CN115039574A - Online grading fruit picking robot and method - Google Patents
Online grading fruit picking robot and method Download PDFInfo
- Publication number
- CN115039574A CN115039574A CN202210512929.7A CN202210512929A CN115039574A CN 115039574 A CN115039574 A CN 115039574A CN 202210512929 A CN202210512929 A CN 202210512929A CN 115039574 A CN115039574 A CN 115039574A
- Authority
- CN
- China
- Prior art keywords
- picking
- fruits
- fruit
- grading
- driving
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses an online grading fruit picking robot which comprises a picking mechanism, a conveying pipe, a camera, a picking linear module, a bearing mechanism, a grading linear module, a grading fruit box, a walking rack and a driving and controlling system. Picking mechanism is used for accomplishing the fruit and picks, the transport pipe is used for the transport pipe slope to be arranged, the camera is used for acquireing the spatial position of fruit and the size of fruit, the colour, information such as maturity, picking straight line module is used for driving picking mechanism to realize gathering the fruit of co-altitude not, receiving mechanism is used for accepting and keeping in the fruit that rolls from the transport pipe and whether control fruit rolls out and gets into hierarchical fruit case, hierarchical fruit case is used for saving the fruit of different grades, the walking frame is used for fixed picking straight line module, hierarchical straight line module and hierarchical fruit case, and walk between planting the row, the drive and control system is used for handling the perception information of camera and drive and control above-mentioned executive component. The invention realizes the parallel operation of picking, transporting, grading and collecting the box of the fruits and has high harvesting efficiency.
Description
Technical Field
The invention belongs to the field of agricultural robots, and relates to an online grading fruit picking robot and method, which are used for realizing parallel operation of fruit picking, transportation, grading and container collection.
Technical Field
At present, the planting area and annual output of fruits such as tomatoes, apples and the like in China are larger and larger, but the harvest of the fruits such as the tomatoes, the apples and the like is still basically in a stage of depending on manual picking. The labor intensity of manual picking is high, and the efficiency is low. There is an urgent need to improve the level of mechanized harvesting. After picking is completed, the existing fruit picking robot needs to put fruits into the collecting frame, and the fruits need to be graded in the later period, so that the processing link and the time cost are increased.
Aiming at the problems of low picking efficiency, incapability of grading on line and the like of the existing fruit picking robot, the invention of the on-line grading fruit picking robot and the harvesting method is urgently needed, the harvesting and sorting process is simplified, the time cost for harvesting and marketing the fruits is reduced, and the shelf life is prolonged.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an on-line grading fruit picking robot and a harvesting method, which realize the parallel operation of fruit picking, transportation, grading and container collection and improve the harvesting efficiency.
The invention relates to an online grading fruit picking robot, which is characterized in that: comprises a picking mechanism, a conveying pipe, a camera, a picking linear module, a bearing mechanism, a grading linear module, a grading fruit box, a walking frame and a driving and controlling system. The picking mechanism is fixed on the sliding block of the picking linear module and is used for picking fruits; the conveying pipe is fixed below the picking mechanism and is obliquely arranged, so that fruits can be conveyed backwards under the action of gravity; the camera can be a binocular camera or a laser radar, is arranged above the picking mechanism and is used for acquiring information such as the spatial position of the fruits and the size, color and maturity of the fruits; the picking linear module is fixed on the walking frame, and the picking mechanism is fixed on a sliding block of the picking linear module and used for driving the picking mechanism to move up and down to pick fruits with different heights; the grading linear module is fixed on the walking rack; the supporting mechanism is fixed on a sliding block of the grading linear module and drives the supporting mechanism to move up and down; the supporting mechanism consists of a supporting device and an opening and closing device, the supporting device is used for supporting and temporarily storing fruits rolled down from the conveying pipe, and the opening and closing device is fixed at the tail part of the supporting device and used for controlling whether the fruits roll out of the supporting device and enter the grading fruit box; the grading fruit box is mainly composed of a plurality of fruit boxes and is fixed on the walking rack, and buffering materials are distributed in the grading fruit box and are used for buffering rolled fruits and storing the fruits with different grades; the walking frame is used for fixing the picking straight line module, the grading straight line module and the grading fruit box and walking among the planting rows. The driving and controlling system is used for processing the perception information of the camera and driving and controlling the executing component.
