CN105027834B - A kind of vegetables and fruits picking robot and its control method - Google Patents
A kind of vegetables and fruits picking robot and its control method Download PDFInfo
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- CN105027834B CN105027834B CN201510406163.4A CN201510406163A CN105027834B CN 105027834 B CN105027834 B CN 105027834B CN 201510406163 A CN201510406163 A CN 201510406163A CN 105027834 B CN105027834 B CN 105027834B
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- fruit
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Abstract
The invention discloses a kind of vegetables and fruits picking robot and its control methods, including walking mechanism, pedestal is provided in the walking mechanism, the rear and front end of pedestal is both provided with storage basket, executing agency, identifying system, the first driving mechanism, the second driving mechanism and controller are provided on pedestal, controller is connected separately with identifying system, the first driving mechanism and the second driving mechanism by conducting wire；Picking object is extensive, can not only pick the fruit on tree, can also pick relatively low fruit；Crawler type walking mechanism drives multiple mechanical arms to work at the same time, and picking efficiency is high；Forearm is flexible, and action is continuous, and mechanical arm expanded range is big, adapts to a variety of operating environment；The application of multisensor function and digital imaging technology, which is realized, to be distinguished and positions to the accurate of fruit；Control is detected by sensor and accommodates strength, avoids damage to fruit.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of vegetables and fruits picking robot, the invention further relates to one
Kind vegetables and fruits picking robot and its control method.
Background technology
Picked technology is the important link in vegetables and fruits production, and labour-intensive strong, along with the requirement in season, is protected
Demonstrate,proving operation quality becomes critical issue.China is polymorphic type fruit and vegetable plantation big country, but is wasted than more serious.Except storage,
Outside transport etc. problem, picking efficiency is not high, occupies principal element.And the reason of leading to this factor is exactly picking mechanical
It is immature.
With the rapid development of computer and automatic control technology, when entry altitude is automated and is intelligent by agricultural machinery
Generation.The demand that the development of vegetables and fruits planting industry will further push farm machinery market.
Existing picked technology is based on picked by hand, and the hand tools by parts of traditional and modern semi-automatic craft
Tool.Existing vegetables and fruits picking mechanical focuses primarily upon fruit picking mechanical arm and single mechanical picking arm.Existing people
The work picked technology amount of labour is big, and efficiency is low, and with certain danger；Mechanical arm need to be carried manually, and picking efficiency is low；It adopts
It plucks the unstructured of environment and brings difficulty to picking；The discrimination of fruit, positioning accuracy are low；The damage ratio of fruit is larger.
Invention content
The object of the present invention is to provide a kind of vegetables and fruits picking robot and its control methods, solve and exist in the prior art
Picking type is single, working efficiency is low and tedious problem.
It is a further object of the present invention to provide a kind of vegetables and fruits picking robot and its control methods.
First technical solution of the present invention is a kind of vegetables and fruits picking robot and its control method, including walking
Mechanism is provided with pedestal in walking mechanism, and the rear and front end of pedestal is both provided with storage basket, be provided on pedestal executing agency,
Identifying system, the first driving mechanism, the second driving mechanism and controller, controller by conducting wire be connected separately with identifying system,
First driving mechanism and the second driving mechanism.
The features of the present invention also characterized in that：
Executing agency includes sequentially connected mechanical arm, forearm, wrist and finger, and mechanical arm is movably connected with the base；It holds
Row mechanism is at least provided with 2, and there are one the first driving mechanisms for setting in each executing agency；First driving mechanism passes through conducting wire
It is connected respectively with mechanical arm, forearm, wrist and finger.
Finger includes scissors and clamping device；The front end of scissors is shearing blade, and the rear end of scissors passes through hydraulic cylinder and wrist
It is connected, the front end setting of clamping device is there are two clamp, and two clamps are set to below shearing blade, and clamp passes through hinge and liquid
Cylinder pressure is connected；Clamping device is threaded the front end for being fixed on wrist.
Wrist includes revolution cylinder body, and the both ends for turning round cylinder body are respectively arranged with revolution cylinder front cover and rotary cylinder rear cover, revolution
Rotary cylinder-block is provided in cylinder body, piston rod is provided in rotary cylinder-block, piston rod passes through revolution cylinder front cover to be connected with forearm；
Rotary cylinder rear cover is fixedly connected with the 4th steering stator, and the 4th steering stator is connected with third and turns to stator, second successively
It turns to stator and first and turns to stator；Sealing ring is provided between rotary cylinder rear cover and piston rod.
