JPH04166013A - Visual device for harvester of fruit, vegetables or the like - Google Patents
Visual device for harvester of fruit, vegetables or the likeInfo
- Publication number
- JPH04166013A JPH04166013A JP2289993A JP28999390A JPH04166013A JP H04166013 A JPH04166013 A JP H04166013A JP 2289993 A JP2289993 A JP 2289993A JP 28999390 A JP28999390 A JP 28999390A JP H04166013 A JPH04166013 A JP H04166013A
- Authority
- JP
- Japan
- Prior art keywords
- fruits
- sensor camera
- harvested
- image sensor
- fruit
- 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.)
- Granted
Links
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 21
- 230000000007 visual effect Effects 0.000 title claims abstract description 13
- 235000013311 vegetables Nutrition 0.000 title 1
- 238000003306 harvesting Methods 0.000 claims abstract description 15
- 235000012055 fruits and vegetables Nutrition 0.000 claims description 9
- 241000196324 Embryophyta Species 0.000 description 7
- 241000227653 Lycopersicon Species 0.000 description 3
- 235000007688 Lycopersicon esculentum Nutrition 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000000049 pigment Substances 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
- Stroboscope Apparatuses (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、ハウス栽培等で使用する無人の果菜類収穫機
等に設けられる視覚装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a visual device installed in an unmanned fruit and vegetable harvester used in greenhouse cultivation and the like.
［従来の技術］
ハウス栽培等における収穫の省力化を図るために、所定
の経路に沿って自走しつつ成熟した果菜類を自動的に収
穫する果菜類収穫機の開発が進められている。この種の
果菜類収穫機は、対象物である栽培植物からの反射光を
イメージセンサカメラに撮像しこれをコンピュータで画
像処理する視覚装置を備え、該視覚装置によって見つけ
出された収穫回部な果実をロボットハンドで摘果すると
ともに、これを所定の容器に収納するように構成されて
いる。[Prior Art] In order to save labor during harvesting in greenhouse cultivation, etc., development of fruit and vegetable harvesting machines that automatically harvest mature fruits and vegetables while traveling along a predetermined route is underway. This type of fruit and vegetable harvesting machine is equipped with a visual device that captures the reflected light from the target cultivated plants using an image sensor camera and processes the image using a computer. It is configured to pick fruit with a robot hand and store it in a predetermined container.
［発明が解決しようとする課題］
しかしながら、背景の土やハウスの支柱等が対象物と同
色の色素を有する場合、対象物と背景との区別が不明確
であるという問題があった。[Problems to be Solved by the Invention] However, when the soil in the background, the supports of a house, etc. have a pigment of the same color as the object, there is a problem in that the distinction between the object and the background is unclear.
［課題を解決するための手段］
上記課題を解決するために、本発明は次のような構成と
した。[Means for Solving the Problems] In order to solve the above problems, the present invention has the following configuration.
すなわち、本発明にかかる視覚装置は、栽培植物に実っ
た果実を自動的に収穫する果菜類収穫機等の視覚装置で
あって、対象物に向けて投光する投光手段と、対象物か
らの反射光を撮像するイメージセンサカメラとを備え、
当該対象物よりも若干遠くまで前記イメージセンサカメ
ラに撮像し得るように前記投光手段の投光量を制御する
制御装置が設けられていることを特徴としている。That is, the visual device according to the present invention is a visual device such as a fruit and vegetable harvester that automatically harvests fruits grown on cultivated plants, and includes a light projecting means that projects light toward a target object, and a light projecting device that projects light toward a target object. Equipped with an image sensor camera that captures the reflected light of
The present invention is characterized in that a control device is provided that controls the amount of light projected by the light projecting means so that the image sensor camera can capture an image from a distance slightly further than the object.
［作 用］
対象物よりも若干遠くまで前記イメージセンサカメラに
撮像し得るように投光手段の投光量を制御することによ
り、対象物よりもある程度以上遠方にある土やハウスの
支柱等の背景はイメージセンサカメラに撮像されなくな
り、対象物が明確に識別できるようになる。[Function] By controlling the amount of light projected by the light projecting means so that the image sensor camera can capture an image slightly farther than the target object, the background of soil, house supports, etc. that is more than a certain distance away from the target object can be detected. is no longer captured by the image sensor camera, and the object can now be clearly identified.
