CN113196947A - Self-propelled multi-manipulator fruit and vegetable picking robot and implementation method thereof - Google Patents
Self-propelled multi-manipulator fruit and vegetable picking robot and implementation method thereof Download PDFInfo
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- CN113196947A CN113196947A CN202110690561.9A CN202110690561A CN113196947A CN 113196947 A CN113196947 A CN 113196947A CN 202110690561 A CN202110690561 A CN 202110690561A CN 113196947 A CN113196947 A CN 113196947A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- Harvesting Machines For Specific Crops (AREA)
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Abstract
The invention relates to a self-propelled multi-manipulator fruit and vegetable picking robot which comprises a frame, a first conveying module, a second conveying module, a transverse movement module, two end effector movement modules, an end effector and a vision module, wherein the first conveying module is arranged on the frame; the first transmission module is respectively connected with the frame and the second transmission module, the second transmission module is connected with the frame, the end effector movement module is respectively connected with the transverse movement module and the end effector, and the vision module is arranged on the frame. According to the invention, the frame, the first conveying module, the second conveying module, the transverse movement module, the two end effector movement modules, the end effectors and the vision module are arranged, so that the efficient picking and transportation of crops are realized, and the collection of workers is facilitated.
Description
Technical Field
The invention relates to an agricultural robot, in particular to a self-propelled multi-manipulator fruit and vegetable picking robot and an implementation method thereof.
Background
With the rapid development of economy and the rapid promotion of urbanization in China, agricultural labor is gradually transferred to other industries, and the problem of insufficient agricultural labor resources is gradually exposed. Automation and robotization of agricultural and horticultural operations can improve labor productivity and product quality, and have great potential for development. The application of mechanization and automation in the fruit picking process will be the future trend and direction of development. However, most of the existing fruit and vegetable picking robots are operated by a single mechanical arm, and the picking efficiency is low.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a self-propelled multi-manipulator fruit and vegetable picking robot and an implementation method thereof.
The invention is realized by adopting the following technical scheme: a self-propelled multi-manipulator fruit and vegetable picking robot comprises a frame, a first conveying module, a second conveying module, a transverse movement module, two end effector movement modules, an end effector and a vision module; the first transmission module is respectively connected with the frame and the second transmission module, the second transmission module is connected with the frame, the end effector movement module is respectively connected with the transverse movement module and the end effector, and the vision module is arranged on the frame; the frame is used for processing image information and controlling the movement and running of each part module; the first conveying module and the second conveying module are used for conveying the picked crops; the transverse movement module is used for controlling the movement module of the loading end effector to operate; the two end effector motion modules are used for adjusting the position of the end effector; the end effector is used for picking crops in actual operation; the vision module is used for collecting and transmitting pictures.
The method is realized by adopting the following technical scheme: a self-propelled multi-manipulator fruit and vegetable picking implementation method adopts the self-propelled multi-manipulator fruit and vegetable picking robot to pick fruits and vegetables, and comprises the following steps:
s1, walking by driving the frame;
s2, lowering the retracted second conveying module through the control cylinder;
s3, starting an industrial camera to collect pictures, transmitting the shot pictures to a computer, and identifying crops and calculating three-dimensional coordinates of fruits and vegetables by the computer;
s4, distributing the tasks to the mechanical arms composed of the end effector moving module and the end effector by using a computer, and driving the end effector moving module by the transverse moving module;
s5, sending a motion instruction by using a computer, transmitting the end effector motion module to a specified position through the transverse motion module, and driving the end effector to a specified height by using the end effector motion control module;
s6, if the frame moves and the end effector reaches the designated position, the computer controls the electromagnetic valve switch to open the electromagnetic valve, the end effector opens the V-shaped claw, the electromagnetic valve is controlled to close, and the end effector closes the V-shaped claw to grasp the fruits and vegetables;
s7, the rotating cylinder rotates to drive the V-shaped claw to rotate, and the fruits and vegetables are screwed down;
s8, driving the end effector to move above the first conveying module by using the end effector moving module, and stretching the V-shaped claws to put down the fruits and vegetables;
and S9, conveying the fruits and vegetables to a second conveying module by using the first conveying module, and conveying the fruits and vegetables to a collecting vehicle by using the second conveying module.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention is provided with a frame, a first transmission module, a second transmission module, a transverse motion module, two end effector motion modules, an end effector and a vision module, the vision module is used for collecting the image information of crops, and the three-dimensional coordinate information of the crops can be obtained after processing; controlling the position of the end effector by the end effector movement module and the lateral movement module; the picking of crops is realized through the end effector; the crop collected by the conveying module is transported, so that the crop can be conveniently collected by workers.