Identifying system includes sensor and image recognition analysis instrument；Sensor and image recognition analysis instrument pass through conducting wire respectively
It is connected with controller；There are two sensor settings, and sensor is respectively arranged at the both sides of scissors, the installation of image recognition analysis instrument
At controller.
Walking mechanism includes crawler belt, is provided with driving wheel in crawler belt, the second driving mechanism is provided on driving wheel；Second drives
Motivation structure is hydraulic gear.
Walking mechanism is four wheel mechanism or mechanical leg organization.
Second technical solution of the present invention is that a kind of vegetables and fruits picking robot and its control method, use are above-mentioned
Vegetables and fruits picking robot, be specifically implemented according to the following steps：
Step 1, initialization, vegetables and fruits picking robot is initialized；
Step 2, vegetables and fruits picking robot are walked in by walking mechanism in vegetables and fruits garden, and identifying system is by sensor to fruit
Be scanned in fact, collect the location information of the maturity of fruit, shape and fruit, and by the maturity of fruit, shape and
The location information of fruit passes to image recognition analysis instrument, and image analyzer receives the signal that sensor is sent out and carries out number
Imaging, analyzes the maturity, shape and position of fruit, analysis result is passed to controller；
Step 3, controller carry out picking fruit by the first driving mechanisms control executing agency, specially：First driving
Mechanism controls mechanical arm stretches, and accurately to reach the position of fruit object, prevents damage fruit, after being positioned to fruit,
First driving mechanisms control wrist is to adjust the skyborne posture of finger；Later, the first driving mechanisms control gripper mechanism grips
Firmly fruit, and fruit is picked with scissors；
Fruit after picking is put into storage basket by step 4, finger, completes picking task.
The beneficial effects of the invention are as follows：Present apparatus application fusion bio-robot multisensor, automatically walk and mostly free
The characteristics of spending, different from other machinery arm fixed mode.Multiple mechanical arms can be achieved to move simultaneously (flexible, lifting), one
Mechanical arm determines picking position, and other machinery arm is to the signal automatic shield of the position；Whole displacement is not required to excessively
Manual operation；Forearm and accommodate part can multi-angle rotate freely and free-extension.
The forearm of this application can be replaced freely, and picking object is extensive, can not only pick tree on fruit, can also pick compared with
Low fruit；Crawler type walking mechanism drives multiple mechanical arms to work at the same time, and picking efficiency is high；Forearm is flexible, and action connects
Continuous, mechanical arm expanded range is big, adapts to a variety of operating environment；The application of multisensor function and digital imaging technology is realized
The accurate of fruit is distinguished and positioning；Control is detected by sensor and accommodates strength, avoids damage to fruit.
Description of the drawings
Fig. 1 is the structure diagram of vegetables and fruits picking robot of the present invention；
Fig. 2 is the annexation figure of finger of the present invention；
Fig. 3 is the annexation figure between finger and other component of the present invention；
Fig. 4 is the annexation figure of wrist of the present invention；
Fig. 5 is the annexation figure of controller of the present invention.
In figure, 1. crawler belts, 2. pedestals, 3. storage baskets, 4. executing agencies, 5. controllers, 6. mechanical arms, 7. first driving machines
Structure, 8. wrists, 9. fingers, 10. scissors, 11. clamping devices, 12. sensors, 13. image analyzers, 14. second driving mechanisms,
15. first turns to stator, 16. second turn to stators, and 17. thirds turn to stator, and 18. the 4th turn to stators, after 19. rotary cylinders
Lid, 20. revolution cylinder bodies, 21. rotors, 22. revolution cylinder front covers, 23. rotating cylinders, 24. sealing rings, 25. piston rods, 26. driving wheels,
27. forearm, 28. shearing blades, 29. clamps, 30. identifying systems.
Specific embodiment
The present invention is described in detail With reference to embodiment.
