CN109479522A - A kind of fruit picking robot and its picking method - Google Patents
A kind of fruit picking robot and its picking method Download PDFInfo
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- CN109479522A CN109479522A CN201811610301.0A CN201811610301A CN109479522A CN 109479522 A CN109479522 A CN 109479522A CN 201811610301 A CN201811610301 A CN 201811610301A CN 109479522 A CN109479522 A CN 109479522A
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- fruit
- carpopodium
- picking
- claw
- end effector
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- 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
- A01D46/30—Robotic devices for individually picking crops
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention discloses a kind of fruit picking robots, including mobile platform, mechanical arm and end effector, wherein, the mobile platform is equipped with horizontal rotating table, the mechanical arm is fixedly connected on horizontal rotating table, the end of mechanical arm connects the end effector, further includes: First look identification device, for identification size of fruit position and fruit；Second device for visual identification, for identification position of the carpopodium with respect to carpopodium cutting groove；Pressure sensor, for detecting end effector and by the enclasping force between fruit-picking, the present invention can carry out accurately picking fruit after accurately judging simultaneously to by the position of fruit-picking and size, surrounding fruit is not damaged when picking, and picking efficiency is high, the picking that can well adapt to different operating environment, does not influence plant growth.
Description
Technical field
The invention discloses a kind of fruit picking robots, belong to picking robot field.
Background technique
China is a large agricultural country, and China manufacturing industry achieves the development advanced by leaps and bounds, but using tomato as representative
Fruits harvesting approach still mainly based on manually harvesting, large labor intensity, working efficiency is low, time-consuming and laborious.
The pericarp of fruit is generally all than relatively thin, the extreme care in picking process, active force it is excessive or it is too small all cannot be very
The completion picking process got well, active force is excessive may to cause unnecessary damage to fruit, and active force is too small possibly can not to incite somebody to action
Fruit hold tightly and caused by picking process landing cause to damage.
Some fruit picking robots have been had investigated both at home and abroad at present, but have occurred much asking in picking process
Topic.
The end effector of existing picking robot is much using more grabbing while being grabbed, and this mode is in picking
It is likely to that the fruit outside target fruit is caused to damage because grabbing mostly；End effector also by the way of clamping carpopodium into
Row picking, this mode probably because fruit is excessively mature and separates landing with carpopodium, cause to damage in picking process.
The disconnecting device of existing picking robot is much used to twist off carpopodium or install in the top of end effector and be cut
The mode of knife separates fruit with carpopodium.The mode twisted off is easy to cause to damage to plant or falls other fruit because turning round to draw
It causes to damage in ground；The mode of installation scissors increases the complexity of end effector, is easy to make fruit in picking process
At damage.
Existing picking robot mechanical arm overall length is fixed, and picking range is small, and picking efficiency is low.
The height of the device for visual identification of existing picking robot in the vertical direction is fixed, and makes to grow too high or too low
Fruit can not be identified, and reduce picking efficiency.
Existing picking robot walking mechanism much uses tire, and this mode cannot well adapt to different operating environment
Picking, and because with the small compacting caused to ground of contact area of ground influence plant so that the gas permeability in soil is very poor
Growth.
Summary of the invention
In view of the above technical problems, the present invention proposes a kind of fruit picking robot, can be to by the position of fruit-picking
It carries out accurately picking fruit after accurately judging simultaneously with size, when picking does not damage surrounding fruit, and picking efficiency
Height can well adapt to the picking of different operating environment, not influence plant growth.
