CN111742709A - Banana picking device and method based on depth vision - Google Patents
Banana picking device and method based on depth vision Download PDFInfo
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Abstract
The invention discloses a depth vision-based banana picking device and a picking method, wherein the device comprises a lifting mechanism, a linear moving mechanism, a picking mechanism, a depth camera and a control platform, the depth camera is arranged on the picking mechanism, the picking mechanism is arranged on the linear moving mechanism, the linear moving mechanism is arranged on the lifting mechanism, the lifting mechanism is used for driving the linear moving mechanism to do lifting motion, the linear moving mechanism is used for driving the picking mechanism to do plane motion, and the control platform is respectively connected with the lifting mechanism, the linear moving mechanism, the picking mechanism and the depth camera. The banana picking machine disclosed by the invention can be used for solving the current situation that the banana picking mode is mainly manual picking, achieving the purpose of mechanically picking bananas, realizing depth visual identification by adopting a depth camera on the basis of mechanization, intelligently and accurately aligning to the fruit stems of banana clusters to be picked and picking the banana clusters, and having the characteristics of high picking efficiency, labor saving, accurate picking and the like.
Description
Technical Field
The invention relates to a banana picking device, in particular to a banana picking device and method based on depth vision, and belongs to the field of banana picking.
Background
China is one of the ancient countries in the world where bananas are cultivated, and India, Ecuador, Columbia and Gosida Rica are the countries in the world where banana yield is the greatest, and the banana yield in five countries accounts for half of the world banana yield. Bananas are the second largest fruit in the world after citrus, and the trading volume of bananas is the first to the trading volume of fruits in the world. The banana can meet the dietary requirements of consumers as fruit and grain, and the market demand industry is very large. Chinese bananas are mainly distributed in southern China such as Guangdong, Guangxi, Fujian, Taiwan, Yunnan and Hainan, China has broad breadth and numerous population, the demand for fruits is large, the yield and the planting area of the bananas tend to rise year by year, and the bananas still have great potential in the market of China.
At present, the existing banana picking basically depends on manual picking after falling, and the picking mode has the disadvantages of large labor amount, low efficiency and high picking cost, and also seriously influences the harvest quality of bananas and the large-scale and mechanical production of bananas.
Disclosure of Invention
In view of the above, the invention provides a depth vision-based banana picking device and method, which achieve the purpose of mechanically picking bananas by solving the current situation that the banana picking mode is still mainly based on manual picking, and meanwhile, realize depth vision identification by adopting a depth camera on the basis of mechanization, can intelligently and accurately aim at the fruit stem of a banana cluster to be picked, and has the characteristics of high picking efficiency, labor saving, accurate picking and the like.
The first purpose of the invention is to provide a banana picking device based on depth vision.
The second purpose of the invention is to provide a banana picking method based on the device.
The first purpose of the invention can be achieved by adopting the following technical scheme:
the utility model provides a banana harvesting device based on degree of depth vision, includes elevating system, linear motion mechanism, picking mechanism, degree of depth camera and control cabinet, the degree of depth camera sets up on picking mechanism, picking mechanism sets up on linear motion mechanism, linear motion mechanism sets up on elevating system, elevating system is used for driving linear motion mechanism and is elevating movement, linear motion mechanism is used for driving picking mechanism and is plane motion, the control cabinet is connected with elevating system, linear motion mechanism, picking mechanism, degree of depth camera respectively.
Furthermore, the lifting device also comprises a traveling mechanism, and the lifting mechanism is arranged on the traveling mechanism.
Further, running gear includes frame, preceding wheel, rear wheel, first axletree, second axletree, steering wheel, shock attenuation part and turns to the part, elevating system sets up on the frame, preceding wheel and rear wheel are two, connect through first axletree between two preceding wheels, connect through the second axletree between two rear wheels, first axletree and second axletree all are connected with the frame through shock attenuation part, the steering wheel is fixed on turning to the part, turn to the part and be connected with first axletree.
Further, elevating system includes the base, cuts fork lifting unit, hydraulic drive subassembly and work platform, hydraulic drive subassembly sets up on the base, and hydraulic drive subassembly is connected with cutting fork lifting unit, control cabinet respectively for it is elevating movement to drive cuts fork lifting unit, work platform sets up on cutting fork lifting unit, rectilinear movement mechanism sets up on work platform.
Furthermore, the hydraulic driving assembly comprises a hydraulic cylinder and a hydraulic plunger rod, and the hydraulic cylinder is connected with the console and connected with the first end of the hydraulic plunger rod;
the scissor type lifting assembly comprises at least two support rod groups, the support rod groups are sequentially arranged from top to bottom, each support rod group comprises four support rods, the four support rods are respectively a first support rod, a second support rod, a third support rod and a fourth support rod, the first support rod and the second support rod are symmetrically arranged, the third support rod and the fourth support rod are symmetrically arranged, the middle part of the first support rod and the middle part of the third support rod are respectively hinged with the first end of the first cross rod, and the middle parts of the second support rod and the fourth support rod are respectively hinged with the second end of the first cross rod;
for the lowest support rod group, the first end of the first support rod and the first end of the second support rod are respectively hinged with two ends of the second cross rod, and the first end of the third support rod and the first end of the fourth support rod are respectively hinged with two ends of the third cross rod; the second cross rod and the third cross rod are arranged on the base, first sliding grooves capable of enabling the second cross rod to slide are formed in two sides of the base, and the second end of the hydraulic plunger rod is connected with the second cross rod;
for the uppermost supporting rod group, the first end of the first supporting rod and the first end of the second supporting rod are respectively hinged with two ends of the fourth cross rod, and the first end of the third supporting rod and the first end of the fourth supporting rod are respectively hinged with two ends of the fifth cross rod; the fourth cross bar and the fifth cross bar are arranged at the bottom of the working platform, and second sliding grooves capable of enabling the fourth cross bar to slide are formed in two sides of the bottom of the working platform;
for the upper and lower two adjacent support rod groups, the second end of the first support rod of the lower support rod group and the second end of the third support rod of the upper support rod group are respectively hinged with the first end of the sixth cross rod, and the second end of the second support rod of the lower support rod group and the second end of the fourth support rod of the upper support rod group are respectively hinged with the second end of the sixth cross rod; the second end of the third supporting rod of the lower supporting rod group and the second end of the first supporting rod of the upper supporting rod group are respectively hinged with the first end of the seventh cross rod, and the second end of the fourth supporting rod of the lower supporting rod group and the second end of the second supporting rod of the upper supporting rod group are respectively hinged with the second end of the seventh cross rod.
