CN112889480A - Unmanned intelligent fruit picking system - Google Patents
Unmanned intelligent fruit picking system Download PDFInfo
- Publication number
- CN112889480A CN112889480A CN202110235792.0A CN202110235792A CN112889480A CN 112889480 A CN112889480 A CN 112889480A CN 202110235792 A CN202110235792 A CN 202110235792A CN 112889480 A CN112889480 A CN 112889480A
- Authority
- CN
- China
- Prior art keywords
- motor
- rotating disc
- unmanned aerial
- aerial vehicle
- picking system
- 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
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 61
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 210000000078 claw Anatomy 0.000 claims description 31
- 241000220225 Malus Species 0.000 description 17
- 235000021016 apples Nutrition 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 235000011034 Rubus glaucus Nutrition 0.000 description 1
- 244000235659 Rubus idaeus Species 0.000 description 1
- 235000009122 Rubus idaeus Nutrition 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种无人智能水果采摘系统，包括无人机和起飞平台；所述无人机上设有中心控制器、视觉识别与定位装置和机械臂；该视觉识别与定位装置和机械臂均与所述中心控制器电性相连；所述视觉识别与定位装置包括机载摄像头和双目摄像头，能够获取目标水果的图像和位置信息，并通过中心控制器进行计算，确定目标水果的成熟度和空间位置；所述机械臂为杆状，其前端设有手爪式抓取器；该抓取器能够在所述中心控制器的控制下进行动作，实现抓取并摘下水果；所述起飞平台包括果箱；该果箱为无顶盒状，其上沿设有向外突出的平板状停放台，以便使所述无人机停放在该停放台上；所述果箱设置于履带车上。本发明可进行无人化的高空采摘作业，提高生产效率。
The invention relates to an unmanned intelligent fruit picking system, comprising an unmanned aerial vehicle and a take-off platform; the unmanned aerial vehicle is provided with a central controller, a visual identification and positioning device and a mechanical arm; the visual identification and positioning device and the mechanical arm are It is electrically connected with the central controller; the visual recognition and positioning device includes an on-board camera and a binocular camera, which can obtain the image and position information of the target fruit, and calculate through the central controller to determine the maturity of the target fruit. and spatial position; the robotic arm is rod-shaped, and its front end is provided with a claw-type grabber; the grabber can operate under the control of the central controller to grasp and pick fruits; the The take-off platform includes a fruit box; the fruit box is in the shape of a box without a top, and the upper edge of the fruit box is provided with a flat plate-shaped parking platform protruding outward, so that the drone can be parked on the parking platform; the fruit box is arranged on the crawler belt in the car. The invention can carry out unmanned high-altitude picking operation and improve production efficiency.
Description
Technical Field
The invention relates to agricultural equipment, in particular to fruit picking equipment, and specifically relates to an unmanned intelligent fruit picking system.
Background
At present, most of the modes for picking fruits such as apples and the like in China are manual picking, wherein the labor cost accounts for 50% -70% of the total cost, so that the picking mode has high cost and low efficiency, high-altitude operation is difficult to realize, and the production efficiency is seriously influenced. Although, some fruit picking machines are currently available. However, most of the machines are ground type, have large volume, are inconvenient to carry, are very easily affected by road conditions in the picking process, and are difficult to meet the market demands.
Therefore, there is a need for improvements to existing fruit picking apparatus to better meet market demands.
Disclosure of Invention
The invention aims to solve the problems encountered in the fruit picking process at present, and provides an unmanned intelligent fruit picking system which can realize unmanned high-altitude picking, greatly improve the production efficiency, reduce the labor cost and fully meet the market demand.
The technical scheme of the invention is as follows:
an unmanned intelligent fruit picking system comprises an unmanned aerial vehicle and a take-off platform;
the unmanned aerial vehicle is provided with a central controller, a visual identification and positioning device and a mechanical arm; the visual identification and positioning device and the mechanical arm are electrically connected with the central controller;
the visual identification and positioning device comprises an airborne camera and a binocular camera, can acquire images and position information of target fruits, and determines the maturity and the spatial position of the target fruits by calculating through a central controller;
the mechanical arm is rod-shaped, and a claw type grabber is arranged at the front end of the mechanical arm; the grabber can act under the control of the central controller to grab and pick off fruits;
the take-off platform comprises a fruit box; the fruit box is in a shape without a top box, and a flat-plate-shaped parking platform protruding outwards is arranged on the upper edge of the fruit box so as to enable the unmanned aerial vehicle to be parked on the parking platform; the fruit box is arranged on the crawler.