［実施例］
第１図は本発明の１例であるトマト収穫機の全体斜視図
であり、これに示した収穫機ｌは、電動式の四輪本体車
体３に収穫作業用のマニピュレータ５と、収穫した果実
を容れるキャリア６が設けられている。本体車体３には
後記制御装置７、バッテリー等が内蔵されており、車体
前面部に制御装置のコントロールパネル８が設けられて
いる。[Example] Fig. 1 is an overall perspective view of a tomato harvester which is an example of the present invention. , a carrier 6 for storing the harvested fruit is provided. The main vehicle body 3 has a built-in control device 7, a battery, etc., which will be described later, and a control panel 8 of the control device is provided on the front of the vehicle body.
また、収穫物排出のために、キャリア６の底板は昇降可
能となっている。Furthermore, the bottom plate of the carrier 6 can be moved up and down to discharge the harvest.
マニピュレータ５は遠隔操作されるハンド部ＩＯを備え
、このハンド部ｌＯの支持移動機構として、昇降用のブ
ーム１２およびアーム１３と、旋回用のテーブル１５と
、進退用のブーム１６およびアーム１７とが設けられて
いる。ハンド部ｌＯは、第２図に示すように、撮像用の
イメージセンサカメラ２０と投光手段である赤色のスト
ロボランプ２１を並設した視覚部２２が基部２４の先端
部に設けられており、この視覚部２２よりも前方に突出
させて一対の刃体からなる枝切断用のカッタ２５が前方
に突出させて取り付けられているとともに、該カッタの
直下部に摘果した果実Ｆが落下収容されるパケット２６
が取り付けられている。The manipulator 5 is equipped with a hand section IO that is remotely controlled, and a boom 12 and an arm 13 for lifting and lowering, a table 15 for turning, and a boom 16 and an arm 17 for moving forward and backward are used as supporting and moving mechanisms for the hand section IO. It is provided. As shown in FIG. 2, the hand section 1O is provided with a visual section 22 at the tip of a base section 24, in which an image sensor camera 20 for imaging and a red strobe lamp 21 serving as a light projecting means are arranged side by side. A cutter 25 for cutting branches consisting of a pair of blades is attached to protrude forward from the visual part 22, and the picked fruit F is dropped and stored directly below the cutter. packet 26
is installed.
なお、パケット２６の底部は開閉可能になっている。Note that the bottom of the packet 26 can be opened and closed.
第３図に示すように、制御装置７は画像処理ユニッ）３
０、マニピュレータ制御ユニット３１、走行制御ユニッ
ト３２、およびこれらを統括する総合制御ユニット３３
から構成されている０画像処理ユニット３０は、イメー
ジセンサカメラ２０のアイリス絞り３５およびフォーカ
ス機構３６とストロボランプ２１に制御信号を送り、イ
メージセンサカメラ２０から画像信号が送られてくる。As shown in FIG. 3, the control device 7 includes an image processing unit) 3
0, manipulator control unit 31, travel control unit 32, and general control unit 33 that controls these
The image processing unit 30, which is comprised of the following, sends control signals to the iris diaphragm 35, focus mechanism 36, and strobe lamp 21 of the image sensor camera 20, and receives image signals from the image sensor camera 20.
マニピュレータ制御ユニッ）３１は、ハンド部駆動モー
タ３７、カッタ駆動モータ３８、パケット底開閉モータ
３９およびマニピュレータ駆動モータ４０ （１〜７）
に制御信号を送り、マニピュレータの状態を検出するた
めのポテンションメータ４１ （１〜３）およびエンコ
ーダ４２（１〜４）から検出信号が送られてくる。また
、走行制御ユニット３２は、車輪駆動モータ４４、ステ
アリングモータ４５およびキャリア底昇降モータ４６に
制御信号が送られ、経路標識を検出する倣いセンサ４７
および回行センサ４８から検出信号が送られてくる。The manipulator control unit) 31 includes a hand drive motor 37, a cutter drive motor 38, a packet bottom opening/closing motor 39, and a manipulator drive motor 40 (1 to 7).
