherein the brake mechanism is connected with the walking device 3 and used for braking the walking device 3. When the engine is used as the power device 2, the small intelligent pepper picking device further comprises an accelerator control mechanism, a gear shifting mechanism and a clutch device, wherein the accelerator control mechanism and the gear shifting mechanism are connected with the engine, the accelerator control mechanism is used for controlling power output of the engine, and the gear shifting mechanism is used for controlling and adjusting power transmission. In order to operate the small intelligent automatic pepper picking device in the invention more conveniently, the device also comprises a remote control device which is communicated and matched with a receiving device in the electric control system 14. Thus, the operator uses the remote controller to realize the starting and stopping, the front and back running, the turning and the working state of the blade in the running process, and the analysis and selection are carried out according to the image, the ultrasonic wave and the infrared sensor, thereby realizing the unmanned operation.
When the automatic vision identification picking device for the peppers is used for operation, the specific control method is as follows:
s1: the remote control device is used for controlling a receiving device arranged in the electric control system 22 to work and setting an initial running direction, and the remote control device controls the electric control system 22 to work through signals;
s2: checking whether the remote control device sends a stop command or not, if so, executing S12, if not, the electronic control system 22 analyzes the road surface condition of the running direction according to the video images collected by the first camera 12 and the second camera 13, judging whether a target object exists in the front of the running, if not, searching the target through the adjustment of the second camera 13, determining the advancing direction of the locomotive, and executing S9;
s3, analyzing the road condition in the running direction according to the video images collected by the first camera 12 and the second camera 13, judging whether there is an obstacle or a ravine in the running front, if no object is found, the locomotive continues to move forward in the original direction to search for the object, if an obstacle or a ravine is found, the obstacle is avoided or the direction of the locomotive is determined by adjusting the second camera 13,
s4: if the target object same as the sample exists, respectively judging the distance between the obstacle and the vehicle body by using the ultrasonic sensor and the infrared sensor, comprehensively judging the image result and the sensor result to obtain a distance signal, and if the distance is greater than a first threshold value, for example, more than 2 meters, continuing to move forwards;
s5: when the distance is smaller than a first threshold value, adjusting a given running speed, shifting gears, continuously correcting the accelerator according to a speed sensor, enabling the vehicle to run forwards when the vehicle speed is small, and judging whether the vehicle needs to run forwards when the distance is smaller than a second threshold value, for example, 0.1 meter;
s6: detecting the gradient of the current road surface through a gyroscope and a level sensor, and executing S7 if the detected current gradient is larger than a certain gradient;
s7: controlling the lens of the second camera 13 to rotate 180 degrees, the set running direction is reverse, the electronic control system 22 controls the gear shifting device, the clutch device and the accelerator control mechanism to run, judging to turn left or right at a certain angle according to the result of image analysis, when the next target object which is the same as the sample runs to a certain distance, executing S8 if the target object needs to go forward, and executing S9 if the target object does not need to go forward according to a signal whether the target object needs to go forward and obtained by S5 if the target object needs to go forward;
s8: the electric control system 22 controls the gear shifting device, the clutch device and the accelerator control mechanism to operate, judges that the picking point suitable for the target object is turned to a certain angle leftwards or rightwards according to the image analysis result, gives a low-speed operation speed, shifts gears, reduces the accelerator, reduces the speed, measures the real-time speed through the speed sensor, and judges whether the oil way needs to be reduced or not;
s9: through image analysis, when a certain angle difference exists between the rotating angle and the target object, the direction is adjusted to enable the wheels of the vehicle to be aligned, the vehicle is driven to move straight for a certain time, the distance between the vehicle body and the target object is continuously detected through an image analysis method in the time period, and whether a larger direction needs to be adjusted again to return to a workable path for operation is judged;
s10: judging whether the current position of the image is within the range of an operation point, if so, starting picking operation, controlling the gear shifting device, the clutch device and the accelerator control mechanism to operate by the electronic control system 22, stopping the vehicle after the operation point is reached, controlling the mechanical arm to stretch and rotate by the electronic control system 22, and starting the movable blade to operate to realize the picking of the target object; execution of S2;
s11: if not, adjusting the original running direction of the locomotive, adjusting a large angle, running for a small amount of time, continuously judging the distance between the locomotive body and the edge of the target object by using the image, starting to finely adjust the positions of the mechanical arm and the cutting blade when the distance reaches a certain small value, enabling the cutting blade to reach the optimal operation point, and starting to execute S2;
s12: the electronic control system 22 controls the gear shifting device to a stop state, disconnects the clutch device and stops the throttle control mechanism.
While there has been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the principles of the invention, and it is intended to cover all such changes and modifications as fall within the true scope of the invention.
Claims (7)
1. The automatic visual identification picking device for the peppers is characterized by comprising a frame (1), a power device (2), a walking device (3), a moving device (4) and an operation part (5); the power device (2) is positioned at the lower part of the frame (1), the upper part of the frame (1) is provided with a moving device (4), and the top end of the moving device (4) is provided with an operation part (5); the operation part comprises a rotating chassis (9) connected with the top of the moving device (4), the rotating chassis (9) is connected with a first mechanical arm (10) through a first steering engine (17), the first mechanical arm (10) is connected with a second mechanical arm (11) through a second steering engine (18), the top of the front end of the second mechanical arm (11) is connected with a cutting blade (14), the cutting blade (14) comprises a movable blade (15) and a fixed blade (16), and the movable blade (15) is connected with a small motor; video equipment is arranged on the mobile device (4); the frame (1) is provided with a GPS navigation device, a gyroscope, a horizontal sensor, a speed sensor and an electric control system (22).
2. The automatic visual identification and picking device for the peppers according to claim 2, wherein the moving device (4) is composed of an X-axis guide rail (6), a Y-axis guide rail (7) and a Z-axis guide rail (8), the X-axis guide rail (6) and the Y-axis guide rail (7) are connected through a first clamping groove (19), the X-axis guide rail (6) and the Z-axis guide rail (8) are connected through a second clamping groove (20), and the X-axis guide rail (6), the Y-axis guide rail (7) and the Z-axis guide rail (8) are driven by motors to run and are controlled by an electric control system (22).
3. The prickly ash automatic visual identification picking device according to claim 1 or 2, characterized in that, the video equipment includes a first camera (12) and a second camera (13), the second camera (13) is arranged on the top of the Z axis of the mobile device (4), the first camera (12) is arranged at the front end of the second mechanical arm (11), and the first camera (12) and the second camera (13) have image recognition function and automatic dust removal function.
4. The automatic visual identification and picking device for the peppers according to claim 3, wherein the walking device (3) is connected with a brake mechanism.
5. The pepper automatic visual identification picking device according to claim 4, characterized in that the power device (2) comprises an engine or a battery.
6. The automatic visual identification picking device for Chinese prickly ash according to claim 5, characterized in that when said engine is used as the power device (2), the automatic picking device for Chinese prickly ash further comprises a throttle control mechanism, a gear shifting mechanism and a clutch device, wherein the throttle control mechanism and the gear shifting mechanism are connected with the engine, the throttle control mechanism is used for controlling the power output of the engine, and the gear shifting mechanism is used for controlling and adjusting the power transmission.