Further, the number of the unmanned aerial vehicles is one or more; each unmanned aerial vehicle is connected with the take-off platform through a cable; the takeoff platform is provided with a battery and can supply power to the unmanned aerial vehicle through the cable.
Further, the mechanical arm comprises a sleeve and a moving rod; the sleeve and the movable rod are both hollow straight rods; the moving rod is movably sleeved in the sleeve and can move back and forth along the sleeve; the moving rod is internally provided with threads and is connected with the front end of the screw rod I; the rear end of the screw rod I is connected with a motor I and can rotate under the driving of the motor I so as to drive the movable rod to move back and forth; the front end of the moving rod is connected with the rear part of the grabber through a rotating disc I; the rotating disc I is connected with a motor III and can rotate under the driving of the motor III to drive the grabber to rotate so as to generate torsion.
Further, the rotating disc I is in a boss shape, the large end of the rotating disc I is fixedly connected with the bottom end of the grabber, and gear teeth are arranged on the periphery of the small end of the rotating disc I; and an output shaft of the motor III is meshed with the small end of the rotating disc I through a gear.
Further, the movable rod is connected with the sleeve through a linear bearing.
Further, a motor base I is arranged at the rear end of the sleeve; the motor I is arranged on the motor base I; the rear end of the screw rod I is provided with a belt pulley and is connected with the output shaft of the motor through a belt; the front part of the moving rod is provided with a motor base II; the motor III is arranged on the motor base II.
Further, the grabber comprises a base, claw fingers and a rotating disc II; the base is cylindrical, the bottom of the base is connected with the moving rod through the rotating disc, the front end of the base is provided with a motor II, and the periphery of the base is provided with a lug I; the claw fingers are arc-shaped strips, and the lower parts of the claw fingers are provided with connecting blocks; the connecting block is provided with a strip-shaped connecting groove which can be hinged with the lug I and rotate and move along the hinged position; the rotating disc II is disc-shaped, the center of the rotating disc II is provided with a screw hole, and the rotating disc II is screwed at the front end of the screw rod II; the rear end of the screw rod II is connected with an output shaft of the motor II, so that when the motor II rotates, the rotating disc II can move along the axial direction of the screw rod II; the rotary disc is provided with a lug II which is hinged with the lower end of the claw finger; the upper ends of the claw fingers are suspended; the claw fingers, the lugs I and the lugs II are all multiple and are mutually corresponding and uniformly distributed.
Further, a pressure sensor is arranged on the inner side of the claw finger; the sensor is connected with the central controller.
Further, the device also comprises a fixed bracket; the fixing support is in a shape of a door and narrow plate, the lower end of the fixing support is installed on the sleeve through a lantern ring, and a strip-shaped fixing groove is formed in the top of the fixing support and is convenient to connect to the bottom of the unmanned aerial vehicle through a screw; the lantern ring is two semicircle rings, and bolted connection is passed through at both ends.
Further, the tracked vehicle is driven manually or remotely.
The invention has the beneficial effects that:
the unmanned aerial picking robot is reasonable in design, simple in structure and small in size, unmanned aerial picking operation can be carried out by the unmanned aerial vehicle, the unmanned aerial picking robot is not easily influenced by road conditions, the production efficiency is greatly improved, and the labor cost is reduced. Meanwhile, the maturity of the fruits can be judged, the picking accuracy is effectively improved, and favorable conditions are created for promoting agricultural development.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the assembled unmanned aerial vehicle and mechanical arm.
Figure 3 is a schematic view of a robotic arm in partial section.
Fig. 4 is an exploded view of the gripper.
Fig. 5 is a schematic structural view of a takeoff platform.
Wherein, 1-a crawler; 2-a fruit box; 3-a cable; 4-a mechanical arm; 5-unmanned aerial vehicle; 6-onboard camera; 7-binocular camera; 8-a parking platform; 4-1-motor I; 4-2-fixing the support; 4-3-linear bearings; 4-4-rotating disc I; 4-5-a gripper; 4-6-motor III; 4-7-motor cabinet II; 4-8-moving the rod; 4-9-fixation rod; 4-10-screw mandrel I; 4-11-motor cabinet I; 4-5-1-base; 4-5-2-motor II; 4-5-3-lug II; 4-5-4-pressure sensor; 4-5-5-paw finger; 4-5-6-connecting block; 5-7-rotating disc II; 4-5-8-lead screw II; 4-5-9-lug I.