Further, the linear moving mechanism comprises an X-axis linear moving assembly and a Y-axis linear moving assembly;
the X-axis linear movement assembly comprises a first driving motor, a first lead screw, a first screw block, a first sliding block, a first guide rail and a first fixing plate, the first driving motor is connected with the console, the first end of the first lead screw is connected with the first driving motor, the second end of the first lead screw is connected with the first screw block, the Y-axis linear movement assembly is arranged on the first sliding block, the first sliding block is arranged on the first guide rail in a sliding mode, the first sliding block is in spiral connection with the first lead screw, and the first driving motor, the first screw block and the first guide rail are arranged on the first fixing plate;
the Y-axis linear moving assembly comprises a second driving motor, a second lead screw, a second screw block, a second sliding block, a second guide rail and a second fixing plate, the second driving motor is connected with the control console, the first end of the second lead screw is connected with the second driving motor, the second end of the second lead screw is connected with the first screw block, the picking mechanism is arranged on the second sliding block, the second sliding block is arranged on the second guide rail in a sliding mode, the second sliding block is connected with the second lead screw in a spiral mode, and the second driving motor, the second screw block and the second guide rail are arranged on the second fixing plate.
Further, picking mechanism includes centre gripping subassembly and cutting assembly, the degree of depth camera sets up on cutting assembly, cutting assembly sets up on centre gripping subassembly, centre gripping subassembly sets up on rectilinear movement mechanism.
Further, the centre gripping subassembly includes third fixed plate, cylinder push rod, connecting rod, centre gripping arm and support frame, the third fixed plate sets up on rectilinear movement mechanism, the cutting subassembly sets up on the support frame, cylinder and support frame setting are on the third fixed plate, and the cylinder is connected with the control cabinet, and cylinder, cylinder push rod and push rod connect gradually, push rod, connecting rod and centre gripping arm are articulated in proper order.
Further, the cutting assembly comprises a fourth fixing plate, a chain saw driving motor, a cutting driving motor, a first transmission gear, a second transmission gear, a third transmission gear, a fourth transmission gear, a first transmission shaft, a second transmission shaft, a gear cover, a fixing upper cover, a fixing lower plate and a chain saw, the depth camera is arranged on the fourth fixing plate, the fourth fixing plate is arranged on the clamping assembly, the chain saw is arranged between the fixing upper cover and the fixing lower plate, and the chain saw driving motor and the cutting driving motor are respectively connected with the control console;
the chain saw driving motor is arranged on the upper portion of the gear cover, a motor shaft of the chain saw driving motor penetrates through the gear cover and then is connected with the first transmission gear, the first transmission gear is meshed with the second transmission gear, the second transmission gear is connected with the first end of the first transmission shaft, and the second end of the first transmission shaft penetrates through the fixed upper cover and then is connected with the chain saw;
the cutting driving motor is arranged at the lower part of the fourth fixing plate, a motor shaft of the cutting driving motor penetrates through the fourth fixing plate and then is connected with the third transmission gear, the third transmission gear is meshed with the fourth transmission gear, the fourth transmission gear is connected with the first end of the second transmission shaft, and the second end of the second transmission shaft is connected with the fixing lower plate.
The second purpose of the invention can be achieved by adopting the following technical scheme:
a banana picking method based on the device comprises the following steps:
when the banana clusters with different heights are picked, the lifting mechanism is controlled by the control console to drive the linear moving mechanism to ascend or descend, so that the picking mechanism and the depth camera ascend or descend;
when the picking mechanism reaches the height which is equal to the banana cluster fruit handle, the position condition image of the banana cluster is collected through the depth camera and is transmitted to the console for analysis, and a control instruction of the picking mechanism is generated;
the control console controls the linear guide rail mechanism to move the picking mechanism to the banana cluster fruit handle according to the control instruction, and then controls the clamping component of the picking mechanism to extend forwards and clamp the banana cluster fruit handle;
after the banana cluster fruit handle is clamped by the clamping assembly, the control console controls the cutting assembly of the picking mechanism to drive the cutting chain of the chain saw to move, and controls the cutting assembly of the picking mechanism to rotate the chain saw to complete the cutting action;
after the cutting action is finished, the cutting components of the linear guide rail mechanism and the picking mechanism can retreat to the initial positions according to a retreat command preset by the console;
the banana clusters are lowered to a position where transportation personnel can take down the banana clusters conveniently by controlling the lifting mechanism through the control console;
after the transport personnel seize the banana, the banana cluster is loosened by the clamping assembly of the control console control picking mechanism and returns to the initial position, and the picking operation is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. the depth camera and the control console form an intelligent operating system, the depth camera acquires banana growth images, data are transmitted to the control console, spatial position identification and positioning and three-dimensional spatial model construction of banana clusters are realized, picking track planning and picking simulation are realized, and the control console controls the lifting mechanism and the linear moving mechanism to enable the picking mechanism to reach the position of the banana cluster fruit handle, so that rapid picking action is realized, and picking accuracy and success rate are improved; the banana clusters do not need to be supported by people in the picking process, and people do not need to climb onto the banana trees to pick bananas, so that manpower is saved, and mechanical damage in the banana picking process is avoided.
2. According to the banana picking device, the Cartesian coordinate type structure is selected as the geometric structure form, the movement of each direction of the manipulator is independent, the calculation and the control are convenient, the obstacle avoidance and the timely adjustment of the picking track in the picking process are facilitated, the position precision is high, and the success rate of banana picking is improved.
3. On the basis of a Cartesian coordinate type machine, in order to enhance the stability, the bearing capacity and the safety performance of the banana picking device, the lifting mechanism is provided with the scissor type lifting assembly, the scissor type lifting assembly has the advantages of compact structure, small installation space, good operability, high automation degree and easiness in realizing centralized control, and meanwhile, the scissor type lifting assembly is large in height variation range, uniform in lifting speed, capable of adapting to banana trees of different heights and good in universality.
4. The picking mechanism does not need wrist degree of freedom, reduces the complexity, control difficulty and manufacturing cost of the picking mechanism, and improves the clamping reliability of the clamping assembly due to the addition of the positioning plate with the fixing nail for fixing and limiting the fruit stem.