In order to achieve the above technical purposes, the present invention adopts the following technical scheme that:
A kind of fruit picking robot, including mobile platform, mechanical arm and end effector, wherein the mobile platform
It is equipped with horizontal rotating table, the mechanical arm is fixedly connected on horizontal rotating table, the end of mechanical arm connects the end and executes
Device, further includes:
First look identification device is arranged on the mobile platform, for identification the size of fruit position and fruit；
The end effector include: the first claw frame linking, the second claw frame linking, two main jaws arranged in opposite directions, with
And one right above being arranged among two main jaws is for carrying out the auxiliary claw of secondary holding to fruit；
Wherein, the rear end of the first claw frame linking, assist claw end and the second claw frame linking three between lead to
Cross pin connection；
Symmetrical hinged two main jaws of the arranged on left and right sides of first claw frame linking front, the inside of the first claw frame linking
Equipped with sliding slot, sliding is provided with a slide bar in sliding slot,
One end of first driving unit and slide bar is drivingly connected, and the slide bar other end passes through after stretching out the first claw frame linking front end
One planar linkage mechanism and two main jaws are sequentially connected；
The auxiliary claw is equipped with the carpopodium through slot passed through for carpopodium, and the slot tail of carpopodium through slot is cut off equipped with carpopodium
Slot, carpopodium cutting groove is interior to be equipped with carpopodium cutting mechanism, and the carpopodium cutting mechanism includes:
One sliding block is connected with the blade for being cut off to carpopodium on sliding block；
Second driving unit is connect with the slider-actuated, for driving sliding block to move back and forth in carpopodium cutting groove, from
And carpopodium is cut off with cutting blade；
Second device for visual identification is arranged on the auxiliary claw, for identification position of the carpopodium with respect to carpopodium cutting groove
It sets；
Pressure sensor is arranged on end effector, for detecting end effector and by embracing between fruit-picking
Clamp force；
The mechanical arm includes: the first linking arm, the second linking arm and third linking arm, one end of the first linking arm with
Horizontal rotating table is fixedly connected, between the first linking arm and the second linking arm and between the second linking arm and third linking arm
It is connected by steering engine unit, the third linking arm is telescopic arm, and the fixed part of telescopic arm passes through steering engine unit and second
Linking arm connection, the movable part of telescopic arm are connect with end effector；
The end of movable part passes through the second claw frame linking in revolute pair and end effector on the third linking arm
Connection；
Control module, with the walking mechanism, horizontal rotating table, steering engine unit, revolute pair, First look identification device,
Second device for visual identification, the first driving unit and the connection of the second driving unit signal.
The First look identification device includes two vertical telescopic rods being set side by side on a mobile platform, described in every
The top of vertical telescopic rod is equipped with first CCD camera；Second device for visual identification is described including being fixed at
Second CCD camera at the carpopodium through slot is closed on auxiliary claw.
First driving unit is hydraulic drive unit, and the telescopic shaft of hydraulic drive unit is fixed with described slide bar one end
Connection；
Second driving unit includes motor and worm gear mechanism, wherein the both ends of worm screw are rotatably supported on auxiliary
It is located at the two sides of carpopodium cutting groove, the rotation in carpopodium cutting groove of motor driven worm screw on claw, the turbine is fixedly connected on
The tail end of sliding block, worm screw and worm gear drive, drive entire sliding block in carpopodium cutting groove along worm shaft to moving back and forth.
The insert pocket for insert grafting is equipped in the sliding block, one end of blade leads to after being inserted into the insert pocket
Pin is crossed to connect with sliding block.
The mobile platform includes bottom walking mechanism and support platform, and the bottom walking mechanism is crawler-type traveling machine
Structure.
Two sides on the mobile platform positioned at horizontal rotating table are respectively equipped with a fruit containing box.
The part that the main jaw, auxiliary claw are in contact with fruit is equipped with cushion course.
The auxiliary claw includes the auxiliary claw time pawl for assisting claw ontology and setting auxiliary claw ontology front end, institute
It states hinged between auxiliary claw time pawl and auxiliary claw ontology.
The present invention further discloses a kind of picking method based on the fruit picking robot,
Before operation, the position and growing way, mechanical arm and end that robot is collected fruit by First look identification device are held
Pose is regulated to pick by revolute pair between row device；Two main jaws being oppositely arranged on end effector simultaneously are opened
To maximum rating, prevent the main jaw when capturing fruit from causing to damage with fruit collision；
By the first driving unit driving slider, slide bar drives planar linkage mechanism to adjust two surrounded shapes of main jaw
The size of shape, it is ensured that fruit can be embraced in picking；
Second vision capture device carries out the accurate three-dimensional coordinate for capturing carpopodium, and end effector passes through the second vision capture
The three-dimensional coordinate of device feedback, which accurately moves, makes carpopodium enter carpopodium cutting groove, and main jaw and auxiliary claw are held tightly simultaneously at this time
Fruit；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value,
Controller sends a signal to the second driving unit, and it is primary that the second driving unit drives sliding block and blade to carry out along carpopodium cutting groove
Carpopodium is cut off in reciprocating motion；
Last controller calculates route and is accurately sent fruit to mobile platform by mechanical arm and each steering engine unit
On fruit containing box in；
Continue successively to pick the fruit that First look identification device is identified after primary picking, the after having picked
One device for visual identification further picks the water of different height by the height that vertical telescopic rod adjusts First look identification device
Fruit, after the fruit when side has all been picked, horizontal rotating table rotates counterclockwise 180 degree, carries out the fruit of the picking other side, together
It after the picking of sample, is moved a certain distance by the walking mechanism of mobile platform bottom and continues to pick, until by whole fruit
It has picked.
The present invention relative to existing fruit picking robot, have it is below the utility model has the advantages that
The first, before operation, the position and growing way that robot of the present invention is collected fruit by First look identification device are mechanical
Pose is regulated to pick by revolute pair between arm and end effector；Two be oppositely arranged on end effector simultaneously
Main jaw is flared to maximum rating, prevents the main jaw when capturing fruit from causing to damage with fruit collision.
The second, adjusted by the first driving unit and planar linkage mechanism the size of two surrounded shapes of main jaw with
Just ensure that fruit can be embraced in picking；Auxiliary claw keeps horizontality so as to fruit-picking at this time；
Second vision capture device carries out the accurate three-dimensional coordinate for capturing carpopodium, and end effector passes through the second vision capture
The three-dimensional coordinate of device feedback, which accurately moves, makes carpopodium enter carpopodium cutting groove, and main jaw and auxiliary claw are held tightly simultaneously at this time
Fruit；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value,
Second driving unit driving sliding block and blade carry out primary move back and forth along carpopodium cutting groove and cut off carpopodium；
Last controller calculates route and is accurately sent fruit to mobile platform by mechanical arm and each steering engine unit
On fruit containing box in.
Continue successively to pick the fruit that First look identification device is identified after primary picking, the after having picked
One device for visual identification further picks the water of different height by the height that vertical telescopic rod adjusts First look identification device
Fruit, after the fruit when side has all been picked, horizontal rotating table rotates counterclockwise 180 degree, carries out the fruit of the picking other side, together
It after the picking of sample, is moved a certain distance by the walking mechanism of mobile platform bottom and continues to pick, until by whole fruit
It has picked.
Detailed description of the invention
Fig. 1 is the general assembly drawing of fruit picking robot of the present invention；
Wherein, 1, walking mechanism；2, fruit containing box；3, end effector；4, movable part on third linking arm；5,
Fixed part on three linking arms；6, the second linking arm；7, steering engine unit；8, First look identification device；9, horizontal rotating table；
10, vertical telescopic rod；11, support platform；
Fig. 2 is the structural schematic diagram of end effector of the present invention；
Wherein, 2-1, the second claw frame linking；2-2, pin shaft；
Fig. 3 is the structural schematic diagram for assisting claw；
Wherein, 2-3, auxiliary claw time pawl；2-4, pin；2-5, carpopodium through slot；2-6, carpopodium cutting groove；2-7, the second view
Feel identification device；2-8, worm screw；2-9, motor；
Fig. 4 is the structural schematic diagram of main jaw；
Wherein, 2-10, left side main jaw；2-11 planar linkage mechanism；2-12, pin；2-13, the first claw frame linking；2-
14, slide bar；2-15, pin；2-16 pin；2-17, right side main jaw；
Fig. 5 is the structural schematic diagram of sliding block and blade；
Wherein, 12, blade；13, position-limit mechanism；14, sliding block；15, pin；16, turbine.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Case study on implementation:
Fig. 2 to Fig. 5, the fruit picking robot of the present embodiment, including the second claw frame linking 2-1, the first claw is detailed in connect
Frame 2-13 and auxiliary claw, pass through pin connection between above three component；
It assists connecting between claw and auxiliary claw time pawl 2-3 by pin；
Prismatic pair is formed between sliding block 14 and carpopodium cutting groove；Pass through pin between blade 12, position-limit mechanism 13 and sliding block 14
Nail connection；
It connects to form plane four by pin between left side main jaw 2-10, right side main jaw 2-17 and planar linkage mechanism
Link mechanism；
It is connected between first linking arm, the second linking arm and third linking arm by steering engine unit, forms revolute pair.
End effector
For the defect of existing terminal executor of picking robot, the design of end effector of the present invention by auxiliary claw and
Main jaw two parts composition.Main jaw is made of two arcuation claws, calculates target fruit by First look identification device
Size, to adjust the size of main jaw by the first driving unit and planar linkage mechanism.
And devise and time grab in auxiliary claw, a secondary holding is carried out to fruit.A main jaw in this way
Cooperation with auxiliary claw, which ensures that fruit is held tightly, to be fallen in picking process again.
The carpopodium cutting of end effector of the present invention is cut off using disconnecting device, and disconnecting device is mounted on the fruit of auxiliary claw
Obstruct in cutting groove.This design effectively can quickly cut off carpopodium and the in the prior art method by twisting off carpopodium
And it is injured caused by plant.
End effector of the present invention is mounted with the second vision capture device on auxiliary claw, to the three-dimensional coordinate of carpopodium into
Row identification calculates, and then ensures that carpopodium enters carpopodium cutting groove.This design effectively increases identification picking efficiency.
The tail end of end effector of the present invention and the junction of mechanical arm, which form revolute pair, makes end effector can be with 360 degree
Problem caused by rotating to improve because of fruit growing way.
Mechanical arm
Third linking arm is telescopic arm on mechanical arm of the present invention, change mechanical arm can with free extension by hydraulic drive
It has been apt to picking apart from remote problem, has improved picking efficiency.
Device for visual identification
The bottom of First look identification device of the present invention is mounted on horizontal rotating table by vertical telescopic rod, makes the first view
It is mobile in vertical direction to feel that identification device be free to, improves fruit in the identification range problem of vertical direction, improves
Picking efficiency.
Horizontal rotating table of the present invention and body form a revolute pair, and horizontal rotating table can be rotated with 360 degree, thus may be used
To pick in fruit of the same position to robot two sides, picking efficiency is improved.
Walking mechanism of the invention uses crawler belt, and the contact area opposing tire on such robot and ground is much larger, subtracts
The small compaction to soil, and crawler belt adapts to the picking operation of many different terrains.
It is using the picking method that a kind of fruit picking robot of the present invention carries out fruit picking:
Before operation, the position and growing way that robot of the present invention is collected fruit by First look identification device, mechanical arm and
Pose is regulated to pick by revolute pair between end effector；Two main cards being oppositely arranged on end effector simultaneously
Pawl is flared to maximum rating, prevents the main jaw when capturing fruit from causing to damage with fruit collision.
The size of two surrounded shapes of main jaw is adjusted by the first driving unit and planar linkage mechanism so as to true
Water conservation fruit can be embraced in picking；Auxiliary claw keeps horizontality so as to fruit-picking at this time；
Second vision capture device carries out the accurate three-dimensional coordinate for capturing carpopodium, and end effector passes through the second vision capture
The three-dimensional coordinate of device feedback, which accurately moves, makes carpopodium enter carpopodium cutting groove, and main jaw and auxiliary claw are held tightly simultaneously at this time
Fruit；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value,
Second driving unit driving sliding block and blade carry out primary move back and forth along carpopodium cutting groove and cut off carpopodium；
Last controller calculates route and is accurately sent fruit to mobile platform by mechanical arm and each steering engine unit
On fruit containing box in.
Continue successively to pick the fruit that First look identification device is identified after primary picking, the after having picked
One device for visual identification further picks the water of different height by the height that vertical telescopic rod adjusts First look identification device
Fruit, after the fruit when side has all been picked, horizontal rotating table rotates counterclockwise 180 degree, carries out the fruit of the picking other side, together
It after the picking of sample, is moved a certain distance by the walking mechanism of mobile platform bottom and continues to pick, until by whole fruit
It has picked.
