CN112568101B - Watering device and watering method - Google Patents
Watering device and watering method Download PDFInfo
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- CN112568101B CN112568101B CN202011407025.5A CN202011407025A CN112568101B CN 112568101 B CN112568101 B CN 112568101B CN 202011407025 A CN202011407025 A CN 202011407025A CN 112568101 B CN112568101 B CN 112568101B
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- 238000000034 method Methods 0.000 title claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 97
- 239000007921 spray Substances 0.000 claims abstract description 37
- 238000005507 spraying Methods 0.000 claims abstract description 15
- 238000005086 pumping Methods 0.000 claims abstract description 4
- 238000012544 monitoring process Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 4
- 241001464837 Viridiplantae Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000002337 anti-port Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
- A01G27/003—Controls for self-acting watering devices
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G27/00—Self-acting watering devices, e.g. for flower-pots
- A01G27/008—Component parts, e.g. dispensing fittings, level indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
- G01F22/02—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for involving measurement of pressure
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/14—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measurement of pressure
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Electromagnetism (AREA)
- Thermal Sciences (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
Abstract
The application relates to the technical field of watering of potted plants, in particular to a watering device and a watering method. The watering device comprises a water tank, a water spraying assembly and a height adjusting device, wherein the water spraying assembly comprises a pump, a water pipe and a spray head, and the pump is used for pumping water in the water tank to the water pipe and spraying the water from the spray head; the height adjusting device is used for adjusting the height of the spray head. The watering method comprises the following steps: acquiring height information of potted flowerpots; adjusting the height of a spray head of the watering device to be matched with the height of the upper edge of the flowerpot; watering the potted plant through the spray nozzle. In the watering device and the watering method provided by the technical scheme, the function of adjusting the height of the spray head according to the height of the flowerpot and watering the household potted plants regularly is realized, and the problem that the accurate water spraying can not be carried out according to the height adjustment of the flowerpot in the prior art is solved.
Description
Technical Field
The application relates to the technical field of watering of potted plants, in particular to a watering device and a watering method.
Background
Along with people's demand to green healthy life constantly improves, people can put some green plants cultivated in a pot usually at home for family's decoration and the purification of air. The potted green plants need to be watered regularly, people often forget to water in time, the green plants are lack of water, and the attractiveness is affected.
The automatic watering device is rarely used for watering green plants in family life at present, the main reason is that the existing automatic watering device is usually limited by the placement position of potted plants, the use can cause the waste of indoor space, and some existing intelligent watering robots can not adjust the height of a spray head according to the height of potted flowerpots and can not meet the height requirements of flowerpots of various height types. For example, utility model patent that publication number is CN210641806U and a robot waters is provided, it has solved the intelligence robot of watering flowers and can't carry out the pivoted problem of multi-angle to the shower nozzle, has realized carrying out effectual drive to the shower nozzle, changes its direction and angle, reaches good spraying effect, nevertheless still exists the problem that can't carry out the accuracy water spray according to flowerpot altitude mixture control water spray position.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is as follows: the current device that waters can't adjust the water spray position according to the flowerpot height cultivated in a pot and carry out the accuracy and spray water. In order to solve the technical problem, the application provides a watering device and a watering method applied to the watering device.
In order to achieve the above object, according to one aspect of the technical scheme, the embodiment of the invention provides a watering device.
A watering device according to a first aspect of an embodiment of the present invention comprises:
a water tank;
the water spraying assembly comprises a pump, a water pipe and a spray head, wherein the pump is used for pumping water in the water tank to the water pipe and spraying the water from the spray head; and
and the height adjusting device is used for adjusting the height of the spray head.
Further, watering device still includes:
the height measuring module is used for acquiring the height information of the potted flowerpot; and
and the control module is used for driving the height adjusting device according to the height information of the flowerpot obtained by the height measuring module, so that the height of the spray head is matched with the height of the upper edge of the flowerpot.
Further, the watering device further comprises a plant identification module, and the plant identification module is used for acquiring the plant arrangement position information in the environment.
Furthermore, the watering device also comprises a water quantity monitoring module, and the water quantity monitoring module is used for detecting the water quantity information in the water tank.
Further, in the watering device, the height adjusting device comprises a first sleeve and a second sleeve, the second sleeve is sleeved in the first sleeve, a synchronous belt is fixed on the inner wall of the first sleeve, a rack is arranged on the outer wall of the second sleeve, and the rack is meshed with the synchronous belt.
Further, the bottom of the watering device is provided with a roller.
In order to achieve the above object, according to a second aspect of the present invention, there is also provided a watering method.