The present invention provides a kind of vegetables and fruits picking robot and its control method, as shown in Figure 1, including crawler belt 1, on crawler belt 1
Be provided with pedestal 2, the rear and front end of pedestal 2 is both provided with storage basket 3, be provided on pedestal 2 executing agency 4, identifying system 30,
First driving mechanism 7, the second driving mechanism 14 and controller 5, controller 5 are connected separately with identifying system 30, by conducting wire
One driving mechanism 7 and the second driving mechanism 14.
Wherein, executing agency 4 includes sequentially connected mechanical arm 6, forearm 27, wrist 8 and finger 9, mechanical arm 6 and pedestal
2 flexible connections, as shown in Figures 2 and 3, finger 9 includes scissors 10 and clamping device 11；The front end of scissors 10 is shearing blade 28, is cut
The rear end of knife 10 is connected by hydraulic cylinder with wrist 8, and there are two clamp 29, two clamps 29 for the front end setting of clamping device 11
28 lower section of shearing blade is set to, clamp 29 is connected by hinge with hydraulic cylinder；Clamping device 11, which is threaded, to be fixed on
The front end of wrist 8.
As shown in figure 4, wrist 8 includes revolution cylinder body 20, the both ends of revolution cylinder body 20 are respectively arranged with revolution cylinder front cover 22
With rotary cylinder rear cover 19, turn round in cylinder body 20 and be provided with rotary cylinder-block 23, piston rod 25, piston rod are provided in rotary cylinder-block 23
25 pass through revolution cylinder front cover 22 to be connected with forearm 27；Rotary cylinder rear cover 19 be fixedly connected with the 4th steering stator 18, the 4th turn
It is connected with third successively to stator 18 and turns to the steering steering stator 15 of stator 16 and first of stator 17, second；After rotary cylinder
Sealing ring 24 is provided between lid 19 and piston rod 25.
As shown in figure 5, identifying system includes the sensor 12 being connected by conducting wire and image recognition analysis instrument 13.Its
In, sensor 12 altogether there are two, for distinguishing fruit shapes and maturity automatically, sensor 12 is respectively arranged at the two of scissors 10
Side, image recognition analysis instrument 13 are connected with sensor 12 with controller 5, are installed in vegetables and fruits picking robot controller 5
Place.
Walking mechanism includes crawler belt 1, is provided with driving wheel 26 in crawler belt 1, the second driving mechanism is provided on driving wheel 26
14；Second driving mechanism 14 is hydraulic gear.Walking mechanism 1 can also use four wheel mechanism or mechanical leg organization.
Second driving mechanism 14 is hydraulic gear, using motor MAG excavators, is connected and passes through with driving wheel 26
Screw is installed in the inside of driving wheel 26.Driving mechanism 7 by conducting wire respectively with mechanical arm 6, forearm 6, wrist 8 and crawler belt 1
It is connected.Robot is easy to operate comprehensively using hydraulic mechanism；Multiple executing agencies move simultaneously, and the first driving mechanism determines
After picking position, signal of other driving mechanisms to the position is shielded；When the sensor 12 of an executing agency 4 receives information
After feed back to image recognition analysis instrument 13 and analyzed, and instruction is assigned to the executing agency 4 and is picked, controller 5 therebetween
The sensor 12 of other executing agencies 4 shields the signal of the position.
Control algolithm：The movement of robot in the environment is regarded as using the main basic thought of Artificial Potential Field Method algorithm by one kind
Movement in virtual artificial stress field, barrier generates mechanical arm repulsion effect, and target point then generates robot and draws
Power acts on, and the resultant force of the two controls the movement of mechanical arm, the direction of motion and the position that can reach.
Different geographical can replace crawler belt 1.Level land uses four wheel mechanism, and device is simple, speed is fast；Muddy steep hills
Ground uses mechanical leg organization.
In said structure, (there is no be completely fixed, and retain one certainly for scissors 10 using flexible design for scissors 10
By spending, can be carried out by the small-sized hydraulic cylinder of tail portion elastic.It is strong that flexible design refers mainly to adjustability)；Clamping part
Point according to the design of signal free-extension, by linking for hinge and hydraulic cylinder, the free-extension of clamping device can be realized；Hand
Finger uses rubber material (fruit is prevented to be damaged), and clamping device uses steel material (45 steel) to ensure to have enough
Rigidity and intensity.End effector can be dismantled, and be conveniently replaceable other kinds of end；End effector is by scissors 10, folder
All parts such as mechanism 11, expansion bracket are held to form.