Detailed Description
The invention is further described below with reference to the figures and examples. This embodiment takes apple picking as an example.
As shown in fig. 1 to 5.
An unmanned intelligent fruit picking system comprises an unmanned aerial vehicle 5 and a take-off platform.
Be equipped with central controller, visual identification and positioner and arm 4 on the unmanned aerial vehicle 5, and this visual identification and positioner and arm 4 all with central controller electrical property links to each other, can with the information transmission that visual identification and positioner acquireed gives central controller, or send relevant action command for arm 4. The arm 4 is installed below the unmanned aerial vehicle 5. Preferably, the central controller may select raspberry pi 4B as its core MCU, with SOC of Broadcom BCM 2711. Unmanned aerial vehicle 5 can select the unmanned aerial vehicle of wheel base 50cm, totally four rotors, can bear 2 kg's load.
The visual identification and positioning device comprises an airborne camera 6 and a binocular camera 7, can acquire images and position information of target fruits, calculates through a central controller, and determines the maturity and the spatial position of the target fruits.
The mechanical arm 4 is rod-shaped, and a claw type grabber 4-5 is arranged at the front end of the mechanical arm. The grabber 4-5 can act under the control of the central controller to grab and pick off fruits. The airborne camera 6 is installed on the frame of the unmanned aerial vehicle 5 and faces the direction of the grabber 4-5. The binocular camera 7 is installed below the mechanical arm 4. During operation, the picture of apple is shot through airborne camera 6, converts the picture from RGB color space to HSV color space. Threshold segmentation is carried out in HSV color space, the image presents obvious black and white effect by utilizing binarization processing, so that the purposes of extracting a target object and removing a background are achieved, and then denoising is further carried out through opening operation and closing operation. For apples which are shielded or overlapped by branches, leaves and the like, correct and complete closed edges of the apples are extracted by applying a circular regression method in a binary image, and then the apple identification is realized. And then, detecting the edge of the apple and drawing a frame, thereby achieving the purposes of image identification and frame selection. Then, the binocular camera 7 mounted on the mechanical arm is switched to shoot images, the specific position coordinates of the apple are determined, and the coordinate information is returned to the central controller. And finally, adjusting the position of the unmanned aerial vehicle according to the position information of the apple in the binocular camera collected image, so that the apple can be over against the grabber of the mechanical arm. Preferably, the binocular camera can be selected from an Intel RealSense D435 stereoscopic depth somatosensory camera.
The takeoff platform comprises a fruit box 2. This fruit case 2 is for not having the top box form, can make things convenient for unmanned aerial vehicle to place the apple of picking wherein. The upper edge of the fruit box 2 is provided with a flat-plate-shaped parking platform 8 protruding outwards, so that the unmanned aerial vehicle 5 can be parked on the parking platform 8 when not flying. The fruit box 2 is arranged on the crawler 1, so that the fruit box can be moved and transported conveniently. The tracked vehicle 1 can be driven manually or remotely. In the embodiment, a 350-type crawler transport vehicle is selected, and the model number is HK-YS 350.
The unmanned aerial vehicle 5 is one or more. When using a plurality of unmanned aerial vehicle, can form the array, improve the operating efficiency. Each unmanned aerial vehicle 5 is respectively connected with the take-off platform through a cable 3, and the battery on the take-off platform and the cable can supply power to the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to have sufficient operation time.
The robot arm 4 comprises a sleeve 4-9 and a moving rod 4-8. The sleeve 4-9 and the movable rod 4-8 are both hollow straight rods, and the lengths of the sleeve and the movable rod are adaptive. The movable rod 4-8 is movably sleeved in the sleeve 4-9 and can move back and forth along the sleeve 4-9. The moving rod 4-8 is internally provided with threads and is connected with the front end of the screw rod I4-10. The rear end of the screw I4-10 is connected with a motor I4-1, so that the screw can be driven by the motor I4-1 to rotate, and further the movable rod 4-8 is driven to move back and forth. The front end of the moving rod 4-8 is connected with the rear part of the gripper 4-5 through a rotating disc I4-4. The rotating disc I4-4 is connected with a motor III4-6, so that the rotating disc I4-4 can rotate under the driving of the motor III4-6, and further drives the grabber 4-5 to rotate to generate torsion, and the apples are twisted off and taken off from the trees. Preferably, the moving rod 4-8 is connected to the sleeve 4-9 through a linear bearing 4-3, so that the movement is smoother. Meanwhile, the front part of the moving rod 4-8 is provided with an L-shaped motor base II4-7 so as to stably mount the motor III4-6 on the motor base II 4-7.
The rotating disc I4-4 is in a boss shape, the large end of the rotating disc I4-4 is fixedly connected with the bottom end of the grabber 4-5, and gear teeth are arranged on the periphery of the small end of the rotating disc I4-4. Meanwhile, an output shaft of the motor III4-6 is meshed with the small end of the rotating disc I4-5 through a gear to drive the rotating disc I4-5 to rotate.
The rear end of the sleeve 4-9 is provided with an L-shaped motor base I4-11 so as to mount the motor I4-1 on the motor base I4-11. The rear end of the screw I4-10 is provided with a belt pulley, and the belt pulley can be connected with an output shaft of the motor I4-1 through a belt, so that the motor I4-1 can drive the screw I4-10 to rotate, and further drive the moving rod 4-8 to move back and forth.
The gripper 4-5 comprises a base 4-5-1, a claw finger 4-5-5 and a rotating disc II 4-5-7. The base 4-5-1 is cylindrical, the bottom of the base is connected with the moving rod 4-8 through the rotating disc I4-4, the front end of the base is provided with a motor II4-5-2, and the periphery of the base is provided with a lug I4-5-9. The claw fingers 4-5-5 are arc-shaped strips, and connecting blocks 4-5-6 are arranged at the lower parts of the claw fingers, which are close to the lower end parts of the claw fingers. The connecting block 4-5-6 is elongated and has an elongated connecting slot thereon, which is capable of being hinged to the lug I4-5-9 and rotating and moving along the hinge. The rotating disc II4-5-7 is disc-shaped, the center of the rotating disc II4-5-7 is provided with a screw hole, and the rotating disc II4-5-7 is screwed at the front end of the screw rod II 4-5-8. The rear end of the screw II4-5-8 is connected with an output shaft of the motor II4-5-2, can rotate along with the rotation of the motor II and drives the rotating disc II to axially move along the screw II. The rotary disk II4-5-7 is provided with a lug II4-5-3 which can be hinged with the lower end of the claw finger 4-5-5, so that the rotary disk II4-5-7 can drive the claw finger 4-5-5 to move. The upper ends of the claw fingers 4-5-5 are suspended and can move outwards along the hinged part of the connecting block 4-5-6. The claw fingers 4-5-5, the lugs I4-5-9 and the lugs II4-5-3 are all multiple and are mutually corresponding and uniformly distributed, so that the claw fingers 4-5-5 form a mechanical claw in a shape of a hand grip, and the fruit can be flexibly gripped or released. Preferably, the claw fingers 4-5-5 can be formed by splicing two sections of circular arcs with the radii of 60.3mm and 84.7mm in a tangent mode. Meanwhile, the distance between the front end and the rear end of the claw finger is about 91mm, the width is about 25mm, and the thickness is about 4mm, so that the opening and closing range of the whole mechanical claw is 60-100 mm, and the grabbing of most apples can be met.
Furthermore, a pressure sensor 4-5-4 is arranged on the inner side of the claw finger 4-5-5, the sensor 4-5-4 is connected with the central controller, the contact pressure between the claw finger 4-5-5 and the fruit can be sensed, and the information is transmitted to the central sensor. Then, whether the gripping force is proper or not is judged by comparing the pressure value with a preset pressure value, and the motor II4-5-2 is controlled to ensure that the fruit can be firmly gripped and the fruit is prevented from being crushed. Preferably, the pressure sensor can be a Tekscan pressure-sensitive sensor. The sensor is long strip-shaped, is about 120mm long and 14mm wide, and is arranged on the inner side of the claw finger 4-5-5.
And a fixing support 4-2 is also arranged on the mechanical arm 4. The fixing support 4-2 is in a shape of a door-shaped narrow plate, the lower end of the fixing support is installed on the sleeve 4-9 through a lantern ring, a long strip-shaped fixing groove is formed in the top of the fixing support, the fixing support can be connected to the bottom of the unmanned aerial vehicle 5 through screws, and the fixing support can be adjusted along the fixing groove as required. The lantern ring is two semicircle rings, and bolted connection is passed through at both ends, but easy to assemble and dismantlement.