2. The whole frame of the invention adopts the crawler driving operation, and the crawler driving operation is suitable for the complicated terrain in the field.
3. The transverse movement module is horizontally arranged on the left cross beam and the right cross beam of the frame and is parallel to the front cross beam and the rear cross beam, and the position of the end effector movement module can be adjusted through the transverse movement module due to certain difference between the field ridge and the field ridge.
4. The end effector movement module is connected with the transverse movement module through an inclined bracket, the inclined bracket fixes the inclined surface of the end effector movement module to form a certain angle with the ground, and the end effector movement module moves in a mode of forming a certain angle with the ground, so that after the crops are picked up, the end effector movement module carries the end effector to move to the fixed height of the conveyor belt and puts down the crops, and the method for fixing the conveyor belt is very simple.
5. The first conveying module is parallel to the transverse moving module and is positioned at one side close to the end effector when being installed, the picking robot is a multi-manipulator, the parallel installation can ensure that the end effector cannot interfere with the conveying device when moving, after picking is completed, the two end effectors move to a fixed height to loosen the V-shaped claw, and fruits and vegetables can fall onto the conveying belt safely.
6. The second conveying module is fixed on the side face of the frame through the connecting piece, the conveying belt is in butt joint with the conveying belt of the first conveying module, the telescopic cylinder is used for controlling the rotation of the rotating pair and accordingly achieving the folding and unfolding of the conveying belt, when the picking robot does not work, the cylinder piston is controlled to recycle and fold the conveying belt, when the picking robot works, the conveying belt is put down to receive fruits and vegetables conveyed by the first conveying module and convey the fruits and vegetables to the picking vehicle, and the interval baffle plates arranged on the conveying belt can effectively prevent the fruits and vegetables from sliding off the conveying belt.
7. The end effector of the invention adopts the pneumatic push rod to control the opening and closing of the four V-shaped claws, thereby realizing the loosening and grasping operation of fruits and vegetables, and the pneumatic system has strong adaptability to complex field operation and longer service life.
8. The end effector adopts the rotary cylinder to realize the rotary type twisting picking of fruits and vegetables, so that plants are not damaged, and the rubber protective sleeves on the V-shaped claws can effectively reduce the damage to the surfaces of the fruits and vegetables during picking.
Drawings
FIG. 1 is a schematic view of the overall structure of a fruit and vegetable picking robot of the present invention;
FIG. 2 is a schematic structural view of the vehicle frame of the present invention;
FIG. 3 is a schematic diagram of a first transfer module according to the present invention;
FIG. 4 is a schematic diagram of a second transfer module of the present invention;
FIG. 5 is a schematic view of the lateral motion module configuration of the present invention;
FIG. 6 is a schematic diagram of an end effector motion module configuration of the present invention;
FIG. 7 is a schematic view of an end effector of the present invention;
FIG. 8 is a schematic view of a multi-robot configuration of the present invention;
FIG. 9 is a schematic view of the second transfer module of the present invention in its retracted overall configuration;
in the figure, 1 is a vehicle frame, 2 is a first transfer module, 3 is a second transfer module, 4 is a lateral movement module, 5 is an end effector movement module, 6 is an end effector, 7 is a vision module, 101 is a computer, 102 is a front beam, 103 is a left beam, 104 is a right beam, 105 is a rear beam, 106 is a foot fork, 107 is a crawler, 201 is an L-shaped link plate, 202 is a conveyor belt, 301 is a cylinder, 302 is a first cylinder bracket, 303 is a first link, 304 is a second link, 305 is a rotary pair, 306 is a second cylinder bracket, 307 is a first link plate, 308 is a spacing baffle, 309 is a conveyor belt, 310 is a second link plate, 401 is a motor, 402 is a slider, 403 is a first linear guide, 404 is a second linear guide, 405 is a diagonal bracket, 406 is a rack, 407 is an L-shaped link plate, 408 is an aluminum profile, 409 is a reducer, 410 is a gear, 501 is a U-shaped link plate, 601 is a rotary cylinder, 602 is a base, 603 is a telescopic cylinder, 604 is an ear support, 605 is a control plate, 606 is a V-shaped claw, and 607 is a rubber protective sleeve.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1, the self-propelled multi-manipulator fruit and vegetable picking robot of the present embodiment includes a frame 1, a first conveying module 2, a second conveying module 3, a transverse moving module 4, two end effector moving modules 5, an end effector 6, and a vision module 7; the first transmission module is respectively connected with the frame and the second transmission module, the second transmission module is connected with the frame, the end effector movement module is respectively connected with the transverse movement module and the end effector, and the vision module is arranged on the frame; the frame is used for processing image information and controlling the movement and running of each part module; the first conveying module and the second conveying module are used for conveying the picked crops; the transverse movement module is used for controlling the movement module of the loading end effector to operate; the two end effector motion modules are used for adjusting the position of the end effector; the end effector is used for picking crops in actual operation; the vision module is used for collecting and transmitting pictures.
