CN113348871B - Liftable rotary spindle platform - Google Patents
Liftable rotary spindle platform Download PDFInfo
- Publication number
- CN113348871B CN113348871B CN202110396530.2A CN202110396530A CN113348871B CN 113348871 B CN113348871 B CN 113348871B CN 202110396530 A CN202110396530 A CN 202110396530A CN 113348871 B CN113348871 B CN 113348871B
- Authority
- CN
- China
- Prior art keywords
- lifting
- spindle
- height
- apple
- ingot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a liftable rotary spindle platform, comprising: the walking robot main body comprises a rotary spindle structure, a lifting platform device, a spindle accommodating bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism; the rotary spindle structure comprises a rotatable spindle head, a rotary motor, a mechanical arm and an arm driving motor; the lifting platform device is internally provided with a lifting motor, and the lifting motor is used for enabling the height of the bottom of the lifting platform device after lifting to be consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of pixel points of the distributed spindle body. The lifting rotary spindle platform is compact in structure, energy-saving and environment-friendly. The apple grabbing structure with the lifting device can adaptively set the positioning height of the lifting device according to the most densely-appearing height of the apple ingot body, so that the stroke required to be experienced by the operation of the spindle is shortened, and the power consumption required to be consumed on site is saved.
Description
Technical Field
The invention relates to the field of rotary spindle, in particular to a lifting rotary spindle platform.
Background
The apple is plant of Malus genus of Malaceae subfamily, and its tree is deciduous arbor. The apple has high nutritive value, is rich in minerals and vitamins, contains rich calcium, is favorable for metabolizing superfluous salt in the body, and can metabolize heat to prevent obesity of the lower body.
Apple is a low calorie food that produces about 60 kcal of heat per 100 grams. The apples have high solubility of nutrient components and are easy to be absorbed by human bodies, so the apples are called as "running water". It is favorable for dissolving sulfur element and making skin smooth and tender.
Currently, the following drawbacks exist with the use of rotary spindles and apple grabbing structures with lifting devices: the height of the lifting device is fixed, or manual adjustment is needed, so that the picking requirements of the spindles of the apple tree bodies with different growth heights and different distribution densities of the apple tree bodies cannot be met, and the scene that the height of the lifting device is too high or too low relative to the proper spindle of the apple tree body is easy to appear.
Disclosure of Invention
In order to solve the technical problems in the related art, the invention provides a lifting type rotary spindle platform, which can adaptively set the positioning height of a lifting device according to the most densely-appearing height of an apple spindle body aiming at an apple grabbing structure using a rotary spindle and a self-lifting device, so that the rotary spindle mechanism can conveniently execute spindle operation, and the stroke required to be experienced by the spindle operation is shortened.
For this purpose, the present invention needs to have at least the following important points:
(1) Introducing a targeted visual detection mechanism, and performing field measurement on the ingot body distribution density of the layer-by-layer height of the apple tree body to be picked up currently, wherein visual row-by-row analysis of the ingot body distribution density is performed in pixel row units;
(2) The current lifting height of the lifting device for executing the spindle is adaptively selected based on the spindle body distribution density of the layer-by-layer heights of the apple tree bodies of the spindle to be currently detected, so that the lifting device is ensured to be always kept at a proper height for conveniently executing the spindle operation.
According to an aspect of the present invention there is provided a liftable rotary spindle platform, the platform comprising:
the walking robot main body comprises a rotary spindle structure, a lifting platform device, a spindle accommodating bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism;
in the walking robot main body, the walking mechanism is arranged at the bottom of the walking robot main body, and the lifting platform device is arranged right above the walking mechanism.
More specifically, in the liftable rotary spindle platform:
in the walking robot body, the obstacle detection means may perform positioning detection of surrounding obstacles using an infrared ranging mode or an ultrasonic ranging mode.
More specifically, in the liftable rotary spindle platform:
in the walking robot main body, the rotary spindle structure, the wireless communication mechanism and the real-time positioning mechanism are all installed on the lifting platform device, and the real-time positioning mechanism gives out real-time positioning data of the walking robot main body in an apple plantation.
