CN114342659B - Fruit and vegetable picking device based on image recognition - Google Patents
Fruit and vegetable picking device based on image recognition Download PDFInfo
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Abstract
The invention discloses a fruit and vegetable picking device based on image recognition, which comprises a supporting plate, a slide way and a collecting frame arranged at the top of the supporting plate, wherein the front side and the back side of the left side of the top of the supporting plate are fixedly connected with limiting piles, the tops of the two limiting piles are fixedly connected with baffle plates, and the front side and the back side of the slide way are respectively connected with one side, opposite to the two limiting piles, of the slide way in a sliding manner through U-shaped plates. This device is picked to fruit vegetables based on image identification adopts the image identification technique to combine to pick the structure, and the staff sets for fruit vegetables diameter, and the device can pick the fruit vegetables of setting for the size to the fruit vegetables size that the messenger was picked is even, does not need the workman to carry out the secondary and picks, has reduced workman's intensity of labour, has improved the practicality of device, and picks the structure and can the up-and-down motion, makes the device can be applicable to not co-altitude fruit vegetables and picks, has enlarged application scope.
Description
Technical Field
The invention relates to the technical field of fruit and vegetable picking, in particular to a fruit and vegetable picking device based on image recognition.
Background
Image recognition, which is a technology for processing, analyzing and understanding images by using a computer to recognize various targets and objects in different modes, is a practical application of a deep learning algorithm, in the image recognition, not only information entering senses at the time but also information stored in memory are available, and the image recognition can be realized only through a processing process of comparing the stored information with the current information, so that fruit and vegetable (fruit and vegetable) picking is an important link in agricultural production.
Most of present fruit vegetables picking work still relies on the manpower, fruit vegetables picking work intensity of labour is big, artifical picking work efficiency is low, lead to peasant household to plant fruit vegetables cost-push, be unfavorable for the development of agricultural, consequently, fruit vegetables picking device should be transported to live, but current fruit vegetables picking device all is indiscriminate to be picked, individual head size of fruit vegetables of picking is uneven, and because the size of fruit vegetables, factor direct relation to the selling price of fruit vegetables such as good and bad, consequently, still need the workman to pick good fruit vegetables, consequently, current picking device practicality is lower, and high inconvenient regulation, can't be applicable to not co-altitude fruit trees, application scope is less.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a fruit and vegetable picking device based on image recognition, which solves the problems that the fruits and vegetables picked indiscriminately still need to be picked by workers, the practicability is low, the height is inconvenient to adjust, and the application range is small.
In order to realize the purpose, the invention is realized by the following technical scheme: a fruit and vegetable picking device based on image recognition comprises a supporting plate, a slide way and a collecting frame placed at the top of the supporting plate, wherein the front side and the back side of the left side of the top of the supporting plate are fixedly connected with limit piles, the tops of the two limit piles are fixedly connected with a baffle, the front side and the back side of the slide way are respectively in sliding connection with one side, opposite to the two limit piles, of the U-shaped plate through U-shaped plates, a fixed block is fixedly connected to the top between the opposite sides of the two U-shaped plates, multi-stage telescopic rods are fixedly connected to the front side and the back side of the left side of the fixed block, the output ends of the two multi-stage telescopic rods are fixedly connected with a fixed plate, cameras are fixedly connected to the front side and the back side of the left side of the two fixed plates, a connecting plate is fixedly connected to the bottom between the top of the supporting plate and the bottom of the connecting plate, a telescopic conveying channel is fixedly connected to the bottom of the left side of the fixed plate, one end, far away from the fixed plate, of the telescopic conveying channel is fixedly connected to the left side of the slide way, and a picking structure is fixedly connected to the right side of the fixed plate; the picking structure comprises picking shears and two limiting plates, the left sides of the two limiting plates are fixedly connected with the right sides of the fixing plates, the opposite sides of the two limiting plates are rotatably connected with second telescopic rods through connecting blocks, the output ends of the two second telescopic rods are respectively rotatably connected with two handles of the picking shears through the connecting blocks, a through groove penetrating to the right side of the fixing plate is formed in the left side of the fixing plate, the shearing end of the picking shears penetrates to the left side of the fixing plate through the through groove, and the picking shears are rotatably connected with the tops and the bottoms of the inner walls of the through grooves through connecting rods; a fixed groove is formed in the supporting plate, a movable plate is connected between two sides of the inner wall of the fixed groove in a sliding mode through a sliding rail, a spring is fixedly connected between the bottom of the movable plate and the bottom of the inner wall of the fixed groove, a clamping block is fixedly connected to the top of the movable plate, the top of the clamping block penetrates through the fixed groove and the supporting plate and extends to the top of the supporting plate, and a clamping hole is formed in the right side of the bottom of the collecting frame; the output of camera passes through the wire and the input electric connection of image acquisition module to the output of image acquisition module passes through the wire and the input electric connection of characteristic extraction module, and the output of characteristic extraction module passes through the wire and the input electric connection of fruit vegetables identification module, the output of fruit vegetables identification module passes through the wire and the input electric connection of central processing unit, the input of central processing unit passes through the wire and control panel's output electric connection.
Preferably, pick the structure including plucking and cutting and two limiting plates, two the left side of limiting plate all with the right side fixed connection of fixed plate to one side that two limiting plates are relative all rotates through the connecting block and is connected with the second telescopic link, two the output of second telescopic link all rotates through connecting block respectively with two handles of plucking and cutting and is connected, the logical groove that runs through to the fixed plate right side is seted up in the left side of fixed plate, the shearing end of plucking and cutting runs through to the left side of fixed plate through leading to the groove to plucking and cutting and being connected through the top and the bottom rotation of connecting rod and logical inslot wall.
Preferably, the fixed frame of bottom fixedly connected with of backup pad to fixedly connected with baffle between the both sides of fixed frame inner wall, the right side fixedly connected with motor of baffle bottom to the output fixedly connected with dwang of motor.
Preferably, the left side of fixed frame is rotated and is connected with the shaft, the one end of shaft runs through fixed frame and extends to the right side of fixed frame, the fixed surface of dwang is connected with first gear to the fixed surface of shaft is connected with the second gear with first gear engaged with, the both sides of shaft just are located the equal fixedly connected with gyro wheel in both sides of fixed frame, the equal fixedly connected with universal wheel in both sides at the fixed frame bottom back.
Preferably, the top of the partition board is fixedly connected with a storage battery, the bottom of the central processing unit is fixedly connected with the top of the partition board, and the control panel is fixedly connected with the top of the support plate through the support block.
Preferably, the output end of the storage battery is electrically connected with the input ends of the camera and the central processing unit through wires, and the output end of the central processing unit is electrically connected with the input ends of the image acquisition module and the feature extraction module through wires.
Preferably, the output end of the central processing unit is electrically connected with the input ends of the first telescopic rod, the second telescopic rod, the multi-stage telescopic rod and the motor through wires respectively.
Advantageous effects
The invention provides a fruit and vegetable picking device based on image recognition.
Compared with the prior art, the method has the following beneficial effects:
(1) This device is picked to fruit vegetables based on image recognition, through the equal fixedly connected with multi-level telescopic link in the left the place ahead of fixed block and rear, the equal fixedly connected with fixed plate of output of two multi-level telescopic link, and the equal fixedly connected with camera in the left the place ahead of two fixed plates and rear, the right side fixedly connected with of fixed plate picks the structure, the output of camera passes through the wire and the input electric connection of image acquisition module, and the output of image acquisition module passes through the wire and the input electric connection of characteristic extraction module, and the output of characteristic extraction module passes through the wire and the input electric connection of fruit vegetables identification module, adopt image recognition technique to combine the structure of picking, the staff sets for fruit vegetables diameter, the device can pick the fruit vegetables of settlement size, thereby make the fruit vegetables of picking even, do not need the workman to carry out the secondary and choose, workman's intensity of labour has been reduced, the practicality of device has been improved.
(2) This device is picked to fruit vegetables based on image recognition, through the bottom fixedly connected with connecting plate between the relative one side of two U-shaped boards, the first telescopic link of fixedly connected with between the top of backup pad and the bottom of connecting plate, first telescopic link can promote U-shaped board up-and-down motion to the structure up-and-down motion is picked in the drive, makes the device can be applicable to not co-altitude fruit vegetables and picks, has enlarged application scope.
(3) This device is picked to fruit vegetables based on image recognition has seted up the fixed slot through the inside of backup pad to there is the fly leaf through slide rail sliding connection between the both sides of fixed slot inner wall, fixedly connected with spring between the bottom of fly leaf and the bottom of fixed slot inner wall, and the top fixedly connected with fixture block of fly leaf, the card hole has been seted up on the right side of collecting the frame bottom, collects the frame and places in the backup pad, and fixes a position through the fixture block, can prevent that the device from advancing the in-process and collect the frame and drop, has improved the reliability.
(4) This device is picked to fruit vegetables based on image recognition passes through the top fixed connection of supporting shoe with the backup pad through control panel, and control panel sets up in the opposite direction of the device direction of advance, and the staff can use control panel at the device picking in-process, and can not lead to the fact the injury to the staff owing to the device gos forward.
(5) This device is picked to fruit vegetables based on image recognition, through the top fixedly connected with battery of baffle, the battery can be for all power supplies with electrical equipment in the device, need not draw and establish the power transmission line, and it is more convenient to use.
(6) This device is picked to fruit vegetables based on image recognition, through the scalable conveying way of the left bottom fixedly connected with of fixed plate to scalable conveying way keeps away from the one end of fixed plate and the left end fixed connection of slide, and scalable conveying way can be along with the motion extension of fixed plate or shorten, guarantees that the fruit vegetables of picking can fall into conveying channel in, thereby gets into smoothly and collects the frame.
(7) This device is picked to fruit vegetables based on image recognition, include that the picking shears and two limiting plates through picking the structure, the left side of two limiting plates all with the right side fixed connection of fixed plate, and two one sides that the limiting plate is relative all rotate through the connecting block and be connected with the second telescopic link, the output of two second telescopic links all rotates through two handles that the connecting block was cut with the picking respectively and is connected, the shearing end that the picking shears runs through to the left side of fixed plate through leading to the groove, the mode that the picking structure was cut fruit vegetables through shearing the fruit handle is cut off from the branch head, can effectively prevent to pick in-process and cause the fruit vegetables to damage, and the fruit vegetables of picking has one section fruit handle, make the fruit vegetables can preserve the longer time.
Drawings
FIG. 1 is a cross-sectional view of the structure of the present invention;
FIG. 2 is a perspective view of a portion of the present invention;
FIG. 3 is a perspective view of a partial structure of the present invention;
FIG. 4 is a top plan view of a picking structure of the present invention;
FIG. 5 is an enlarged view of a portion of the invention at A in FIG. 1;
figure 6 is a top view of the internal structure of the fixed frame according to the invention;
fig. 7 is a schematic block diagram of the architecture of the system of the present invention.
In the figure: 1 supporting plate, 2 slideways, 3 collecting frames, 4 limiting piles, 5 baffle plates, 6U-shaped plates, 7 fixing blocks, 8 multi-stage telescopic rods, 9 fixing plates, 10 cameras, 11 connecting plates, 12 first telescopic rods, 13 telescopic conveying ways, 14 picking structures, 141 picking shears, 142 limiting plates, 143 second telescopic rods, 15 image acquisition modules, 16 characteristic extraction modules, 17 central processing units, 18 control panels, 19 through grooves, 20 fixing frames, 21 partition plates, 22 motors, 23 rotating rods, 24 wheel shafts, 25 first gears, 26 second gears, 27 idler wheels, 28 universal wheels, 29 storage batteries, 30 fixing grooves, 31 movable plates, 32 springs, 33 clamping blocks, 34 clamping holes and 35 fruit and vegetable identification modules.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: a fruit and vegetable picking device based on image recognition is disclosed, referring to fig. 3, universal wheels 28 are arranged in front of the device, idler wheels 27 are arranged at the rear, namely the position of the universal wheels 28 is the advancing direction of the device, the fruit and vegetable picking device comprises a supporting plate 1, a slide way 2 and a collecting frame 3 placed at the top of the supporting plate 1, the collecting frame 3 can be freely replaced according to the height of fruit and vegetable to be picked, limiting piles 4 are fixedly connected to the front and the back of the left side of the top of the supporting plate 1, baffles 5 are fixedly connected to the tops of the two limiting piles 4, the baffles 5 can prevent the U-shaped plates from being separated from the limiting piles 4, the front and the back of the left side of the slide way 2 are respectively and slidably connected with one side of the two limiting piles 4 through U-shaped plates 6, fixed blocks 7 are fixedly connected to the tops of the opposite sides of the two U-shaped plates 6, multi-stage telescopic rods 8 are fixedly connected to the front and the back of the left side of the fixed blocks 7, cameras 10 are fixedly connected to the fixed plates 9, two cameras 10 are respectively arranged at the front and the back of the left side of the picking scissors 141, when the picking device works, the picking device is simultaneously, the picking device can improve the image picking device, a bottom of the picking device is accurately connected to a first telescopic rod 11 connected to a telescopic rod 13 fixedly connected to the supporting plate 13 fixedly connected to the left side of the supporting plate 6, and a telescopic rod 13 fixedly connected to the supporting plate 13; the output of camera 10 passes through the wire and obtains module 15's input electric connection with the image, and image acquisition module 15's output passes through the wire and draws module 16's input electric connection with the characteristic, the diameter and the colour characteristic of fruit vegetables in the image of shooing can be drawed to characteristic extraction module 16, make things convenient for follow-up fruit vegetables identification module 35 to discern, select the fruit vegetables that accord with the requirement, and the output of characteristic extraction module 16 passes through the wire and fruit vegetables identification module 35's input electric connection, fruit vegetables identification module 35's output passes through the wire and central processing unit 17's input electric connection, central processing unit 17's model is ARM9, central processing unit 17's input passes through the wire and control panel 18's output electric connection, can set up the fruit vegetables diameter through control panel 18, make the device can go to discern the fruit vegetables that accord with the requirement and pick according to the diameter size of settlement.
Fixed frame 20 of bottom fixedly connected with of backup pad 1, and fixedly connected with baffle 21 between the both sides of fixed frame 20 inner wall, the right side fixedly connected with motor 22 of baffle 21 bottom, and motor 22's output fixedly connected with dwang 23, the left side of fixed frame 20 is rotated and is connected with shaft 24, shaft 24 passes through the bearing and is connected with the both sides rotation of fixed frame 20, the one end of shaft 24 runs through fixed frame 20 and extends to the right side of fixed frame 20, the fixed surface of dwang 23 is connected with first gear 25, and the fixed surface of shaft 24 is connected with the second gear 26 with first gear 25 engaged with, the both ends of shaft 24 just are located the equal fixedly connected with gyro wheel 27 in both sides of fixed frame 20, the equal fixedly connected with universal wheel 28 in both sides at the fixed frame 20 bottom back.
The top of the partition 21 is fixedly connected with a storage battery 29, referring to fig. 3, the front of the fixing frame 20 is provided with a charging hole for charging the storage battery 29, the bottom of the central processor 17 is fixedly connected with the top of the partition 21, and the control panel 18 is fixedly connected with the top of the support plate 1 through a support block.
Fixed slot 30 has been seted up to the inside of backup pad 1 to there is fly leaf 31 through slide rail sliding connection between the both sides of fixed slot 30 inner wall, fixedly connected with spring 32 between the bottom of fly leaf 31 and the bottom of fixed slot 30 inner wall, and the top fixedly connected with fixture block 33 of fly leaf 31, refer to fig. 3, two front and back fixture blocks 33 are provided at backup pad 1 top, can improve the reliability, fixed slot 30 and backup pad 1 are run through at the top of fixture block 33 and extend to the top of backup pad 1, collect the right side of frame 3 bottom and seted up card hole 34.
The output of battery 29 passes through the wire respectively with camera 10 and central processing unit 17's input electric connection to central processing unit 17's output passes through the wire respectively with image acquisition module 15 and the input electric connection of characteristic extraction module 16, central processing unit 17's output passes through the wire respectively with first telescopic link 12, second telescopic link 143, the input electric connection of multistage telescopic link 8 and motor 22, first telescopic link 12, second telescopic link 143, multistage telescopic link 8 and motor 22 all pass through wire and battery 29 electric connection.
