CN103404379B - Self-propelled intelligent flower thinning machine for orchard - Google Patents
Self-propelled intelligent flower thinning machine for orchard Download PDFInfo
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Abstract
本发明为一种果园自走式智能疏花机，包括行走装置、导航装置、遥控装置、疏花装置。所述导航装置由控制器、方向盘伺服电机、方向盘电机驱动器、超声波传感器、前轮转角传感器、速度传感器组成，用于控制行走装置环绕果树实施自动行驶；所述遥控装置由遥控天线、控制器组成，用于控制行走装置在果树行间行驶；所述疏花装置主要由疏花电动机、联轴器、转轴、疏花胶条组成，可根据果树的形状和高度，调整疏花装置的作业高度和角度，同时能够根据果树的类型，调整疏花装置中疏花胶条的安装个数和位置，对不同类型果树的疏花蔬果具有很强的适用性。本发明设置有导航和遥控装置，可实现果树周围多方位的疏花蔬果，提高了作业效率，解放了劳动力。
The invention is a self-propelled intelligent flower thinning machine for orchards, comprising a walking device, a navigation device, a remote control device and a flower thinning device. The navigation device is composed of a controller, a steering wheel servo motor, a steering wheel motor driver, an ultrasonic sensor, a front wheel angle sensor, and a speed sensor, and is used to control the walking device to perform automatic driving around fruit trees; the remote control device is composed of a remote control antenna and a controller , used to control the walking device to travel between rows of fruit trees; the flower thinning device is mainly composed of a flower thinning motor, a coupling, a rotating shaft, and a flower thinning rubber strip, and the working height of the flower thinning device can be adjusted according to the shape and height of the fruit tree At the same time, according to the type of fruit trees, the number and position of flower thinning glue strips in the flower thinning device can be adjusted, which has strong applicability for thinning flowers, vegetables and fruits of different types of fruit trees. The invention is provided with a navigation and remote control device, which can realize multi-directional thinning of flowers and fruits around the fruit trees, improves the working efficiency and liberates the labor force.
Description
一、技术领域：本发明涉及果园疏花蔬果机械，特别涉及一种果园自走式智能疏花机，属于农业机械领域。1. Technical field: The present invention relates to fruit and flower thinning machines for orchards, in particular to a self-propelled intelligent flower thinning machine for orchards, which belongs to the field of agricultural machinery.
二、背景技术：2. Background technology:
果树进入开花期后，如果任其自然生长，常会出现大、小年结果的现象。大年时，由于结果多、树体负载量大，尽管产量高一些，但果品质量差。这不仅降低了经济效益，同时也往往造成树体衰弱，甚至未老先衰，大量感病，直至造成树体死亡。因此，果园管理必须严格控制树体的负载量，实施疏花疏果，才能获得高产、稳产、优质、两高一优的栽培效果。After the fruit tree enters the flowering period, if it is allowed to grow naturally, the phenomenon of large and small years of fruiting often occurs. In the new year, due to the large number of fruits and the large tree load, although the yield is higher, the quality of the fruit is poor. This not only reduces the economic benefits, but also often causes the tree body to weaken, even prematurely, a large number of diseases, until the tree body dies. Therefore, orchard management must strictly control the load of the tree body and implement thinning of flowers and fruits in order to obtain high-yield, stable yield, high-quality, two high and one excellent cultivation effects.
疏花疏果一般从花后7天开始，要求在30天内完成，目前常用的方法一般为人工手动疏离，也可用适当浓度的化学药剂喷洒果树，实施化学疏离。人工手动疏离由于费工费时，劳动成本高，很难满足现代大型果园的作业要求；化学疏离由于有些化学疏花蔬果剂本身即为激素药物，会一定程度上对果树体内的激素水平发生影响，从而影响果树的健康生长；除了以上两种常用的疏花蔬果方法，目前也出现有机械疏花方式，即通过疏花设备与果树的相互接触相互作用，达到疏离果实的目的，但大多为人工手持式设备，发展很不完善，作业效率也有待提高。我国疏花机械一直处于比较落后的水平，目前还没有比较系统的机械疏花设备，比较成熟的自走式疏花机的研究甚少。Flower thinning and fruit thinning generally start from 7 days after flowering and are required to be completed within 30 days. At present, the commonly used method is manual separation. You can also spray fruit trees with appropriate concentrations of chemicals to implement chemical separation. Manual alienation is labor-intensive and time-consuming, and the labor cost is high, so it is difficult to meet the operation requirements of modern large-scale orchards; chemical alienation, because some chemical flower and vegetable thinning agents are hormone drugs, will affect the hormone levels in fruit trees to a certain extent. Thus affecting the healthy growth of fruit trees; in addition to the above two commonly used methods of thinning flowers and vegetables, there are also mechanical flower thinning methods, that is, through the mutual contact and interaction between flower thinning equipment and fruit trees to achieve the purpose of separating fruits, but most of them are artificial. The development of handheld devices is far from perfect, and the operating efficiency needs to be improved. my country's flower thinning machinery has been at a relatively backward level. At present, there is no systematic mechanical flower thinning equipment, and there is little research on relatively mature self-propelled flower thinning machines.