Claims (9)
1. a kind of fruit picking robot, including mobile platform, mechanical arm and end effector, wherein on the mobile platform
Equipped with horizontal rotating table, the mechanical arm is fixedly connected on horizontal rotating table, the end of mechanical arm connects the end effector,
It is characterized by further comprising:
First look identification device is arranged on the mobile platform, for identification the size of fruit position and fruit；
The end effector include: the first claw frame linking, the second claw frame linking, two arrange in opposite directions main jaw, Yi Jishe
One right above among two main jaws is set for carrying out the auxiliary claw of secondary holding to fruit；
Wherein, the rear end of the first claw frame linking, assist claw end and the second claw frame linking three between pass through pin
Nail connection；
Symmetrical hinged two main jaws of the arranged on left and right sides of first claw frame linking front, the inside of the first claw frame linking is equipped with
Sliding slot, the interior sliding of sliding slot are provided with a slide bar,
One end of first driving unit and slide bar is drivingly connected, flat by one behind the first claw frame linking front end of slide bar other end stretching
Face link mechanism and two main jaws are sequentially connected；
The auxiliary claw is equipped with the carpopodium through slot passed through for carpopodium, and the slot tail of carpopodium through slot is equipped with carpopodium cutting groove, fruit
Obstruct and be equipped with carpopodium cutting mechanism in cutting groove, the carpopodium cutting mechanism includes:
One sliding block is connected with the blade for being cut off to carpopodium on sliding block；
Second driving unit is connect with the slider-actuated, for driving sliding block to move back and forth in carpopodium cutting groove, thus band
Cutting blade cuts off carpopodium；
Second device for visual identification is arranged on the auxiliary claw, for identification position of the carpopodium with respect to carpopodium cutting groove；
Pressure sensor is arranged on end effector, for detecting end effector and by the enclasping force between fruit-picking；
The mechanical arm includes: the first linking arm, the second linking arm and third linking arm, one end and the level of the first linking arm
Turntable is fixedly connected, and is led between the first linking arm and the second linking arm and between the second linking arm and third linking arm
It crosses steering engine unit to be connected, the third linking arm is telescopic arm, and the fixed part of telescopic arm is connect by steering engine unit with second
Arm connection, the movable part of telescopic arm are connect with end effector；
The end of movable part is connect by revolute pair with the second claw frame linking on end effector on the third linking arm；
Control module, with the walking mechanism, horizontal rotating table, steering engine unit, revolute pair, First look identification device, second
Device for visual identification, the first driving unit and the connection of the second driving unit signal.
2. fruit picking robot according to claim 1, which is characterized in that the First look identification device includes simultaneously
The two vertical telescopic rods of column setting on a mobile platform, the top of the every vertical telescopic rod are equipped with the first CCD and take the photograph
As head；Second device for visual identification includes being fixed on the auxiliary claw to close on one at the carpopodium through slot
Second CCD camera.
3. fruit picking robot according to claim 1, which is characterized in that first driving unit is hydraulic-driven
Unit, the telescopic shaft of hydraulic drive unit are fixedly connected with described slide bar one end；
Second driving unit includes motor and worm gear mechanism, wherein the both ends of worm screw are rotatably supported on auxiliary claw
The upper two sides positioned at carpopodium cutting groove, the rotation in carpopodium cutting groove of motor driven worm screw, the turbine are fixedly connected on sliding block
Tail end, worm screw and worm gear drive, drive entire sliding block in carpopodium cutting groove along worm shaft to moving back and forth.
4. fruit picking robot according to claim 1, which is characterized in that be equipped in the sliding block and inserted for insert
The insert pocket connect, one end of blade are connect by pin with sliding block after being inserted into the insert pocket.
5. fruit picking robot according to claim 1, which is characterized in that the mobile platform includes bottom vehicle with walking machine
Structure and support platform, the bottom walking mechanism are crawler type walking mechanism.
6. fruit picking robot according to claim 1, which is characterized in that be located on the mobile platform and rotate horizontally
The two sides of platform are respectively equipped with a fruit containing box.
7. fruit picking robot according to claim 1, which is characterized in that the main jaw, auxiliary claw and fruit
The part being in contact is equipped with cushion course.
8. fruit picking robot according to claim 1, which is characterized in that the auxiliary claw includes auxiliary claw sheet
Body and the auxiliary claw time pawl of setting auxiliary claw ontology front end, cut with scissors between the auxiliary claw time pawl and auxiliary claw ontology
It connects.
9. a kind of picking method based on the fruit picking robot any in claim 1~8, which is characterized in that
Before operation, position and growing way, mechanical arm and end effector that robot is collected fruit by First look identification device
Between pose regulated to pick by revolute pair；Two main jaws being oppositely arranged on end effector simultaneously are flared to most
Big state prevents the main jaw when capturing fruit from causing to damage with fruit collision；
By the first driving unit driving slider, slide bar drives planar linkage mechanism to adjust two surrounded shapes of main jaw
Size, it is ensured that fruit can be embraced in picking；
Second vision capture device carries out the accurate three-dimensional coordinate for capturing carpopodium, and end effector passes through the second vision capture device
The three-dimensional coordinate of feedback, which accurately moves, makes carpopodium enter carpopodium cutting groove, and main jaw and auxiliary claw hold water tightly simultaneously at this time
Fruit；
The size of pressure sensor monitoring enclasping force is simultaneously transferred to controller, when controller detection power reaches setting value, control
Device sends a signal to the second driving unit, and it is primary reciprocal that the second driving unit drives sliding block and blade to carry out along carpopodium cutting groove
Carpopodium is cut off in movement；
Last controller calculates route and is accurately sent fruit to mobile platform by mechanical arm and each steering engine unit
In fruit containing box；
Continue successively to pick the fruit that First look identification device is identified after primary picking, the first view after having picked
Feel that identification device further picks the fruit of different height by the height that vertical telescopic rod adjusts First look identification device, when
After the fruit of side has all been picked, horizontal rotating table rotates counterclockwise 180 degree, carries out the fruit of the picking other side, similarly
It after picking, is moved a certain distance by the walking mechanism of mobile platform bottom and continues to pick, until by whole fruit pickings
It is complete.
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| CN201811610301.0A CN109479522A (en) | 2018-12-27 | 2018-12-27 | A kind of fruit picking robot and its picking method |
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| CN111631019A (en) * | 2020-06-08 | 2020-09-08 | 安徽理工大学 | Multifunctional harvesting robot for plant factory |
| CN111955164A (en) * | 2020-08-31 | 2020-11-20 | 新疆农业大学 | Safflower filament occlusion type parallel picking robot |
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| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
| CN113313708A (en) * | 2021-06-30 | 2021-08-27 | 安徽工程大学 | Fruit detection method and system based on deep neural network |
| US20210337733A1 (en) * | 2018-05-22 | 2021-11-04 | Octinion Bvba | Improved method and apparatus for automatically picking a fruit |
| CN114097428A (en) * | 2021-12-23 | 2022-03-01 | 广东工贸职业技术学院 | Clamping-controllable fruit nondestructive picking end effector and control method thereof |
| CN115250745A (en) * | 2022-08-05 | 2022-11-01 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
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| CN112136506A (en) * | 2020-09-27 | 2020-12-29 | 哈尔滨理工大学 | Robot arm device with fruit maturity distinguishing function |
| CN112840862A (en) * | 2021-01-07 | 2021-05-28 | 杭州乔戈里科技有限公司 | Picking robot suitable for picking various fruits and picking method thereof |
| CN113313708A (en) * | 2021-06-30 | 2021-08-27 | 安徽工程大学 | Fruit detection method and system based on deep neural network |
| CN114097428A (en) * | 2021-12-23 | 2022-03-01 | 广东工贸职业技术学院 | Clamping-controllable fruit nondestructive picking end effector and control method thereof |
| CN114097428B (en) * | 2021-12-23 | 2024-07-26 | 广东工贸职业技术学院 | Clamping controllable type fruit nondestructive picking end effector and control method thereof |
| CN115250745A (en) * | 2022-08-05 | 2022-11-01 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
| CN115250745B (en) * | 2022-08-05 | 2024-03-12 | 华南农业大学 | Full-automatic fruit picking robot and picking method based on vision technology |
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Application publication date: 20190319 |