More specifically, in the liftable rotary spindle platform, the platform further includes:
the rotary type spindle structure comprises a rotatable spindle head, a rotary motor, a mechanical arm and an arm driving motor, wherein the rotary motor is connected with the rotatable spindle head and used for providing power for the rotation of the rotatable spindle head, and the arm driving motor comprises a plurality of motor units for respectively providing power for each arm body unit of the mechanical arm;
the data recording and shooting mechanism is internally provided with a photoelectric sensor and is used for executing recording and shooting operation on the apple tree body to be picked up currently when the walking robot main body reaches the front of the apple tree body to be picked up currently so as to obtain a corresponding tree recording and shooting picture;
the signal filtering equipment is arranged in the shell of the lifting platform device, is connected with the data recording and shooting mechanism and is used for performing directional filtering processing on the received tree body recording and shooting picture so as to obtain a corresponding filtering processing picture;
the content enhancement device is arranged in the shell of the lifting platform device, connected with the signal filtering device and used for performing enhancement processing on image content on the received filtering processing picture so as to obtain a corresponding content enhancement picture;
the ingot body identification mechanism is connected with the content enhancement equipment and is used for identifying each image area where each apple ingot body is positioned respectively from the content enhancement picture based on the appearance characteristics of the apples;
the area analysis mechanism is connected with the ingot identification mechanism and is used for acquiring all pixel points forming each image area in the content enhancement picture to obtain each ingot pixel point, and detecting the number of the ingot pixel points distributed on each pixel line in the content enhancement picture;
the number analysis mechanism is connected with the area analysis mechanism and is used for sequencing the number of the pixel points of the spindle body distributed on each pixel line in the content enhancement picture, and the number of the pixel line with the largest number of the pixel points of the spindle body distributed is taken as a target number to be sent out;
the lifting platform device is internally provided with a lifting motor and is used for being connected with the number analysis mechanism, and the lifting height of the lifting platform device is adjusted based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked up corresponding to the pixel row with the largest number of pixel points of the distributed ingot body;
adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of distributed spindle body pixels, wherein the entity position comprises: the larger the received numerical value of the target number is, the higher the lifting height of the lifting platform device after adjustment is;
the adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of distributed spindle body pixels further comprises: and establishing a numerical corresponding relation between the number of the pixel row in the content enhancement picture and the height of the entity position of the apple tree body of the current spindle to be picked corresponding to the pixel row in the content enhancement picture by using a numerical fitting function as input data of the function and using the height of the entity position of the apple tree body of the current spindle to be picked corresponding to the pixel row in the content enhancement picture as output data of the function.
According to another aspect of the present invention there is also provided a method of lifting a rotatable spindle, the method comprising using a lifting rotatable spindle platform as described above for adaptively selecting a current lifting height of a lifting device for performing a spindle based on a spindle body distribution density of layer by layer heights of apple tree bodies of the spindle currently to be picked.
The lifting rotary spindle platform is compact in structure, energy-saving and environment-friendly. The apple grabbing structure with the lifting device can adaptively set the positioning height of the lifting device according to the most densely-appearing height of the apple ingot body, so that the stroke required to be experienced by the operation of the spindle is shortened, and the power consumption required to be consumed on site is saved.
Drawings
Embodiments of the present invention will be described below with reference to the accompanying drawings, in which:
fig. 1 is a block diagram showing the external shape of a robot arm for a liftable rotary spindle platform according to an embodiment of the present invention.
Detailed Description
Embodiments of the liftable rotary spindle platform of the present invention will be described in detail below with reference to the accompanying drawings.
Hundreds of apple varieties are classified into a wine variety, a cooking variety and a fresh food variety 3. The 3 varieties have different sizes, colors, fragrances, smoothness (and possibly brittleness and flavor) and other characteristics. The sugar content of various varieties is high, the acidity is medium, and the tannin content is low. In addition to raw apple, the cooking process is also numerous and is commonly used as a snack filling, with apple-filled pancakes being perhaps the earliest U.S. dessert. Fried apples are often eaten with dishes such as sausage, pork chop, etc., especially in Europe. Recent taxonomic evidence shows that members of the genus Malus are also not 38, nor does it seem to be difficult to find a "genus" but each appears to be common to apples we eat, and each can provide some fruit, although some taste is somewhat insignificant. From this point of view, each species of malus is likely to contribute a fraction of the sweet taste of apples in a supermarket. Probably more than 2000, orchards were planted around the world.
