CN101412217A - Autonomous field robot - Google Patents
Autonomous field robot Download PDFInfo
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- CN101412217A CN101412217A CNA2008102353036A CN200810235303A CN101412217A CN 101412217 A CN101412217 A CN 101412217A CN A2008102353036 A CNA2008102353036 A CN A2008102353036A CN 200810235303 A CN200810235303 A CN 200810235303A CN 101412217 A CN101412217 A CN 101412217A
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Abstract
The invention relates to an autonomous field robot, which is characterized by comprising a stander body, a travel guiding device, walking devices, a work object detecting device, an actuating device, a control system and a power supply system. The front end and the back end of the stander body are provided with a front cabin and a back cabin respectively, the control system is arranged in the front cabin, the power supply system is arranged in the back cabin, the travel guiding device is arranged at the front end of the stander body, the walking devices are arranged the front end and the back end below the stander body respectively, and the middle part of the stander body is provided with the work object detecting device and the actuating device; and the travel guiding device, the walking devices, the work object detecting device, the actuating device and the control system are connected through signal wires and connected to the power supply system with the control system. The autonomous field robot has the advantages that the autonomous field robot can run autonomously in a field, has good universality, has multiple functions with one machine, improves use efficiency, and reduces use cost.
Description
Technical field
The present invention relates to a kind of agricultural robot, specifically relate to a kind of autonomous field robot that can be used for different agricultural production job task conversions, belong to the Robotics field.
Background technology
Be used to pluck, the agricultural robot that differs from one another of aspects such as results, weeding, pruning, farming, grafting, agricultural product classification is able to research and development in many countries and uses.But just for solving automation in the special agricultural production with intelligent, these robots only have specific function to these agricultural robots, are adapted to particular environment, and versatility is poor, are not easy to system is expanded and improves; And, increased agriculture production cost indirectly because seasonal problem causes the agricultural robot service efficiency low.
In the disclosed data of Patent Office of the People's Republic of China, at present domestic useless in the field of agricultural production autonomous robot's report.And abroad, mainly be that the U.S., Japan and Europe a few countries such as (as Britain, Holland etc.) have been carried out the application of correlative study and patent at aspects such as crop harvesting, farming, pruning, weeding, sprinkling, harvesting and farmland management and measurements.Wherein, in the patent of people ((WO/2006/063314) AGRICULTURAL ROBOT SYSTEM AND METHOD) such as people such as Hanley (US Patent 6671582-Flexible agricultural automation) and Koselka application, demonstrated fully the multipurpose characteristic of agricultural robot.People such as Hanley propose to adopt flexibly that Robotics makes up the agricultural automation device, and this device has a driver's cabin, operating personnel be sitting in the driver's cabin to device turn to, the supervision of operating process and the processing of contingency etc.; This device mainly is applicable to vinegrowing, potato planting and organic vegetable weeding operation etc.People such as Koselka have proposed to have the agricultural robot System and method for of multipurpose farming operation, be used for loose, optionally sprinkling or fertilising, the weeding of the selecting of pruning, fruit, plant growth or the fruit bud of results, the rattan of fresh fruit of vegetables, the measurement and the management of agricultural resource, be based on need and collect in advance by a tour robot and carry out after the map of farmland and manipulating object or the graphical information but Job Operations such as gather in the crops, prune, select; In addition, the agricultural robot of being invented generally needs the tractor equal power device to draw, and versatility is poor, inefficiency.
Summary of the invention
For solving the deficiencies in the prior art, the object of the present invention is to provide a kind of new multi-functional autonomous field robot that is easy to realize the different work Task Switching, improve versatility and operating efficiency, and can realize expansion, reduce production costs.
For achieving the above object, the present invention is achieved by the following technical solutions:
A kind of autonomous field robot, it is characterized in that comprising Rack Body, the guiding device of advancing, running gear, manipulating object checkout gear, actuating unit, control system and electric power system, be separately installed with front deck and rear deck in the front and back end of Rack Body, control system is installed in the front deck, electric power system is installed in the rear deck, the guiding device of advancing is installed in the front end of Rack Body, running gear is installed in the front and back end of Rack Body below respectively, at the middle part of Rack Body manipulating object checkout gear and actuating unit is installed; The described guiding device of advancing, running gear, manipulating object checkout gear, actuating unit are connected by holding wire with control system, and are connected on the electric power system with control system.