As shown in fig. 2, in the present embodiment, the frame includes a computer 101, a front cross member 102, a left cross member 103, a right cross member 104, a rear cross member 105, four forks 106, and two tracks 107; the computer is placed on the right cross beam; the front cross beam is respectively connected with the left cross beam and the right cross beam; the rear cross beam is respectively connected with the left cross beam and the right cross beam; two of the four foot forks are respectively connected with the left cross beam and the crawler belt, and two of the four foot forks are respectively connected with the right cross beam and the crawler belt; wherein, the computer is used for processing image information and controlling the movement of each part module; two tracks are used for driving the frame to run.
As shown in fig. 3, in this embodiment, the first conveying module includes L-shaped connecting plates 201 and a conveying belt 202, the conveying belt is fixed on the left and right beams of the frame through four L-shaped connecting plates, and the conveying belt and the transverse movement module are parallel and close to the end effector movement module during fixing, so that the end effector movement module does not interfere with the conveying belt during operation, and fruits and vegetables which rise to a certain height after picking can safely fall on the conveying belt.
As shown in fig. 4, in the present embodiment, the second transfer module includes an air cylinder 301, a first air cylinder bracket 302, a first connector 303, a second connector 304, a rotary pair 305, a second air cylinder bracket 306, a first connection plate 307, a spacing baffle 308, a conveyor belt 309, and a second connection plate 310; the second conveying module fixes the conveying belt on the frame through the first connecting piece and the second connecting piece; the rotating pair penetrates through the first connecting piece, the second connecting piece and the conveyor belt base, so that the conveyor belt can rotate around the rotating pair; the spacing baffles are uniformly distributed on the conveyor belt, the first cylinder support is fixed between the first connecting piece and the second connecting piece, the second cylinder support is fixed on the conveyor belt through the first connecting plate and the second connecting plate, the cylinder penetrates through the first cylinder support and is fixed through a nut at the front end of the cylinder, the piston penetrates through the second cylinder support and is fixed through a nut, and the retraction of the conveyor belt is controlled through the cylinder; when the conveyor belt is fixed, the distance from the center of the rotary pair to the center of the first cylinder support is equal to the distance from the center of the rotary pair to the center of the second cylinder support, so that the conveyor belt can be safely retracted; evenly place interval baffle above the conveyer belt, can prevent the fruit vegetables landing in the transportation after receiving the fruit vegetables that first conveying module transmitted. During operation, the rotating pair is controlled to rotate by the stretching of the cylinder piston, so that the conveying belt is controlled to be retracted, fruits and vegetables conveyed by the first conveying module are received and conveyed to the collecting vehicle.