And the motor I, the motor II and the motor III are all servo motors.
The working process of the invention is as follows:
firstly, a takeoff platform is manually driven to be close to a fruit tree. Then, let the unmanned aerial vehicle parked on the parking stand take off. The unmanned aerial vehicle flies according to the set path, the ripe apples are identified through the airborne camera and specifically positioned through the binocular camera respectively, and relevant information such as position coordinates and the like is fed back to the MCU of the central controller. MCU sends command signal, control unmanned aerial vehicle and remove to the apple. When the preset coordinate is reached, the MCU sends a PWM signal to the mechanical arm to control the mechanical arm to grab, pick and retract. After the apples are picked, the unmanned aerial vehicle moves to the position above the movable takeoff platform, the apples are placed in the fruit boxes in the movable takeoff platform, and one-time picking is completed.
The fruit picking device integrates the unmanned aerial vehicle, positioning, identifying and picking, can perform high-altitude operation, is not limited by terrain, has strong adaptability, not only effectively solves the problems of large volume, high possibility of being influenced by road surfaces and the like of the conventional fruit picking device, but also can simultaneously work by a plurality of unmanned aerial vehicles, greatly improves the working efficiency and is worthy of great popularization.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (10)
1. An unmanned intelligent fruit picking system comprises an unmanned aerial vehicle and a take-off platform, and is characterized in that,
the unmanned aerial vehicle is provided with a central controller, a visual identification and positioning device and a mechanical arm; the visual identification and positioning device and the mechanical arm are electrically connected with the central controller;
the visual identification and positioning device comprises an airborne camera and a binocular camera, can acquire images and position information of target fruits, and determines the maturity and the spatial position of the target fruits by calculating through a central controller;
the mechanical arm is rod-shaped, and a claw type grabber is arranged at the front end of the mechanical arm; the grabber can act under the control of the central controller to grab and pick off fruits;
the take-off platform comprises a fruit box; the fruit box is in a shape without a top box, and a flat-plate-shaped parking platform protruding outwards is arranged on the upper edge of the fruit box so as to enable the unmanned aerial vehicle to be parked on the parking platform; the fruit box is arranged on the crawler.
2. The unmanned intelligent fruit picking system of claim 1, wherein the unmanned aerial vehicles are one or more; each unmanned aerial vehicle is connected with the take-off platform through a cable; the takeoff platform is provided with a battery and can supply power to the unmanned aerial vehicle through the cable.
3. The unmanned intelligent fruit picking system of claim 1, wherein the robotic arm comprises a sleeve and a moving rod; the sleeve and the movable rod are both hollow straight rods; the moving rod is movably sleeved in the sleeve and can move back and forth along the sleeve; the moving rod is internally provided with threads and is connected with the front end of the screw rod I; the rear end of the screw rod I is connected with a motor I and can rotate under the driving of the motor I so as to drive the movable rod to move back and forth; the front end of the moving rod is connected with the rear part of the grabber through a rotating disc I; the rotating disc I is connected with a motor III and can rotate under the driving of the motor III to drive the grabber to rotate so as to generate torsion.
4. The unmanned intelligent fruit picking system according to claim 3, wherein the rotating disc I is boss-shaped, the large end of the rotating disc I is fixedly connected with the bottom end of the grabber, and the periphery of the small end of the rotating disc I is provided with gear teeth; and an output shaft of the motor III is meshed with the small end of the rotating disc I through a gear.
5. The unmanned intelligent fruit picking system of claim 3, wherein the travel bar is coupled to the sleeve by a linear bearing.
6. The unmanned intelligent fruit picking system according to claim 3, wherein the rear end of the sleeve is provided with a motor base I; the motor I is arranged on the motor base I; the rear end of the screw rod I is provided with a belt pulley and is connected with the output shaft of the motor through a belt; the front part of the moving rod is provided with a motor base II; the motor III is arranged on the motor base II.
7. The unmanned intelligent fruit picking system of claim 1, wherein the gripper comprises a base, fingers, and a rotating disk II; the base is cylindrical, the bottom of the base is connected with the moving rod through the rotating disc, the front end of the base is provided with a motor II, and the periphery of the base is provided with a lug I; the claw fingers are arc-shaped strips, and the lower parts of the claw fingers are provided with connecting blocks; the connecting block is provided with a strip-shaped connecting groove which can be hinged with the lug I and rotate and move along the hinged position; the rotating disc II is disc-shaped, the center of the rotating disc II is provided with a screw hole, and the rotating disc II is screwed at the front end of the screw rod II; the rear end of the screw rod II is connected with an output shaft of the motor II, so that when the motor II rotates, the rotating disc II can move along the axial direction of the screw rod II; the rotary disc II is provided with a lug II which is hinged with the lower end of the claw finger; the upper ends of the claw fingers are suspended; the claw fingers, the lugs I and the lugs II are all multiple and are mutually corresponding and uniformly distributed.
8. The unmanned intelligent fruit picking system of claim 7, wherein pressure sensors are provided inside the fingers; the sensor is connected with the central controller.
9. The unmanned intelligent fruit picking system of claim 3, further comprising a fixed support; the fixing support is in a shape of a door and narrow plate, the lower end of the fixing support is installed on the sleeve through a lantern ring, and a strip-shaped fixing groove is formed in the top of the fixing support and is convenient to connect to the bottom of the unmanned aerial vehicle through a screw; the lantern ring is two semicircle rings, and bolted connection is passed through at both ends.
10. The unmanned intelligent fruit picking system of claim 1, wherein the tracked vehicle is manually driven or remotely controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110235792.0A CN112889480A (en) | 2021-03-03 | 2021-03-03 | Unmanned intelligent fruit picking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110235792.0A CN112889480A (en) | 2021-03-03 | 2021-03-03 | Unmanned intelligent fruit picking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112889480A true CN112889480A (en) | 2021-06-04 |
Family
ID=76107584
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110235792.0A Pending CN112889480A (en) | 2021-03-03 | 2021-03-03 | Unmanned intelligent fruit picking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112889480A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232743A (en) * | 2021-06-08 | 2021-08-10 | 中电科机器人有限公司 | Humanoid quadruped robot |
| CN115104432A (en) * | 2022-07-08 | 2022-09-27 | 中山大学 | Harvesting robot system and method coordinated by unmanned aerial vehicle and mechanical vehicle |
| CN116018933A (en) * | 2022-10-28 | 2023-04-28 | 陕西艾夫西埃电子有限公司 | Ground-air interconnection type fruit picking system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101458534B1 (en) * | 2014-07-16 | 2014-11-05 | (주)테크맥스텔레콤 | Ducted type unmanned aircraft for pine nut picking |
| CN204415724U (en) * | 2015-01-29 | 2015-06-24 | 马鞍山市赛迪智能科技有限公司 | Unmanned vehicle system is scouted in a kind of patrol |
| WO2016116888A1 (en) * | 2015-01-21 | 2016-07-28 | Ramot At Tel-Aviv-University Ltd | Agricultural robot |
| CN108633482A (en) * | 2018-07-06 | 2018-10-12 | 华南理工大学 | A kind of fruit picking aircraft |
| CN109168634A (en) * | 2018-10-11 | 2019-01-11 | 侍雨 | It is a kind of that system of processing is picked based on the intelligent coconut of unmanned plane and TOF imaging technique |
| CN208572771U (en) * | 2018-06-26 | 2019-03-05 | 天津职业技术师范大学 | Pineapple Picking Robot |
| CN110221623A (en) * | 2019-06-17 | 2019-09-10 | 酷黑科技（北京）有限公司 | A kind of air-ground coordination operating system and its localization method |
| CN211090720U (en) * | 2019-07-18 | 2020-07-28 | 郑州永丰生物肥业有限公司 | Unmanned aerial vehicle picks tea-oil camellia manipulator |
| CN111587665A (en) * | 2020-05-18 | 2020-08-28 | 华南农业大学 | Four-degree-of-freedom multi-vision rotary flying type picking robot and picking method thereof |