The invention relates to a harvesting method of an online grading fruit picking robot, which is characterized by comprising the following steps:
1) walking between rows: the driving and controlling system 9 drives the walking frame 8 to walk between the planting rows;
2) fruit scanning: the driving and controlling system 9 receives the spatial position of the fruit suitable for picking and the information of the size, the color, the maturity and the like of the fruit obtained by scanning the fruit on the plant by the camera 3;
3) picking fruits: the driving and controlling system 9 controls the picking mechanism 1 to pick off the current fruits suitable for picking in sequence, and then the fruits enter the conveying pipe;
4) conveying fruits: after the fruits enter the conveying pipe 2, the fruits are conveyed backwards under the action of gravity, and meanwhile, the driving and controlling system 9 controls the grading linear module 6 to drive the bearing mechanism 5 to move to the lower part of the outlet side of the conveying pipe 2;
5) temporarily storing fruits: the fruits roll out from the conveying pipe 2 and roll into the bearing device of the bearing mechanism 5 for temporary storage;
6) and (3) grade decision: the driving and controlling system 9 decides the grading grade of the current harvested fruit according to the information of the size or the color and the like of the current harvested fruit acquired by the camera 3;
7) and (3) classified boxing: the driving and controlling system 9 controls the grading linear module 6 to convey the fruits in the bearing mechanism 5 to the inlet of the corresponding grading fruit box 7 according to the grading grade information of the decision, the driving and controlling system 9 controls the opening and closing device 11 to be opened, and the fruits roll into the corresponding grading fruit box 7 to finish the grading operation of the fruits;
8) and (5) receiving fruits and waiting: the driving and controlling system 9 controls the grading linear module 6 to convey the bearing mechanism to the lower side of the outlet of the conveying pipe 2 driven by the picking linear module 4, waits for the next fruit to be harvested and conveyed, and the harvesting control logic is switched to the step 2) to carry out reciprocating circulation;
compared with the prior art, the invention has the beneficial effects that:
1. the fruit picking robot disclosed by the invention realizes integrated parallel operation of picking, transporting and grading collection boxes, and the overall picking efficiency is greatly improved;
2. the fruit picking robot can grade fruits on line according to the information of the size or the color of the fruits and the like, simplify the harvesting and sorting process, reduce the time cost for harvesting the fruits on the market and prolong the service life of a shelf.
Drawings
FIG. 1 is a schematic structural diagram of an on-line grading fruit picking robot;
FIG. 2 is a right side view of an on-line grading fruit picking robot;
FIG. 3 is a top view of an on-line grading fruit picking robot;
FIG. 4 is a schematic view of the picking mechanism;
FIG. 5 is a schematic structural view of the receiving mechanism;
FIG. 6 is a left side view of the catch mechanism;
in the figure: 1. picking mechanism 2, transport pipe 3, camera 4, picking straight line module 5, supporting mechanism 6, grading straight line module 7, grading fruit box 8, walking frame 9, driving and controlling system 10, slider, 11 switching device, 12 supporting device.
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.
The invention discloses an on-line grading fruit picking robot, which adopts the following technical scheme: comprises a picking mechanism 1, a conveying pipe 2, a camera 3, a picking straight line module 4, a bearing mechanism 5, a grading straight line module 6, a grading fruit box 7, a walking frame 8 and a driving and controlling system 9. The picking mechanism 1 is fixed on a sliding block of the picking linear module 4 and is used for picking fruits; the conveying pipe 2 is fixed below the picking mechanism 1, and the conveying pipe 2 is obliquely arranged, so that fruits can be conveyed backwards under the action of gravity; the camera 3 can be a binocular camera or a laser radar, is arranged above the picking mechanism 1 and is used for acquiring information such as the spatial position of fruits and the size, color and maturity of the fruits; the picking linear module 4 is fixed on the walking frame 8, and the picking mechanism 1 is fixed on a sliding block of the picking linear module 4 and used for driving the picking mechanism 1 to move up and down and picking fruits with different heights; the grading linear module 6 is fixed on the walking frame 8; the supporting mechanism 5 is fixed on a sliding block of the grading linear module 6 and drives the supporting mechanism 5 to move up and down; the bearing mechanism 5 consists of an opening and closing device 11 and a bearing device 12, the bearing device 12 is used for bearing and temporarily storing fruits rolled from the conveying pipe, the opening and closing device 11 is fixed at the tail part of the bearing device 12 and is used for controlling whether the fruits roll out of the bearing device 12 or not and enter the grading fruit box 7; the grading fruit box 7 is mainly composed of a plurality of fruit boxes and is fixed on the walking rack 8, and buffering materials are distributed in the grading fruit box 7 and are used for buffering rolled fruits and storing the fruits with different grades; the walking frame 8 is used for fixing the picking straight line module 4, the grading straight line module 6 and the grading fruit box 7 and walking among planting rows. The driving and controlling system 9 is used for processing the sensing information of the camera 3 and driving and controlling the executing components.