As shown in fig. 5, in the present embodiment, the lateral movement module includes a motor 401, a slider 402, a first linear guide 403, a second linear guide 404, an inclined bracket 405, a rack 406, an L-shaped connecting plate 407, an aluminum profile 408, a speed reducer 409, and a gear 410; the whole transverse movement module is horizontally fixed on the frame; the motor and the speed reducer are fixed on the inclined bracket, the rack is fixed on the aluminum profile through the L-shaped connecting plate, the first linear guide rail and the rack are fixed on the same surface, and the second linear guide rail is fixed on the side surface of the aluminum profile; the number of the sliding blocks is four, the first sliding block and the second sliding block are fixedly arranged on the first linear guide rail, the third sliding block and the fourth sliding block are fixedly arranged on the second linear guide rail, and the inclined bracket is fixed on the four sliding blocks. When the end effector works, the motor drives the inclined bracket to move through the speed reducer, the rack and the gear, so that the end effector is driven to move.
As shown in fig. 6, in the present embodiment, the end effector movement module includes a rack, a gear, a motor, an L-shaped connection plate, an aluminum profile, a first linear guide rail, a slider, a U-shaped connection plate 501, and a speed reducer; the end effector movement module is fixed on an inclined surface of an inclined bracket of the transverse movement module to form a fixed angle with the ground; wherein, first linear guide and slider load in one side of aluminium alloy, and the rack is then fixed at the opposite side of aluminium alloy through L type connecting plate, and motor and reduction gear pass through U type connecting plate and fix. During operation, the motor drives the L-shaped connecting plate on the first linear guide rail to move through the speed reducer, the rack and the gear, so that the end effector is driven to move, and the running speed of the end effector moving module can be adjusted by adjusting the rotating speed of the motor.
As shown in fig. 7, in the present embodiment, the end effector includes a rotary cylinder 601, a base 602, a telescopic cylinder 603, a V-shaped claw bracket 604, a control plate 605, four V-shaped claws 606, and four rubber protection sleeves 607; telescopic cylinder passes through the base to be fixed on revolving cylinder, and V type claw support is fixed on telescopic cylinder, and four V type claws pass the control panel to be fixed on V type claw support, and telescopic cylinder's piston is fixed at the intermediate position of control panel, and four rubber protective sheaths overlap respectively on four V type claws, prevent to snatch the in-process of fruit vegetables and produce the damage to the fruit vegetables epidermis. When the fruit and vegetable twisting machine works, the telescopic cylinder controls the V-shaped claw to be opened and closed, and the rotary cylinder controls the V-shaped claw to rotate to twist fruits and vegetables.
In this embodiment, the vision module comprises industry camera, connecting block and camera fixed bolster, and industry camera position and angle are fixed unchangeable.
When in operation, the method comprises the following steps:
s1, walking in the field by driving the frame;
s2, lowering the retracted second conveying module through the control cylinder;
s3, starting an industrial camera to collect pictures of the field, transmitting the shot pictures to a computer, and identifying crops and calculating three-dimensional coordinates of fruits and vegetables by the computer;
s4, as shown in fig. 8, allocating tasks of the respective manipulators including the end effector motion module and the end effector by using a computer, wherein each manipulator is only responsible for picking fruits and vegetables on one ridge without mutual interference, and the transverse motion module drives the end effector motion module;
s5, sending a motion instruction by using a computer, transmitting the end effector motion module to a specified ridge through a transverse motion module, and driving the end effector to a specified height by using a control end effector motion module;
s6, when the frame moves, after the end effector reaches the designated position, the computer controls the electromagnetic valve switch to open the electromagnetic valve, the end effector opens the V-shaped claw, the electromagnetic valve is controlled to close, and the end effector closes the V-shaped claw to grasp the fruits and vegetables, as shown in figure 9;
s7, the rotating cylinder rotates to drive the V-shaped claw to rotate, and the fruits and vegetables are screwed down;
s8, driving the end effector to move above the first conveying module by using the end effector moving module, and stretching the V-shaped claws to put down the fruits and vegetables;
and S9, conveying the fruits and vegetables to a second conveying module by using the first conveying module, and conveying the fruits and vegetables to a collecting vehicle by using the second conveying module.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A self-propelled multi-manipulator fruit and vegetable picking robot is characterized by comprising a frame, a first conveying module, a second conveying module, a transverse movement module, two end effector movement modules, an end effector and a vision module; the first transmission module is respectively connected with the frame and the second transmission module, the second transmission module is connected with the frame, the end effector movement module is respectively connected with the transverse movement module and the end effector, and the vision module is arranged on the frame; the frame is used for processing image information and controlling the movement and running of each part module; the first conveying module and the second conveying module are used for conveying the picked crops; the transverse movement module is used for controlling the movement module of the loading end effector to operate; the two end effector motion modules are used for adjusting the position of the end effector; the end effector is used for picking crops in actual operation; the vision module is used for collecting and transmitting pictures.
2. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 1, wherein the frame comprises a computer, a front beam, a left beam, a right beam, a rear beam, four forks and two tracks; the computer is placed on the right cross beam; the front cross beam is respectively connected with the left cross beam and the right cross beam; the rear cross beam is respectively connected with the left cross beam and the right cross beam; two of the four foot forks are respectively connected with the left cross beam and the crawler belt, and two of the four foot forks are respectively connected with the right cross beam and the crawler belt; wherein, the computer is used for processing image information and controlling the movement of each part module; two tracks are used for driving the frame to run.
3. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 1, wherein the first conveying module comprises L-shaped connecting plates and a conveying belt, the conveying belt is fixed on the left and right cross beams of the frame through four L-shaped connecting plates, and the conveying belt and the transverse moving module are parallel and close to the end effector moving module when the conveying belt and the transverse moving module are fixed.
4. The self-propelled multi-manipulator fruit and vegetable picking robot of claim 1, wherein the second conveying module comprises a cylinder, a first cylinder bracket, a first connecting piece, a second connecting piece, a rotating pair, a second cylinder bracket, a first connecting plate, a spacing baffle, a conveying belt and a second connecting plate; the second conveying module fixes the conveying belt on the frame through the first connecting piece and the second connecting piece.
5. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 4, wherein the rotating pair passes through the first connecting member, the second connecting member and the conveyor belt base for the conveyor belt to rotate around the rotating pair; the spacing baffles are uniformly distributed on the conveyor belt, the first cylinder support is fixed between the first connecting piece and the second connecting piece, the second cylinder support is fixed on the conveyor belt through the first connecting plate and the second connecting plate, the cylinder penetrates through the first cylinder support and is fixed through a nut at the front end of the cylinder, the piston penetrates through the second cylinder support and is fixed through a nut, and the retraction of the conveyor belt is controlled through the cylinder; when the conveying belt is fixed, the distance from the center of the rotating pair to the center of the first cylinder support is equal to the distance from the center of the rotating pair to the center of the second cylinder support.
6. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 1, wherein the transverse movement module comprises a motor, a sliding block, a first linear guide rail, a second linear guide rail, an inclined bracket, a rack, an L-shaped connecting plate, an aluminum profile, a gear and a speed reducer; the whole transverse movement module is horizontally fixed on the frame; the motor and the speed reducer are fixed on the inclined bracket, the rack is fixed on the aluminum profile through the L-shaped connecting plate, the first linear guide rail and the rack are fixed on the same surface, and the second linear guide rail is fixed on the side surface of the aluminum profile; the number of the sliding blocks is four, the first sliding block and the second sliding block are fixedly arranged on the first linear guide rail, the third sliding block and the fourth sliding block are fixedly arranged on the second linear guide rail, and the inclined bracket is fixed on the four sliding blocks; the motor drives the inclined bracket to move through the speed reducer, the rack and the gear to drive the end effector to move.
7. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 1, wherein the end effector movement module comprises a rack, a gear, a motor, an L-shaped connecting plate, an aluminum profile, a first linear guide rail, a slider, a U-shaped connecting plate and a reducer; the end effector movement module is fixed on the inclined surface of the inclined bracket of the transverse movement module; the first linear guide rail and the sliding block are arranged on one side of the aluminum profile, the rack is fixed on the other side of the aluminum profile through an L-shaped connecting plate, and the motor and the speed reducer are fixed through a U-shaped connecting plate; the motor drives the L-shaped connecting plate on the first linear guide rail to move through the speed reducer, the rack and the gear, and drives the end effector to move; the operating speed of the end effector movement module is adjusted by adjusting the rotational speed of the motor.
8. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 1, wherein the end effector comprises a rotary cylinder, a base, a telescopic cylinder, a V-shaped claw bracket, a control board, four V-shaped claws and four rubber protective sleeves; the telescopic cylinder is fixed on the rotary cylinder through the base, the V-shaped claw support is fixed on the telescopic cylinder, the four V-shaped claws penetrate through the control board and are fixed on the V-shaped claw support, the piston of the telescopic cylinder is fixed in the middle of the control board, and the four rubber protective sleeves are respectively sleeved on the four V-shaped claws; the telescopic cylinder is used for controlling the opening and closing of the V-shaped claw, and the rotary cylinder is used for controlling the rotation of the V-shaped claw.
9. The self-propelled multi-manipulator fruit and vegetable picking robot as claimed in claim 1, wherein the vision module is composed of an industrial camera, a connecting block and a camera fixing bracket, and the position and the angle of the industrial camera are fixed.
10. A self-propelled multi-manipulator fruit and vegetable picking implementation method is characterized in that the self-propelled multi-manipulator fruit and vegetable picking robot of any one of claims 1-9 is adopted for picking fruits and vegetables, and the method comprises the following steps:
s1, walking by driving the frame;
s2, lowering the retracted second conveying module through the control cylinder;
s3, starting an industrial camera to collect pictures, transmitting the shot pictures to a computer, and identifying crops and calculating three-dimensional coordinates of fruits and vegetables by the computer;
s4, distributing the tasks to the mechanical arms composed of the end effector moving module and the end effector by using a computer, and driving the end effector moving module by the transverse moving module;
s5, sending a motion instruction by using a computer, transmitting the end effector motion module to a specified position through the transverse motion module, and driving the end effector to a specified height by using the end effector motion control module;
s6, if the frame moves and the end effector reaches the designated position, the computer controls the electromagnetic valve switch to open the electromagnetic valve, the end effector opens the V-shaped claw, the electromagnetic valve is controlled to close, and the end effector closes the V-shaped claw to grasp the fruits and vegetables;
s7, the rotating cylinder rotates to drive the V-shaped claw to rotate, and the fruits and vegetables are screwed down;
s8, driving the end effector to move above the first conveying module by using the end effector moving module, and stretching the V-shaped claws to put down the fruits and vegetables;
and S9, conveying the fruits and vegetables to a second conveying module by using the first conveying module, and conveying the fruits and vegetables to a collecting vehicle by using the second conveying module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110690561.9A CN113196947A (en) | 2021-06-22 | 2021-06-22 | Self-propelled multi-manipulator fruit and vegetable picking robot and implementation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110690561.9A CN113196947A (en) | 2021-06-22 | 2021-06-22 | Self-propelled multi-manipulator fruit and vegetable picking robot and implementation method thereof |
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| CN113196947A true CN113196947A (en) | 2021-08-03 |
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| CN202110690561.9A Pending CN113196947A (en) | 2021-06-22 | 2021-06-22 | Self-propelled multi-manipulator fruit and vegetable picking robot and implementation method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115250743A (en) * | 2022-05-13 | 2022-11-01 | 华南农业大学 | Clamping and shearing integrated litchi picking end effector and litchi picking robot |
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| JP2000092952A (en) * | 1998-09-22 | 2000-04-04 | Iseki & Co Ltd | Fruit controlling and harvesting robot |
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| CN211793007U (en) * | 2019-12-31 | 2020-10-30 | 甘肃农业大学 | Categorised all-in-one is picked to fruit |
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| JP2000092952A (en) * | 1998-09-22 | 2000-04-04 | Iseki & Co Ltd | Fruit controlling and harvesting robot |
| JP2009027976A (en) * | 2007-07-26 | 2009-02-12 | National Agriculture & Food Research Organization | Holding apparatus |
| CN205196357U (en) * | 2015-12-10 | 2016-05-04 | 大连交通大学 | Fruit picking machine ware people |
| US20190200524A1 (en) * | 2017-12-29 | 2019-07-04 | Cosechadoras Rolif, S.L. | Integrated dual-use machine for harvesting and treating fruit on trees |
| CN108401655A (en) * | 2018-03-14 | 2018-08-17 | 河南工业大学 | A kind of ridge culture strawberry picking machine |
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| CN115250743A (en) * | 2022-05-13 | 2022-11-01 | 华南农业大学 | Clamping and shearing integrated litchi picking end effector and litchi picking robot |
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Application publication date: 20210803 |