The watering method according to the second aspect of the embodiment of the invention is applied to the watering device provided by the first aspect of the invention, and comprises the following steps:
acquiring height information of potted flowerpots;
adjusting the height of a spray head of the watering device to be matched with the height of the upper edge of the flowerpot;
the potted plants were watered through a sprinkler.
Further, the height information of the flowerpot that obtains cultivated in a pot includes:
calling the height information of the potted plant flowerpot from pre-stored data in a storage module; or
And detecting the height information of the potted flower pot through a height measuring module.
Further, when the watering device is used for the first time, the watering method further comprises the following steps:
automatically traversing the use environment;
acquiring plant arrangement position information in an environment through a plant identification module;
acquiring the height information of the potted flowerpot through a height measuring module;
and storing the plant placing position information and the flowerpot height information into a storage module.
Further, the watering method further comprises: and monitoring the water quantity information in the water tank in real time, and sending out warning information when the water quantity in the water tank is less than a preset value.
In the watering device and the watering method provided by the technical scheme, the function of adjusting the height of the spray head according to the height of the flowerpot and periodically watering the potted plants in a family is realized, and the problem that the accurate water spraying can not be carried out according to the height adjustment of the flowerpot in the prior art is solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic structural diagram of a watering device provided by an embodiment of the invention in an operating state;
FIG. 2 is a schematic structural diagram of a watering device provided by an embodiment of the present invention in a non-operating state;
FIG. 3 is a schematic structural view of a height adjustment mechanism of a watering device provided in accordance with an embodiment of the present invention; and
fig. 4 is a block flow diagram of a watering method provided by an embodiment of the present invention.
In the figure:
1. a water tank; 2. a pump; 3. a water pipe; 4. a spray head; 5. a height adjustment device; 6. a control module; 7. a first sleeve; 8. a second sleeve; 9. a synchronous belt; 10. a rack; 11. and (4) a roller.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this application and the above-described drawings are intended to cover non-exclusive inclusions, such that a system, product or apparatus that comprises a list of elements is not necessarily limited to those elements explicitly listed, but may include other elements not expressly listed or inherent to such product or apparatus.
In this application, the terms "upper", "lower", "inner", "middle", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
As shown in fig. 1 and 2, the watering device provided by the embodiment of the present invention comprises a water tank 1, a water spraying assembly and a height adjusting device 5, wherein the water tank 1 is used for storing water for watering potted plants, and the water tank 1 is used as a water storage container, and the specific shape and structure thereof are not particularly limited; the water spraying assembly comprises a pump 2, a water pipe 3 and a spray head 4, wherein the pump 2 is used for pumping water in the water tank 1 to the water pipe 3 and then spraying the water from the spray head 4 to irrigate potted plants; the height adjusting device 5 is used for adjusting the height of the spray head 4 so as to adapt to different pot heights of potted plants.
According to the watering device provided by the embodiment of the invention, the function of adjusting the height of the spray head 4 according to the height of the flowerpot through the height adjusting device 5 and watering the household potted plants regularly is realized, and the problem that the precise water spraying can not be carried out by adjusting the water spraying position according to the height of the flowerpot in the prior art is solved.
The watering device provided by the embodiment of the invention also comprises a height measuring module and a control module 6, wherein the height measuring module is used for detecting the height of the potted flowerpot to obtain the height information of the potted flowerpot; the control module 6 is used for driving the height adjusting device 5 according to the height information of the flowerpot obtained by the height measuring module, so that the height of the spray head 4 is matched with the height of the upper edge of the flowerpot. The height measuring module may adopt various height measuring technologies in the prior art, for example, the height measuring module may be a distance measuring sensor fixedly connected to the water tank 1, and the distance measuring sensor is used for measuring the height above the ground of the upper edge of the flowerpot in real time and transmitting the real-time height information measured by the distance measuring sensor to the control module 6 and the storage module. The control module 6 outputs a control signal to the height adjusting device 5 according to the received height information of the flowerpot, the height adjusting device 5 adjusts the height of the spray head 4 according to the control signal, and a specific control logic can be set according to specific requirements, for example, the height of the spray head 4 can be controlled by the height adjusting device 5 to be 5-10cm higher than the upper edge of the potted flowerpot, so that water flow sprayed by the spray head 4 can be sprinkled into the flowerpot.
The watering device provided by the embodiment of the invention further comprises a plant identification module, and the plant identification module is used for acquiring the plant arrangement position information in the environment. The plant identification module may adopt various plant identification technologies in the prior art, for example, the plant identification module includes a plant identification camera, a signal output of the plant identification camera is connected to the control module 6, the control module 6 may retrieve information in a storage module storing image information of all plants in the watering area, the control module 6 matches and compares the plant image captured by the plant identification camera with the image information of the plants stored in the storage module, determines whether plants exist according to the comparison result, and when it is determined that the potted plants are placed, records position information of the plants and stores the position information in the storage module.