Most apple trees are cross pollinated, and the apple trees have 2% -4% of flowers and fruits which are ideal. Although the size, shape, color and acidity of ripe apples vary widely depending on the variety and environmental conditions, they are generally round, 50 to 100 mm in diameter, reddish or yellow.
Currently, the following drawbacks exist with the use of rotary spindles and apple grabbing structures with lifting devices: the height of the lifting device is fixed, or manual adjustment is needed, so that the picking requirements of the spindles of the apple tree bodies with different growth heights and different distribution densities of the apple tree bodies cannot be met, and the scene that the height of the lifting device is too high or too low relative to the proper spindle of the apple tree body is easy to appear.
In order to overcome the defects, the invention discloses a lifting type rotary spindle platform which can effectively solve the corresponding technical problems.
The liftable rotary spindle platform according to the embodiment of the present invention comprises:
the walking robot main body comprises a rotary spindle structure, a lifting platform device, a spindle accommodating bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism;
in the walking robot main body, the walking mechanism is arranged at the bottom of the walking robot main body, and the lifting platform device is arranged right above the walking mechanism.
Next, a further description will be given of the specific structure of the liftable rotary spindle platform of the present invention.
In the liftable rotary spindle platform:
in the walking robot body, the obstacle detection means may perform positioning detection of surrounding obstacles using an infrared ranging mode or an ultrasonic ranging mode.
In the liftable rotary spindle platform:
in the walking robot main body, the rotary spindle structure, the wireless communication mechanism and the real-time positioning mechanism are all installed on the lifting platform device, and the real-time positioning mechanism gives out real-time positioning data of the walking robot main body in an apple plantation.
The liftable rotary spindle platform can further comprise:
the rotary type spindle structure comprises a rotatable spindle head, a rotary motor, a mechanical arm and an arm driving motor, wherein the rotary motor is connected with the rotatable spindle head and used for providing power for the rotation of the rotatable spindle head, and the arm driving motor comprises a plurality of motor units for respectively providing power for each arm body unit of the mechanical arm;
wherein, as shown in fig. 1, a specific structure of the mechanical arm in the rotary spindle structure is given;
the data recording and shooting mechanism is internally provided with a photoelectric sensor and is used for executing recording and shooting operation on the apple tree body to be picked up currently when the walking robot main body reaches the front of the apple tree body to be picked up currently so as to obtain a corresponding tree recording and shooting picture;
the signal filtering equipment is arranged in the shell of the lifting platform device, is connected with the data recording and shooting mechanism and is used for performing directional filtering processing on the received tree body recording and shooting picture so as to obtain a corresponding filtering processing picture;
the content enhancement device is arranged in the shell of the lifting platform device, connected with the signal filtering device and used for performing enhancement processing on image content on the received filtering processing picture so as to obtain a corresponding content enhancement picture;
the ingot body identification mechanism is connected with the content enhancement equipment and is used for identifying each image area where each apple ingot body is positioned respectively from the content enhancement picture based on the appearance characteristics of the apples;
the area analysis mechanism is connected with the ingot identification mechanism and is used for acquiring all pixel points forming each image area in the content enhancement picture to obtain each ingot pixel point, and detecting the number of the ingot pixel points distributed on each pixel line in the content enhancement picture;
the number analysis mechanism is connected with the area analysis mechanism and is used for sequencing the number of the pixel points of the spindle body distributed on each pixel line in the content enhancement picture, and the number of the pixel line with the largest number of the pixel points of the spindle body distributed is taken as a target number to be sent out;
the lifting platform device is internally provided with a lifting motor and is used for being connected with the number analysis mechanism, and the lifting height of the lifting platform device is adjusted based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked up corresponding to the pixel row with the largest number of pixel points of the distributed ingot body;
adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of distributed spindle body pixels, wherein the entity position comprises: the larger the received numerical value of the target number is, the higher the lifting height of the lifting platform device after adjustment is;
the adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of distributed spindle body pixels further comprises: and establishing a numerical corresponding relation between the number of the pixel row in the content enhancement picture and the height of the entity position of the apple tree body of the current spindle to be picked corresponding to the pixel row in the content enhancement picture by using a numerical fitting function as input data of the function and using the height of the entity position of the apple tree body of the current spindle to be picked corresponding to the pixel row in the content enhancement picture as output data of the function.