The harvesting method of the on-line grading fruit picking robot comprises the following steps:
1) walking between rows: the driving and controlling system 9 drives the walking frame 8 to walk between the planting rows;
2) fruit scanning: the driving and controlling system 9 receives the spatial position of the fruit suitable for picking and the information of the size, the color, the maturity and the like of the fruit obtained by scanning the fruit on the plant by the camera 3;
3) picking fruits: the driving and controlling system 9 controls the picking mechanism 1 to pick off the current fruits suitable for picking in sequence, and then the fruits enter the conveying pipe;
4) conveying fruits: after the fruits enter the conveying pipe 2, the fruits are conveyed backwards under the action of gravity, and meanwhile, the driving and controlling system 9 controls the grading linear module 6 to drive the bearing mechanism 5 to move to the lower part of the outlet side of the conveying pipe 2;
5) temporarily storing fruits: the fruits roll out from the conveying pipe 2 and roll into the bearing device of the bearing mechanism 5 for temporary storage;
6) and (3) grade decision: the driving and controlling system 9 decides the grading grade of the current harvested fruit according to the information of the size or the color and the like of the current harvested fruit acquired by the camera 3;
7) and (3) classified boxing: the driving and controlling system 9 controls the grading linear module 6 to convey the fruits in the bearing mechanism 5 to the inlet of the corresponding grading fruit box 7 according to the grading grade information of the decision, the driving and controlling system 9 controls the opening and closing device 11 to be opened, and the fruits roll into the corresponding grading fruit box 7 to finish the grading operation of the fruits;
8) and (3) fruit receiving and waiting: the driving and controlling system 9 controls the grading linear module 6 to convey the bearing mechanism 5 to the lower side of the outlet of the conveying pipe 2 driven by the picking linear module 4 to wait for the next fruit to be picked and conveyed, and the picking control logic is switched to the step 2) to carry out reciprocating circulation;
the above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (2)
1. Fruit picking robot of online grading, its characterized in that: comprises a picking mechanism, a conveying pipe, a camera, a picking linear module, a bearing mechanism, a grading linear module, a grading fruit box, a walking frame and a driving and controlling system;
the picking mechanism is fixed on a sliding block of the picking linear module and is used for picking fruits; the conveying pipe is fixed below the picking mechanism and is obliquely arranged, so that fruits can be conveyed backwards under the action of gravity; the camera can be a binocular camera or a laser radar, is arranged above the picking mechanism and is used for acquiring the spatial position of the fruits and the size, color and maturity information of the fruits; the picking linear module is fixed on the walking frame, and the picking mechanism is fixed on a sliding block of the picking linear module and used for driving the picking mechanism to move up and down to pick fruits with different heights; the grading linear module is fixed on the walking rack; the supporting mechanism is fixed on a sliding block of the grading linear module and drives the supporting mechanism to move up and down; the supporting mechanism consists of a supporting device and an opening and closing device, the supporting device is used for supporting and temporarily storing fruits rolled down from the conveying pipe, and the opening and closing device is fixed at the tail part of the supporting device and used for controlling whether the fruits roll out of the supporting device and enter the grading fruit box; the grading fruit box is mainly composed of a plurality of fruit boxes and is fixed on the walking rack, and buffering materials are distributed in the grading fruit box and are used for buffering rolled fruits and storing the fruits with different grades; the walking frame is used for fixing the picking linear module, the grading linear module and the grading fruit box and walking among the planting rows; the driving and controlling system is used for processing the perception information of the camera and driving and controlling the executing component.