The watering device provided by the embodiment of the invention further comprises a water quantity monitoring module, wherein the water quantity monitoring module is used for detecting water quantity information in the water tank 1, and when the water quantity monitoring module monitors that the water quantity in the water tank 1 is insufficient, prompt information is sent to a user to remind the user to add water. The water amount monitoring module may adopt various water amount monitoring technologies in the prior art, for example, the water amount monitoring module may include a laser ranging sensor, the distance between the water surface and the laser ranging sensor is monitored in the water tank 1, and when the distance is greater than a first preset value stored in the storage module, the control module 6 sends an instruction for reminding a user to add water into the water tank 1; for another example, the water amount monitoring module may include a water pressure sensor disposed at the bottom of the water tank 1, and monitor the water pressure in the water tank 1, and when the water pressure is smaller than a second preset value stored in the storage module, the control module 6 sends an instruction to remind the user to add water into the water tank 1.
As shown in fig. 3, in the watering device provided in the embodiment of the present invention, the height adjusting device 5 includes a first sleeve 7 and a second sleeve 8, the second sleeve 8 is sleeved in the first sleeve 7, a synchronous belt 9 is fixed on an inner wall of the first sleeve 7, a rack 10 is provided on an outer wall of the second sleeve 8, and the rack 10 is engaged with the synchronous belt 9. In a working state, the power mechanism drives the synchronous belt 9 to rotate, so as to drive the second sleeve 8 to move, and the second sleeve 8 extends out of the first sleeve 7, and the state is shown in fig. 1; in the non-operating state, drive hold-in range 9 antiport through power unit to drive second sleeve 8 antiport, make second sleeve 8 retrieve to inside first sleeve 7, the state is shown in fig. 2, can effectively avoid the waste of space resource. The water tube 3 is a flexible tube that can be stretched or bent during adjustment of the height adjustment device 5. Of course, the height adjusting device 5 may also include a third sleeve, a fourth sleeve, and other sleeve structures, and the specific arrangement manner thereof refers to the first sleeve 7 and the second sleeve 8, which can be specifically selected by those skilled in the art according to the needs.
The bottom of the watering device provided by the embodiment of the invention is provided with the roller, so that the watering device can automatically move, and can automatically traverse a room during working.
The embodiment of the invention also provides a watering method applied to the watering device provided by the embodiment. When the watering device is used for the first time, a user can set the watering amount and the watering interval period of a single potted plant, or the default value is directly stored in the storage module, and if the default value is not set, the default value in the storage module is used.
As shown in fig. 4, the watering method of the embodiment of the present invention includes:
and S1, acquiring the height information of the potted flowerpot.
In this step, the height information of the flowerpot is mainly the height from the upper edge of the flowerpot to the ground, and the height information is used as a reference for the height adjustment of the spray head 4 of the subsequent watering device.
The height information of the potted plant can be acquired by the following method: and detecting the height information of the potted flower pot through a height measuring module of the watering device. For a specific measurement mode, reference may be made to the description related to the embodiment of the watering device of the present invention, and details are not repeated herein.
Specifically, the height information of the potted plant can be acquired by the following method: the height information of the potted flower pot is called from the pre-stored data in the storage module, the height of the upper edge of the potted flower pot is detected by the height measuring module in the working process before the watering device is required by the mode, and the information is stored in the storage module as the height information of the potted flower pot.
And S2, adjusting the height of the spray head 4 of the watering device to be matched with the height of the upper edge of the flowerpot.
In this step, the height adjusting device 5 is started through the control module 6, and at this time, the power structure starts to work and drives the synchronous belt 9 to rotate, so that the height adjusting device 5 is driven to lift, and the spray head 4 is adjusted to the height corresponding to the upper edge of the flowerpot.
And S3, watering the potted plant through the spray head 4.
In this step, the control module 6 starts the pump 2 to pump the water in the water tank 1 to the water pipe 3, and then the water is sprayed out from the spray head 4 to water the potted plant.
The watering method provided by the embodiment of the invention can further comprise the following steps: firstly, automatically traversing the use environment through a watering device; then, acquiring plant placing position information in the environment through a plant identification module and acquiring flowerpot height information of the potted plant through a height measurement module; and finally, storing the plant placing position information and the flowerpot height information into a storage module. The plant placing position information and the flowerpot height information stored in the storage module are used for watering operation later, so that the repeated work of the plant identification module and the height measurement module is avoided. If the placement position of the potted plant is changed, the user can control the watering device to traverse again and update the data in the storage module.