In the liftable rotary spindle platform:
the step of issuing the number of the pixel row with the largest number of the distributed ingot pixel points as the target number comprises the following steps: in the content enhancement picture, the number of the bottom-most pixel line is 1, and each number of each pixel line on the bottom-most pixel line is incremented by 1.
In the liftable rotary spindle platform:
identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the apple appearance characteristics comprises the following steps: and identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the standard imaging picture of the single apple ingot.
In the liftable rotary spindle platform:
identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on standard imaging pictures of single apples comprises the following steps: the standard imaging pictures of the single-ingot apples are more than one and respectively correspond to different imaging visual angles.
In the liftable rotary spindle platform:
in the walking robot main body, the walking mechanism is connected with the obstacle detection mechanism and is used for determining a corresponding walking strategy based on a positioning detection result of the obstacle detection mechanism so as to avoid collision with surrounding obstacles.
Meanwhile, in order to overcome the defects, the invention also provides a lifting type rotary spindle method, which comprises the step of using the lifting type rotary spindle platform for adaptively selecting the current lifting height of a lifting device for executing the spindle based on the spindle body distribution density of the layer-by-layer heights of apple trees to be picked currently.
In addition, apples are deciduous trees, have stronger polarity, are generally vigorous in growth, have large crowns, can reach 15 meters in height, and are generally about 3-5 meters in height under cultivation conditions. The trunk is grey brown, the old skin has irregular longitudinal cracks or flaking, and the small branches are smooth. The fruits are kernel fruits, and the color and the size of the fruits are different according to varieties. Light preference, slightly acidic preference to neutral soil. The method is most suitable for sandy soil with deep soil layer, rich organic matters and good ventilation and drainage.
Grafting propagation is used for propagation and cultivation. The stock includes arbor stock and dwarf stock. Commonly used arbor anvils are: the dwarf stock mainly introduces the British variety of the catalpa bungei, the malus micromalus and the fructus viticis. Wide row close planting is adopted, and the row is oriented to the north and the south. Planting before sealing autumn and winter soil in south-offset regions, and planting in spring in north-offset regions. The self-rosetting strength of apples is poor, and pollinating trees must be configured during planting.
The apple tree starts to bear fruits 2-3 years after planting, the economic life is 15-50 years under the general management condition, and the soil is barren and the management is rough only 20-30 years. Apples generally have a strong dryness and a pronounced stratification as a result of the combined effect of apical dominance and heterogeneity of the buds. Because of the difference between germination and branching forces, the obvious degree of layering is different. Apple buds are classified into two types of leaf buds and flower buds according to the properties. The leaf buds are triangular, the tips are long and bent, and after the leaves are spread, the leaves grow into branches, which are called new shoots or nutrition branches. Branches can be divided into: bare branches, normal branches, fine branches, she Congzhi: the flower buds of the apples are mixed buds. Axillary bud branches, buds formed at the axillary part of the current annual branch, called axillary bud capable of flowering and fruiting in the next year. Flower bud differentiation of apples is completed from the last ten days of 6 months to before winter, and the whole process is divided into three periods of physiological differentiation, morphological differentiation and sexual cell maturation. The flower buds are mixed buds, and the inflorescences are umbrella house-shaped umbrella inflorescences. Each inflorescence flowers 5-7 flowers.
Although the invention has been described in detail with reference to preferred embodiments, those skilled in the art will appreciate that various modifications and substitutions can be made thereto without departing from the spirit and scope of the invention as set forth in the appended claims.
Claims (6)
1. A liftable rotary spindle platform, the platform comprising:
the walking robot main body comprises a rotary spindle structure, a lifting platform device, a spindle accommodating bag body, a walking mechanism, a real-time positioning mechanism, an obstacle detection mechanism and a wireless communication mechanism;
wherein, in the walking robot main body, the walking mechanism is arranged at the bottom of the walking robot main body, and the lifting platform device is arranged right above the walking mechanism;
in the walking robot main body, the obstacle detection mechanism performs positioning detection on surrounding obstacles using an infrared ranging mode or an ultrasonic ranging mode;
in the walking robot main body, the rotary spindle structure, the wireless communication mechanism and the real-time positioning mechanism are all arranged on the lifting platform device, and the real-time positioning mechanism gives out real-time positioning data of the walking robot main body in an apple plantation;
the rotary type spindle structure comprises a rotatable spindle head, a rotary motor, a mechanical arm and an arm driving motor, wherein the rotary motor is connected with the rotatable spindle head and used for providing power for the rotation of the rotatable spindle head, and the arm driving motor comprises a plurality of motor units for respectively providing power for each arm body unit of the mechanical arm;
the data recording and shooting mechanism is internally provided with a photoelectric sensor and is used for executing recording and shooting operation on the apple tree body to be picked up currently when the walking robot main body reaches the front of the apple tree body to be picked up currently so as to obtain a corresponding tree recording and shooting picture;
the signal filtering equipment is arranged in the shell of the lifting platform device, is connected with the data recording and shooting mechanism and is used for performing directional filtering processing on the received tree body recording and shooting picture so as to obtain a corresponding filtering processing picture;
the content enhancement device is arranged in the shell of the lifting platform device, connected with the signal filtering device and used for performing enhancement processing on image content on the received filtering processing picture so as to obtain a corresponding content enhancement picture;
the ingot body identification mechanism is connected with the content enhancement equipment and is used for identifying each image area where each apple ingot body is positioned respectively from the content enhancement picture based on the appearance characteristics of the apples;
the area analysis mechanism is connected with the ingot identification mechanism and is used for acquiring all pixel points forming each image area in the content enhancement picture to obtain each ingot pixel point, and detecting the number of the ingot pixel points distributed on each pixel line in the content enhancement picture;
the number analysis mechanism is connected with the area analysis mechanism and is used for sequencing the number of the pixel points of the spindle body distributed on each pixel line in the content enhancement picture, and the number of the pixel line with the largest number of the pixel points of the spindle body distributed is taken as a target number to be sent out;
the lifting platform device is internally provided with a lifting motor and is used for being connected with the number analysis mechanism, and the lifting height of the lifting platform device is adjusted based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked up corresponding to the pixel row with the largest number of pixel points of the distributed ingot body;
adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of distributed spindle body pixels, wherein the entity position comprises: the larger the received numerical value of the target number is, the higher the lifting height of the lifting platform device after adjustment is;
the adjusting the lifting height of the lifting platform device based on the received target number so that the height of the bottom of the lifting platform device after lifting is consistent with the height of the entity position of the apple tree body to be picked corresponding to the pixel row with the largest number of distributed spindle body pixels further comprises: and establishing a numerical corresponding relation between the number of the pixel row in the content enhancement picture and the height of the entity position of the apple tree body of the current spindle to be picked corresponding to the pixel row in the content enhancement picture by using a numerical fitting function as input data of the function and using the height of the entity position of the apple tree body of the current spindle to be picked corresponding to the pixel row in the content enhancement picture as output data of the function.
2. The liftable rotary spindle platform as set forth in claim 1, wherein:
the step of issuing the number of the pixel row with the largest number of the distributed ingot pixel points as the target number comprises the following steps: in the content enhancement picture, the number of the bottom-most pixel line is 1, and each number of each pixel line on the bottom-most pixel line is incremented by 1.
3. The liftable rotary spindle platform as set forth in claim 2, wherein:
identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the apple appearance characteristics comprises the following steps: and identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on the standard imaging picture of the single apple ingot.
4. A liftable rotary spindle platform according to claim 3, characterized in that:
identifying each image area where each apple ingot body is respectively located from the content enhancement picture based on standard imaging pictures of single apples comprises the following steps: the standard imaging pictures of the single-ingot apples are more than one and respectively correspond to different imaging visual angles.
5. The liftable rotary spindle platform as set forth in claim 4, wherein:
in the walking robot main body, the walking mechanism is connected with the obstacle detection mechanism and is used for determining a corresponding walking strategy based on a positioning detection result of the obstacle detection mechanism so as to avoid collision with surrounding obstacles.
6. A method of liftable rotating spindles, the method comprising providing a liftable rotating spindle platform according to any of claims 1-5 for adaptively selecting a current lifting height of a lifting device for performing spindles based on a spindle body distribution density of layer-by-layer heights of apple tree bodies of the spindles currently to be picked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110396530.2A CN113348871B (en) | 2021-04-13 | 2021-04-13 | Liftable rotary spindle platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110396530.2A CN113348871B (en) | 2021-04-13 | 2021-04-13 | Liftable rotary spindle platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113348871A CN113348871A (en) | 2021-09-07 |
| CN113348871B true CN113348871B (en) | 2023-05-02 |
Family
ID=77525164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110396530.2A Active CN113348871B (en) | 2021-04-13 | 2021-04-13 | Liftable rotary spindle platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113348871B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4532757A (en) * | 1983-09-30 | 1985-08-06 | Martin Marietta Corporation | Robotic fruit harvester |
| CN209732041U (en) * | 2018-11-30 | 2019-12-06 | 东莞理工学院 | Fruit picking robot |
| CN110832991B (en) * | 2019-10-24 | 2021-07-13 | 广州大学 | Picking machine based on image recognition |
| CN112154778A (en) * | 2020-10-28 | 2021-01-01 | 唐山学院 | Intelligent fruit picking operation vehicle |
-
2021
- 2021-04-13 CN CN202110396530.2A patent/CN113348871B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113348871A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Kailis et al. | Producing table olives | |
| Seegeler | Oil plants in Ethiopia: their taxonomy and agricultural significance | |
| CN106576845B (en) | Method for interplanting snakeskin fruits and passion fruits | |
| CN103444381A (en) | Cultivating method for golden-silk jujube trees | |
| CN106332722A (en) | Processing method for preventing pomegranate cracking | |
| CN101720647B (en) | Cultivation method for increasing sugar content of green loquat fruits | |
| Morris | Development and commercialization of a complete vineyard mechanization system | |
| Parks et al. | Propagation and production of Gac (Momordica cochinchinensis Spreng.), a greenhouse case study | |
| CN103444479A (en) | Cultivation method for Mopan persimmon trees | |
| CN113348871B (en) | Liftable rotary spindle platform | |
| Pluta | Gooseberry—Ribes uva-crispa, sin. R. grossularia L | |
| CN107169940B (en) | Single pear tree yield obtaining method based on electronic identification | |
| Vitkov | Reproductive manifestations of some apple cultivars and forms from the local gene pool in the region of the town of Apriltsi. | |
| Rana et al. | Kiwifruit | |
| Bavec et al. | Oil pumpkins: Niche for organic producers | |
| CN106508656A (en) | Indoor soilless culture method for edible buckwheat bud seedlings | |
| Green | Carambola production in Malaysia and Taiwan | |
| Adsule et al. | Status and prospects of raisin industry in India | |
| Gonçalves et al. | Sweet Cherry | |
| Meena et al. | 16. Advanced Production Technology of Kiwifruit Under Temperate Region | |
| CN104719132B (en) | A kind of selection of the white skin radish of the oval tubular green grass or young crops shoulder of spring resistance to bolting | |
| CN109089780A (en) | tomato planting method | |
| Acuna-Maldonado et al. | Seasonal patterns of carbohydrate and nitrogen accumulation and depletion in strawberry are affected by fruiting but not day neutrality | |
| Gargin et al. | Effect of climate on the quality and berry coloration of red globe grape variety with cold storage ability in Eğirdir/Isparta | |
| CN107258545A (en) | A kind of blueberry tissue culture bottle seedling fast numerous matrix and technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230410 Address after: 716000 west side of No. 5 road, apple Industrial Park, Fengqi Town, Luochuan County, Yan'an City, Shaanxi Province Applicant after: SHAANXI TOP FRUIT INDUSTRY TECHNOLOGY CO.,LTD. Address before: 410000 room 210, floor 3, Binjiang fortune Silicon Valley Building, C2 group, high tech Development Zone, Changsha, Hunan Applicant before: Zhou Feifei |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |