CN112640650A - Negative pressure-based tomato picking machine and working method thereof - Google Patents
Negative pressure-based tomato picking machine and working method thereof Download PDFInfo
- Publication number
- CN112640650A CN112640650A CN202011451591.6A CN202011451591A CN112640650A CN 112640650 A CN112640650 A CN 112640650A CN 202011451591 A CN202011451591 A CN 202011451591A CN 112640650 A CN112640650 A CN 112640650A
- Authority
- CN
- China
- Prior art keywords
- picking
- negative pressure
- tomato
- controller
- mechanical arm
- 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
- 235000007688 Lycopersicon esculentum Nutrition 0.000 title claims abstract description 68
- 238000000034 method Methods 0.000 title claims abstract description 11
- 240000003768 Solanum lycopersicum Species 0.000 title claims description 66
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 18
- 241000227653 Lycopersicon Species 0.000 abstract 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 210000002615 epidermis Anatomy 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/006—Harvesting of standing crops of tomatoes
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to a negative pressure-based tomato picking machine and a working method thereof, and the negative pressure-based tomato picking machine is characterized by comprising a machine vision module, a mechanical arm, a negative pressure picking system and a controller, wherein the machine vision module is arranged at the tail end of the mechanical arm; the lower part of the flexible pipe is provided with a tomato outlet. The invention has simple structure, little damage to fruits and high picking efficiency, can overcome the damage to the fruits and the influence on the growth characteristics of tomatoes caused by the traditional picking mode and is convenient to realize automation.
Description
Technical Field
The invention belongs to the technical field of agricultural picking machinery, and particularly relates to a negative pressure-based tomato picking machine and a working method thereof.
Background
With the rapid development of tomato planting industry, the orchard machinery is in a trend of automation. However, the tomatoes have dense growth, touch each other and easily damaged epidermis, so that the mechanical automatic picking of the tomatoes is difficult. The existing mechanical picking mode of tomatoes is mainly to shovel tomato plants with roots and then sort the tomato plants, and the mode has high efficiency but is only suitable for varieties which are crack-resistant, pressure-resistant, storage-and-transportation-resistant and can be matured in a centralized manner. And traditional formula of snatching is picked because of end effector clamping force is great, can't avoid causing the damage to tomato surface quality, and then influences subsequent storage and transportation, and simultaneously, the characteristic that the tomato becomes cluster to grow has also brought very big degree of difficulty for visual identification, further brings the difficulty for the formula of snatching is picked.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs a negative pressure-based tomato picking machine and a working method thereof.
In order to solve the above problems in the prior art, the present invention adopts the following solutions:
a negative pressure-based tomato picking machine comprises a machine vision module, a mechanical arm, a negative pressure picking system and a controller, wherein the machine vision module is arranged at the tail end of the mechanical arm, a picking port of the negative pressure picking system is communicated with a suction device through a telescopic flexible pipe, the picking port is arranged at the tail end of the mechanical arm and can move along with the mechanical arm, and a rotary cutter is arranged at the end part of the picking port; the lower part of the flexible pipe is provided with a tomato outlet.
Furthermore, the rotary cutter comprises an annular mounting plate and a plurality of groups of blades uniformly distributed on the annular mounting plate, and one end of each blade is rotatably arranged on the annular mounting plate and driven by a corresponding blade driving steering engine; the blade driving steering engine is connected with the controller.
Further, a photoelectric sensor is further arranged on the inner wall of the picking opening and connected with the controller.
Furthermore, two ends of the flexible pipe are respectively connected with the picking opening and the suction device through corresponding large-caliber air pipes.
Further, a valve is arranged at the tomato outlet, and the tomato outlet is sealed when the valve is closed; the valve is controlled to be opened and closed through a connecting rod switch, and the valve is rotatably connected to the lower part of the flexible pipe.
Further, the connecting rod switch comprises a connecting rod, a rocker and a steering engine, and the steering engine is connected with the controller.
Further, a collecting box is arranged below the tomato outlet.
Further, the suction device adopts a centrifugal fan, and the centrifugal fan is connected with the controller.
