CN109013386A - A kind of bird's nest feather based on machine vision picks device and method - Google Patents
A kind of bird's nest feather based on machine vision picks device and method Download PDFInfo
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- CN109013386A CN109013386A CN201810785510.2A CN201810785510A CN109013386A CN 109013386 A CN109013386 A CN 109013386A CN 201810785510 A CN201810785510 A CN 201810785510A CN 109013386 A CN109013386 A CN 109013386A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0081—Sorting of food items
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- Manipulator (AREA)
Abstract
The invention discloses a kind of, and the bird's nest feather based on machine vision picks device and method, acquisition, acquisition of the device by industrial CCD camera to natural bird's nest image, feather feature is identified using machine vision algorithm, and control robot and feather feature is positioned, device completion is picked by robot end's feather that the present invention designs, work is picked to feather.A kind of bird's nest feather based on machine vision of the present invention picks that apparatus structure is simple, manufacturing cost is low, can effectively pick the small feather of lightweight；Its method of picking can fast and accurate identification of the completion to a large amount of feather features, and it is rapidly grabbed, especially suitable for robot automation's production line field, and high production efficiency.It is provided by the invention to pick device also and have the advantages that structure and be simple and convenient to operate, be easy to implement.
Description
Technical field
The present invention relates to technical field of machine vision more particularly to a kind of bird's nest feather based on machine vision to pick device
And its pick method.
Background technique
The current existing technology for picking the feather in natural bird's nest mainly passes through manually with tweezers from natural bird's nest
The dry feather chosen, clamp out entrained with, due to picking the complexity of technique, one people of a natural bird's nest needs by picking completely
Spend nearly 3 to 5 hours.It is then to carry out people again by the way that bird's nest is impregnated in free state that another, which chooses cant formula,
Work chooses hair, not only has lost a large amount of bird's nest in this way, also destroys the nutritional ingredient of natural bird's nest.
Existing four axis series and parallel robot due to its own structure particularity, the main movement realized to object and
Based on migration mode, it is difficult to realize the grasping manipulation to object.It would therefore be highly desirable to need using a kind of simple light robot end
End executive device completes crawl to object, picks work.
Machine vision technique controls the positioning and crawl of the automation equipments such as robot by the identification to feature object,
The feature object processed can will be needed to sort out from article.The advantages of due to its automated integration degree height, fast and easy,
In nowadays automatic production line field, especially robot automation's technical field using more and more extensive, production is not only shortened
The product production cycle also improves the quality and efficiency of production.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of bird's nests based on machine vision of structure letter
Feather picks device.
Another object of the present invention is to overcome the deficiencies of the prior art and provide a kind of to pick picking for device based on above-mentioned
Method.
The purpose of the invention is achieved by the following technical solution:
A kind of bird's nest feather based on machine vision picks device, and it includes for picking feather that lid feather, which picks device mainly,
Clamping extraction unit, the air nozzle for dispelling feather, for identification feather feature and driving clamp extraction unit and air nozzle work
The control unit and leveling clamping frame of work.The leveling clamping frame is fixedly connected with mechanical arm.The clamping extraction unit and spray
Gas nozzle is installed on leveling clamping frame.Described control unit is mounted on distance and picks above station in 600 millimeters of height, point
It is not drivingly connected with clamping extraction unit and air nozzle.
Specifically, the leveling clamping frame mainly includes the pedestal set gradually from top to down, support rod and for pressing
Firmly micro- pressing plate for impregnating bird's nest.The pedestal is fixedly connected with mechanical arm.The upper end of the support rod and the fixed company of base bottom
It connects, lower end is fixed with pressing plate.The notch for clamping feather is equipped in the middle part of the pressing plate, the notch, which is located at, is clamping extraction unit just
Lower section.
Specifically, the clamping extraction unit include lifting cylinder, gas-tpe fitting, push plate, connecting plate, folding cylinder, sliding block,
And clip.The lifting cylinder is mounted on base bottom downward, and output end is fixedly connected with push plate.The top of the connecting plate
Portion is fixed with push plate, and bottom is fixedly connected with folding cylinder.The sliding block is arranged in pairs on folding cylinder, realizes folding cylinder
Drive sliding block opposite or counter motion.The clip is separately positioned on sliding block, realizes that sliding block drives clip clamping or release plumage
Hair.The gas-tpe fitting is separately positioned on lifting cylinder and folding cylinder, is connect with external high-pressure air pipe.
Specifically, the air nozzle includes gas nozzle and gas nozzle bracket.One end of the gas nozzle bracket is clamped on support rod,
The other end clamps gas nozzle.The gas outlet of the gas nozzle is connect towards clip, air inlet with external high pressure tracheae.
Specifically, described control unit includes for acquiring the video camera of bird's nest image, camera lens, vision light source, Yi Jiyong
In processing image information and drive clamp extraction unit and air nozzle controller.The controller respectively with video camera, visual light
Source electrical connection, the controller are drivingly connected with lifting cylinder, folding cylinder and gas nozzle respectively.The vision light source irradiates vertically
On bird's nest, the video camera passes through alignment lens bird's nest to be picked.
As a preferred solution of the present invention, of the invention in order to improve the size and clamping efficiency of picking device grasp opening
The notch is designed using rectangle, and length is 16 millimeters, and width is 2 millimeters, and depth is through pressing plate.
Further, for the ease of the connection of starter and installation, pedestal top of the present invention is equipped with two and is convenient for
Connect the fluting of external high pressure tracheae.One end of the fluting is arranged in base central, and the other end extends to susceptor edges.
As a preferred solution of the present invention, the gap between two clips, clip of the present invention and cunning are adjusted for convenience
Connecting interface between block is set as the U type slot of gap size when convenient for adjusting clamped condition.
As a preferred solution of the present invention, in order to improve the probability that clip successfully clamps feather, a pair of folder of the present invention
Sub- lower end is equipped with 8 interlaced teeth.
As a preferred solution of the present invention, the video camera uses industrial CCD color RGB video camera；The vision light source
Using LED light source.
Another object of the present invention is achieved through the following technical solutions:
A kind of bird's nest feather based on machine vision picks method, this is picked method and mainly includes the following steps:
Step S1: Image Acquisition is radiated at direct current LED light is vertical parallel on the natural bird's nest soaked, uses industry
CCD color camera is shot by the rate of 30 frame per second and acquires bird's nest image.
Step S2: the bird's nest image of acquisition is carried out binarization of gray value and morphology pre-processes, reduced by the identification of feather feature
The interference of fine hole and flaw in image, then identifies feather feature by Threshold Segmentation Algorithm.
Step S3: the feather feature of identification is carried out contours extract based on Boundary extracting algorithm, and counted by feather feature location
Contour images center-of-mass coordinate is calculated, obtains its pose under robot basis coordinates by coordinate transform.
Step S4: device crawl is picked, is controlled according to pose of the feather profile mass center of acquisition under robot basis coordinates
Robot end processed picks device lifting cylinder and folding cylinder movement, and then clip is driven to realize the crawl to feather.
Step S5: feather dispels recycling, and the feather picked up is located in above pond by control robot, using on air nozzle
Tracheae blow out high pressure gas, the feather in clip is blown off into pond, is separated and recovered again.
As a preferred solution of the present invention, the morphology pretreatment in the step S2 uses corrosion and expansion algorithm,
Reduce the misrecognition of non-feather feature and the influence of fine feather leakage identification.
As a preferred solution of the present invention, the Threshold Segmentation Algorithm in the step S2 is divided using multilevel threshold, makes
Different size of feather feature also can be identified adequately.
Compared with prior art, it also have the advantage that
(1) the bird's nest feather provided by the present invention based on machine vision, which picks device, has compact-sized, lightweight conveniently
And the advantages of fast response time, it can be applied in robot automation's production field improve the efficiency and matter of production
Amount.
(2) the bird's nest feather provided by the present invention based on machine vision picks the lifting cylinder of device and folding cylinder leads to
It crosses connecting plate to be staggered installation of in 90 degree, folding cylinder remains symmetrical when fixing two slide block movements on the slide rail, described
Clip lower end has interlaced tooth, can effectively pick out feather.
(3) the bird's nest feather provided by the present invention based on machine vision pick device can precisely, quickly identify plumage
Hair feature, drives robot and the robot end to pick device and quickly grab to feather, pick work.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the bird's nest feather provided by the present invention based on machine vision picks device.
Fig. 2 is the clamped condition schematic diagram that the bird's nest feather provided by the present invention based on machine vision picks device.
Fig. 3 is the original state cross-sectional view that the bird's nest feather provided by the present invention based on machine vision picks device.
Fig. 4 be the bird's nest feather provided by the present invention based on machine vision pick device dispel feather state section view
Figure.
Fig. 5 is the work flow diagram that the bird's nest feather provided by the present invention based on machine vision picks method.
Label declaration in above-mentioned attached drawing:
1- leveling clamping frame, 2- lifting cylinder, 3- gas-tpe fitting, 4- push plate, 5- connecting plate, 6- open and close cylinder, and 7/8- is sliding
Block, 9- gas nozzle bracket, 10- gas nozzle, 11- notch, 12/13- clip, 14- pressing plate, 15- support rod, 16- pedestal.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Figures 1 to 5, present embodiment discloses a kind of, and the bird's nest feather based on machine vision picks device, Gai Yu
It includes for picking the clamping extraction unit of feather, the air nozzle for dispelling feather, for identification feather that hair, which picks device mainly,
Feature and driving clamp the control unit and leveling clamping frame 1 of extraction unit and air nozzle work.The leveling clamping frame 1 with
Mechanical arm is fixedly connected.The clamping extraction unit and air nozzle are installed on leveling clamping frame 1.Described control unit is mounted on
Distance is picked above station in 600 millimeters of height, is drivingly connected respectively with clamping extraction unit and air nozzle.
Specifically, it is described leveling clamping frame 1 mainly include set gradually from top to down pedestal 16, support rod 15 and
For pushing down micro- pressing plate 14 for impregnating bird's nest.The pedestal 16 is fixedly connected with mechanical arm.The upper end of the support rod 15 and base
16 bottoms of seat are fixedly connected, and lower end and pressing plate 14 are fixed.The notch 11 for clamping feather is equipped in the middle part of the pressing plate 14, it is described
Notch 11, which is located at, to be clamped immediately below extraction unit.
Specifically, the clamping extraction unit include lifting cylinder 2, gas-tpe fitting 3, push plate 4, connecting plate 5, folding cylinder 6,
Sliding block 7/8 and clip 12/13.The lifting cylinder 2 is mounted on 16 bottom of pedestal, output end and the fixed company of push plate 4 downward
It connects.The top of the connecting plate 5 and push plate 4 are fixed, and bottom is fixedly connected with folding cylinder 6.The sliding block 7/8 is arranged in pairs in
It opens and closes on cylinder 6, realizes that folding cylinder 6 drives sliding block 7/8 opposite or counter motion.The clip 12/13 is separately positioned on cunning
On block 7/8, realize that sliding block 7/8 drives the clamping of clip 12/13 or release feather.The gas-tpe fitting 3 is separately positioned on lifting air
On cylinder 2 and folding cylinder 6, it is connect with external high-pressure air pipe.
Specifically, the air nozzle includes gas nozzle 10 and gas nozzle bracket 9.One end of the gas nozzle bracket 9 is clamped in support
On bar 15, the other end clamps gas nozzle 10.The gas outlet of the gas nozzle 10 is towards clip 12/13, air inlet and external high pressure gas
Pipe connection.
Specifically, described control unit includes for acquiring the video camera of bird's nest image, camera lens, vision light source, Yi Jiyong
In processing image information and drive clamp extraction unit and air nozzle controller.The controller respectively with video camera, visual light
Source electrical connection, the controller are drivingly connected with lifting cylinder 2, folding cylinder 6 and gas nozzle 10 respectively.The vision light source is vertical
It is radiated on bird's nest, the video camera passes through alignment lens bird's nest to be picked.
As a preferred solution of the present invention, of the invention in order to improve the size and clamping efficiency of picking device grasp opening
The notch 11 is designed using rectangle, and length is 16 millimeters, and width is 2 millimeters, and depth is through pressing plate 14.
Further, two are equipped with for the ease of the connection of starter and installation, at the top of pedestal 16 of the present invention just
In the fluting of connection external high pressure tracheae.One end of the fluting is arranged at 16 center of pedestal, and the other end extends to 16 side of pedestal
Edge.
As a preferred solution of the present invention, the gap between two clips 12/13, clip of the present invention are adjusted for convenience
Connecting interface between 12/13 and sliding block 7/8 is set as the U type slot 11 of gap size when convenient for adjusting clamped condition.
As a preferred solution of the present invention, in order to improve the probability that clip 12/13 successfully clamps feather, present invention a pair of institute
12/13 lower end of clip is stated equipped with 8 interlaced teeth.
As a preferred solution of the present invention, the video camera uses industrial CCD color RGB video camera；The vision light source
Using LED light source.
The present embodiment also discloses a kind of bird's nest feather based on machine vision and picks method, this is picked method and mainly includes
Following steps:
Step S1: Image Acquisition is radiated at direct current LED light is vertical parallel on the natural bird's nest soaked, uses industry
CCD color camera is shot by the rate of 30 frame per second and acquires bird's nest image.
Step S2: the bird's nest image of acquisition is carried out binarization of gray value and morphology pre-processes, reduced by the identification of feather feature
The interference of fine hole and flaw in image, then identifies feather feature by Threshold Segmentation Algorithm.
Step S3: the feather feature of identification is carried out contours extract based on Boundary extracting algorithm, and counted by feather feature location
Contour images center-of-mass coordinate is calculated, obtains its pose under robot basis coordinates by coordinate transform.
Step S4: device crawl is picked, is controlled according to pose of the feather profile mass center of acquisition under robot basis coordinates
Robot end processed picks device lifting cylinder 2 and folding cylinder 6 acts, and then the realization of clip 12/13 is driven to grab feather
It takes.
Step S5: feather dispels recycling, and the feather picked up is located in above pond by control robot, using on air nozzle
Tracheae blow out high pressure gas, the feather in clip 12/13 is blown off into pond, is separated and recovered again.
As a preferred solution of the present invention, the morphology pretreatment in the step S2 uses corrosion and expansion algorithm,
Reduce the misrecognition of non-feather feature and the influence of fine feather leakage identification.
As a preferred solution of the present invention, the Threshold Segmentation Algorithm in the step S2 is divided using multilevel threshold, makes
Different size of feather feature also can be identified adequately.
Embodiment 2:
Step as shown in Figure 5 carries out image to the natural bird's nest being placed on immediately below vision light source by industrial CCD camera
Acquisition, acquisition, and feather feature is identified using machine vision algorithm, driving robot determines feather feature
Position, then a kind of bird's nest feather based on machine vision provided by the present invention picks device completion and picks work to feather,
It clamps feather and moves to designated position and carry out dispelling recycling.
As shown in Figure 1, a kind of bird's nest feather based on machine vision picks device, comprising: leveling clamping frame 1, it is described whole
Flat clamping frame includes pedestal 16, support rod 15 and pressing plate 14 again；Extraction element is clamped, the clamping extraction element includes lifting again
Cylinder 2, connecting plate 5, folding cylinder 6, clip 12 and clip 13；Air nozzle, the air nozzle include gas nozzle 10 and gas nozzle branch again
Frame 9.
The pedestal 16 is fixedly connected with robot end, and pressing plate 14 and pedestal 16 pass through intermediate support rod 15 also Cheng Gu
Fixed connection, can make pressing plate 14 as robot end compresses bird's nest down together, can make the bird's nest Cheng Ping after micro- immersion in this way
Whole state, convenient for choosing hair.
It is equipped with the notch of 16*2mm among the pressing plate 14, clamping feather is gone by it for clip, and guarantee to be attached to
Bird's nest on feather is not pressed from both sides out.
The lifting cylinder 2 further includes two gas-tpe fittings 3 and push plate 4, by control two gas-tpe fittings air inlet and
Gaseity controls the raising and lowering of push plate 4 out.
As shown in Figures 2 and 3, lifting cylinder 2 is cross-linked by connecting plate 5 in 90 degree with folding cylinder 6, push plate 4 and
Connecting plate 5 is fixedly connected, and can make to open and close cylinder 6 in this way as raising and lowering movement is done in push plate 4.
Folding cylinder 6 further includes fixed sliding block 7 and sliding block 8 and two gas-tpe fittings 3 on the slide rail, passes through control two
The inlet, outlet state of a gas-tpe fitting 3 opens sliding block 7 and sliding block 8 and closure at symmetrical on the slide rail.
Clip 12 and clip 13 are separately fixed on sliding block 7 and sliding block 8, as sliding block 7 and sliding block 8 are opened and closed together
It closes.
As shown in figure 4, gas nozzle 10 is fixed on gas nozzle bracket 9, gas nozzle bracket 9 is fixed on the support rod 15 of leveling clamping frame
On, and 360 degree rotation can be carried out around support rod, it can arbitrarily adjust the direction for dispelling feather.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (9)
1. a kind of bird's nest feather based on machine vision picks device, which is characterized in that mentioned including the clamping for picking feather
Portion, the air nozzle for dispelling feather, for identification feather feature and driving is taken to clamp the control of extraction unit and air nozzle work
Unit and leveling clamping frame；The leveling clamping frame is fixedly connected with mechanical arm；The clamping extraction unit and air nozzle are pacified
On leveling clamping frame；Described control unit is mounted on distance and picks above station in 600 millimeters of height, respectively with clamping
Extraction unit and air nozzle are drivingly connected；
The leveling clamping frame includes the pedestal set gradually from top to down, support rod and for pushing down micro- immersion bird's nest
Pressing plate；The pedestal is fixedly connected with mechanical arm；The upper end of the support rod is fixedly connected with base bottom, and lower end and pressing plate are solid
It is fixed；The notch for clamping feather is equipped in the middle part of the pressing plate, the notch, which is located at, to be clamped immediately below extraction unit；
The clamping extraction unit includes lifting cylinder, gas-tpe fitting, push plate, connecting plate, folding cylinder, sliding block and clip；Institute
It states lifting cylinder and is mounted on base bottom downward, output end is fixedly connected with push plate；The top of the connecting plate and push plate are solid
Fixed, bottom is fixedly connected with folding cylinder；The sliding block is arranged in pairs on folding cylinder, realizes that folding cylinder drives sliding block phase
To or counter motion；The clip is separately positioned on sliding block, realizes that sliding block drives clip clamping or release feather；The tracheae
Connector is separately positioned on lifting cylinder and folding cylinder, is connect with external high-pressure air pipe；
The air nozzle includes gas nozzle and gas nozzle bracket；One end of the gas nozzle bracket is clamped on support rod, and the other end is by gas
Mouth clamps；The gas outlet of the gas nozzle is connect towards clip, air inlet with external high pressure tracheae；
Described control unit include for acquire the video camera of bird's nest image, camera lens, vision light source and for handle image letter
It ceases and drives the controller for clamping extraction unit and air nozzle；The controller is electrically connected with video camera, vision light source respectively, respectively
It is drivingly connected with lifting cylinder, folding cylinder and gas nozzle；The vision light source is radiated on bird's nest vertically, and the video camera passes through
Alignment lens bird's nest to be picked.
2. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the notch is adopted
It is designed with rectangle, length is 16 millimeters, and width is 2 millimeters, and depth is through pressing plate.
3. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the pedestal top
Portion is equipped with two flutings convenient for connection external high pressure tracheae, and in base central, the other end extends for one end setting of the fluting
To susceptor edges.
4. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the clip with
Connecting interface between sliding block is set as the U type slot of gap size when convenient for adjusting clamped condition.
5. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that a pair of folder
Sub- lower end is equipped with 8 interlaced teeth.
6. the bird's nest feather according to claim 1 based on machine vision picks device, which is characterized in that the video camera
Using industrial CCD color RGB video camera；The vision light source uses LED light source.
7. a kind of bird's nest feather based on machine vision picks method, which comprises the steps of:
Step S1: Image Acquisition is radiated at direct current LED light is vertical parallel on the natural bird's nest soaked, uses industrial CCD color
Form and aspect machine is shot by the rate of 30 frame per second and acquires bird's nest image；
Step S2: the bird's nest image of acquisition is carried out binarization of gray value and morphology pre-processes, reduces image by the identification of feather feature
In fine hole and flaw interference, feather feature is then identified by Threshold Segmentation Algorithm；
Step S3: the feather feature of identification is carried out contours extract based on Boundary extracting algorithm, and calculates wheel by feather feature location
Wide image centroid coordinate obtains its pose under robot basis coordinates by coordinate transform；
Step S4: device crawl is picked, machine is controlled according to pose of the feather profile mass center of acquisition under robot basis coordinates
Device people picks end device lifting cylinder and folding cylinder movement, and then clip is driven to realize the crawl to feather；
Step S5: feather dispels recycling, and the feather picked up is located in above pond by control robot, utilizes the gas on air nozzle
Pipe blows out high pressure gas, and the feather in clip is blown off into pond, is separated and recovered again.
8. the bird's nest feather according to claim 7 based on machine vision picks method, which is characterized in that the step S2
In morphology pretreatment use corrosion and expansion algorithm, reduce non-feather feature misrecognition and fine feather leakage identification
Influence.
9. the bird's nest feather according to claim 7 based on machine vision picks method, which is characterized in that the step S2
In Threshold Segmentation Algorithm using multilevel threshold divide, identify different size of feather feature can also adequately.
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|---|---|---|---|
| CN201810785510.2A CN109013386B (en) | 2018-07-17 | 2018-07-17 | Bird's nest feather picking device and method based on machine vision |
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|---|---|---|---|
| CN201810785510.2A CN109013386B (en) | 2018-07-17 | 2018-07-17 | Bird's nest feather picking device and method based on machine vision |
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| CN109013386B CN109013386B (en) | 2023-05-16 |
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| CN109834081A (en) * | 2019-01-23 | 2019-06-04 | 广东工业大学 | Intelligent bird's nest poacher |
| CN112772910A (en) * | 2021-01-11 | 2021-05-11 | 南宁海关技术中心 | Efficient cubilose hair picking system |
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| CN109701893B (en) * | 2019-01-02 | 2020-08-28 | 广州南颐贸易有限公司 | Instant edible bird's nest intelligent processing system |
| CN109834081A (en) * | 2019-01-23 | 2019-06-04 | 广东工业大学 | Intelligent bird's nest poacher |
| CN112772910A (en) * | 2021-01-11 | 2021-05-11 | 南宁海关技术中心 | Efficient cubilose hair picking system |
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| CN109013386B (en) | 2023-05-16 |
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