5. The chain saw is adopted as the cutting assembly in the picking mechanism, the chain saw is high in starting speed and stable in power, the defects that the feeding of the chain saw is small and the blade is easy to block are overcome, the chain saw can adapt to banana cluster fruit stalks with different diameters, and the success rate of picking bananas is improved.
6. The invention can also be provided with a travelling mechanism which adopts a wheel type travelling mechanism, has simple structure and easy operation and control, has the advantages of high travelling speed and stable work in relatively flat terrain, and has less damage to orchards.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic perspective view of one angle of a banana picking device according to an embodiment of the present invention.
Fig. 2 is a schematic perspective view of another angle of the banana picking device according to the embodiment of the present invention.
Fig. 3 is a schematic front view of the banana picking device according to the embodiment of the present invention.
Fig. 4 is a schematic side view of the banana picking device according to the embodiment of the present invention.
Fig. 5 is a schematic top view of the banana picking device according to the embodiment of the present invention.
Fig. 6 is a schematic view of one of the angles of the lifting mechanism, linear movement mechanism, picking mechanism, depth camera and console of the banana picking apparatus of an embodiment of the present invention.
Fig. 7 is a schematic view of another angle of the elevating mechanism, linear moving mechanism, picking mechanism, depth camera and console of the banana picking apparatus of an embodiment of the present invention.
Fig. 8 is a schematic structural view of a lifting mechanism of the banana picking device according to the embodiment of the invention.
Fig. 9 is a schematic structural view of an X-axis linear moving assembly of the banana picking apparatus according to the embodiment of the present invention.
Fig. 10 is a structural schematic view of the Y-axis linear moving assembly of the banana picking apparatus according to the embodiment of the present invention.
Fig. 11 is a schematic structural view of a clamping assembly of the banana picking device according to the embodiment of the invention.
Fig. 12 is a schematic structural view of a cutting assembly of the banana picking apparatus according to the embodiment of the present invention.
Fig. 13 is a structural schematic view of a console of the banana picking apparatus according to the embodiment of the present invention.
Wherein, 1-lifting mechanism, 101-base, 1011-first sliding chute, 102-scissor lifting assembly, 10201-first supporting rod, 10202-second supporting rod, 10203-third supporting rod, 10204-fourth supporting rod, 10205-first cross bar, 10206-second cross bar, 10207-third cross bar, 10208-fourth cross bar, 10209-fifth cross bar, 10210-sixth cross bar, 10211-seventh cross bar, 103-hydraulic driving assembly, 1031-hydraulic cylinder, 1032-hydraulic plunger rod, 104-working platform, 1041-second sliding chute, 2-linear moving mechanism, 201-X axis linear moving assembly, 2011-first driving motor, 2012-first lead screw, 2013-first screw block, 2014-first slider, 2015-first guide rail, 2016-a first fixing plate, 2017-a first fixing seat, 2018-a first supporting seat, a 202-Y-axis linear moving assembly, 2021-a second driving motor, 2022-a second lead screw, 2023-a second screw block, 2024-a second sliding block, 2025-a second guide rail, 2026-a second fixing plate, 2027-a second fixing seat, 2028-a second supporting seat, 3-a picking mechanism, 301-a clamping assembly, 3011-a third fixing plate, 3012-a cylinder, 3013-a cylinder push rod, 3014-a push rod, 3015-a connecting rod, 3016-a clamping arm, 3017-a supporting frame, 3018-a push rod supporting frame, 302-a cutting assembly, 30201-a fourth fixing plate, 30202-a chain saw driving motor, 30203-a cutting driving motor, 30204-a first transmission gear, 30205-second drive gear, 30206-third drive gear, 30207-fourth drive gear, 30208-first drive shaft, 30209-second drive shaft, 30210-gear cover, 30211-fixed upper cover, 30212-fixed lower plate, 30213-cutting chain, 30214-chain wheel, 30215-chain guide, 30216-chain guide, 4-depth camera, 5-console, 501-Y axis positive direction shift button, 502-X axis positive direction shift button, 503-X axis negative direction shift button, 504-Y axis negative direction shift button, 505-chain saw start button, 506-chain saw stop button, 507-cutting feed button, 508-cutting retract button, 509-raise button, 510-lower button, 511-clamp button, 512-grip release button, 513-power button, 514-display screen, 6-running gear, 601-vehicle frame, 602-front wheel, 603-rear wheel, 604-first axle, 605-second axle, 606-steering wheel, 607-shock absorbing member, 608-steering member, 7-camera mount.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
Example (b):
as shown in fig. 1 to 5, the present embodiment provides a banana picking apparatus based on depth vision, the apparatus includes a lifting mechanism 1, a linear moving mechanism 2, a picking mechanism 3, a depth camera 4 and a console 5, the depth camera 4 is disposed on the picking mechanism 3, the picking mechanism 3 is disposed on the linear moving mechanism 2, the linear moving mechanism 2 is disposed on the lifting mechanism 1, and the console 5 is connected to the lifting mechanism 1, the linear moving mechanism 2, the picking mechanism 3 and the depth camera 4 respectively.
In order to facilitate the completion of picking operation of operators, the banana picking device further comprises a traveling mechanism 6, and the lifting mechanism 1 is arranged on the traveling mechanism 6.
Further, the running gear 6 includes a frame 601, front wheels 602, rear wheels 603, a first axle 604, a second axle 605, a steering wheel 606, a shock absorbing component 607 and a steering component 608, the lifting mechanism 1 is disposed on the frame 601, the front wheels 602 and the rear wheels 603 are both two, the two front wheels 602 are connected through the first axle 604, the two rear wheels 603 are connected through the second axle 605, the first axle 604 and the second axle 605 are both connected with the frame 601 through the shock absorbing component 607, so that the device can reduce shock during running, the steering wheel 606 is fixed on the steering component 608, the steering component 608 is connected with the first axle 604, and an operator can change the running direction of the running gear 6 by operating the steering wheel 606.