2. A harvesting method using the on-line grading fruit picking robot of claim 1, characterized by comprising the steps of:
1) walking between rows: the driving and controlling system (9) drives the walking frame (8) to walk between the planting rows;
2) fruit scanning: the driving and controlling system (9) receives the spatial position of the fruit suitable for picking and the size, color and maturity information of the fruit obtained by scanning the fruit on the plant by the camera (3);
3) picking fruits: the driving and controlling system (9) controls the picking mechanism (1) to pick off the current fruits suitable for picking in sequence, and then the fruits enter the conveying pipe;
4) conveying fruits: after the fruits enter the conveying pipe (2), the fruits are conveyed backwards under the action of gravity, and meanwhile, the driving and controlling system (9) controls the grading linear module (6) to drive the bearing mechanism (5) to move to the position below the outlet side of the conveying pipe (2);
5) temporarily storing fruits: the fruits roll out from the conveying pipe (9) and roll into the bearing device of the bearing mechanism (5) for temporary storage;
6) and (3) grade decision: the driving and controlling system (9) decides the grading grade of the current harvested fruits according to the size or color information of the current harvested fruits acquired by the camera (3);
7) and (3) classified boxing: the driving and controlling system (9) controls the grading linear module (6) to convey the fruits in the bearing mechanism (5) to the inlet of the corresponding grading fruit box (7) according to the grading grade information of the decision, the driving and controlling system (9) controls the opening and closing device (11) to be opened, the fruits roll into the corresponding grading fruit box (7), and the grading operation of the fruits is completed;
8) and (5) receiving fruits and waiting: the driving and controlling system (9) controls the grading linear module (6) to convey the bearing mechanism (5) to the side lower part of the outlet of the conveying pipe (2) driven by the picking linear module (4) to wait for the harvesting and the conveying of the next fruit, and the harvesting control logic is switched to the step 2) to be circulated in a reciprocating mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210512929.7A CN115039574A (en) | 2022-05-12 | 2022-05-12 | Online grading fruit picking robot and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210512929.7A CN115039574A (en) | 2022-05-12 | 2022-05-12 | Online grading fruit picking robot and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115039574A true CN115039574A (en) | 2022-09-13 |
Family
ID=83157930
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210512929.7A Pending CN115039574A (en) | 2022-05-12 | 2022-05-12 | Online grading fruit picking robot and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115039574A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2860045Y (en) * | 2005-11-04 | 2007-01-24 | 邓潔西 | Fruit picking classifier |
| JP2008022737A (en) * | 2006-07-19 | 2008-02-07 | Kochi Univ Of Technology | Harvesting robot |
| CN208191375U (en) * | 2018-04-02 | 2018-12-07 | 青岛理工大学 | Apple picking and sorting all-in-one machine |
| CN109287276A (en) * | 2018-09-28 | 2019-02-01 | 华中农业大学 | A kind of strawberry is picked automatically and fruit classification device |
| CN109342431A (en) * | 2018-12-10 | 2019-02-15 | 山东农业大学 | The lossless picking quality detection and classification device of Table Grape and its control method |
| CN109792888A (en) * | 2019-03-25 | 2019-05-24 | 山东交通学院 | The trapezoidal classification collecting robot people of both arms apple-picking and its picking graded operation method |
| CN109952865A (en) * | 2019-05-08 | 2019-07-02 | 西北农林科技大学 | A kind of Kiwi berry field picking hierarchical modularity robot |
| CN112273051A (en) * | 2020-11-12 | 2021-01-29 | 安徽农业大学 | Portable kiwi fruit picking and sorting instrument |
| CN112772145A (en) * | 2021-01-08 | 2021-05-11 | 杨爱兰 | Agricultural fruit tree picking and sorting intelligent robot |