Aforesaid autonomous field robot is characterized in that the described guiding device of advancing is a vision sensor.
Aforesaid autonomous field robot is characterized in that described manipulating object checkout gear is a vision sensor.
Aforesaid autonomous field robot is characterized in that described running gear is by direct current motor driven wheel type traveling mechanism.
Aforesaid autonomous field robot is characterized in that described electric power system is a battery.
Aforesaid autonomous field robot is characterized in that described control system comprises computer and a plurality of single-chip microcomputer that is respectively applied for control running gear, actuating unit.
Aforesaid autonomous field robot is characterized in that described actuating unit comprises horizontal ratch, horizontal drive stepper motor, vertical drive stepper motor, horizontal drive gear, vertical drive gear, vertical guide stem and actuator; Horizontal ratch flatly is installed on the Rack Body, with horizontal ratch horizontal guide is installed abreast on Rack Body, is combined with slide block on the horizontal guide, and horizontal drive stepper motor and vertical drive stepper motor are installed on slide block; The output of horizontal drive stepper motor connects the horizontal drive gear, and the horizontal drive gear cooperates with horizontal ratch, the output connection vertical drive gear of vertical drive stepper motor, and vertical drive gear cooperates with vertical ratch on being installed in vertical guide stem; End in vertical guide stem is equipped with actuator.
Aforesaid autonomous field robot is characterized in that described actuator is automatically controlled nozzle, electronic hoe tool or picking mechanical arm.
The invention has the beneficial effects as follows: autonomous field robot of the present invention can independently travel in the field, and versatility is good, can accomplish a tractor serves several purposes, improves service efficiency, reduces use cost.
Description of drawings
Fig. 1 is that automatically controlled structure of nozzle schematic diagram is installed in autonomous field robot of the present invention below;
Fig. 2 is the structural representation that electronic hoe tool is installed in autonomous field robot of the present invention below;
Fig. 3 is the structural representation that picking mechanical arm is installed in autonomous field robot of the present invention below;
Fig. 4 is that automatically controlled structure of nozzle schematic diagram is installed in autonomous field robot of the present invention top;
Fig. 5 is the structural representation that picking mechanical arm is installed in autonomous field robot of the present invention top;
Fig. 6 is the structural front view of the actuating unit of autonomous field robot of the present invention;
Fig. 7 is the structure vertical view of the actuating unit of autonomous field robot of the present invention;
Fig. 8 is a system of the present invention control block diagram;
Fig. 9 is system works flow process figure of the present invention.
The implication of the Reference numeral of major part among the figure: 1, vision sensor; 2, front deck; 3, Rack Body; 4, rear deck; 5, running gear; 6, vertical guide stem; 7, vision sensor; 8, running gear; 9, automatically controlled nozzle; 10, electronic hoe tool; 11, picking mechanical arm, 12, the horizontal drive gear; 13, horizontal ratch; 14, vertical drive gear; 15, horizontal guide; 16, horizontal drive stepper motor; 17, vertical drive stepper motor; 18, slide block.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done concrete introduction.
Fig. 1 is that automatically controlled structure of nozzle schematic diagram is installed in autonomous field robot of the present invention below; Fig. 2 is the structural representation that electronic hoe tool is installed in autonomous field robot of the present invention below; Fig. 3 is the structural representation that picking mechanical arm is installed in autonomous field robot of the present invention below; Fig. 4 is that automatically controlled structure of nozzle schematic diagram is installed in autonomous field robot of the present invention top; Fig. 5 is the structural representation that picking mechanical arm is installed in autonomous field robot of the present invention top.