Specially：When image analyzer sends out picking instruction, clamping device 11 clamps fruit, then stretches out scissors 10
It is picked, after picking process, scissors 10 is withdrawn, and end effector completes one action.
4th, wrist employs the design different from other mechanical arms, have been directed to picking when angle the problem of, wrist is not only
Lifting and rocking equipment can be also added around 360 ° of rotations of arbor；It by four turn to stators (first turns to stator 15, the
Two turn to stator 16, and third turns to stator 17, and the 4th turns to stator 18), (rotary cylinder rear cover 19 turns round cylinder body to a rotary cylinder
20, rotor 21 turns round cylinder front cover 22), a rotating cylinder 23 and a piston rod 25 are formed.Wrist includes two parts, first half
It is that four steering track ring rings connect to divide, and is fixed on above rotary cylinder rear cover 19, the second half section is piston rod 25 and rotary cylinder-block 23
It is placed in rotary cylinder, they are attached by screw；It turns to stator (first half) and mainly realizes freely waving for arm；
The lifting of wrist can be achieved in the combination of piston rod 25 and rotating cylinder 23；And rotating cylinder 23 and rotary cylinder then realize wrist around arbor
360 ° of rotations.
5th, the flexible function of forearm 27 allows the far and near height of robot that can pick vegetables and fruits；The front end of forearm 27 and hand
Wrist 8 is attached, and rear end is attached with mechanical arm 6；It is hydraulically operated, and is realized by internal sliding rail flexible.
The aufbauprinciple of the present apparatus is as follows：Vegetables and fruits picking robot is made of upper and lower two parts, when crawler belt band mobile robot
During walking, identifying system is scanned fruit and sends out signal, and a mechanical arm nearby determines fruit position and shields
Signal starts to pick operation and is put into storage basket.
The present invention also provides a kind of vegetables and fruits picking robot and its control method, using above-mentioned vegetables and fruits picking robot,
It is specifically implemented according to the following steps：
Step 1, initialization, vegetables and fruits picking robot is initialized；
Step 2, vegetables and fruits picking robot are walked in by walking mechanism in vegetables and fruits garden, and identifying system 30 passes through sensor 12
Fruit is scanned, collects the location information of the maturity of fruit, shape and fruit, and by the maturity of fruit, outer
The location information of shape and fruit passes to image recognition analysis instrument 13, and image analyzer 13 receives the signal that sensor 12 is sent out
And digital imagery is carried out, the maturity, shape and position of fruit are analyzed, analysis result is passed into controller 5；
Step 3, controller 5 control executing agency to carry out picking fruit by the first driving mechanism 7, specially：First drives
7 control machinery arm 6 of motivation structure stretches, and accurately to reach the position of fruit object, prevents damage fruit, is positioned to fruit
Afterwards, the first driving mechanism 7 controls wrist 8 to adjust 9 skyborne posture of finger；Later, the first driving mechanism 7 control clamping machine
Structure 11 clamps fruit, and fruit is picked with scissors 10；
Fruit after picking is put into storage basket 3 by step 4, finger 9, completes picking task.
The application method of the present apparatus is：
Beneficial effects of the present invention are as follows：1st, applicability is wide：Be applicable to the picking of various fruits, and incidentally pull up seedlings and
Trim branch function.
2nd, it is efficient：The application of multi-robot arm and crawler type walking mechanism can help to widen large-scale plantation.For China
The development and plantation in farm and orchard provide efficient mechanical.
3rd, high degree of automation：Multisensor function and digital imaging technology are conducive to automatically control, and whole process
The connection with computer can be achieved.
4th, it is pollution-free：Not with human contact in picking process, the use of electro-hydraulic linkage technique reduces the pollution of input.
Different geographical of the present invention can replace crawler attachment.Level land uses four wheel mechanism, and device is simple, speed is fast；It is muddy
Use mechanical leg organization to steep hills；
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned embodiment party
Formula in the knowledge that one skilled in the relevant art has, can also make many variations to it.