三、发明内容：3. Contents of the invention:
1、发明目的：为了克服现有疏花设备的缺点与不足，满足果园高效标准疏花技术的要求，本发明提供了一种果园自走式智能疏花机，其目的是通过自动导航装置和遥控装置，实现疏花机械的自主行走，通过疏花装置实现不同形状、不同高度、不同类型果树的疏花蔬果作业，通过本发明的实施，实现果树周围多方位的疏花蔬果，提高作业效率，解放劳动力。1. Purpose of the invention: In order to overcome the shortcomings and deficiencies of existing flower thinning equipment and meet the requirements of high-efficiency standard flower thinning technology in orchards, the present invention provides a self-propelled intelligent flower thinning machine for orchards. The remote control device realizes the autonomous walking of the flower thinning machine, and realizes the flower thinning and vegetable and fruit operations of different shapes, different heights, and different types of fruit trees through the flower thinning device. Through the implementation of the present invention, multi-directional flower and vegetable thinning around the fruit trees is realized, and the operation efficiency is improved. , to liberate the labor force.
2、技术方案：本发明是按照以下技术方案实施的：一种果园自走式智能疏花机，包括行走装置7，行走装置7上方后端设置有疏花装置，前端设置有导航装置和遥控装置；所述导航装置包括控制器3、方向盘伺服电机5、方向盘电机驱动器6、前轮转角传感器8、速度传感器9、电源10、超声波传感器11，前轮转角传感器8、速度传感器9、超声波传感器11与控制器3相连，控制器3与电源10相连，前轮转角传感器8采集行走装置7的实际前轮转角，速度传感器9采集行走装置7的行驶速度，两个超声波传感器11采集行走装置7上前后两处与果树的距离信息，前轮转角传感器8、速度传感器9、超声波传感器11将采集到的信息传递给控制器3，控制器3根据两个超声波传感器11采集的距离信息必须相等的原则，运行控制算法，生成控制指令，控制器3连接方向盘电机驱动器6，方向盘电机驱动器6连接方向盘伺服电机5，方向盘电机驱动器6接收控制器3的控制指令，驱动方向盘伺服电机5转动，实施行走装置7环绕果树自动导航；所述遥控装置包括控制器3和遥控天线4，遥控天线4与控制器3相连，遥控天线4接收手持遥控器发送的命令信息，并传递给控制器3，控制器3根据接收的命令信息，生成控制指令，引导车辆沿果树行运行到下一果树位置；所述疏花装置包括疏花电动机16、联轴器17、转轴19、疏花胶条20、疏花胶条安装孔21、疏花器安装座22，疏花器安装座22连接疏花电动机16，疏花电动机16通过联轴器17连接转轴19，转轴19上均匀分部有多个疏花胶条20，疏花电动机16转动，带动转轴19旋转，从而实现疏花胶条20的疏花作业，所述疏花装置通过疏花器安装座22安装在立柱三18的疏花器安装孔15中，疏花装置可以绕疏花器安装孔15转动，实现疏花装置作业角度的调整，立柱三18与立柱二2通过螺栓相连，立柱三18可借助于立柱三高度调节孔1调整立柱三18的伸出长度，立柱二2与立柱一12通过螺栓相连，立柱二2可借助于立柱二高度调节孔14调整立柱二2的伸出长度，立柱一12通过螺钉13安装在行走装置上，通过调节立柱三18与立柱二2的伸长量，可实现疏花装置作业高度的调整，所述疏花胶条20通过螺钉安装在设置于转轴19上的疏花胶条安装孔21中，转轴19上设置有多个疏花胶条安装孔21，作业过程中，可根据实际情况，调节疏花胶条20的安装位置和安装个数，所述疏花装置安装有两个疏花器，可分别调节每一个疏花器的安装高度和安装角度。2. Technical solution: The present invention is implemented according to the following technical solution: a self-propelled intelligent flower thinning machine for orchards, including a walking device 7, a flower thinning device is arranged at the rear end above the walking device 7, and a navigation device and a remote control are arranged at the front end device; the navigation device includes a controller 3, a steering wheel servo motor 5, a steering wheel motor driver 6, a front wheel angle sensor 8, a speed sensor 9, a power supply 10, an ultrasonic sensor 11, a front wheel angle sensor 8, a speed sensor 9, an ultrasonic sensor 11 links to each other with controller 3, and controller 3 links to each other with power supply 10, and front wheel angle sensor 8 collects the actual front wheel angle of running gear 7, and speed sensor 9 gathers the running speed of running gear 7, and two ultrasonic sensors 11 gather running gear 7 The distance information between the front and rear places and the fruit tree, the front wheel angle sensor 8, the speed sensor 9, and the ultrasonic sensor 11 transmit the collected information to the controller 3, and the controller 3 must be equal to the distance information collected by the two ultrasonic sensors 11 Principle, run the control algorithm, generate control instructions, the controller 3 is connected to the steering wheel motor driver 6, the steering wheel motor driver 6 is connected to the steering wheel servo motor 5, the steering wheel motor driver 6 receives the control instructions from the controller 3, drives the steering wheel servo motor 5 to rotate, and implements walking The device 7 automatically navigates around the fruit tree; the remote control device includes a controller 3 and a remote control antenna 4, the remote control antenna 4 is connected to the controller 3, and the remote control antenna 4 receives the command information sent by the hand-held remote control, and transmits it to the controller 3, the controller 3. Generate control instructions according to the received order information, and guide the vehicle to run along the fruit tree row to the next fruit tree position; the flower thinning device includes a flower thinning motor 16, a coupling 17, a rotating shaft 19, a flower thinning rubber strip 20, Rubber strip installation hole 21, flower thinning device mounting seat 22, flower thinning device mounting seat 22 connects flower thinning motor 16, flower thinning motor 16 connects rotating shaft 19 through coupling 17, there are a plurality of flower thinning rubber strips 20 evenly divided on rotating shaft 19 The flower thinning motor 16 rotates to drive the rotating shaft 19 to rotate, thereby realizing the flower thinning operation of the flower thinning rubber strip 20, and the flower thinning device is installed in the flower thinning device mounting hole 15 of the column three 18 through the flower thinning device mounting seat 22, and the flower thinning device The device can rotate around the flower thinning device installation hole 15 to realize the adjustment of the operating angle of the flower thinning device. The third column 18 is connected with the second column 2 by bolts, and the third column 18 can adjust the extension length of the third column 18 by means of the height adjustment hole 1 of the third column , the column two 2 is connected with the column one 12 by bolts, the column two 2 can adjust the extension length of the column two 2 by means of the height adjustment hole 14 of the column two, the column one 12 is installed on the walking device by the screw 13, and the column three 18 is adjusted With the elongation of column two 2, the adjustment of the operating height of the flower thinning device can be realized. The flower thinning rubber strip 20 is installed in the flower thinning glue strip mounting hole 21 arranged on the rotating shaft 19 by screws, and the rotating shaft 19 is provided with A plurality of flower thinning glue strip installation holes 21, during the operation, the installation position and the number of flower thinning glue strips 20 can be adjusted according to the actual situation. The flower thinning device is equipped with two flower thinners, and each flower thinning device can be adjusted separately. flower thinning The installation height and installation angle of the device.
3、优点及效果：本发明通过自动导航装置和遥控装置，可实现行走装置环绕果树实施自动疏花作业，设置的疏花装置，可根据果树的形状和高度，调整两疏花器的作业高度和角度，同时能够根据果树的类型，调整疏花器中疏花胶条的安装个数和位置，对不同类型果树的疏花蔬果具有很强的适用性。通过本发明的实施，可以实现果树周围多方位的疏花蔬果，提高了作业效率，解放了劳动力，降低了劳动成本。3. Advantages and effects: the present invention can realize the automatic flower thinning operation of the walking device around the fruit trees through the automatic navigation device and the remote control device, and the flower thinning device provided can adjust the working height and At the same time, according to the type of fruit trees, the number and position of flower thinning glue strips installed in the flower thinner can be adjusted, which has strong applicability for thinning flowers, vegetables and fruits of different types of fruit trees. Through the implementation of the invention, multi-directional thinning of flowers and fruits around the fruit trees can be realized, the work efficiency is improved, the labor force is liberated, and the labor cost is reduced.
四、附图说明；4. Description of drawings;
图1为本发明果园自走式智能疏花机的结构示意图。Fig. 1 is the structural representation of orchard self-propelled intelligent flower thinning machine of the present invention.
图2为本发明果园自走式智能疏花机疏花器的结构示意图。Fig. 2 is a structural schematic diagram of the self-propelled intelligent flower thinning machine for orchards of the present invention.
标注：1-立柱三高度调节孔；2-立柱二；3-控制器；4-遥控天线；5-方向盘伺服电机；6-方向盘电机驱动器；7-行走装置；8-前轮转角传感器；9-速度传感器；10-电源；11-超声波传感器；12-立柱一；13-螺钉；14-立柱二高度调节孔；15-疏花器安装孔；16-疏花电动机；17-联轴器；18-立柱三；19-转轴；20-疏花胶条；21-疏花胶条安装孔；22-疏花器安装座。Marking: 1-column three height adjustment holes; 2-column two; 3-controller; 4-remote control antenna; 5-steering wheel servo motor; 6-steering wheel motor driver; 7-traveling device; 8-front wheel angle sensor; 9 -speed sensor; 10-power supply; 11-ultrasonic sensor; 12-column 1; 13-screw; 14-column 2 height adjustment hole; - column three; 19 - rotating shaft; 20 - flower thinning rubber strip; 21 - flower thinning rubber strip mounting hole; 22 - flower thinning device mounting seat.
五、具体实施方式：5. Specific implementation methods:
下面结合附图对本发明做更进一步的说明：Below in conjunction with accompanying drawing, the present invention will be further described:
如图1和图2所示，一种果园自走式智能疏花机，包括行走装置7，行走装置7上方后端设置有疏花装置，前端设置有导航装置和遥控装置；所述导航装置包括控制器3、方向盘伺服电机5、方向盘电机驱动器6、前轮转角传感器8、速度传感器9、电源10、超声波传感器11，前轮转角传感器8安装在行走装置7前方左侧车轮处，速度传感器9安装在前方左侧车轮轴上，两个超声波传感器11安装在行走装置7车体中间的前后位置，前轮转角传感器8、速度传感器9、超声波传感器11与控制器3相连，控制器3与电源10相连，控制器3和电源10安装在驾驶座后部，前轮转角传感器8采集行走装置7的实际前轮转角，速度传感器9采集行走装置7的行驶速度，两个超声波传感器11采集行走装置7上前后两处与果树的距离信息，前轮转角传感器8、速度传感器9、超声波传感器11将采集到的信息传递给控制器3，控制器3根据两个超声波传感器11采集的距离信息必须相等的原则，运行控制算法，生成控制指令，控制器3连接方向盘电机驱动器6，方向盘电机驱动器6安装在行走装置7的方向盘底座下侧，方向盘电机驱动器6连接方向盘伺服电机5，方向盘伺服电机5安装在方向盘杆上，方向盘电机驱动器6接收控制器3的控制指令，驱动方向盘伺服电机5转动，实施行走装置7环绕果树自动导航；所述遥控装置包括控制器3和遥控天线4，遥控天线4安装在驾驶座后方，遥控天线4与控制器3相连，遥控天线4接收手持遥控器发送的命令信息，并传递给控制器3，控制器3根据接收的命令信息，生成控制指令，引导车辆沿果树行运行到下一果树位置；所述疏花装置包括疏花电动机16、联轴器17、转轴19、疏花胶条20、疏花胶条安装孔21、疏花器安装座22，疏花器安装座22连接疏花电动机16，疏花电动机16通过联轴器17连接转轴19，转轴19上均匀分部有多个疏花胶条20，疏花电动机16转动，带动转轴19旋转，从而实现疏花胶条20的疏花作业，所述疏花装置通过疏花器安装座22安装在立柱三18的疏花器安装孔15中，疏花装置可以绕疏花器安装孔15转动，实现疏花装置作业角度的调整，立柱三18与立柱二2通过螺栓相连，立柱三18可借助于立柱三高度调节孔1调整立柱三18的伸出长度，立柱二2与立柱一12通过螺栓相连，立柱二2可借助于立柱二高度调节孔14调整立柱二2的伸出长度，立柱一12通过螺钉13安装在行走装置上方后端，通过调节立柱三18与立柱二2的伸长量，可实现疏花装置作业高度的调整，所述疏花胶条20通过螺钉安装在设置于转轴19上的疏花胶条安装孔21中，转轴19上设置有多个疏花胶条安装孔21，作业过程中，可根据实际情况，调节疏花胶条20的安装位置和安装个数，所述疏花装置安装有两个疏花器，可分别调节每一个疏花器的安装高度和安装角度。As shown in Fig. 1 and Fig. 2, a kind of orchard self-propelled intelligent flower thinning machine comprises walking device 7, and the rear end of walking device 7 top is provided with flower thinning device, and the front end is provided with navigation device and remote control device; Said navigation device Including controller 3, steering wheel servo motor 5, steering wheel motor driver 6, front wheel angle sensor 8, speed sensor 9, power supply 10, ultrasonic sensor 11, front wheel angle sensor 8 is installed at the front left wheel of walking device 7, speed sensor 9 is installed on the front left wheel shaft, two ultrasonic sensors 11 are installed in the front and rear positions in the middle of the traveling device 7 car bodies, the front wheel angle sensor 8, the speed sensor 9, the ultrasonic sensor 11 are connected with the controller 3, and the controller 3 is connected with the The power supply 10 is connected, the controller 3 and the power supply 10 are installed at the rear of the driver's seat, the front wheel angle sensor 8 collects the actual front wheel angle of the running device 7, the speed sensor 9 collects the running speed of the running device 7, and two ultrasonic sensors 11 collect the walking speed. The distance information of the front and back two places and the fruit tree on the