CN106941879B - 采摘装置 - Google Patents
采摘装置 Download PDFInfo
- Publication number
- CN106941879B CN106941879B CN201710285859.5A CN201710285859A CN106941879B CN 106941879 B CN106941879 B CN 106941879B CN 201710285859 A CN201710285859 A CN 201710285859A CN 106941879 B CN106941879 B CN 106941879B
- Authority
- CN
- China
- Prior art keywords
- pawpaw
- equipment
- tree
- main body
- packaged type
- 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.)
- Expired - Fee Related
Links
- 235000006264 Asimina triloba Nutrition 0.000 claims abstract description 260
- 244000189799 Asimina triloba Species 0.000 claims abstract description 253
- 235000009467 Carica papaya Nutrition 0.000 claims abstract description 198
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 241000196324 Embryophyta Species 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 238000001914 filtration Methods 0.000 claims description 29
- 238000004458 analytical method Methods 0.000 claims description 16
- 230000012010 growth Effects 0.000 claims description 13
- 238000000605 extraction Methods 0.000 claims description 9
- 241000219112 Cucumis Species 0.000 claims description 6
- 235000015510 Cucumis melo subsp melo Nutrition 0.000 claims description 6
- FJJCIZWZNKZHII-UHFFFAOYSA-N [4,6-bis(cyanoamino)-1,3,5-triazin-2-yl]cyanamide Chemical compound N#CNC1=NC(NC#N)=NC(NC#N)=N1 FJJCIZWZNKZHII-UHFFFAOYSA-N 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 239000002023 wood Substances 0.000 claims description 3
- 238000003795 desorption Methods 0.000 claims 1
- 244000269722 Thea sinensis Species 0.000 abstract description 5
- 235000009508 confectionery Nutrition 0.000 abstract description 5
- 240000006432 Carica papaya Species 0.000 description 9
- 230000008520 organization Effects 0.000 description 6
- 241001638224 Asimina reticulata Species 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 206010057071 Rectal tenesmus Diseases 0.000 description 2
- 239000007799 cork Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000008267 milk Substances 0.000 description 2
- 210000004080 milk Anatomy 0.000 description 2
- 235000013336 milk Nutrition 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 208000012271 tenesmus Diseases 0.000 description 2
- 241000219173 Carica Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000009514 concussion Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000009746 freeze damage Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000002075 main ingredient Substances 0.000 description 1
- 108010091431 meat tenderizer Proteins 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000000050 nutritive effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
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
- A01D46/24—Devices for picking apples or like fruit
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Image Analysis (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
Description
Claims (2)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710285859.5A CN106941879B (zh) | 2017-04-27 | 2017-04-27 | 采摘装置 |
CN201710468490.1A CN107637278A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
CN201710469593.XA CN107637273A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710285859.5A CN106941879B (zh) | 2017-04-27 | 2017-04-27 | 采摘装置 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710469593.XA Division CN107637273A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
CN201710468490.1A Division CN107637278A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106941879A CN106941879A (zh) | 2017-07-14 |
CN106941879B true CN106941879B (zh) | 2018-05-18 |
Family
ID=59476847
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710285859.5A Expired - Fee Related CN106941879B (zh) | 2017-04-27 | 2017-04-27 | 采摘装置 |
CN201710469593.XA Pending CN107637273A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
CN201710468490.1A Pending CN107637278A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710469593.XA Pending CN107637273A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
CN201710468490.1A Pending CN107637278A (zh) | 2017-04-27 | 2017-04-27 | 自动采摘机器人 |
Country Status (1)
Country | Link |
---|---|
CN (3) | CN106941879B (zh) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2572127B (en) * | 2018-01-10 | 2022-09-14 | Xihelm Ltd | Method and system for agriculture |
CN110705526B (zh) * | 2019-10-25 | 2023-08-08 | 云南电网有限责任公司电力科学研究院 | 一种基于无人机的树障清除方法、装置及系统 |
CN118058074A (zh) * | 2024-02-20 | 2024-05-24 | 广东若铂智能机器人有限公司 | 一种判断串型水果采摘过程中突发干扰的方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4519193A (en) * | 1982-08-11 | 1985-05-28 | Kubota, Ltd. | Fruit harvesting apparatus with television camera and monitor |
CN105123127A (zh) * | 2015-10-16 | 2015-12-09 | 北方民族大学 | 枸杞采摘机器人及其控制方法 |
CN205408633U (zh) * | 2016-03-10 | 2016-08-03 | 西北农林科技大学 | 一种可自主导航的履带式多机械臂苹果采摘机器人 |
CN106049308A (zh) * | 2016-07-29 | 2016-10-26 | 成都科创谷科技有限公司 | 用于智能交通的路障清除装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104584780A (zh) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | 一种用于检测果实成熟度及采摘的柔性机械手 |
CN104584779A (zh) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | 一种基于双目视觉的苹果成熟度自动检测及采摘机器人 |
CN104541775B (zh) * | 2015-01-24 | 2016-07-06 | 海安华厚电子科技有限公司 | 智能化果树采摘系统 |
CN105850376A (zh) * | 2015-04-08 | 2016-08-17 | 孟庆峰 | 一种石榴树电子化自动采摘方法 |
-
2017
- 2017-04-27 CN CN201710285859.5A patent/CN106941879B/zh not_active Expired - Fee Related
- 2017-04-27 CN CN201710469593.XA patent/CN107637273A/zh active Pending
- 2017-04-27 CN CN201710468490.1A patent/CN107637278A/zh active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4519193A (en) * | 1982-08-11 | 1985-05-28 | Kubota, Ltd. | Fruit harvesting apparatus with television camera and monitor |
CN105123127A (zh) * | 2015-10-16 | 2015-12-09 | 北方民族大学 | 枸杞采摘机器人及其控制方法 |
CN205408633U (zh) * | 2016-03-10 | 2016-08-03 | 西北农林科技大学 | 一种可自主导航的履带式多机械臂苹果采摘机器人 |
CN106049308A (zh) * | 2016-07-29 | 2016-10-26 | 成都科创谷科技有限公司 | 用于智能交通的路障清除装置 |
Also Published As
Publication number | Publication date |
---|---|
CN106941879A (zh) | 2017-07-14 |
CN107637273A (zh) | 2018-01-30 |
CN107637278A (zh) | 2018-01-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106941879B (zh) | 采摘装置 | |
Sanders | Orange harvesting systems review | |
Kajimoto et al. | Above-and belowground biomass and net primary productivity of a Larix gmelinii stand near Tura, central Siberia | |
CN103975818B (zh) | 一种防治病虫害、提高果实品质的苹果生态栽培方法 | |
King et al. | Within‐vineyard variability in vine vegetative growth, yield, and fruit and wine composition of C abernet S auvignon in H awke's B ay, N ew Z ealand | |
CN201135036Y (zh) | 棉花智能采摘收获机 | |
AU2021105575A4 (en) | Automatic Tea Garden Identification Method Based on Cloud Platform Fusion of Multi-Source Satellite Images and Tea Phenological Period | |
Gemtos et al. | Precision agriculture application in fruit crops: Experience in handpicked fruits | |
CN104704990A (zh) | 一种石榴树电子化自动采摘方法 | |
Pezzi et al. | Technical and economic evaluation of mechanical grape harvesting in flat and hill vineyards | |
Zion et al. | Mechanical harvesting of olives—An operations study | |
CN107094432A (zh) | 一种自动化采摘方法 | |
CN210093992U (zh) | 一种山楂采摘机器人 | |
Takeda et al. | Considerations for machine harvesting fresh-market eastern thornless blackberries: Trellis design, cane training systems, and mechanical harvester developments | |
CN102696344A (zh) | 优质绿茶机械采摘的方法 | |
Agüera-Vega et al. | Determination of field capacity and yield mapping in olive harvesting using remote data acquisition | |
Sola-Guirado et al. | Simultaneous trunk and branch shaking in an over-the-row olive harvester | |
CN104732550A (zh) | 石榴树电子化自动采摘平台 | |
Whiting et al. | 18 Fruit Harvest Methods and Technologies | |
Mirás-Avalos et al. | Optimization of Vineyard Water Management: Challenges, Strategies, and Perspectives. Water 2021, 13, 746 | |
CN206821214U (zh) | 一种基于北斗卫星的智能播种作业系统 | |
Gemtos et al. | Precision farming applications in cotton fields of Greece | |
CN106973645A (zh) | 包括传动齿轮的切割平台 | |
CN204929680U (zh) | 摘果机 | |
CN106941872A (zh) | 使用传动齿轮来进行切割的方法 |
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 | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180129 Address after: 362000 Yu village, Yu Dou Town, Yongchun County, Quanzhou, Fujian Applicant after: Yongchun left ear Trading Co., Ltd. Address before: 214016 Jiangsu province Wuxi Guangrui Liangxi District Road 1906, 1908-257 Applicant before: Wuxi Beidouxing Communication Information Science and Technology Co., Ltd. |
|
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Ju Guobin Inventor before: The inventor has waived the right to be mentioned |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180418 Address after: 217000 33 Xu Town Street, Xuyi County, Huaian, Jiangsu Applicant after: Ju Guobin Address before: 362000 Yu village, Yu Dou Town, Yongchun County, Quanzhou, Fujian Applicant before: Yongchun left ear Trading Co., Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180518 Termination date: 20210427 |