As shown in fig. 1 to 8, the lifting mechanism 1 is configured to drive the linear moving mechanism 2 to perform lifting motion, the picking mechanism 3 and the depth camera 4 perform lifting motion together with the linear moving mechanism 2, the lifting mechanism 1 includes a base 101, a scissor-type lifting assembly 102, a hydraulic driving assembly 103 and a working platform 104, the base 101 is disposed on a frame 601 of the traveling mechanism 6, the hydraulic driving assembly 103 is disposed on the base 101, and the hydraulic driving assembly 103 is respectively connected to the scissor-type lifting assembly 102 and the console 5 and configured to drive the scissor-type lifting assembly 102 to perform lifting motion, the working platform 104 is disposed on the scissor-type lifting assembly 102, and the linear moving mechanism 2 is disposed on the working platform 104 and specifically disposed at a rear portion of the working platform 104.
Further, the hydraulic driving assembly 103 includes a hydraulic cylinder 1031 and a hydraulic plunger rod 1032, the hydraulic cylinder 1031 is connected to the console 5 and is connected to the first end of the hydraulic plunger rod 1032, the first end of the hydraulic cylinder 1031 of the embodiment is hinged to the base 101, and the second end of the hydraulic cylinder 1031 is connected to the first end of the hydraulic plunger rod 1032.
For the lower support rod group, a first end of the first support rod 10201 and a first end of the second support rod 10202 are respectively hinged with two ends of the second cross rod 10206, and a first end of the third support rod 10203 and a first end of the fourth support rod 10204 are respectively hinged with two ends of the third cross rod 10207; the second rail 10206 and the third rail 10207 are disposed on the base 101, the first sliding slot 1011 for sliding the second rail 10206 is disposed on the left and right sides of the base 101, and the second end of the hydraulic plunger 1032 is connected to the second rail 10206.
For the upper support rod group, a first end of the first support rod 10201 and a first end of the second support rod 10202 are respectively hinged with two ends of the fourth cross rod 10208, and a first end of the third support rod 10203 and a first end of the fourth support rod 10204 are respectively hinged with two ends of the fifth cross rod 10209; the fourth rail 10208 and the fifth rail 10209 are disposed at the bottom of the working platform 104, and second chutes 1041 capable of sliding the fourth rail 10208 are disposed at the left and right sides of the bottom of the working platform 104.
A second end of the first support rod 10201 of the lower support rod group and a second end of the third support rod 10203 of the upper support rod group are respectively hinged with a first end of the sixth cross rod 10210, and a second end of the second support rod 10202 of the lower support rod group and a second end of the fourth support rod 10204 of the upper support rod group are respectively hinged with a second end of the sixth cross rod 10210; a second end of the third support rod 10203 of the lower support rod group and a second end of the first support rod 10201 of the upper support rod group are respectively hinged to a first end of the seventh cross rod 10211, and a second end of the fourth support rod 10203 of the lower support rod group and a second end of the second support rod 10202 of the upper support rod group are respectively hinged to a second end of the seventh cross rod 10211.
The console 5 can push the hydraulic plunger rod 1032 by controlling the hydraulic cylinder 1031, and the movement of the hydraulic plunger rod 1032 drives the second cross bar 10206 to move, so that the scissor type lifting assembly 102 completes the lifting movement, the linear moving mechanism 2 of the working platform 104 performs the lifting movement, and the picking mechanism 3 and the depth camera 4 perform the lifting movement together with the linear moving mechanism 2.
The lengths of the second cross bar 10206, the third cross bar 10207, the fourth cross bar 10208, the fifth cross bar 10209, the sixth cross bar 10210 and the seventh cross bar 10211 are the same, and the length is greater than that of the first cross bar 10205; the scissor type lifting assembly 102 has the advantages of compact structure, small installation space, good operability, high automation degree and easy realization of centralized control, and meanwhile, the scissor type lifting assembly 102 has a large height change range and uniform lifting speed, can adapt to banana trees of different heights and has good universality; those skilled in the art will appreciate that the number of support rod sets of scissor lift assembly 102 may be adjusted depending on the height of the picked bananas, for example, three support rod sets, four support rod sets, etc.
As shown in fig. 1 to 7 and 9 to 10, the linear moving mechanism 2 is used for driving the picking mechanism 3 to perform a planar motion, and includes an X-axis linear moving assembly 201 and a Y-axis linear moving assembly 202.
Further, the X-axis linear moving component 201 is used to drive the Y-axis linear moving component 202 to move along the X-axis direction (positive direction or negative direction), the device comprises a first driving motor 2011, a first lead screw 2012, a first screw block 2013, a first sliding block 2014, a first guide rail 2015 and a first fixing plate 2016, wherein the first driving motor 2011 is connected with a console 5, a first end of the first lead screw 2012 is connected with the first driving motor 2011, and is particularly connected with a motor shaft of the first driving motor 2011, a second end of the first lead screw 2012 is connected with the first screw block 2013, a Y-axis linear movement assembly 202 is arranged on the first sliding block 2014, the first sliding block 2014 is slidably arranged on the first guide rail 2015, the first sliding block 2014 is spirally connected with the first lead screw 2012, and particularly, a threaded hole is arranged on the first sliding block 2014, the first driving motor 2011, the first screw block 2013 and the first guide rail 2015 are arranged on the first fixing plate 2016; in order to guarantee that X axle rectilinear movement subassembly 201 can stable work, first driving motor 2011 is installed on first fixing base 2017, first guide rail 2015 has two, two first guide rails 2015 set up respectively on the left and right sides both sides of first fixed plate 2016, and the both ends of every first guide rail 2015 are fixed respectively on first supporting seat 2018, first fixing base 2017 and first supporting seat 2018 are all installed on first fixed plate 2016.
Further, the Y-axis linear moving assembly 202 is used for driving the picking mechanism 3 to move along the Y-axis direction (positive direction or negative direction), and includes a second driving motor 2021, a second lead screw 2022, a second screw block 2023, a second slider 2024, a second guide rail 2025 and a second fixing plate 2026, the second driving motor 2021 is connected with the console 5, a first end of the second lead screw 2022 is connected with the second driving motor 2021, specifically, connected with a motor shaft of the second driving motor 2021, a second end of the second lead screw 2022 is connected with the first screw block 2023, the picking mechanism 3 is disposed on the second slider 2024, the second slider 2024 is slidably disposed on the second guide rail, and the second slider 2024 is spirally connected with the second lead screw 2, specifically, a threaded hole is disposed on the second slider 2024, the second driving motor 2021, the second screw block 2023 and the second guide rail 2025 are disposed on the second fixing plate 2026, the second fixed plate 2026 is disposed on the first slider 2014; in order to ensure that the Y-axis linear motion assembly 202 can stably work, the second driving motor 2021 is installed on the second fixing base 2027, the number of the second guide rails 2025 is two, the two second guide rails 2025 are respectively disposed on the left and right sides of the second fixing plate 2026, two ends of each second guide rail 2015 are respectively fixed on the second supporting base 2028, and the second fixing base 2027 and the second supporting base 2028 are both installed on the second fixing plate 2026.