Detection signals are sent from potentiometers 41 (1-3) and encoders 42 (1-4) for detecting the state of the manipulator. The travel control unit 32 also sends control signals to a wheel drive motor 44, a steering motor 45, and a carrier bottom lifting motor 46, and a tracing sensor 47 that detects route markers.
A detection signal is sent from the rotation sensor 48.
つぎに、実際の収穫機ｌの動作について説明する。Next, the actual operation of the harvester 1 will be explained.
ある株５０の前に収穫機１が停止すると、イメージセン
サカメラ２０かも送られてくる画像信号を画像処理ユニ
ッ）３０で処理しつつ、ハンド部１０を適当に移動させ
て収穫可能な果実５１の探索を行なう。この際に、スト
ロボランプ２１の投光量を、視覚部２２から株５０まで
の距離Ｂ＋α（αは任意の正数）の範囲の物体を撮像可
能な光脣どなるよう制御する。なお、数量距離Ｃは既知
（Ｃ＝１０００〜１３００酎程度）であり、本体車体３
の中心から視覚部までの距＃、Ａはエンコーダ４２（１
〜４）からの信号を解析することにより算出されるので
、距離Ｂは容易に知ることができる。このように、対象
物よりも若干遠くにあるものまでイメージセンサカメラ
２０に撮像するようにしておくと、背景となる±５２や
支柱５３等は撮像されないので、対象物である株５０が
容易に識別できるのである。また、本実施例のように、
ストロボランプ２１の光を収穫対象物であるトマトと同
色（赤色）にしておくと、対象物からの反射光をイメー
ジセンサカメラ２０に撮像した際にトマトの特性が増幅
されるようになるので、果実５１と葉や茎との区別が明
瞭となる。When the harvesting machine 1 stops in front of a certain plant 50, the image sensor camera 20 also processes the image signal sent by the image processing unit 30, and moves the hand section 10 appropriately to harvest the fruits 51 that can be harvested. Explore. At this time, the amount of light emitted by the strobe lamp 21 is controlled so as to provide a light range that can image an object within a range of distance B+α (α is any positive number) from the visual unit 22 to the stock 50. In addition, the quantity distance C is known (C = about 1000 to 1300), and the main body 3
The distance #, A from the center of the encoder 42 (1
Since it is calculated by analyzing the signals from ~4), the distance B can be easily known. In this way, if the image sensor camera 20 is configured to capture images of objects that are slightly farther away than the target object, the background ±52, the pillar 53, etc. will not be imaged, so the target object, the stock 50, will be easily captured. It can be identified. Also, as in this example,
If the light from the strobe lamp 21 is set to the same color (red) as the tomato that is the object to be harvested, the characteristics of the tomato will be amplified when the image sensor camera 20 captures the reflected light from the object. The fruit 51 can be clearly distinguished from the leaves and stems.
このようにして、収穫可能な果実５１が見つけ出される
と、ハンド部移動機構を作動させてハンド部１０をこれ
に近づけ、カッタ２５で果実５１が付いている茎５５を
切断する。茎５５は果実５Ｉの重みで垂れ下がっている
ので、果実５１の上方近傍でカッタ２５を開閉させるよ
うにすればよい。摘み取られた果実５１はパケット２６
の中に落下する。つぎに、パケット２６がキャリア６の
上方にくるようハンド部１０を移動させ、パケット底を
開放して中の果実をキャリア６内に収容する。以下同様
にして１株分の収穫可能な果実を全て収穫し終えると、
本体車体３が株間距離分だけ前進し、次の株の収穫作業
を開始する。When a fruit 51 that can be harvested is found in this way, the hand moving mechanism is activated to bring the hand 10 close to it, and the cutter 25 cuts the stem 55 to which the fruit 51 is attached. Since the stem 55 hangs down due to the weight of the fruit 5I, the cutter 25 may be opened and closed near the top of the fruit 51. The picked fruit 51 is the packet 26
fall into the. Next, the hand part 10 is moved so that the packet 26 is above the carrier 6, the bottom of the packet is opened, and the fruit inside is accommodated in the carrier 6. In the same way, once you have harvested all the fruits that can be harvested for one plant,
The main vehicle body 3 moves forward by the distance between the plants and starts harvesting the next plant.