In the watering method provided by the embodiment of the invention, the water quantity information in the water tank 1 can be monitored in real time, and when the water quantity in the water tank 1 is smaller than a preset value, warning information is sent out to remind a user of adding water.
Other configurations and operations of the watering device provided by embodiments of the present invention will be apparent to those of ordinary skill in the art and will not be described in detail herein. Some embodiments in this specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A method of watering comprising:
when the flowerpot is used for the first time, the watering device automatically traverses the use environment, the plant identification module obtains plant placing position information in the environment, the height measurement module obtains flowerpot height information of a potted plant, and the plant placing position information and the flowerpot height information are stored in the storage module;
when watering is carried out, height information of the pot plant is called from prestored data in the storage module, the height of a spray head of a watering device is adjusted to be matched with the height of the upper edge of the pot plant, and the pot plant is watered through the spray head;
the watering device comprises:
a water tank (1);
the water spraying assembly comprises a pump (2), a water pipe (3) and a spray head (4), wherein the pump (2) is used for pumping water in the water tank (1) to the water pipe (3) and spraying the water from the spray head (4);
a height adjusting device (5) for adjusting the height of the spray head (4);
the height measuring module is used for obtaining the height information of the potted flowerpot;
the control module (6) is used for driving the height adjusting device (5) according to the height information of the flowerpot so that the height of the spray head (4) is matched with the height of the upper edge of the flowerpot;
the plant identification module is used for acquiring plant placing position information in the environment; and
and the storage module is used for storing the plant placing position information and the flowerpot height information.
2. The method of watering of claim 1, further comprising: and monitoring the water quantity information in the water tank in real time, and sending out warning information when the water quantity in the water tank is smaller than a preset value.
3. A method of watering as claimed in claim 1, wherein the watering arrangement comprises a water volume monitoring module for detecting water volume information within the water tank (1).
4. The watering method according to claim 1, characterized in that the height adjusting device (5) comprises a first sleeve (7) and a second sleeve (8), the second sleeve (8) is sleeved in the first sleeve (7), a synchronous belt (9) is fixed on the inner wall of the first sleeve (7), a rack (10) is arranged on the outer wall of the second sleeve (8), and the rack (10) is meshed with the synchronous belt (9).
5. A method of watering as claimed in claim 4, wherein the height adjustment means are provided in two groups and are symmetrically distributed on either side of the second sleeve (8).
6. The method of watering of claim 1 wherein rollers are provided on the bottom of the watering device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011407025.5A CN112568101B (en) | 2020-12-03 | 2020-12-03 | Watering device and watering method |
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| CN202011407025.5A CN112568101B (en) | 2020-12-03 | 2020-12-03 | Watering device and watering method |
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| CN205389668U (en) * | 2016-03-18 | 2016-07-27 | 海南中科花海云商科技股份有限公司 | Plant planting device |
| CN105696274A (en) * | 2016-04-08 | 2016-06-22 | 贵州大学 | Clothes airing rod capable of rising and falling |
| CN111190419B (en) * | 2016-05-19 | 2022-08-09 | 科沃斯机器人股份有限公司 | Self-moving robot, combined robot and combined robot map calling method |
| CN207574010U (en) * | 2017-12-12 | 2018-07-06 | 武汉工程大学 | A kind of Multifunctional garden flower stand |
| CN108685530B (en) * | 2018-05-21 | 2021-04-30 | 宁波智邦智汇信息科技有限公司 | Indoor automatically regulated intelligence cleaning machines people |
| CN208768662U (en) * | 2018-08-01 | 2019-04-23 | 西安邮电大学 | A kind of intelligent flower watering system based on image recognition |
| CN208891383U (en) * | 2018-09-08 | 2019-05-24 | 烟台汽车工程职业学院 | Home-use intelligent flower watering robot |
| CN111596651B (en) * | 2019-02-19 | 2022-08-09 | 科沃斯机器人股份有限公司 | Environmental area division and fixed-point cleaning method, equipment and storage medium |
| CN110199719A (en) * | 2019-07-05 | 2019-09-06 | 西南石油大学 | A kind of intelligent flower watering robot based on ROS |
| CN111703798B (en) * | 2020-06-09 | 2024-01-02 | 北京极智嘉科技股份有限公司 | Transfer robot, box taking method, goods loading method and warehouse logistics system |
| CN111605958A (en) * | 2020-06-10 | 2020-09-01 | 北京极智嘉科技有限公司 | Transfer robot and warehouse logistics system |
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