Further, the controller comprises a main controller and a steering engine control panel.
Furthermore, the mechanical arm comprises a rotary joint and three pitching joints, the joints are respectively connected with the corresponding joint control steering engines, and the joint control steering engines are connected with the controller.
Further, the negative pressure picking machine further comprises a walking chassis, and the mechanical arm, the negative pressure picking system and the controller are arranged on the walking chassis.
The invention also discloses the following scheme:
a working method of a negative pressure-based tomato picking machine comprises the steps that when the machine works, a power supply is powered on, a machine vision module identifies and positions a picking target and transmits position information of the picking target to a controller, and the controller controls joints of a mechanical arm to control a steering engine according to the position information so that the mechanical arm moves a picking opening of a negative pressure picking system to a proper position; then, the suction device of the negative pressure picking system provides negative pressure to enable picking targets to enter the interior of the picking opening; when the photoelectric sensor in the picking port detects that fruits enter, a rotary cutter arranged at the end part of the picking port works to cut off the tomato vines, so that the tomatoes fall into a flexible pipe of the negative pressure picking system; finally, a valve at a tomato discharge port of the negative pressure picking system is opened to enable the tomatoes to fall into a collecting box below, so that the picking of the target tomatoes is completed; and simultaneously, the rotary cutter is reset to wait for the next work.
The tomato picking machine based on negative pressure and the working method thereof have the following beneficial effects:
(1) according to the invention, the steering engine drives the mechanical arm to move, the centrifugal fan provides negative pressure, the machine vision module identifies a picking target, the mechanical arm drives the picking port to be close to the picking target, picking operation is carried out by the picking port, and the tomato discharge port finishes fruit collection.
(2) In the invention, the form that the mechanical arm drives the culvert pipe is utilized, the arrangement is reasonable, and the structure is compact.
(3) The invention has simple structure, little damage to fruits and high picking efficiency, can overcome the damage to the fruits and the influence on the growth characteristics of tomatoes caused by the traditional picking mode and is convenient to realize automation.
Drawings
FIG. 1: the embodiment of the invention is a schematic three-dimensional structure diagram of a tomato picking machine based on negative pressure;
FIG. 2: a cross-sectional view of a picking port in an embodiment of the invention;
FIG. 3: the working state schematic diagram I of the rotary cutter in the embodiment of the invention;
FIG. 4: the working state schematic diagram II of the rotary cutter in the embodiment of the invention;
FIG. 5: an enlarged view of a portion of a tomato vent in an embodiment of the present invention.
Description of reference numerals:
1-a machine vision module; 2, a mechanical arm; 3-a controller; 4, a collecting box; 61-picking mouth; 62-a photosensor; 63-rotating the cutter; 631-a blade; 632-blade driving steering engine; 64-large-caliber air pipe; 65-flexible tube; 66-a suction device; 67-tomato outlet port; 671-valve; 672-link switch.
Detailed Description
The invention will be further explained with reference to the accompanying drawings:
fig. 1 to 5 show a tomato picker based on negative pressure and a working method thereof according to the present invention. Fig. 1 is a schematic structural view of a negative pressure-based tomato picker according to the present embodiment; fig. 2 is a schematic structural view of the picking port in the present embodiment; fig. 3 and 4 are schematic views showing the working state of the rotary cutter in the present embodiment; fig. 5 is a partially enlarged view of a tomato outlet in this embodiment.
As shown in fig. 1, the negative pressure-based tomato picker in the present embodiment comprises a machine vision module 1, a mechanical arm 2, a negative pressure picking system and a controller 3, wherein the machine vision module 1 is arranged at the end of the mechanical arm 2, a picking port 61 of the negative pressure picking system is communicated with a suction device 66 through a telescopic flexible pipe 65, the picking port 61 is arranged at the end of the mechanical arm 2 and can move along with the mechanical arm 2, and a rotary cutter 63 is arranged at the end of the picking port 61; the lower part of the flexible tube 65 is provided with a tomato outlet 67.