As shown in the figure, autonomous field robot of the present invention, comprise Rack Body 3, the guiding device of advancing, running gear 5 and 8, the manipulating object checkout gear, actuating unit, control system and electric power system, be separately installed with front deck and rear deck in the front and back end of Rack Body 3, control system and other electronic devices are installed in the front deck 2, electric power system and some expansion interfaces are installed in the rear deck 4, the guiding device of advancing is installed in the front end of Rack Body 3, running gear 5,8 are installed in the front and back end of Rack Body 3 belows respectively, at the middle part of Rack Body 3 manipulating object checkout gear and actuating unit are installed; The described guiding device of advancing, running gear, manipulating object checkout gear, actuating unit are connected by holding wire with control system, and are connected on the electric power system with control system.
Wherein advance guiding device and manipulating object checkout gear adopts vision sensor 1 and 7 respectively, running gear 5 and 8 can adopt by direct current motor driven wheel type traveling mechanism, electric power system adopts the general supply of battery as system, for each parts provide required power supply.Control system adopts multi-CPU system, comprise computer and a plurality of single-chip microcomputer that is used to control running gear and actuating unit, computer is a host computer, single-chip microcomputer is a slave computer, and carries out communication according to standard communication interface, and The whole control system adopts structuring, modular layered system, as long as change soft, the hardware of part, just can change judgment standard, the change sequence of movement is carried out several work.
In the present invention, advance guiding device and running gear: being used for navigates and drive platform robot platform travels;
Manipulating object checkout gear and actuating unit: be used for the detection (identification and location) of agricultural production manipulating object and carry out Job Operations;
Control system: be used for that real time information processing, sensor are integrated, communication, planning and monitoring; Multi-CPU system is (for realizing that view data is handled and work planning fast with quick calculation processing unit, its speed of service must not be lower than 500MHz) be host computer (being computer), general single chip is slave computer (being single-chip microcomputer), and the control module that carries out communication by standard communication interface;
Electric power system: for robot platform provides supply of electric power;
Rack Body: be the basic part of entire machine people platform, the hardware of each several parts such as the guiding device of advancing, running gear, manipulating object checkout gear, actuating unit, control system, electric power system all places on the Rack Body.
Fig. 6 is the structural front view of the actuating unit of autonomous field robot of the present invention; Fig. 7 is the structure vertical view of the actuating unit of autonomous field robot of the present invention.As shown in the figure, operative goals is carried out the actuating unit of associative operation (spraying, hoe up weeds, pluck operation), comprise horizontal ratch 13, horizontal drive stepper motor 16, vertical drive stepper motor 17, horizontal drive gear 12, vertical drive gear 14, vertical guide stem 6 and actuator.Horizontal ratch 13 flatly is installed on the Rack Body 3, with horizontal ratch 13 horizontal guide 15 is installed abreast on Rack Body 3, is combined with slide block 18 on the horizontal guide 15, and horizontal drive stepper motor 16 and vertical drive stepper motor 17 are installed on slide block 18.The output of horizontal drive stepper motor 16 connects horizontal drive gear 12, horizontal drive gear 12 cooperates with horizontal ratch 13, the output of vertical drive stepper motor 17 connects vertical drive gear 14, vertical drive gear 14 cooperates with vertical ratch on being installed in vertical guide stem 6, at the end of vertical guide stem 6 actuator is installed.
Actuating unit utilizes the driving of two stepper motors, realizes the level of actuator and the motion of vertical direction, realizes the accurate contraposition of operation.The horizontal drive gear 12 that is driven by horizontal drive stepper motor 16 is meshed with the tooth of horizontal ratch 13 on being fixed on Rack Body 3.When horizontal drive stepper motor 16 drives 12 rotations of horizontal drive gear, fixing because of horizontal ratch 13, do the motion of horizontal direction so together be fixed in horizontal drive stepper motor 16 on the slide block 18, vertical drive stepper motor 17 with slide block 18 with vertical guide stem 6 (being the vertical guide stem 6 among Fig. 1-Fig. 5).The movement in vertical direction of vertical guide stem 6 then drives vertical drive gear 14 by vertical drive stepper motor 17 and realizes.Because actuator is fixed on the vertical guide stem 6, thus can realize the motion of the horizontal direction and the vertical direction of actuator, thus realize field-crop is carried out accurate positioning operation.
Actuator can be according to actual needs and change and install, and actuator is automatically controlled nozzle 9 in Fig. 1, to vegetables spray water, pesticide or the operation of spray pesticide; Actuator is electronic hoe tool 10 among Fig. 2, can carry out weeding by machine's operation; Actuator is a picking mechanical arm 11 among Fig. 3, can carry out the farmland and pluck operation.These actuators are fixed on the vertical guide stem 6, with moving and mobile operating of vertical guide stem 6.
What Fig. 1-Fig. 3 represented is to utilize the production operation (water spray, spray medicine, weeding, harvesting etc.) of autonomous field robot of the present invention to surface crops, and Fig. 4 and Fig. 5 represent that autonomous field robot of the present invention can be used for the production operation (water spray, spray medicine, harvesting etc.) of crops such as side (or side top) fruits and vegetables.Upwards install manipulating object checkout gear and vertical guide stem 6 this moment, and the end that actuator is installed in vertical guide stem 6 tops gets final product.
Fig. 8 is a system of the present invention control block diagram, and Fig. 9 is system works flow process figure of the present invention.In conjunction with Fig. 8 and Fig. 9 the course of work of the present invention is described: robot system is when carrying out the agricultural production operation, at first gather the information of crops by the vision sensor 1 of guiding usefulness, send the host computer that gives the control system in the front deck 2, host computer is discerned and the operation action planning by 7 pairs of operative goalses of vision sensor of identification usefulness simultaneously.Then, host computer is communicated by letter with the slave computer of control and drive system running gear on the one hand, the running of the instruction control dc motor (being arranged in the running gear 5 and 8 of Fig. 1-Fig. 5) that is transmitted according to host computer by slave computer realizes travelling of robot system, and the information by encoder is carried out FEEDBACK CONTROL to the speed of robot and steering angle etc.; Simultaneously, host computer is communicated by letter with the slave computer of operation control, according to the horizontal drive stepper motor 16 and vertical drive stepper motor 17 among operation action planning instruction slave computer one side control chart 6 and Fig. 7, realize the accurate location of operation actuator, control the action of operation actuator (the automatically controlled nozzle 9 among Fig. 1-Fig. 5, electronic hoe tool 10, picking mechanical arm 11 etc.) on the other hand.The above-mentioned course of work will repeat, and finish up to the farmland operation task.
Conversion for operation function:
Vegetables are sprayed water or during insecticidal operation, the conversion and control program is water spray or the operation of spray medicine when needs, actuator is changed to automatically controlled nozzle 9, and installs water tank or medicine-chest on robot platform additional.In the robot ride process, control system is discerned the location by 7 pairs of vegetables of vision sensor, and horizontal drive stepper motor and vertical drive stepper motor move fix a point water spray or fixed point of automatically controlled nozzle 9 to operative goals place and spray the medicine operation among control chart 6 and Fig. 7 then.
When needs are removed weeds in field, can select chemical weed control operation or weeding by machine's operation, control program is converted to the weeding job task.If adopt the chemical weed control operation, then actuator still is automatically controlled nozzle 9, the pesticide liquid of packing in the medicine-chest.After control system is judged, discerned by 7 pairs of weeds of vision sensor and locatees, control automatically controlled nozzle 9 and fix a point to spray the medicine operation.If adopt weeding by machine's operation, then actuating unit is changed to electronic hoe tool 10.After control system is judged, discerned by 7 pairs of weeds of vision sensor and locatees, control electronic hoe tool 10 and carry out weeding by machine's operation.
When needs are plucked operation in the field, control program is switched to the harvesting job task, and actuator changed the outfit be picking mechanical arm 11.Control system is plucked after target judges, discern and locate by 7 pairs of vision sensors, controls picking mechanical arm 11 and plucks operation.
When need spraying or when plucking operation, recognition visible sensation sensor 7 and actuator (automatically controlled nozzle 9 or picking mechanical arm 11) are placed the top (or side) of Rack Body 3, as Fig. 4 and shown in Figure 5 to the crops of side or side top.Its job control procedure is the same with above-mentioned job control procedure.
The vision sensor of doing in the invention 1 can be further combined with relevant perception devices such as GPS, laser scanner, pose sensors with 7, further improve the reliability that the autonomous guidance capability, manipulating object accuracy of detection, task of robot are carried out, and further expand job task.