As shown in fig. 1 to 7 and 9 to 12, the picking mechanism 3 includes a grip assembly 301 and a cutting assembly 302, the depth camera 4 is disposed on the cutting assembly 302, the cutting assembly 302 is disposed on the grip assembly 301, and the grip assembly 301 is disposed on the linear movement mechanism 2, specifically, on the second slide 2024 of the Y-axis linear movement assembly 202.
Further, the clamping assembly 301 is used for clamping a banana cluster fruit stem, and includes a third fixing plate 3011, an air cylinder 3012, an air cylinder push rod 3013, a push rod 3014, a connecting rod 3015, a clamping arm 3016 and a support frame 3017, the third fixing plate 3011 is disposed on the second slider 2024 of the Y-axis linear movement assembly 202, the cutting assembly 302 is disposed on the support frame 3017, the air cylinder 3012 and the support frame 3017 are disposed on the third fixing plate 3011, the air cylinder 3012 is connected to the console 5, the air cylinder 3012, the air cylinder push rod 3013 and the push rod 3014 are sequentially connected, the push rod 3014, the connecting rod 3015 and the clamping arm 3016 are sequentially hinged to form an execution part of the clamping assembly 301, the console 5 controls the air cylinder 3012 to make the air cylinder push rod 3013 drive the execution part of the clamping assembly 301 to realize clamping and releasing actions; in order to stably support the cutting assembly 302, the clamping assembly 301 of the present embodiment further includes a push rod support 3018, the push rod 3014 is movably disposed on the push rod support 3018, and the front and rear portions of the cutting assembly 302 are disposed on the push rod support 3018 and the support 3017, respectively; in order to improve the stability of the clamping and prevent the influence of the shaking of the banana cluster in the cutting process, a third fixing plate 3011 with fixing nails is selected.
Further, the cutting assembly 302 is used for cutting the banana cluster fruit handle, and includes a fourth fixing plate 30201, a chain saw drive motor 30202, a cutting drive motor 30203, a first transmission gear 30204, a second transmission gear 30205, a third transmission gear 30206, a fourth transmission gear 30207, a first transmission shaft 30208, a second transmission shaft 30209, a gear cover 30210, a fixing upper cover 30211, a fixing lower plate 30212, and a chain saw; the depth camera 4 is arranged on the fourth fixing plate 30201, specifically, a boss 302011 is arranged on the fourth fixing plate 30201, the depth camera 4 is arranged on a boss 302011, the front and rear parts of the fourth fixing plate 30201 are respectively arranged on the push rod support 3018 and the support 3017, the chain saw is arranged between the upper fixing cover 30211 and the lower fixing plate 30212, the chain saw comprises a cutting chain 30213, a chain wheel 30214, a chain guide 30215 and a chain guide 30216, the chain wheel 30214, the chain guide 30215 and the chain guide 30216 are arranged in sequence from back to front and are respectively connected with the cutting chain 30214; the chainsaw drive motor 30202 and the cutting drive motor 30203 are connected to the console 5, respectively.
The chain saw driving motor 30202 is disposed on the upper portion of the gear cover 30210, a motor shaft of the chain saw driving motor 30202 passes through the gear cover 30210 and then is connected to the first transmission gear 30204, the first transmission gear 30204 is engaged with the second transmission gear 30205, the second transmission gear 30205 is connected to the first end of the first transmission shaft 30208, the second end of the first transmission shaft 30208 passes through the fixed upper cover 30211 and then is connected to the chain saw, specifically, is connected to the cutting chain wheel 30214 of the chain saw, and the control console 5 controls the start operation or the stop operation of the chain saw through the control of the chain saw driving motor 30202.
The cutting driving motor 30203 is disposed at the lower portion of the fourth fixing plate 30201, a motor shaft of the cutting driving motor 30203 penetrates through the fourth fixing plate 30201 and then is connected to the third transmission gear 30206, the third transmission gear 30206 is engaged with the fourth transmission gear 30207, the fourth transmission gear 30207 is connected to the first end of the second transmission shaft 30209, the second end of the second transmission shaft 30209 is connected to the fixing lower plate 30212, and the console 5 drives the fixing lower plate 30212 to rotate under the control of the cutting driving motor 30203, so that the chain saw is rotated to complete the cutting operation.
The picking working principle of this embodiment is: when the first driving motor 2011 rotates forwards, the first lead screw 2013 is driven to rotate, so that the Y-axis linear movement mechanism 202 moves on the first guide rail 2018 along the positive direction of the X axis, and when the first driving motor 2011 rotates backwards, the first lead screw 2013 is driven to rotate, so that the Y-axis linear movement mechanism 202 moves on the first guide rail 2018 along the negative direction of the X axis; when the second driving motor 2021 rotates forward, the second lead screw 2023 is driven to rotate, so that the picking mechanism 3 moves on the second guide rail 2028 along the positive direction of the Y axis, and when the second driving motor 2021 rotates backward, the second lead screw 2023 is driven to rotate, so that the picking mechanism 3 moves on the second guide rail 2028 along the negative direction of the Y axis; when the cylinder 3012 pushes out the cylinder push rod 3013, the push rod 3014 is driven to advance, so that the connecting rod 3015 drives the clamping arm 3016 to close inwards to clamp the banana cluster fruit stem, and when the cylinder 3012 retracts the cylinder push rod 3013, the push rod 3014 is driven to retreat, so that the connecting rod 3015 drives the clamping arm 3016 to open outwards to release the banana cluster fruit stem; when the cutting driving motor 30203 rotates forwards, the third transmission gear 30206 is driven to rotate, so that the fourth transmission gear 30207 rotates, the second transmission shaft 30209 rotates along with the fourth transmission gear 30207, and the chain saw is driven to perform cutting feed motion; when the chain saw driving motor 30202 rotates forward or backward, the first transmission gear 30204 is driven to rotate, so that the second transmission gear 30205 rotates, the first transmission shaft 30208 rotates along with the second transmission gear 30205, and the chain wheel 30214 drives the cutting chain 30213 to move, so as to cut the banana cluster fruit handle.
In the above-mentioned lifting mechanism 1, linear movement mechanism 2 and picking mechanism 3, the first end and the second end of each of the components mentioned are opposite ends.
The depth camera 4 and the console 5 together form an intelligent operating system, can acquire banana cluster images in real time and transmit the banana cluster images to the console 5 for analysis, specifically, a neural network YOLOv3 model is used for identifying banana fruits, firstly, input images with any sizes are normalized and adjusted to 416 × 416, feature maps with sizes of 13 × 13, 26 × 26 and 52 × 52 are generated after convolution pooling, detection is performed on three scales, the feature maps can be transmitted on 2 adjacent scales by twice up-sampling, after the feature maps are obtained, the feature maps of the three scales are uniformly divided into S × S cells, each cell in the feature maps of different scales can predict three boundary frames, and each boundary frame can predict 3 groups of data through a convolution neural network: predicting a location of a frame; target confidence (confidence); probability of banana category. Finally, the coordinate value of the boundary frame is obtained.
During the training process, the YOLOv3 model uses a loss calculation method of square sum error. Including 3 parts of classification loss, localization loss, and confidence loss. The model is continuously updated by Back Propagation (BP), so that Loss is continuously reduced.
In the formula, xi、yiX and y axis coordinates of the predicted target; x'i、y′iCoordinates of x and y axes which are actual targets; w is aiAnd hiTo predict the width and height of the target; w'iAnd h'iWidth and height for the actual target; p is a radical ofi(c) And p'i(c) Confidence of the predicted target and the actual target respectively; lambda [ alpha ]coordAnd λnoobjTo balance the specific weight of each Loss, λcoord＝5，λnoobj0.5; s is a grid unit; b is the number of bounding boxes; obj denotes containing the target; noobj indicates no target;
indicating whether the jth box in the ith cell contains a target, including taking a 1, otherwise taking a 0,
the opposite is true.
After the spatial position of the banana cluster is identified and positioned through the YOLOv3 model, the control console 5 calculates a reasonable picking point by utilizing the boundary data of a prediction frame, realizes picking track planning and picking simulation, completes real-time information perception of the banana cluster, generates control instructions of the lifting mechanism 1, the linear moving mechanism 2 and the picking mechanism 3, and enables the picking mechanism 3 to reach the position of a banana cluster fruit handle; further, the depth camera 4 is mounted on the boss 302011 of the fourth fixing plate 30201 through the camera mount 7.
As shown in fig. 1 to 13, the console 5 is provided on the work table 104 of the lifting mechanism 1, specifically, on the front portion of the work table 104, and the console 5 may be provided at other positions convenient for the operator to operate, for example, on the carriage 601 of the traveling mechanism 6, the console 5 is provided therein with a single chip microcomputer and drivers for motors (a first driving motor 2011, a second driving motor 2021, a chainsaw driving motor 30202 and a cutting driving motor 30203), a hydraulic cylinder 1031 and a pneumatic cylinder 3012, which are connected to the single chip microcomputer, respectively, and the console 5 is provided on the surface thereof with a Y-axis positive-direction moving button 501, an X-axis positive-direction moving button 502, an X-axis negative-direction moving button 503, a Y-axis negative-direction moving button 504, a chainsaw starting button 505, a chainsaw stopping button 506, a cutting feed button 507, a cutting-back button 508, a raising button 509, a lowering button, A grip release button 512, a power button 513, and a display screen 514, and the Y-axis positive direction movement button 501, the X-axis positive direction movement button 502, the X-axis negative direction movement button 503, the Y-axis negative direction movement button 504, the chainsaw start button 505, the chainsaw stop button 506, the cutting feed button 507, the cutting retract button 508, the raise button 509, the lower button 510, the grip button 511, the grip release button 512, the power button 513, and the display screen 514 are connected to the single chip microcomputer, respectively.
The banana picking device of this embodiment has solved current banana and has picked basically by the manpower, has to pick inefficiency, and the scheduling problem that wastes time and energy seriously influences the scale of banana, and mechanized production can replace the tradition of artifical and auxiliary machine to adopt the banana mode, can realize intelligent recognition's mechanization, automation to a certain extent and receive and adopt the banana, has work efficiency height, alleviate intensity of labour, accurate location, characteristics such as intelligence is picked.
The embodiment also provides a banana picking method, which is realized based on the banana picking device and comprises the following steps:
s1, before the operation, the operator operates the console 5 to calibrate the depth camera 4, determine some parameter values of the depth camera 4, and after the calibration, the depth camera 5 can reconstruct the three-dimensional scene, i.e. sense the depth, by using the console 5.
S2, during operation, the four-wheel drive (two front wheels 602 and two rear wheels 603) power pulls the traveling mechanism 6 to travel, and the lifting mechanism 1, the linear guide rail mechanism 2, the picking mechanism 3, the depth camera 4, and the console 5 move along with the traveling mechanism 6.
S3, when picking banana clusters of different heights, the operator controls the lifting mechanism 1 through the lifting button 509 or the lowering button 510 on the console 5, so that the lifting mechanism 1 drives the linear moving mechanism 2 to ascend or descend, thereby the picking mechanism 3 and the depth camera 4 ascend or descend, and the picking mechanism 3 reaches a position substantially consistent with the height of the banana cluster fruit stalk.
And S4, when the picking mechanism 3 reaches the height equal to the banana cluster fruit handle, acquiring the position condition image of the banana cluster through the depth camera 4, and transmitting the position condition image to the single chip microcomputer in the console 4 for analysis, so as to realize picking track planning and picking simulation.
And S5, if the simulation can successfully pick, the console 5 firstly controls the linear guide rail mechanism 2 to move the clamping assembly 301 to the banana cluster fruit handle, then controls the clamping assembly 301 to extend forwards and clamp the banana cluster fruit handle, then controls the chain saw driving motor 4020 to rotate, drives the chain saw chain 4026 to move by the chain saw driving motor 4020, finally controls the chain saw driving motor 30202 of the cutting assembly 302 to drive the cutting chain 30213 of the chain saw to move, controls the cutting driving motor 30203 of the cutting assembly 302 to rotate the chain saw to complete the cutting action, and if the simulation cannot successfully pick, the process operation of the step S4 is carried out again after the position of the banana picking device is adjusted.