Preferably, the rotary cutter 63 comprises an annular mounting plate and a plurality of groups of blades 631 uniformly distributed on the annular mounting plate, one end of each blade 631 is rotatably arranged on the annular mounting plate and is driven by a corresponding blade driving steering engine 632; the blade drive steering engine 632 is connected to the controller 3, as shown in fig. 3 and 4.
Preferably, a photoelectric sensor 62 is further arranged on the inner wall of the picking port 61, and the photoelectric sensor 62 is connected with the controller 3, as shown in fig. 2.
Preferably, both ends of flexible tube 65 are connected to picking port 61 and suction device 66 through respective large bore air tubes 64, as shown in fig. 1.
Preferably, a valve 671 is arranged at the tomato outlet 67, and the valve 671 seals the tomato outlet 67 when closed; the valve 671 is controlled to open and close by a link switch 672, and the valve 671 is rotatably connected to the lower part of the flexible pipe 65, as shown in fig. 1 and 5.
Specifically, the link switch 672 comprises a link, a rocker and a steering engine; the steering engine is connected with the controller 3, as shown in fig. 5.
Preferably, a collection bin 4 is provided below the tomato outlet 67, as shown in FIG. 1.
In this embodiment, the suction device 66 is a centrifugal fan, and the centrifugal fan is connected to the controller 3, as shown in fig. 1.
In this embodiment, the controller 3 includes a main controller and a steering engine control panel.
Preferably, the mechanical arm 2 comprises a rotary joint and three pitching joints, the joints are respectively connected with corresponding joint control steering engines, and the joint control steering engines are connected with the controller 3, as shown in fig. 1.
Preferably, the machine further comprises a walking chassis, and the mechanical arm 2, the negative pressure picking system and the controller 3 are arranged on the walking chassis. In this embodiment, the walking chassis is not shown.
In the negative pressure-based tomato picking machine in the embodiment, when the machine works, the power supply is powered on, the machine vision module 1 identifies and positions a picking target and transmits position information of the picking target to the controller 3, and the controller 3 controls each joint of the mechanical arm 2 to control the steering engine according to the position information so that the mechanical arm 2 moves the picking port 61 of the negative pressure picking system to a proper position; then, the suction device 66 of the negative pressure picking system provides negative pressure to make the picking target enter the interior of the picking port 61; when the photoelectric sensor 62 in the picking port 61 detects that fruits enter, the rotary cutter 63 arranged at the end part of the picking port 61 works to cut off the tomato vines, so that the tomatoes fall into the flexible pipe 65 of the negative pressure picking system; finally, a valve 671 at the tomato outlet 67 of the negative pressure picking system is opened to enable the tomatoes to fall into the lower collecting box 4, so that the picking of the target tomatoes is completed; at the same time, the rotary cutter 63 is reset to wait for the next work.
Specifically, as shown in fig. 1, in the working process, firstly, the tomato picking machine is placed near a plant, after a power supply is powered on, each joint of the mechanical arm 2 drives a steering engine and a centrifugal fan to start working, wherein a machine vision module 1 transmits the identified fruit position information to a controller 3 through communication, and the controller 3 controls a joint driving motor to convey a picking port 61 to a proper position; then, the centrifugal fan works at a high speed, and the generated negative pressure attracts the target fruits to the picking opening 61;
when the photoelectric sensor 62 in the picking port 61 detects that a fruit enters, the cutter driving steering engine 632 drives the blade 631 of the rotary cutter 63 to rotate, as shown in fig. 4, the cutting of the tomato vines is completed, the fruit falls into the large-caliber air tube 64, then the rotary cutter 63 is driven by the cutter driving steering engine 632 to open, as shown in fig. 3, and the next work is waited;
as shown in fig. 5, a switch is arranged at the tomato outlet 67, when a fruit approaches, the link switch 672 rotates to drive the valve 671 to open, the fruit falls into the collection tank 4, so that the picking and collecting work of the fruit is completed, and then the link switch 672 drives the valve 671 to close to ensure the air tightness of the negative pressure picking system.
According to the invention, the steering engine drives the mechanical arm to move, the centrifugal fan provides negative pressure, the machine vision module identifies a picking target, the mechanical arm drives the picking port to be close to the picking target, picking operation is carried out by the picking port, and the tomato discharge port finishes fruit collection.
In the invention, the form that the mechanical arm drives the culvert pipe is utilized, the arrangement is reasonable, and the structure is compact.
The invention has simple structure, little damage to fruits and high picking efficiency, can overcome the damage to the fruits and the influence on the growth characteristics of tomatoes caused by the traditional picking mode and is convenient to realize automation.
The invention is described above with reference to the accompanying drawings, it is obvious that the implementation of the invention is not limited in the above manner, and it is within the scope of the invention to adopt various modifications of the inventive method concept and solution, or to apply the inventive concept and solution directly to other applications without modification.
Claims (10)
1. A negative pressure-based tomato picking machine is characterized by comprising a machine vision module, a mechanical arm, a negative pressure picking system and a controller, wherein the machine vision module is arranged at the tail end of the mechanical arm, a picking port of the negative pressure picking system is communicated with a suction device through a telescopic flexible pipe, the picking port is arranged at the tail end of the mechanical arm and can move along with the mechanical arm, and a rotary cutter is arranged at the end part of the picking port; the lower part of the flexible pipe is provided with a tomato outlet.
2. The negative pressure-based tomato picker according to claim 1, wherein the rotary cutter comprises an annular mounting plate and a plurality of groups of blades uniformly distributed on the annular mounting plate, and one end of each blade is rotatably arranged on the annular mounting plate and driven by a corresponding blade driving steering engine; the blade driving steering engine is connected with the controller.
3. The negative pressure-based tomato picker according to claim 1 or 2, wherein a photoelectric sensor is further arranged on the inner wall of the picking port, and the photoelectric sensor is connected with the controller.
4. The negative pressure-based tomato picker according to claim 1, wherein a valve is provided at the tomato outlet port, and the valve seals the tomato outlet port when closed; the valve is controlled to be opened and closed through a connecting rod switch, and the valve is rotatably connected to the lower part of the flexible pipe.
5. The negative pressure-based tomato picker according to any one of claims 1 to 4, wherein a collection tank is provided below the tomato discharge outlet.
6. The negative pressure-based tomato picker according to any one of claims 1 to 5, wherein the suction device employs a centrifugal fan, and the centrifugal fan is connected to the controller.
7. The negative pressure-based tomato picker according to any one of claims 1 to 6, wherein the controller comprises a main controller and a steering engine control board.
8. The negative pressure-based tomato picker according to any one of claims 1 to 7, wherein the mechanical arm comprises a rotary joint and three pitching joints, the joints are respectively connected with corresponding joint control steering engines, and the joint control steering engines are connected with the controller.
9. The negative pressure-based tomato picker according to any one of claims 1 to 8, further comprising a walking chassis on which the mechanical arm, negative pressure picking system and controller are disposed.
10. A working method of a tomato picking machine based on negative pressure is characterized in that,
when the machine is in work, the power supply is electrified, the machine vision module identifies and positions a picking target and transmits position information of the picking target to the controller, and the controller controls each joint of the mechanical arm to control the steering engine according to the position information so that the mechanical arm moves a picking port of the negative pressure picking system to a proper position; then, the suction device of the negative pressure picking system provides negative pressure to enable picking targets to enter the interior of the picking opening; when the photoelectric sensor in the picking port detects that fruits enter, a rotary cutter arranged at the end part of the picking port works to cut off the tomato vines, so that the tomatoes fall into a flexible pipe of the negative pressure picking system; finally, a valve at a tomato discharge port of the negative pressure picking system is opened to enable the tomatoes to fall into a collecting box below, so that the picking of the target tomatoes is completed; and simultaneously, the rotary cutter is reset to wait for the next work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011451591.6A CN112640650A (en) | 2020-12-12 | 2020-12-12 | Negative pressure-based tomato picking machine and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011451591.6A CN112640650A (en) | 2020-12-12 | 2020-12-12 | Negative pressure-based tomato picking machine and working method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112640650A true CN112640650A (en) | 2021-04-13 |
Family
ID=75353659
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011451591.6A Pending CN112640650A (en) | 2020-12-12 | 2020-12-12 | Negative pressure-based tomato picking machine and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112640650A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113396697A (en) * | 2021-07-05 | 2021-09-17 | 河南农业大学 | Multi-terminal series-parallel tomato picking mechanical arm and picking method thereof |
| CN113508686A (en) * | 2021-05-27 | 2021-10-19 | 中国农业大学 | String tomato picking end effector, robot and picking method thereof |
| CN113853945A (en) * | 2021-09-16 | 2021-12-31 | 北京市农林科学院智能装备技术研究中心 | Suction type actuator and suction and extraction control method |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| LU51676A1 (en) * | 1965-07-30 | 1966-09-29 | ||
| US20070000224A1 (en) * | 2004-09-14 | 2007-01-04 | Westside Equipment | Small scale tomato harvester |
| WO2008037035A1 (en) * | 2006-09-28 | 2008-04-03 | Katholieke Universiteit Leuven | Autonomous fruit picking machine |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Flexible picking device and method for citrus picking robot |
| WO2013090779A1 (en) * | 2011-12-16 | 2013-06-20 | Easy Trim, Llc | Plant trimming apparatus and methods of using the same |
| CN107736124A (en) * | 2017-10-12 | 2018-02-27 | 谷新运 | Flexible tomato picking end effector and corresponding picking mechanism and method |
| CN108377726A (en) * | 2018-04-27 | 2018-08-10 | 广州大学 | A kind of pineapple picking robot |
| CN108521996A (en) * | 2018-06-14 | 2018-09-14 | 重庆华渝种子有限公司 | Cowpea picking machine |
| CN108934432A (en) * | 2018-07-26 | 2018-12-07 | 中国地质大学（武汉） | A kind of portable pineapple device for picking |
| CN109005891A (en) * | 2018-09-21 | 2018-12-18 | 西北农林科技大学 | A kind of end effector of robot towards the picking of tufted tomato |
| CN109076776A (en) * | 2018-07-26 | 2018-12-25 | 岭南师范学院 | A kind of pineapple picker |
| CN208691769U (en) * | 2018-09-07 | 2019-04-05 | 临海市中等职业技术学校 | Automatic tracking visual identity mechanical tomato picker |
| CN109863886A (en) * | 2019-04-15 | 2019-06-11 | 西北农林科技大学 | A kind of four arm robots and its working method for picking fruit |
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN111923008A (en) * | 2020-08-31 | 2020-11-13 | 江苏华粮机械有限公司 | Novel solanaceous fruit class vegetable picking manipulator |
| CN214482279U (en) * | 2020-12-12 | 2021-10-26 | 西北农林科技大学 | Tomato picking machine based on negative pressure |
-
2020
- 2020-12-12 CN CN202011451591.6A patent/CN112640650A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| LU51676A1 (en) * | 1965-07-30 | 1966-09-29 | ||
| US20070000224A1 (en) * | 2004-09-14 | 2007-01-04 | Westside Equipment | Small scale tomato harvester |
| WO2008037035A1 (en) * | 2006-09-28 | 2008-04-03 | Katholieke Universiteit Leuven | Autonomous fruit picking machine |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Flexible picking device and method for citrus picking robot |
| WO2013090779A1 (en) * | 2011-12-16 | 2013-06-20 | Easy Trim, Llc | Plant trimming apparatus and methods of using the same |
| CN107736124A (en) * | 2017-10-12 | 2018-02-27 | 谷新运 | Flexible tomato picking end effector and corresponding picking mechanism and method |
| CN108377726A (en) * | 2018-04-27 | 2018-08-10 | 广州大学 | A kind of pineapple picking robot |
| CN108521996A (en) * | 2018-06-14 | 2018-09-14 | 重庆华渝种子有限公司 | Cowpea picking machine |
| CN108934432A (en) * | 2018-07-26 | 2018-12-07 | 中国地质大学（武汉） | A kind of portable pineapple device for picking |
| CN109076776A (en) * | 2018-07-26 | 2018-12-25 | 岭南师范学院 | A kind of pineapple picker |
| CN208691769U (en) * | 2018-09-07 | 2019-04-05 | 临海市中等职业技术学校 | Automatic tracking visual identity mechanical tomato picker |
| CN109005891A (en) * | 2018-09-21 | 2018-12-18 | 西北农林科技大学 | A kind of end effector of robot towards the picking of tufted tomato |
| CN109863886A (en) * | 2019-04-15 | 2019-06-11 | 西北农林科技大学 | A kind of four arm robots and its working method for picking fruit |
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN111923008A (en) * | 2020-08-31 | 2020-11-13 | 江苏华粮机械有限公司 | Novel solanaceous fruit class vegetable picking manipulator |
| CN214482279U (en) * | 2020-12-12 | 2021-10-26 | 西北农林科技大学 | Tomato picking machine based on negative pressure |
Non-Patent Citations (2)
| Title |
|---|
| 周舟;王俊;: "番茄采摘机器人机械臂结构设计与参数优化", 安徽农业科学, no. 22, 1 August 2012 (2012-08-01), pages 11520 - 11522 * |
| 张军;范兴科;: "温室番茄开花结果期根系与土壤水分变化关系", 水土保持研究, no. 02, 15 April 2016 (2016-04-15), pages 34 - 38 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113508686A (en) * | 2021-05-27 | 2021-10-19 | 中国农业大学 | String tomato picking end effector, robot and picking method thereof |
| CN113508686B (en) * | 2021-05-27 | 2022-04-12 | 中国农业大学 | A kind of string tomato picking end effector, robot and picking method thereof |
| CN113396697A (en) * | 2021-07-05 | 2021-09-17 | 河南农业大学 | Multi-terminal series-parallel tomato picking mechanical arm and picking method thereof |
| CN113853945A (en) * | 2021-09-16 | 2021-12-31 | 北京市农林科学院智能装备技术研究中心 | Suction type actuator and suction and extraction control method |
| CN115989748A (en) * | 2022-12-30 | 2023-04-21 | 北京中科原动力科技有限公司 | Picking device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112640650A (en) | Negative pressure-based tomato picking machine and working method thereof | |
| CN112640737B (en) | Intelligent agaricus bisporus harvesting and root cutting integrated system and following collection method | |
| CN105993387B (en) | A kind of intelligence tea picking robot and its tea picking method | |
| CN109699301B (en) | Intelligent citrus picking machine and citrus picking method | |
| CN111820006B (en) | A picking robot for spherical fruits | |
| CN201491562U (en) | An automatic transplanting machine for plug seedlings | |
| CN111642333B (en) | Device is picked to intelligence mushroom | |
| CN111955164B (en) | Safflower filigree bite type parallel picking robot | |
| CN214482279U (en) | Tomato picking machine based on negative pressure | |
| CN116267197A (en) | Greenhouse cucumber high-efficient intelligent harvesting device suitable for shelter from under environment | |
| CN206932686U (en) | A kind of new picking paw | |
| CN111758397A (en) | Device is picked to prickly ash intelligence based on visual identification | |
| CN102873675A (en) | Biomimetic crop picking robot | |
| CN111684924A (en) | Strawberry picking robot based on raspberry group | |
| CN110402683B (en) | An intelligent cotton picker and its control method | |
| CN108834769A (en) | A kind of mushroom automatic acquisition device | |
| CN107484500B (en) | Row adsorption pipeline strawberry picking equipment and picking method | |
| CN116897717A (en) | A kind of tomato deleafing robot end effector and deleafing method | |
| CN106688441A (en) | Shear type wolfberry picking machine | |
| CN112930874B (en) | Fruit double-line harvesting robot | |
| CN206283862U (en) | A kind of apple harvester | |
| CN118542149A (en) | Integrated robot for pepper harvesting and management based on machine vision | |
| CN220000244U (en) | Edible fungi cultivation device | |
| CN209030752U (en) | An automatic mushroom collection device | |
| CN117397464A (en) | Intelligent tea-leaf picker and working method thereof |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210413 |