Claims (3)
1. a kind of vegetables and fruits picking robot, which is characterized in that including walking mechanism, pedestal is provided in the walking mechanism
(2), the rear and front end of the pedestal (2) is both provided with storage basket (3), and executing agency is provided on the pedestal (2)
(4), identifying system (30), the first driving mechanism (7), the second driving mechanism (14) and controller (5), the controller
(5) identifying system (30), the first driving mechanism (7) and the second driving mechanism (14) are connected separately with by conducting wire, it is described
Walking mechanism includes crawler belt (1), is provided with driving wheel (26) in the crawler belt (1), is set on the driving wheel (26)
There is the second driving mechanism (14)；Second driving mechanism (14) is hydraulic gear, and the executing agency (4) includes
Sequentially connected mechanical arm (6), forearm (27), wrist (8) and finger (9), the mechanical arm (6) connect with pedestal (2) activity
It connects；The executing agency (4) is at least provided with 2, and there are one the first driving mechanisms for setting on each executing agency (4)
(7) ；First driving mechanism (7) by conducting wire respectively with mechanical arm (6), forearm (27), wrist (8), finger
(9) it is connected；The finger (9) includes scissors (10) and clamping device (11)；The front end of the scissors (10) is
Shearing blade (28), the rear end of the scissors (10) are connected by hydraulic cylinder with wrist (8), the clamping device (11)
Front end setting there are two clamp (29), described two clamps (29) are set to below shearing blade (28), clamp (29)
It is connected by hinge with hydraulic cylinder；The clamping device (11) is threaded the front end for being fixed on wrist (8)；
The wrist (8) includes revolution cylinder body (20), before the both ends for turning round cylinder body (20) are respectively arranged with rotary cylinder
(22) and rotary cylinder rear cover (19) are covered, rotary cylinder-block (23), the rotating cylinder are provided in the revolution cylinder body (20)
It is provided with piston rod (25) in body (23), the piston rod (25) is across revolution cylinder front cover (22) and forearm (27)
It is connected；The rotary cylinder rear cover (19) is fixedly connected with the 4th steering stator (18), and the described 4th turns to stator (18)
It is connected with third successively and turns to stator (17), the second steering stator (16) and the first steering stator (15)；Described time
Turn to be provided with sealing ring (24) between cylinder rear cover (19) and piston rod (25).
A kind of 2. vegetables and fruits picking robot according to claim 1, which is characterized in that identifying system (30) packet
Include sensor (12) and image recognition analysis instrument (13)；Sensor (12) and image recognition analysis instrument (13) lead to respectively
Conducting wire is crossed with controller (5) to be connected；There are two sensor (12) settings, and sensor (12) is respectively arranged at scissors (10)
Both sides, image recognition analysis instrument (13) is at controller (5).
3. a kind of control method of vegetables and fruits picking robot, which is characterized in that using the vegetables and fruits picking machine described in claim 1
Device people, is specifically implemented according to the following steps：
Step 1, initialization, vegetables and fruits picking robot is initialized；
Step 2, vegetables and fruits picking robot are walked in by walking mechanism in vegetables and fruits garden, and identifying system (30) passes through sensor
(12) fruit is scanned, collects the location information of the maturity of fruit, shape and fruit, and by the ripe journey of fruit
The location information of degree, shape and fruit passes to image recognition analysis instrument (13), and image recognition analysis instrument (13) receives biography
Signal that sensor (12) is sent out simultaneously carries out digital imagery, and the maturity, shape and position of fruit are analyzed, will analysis knot
Fruit passes to controller (5)；
Step 3, controller (5) control executing agency to carry out picking fruit by the first driving mechanism (7), specially：The
One driving mechanism (7) control machinery arm (6) stretches, and accurately to reach the position of fruit object, prevents damage fruit,
After being positioned to fruit, the first driving mechanism (7) controls wrist (8) to adjust finger (9) skyborne posture；It
Afterwards, the first driving mechanism (7) control clamping device (11) clamps fruit, and fruit is picked with scissors (10)
；
Fruit after picking is put into storage basket (3) by step 4, finger (9), completes picking task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406163.4A CN105027834B (en) | 2015-07-10 | 2015-07-10 | A kind of vegetables and fruits picking robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510406163.4A CN105027834B (en) | 2015-07-10 | 2015-07-10 | A kind of vegetables and fruits picking robot and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105027834A CN105027834A (en) | 2015-11-11 |
| CN105027834B true CN105027834B (en) | 2018-06-22 |
Family
ID=54435329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510406163.4A Expired - Fee Related CN105027834B (en) | 2015-07-10 | 2015-07-10 | A kind of vegetables and fruits picking robot and its control method |
Country Status (1)
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| CN105940863B (en) * | 2016-06-23 | 2018-05-18 | 海南大学 | A kind of solar energy mango picking machine |
| CN106034767B (en) * | 2016-07-01 | 2022-06-10 | 三明学院 | Multifunctional engineering vehicle |
| TWI600400B (en) * | 2016-09-07 | 2017-10-01 | 崑山科技大學 | Stir the device |
| CN106627819B (en) * | 2016-12-15 | 2019-05-07 | 南京理工大学 | A kind of scissors hand robot |
| CN108521997A (en) * | 2017-03-02 | 2018-09-14 | 防城港思创信息技术有限公司 | A kind of banana recovering device |
| CN106900274A (en) * | 2017-03-04 | 2017-06-30 | 张保银 | A kind of vegetables picking robot |
| CN107041211A (en) * | 2017-06-06 | 2017-08-15 | 哈尔滨理工大学 | A kind of mechanical hand of fruit and vegetable picking controlled based on PLC |
| CN107251767A (en) * | 2017-06-28 | 2017-10-17 | 江苏师范大学 | A kind of Multifunctional trimming robot |
| CN107567822B (en) * | 2017-07-27 | 2020-07-28 | 杭州电子科技大学 | Tea-leaf picker |
| CN107371618A (en) * | 2017-09-15 | 2017-11-24 | 贵州大学 | A kind of end effector of strawberry picking robot |
| CN108377740B (en) * | 2018-04-16 | 2023-09-19 | 苏州大学 | Automatic fruit picking equipment |
| CN108718680A (en) * | 2018-04-27 | 2018-11-02 | 昆明理工大学 | A kind of rose picker |
| CN108656110B (en) * | 2018-05-14 | 2020-07-28 | 北京禾泽方圆智能科技有限公司 | Picking robot controller based on finite state automata architecture and architecture method |
| CN108724192B (en) * | 2018-06-28 | 2022-03-22 | 河南工程学院 | Robot motion control system |
| CN109429694A (en) * | 2018-11-09 | 2019-03-08 | 江苏理工学院 | A kind of multi-functional pineapple picking machine |
| CN212138433U (en) * | 2019-07-05 | 2020-12-15 | 泰国久保田有限公司 | Clamping device for agricultural products |
| CN111011004B (en) * | 2019-12-28 | 2021-08-03 | 河南理工大学 | Picking equipment |
| CN112684799B (en) * | 2020-12-23 | 2023-06-13 | 嘉兴学院 | Fruit and vegetable picking robot with built-in positioning function |
| CN113057023A (en) * | 2021-04-26 | 2021-07-02 | 北方民族大学 | Intelligent humanoid grape picking robot |
| CN113597966B (en) * | 2021-07-20 | 2023-04-07 | 山东农业大学 | Intelligent flower and fruit thinning robot and method for grapes based on image recognition |
| CN113994814A (en) * | 2021-11-25 | 2022-02-01 | 陕西科技大学 | Intelligent fruit and vegetable picking robot |
| CN114633268B (en) * | 2022-04-15 | 2023-06-09 | 西安外事学院 | Picking actuating mechanism of agricultural robot |
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| WO2008008972A2 (en) * | 2006-07-13 | 2008-01-17 | George Gray | Self propelled robotic fresh fruit picker |
| CN101356877B (en) * | 2008-09-19 | 2012-06-20 | 中国农业大学 | Cucumber picking robot system and picking method in greenhouse |
| CN102612926B (en) * | 2012-04-01 | 2014-01-15 | 华南农业大学 | Mechanized fruit picking, collecting and transporting system and method |
| CN103481296A (en) * | 2013-09-10 | 2014-01-01 | 西北农林科技大学 | Automatic fruit picking robot for hillsides |
| CN203646084U (en) * | 2013-12-12 | 2014-06-18 | 刘静 | Intelligent and multifunctional operating vehicle |
| CN103749094A (en) * | 2013-12-16 | 2014-04-30 | 西北农林科技大学 | Picking robot and picking method for kiwi fruits |
| CN104584780A (en) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | Flexible manipulator for detecting fruit maturity and harvesting |
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- 2015-07-10 CN CN201510406163.4A patent/CN105027834B/en not_active Expired - Fee Related
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