In the step, in the clamping process, the control console 5 controls the cylinder 3012 to push out the cylinder push rod 3013 to drive the push rod 3014 to advance, and in the advancing process of the push rod 3014, the clamping arm 3016 is closed inwards under the combined action of the push rod 3014 and the connecting rod 3015 to clamp the banana cluster fruit stem; the cutting process is that the control console 5 firstly controls the chain saw driving motor 4020 to rotate to drive the first transmission gear 30204 to rotate, so that the second transmission gear 30205 rotates, the first transmission shaft 30208 rotates along with the second transmission gear 30205, so that the chain wheel 30214 drives the cutting chain 30213 to move, and then controls the cutting driving motor 30203 to rotate in the forward direction to drive the third transmission gear 30206 to rotate, so that the fourth transmission gear 30207 rotates, and the second transmission shaft 302 30209 rotates along with the fourth transmission gear 30207, so that the chain saw performs cutting feed motion, and the cutting action is completed.
S6, when the cutting action is completed, the linear guide mechanism 2 and the cutting assembly 302 will move back to the initial position according to the back-off command preset by the console 5.
And S7, the operator controls the lifting mechanism 1 through the control console 5 to enable the banana clusters to descend to a position where the transport personnel can conveniently take down the banana clusters.
S8, when the transport staff seizes the bananas, the clamping button 512 of the control console 5 is released to control the clamping assembly 301 to loosen the banana clusters and return to the initial position to complete the picking operation.
In summary, the depth camera and the console form an intelligent operating system, the depth camera acquires banana growth images, data are transmitted to the console, spatial position identification and positioning of banana clusters and three-dimensional spatial model construction are realized, picking track planning and picking simulation are realized, and the control console controls the lifting mechanism and the linear moving mechanism to enable the picking mechanism to reach the banana cluster fruit handle position, so that rapid picking action is realized, and picking accuracy and success rate are improved; the banana clusters do not need to be supported by people in the picking process, and people do not need to climb onto the banana trees to pick bananas, so that manpower is saved, and mechanical damage in the banana picking process is avoided.
The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.
Claims (10)
1. The utility model provides a banana harvesting device based on degree of depth vision, its characterized in that, includes elevating system, linear motion mechanism, picking mechanism, degree of depth camera and control cabinet, the degree of depth camera sets up on picking mechanism, picking mechanism sets up on linear motion mechanism, linear motion mechanism sets up on elevating system, elevating system is used for driving linear motion mechanism and is elevating movement, linear motion mechanism is used for driving picking mechanism and is plane motion, the control cabinet is connected with elevating system, linear motion mechanism, picking mechanism, degree of depth camera respectively.
2. The banana picking apparatus of claim 1, further comprising a traveling mechanism, the lifting mechanism being disposed on the traveling mechanism.
3. The banana picking apparatus according to claim 2, wherein the traveling mechanism includes a frame, front wheels, rear wheels, a first axle, a second axle, a steering wheel, a shock absorbing member and a steering member, the lifting mechanism is disposed on the frame, the front wheels and the rear wheels are both two, the two front wheels are connected through the first axle, the two rear wheels are connected through the second axle, the first axle and the second axle are both connected with the frame through the shock absorbing member, the steering wheel is fixed on the steering member, and the steering member is connected with the first axle.
4. A banana picking device according to any one of claims 1 to 3, characterised in that the lifting mechanism comprises a base, a scissor lift assembly, a hydraulic drive assembly and a working platform, the hydraulic drive assembly is arranged on the base and is connected with the scissor lift assembly and the control console respectively for driving the scissor lift assembly to perform lifting movement, the working platform is arranged on the scissor lift assembly, and the linear movement mechanism is arranged on the working platform.
5. The banana picking apparatus of claim 4, wherein the hydraulic drive assembly includes a hydraulic cylinder and a hydraulic plunger rod, the hydraulic cylinder being connected to the console and to a first end of the hydraulic plunger rod;
the scissor type lifting assembly comprises at least two support rod groups, the support rod groups are sequentially arranged from top to bottom, each support rod group comprises four support rods, the four support rods are respectively a first support rod, a second support rod, a third support rod and a fourth support rod, the first support rod and the second support rod are symmetrically arranged, the third support rod and the fourth support rod are symmetrically arranged, the middle part of the first support rod and the middle part of the third support rod are respectively hinged with the first end of the first cross rod, and the middle parts of the second support rod and the fourth support rod are respectively hinged with the second end of the first cross rod;
for the lowest support rod group, the first end of the first support rod and the first end of the second support rod are respectively hinged with two ends of the second cross rod, and the first end of the third support rod and the first end of the fourth support rod are respectively hinged with two ends of the third cross rod; the second cross rod and the third cross rod are arranged on the base, first sliding grooves capable of enabling the second cross rod to slide are formed in two sides of the base, and the second end of the hydraulic plunger rod is connected with the second cross rod;
for the uppermost supporting rod group, the first end of the first supporting rod and the first end of the second supporting rod are respectively hinged with two ends of the fourth cross rod, and the first end of the third supporting rod and the first end of the fourth supporting rod are respectively hinged with two ends of the fifth cross rod; the fourth cross bar and the fifth cross bar are arranged at the bottom of the working platform, and second sliding grooves capable of enabling the fourth cross bar to slide are formed in two sides of the bottom of the working platform;
for the upper and lower two adjacent support rod groups, the second end of the first support rod of the lower support rod group and the second end of the third support rod of the upper support rod group are respectively hinged with the first end of the sixth cross rod, and the second end of the second support rod of the lower support rod group and the second end of the fourth support rod of the upper support rod group are respectively hinged with the second end of the sixth cross rod; the second end of the third supporting rod of the lower supporting rod group and the second end of the first supporting rod of the upper supporting rod group are respectively hinged with the first end of the seventh cross rod, and the second end of the fourth supporting rod of the lower supporting rod group and the second end of the second supporting rod of the upper supporting rod group are respectively hinged with the second end of the seventh cross rod.
6. The banana picking apparatus according to any one of claims 1-3, wherein the linear movement mechanism includes an X-axis linear movement assembly and a Y-axis linear movement assembly;
the X-axis linear movement assembly comprises a first driving motor, a first lead screw, a first screw block, a first sliding block, a first guide rail and a first fixing plate, the first driving motor is connected with the console, the first end of the first lead screw is connected with the first driving motor, the second end of the first lead screw is connected with the first screw block, the Y-axis linear movement assembly is arranged on the first sliding block, the first sliding block is arranged on the first guide rail in a sliding mode, the first sliding block is in spiral connection with the first lead screw, and the first driving motor, the first screw block and the first guide rail are arranged on the first fixing plate;
the Y-axis linear moving assembly comprises a second driving motor, a second lead screw, a second screw block, a second sliding block, a second guide rail and a second fixing plate, the second driving motor is connected with the control console, the first end of the second lead screw is connected with the second driving motor, the second end of the second lead screw is connected with the first screw block, the picking mechanism is arranged on the second sliding block, the second sliding block is arranged on the second guide rail in a sliding mode, the second sliding block is connected with the second lead screw in a spiral mode, and the second driving motor, the second screw block and the second guide rail are arranged on the second fixing plate.
7. A banana picking apparatus according to any one of claims 1 to 3 characterised in that the picking mechanism includes a clamping assembly and a cutting assembly, the depth camera being provided on the cutting assembly, the cutting assembly being provided on the clamping assembly, the clamping assembly being provided on the linear movement mechanism.
8. The banana picking device according to claim 7, wherein the clamping assembly comprises a third fixing plate, a cylinder push rod, a connecting rod, a clamping arm and a support frame, the third fixing plate is arranged on the linear moving mechanism, the cutting assembly is arranged on the support frame, the cylinder and the support frame are arranged on the third fixing plate, the cylinder is connected with the console, the cylinder push rod and the push rod are sequentially connected, and the push rod, the connecting rod and the clamping arm are sequentially hinged.
9. The banana picking apparatus according to claim 7, wherein the cutting assembly includes a fourth fixing plate, a chain saw drive motor, a cutting drive motor, a first transmission gear, a second transmission gear, a third transmission gear, a fourth transmission gear, a first transmission shaft, a second transmission shaft, a gear cover, a fixed upper cover, a fixed lower plate and a chain saw, the depth camera is disposed on the fourth fixing plate, the fourth fixing plate is disposed on the clamping assembly, the chain saw is disposed between the fixed upper cover and the fixed lower plate, the chain saw drive motor and the cutting drive motor are respectively connected to the console;
the chain saw driving motor is arranged on the upper portion of the gear cover, a motor shaft of the chain saw driving motor penetrates through the gear cover and then is connected with the first transmission gear, the first transmission gear is meshed with the second transmission gear, the second transmission gear is connected with the first end of the first transmission shaft, and the second end of the first transmission shaft penetrates through the fixed upper cover and then is connected with the chain saw;
the cutting driving motor is arranged at the lower part of the fourth fixing plate, a motor shaft of the cutting driving motor penetrates through the fourth fixing plate and then is connected with the third transmission gear, the third transmission gear is meshed with the fourth transmission gear, the fourth transmission gear is connected with the first end of the second transmission shaft, and the second end of the second transmission shaft is connected with the fixing lower plate.
10. A banana picking method based on the device of any one of claims 1-9, characterised in that the method comprises:
when the banana clusters with different heights are picked, the lifting mechanism is controlled by the control console to drive the linear moving mechanism to ascend or descend, so that the picking mechanism and the depth camera ascend or descend;
when the picking mechanism reaches the height which is equal to the banana cluster fruit handle, the position condition image of the banana cluster is collected through the depth camera and is transmitted to the console for analysis, and a control instruction of the picking mechanism is generated;
the control console controls the linear guide rail mechanism to move the picking mechanism to the banana cluster fruit handle according to the control instruction, and then controls the clamping component of the picking mechanism to extend forwards and clamp the banana cluster fruit handle;
after the banana cluster fruit handle is clamped by the clamping assembly, the control console controls the cutting assembly of the picking mechanism to drive the cutting chain of the chain saw to move, and controls the cutting assembly of the picking mechanism to rotate the chain saw to complete the cutting action;
after the cutting action is finished, the cutting components of the linear guide rail mechanism and the picking mechanism can retreat to the initial positions according to a retreat command preset by the console;
the banana clusters are lowered to a position where transportation personnel can take down the banana clusters conveniently by controlling the lifting mechanism through the control console;
after the transport personnel seize the banana, the banana cluster is loosened by the clamping assembly of the control console control picking mechanism and returns to the initial position, and the picking operation is completed.
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| CN113277101B (en) * | 2021-03-09 | 2022-06-03 | 温州市勘察测绘研究院有限公司 | Unmanned aerial vehicle collection system based on intelligent aerial image recognition technology |
| CN113099848A (en) * | 2021-06-04 | 2021-07-13 | 山东农业大学 | Picking robot efficient picking, placing and transporting integrated platform and using method |
| CN114431004A (en) * | 2021-12-23 | 2022-05-06 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
| CN114431004B (en) * | 2021-12-23 | 2023-11-14 | 华南农业大学 | Banana picking device and method based on 3-PRS parallel mechanism |
| CN114830915B (en) * | 2022-04-13 | 2023-09-26 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| CN114830915A (en) * | 2022-04-13 | 2022-08-02 | 华南农业大学 | Litchi vision picking robot based on laser radar navigation and implementation method thereof |
| CN114711029A (en) * | 2022-04-29 | 2022-07-08 | 华南农业大学 | Vision-positioned large bunch banana fruit combing and picking method and device |
| CN114946408A (en) * | 2022-06-09 | 2022-08-30 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation of melons and operation method of four-wheel type multifunctional orchard mechanical device |
| CN114946408B (en) * | 2022-06-09 | 2023-11-28 | 华南农业大学 | Four-wheel type multifunctional orchard mechanical device for facility cultivation melon |
| CN115589840A (en) * | 2022-10-25 | 2023-01-13 | 湖北工业大学（Cn） | Automatic banana picking vehicle with flexible holding claws |
| US11910751B1 (en) * | 2023-03-17 | 2024-02-27 | King Saud University | Robotic system for harvesting and maintaining date palms |
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