| CN114303644A (en) * | 2022-01-14 | 2022-04-12 | 山东农业大学 | Robot for nondestructive picking, grading, packaging and collecting of fresh grapes and use method thereof |
| CN114402806A (en) * | 2022-02-18 | 2022-04-29 | 湖北汽车工业学院 | Spherical fruit picking robot and picking method |
| CN114451146A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Fruit and vegetable picking method and system |
-
2022
- 2022-05-12 CN CN202210512929.7A patent/CN115039574A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2860045Y (en) * | 2005-11-04 | 2007-01-24 | 邓潔西 | Fruit picking classifier |
| JP2008022737A (en) * | 2006-07-19 | 2008-02-07 | Kochi Univ Of Technology | Harvesting robot |
| CN208191375U (en) * | 2018-04-02 | 2018-12-07 | 青岛理工大学 | Apple picking and sorting all-in-one machine |
| CN109287276A (en) * | 2018-09-28 | 2019-02-01 | 华中农业大学 | A kind of strawberry is picked automatically and fruit classification device |
| CN109342431A (en) * | 2018-12-10 | 2019-02-15 | 山东农业大学 | The lossless picking quality detection and classification device of Table Grape and its control method |
| CN109792888A (en) * | 2019-03-25 | 2019-05-24 | 山东交通学院 | The trapezoidal classification collecting robot people of both arms apple-picking and its picking graded operation method |
| CN109952865A (en) * | 2019-05-08 | 2019-07-02 | 西北农林科技大学 | A kind of Kiwi berry field picking hierarchical modularity robot |
| CN112273051A (en) * | 2020-11-12 | 2021-01-29 | 安徽农业大学 | Portable kiwi fruit picking and sorting instrument |
| CN112772145A (en) * | 2021-01-08 | 2021-05-11 | 杨爱兰 | Agricultural fruit tree picking and sorting intelligent robot |
| CN114303644A (en) * | 2022-01-14 | 2022-04-12 | 山东农业大学 | Robot for nondestructive picking, grading, packaging and collecting of fresh grapes and use method thereof |
| CN114451146A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Fruit and vegetable picking method and system |
| CN114402806A (en) * | 2022-02-18 | 2022-04-29 | 湖北汽车工业学院 | Spherical fruit picking robot and picking method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11533850B2 (en) | Self-propelled robotic harvester for selective picking of high quality agriculture row crops | |
| KR102359885B1 (en) | Growing Tower Processing for Controlled Environment Agricultural Systems | |
| Hayashi et al. | Robotic harvesting system for eggplants | |
| CN106429161A (en) | Automatic logistics warehouse-in and warehouse-out system | |
| US11439065B2 (en) | End-effector with rotary actuator for harvesting crops | |
| US11516967B1 (en) | Harvesting plants based on determined criteria | |
| US11700789B2 (en) | De-leafing apparatus for removing leaves of harvestable crops | |
| US11768187B2 (en) | Harvester for selectively and robotically harvesting crops | |
| US20220234078A1 (en) | Automated Feeding, Sorting, and Packaging System for a Farm with Robots Working on Plants | |
| Lu et al. | Development and preliminary evaluation of a new apple harvest assist and in-field sorting machine | |
| CN206278559U (en) | A kind of automatic logistics go out Input System | |
| CN113940261B (en) | Plant factory monitoring management system | |
| CN113924967B (en) | Intelligent plant factory | |
| CN108575296A (en) | A kind of apple-picking device and its picking method | |
| CN115039574A (en) | Online grading fruit picking robot and method | |
| NL1043784B1 (en) | Harvest robot system | |
| CN114206102B (en) | Device for gripping a growth tower | |
| CN113924969B (en) | Greenhouse with automatic cruise monitoring function | |
| KR102562751B1 (en) | the automatic system for harvesting agricultural products in smart farm | |
| WO2019209167A1 (en) | Farming system | |
| WO2021242694A1 (en) | Harvester for selectively and robotically harvesting crops | |
| CN116174331A (en) | Online grading and automatic boxing device and method for fruit harvesting robot | |
| Sheela et al. | Automation in egg collecting system in poultry farms | |
| CN108177813A (en) | Automatic transporting boxing apparatus on a kind of Kiwi berry picking robot | |
| CN114051918B (en) | A care device for strengthening plant yield correlation property |
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 |