The foregoing description does not limit the present invention in any form, and all technical schemes that mode obtained of taking to be equal to replacement or equivalent transformation all drop in protection scope of the present invention.
Claims (8)
1, autonomous field robot, it is characterized in that comprising Rack Body, the guiding device of advancing, running gear, manipulating object checkout gear, actuating unit, control system and electric power system, be separately installed with front deck and rear deck in the front and back end of Rack Body, control system is installed in the front deck, electric power system is installed in the rear deck, the guiding device of advancing is installed in the front end of Rack Body, running gear is installed in the front and back end of Rack Body below respectively, at the middle part of Rack Body manipulating object checkout gear and actuating unit is installed; The described guiding device of advancing, running gear, manipulating object checkout gear, actuating unit are connected by holding wire with control system, and are connected on the electric power system with control system.
2, autonomous field robot according to claim 1 is characterized in that the described guiding device of advancing is a vision sensor.
3, autonomous field robot according to claim 1 is characterized in that described manipulating object checkout gear is a vision sensor.
4, autonomous field robot according to claim 1 is characterized in that described running gear is by direct current motor driven wheel type traveling mechanism.
5, autonomous field robot according to claim 1 is characterized in that described electric power system is a battery.
6, autonomous field robot according to claim 1 is characterized in that described control system comprises computer and a plurality of single-chip microcomputer that is respectively applied for control running gear, actuating unit.
7, autonomous field robot according to claim 1 is characterized in that described actuating unit comprises horizontal ratch, horizontal drive stepper motor, vertical drive stepper motor, horizontal drive gear, vertical drive gear, vertical guide stem and actuator; Horizontal ratch flatly is installed on the Rack Body, with horizontal ratch horizontal guide is installed abreast on Rack Body, is combined with slide block on the horizontal guide, and horizontal drive stepper motor and vertical drive stepper motor are installed on slide block; The output of horizontal drive stepper motor connects the horizontal drive gear, and the horizontal drive gear cooperates with horizontal ratch, the output connection vertical drive gear of vertical drive stepper motor, and vertical drive gear cooperates with vertical ratch on being installed in vertical guide stem; End in vertical guide stem is equipped with actuator.
8, autonomous field robot according to claim 7 is characterized in that described actuator is automatically controlled nozzle, electronic hoe tool or picking mechanical arm.
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| CN2008102353036A CN101412217B (en) | 2008-12-04 | 2008-12-04 | Autonomous field robot |
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| CN2008102353036A CN101412217B (en) | 2008-12-04 | 2008-12-04 | Autonomous field robot |
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| CN101412217A true CN101412217A (en) | 2009-04-22 |
| CN101412217B CN101412217B (en) | 2010-07-28 |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010043740A1 (en) * | 2008-10-16 | 2010-04-22 | Soluciones Roboticas Agricolas Slu | Machine for automatically harvesting fruit cultivated in rows |
| CN101990796A (en) * | 2010-09-13 | 2011-03-30 | 中国农业大学 | Weeding robot system and method based on machine vision |
| CN102138377A (en) * | 2011-02-11 | 2011-08-03 | 华南农业大学 | Horizontal swing type inter-plant weeding device |
| CN102294502A (en) * | 2011-05-31 | 2011-12-28 | 上海交通大学 | Sucker type integrated robot |
| CN102538868A (en) * | 2011-12-21 | 2012-07-04 | 北京农业智能装备技术研究中心 | Self-traveling robot for crop character collection |
| CN102523839A (en) * | 2011-12-22 | 2012-07-04 | 北京农业智能装备技术研究中心 | Sightseeing picking robot |
| CN103340190A (en) * | 2013-05-29 | 2013-10-09 | 西北农林科技大学 | Orchard real-time spraying-feeding-maintaining multiple-robot system |
| CN103926926A (en) * | 2014-04-24 | 2014-07-16 | 南京农业大学 | Low-cost agricultural visual four-wheel robot of movable type gateway |
| CN104067781A (en) * | 2014-06-16 | 2014-10-01 | 华南农业大学 | Virtual robot and real robot integration based picking system and method |
| CN104782326A (en) * | 2015-05-08 | 2015-07-22 | 山东农业大学 | Intelligent agricultural robot moving platform |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN106403820A (en) * | 2016-11-09 | 2017-02-15 | 中国科学院植物研究所 | High-flux collection system for phenotypic data of field crops |
| CN106772631A (en) * | 2016-12-01 | 2017-05-31 | 成都市宏德永兴养殖有限公司 | Fruit tree for unmanned vehicle operation in orchard recognizes preventing collision method |
| CN107390620A (en) * | 2017-07-17 | 2017-11-24 | 杨新高 | Agricultural work vehicle system |
| CN107493748A (en) * | 2017-09-08 | 2017-12-22 | 福建农林大学 | Pull-type field sowing robot and its method of work |
| CN108271765A (en) * | 2018-01-05 | 2018-07-13 | 湘潭大学 | A kind of multi-functional pawl head monitoring environment robot and its plants identification method |
| CN108858122A (en) * | 2018-08-13 | 2018-11-23 | 中国农业大学 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN109588391A (en) * | 2018-11-26 | 2019-04-09 | 盐城吉大智能终端产业研究院有限公司 | A kind of insect pest intelligent detection device |
| CN109673602A (en) * | 2019-01-09 | 2019-04-26 | 湖南农业大学 | A kind of laser deinsectization device and method based on machine vision |
| CN110050565A (en) * | 2019-04-23 | 2019-07-26 | 重庆智田科技有限公司 | A kind of draw type radish harvester device people |
| CN110604520A (en) * | 2018-06-14 | 2019-12-24 | 东芝生活电器株式会社 | Autonomous walking type sweeping machine and sweeping system |
| CN111070202A (en) * | 2018-10-22 | 2020-04-28 | 发那科株式会社 | Robot hand and robot system |
| CN111264498A (en) * | 2020-02-27 | 2020-06-12 | 天津航天中为数据系统科技有限公司 | Agricultural autonomous navigation intelligent unmanned pesticide spraying vehicle and navigation method |
| CN111345276A (en) * | 2018-12-24 | 2020-06-30 | 南京诚朴无人机有限公司 | Method for generating wheat field strange circle |
| CN112753436A (en) * | 2021-01-06 | 2021-05-07 | 江苏大学 | Suspension type omnibearing greenhouse operation system |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| CN115151130A (en) * | 2019-12-25 | 2022-10-04 | 株式会社电装 | Crop harvesting system |
| CN116235685A (en) * | 2023-03-23 | 2023-06-09 | 广东海洋大学 | Selfheal harvesting integrated machine |
| CN116235685B (en) * | 2023-03-23 | 2024-04-26 | 广东海洋大学 | Selfheal harvesting integrated machine |
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2008
- 2008-12-04 CN CN2008102353036A patent/CN101412217B/en not_active Expired - Fee Related
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010043740A1 (en) * | 2008-10-16 | 2010-04-22 | Soluciones Roboticas Agricolas Slu | Machine for automatically harvesting fruit cultivated in rows |
| CN101990796A (en) * | 2010-09-13 | 2011-03-30 | 中国农业大学 | Weeding robot system and method based on machine vision |
| CN102138377A (en) * | 2011-02-11 | 2011-08-03 | 华南农业大学 | Horizontal swing type inter-plant weeding device |
| CN102138377B (en) * | 2011-02-11 | 2013-07-31 | 华南农业大学 | Horizontal swing type inter-plant weeding device |