device 7, the information collected by the front wheel angle sensor 8, the speed sensor 9, and the ultrasonic sensor 11 are transmitted to the controller 3, and the controller 3 must collect the distance information according to the two ultrasonic sensors 11. The principle of equality, run the control algorithm, generate control instructions, the controller 3 is connected to the steering wheel motor driver 6, the steering wheel motor driver 6 is installed on the underside of the steering wheel base of the traveling device 7, the steering wheel motor driver 6 is connected to the steering wheel servo motor 5, and the steering wheel servo motor 5 Installed on the steering wheel rod, the steering wheel motor driver 6 receives the control command of the controller 3, drives the steering wheel servo motor 5 to rotate, and implements the automatic navigation of the walking device 7 around the fruit trees; the remote control device includes a controller 3 and a remote control antenna 4, and the remote control antenna 4 Installed behind the driver's seat, the remote control antenna 4 is connected to the controller 3. The remote control antenna 4 receives the command information sent by the handheld remote control and transmits it to the controller 3. The controller 3 generates control instructions according to the received command information to guide the vehicle along the The fruit tree line moves to the next fruit tree position; the flower thinning device includes a flower thinning motor 16, a coupling 17, a rotating shaft 19, a flower thinning rubber strip 20, a flower thinning glue strip mounting hole 21, a flower thinning device mounting seat 22, and a flower thinning device Mounting seat 22 connects flower thinning motor 16, flower thinning motor 16 connects rotating shaft 19 by coupling 17, there are a plurality of flower thinning rubber strips 20 evenly divided on rotating shaft 19, flower thinning motor 16 rotates, drives rotating shaft 19 to rotate, thereby realizes The flower thinning operation of the flower thinning rubber strip 20, the flower thinning device is installed in the flower thinning device installation hole 15 of the column three 18 through the flower thinning device mounting seat 22, and the flower thinning device can rotate around the flower thinning device installation hole 15 to realize the flower thinning device The adjustment of the working angle, the column three 18 and the column two 2 are connected by bolts, the column three 18 can adjust the extension length of the column three 18 by means of the height adjustment hole 1 of the column three, the column two 2 and the column one 12 are connected by bolts, the column two 2. The extension length of the second column 2 can be adjusted by means of the height adjustment hole 14 of the second column. The first column 12 is installed on the upper rear end of the walking device through the screw 13. By adjusting the third column 18 and the second column The elongation of 2 can realize the adjustment of the working height of the flower thinning device. The flower thinning rubber strip 20 is installed in the flower thinning glue strip installation hole 21 arranged on the rotating shaft 19 by screws, and the rotating shaft 19 is provided with a plurality of thinning rubber strips Flower glue strip installation hole 21, during the operation process, the installation position and the number of flower thinning glue strips 20 can be adjusted according to the actual situation. The flower thinning device is equipped with two flower thinners, and the position of each flower thinner can be adjusted respectively. Installation height and installation angle.