| CN211353150U (en) * | 2019-12-12 | 2020-08-28 | 乐山师范学院 | An agricultural product picking device based on a multi-rotor UAV |
| CN111846222A (en) * | 2020-07-16 | 2020-10-30 | 大连理工大学 | A method and device for hitting a Korean pine pine tower based on unmanned aerial vehicles and airborne equipment |
-
2021
- 2021-03-03 CN CN202110235792.0A patent/CN112889480A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101458534B1 (en) * | 2014-07-16 | 2014-11-05 | (주)테크맥스텔레콤 | Ducted type unmanned aircraft for pine nut picking |
| WO2016116888A1 (en) * | 2015-01-21 | 2016-07-28 | Ramot At Tel-Aviv-University Ltd | Agricultural robot |
| CN204415724U (en) * | 2015-01-29 | 2015-06-24 | 马鞍山市赛迪智能科技有限公司 | Unmanned vehicle system is scouted in a kind of patrol |
| CN208572771U (en) * | 2018-06-26 | 2019-03-05 | 天津职业技术师范大学 | Pineapple Picking Robot |
| CN108633482A (en) * | 2018-07-06 | 2018-10-12 | 华南理工大学 | A kind of fruit picking aircraft |
| CN109168634A (en) * | 2018-10-11 | 2019-01-11 | 侍雨 | It is a kind of that system of processing is picked based on the intelligent coconut of unmanned plane and TOF imaging technique |
| CN110221623A (en) * | 2019-06-17 | 2019-09-10 | 酷黑科技（北京）有限公司 | A kind of air-ground coordination operating system and its localization method |
| CN211090720U (en) * | 2019-07-18 | 2020-07-28 | 郑州永丰生物肥业有限公司 | Unmanned aerial vehicle picks tea-oil camellia manipulator |
| CN211353150U (en) * | 2019-12-12 | 2020-08-28 | 乐山师范学院 | An agricultural product picking device based on a multi-rotor UAV |
| CN111587665A (en) * | 2020-05-18 | 2020-08-28 | 华南农业大学 | Four-degree-of-freedom multi-vision rotary flying type picking robot and picking method thereof |
| CN111846222A (en) * | 2020-07-16 | 2020-10-30 | 大连理工大学 | A method and device for hitting a Korean pine pine tower based on unmanned aerial vehicles and airborne equipment |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232743A (en) * | 2021-06-08 | 2021-08-10 | 中电科机器人有限公司 | Humanoid quadruped robot |
| CN115104432A (en) * | 2022-07-08 | 2022-09-27 | 中山大学 | Harvesting robot system and method coordinated by unmanned aerial vehicle and mechanical vehicle |
| CN116018933A (en) * | 2022-10-28 | 2023-04-28 | 陕西艾夫西埃电子有限公司 | Ground-air interconnection type fruit picking system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112889480A (en) | Unmanned intelligent fruit picking system | |
| CN102315609B (en) | Unmanned automatic inspection device for transmission line | |
| CN110832991B (en) | A Picker Based on Image Recognition | |
| EP2631040B1 (en) | Processing station and method for operating such a station | |
| CN112567976A (en) | Rotatable multi-degree-of-freedom fruit and vegetable picking and collecting device | |
| CN109005923A (en) | A kind of full-automatic fruit picking device | |
| CN108633482A (en) | A kind of fruit picking aircraft | |
| CN211482025U (en) | Fruit and vegetable picking and screening robot | |
| CN107371611B (en) | Unmanned aerial vehicle who has automatic function of picking based on thing networking | |
| CN109729829B (en) | An intelligent hawthorn picking robot based on binocular recognition | |
| CN111201895A (en) | Picking robot | |
| CN109482503B (en) | Vision-based mobile sorting robot and sorting method thereof | |
| CN110178536B (en) | Tomato picking robot and control method thereof | |
| CN113019969A (en) | Intelligent apple grading system | |
| CN110663357B (en) | Intelligent picking machine | |
| Hu et al. | Design and experiment of a new citrus harvesting robot | |
| CN202121252U (en) | Power transmission line unmanned automatic repairing device | |
| CN209693469U (en) | A kind of parallel pineapple picking collection all-in-one machine | |
| CN106233937A (en) | A kind of array extension type mechanical arm kiwifruit fruit picking robot | |
| CN108718704B (en) | A man-machine interactive field fruit and vegetable harvesting robot system and its harvesting method | |
| CN210093992U (en) | Hawthorn picking robot | |
| CN112075139A (en) | Automatic detection and recovery system for farmland residual molds | |
| CN114051835B (en) | A fruit picking system based on a drone with a telescopic grabbing arm | |
| CN113246115B (en) | Industrial manipulator based on machine vision technology and control method thereof | |
| CN215218257U (en) | Automatic stem drawing and separating device |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210604 |