| CN102294502A (en) * | 2011-05-31 | 2011-12-28 | 上海交通大学 | Sucker type integrated robot |
| CN102538868A (en) * | 2011-12-21 | 2012-07-04 | 北京农业智能装备技术研究中心 | Self-traveling robot for crop character collection |
| CN102523839A (en) * | 2011-12-22 | 2012-07-04 | 北京农业智能装备技术研究中心 | Sightseeing picking robot |
| CN103340190A (en) * | 2013-05-29 | 2013-10-09 | 西北农林科技大学 | Orchard real-time spraying-feeding-maintaining multiple-robot system |
| CN103926926A (en) * | 2014-04-24 | 2014-07-16 | 南京农业大学 | Low-cost agricultural visual four-wheel robot of movable type gateway |
| CN104067781B (en) * | 2014-06-16 | 2016-05-18 | 华南农业大学 | Based on virtual robot and integrated picker system and the method for real machine people |
| CN104067781A (en) * | 2014-06-16 | 2014-10-01 | 华南农业大学 | Virtual robot and real robot integration based picking system and method |
| CN104782326A (en) * | 2015-05-08 | 2015-07-22 | 山东农业大学 | Intelligent agricultural robot moving platform |
| CN105961166A (en) * | 2016-07-01 | 2016-09-28 | 金陵科技学院 | Intelligent robot for stereo soilless culture and cultivation method |
| CN106403820A (en) * | 2016-11-09 | 2017-02-15 | 中国科学院植物研究所 | High-flux collection system for phenotypic data of field crops |
| CN106772631A (en) * | 2016-12-01 | 2017-05-31 | 成都市宏德永兴养殖有限公司 | Fruit tree for unmanned vehicle operation in orchard recognizes preventing collision method |
| CN107390620A (en) * | 2017-07-17 | 2017-11-24 | 杨新高 | Agricultural work vehicle system |
| CN107493748A (en) * | 2017-09-08 | 2017-12-22 | 福建农林大学 | Pull-type field sowing robot and its method of work |
| CN108271765A (en) * | 2018-01-05 | 2018-07-13 | 湘潭大学 | A kind of multi-functional pawl head monitoring environment robot and its plants identification method |
| CN110604520A (en) * | 2018-06-14 | 2019-12-24 | 东芝生活电器株式会社 | Autonomous walking type sweeping machine and sweeping system |
| CN110604520B (en) * | 2018-06-14 | 2024-03-08 | 东芝生活电器株式会社 | Autonomous walking type cleaning machine and cleaning system |
| CN108858122A (en) * | 2018-08-13 | 2018-11-23 | 中国农业大学 | A kind of greenhouse plant disease crusing robot and method for inspecting |
| CN108858122B (en) * | 2018-08-13 | 2021-01-29 | 中国农业大学 | Greenhouse plant disease inspection robot and inspection method |
| CN111070202A (en) * | 2018-10-22 | 2020-04-28 | 发那科株式会社 | Robot hand and robot system |
| CN109588391B (en) * | 2018-11-26 | 2021-06-01 | 盐城吉大智能终端产业研究院有限公司 | Insect pest intelligent detection device |
| CN109588391A (en) * | 2018-11-26 | 2019-04-09 | 盐城吉大智能终端产业研究院有限公司 | A kind of insect pest intelligent detection device |
| CN111345276A (en) * | 2018-12-24 | 2020-06-30 | 南京诚朴无人机有限公司 | Method for generating wheat field strange circle |
| CN109673602A (en) * | 2019-01-09 | 2019-04-26 | 湖南农业大学 | A kind of laser deinsectization device and method based on machine vision |
| CN110050565A (en) * | 2019-04-23 | 2019-07-26 | 重庆智田科技有限公司 | A kind of draw type radish harvester device people |
| CN115151130A (en) * | 2019-12-25 | 2022-10-04 | 株式会社电装 | Crop harvesting system |
| CN115151130B (en) * | 2019-12-25 | 2024-03-08 | 株式会社电装 | Crop harvesting system |
| CN111264498A (en) * | 2020-02-27 | 2020-06-12 | 天津航天中为数据系统科技有限公司 | Agricultural autonomous navigation intelligent unmanned pesticide spraying vehicle and navigation method |
| CN112753436A (en) * | 2021-01-06 | 2021-05-07 | 江苏大学 | Suspension type omnibearing greenhouse operation system |
| CN114698624B (en) * | 2022-04-27 | 2023-05-16 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
| CN114698624A (en) * | 2022-04-27 | 2022-07-05 | 中垦种业股份有限公司 | Efficient weeding method for paddy field |
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| CN116235685B (en) * | 2023-03-23 | 2024-04-26 | 广东海洋大学 | Selfheal harvesting integrated machine |
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