7. The automatic visual identification picking device for Chinese prickly ash according to claim 1, characterized in that the control method of the picking device comprises the following steps:
s1: a remote control device is used for controlling a receiving device arranged in an electric control system (22) to work and setting an initial running direction, and the remote control device controls the electric control system (22) to work through signals;
s2: checking whether the remote control device sends a stop command or not, if so, executing S12, if not, the electronic control system (22) analyzes the road surface condition in the running direction according to the video images collected by the first camera (12) and the second camera (13), judges whether a target object exists in the front of the running, if not, the target object is searched through the adjustment of the second camera (13), determines the advancing direction of the locomotive, and executing S9;
s3, analyzing the road condition of the running direction according to the video images collected by the first camera (12) and the second camera (13), judging whether an obstacle or a ravine exists in the running front, if no object is found, the locomotive continues to move forward in the original direction to search for the object, if an obstacle or a ravine is found, the obstacle is avoided or the direction of the locomotive is determined by adjusting the second camera (13),
s4: if the target object same as the sample exists, respectively judging the distance between the obstacle and the vehicle body by using the ultrasonic sensor and the infrared sensor, comprehensively judging the image result and the sensor result to obtain a distance signal, and if the distance is greater than a first threshold value, for example, more than 2 meters, continuing to move forwards;
s5: when the distance is smaller than a first threshold value, adjusting a given running speed, shifting gears, continuously correcting the accelerator according to a speed sensor, enabling the vehicle to run forwards when the vehicle speed is small, and judging whether the vehicle needs to run forwards when the distance is smaller than a second threshold value, for example, 0.1 meter;
s6: detecting the gradient of the current road surface through a gyroscope and a level sensor, and executing S7 if the detected current gradient is larger than a certain gradient;
s7: controlling the lens of the second camera (13) to rotate 180 degrees, enabling the set running direction to be reverse, controlling the gear shifting device, the clutch device and the accelerator control mechanism to run by the electronic control system (22), judging to turn left or right at a certain angle according to the result of image analysis, when the next target object with the same distance as the sample is reached, obtaining a signal whether to continue to move ahead according to S5, if so, executing S8, and if not, executing S9;
s8: the electric control system (22) controls the gear shifting device, the clutch device and the accelerator control mechanism to operate, judges that the picking point is turned to a certain angle leftwards or rightwards according to the image analysis result so as to search for a picking point suitable for the target object, gives a low-speed operation speed, shifts gears, reduces the accelerator and the speed, measures the real-time speed through the speed sensor, and judges whether an oil way needs to be reduced or not;
s9: through image analysis, when a certain angle difference exists between the rotating angle and the target object, the direction is adjusted to enable the wheels of the vehicle to be aligned, the vehicle is driven to move straight for a certain time, the distance between the vehicle body and the target object is continuously detected through an image analysis method in the time period, and whether a larger direction needs to be adjusted again to return to a workable path for operation is judged;
s10: judging whether the current position is within the range of the operation point or not, if so, starting picking operation, controlling the gear shifting device, the clutch device and the accelerator control mechanism to operate by the electronic control system (22), stopping the vehicle after the operation point is reached, controlling the mechanical arm to stretch and rotate by the electronic control system (22), and starting the movable blade to operate to realize picking of the target object; execution of S2;
s11: if not, adjusting the original running direction of the locomotive, adjusting a large angle, running for a small amount of time, continuously judging the distance between the locomotive body and the edge of the target object by using the image, starting to finely adjust the positions of the mechanical arm and the cutting blade when the distance reaches a certain small value, enabling the cutting blade to reach the optimal operation point, and starting to execute S2;
s12: the electronic control system (22) controls the gear shifting device to be in a stop state, cuts off the clutch device and stops the throttle control mechanism.
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| CN112166813A (en) * | 2020-10-21 | 2021-01-05 | 重庆交通职业学院 | Automatic picking mechanism for Chinese prickly ash |
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| CN113519288A (en) * | 2021-07-14 | 2021-10-22 | 西南大学 | Multi-degree-of-freedom pepper branch automatic cutting device based on path planning |
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| CN112166813A (en) * | 2020-10-21 | 2021-01-05 | 重庆交通职业学院 | Automatic picking mechanism for Chinese prickly ash |
| CN113261429A (en) * | 2021-06-23 | 2021-08-17 | 安徽农业大学 | Intelligent walnut picking vehicle |
| CN113519288A (en) * | 2021-07-14 | 2021-10-22 | 西南大学 | Multi-degree-of-freedom pepper branch automatic cutting device based on path planning |
| CN113519288B (en) * | 2021-07-14 | 2022-06-21 | 西南大学 | Multi-degree-of-freedom pepper branch automatic cutting device based on path planning |
| CN114271118A (en) * | 2021-12-27 | 2022-04-05 | 广州极飞科技股份有限公司 | Array type crop processing device, crop processing equipment and crop processing method |
| CN115211312A (en) * | 2022-06-27 | 2022-10-21 | 中国农业科学院都市农业研究所 | A synthesize management and control system for container formula farm is planted |
| CN115316126A (en) * | 2022-08-02 | 2022-11-11 | 华南农业大学 | Device is picked to shaddock |
| CN116267236A (en) * | 2023-05-23 | 2023-06-23 | 四川省机械研究设计院(集团)有限公司 | Cluster fruit picking robot |
| CN116267236B (en) * | 2023-05-23 | 2023-08-25 | 四川省机械研究设计院(集团)有限公司 | Cluster Fruit Picking Robot |
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