本发明所述一种果园自走式智能疏花机，其工作过程如下：A kind of orchard self-propelled intelligent flower thinning machine of the present invention, its working process is as follows:
疏花机工作之前，在控制器3中设置两个超声波传感器11的扫描距离阈值，根据果树的类型、形状和高度，调整疏花机疏花装置的安装高度和角度，以及疏花胶条20的安装位置和安装个数，开启方向盘电机驱动器5和疏花电动机16，启动行走装置；疏花机工作时，人手持遥控器驱动疏花机运动到果树作业位置，切换遥控器中预设的遥控和自动导航按钮，疏花机实施自动导航，根据两个超声波传感器11扫描距离阈值以及控制器3中要求的扫描距离相等的原则，实施疏花机环绕果树进行疏花作业，当疏花机返回到果树行间时，切换遥控器中预设的遥控和自动导航按钮，实施遥控控制，驱动疏花机运行至下一果树，再切换至自动导航模式，环绕果树实施疏花作业，依次进行，直至完成一行果树的疏花作业，随后，人手持遥控器驱动疏花机运动至下一行，继续进行疏花作业，循环进行，直至完成所有的疏花作业。疏花机工作结束后，关闭方向盘电机驱动器5和疏花电动机16，由遥控器遥控驱动疏花机入库。Before the flower thinning machine works, the scanning distance thresholds of the two ultrasonic sensors 11 are set in the controller 3, and the installation height and angle of the flower thinning device of the flower thinning machine and the flower thinning glue strip 20 are adjusted according to the type, shape and height of the fruit tree. According to the installation position and the number of installations, turn on the steering wheel motor driver 5 and flower thinning motor 16, and start the walking device; Remote control and automatic navigation buttons, the flower thinning machine implements automatic navigation, and according to the principle that the scanning distance thresholds of the two ultrasonic sensors 11 and the scanning distance required in the controller 3 are equal, the flower thinning machine performs flower thinning operations around the fruit trees, when the flower thinning machine When returning to the row of fruit trees, switch the preset remote control and automatic navigation buttons in the remote control, implement remote control, drive the flower thinning machine to run to the next fruit tree, and then switch to the automatic navigation mode, and carry out flower thinning operations around the fruit trees, in order , until the flower thinning operation of a row of fruit trees is completed, and then, the person holds the remote control to drive the flower thinning machine to move to the next row, and continues the flower thinning operation, and the cycle is carried out until all the flower thinning operations are completed. After the flower thinning machine finished work, the steering wheel motor driver 5 and the flower thinning motor 16 were closed, and the flower thinning machine was driven into storage by remote control remote control.
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| CN106857044B (en) * | 2017-03-03 | 2022-08-30 | 江苏省农业科学院 | Multi-arm profiling flower and fruit thinning device |
| CN107211750A (en) * | 2017-05-19 | 2017-09-29 | 江苏省农业科学院 | Electric hand-held flower thinning of fruit trees device |
| CN107561980A (en) * | 2017-08-24 | 2018-01-09 | 江苏省农业科学院 | Three joint arms profiling flower thinning vegetables and fruits device electric-control system |
| CN108283076B (en) * | 2018-02-05 | 2019-12-13 | 中国农业大学 | Adjustable multi-shaft spiral arm flower and fruit thinning machine and using method thereof |
| IT201800005351A1 (en) * | 2018-05-14 | 2019-11-14 | THINNING DEVICE AND RELATED AGRICULTURAL MACHINE. | |
| CN109121813B (en) * | 2018-07-17 | 2020-07-03 | 江苏省农业科学院 | Y-shaped fruit tree flower thinning device of shed frame |
| IT201900021138A1 (en) | 2019-11-14 | 2021-05-14 | B M V Di Borio Valerio & C S N C | IMPROVED DIRECTOR DEVICE AND RELATED AGRICULTURAL MACHINE |
| CN110663389B (en) * | 2019-11-18 | 2021-07-06 | 中国农业大学 | An adjustable single rotating shaft flower and fruit thinning machine |
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| CN111670715A (en) * | 2020-06-30 | 2020-09-18 | 华南农业大学 | Patrol flower thinning device, orchard machinery and equipment and flower thinning method |
| CN111903370A (en) * | 2020-08-03 | 2020-11-10 | 山东农业大学 | A vision-based double-roller intelligent flower thinning machine and its using method |
| CN112189474A (en) * | 2020-08-28 | 2021-01-08 | 安徽军松现代农业科技有限公司 | Fruit tree trimming device |
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| CN112930929B (en) * | 2021-04-30 | 2023-04-21 | 中国农业大学 | An electric drive knapsack flower thinning machine |
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