When the device is used, the picking diameter of vegetables and fruits is set through the control panel 18, the switch is turned on, the device starts to work, the central processor 17 controls the motor 22 to work, the rotating rod 23 rotates, the first gear 25 and the second gear 26 are matched with each other to drive the wheel shaft 24 to rotate, the roller 27 further rotates to enable the device to advance, the camera 10 works in the advancing process, the central processor 17 controls the image acquisition module 15 to acquire image information in image pickup and controls the characteristic extraction module 16 to extract characteristics of the vegetables and fruits in the image, then the fruit and vegetable recognition module 35 compares the extracted characteristics of the vegetables and fruits with the set diameter of the vegetables and fruits and transmits the position of the vegetables and fruits meeting the requirements to the central processor 17, the central processor 17 controls the first telescopic rod 12 and the multistage telescopic rod 8 to work, the first telescopic rod 12 works up and down along the limiting pile 4 through the connecting plate 11 and the U-shaped plate 6, thereby driving the picking structure 14 to move up and down, the multi-stage telescopic rod 8 can drive the fixing plate 9 to move left and right, thereby driving the color makeup structure 14 to move left and right, so that the picking structure 14 reaches the position of fruits and vegetables to be picked, then the central processor 17 controls the second telescopic rod 143 to work, the picking scissors 141 are pushed to cut off the fruit bundles hanging the fruits and vegetables, the fruits and vegetables can directly fall into the telescopic conveying channel 13 at the bottom, then fall into the collecting frame 3 through the slideway 2, after the collecting frame 3 is fully piled, the device is paused through the control panel 17, the full collecting frame 3 is taken off, a new collecting frame 3 is replaced, when the collecting frame 3 is placed on the supporting plate 1, the clamping block 33 is pressed, the movable plate 31 is pushed to move, the spring 32 is compressed, the position of the collecting frame 3 is adjusted, so that the clamping block can be just clamped into the clamping groove 34 at the bottom of the collecting frame 3 under the elastic force of the spring 32, the replacement of the collecting frame 3 is completed, i.e. the device continues to operate via the control panel 18.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a device is picked to fruit vegetables based on image recognition, includes backup pad (1), slide (2) and places in collection frame (3) at backup pad (1) top, backup pad (1) top left front and the equal fixedly connected with in the back limit pile (4) to the equal fixedly connected with baffle (5) in top of two limit pile (4), its characterized in that: the front and the back of the slide way (2) are respectively in sliding connection with one side, opposite to the two limiting piles (4), of the slide way through U-shaped plates (6), a fixing block (7) is fixedly connected to the top between the opposite sides of the two U-shaped plates (6), multi-stage telescopic rods (8) are fixedly connected to the front and the back of the left side of the fixing block (7), fixing plates (9) are fixedly connected to the output ends of the two multi-stage telescopic rods (8), cameras (10) are fixedly connected to the front and the back of the left side of the two fixing plates (9), a connecting plate (11) is fixedly connected to the bottom between the opposite sides of the two U-shaped plates (6), a first telescopic rod (12) is fixedly connected between the top of the support plate (1) and the bottom of the connecting plate (11), a telescopic conveying channel (13) is fixedly connected to the bottom of the left side of the fixing plate (9), one end, far away from the fixing plate (9), of the telescopic conveying channel (13) is fixedly connected to the left end of the slide way (2), and a picking structure (14) is fixedly connected to the right side of the fixing plate (9); the picking structure (14) comprises picking shears (141) and two limiting plates (142), the left sides of the two limiting plates (142) are fixedly connected with the right side of the fixing plate (9), one opposite sides of the two limiting plates (142) are rotatably connected with second telescopic rods (143) through connecting blocks, the output ends of the two second telescopic rods (143) are rotatably connected with two handles of the picking shears (141) through the connecting blocks respectively, a through groove (19) penetrating to the right side of the fixing plate (9) is formed in the left side of the fixing plate (9), the shearing end of the picking shears (141) penetrates to the left side of the fixing plate (9) through the through groove (19), and the picking shears (141) are rotatably connected with the top and the bottom of the inner wall of the through groove (19) through connecting rods; a fixing groove (30) is formed in the supporting plate (1), a movable plate (31) is connected between two sides of the inner wall of the fixing groove (30) in a sliding mode through a sliding rail, a spring (32) is fixedly connected between the bottom of the movable plate (31) and the bottom of the inner wall of the fixing groove (30), a clamping block (33) is fixedly connected to the top of the movable plate (31), the top of the clamping block (33) penetrates through the fixing groove (30) and the supporting plate (1) and extends to the top of the supporting plate (1), and a clamping hole (34) is formed in the right side of the bottom of the collecting frame (3); the output of camera (10) passes through the wire and acquires the input electric connection of module (15) with the image to the input electric connection that the output of image acquisition module (15) passes through wire and feature extraction module (16), and the input electric connection that the output of feature extraction module (16) passes through wire and fruit vegetables identification module (35), the input electric connection that the output of fruit vegetables identification module (35) passes through wire and central processing unit (17), the output electric connection that the input of central processing unit (17) passes through wire and control panel (18).
2. The image recognition-based fruit and vegetable picking device according to claim 1, characterized in that: the fixed frame of bottom fixedly connected with (20) of backup pad (1) to fixedly connected with baffle (21) between the both sides of fixed frame (20) inner wall, the right side fixedly connected with motor (22) of baffle (21) bottom to the output fixedly connected with dwang (23) of motor (22).
3. The image recognition-based fruit and vegetable picking device according to claim 2, characterized in that: the left side of fixed frame (20) is rotated and is connected with shaft (24), the one end of shaft (24) runs through fixed frame (20) and extends to the right side of fixed frame (20), the fixed surface of dwang (23) is connected with first gear (25) to the fixed surface of shaft (24) is connected with second gear (26) with first gear (25) engaged with, the equal fixedly connected with gyro wheel (27) in both sides that the both ends of shaft (24) just are located fixed frame (20), the equal fixedly connected with universal wheel (28) in both sides at the fixed frame (20) bottom back.
4. The image recognition-based fruit and vegetable picking device according to claim 2, characterized in that: the top of the partition board (21) is fixedly connected with a storage battery (29), the bottom of the central processing unit (17) is fixedly connected with the top of the partition board (21), and the control panel (18) is fixedly connected with the top of the support plate (1) through a support block.
5. The image recognition-based fruit and vegetable picking device according to claim 4, wherein: the output end of the storage battery (29) is electrically connected with the input ends of the camera (10) and the central processing unit (17) through wires, and the output end of the central processing unit (17) is electrically connected with the input ends of the image acquisition module (15) and the feature extraction module (16) through wires.
6. The image recognition-based fruit and vegetable picking device according to claim 1, characterized in that: the output end of the central processing unit (17) is electrically connected with the input ends of the first telescopic rod (12), the second telescopic rod (143), the multi-stage telescopic rods (8) and the motor (22) through wires.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011088170.1A CN114342659B (en) | 2020-10-13 | 2020-10-13 | Fruit and vegetable picking device based on image recognition |
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| CN202011088170.1A CN114342659B (en) | 2020-10-13 | 2020-10-13 | Fruit and vegetable picking device based on image recognition |
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| CN114342659B true CN114342659B (en) | 2023-01-24 |
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| EP3537867B1 (en) * | 2016-11-08 | 2023-08-02 | Dogtooth Technologies Limited | A robotic fruit picking system |
| CN209403069U (en) * | 2018-10-23 | 2019-09-20 | 广州市从化华隆果菜保鲜有限公司 | A kind of fruit and vegetable intelligence picker system |
| CN211196777U (en) * | 2019-08-07 | 2020-08-07 | 贵州迎祥米业有限公司 | Sieving mechanism is used in organic rice processing |
| CN110832991B (en) * | 2019-10-24 | 2021-07-13 | 广州大学 | Picking machine based on image recognition |
| CN110896733B (en) * | 2019-11-29 | 2022-12-13 | 许昌学院 | Apple picking robot based on image recognition |
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Address after: 100070 room 1011, building 2-15, 2 Fufeng Road, Fengtai District, Beijing Applicant after: Beijing Zhongnong Lvyuan Intelligent Agriculture Co.,Ltd. Address before: 100070 room 1011, building 2-15, 2 Fufeng Road, Fengtai District, Beijing Applicant before: BEIJING ZHONGNONG GREEN RESOURCES ENGINEERING TECHNOLOGY CO.,LTD. |
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