［発明の効果］
以上の説明から明らかなように、本発明にがかる果菜類
収穫機等の視覚装置は、背景となる地面の土やハウスの
支柱等はイメージセンサカメラに撮像されないように投
光手段の投光量が制御されるので、イメージセンサカメ
ラにとらえられた栽培植物の像が明瞭になり、収穫すべ
き果実を正確に識別できるようになった。[Effects of the Invention] As is clear from the above explanation, the visual device of the fruit and vegetable harvesting machine, etc. according to the present invention projects light so that the background soil, greenhouse supports, etc. are not imaged by the image sensor camera. Since the amount of light emitted by the means is controlled, the image of the cultivated plants captured by the image sensor camera becomes clear, making it possible to accurately identify the fruits to be harvested.
第１図は本発明の１実施例である果菜類収穫機の全体斜
視図、第２図はハンド部の斜視図、第３図は制御装置の
ブロック図、第４図は収穫作業状態をあられす図である
。
ｌ・・・果菜類収穫機、３・・・本体車体、７・・・制
御装置、１０・・・ハンド部、２０・・・イメージセン
サカメラ、２１・・・ストロボランプ（投光手段）、２
２・・・視覚部。Fig. 1 is an overall perspective view of a fruit and vegetable harvesting machine that is an embodiment of the present invention, Fig. 2 is a perspective view of the hand section, Fig. 3 is a block diagram of the control device, and Fig. 4 shows the harvesting operation state. This is a diagram. L...Fruit and vegetable harvester, 3...Main body, 7...Control device, 10...Hand part, 20...Image sensor camera, 21...Strobe lamp (light projecting means), 2
2...Visual part.
Claims (1)
収穫機等の視覚装置であって、対象物に向けて投光する
投光手段と、対象物からの反射光を撮像するイメージセ
ンサカメラとを備え、当該対象物よりも若干遠くまで前
記イメージセンサカメラに撮像し得るように前記投光手
段の投光量を制御する制御装置が設けられていることを
特徴とする視覚装置。(1) An image of a visual device such as a fruit and vegetable harvester that automatically harvests fruits grown on cultivated plants, including a light projecting means that emits light toward a target object and images of reflected light from the target object. A visual device comprising a sensor camera and a control device for controlling the amount of light projected by the light projecting means so that the image sensor camera can capture an image from a distance slightly further than the object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02289993A JP3131993B2 (en) | 1990-10-26 | 1990-10-26 | Visual devices such as fruit and vegetable harvesters |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP02289993A JP3131993B2 (en) | 1990-10-26 | 1990-10-26 | Visual devices such as fruit and vegetable harvesters |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04166013A true JPH04166013A (en) | 1992-06-11 |
| JP3131993B2 JP3131993B2 (en) | 2001-02-05 |
Family
ID=17750394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP02289993A Expired - Fee Related JP3131993B2 (en) | 1990-10-26 | 1990-10-26 | Visual devices such as fruit and vegetable harvesters |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3131993B2 (en) |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| JP2007159488A (en) * | 2005-12-14 | 2007-06-28 | Masanori Sugisaka | Apparatus for lifting and lowering columnar material |
| EP1891852A1 (en) * | 2006-08-25 | 2008-02-27 | Egatec A/S | Method and collection vehicle for harvesting crops growing on stems |
| JP2009131223A (en) * | 2007-11-30 | 2009-06-18 | Nagasaki Prefecture | Apparatus for automatically determining asparagus to be cut |
| WO2010043740A1 (en) * | 2008-10-16 | 2010-04-22 | Soluciones Roboticas Agricolas Slu | Machine for automatically harvesting fruit cultivated in rows |
| RU2483524C1 (en) * | 2012-02-13 | 2013-06-10 | Марина Георгиевна Сафонова | Attachable implements for picking melons and gourds |
| CN103404307A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Fully-automatic kiwi fruit picking end effector |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103448061A (en) * | 2013-08-07 | 2013-12-18 | 西北农林科技大学 | Kiwi fruit picking end actuator |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN104396446A (en) * | 2014-12-09 | 2015-03-11 | 广西大学 | Torsional spring type fruit picking device |
| CN104663135A (en) * | 2015-01-12 | 2015-06-03 | 上海交通大学 | End effector for fruit harvesting robot |
| CN105309131A (en) * | 2015-11-30 | 2016-02-10 | 青岛农业大学 | Intelligent recognition medlar picking device |
| CN106612959A (en) * | 2016-09-29 | 2017-05-10 | 南京信息职业技术学院 | Tail end picking device for mango picking mechanical arm |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN106941872A (en) * | 2017-04-21 | 2017-07-14 | 金丰（宁波）精密机械科技有限公司 | The method cut using travelling gear |
| CN106973645A (en) * | 2017-04-21 | 2017-07-25 | 金丰（宁波）精密机械科技有限公司 | Cutting platform including travelling gear |
| CN107018759A (en) * | 2017-06-08 | 2017-08-08 | 宝鸡文理学院 | Based on monolithic processor controlled automatic grip shearses base of a fruit type apple picking device |
| CN107306603A (en) * | 2017-07-31 | 2017-11-03 | 山东省农业机械科学研究院 | Winter jujube picker |
| CN107439143A (en) * | 2017-09-11 | 2017-12-08 | 中国农业大学 | A kind of greenhouse string tomato harvester and collecting method |
| CN107637279A (en) * | 2017-09-30 | 2018-01-30 | 石河子大学 | Safflower picking robot |
| CN107787681A (en) * | 2017-10-17 | 2018-03-13 | 江苏大学 | Robot system and implementation method of a kind of grape cluster fruit quickly without the harvesting that comes off |
| CN107893661A (en) * | 2017-12-15 | 2018-04-10 | 成都格机械有限公司 | Tunnel piercing chassis |
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
| CN108811771A (en) * | 2018-08-28 | 2018-11-16 | 贺婷 | A kind of fruit picking vehicle |
| CN109699301A (en) * | 2019-02-22 | 2019-05-03 | 四川农业大学 | A kind of intelligence citrus picking machine and citrus picking method |
| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
| EP3595431A4 (en) * | 2017-03-14 | 2021-01-13 | Metomotion Ltd. | Automated harvester effector |
| JP2021023183A (en) * | 2019-08-02 | 2021-02-22 | 井関農機株式会社 | Fruits and vegetables harvesting machine |
| CN112690095A (en) * | 2020-12-27 | 2021-04-23 | 上海电机学院 | Accurate harvesting device of crops |
| CN113661832A (en) * | 2021-09-07 | 2021-11-19 | 石国欢 | Device for self-service collection of camellia seeds without manual picking and use method |
| CN113678636A (en) * | 2021-09-23 | 2021-11-23 | 湖南文理学院 | Device is picked to small-size intelligent oranges and tangerines |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114731845A (en) * | 2022-02-24 | 2022-07-12 | 华南农业大学 | Receiving equipment is picked to portable navel orange |
| CN115462240A (en) * | 2022-07-18 | 2022-12-13 | 北京林业大学 | Carding type idesia harvesting device |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102612926B (en) * | 2012-04-01 | 2014-01-15 | 华南农业大学 | Mechanized fruit picking, collecting and transporting system and method |
| EP3539735A1 (en) * | 2018-03-13 | 2019-09-18 | Soluciones Robóticas Agrícolas S.L. | Robotic arm end effector for fruit harvesting |
| CN109168630A (en) * | 2018-09-12 | 2019-01-11 | 三峡大学 | A kind of short picking fruit device based on machine vision |
-
1990
- 1990-10-26 JP JP02289993A patent/JP3131993B2/en not_active Expired - Fee Related
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006013593A1 (en) * | 2004-08-06 | 2006-02-09 | Valente Pali Precompressi Srl | Automated fruit and vegetables picker |
| JP2007159488A (en) * | 2005-12-14 | 2007-06-28 | Masanori Sugisaka | Apparatus for lifting and lowering columnar material |
| EP1891852A1 (en) * | 2006-08-25 | 2008-02-27 | Egatec A/S | Method and collection vehicle for harvesting crops growing on stems |
| JP2009131223A (en) * | 2007-11-30 | 2009-06-18 | Nagasaki Prefecture | Apparatus for automatically determining asparagus to be cut |
| WO2010043740A1 (en) * | 2008-10-16 | 2010-04-22 | Soluciones Roboticas Agricolas Slu | Machine for automatically harvesting fruit cultivated in rows |
| ES2340244A1 (en) * | 2008-10-16 | 2010-05-31 | Soluciones Roboticas Agricolas Slu | Machine for automatically harvesting fruit cultivated in rows |
| RU2483524C1 (en) * | 2012-02-13 | 2013-06-10 | Марина Георгиевна Сафонова | Attachable implements for picking melons and gourds |
| CN103404307B (en) * | 2013-07-30 | 2015-06-17 | 西北农林科技大学 | Fully-automatic kiwi fruit picking end effector |
| CN103404307A (en) * | 2013-07-30 | 2013-11-27 | 西北农林科技大学 | Fully-automatic kiwi fruit picking end effector |
| CN103448061A (en) * | 2013-08-07 | 2013-12-18 | 西北农林科技大学 | Kiwi fruit picking end actuator |
| CN103444359A (en) * | 2013-08-30 | 2013-12-18 | 华南农业大学 | Banana picking device and picking method |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN104396446A (en) * | 2014-12-09 | 2015-03-11 | 广西大学 | Torsional spring type fruit picking device |
| CN104663135A (en) * | 2015-01-12 | 2015-06-03 | 上海交通大学 | End effector for fruit harvesting robot |
| CN105309131A (en) * | 2015-11-30 | 2016-02-10 | 青岛农业大学 | Intelligent recognition medlar picking device |
| CN105309131B (en) * | 2015-11-30 | 2017-09-05 | 青岛农业大学 | INTELLIGENT IDENTIFICATION matrimony vine picker |
| CN106612959A (en) * | 2016-09-29 | 2017-05-10 | 南京信息职业技术学院 | Tail end picking device for mango picking mechanical arm |
| CN106717546A (en) * | 2016-11-22 | 2017-05-31 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| CN106717546B (en) * | 2016-11-22 | 2019-05-24 | 中国计量大学 | Tamato fruit closed string obtains arm end effector and its method |
| EP3595431A4 (en) * | 2017-03-14 | 2021-01-13 | Metomotion Ltd. | Automated harvester effector |
| CN106973645A (en) * | 2017-04-21 | 2017-07-25 | 金丰（宁波）精密机械科技有限公司 | Cutting platform including travelling gear |
| CN106941872A (en) * | 2017-04-21 | 2017-07-14 | 金丰（宁波）精密机械科技有限公司 | The method cut using travelling gear |
| CN107018759B (en) * | 2017-06-08 | 2023-09-26 | 宝鸡文理学院 | Automatic clamping and base-shearing type apple picking device based on single-chip microcomputer control |
| CN107018759A (en) * | 2017-06-08 | 2017-08-08 | 宝鸡文理学院 | Based on monolithic processor controlled automatic grip shearses base of a fruit type apple picking device |
| CN107306603A (en) * | 2017-07-31 | 2017-11-03 | 山东省农业机械科学研究院 | Winter jujube picker |
| CN107439143A (en) * | 2017-09-11 | 2017-12-08 | 中国农业大学 | A kind of greenhouse string tomato harvester and collecting method |
| CN107439143B (en) * | 2017-09-11 | 2020-04-24 | 中国农业大学 | Greenhouse string tomato harvester and harvesting method |
| CN107637279A (en) * | 2017-09-30 | 2018-01-30 | 石河子大学 | Safflower picking robot |
| CN107787681A (en) * | 2017-10-17 | 2018-03-13 | 江苏大学 | Robot system and implementation method of a kind of grape cluster fruit quickly without the harvesting that comes off |
| CN107893661A (en) * | 2017-12-15 | 2018-04-10 | 成都格机械有限公司 | Tunnel piercing chassis |
| CN108093854A (en) * | 2017-12-19 | 2018-06-01 | 徐州工业职业技术学院 | A kind of apery hand formula strawberry picker |
| CN108401684A (en) * | 2018-05-03 | 2018-08-17 | 黄冈师范学院 | A kind of intelligence fruit picking and picking method |
| CN108811771A (en) * | 2018-08-28 | 2018-11-16 | 贺婷 | A kind of fruit picking vehicle |
| CN109699301A (en) * | 2019-02-22 | 2019-05-03 | 四川农业大学 | A kind of intelligence citrus picking machine and citrus picking method |
| JP2021023183A (en) * | 2019-08-02 | 2021-02-22 | 井関農機株式会社 | Fruits and vegetables harvesting machine |
| CN111699839A (en) * | 2020-06-22 | 2020-09-25 | 朱倩芳 | Remote picking equipment and method based on 5G network |
| CN111699839B (en) * | 2020-06-22 | 2022-04-22 | 威海美达智能电子科技有限公司 | Remote picking equipment and method based on 5G network |
| CN112690095B (en) * | 2020-12-27 | 2023-08-25 | 上海电机学院 | Accurate device of picking of crops |
| CN112690095A (en) * | 2020-12-27 | 2021-04-23 | 上海电机学院 | Accurate harvesting device of crops |
| CN113661832A (en) * | 2021-09-07 | 2021-11-19 | 石国欢 | Device for self-service collection of camellia seeds without manual picking and use method |
| CN113678636A (en) * | 2021-09-23 | 2021-11-23 | 湖南文理学院 | Device is picked to small-size intelligent oranges and tangerines |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114731845A (en) * | 2022-02-24 | 2022-07-12 | 华南农业大学 | Receiving equipment is picked to portable navel orange |
| CN115462240A (en) * | 2022-07-18 | 2022-12-13 | 北京林业大学 | Carding type idesia harvesting device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3131993B2 (en) | 2001-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH04166013A (en) | Visual device for harvester of fruit, vegetables or the like | |
| US12004451B2 (en) | Autonomous crop harvester | |
| US5544474A (en) | System for harvesting crop items and crop harvesting tools used therewith | |
| US4663925A (en) | Fruit harvesting robot hand | |
| US11134617B2 (en) | Self-guided blossom picking device | |
| US20160309650A1 (en) | Selectively harvesting fruits | |
| JP2016073265A (en) | Automatic fruit harvest device | |
| JP2010207118A (en) | End effector for harvesting fruit | |
| JPH04166014A (en) | Fruit harvester | |
| JP2893864B2 (en) | Fall prevention device in fruit harvester | |
| JPH0430717A (en) | Fruit harvester for sensing bag and catching and harvesting fruit | |
| JPH0430715A (en) | Carrier in fruit harvester | |
| JPH0430716A (en) | Robot for harvesting fruit | |
| JPH04365414A (en) | Fruit vegetable-cutting position detector of fruit vegetable harvester or the like | |
| Kurhade et al. | Review on “Automation in Fruit Harvesting | |
| JPH0856459A (en) | Harvesting robot for cucumber or the like | |
| JPH0430726A (en) | Bag for fruit | |
| JP3225264B2 (en) | Harvesting equipment | |
| JPS6242655Y2 (en) | ||
| JP2021122179A (en) | Crop harvesting vehicle | |
| JPH0560323B2 (en) | ||
| JPS62104512A (en) | Fruits hervester | |
| JP2955440B2 (en) | Cutting height control device of reaper and harvester | |
| JPS63119614A (en) | Guide apparatus of working machine for fruits and vegetables | |
| JPS63296619A (en) | Hand for harvesting fruit vegetables |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |