CN109729829A - A kind of intelligent hawthorn picking robot based on binocular identification - Google Patents
A kind of intelligent hawthorn picking robot based on binocular identification Download PDFInfo
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- CN109729829A CN109729829A CN201910212192.5A CN201910212192A CN109729829A CN 109729829 A CN109729829 A CN 109729829A CN 201910212192 A CN201910212192 A CN 201910212192A CN 109729829 A CN109729829 A CN 109729829A
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- hawthorn
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
Abstract
The present invention is a kind of intelligent hawthorn picking robot based on binocular identification technology.The robot includes hawthorn picker, moving device, image acquisition and processing device；The hawthorn picker includes mechanical arm, low capacity collection device and large capacity collection device；The large capacity collection device is rectangular box body, is fixed on moving device；The moving device is crawler-tread；Described image acquisition processing device includes three scalable racks and three CCD phases and industrial control computer, is located on moving device.Judge whether scissors net shrinks after hawthorn passes industrial control computer back with scissors net positional relationship image in the present invention, cut hawthorn stalk, completes picking, it is such to design the Fructus Crataegi that adequately protected.
Description
Technical field
The present invention is a kind of mechanical equipment for hawthorn picking, in particular to a kind of intelligent hawthorn based on binocular identification
Picker system belongs to agricultural mechanical field.
Background technique
Hawthorn belongs to a kind of stone fruit, and fruit is raw-eaten or makees preserved fruit fruitcake, can be used as medicine after drying, is that China is peculiar
Dual-purpose of drug and fruit tree species.Thornbuss belongs to deciduous tree, and bark is coarse, and general spinosity on branch, be born in hillside woods side or
In bushes, the fruit of knot is subsphaeroidal, and 1-1.5 centimetres of diameter, peony has a light spot, usually cluster cluster as a result,
One rickle of fruit, one rickle it drop down.
In view of the above-mentioned characteristic of hawthorn, the hawthorn Softening of people, which is commonly manually to beat, at present falls it, then
By manually being picked up, in this way first is that wasting human resources, and hawthorn thorn is also easy to damage people, second is that by mountain
Short, bristly hair or beard, which is hit down, to generate damage to Fructus Crataegi.In view of the above-mentioned problems, the device of hawthorn picking emerges one after another.Number of patent application is
The utility model patent of 200420010332.X, is a kind of Softening by mechanical grapple, which makes fruit using grapple
It is caught between wire, pulls back so that fruit is fallen into collection bag, which can save some manpowers, but mainly still lean on
Manpower is picked, and is easily damaged fruit, the reality that number of patent application is 201621262238.2 and 201320795313.1
It also proposed two kinds of portable hawthorn device for picking with new patent, be all manually to be adopted though picking principle is not quite alike
Pluck, be all it is mechanically stressed, be easy fruit is damaged.There are also number of patent application be 201610191601.4 patent of invention,
This kind of efficient hawthorn device for picking drives two needle roller wheels to rotate towards each other by the drive shaft on motor drive, carries out work in needle roller wheel
It is easy to damage fruit when work.So there is an urgent need to a kind of intelligent hawthorn pickers to greatly improve picking efficiency
And quality, it uses manpower and material resources sparingly.It is a kind of based on binocular identification intelligent hawthorn picking robot refer to it is a kind of can automatic identification,
Picking, and the device recycled.
Summary of the invention
The purpose of the present invention is to solve existing pluck to need to expend a large amount of human resources in hawthorn technology, and is easy
The problem of damaging fruit proposes a kind of automatic binocular identification based on industrial control computer control and safely picking hawthorn
A kind of intelligence picker.
The technical scheme is that
A kind of intelligent hawthorn picking robot based on binocular identification technology, the device include hawthorn picker, advance
Device, image acquisition and processing device；
The hawthorn picker includes mechanical arm, low capacity collection device and large capacity collection device；
The mechanical arm includes pedestal, turntable, large arm, connector, telescopic rod, forearm and rotary shaft；Turntable
The cylindrical end of bottom is connected with pedestal, the lower end of large arm is connected with the rotating circular disc of turntable upper end, large arm upper end and connector
It is connected by shaft；Connector upper end is connected by telescopic rod with forearm lower end；Forearm upper end passes through the tail of shaft and rotary shaft
End is connected, and rotary shaft front end and low capacity collection device are connected；The pedestal is fixed on the front of large capacity collection device；Machine
Built-in motor is installed, each freedom motor is electrically connected with industrial control computer respectively in each freedom degree of tool arm；
The low capacity collection device, including driving wheel, telescopic shaft, driven wheel, sensor, fixed device 5, scissors
Net, low capacity collection vessel；The low capacity collection vessel is rectangle cylinder, and the opposite two sides in port, front end are each thereon
It is provided with 1 driving wheel, middle part is each provided with a driven wheel；On each driving wheel and driven wheel, it is mounted on one and stretches
Axis, fixed device is fixed on the port of third side, and the top of fixed device is provided with sensor；The two sides of scissors net respectively with
4 telescopic shafts are connected, and one end is connected with fixed device；The automatic telescopic scissors net is handed over by the sharp strip blade in bottom edge
Fork splicing, each crosspoint connected tube and screw are fixed, and 5~7 centimetres of side length of squared mesh is formed；The low capacity
The bottom port of collection vessel is provided with self-shooter, installs pressure sensor on self-shooter；
The two sides of the low capacity collection vessel upper port are provided with track, and the driving wheel and driven wheel 3 are pacified
Dress is in orbit；
Wheel mounting bracket is connected on the outside of two driving wheels of front end, Wheel mounting bracket surface connects motor and DC power supply；
The large capacity collection device is rectangular box body, is fixed on moving device；
The moving device is crawler-tread；
Described image acquisition processing device includes three scalable racks and three CCD phases and industrial control computer；
One CCD camera is installed in each scalable rack, a scalable rack is located at immediately ahead of car body, and in addition two
A scalable rack is located at large capacity collection device groove upper surface rear portion；
Industrial control computer is located in front of car body side on platform, respectively in three CCD cameras, mechanical arm respectively
It is connected by degree motor, moving device motor, low capacity collection device driver motor, sensor.
Compared with prior art, the beneficial effects of the invention are that:
1, the completely new design structure of the present invention, using wheel plus crawler belt combination so that the device advance in mountainous region it is steady,
Hawthorn will not be trickled down on ground, and use automatic tracking device, so that the present invention advances along the route planned automatically.
2, the completely new picking hawthorn mode of the present invention is stretched using by industrial control computer control mechanical arm,
The position that hawthorn and scissors net are scanned by CCD camera, is controlled after hawthorn is completely into scissors net by industrial control computer
Scissors net is shunk, and hawthorn enters collecting box to complete to pick.
3, the brand-new design of scissors net formerly contacts the smooth outer surface of hawthorn, interior to survey sharp cutting hawthorn stalk, Er Qieshi
Automatic telescopic is controlled by industrial control computer, hawthorn judges after passing industrial control computer back with scissors net positional relationship image
Whether scissors net shrinks, and cuts hawthorn stalk, completes picking, such to design the Fructus Crataegi that adequately protected.
4, present invention employs the image processing techniques based on deep learning residual error neural network, intelligent identification reaches into
The Fructus Crataegi of ripe degree realizes coordinate setting, commands picking process by combining technique of binocular stereoscopic vision；And record will
Mature Fructus Crataegi chooses the time picked next time in conjunction with the growth rhythm of hawthorn, and marks fruit position, uploads
Cloud platform.
5, present invention employs the wisdom agricultural practices of big data platform, the Fructus Crataegi that record will be mature, in conjunction with mountain
The growth rhythm of short, bristly hair or beard chooses the time picked next time, and marks fruit position, uploads cloud platform, so that intelligent hawthorn is adopted
Memory function can be had by plucking robot, it is ensured that hawthorn picking is not omitted.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of the intelligent hawthorn picking robot based on binocular identification of the present invention；
Fig. 2 is mechanical arm structure in a kind of intelligent hawthorn picking robot picker based on binocular identification of the present invention
Schematic diagram；
Fig. 3 is that a kind of intelligent hawthorn picking robot picker Small And Medium Capacity based on binocular identification of the present invention collects dress
Set view structural schematic diagram；
Fig. 4 is that a kind of intelligent hawthorn picking robot picker Small And Medium Capacity based on binocular identification of the present invention collects dress
Set driving wheel structural schematic diagram；
Fig. 5 is that a kind of intelligent hawthorn picking robot picker Small And Medium Capacity based on binocular identification of the present invention collects dress
Set lower view structural schematic diagram；
Fig. 6 is work flow diagram of the invention；
In figure: 1, low capacity collection device；2, mechanical arm；3, power supply；4, industrial control computer；5, scalable rack
And CCD camera；6, large capacity collection device；7, scalable rack and CCD camera；8, scalable rack and CCD camera；9, it advances
Device；10, car body；201, rotary shaft；202, forearm；203, telescopic rod；204, connector；205, large arm；206, turntable；
207, pedestal；101, driving wheel；102, telescopic shaft；103, driven wheel；104, sensor；105, fixed device；106, scissors net；
107, low capacity collection vessel；1011, Wheel mounting bracket；1012, motor；1013, DC power supply；108, gate；109, it senses
Device；
Specific embodiment
Below with reference to embodiment and attached drawing, present invention is further described in detail, but does not protect in this, as to the application
Protect the restriction of range.
A kind of intelligent hawthorn picking robot (abbreviation hawthorn picker, such as Fig. 1) based on binocular identification technology, it is special
Sign is that the system includes hawthorn picker, moving device, image acquisition and processing device；
The hawthorn picker includes mechanical arm 2, low capacity collection device 1 and large capacity collection device 6；
The mechanical arm 2 is as shown in Fig. 2, including pedestal 207, turntable 206, large arm 205, connector 204, stretching
Bar 203, forearm 202 and rotary shaft 201；The cylindrical end of 206 bottom of turntable and pedestal 207 be connected, the lower end of large arm 205 and rotation
The rotating circular disc of 206 upper end of turntable is connected by nut, and 205 upper end of large arm is connect with connector 204 by shaft；Connector
204 upper ends are connected by telescopic rod 203 with 202 lower end of forearm；202 upper end of forearm passes through the tail end phase of shaft and rotary shaft 201
Even, 201 front end of rotary shaft and low capacity collection device 1 weld；The pedestal 207 be welded on large capacity collection device 6 just before
Side；Each freedom degree (i.e. turntable 206, large arm 205, connector 204, telescopic rod 203, forearm 202 and the rotation of mechanical arm
Axis 201) in built-in motor is installed, each freedom motor is electrically connected with industrial control computer respectively；
The pedestal 207 is cuboid；Turntable 206 is that bottom is cylindrical, and top is the irregular shape of a saddle；Large arm
205 be elliptical table shape；Connector 204 is the trapezoidal mesa-shaped of rule；Forearm 202 is elliptical table shape with large arm 205, and rotary shaft 201 is
Standard truncated cone-shaped；
The structure of the low capacity collection device 1 is including driving wheel 101, telescopic shaft 102, driven as shown in Fig. 3,4,5
Wheel 103, sensor 104, fixed device 105, scissors net 106, low capacity collection vessel 107；The low capacity collection vessel
107 be rectangle cylinder, and the opposite two sides in port, front end are each provided with 1 driving wheel 101 thereon, and middle part is each provided with one
Driven wheel 103；On each driving wheel 101 and driven wheel 103, it is mounted on a telescopic shaft 102, is fixed on the port of third side
There is fixed device 105, the top of fixed device 105 is provided with sensor 104；The two sides of scissors net respectively with 4 telescopic shafts 102
It is connected, one end is connected with fixed device 105；The automatic telescopic scissors net 106 is intersected by the sharp strip blade in bottom edge
Splicing, each crosspoint connected tube and screw are fixed, and 5 centimetres of side length of squared mesh is formed；The low capacity is collected
The bottom port of container 107 is provided with self-shooter 108, installs pressure sensor 109 on self-shooter；
The two sides of 107 upper port of low capacity collection vessel are provided with track, the driving wheel 101 and driven
103 installation of wheel is in orbit；
Wheel mounting bracket 1011 is connected on the outside of two driving wheels 101 of front end, 1011 surface of Wheel mounting bracket connects motor
1012 and DC power supply 1013,
The large capacity collection device 6 is rectangular box body, is fixed on moving device 9；
The moving device is the mobile devices in existing suitable farmland or mountainous region, such as the crawler travel device of baby tractor
9；
Described image acquisition processing device includes three scalable racks and CCD camera 5,7,8 and industrial control computer
4；
In three scalable racks and CCD camera 5,7,8, a scalable rack and CCD camera 5 are located at car body 10
Front, other two scalable rack and CCD camera 7,8 are located at 6 groove upper surface rear portion of large capacity collection device；Industry control
Computer 4 processed is located at side on 9 front platform of car body, respectively with each freedom motor, row in three CCD cameras, mechanical arm
Into device motor, low capacity collection device driver motor, sensor electrical connection；
A kind of intelligent hawthorn picking robot picking hawthorn based on binocular identification of the present invention comprises the concrete steps that:
The first step, is arranged white line on the ground in hawthorn region to be picked, moving device image acquisition and processing device according to
The mode that vision tracks is advanced, and the route of traveling makees guide line with white line, is satisfied the need by the CCD camera acquisition to track for vision
Colourless line tracking information, and pavement detection signal is fed back into industrial control computer, industrial control computer is to collected
The revolving speed of the driving wheel of running gear is analyzed and controlled to signal, allows the device to traverse each thornbuss.
Second step acquires general image using two CCD cameras for binocular identification calibration in traveling in real time, and
By carrying out denoising to collected hawthorn Tree image, pass through the sample data training of a large amount of differing maturity hawthorn
Residual error neural network finally obtains the Remanent Model that can differentiate maturity, is judged whether it is using the model to image procossing
Mature hawthorn marks hawthorn if judging hawthorn prematurity, and data save, and does not go to pick, and predicts hawthorn maturation time, to
Compare when picking next time further according to Remanent Model prediction and judges whether to pick；If judging for mature hawthorn, dress of advancing
Stopping movement being set, is started to work at this time by the mechanical arm in industrial control computer control hawthorn picker, drives little Rong
Amount collection device navigates to the position of mature hawthorn, and the CCD camera for binocular identification calibration acquires hawthorn and scissors net again
Positional relationship image, while being ensured accurately by sensor sensing positional relationship, by industry after hawthorn is completely into scissors net
Driving wheel is mobile in control computer control low capacity collection device shrinks scissors net, and hawthorn is obstructed and is cut off, hawthorn is collected
In low capacity collection device, by the saturation degree of sensor sensing container below low capacity collection device, when low capacity collection device
It is driven above small collection device to large capacity collection device after filling by mechanical arm, gate is opened, and completes to collect.
Third step judges that large capacity collection device is filled rear intelligent hawthorn picking robot and returned along track.
The workflow of present system is: opening the system switching, vision, which tracks, guides moving device to advance, in traveling
Two CCD cameras for binocular identification calibration acquire image, and CCD camera passes image back industrial control computer, and passes through
Denoising is carried out to collected hawthorn Tree image, passes through the sample data training residual error of a large amount of differing maturity hawthorn
Neural network finally obtains the Remanent Model that can differentiate maturity, judges whether it is mature to image procossing using the model
Hawthorn marks hawthorn if judging hawthorn prematurity, and data save, and does not go to pick, and hawthorn maturation time is predicted, to next time
Compare when picking further according to Remanent Model prediction and judges whether to pick；
If judging for mature hawthorn, moving device stopping movement, at this time by industrial control computer control hawthorn picking
Mechanical arm in device is started to work, and low capacity collection device is driven to navigate to the position of mature hawthorn, is identified for binocular
The CCD camera of calibration acquires the positional relationship image of hawthorn Yu scissors net again, while being ensured by sensor sensing positional relationship
Accurately, make to cut by driving wheel movement in industrial control computer control low capacity collection device after hawthorn is completely into scissors net
Knife net is shunk, and hawthorn is obstructed and is cut off, and hawthorn is collected in low capacity collection device, by sensor sense below low capacity collection device
The saturation degree for answering container drives small collection device to large capacity collection device after low capacity collection device is filled by mechanical arm
Top, gate are opened, and complete to collect.
After hawthorn picker stops, Robot backtracking is controlled by industrial control computer.
Embodiment 1
The present embodiment it is a kind of based on binocular identification technology intelligent hawthorn picking robot (abbreviation hawthorn picker, such as
Fig. 1), it is characterised in that the system includes hawthorn picker, moving device, image acquisition and processing device；
The hawthorn picker includes mechanical arm 2, low capacity collection device 1 and large capacity collection device 6；
The mechanical arm 2 is as shown in Fig. 2, including pedestal 207, turntable 206, large arm 205, connector 204, stretching
Bar 203, forearm 202 and rotary shaft 201；The cylindrical end of 206 bottom of turntable and pedestal 207 be connected, the lower end of large arm 205 and rotation
The rotating circular disc of 206 upper end of turntable is connected by nut, and 205 upper end of large arm is connect with connector 204 by shaft；Connector
204 upper ends are connected by telescopic rod 203 with 202 lower end of forearm；202 upper end of forearm passes through the tail end phase of shaft and rotary shaft 201
Even, 201 front end of rotary shaft and low capacity collection device 1 weld；The pedestal 207 be welded on large capacity collection device 6 just before
Side；Each freedom degree (i.e. turntable 206, large arm 205, connector 204, telescopic rod 203, forearm 202 and the rotation of mechanical arm
Axis 201) in built-in motor is installed, each freedom motor is electrically connected with industrial control computer respectively；
The pedestal 207 is cuboid；Turntable 206 is that bottom is cylindrical, and top is the irregular shape of a saddle；Large arm
205 be elliptical table shape；Connector 204 is the trapezoidal mesa-shaped of rule；Forearm 202 is elliptical table shape with large arm 205, and rotary shaft 201 is
Standard truncated cone-shaped；
The structure of the low capacity collection device 1 is including driving wheel 101, telescopic shaft 102, driven as shown in Fig. 3,4,5
Wheel 103, sensor 104, fixed device 105, scissors net 106, low capacity collection vessel 107；The low capacity collection vessel
107 be rectangle cylinder, and the opposite two sides in port, front end are each provided with 1 driving wheel 101 thereon, and middle part is each provided with one
Driven wheel 103；On each driving wheel 101 and driven wheel 103, it is mounted on a telescopic shaft 102, is fixed on the port of third side
There is fixed device 105, the top of fixed device 105 is provided with sensor 104；The two sides of scissors net respectively with 4 telescopic shafts 102
It is connected, one end is connected with fixed device 105；The automatic telescopic scissors net 106 is intersected by the sharp strip blade in bottom edge
Splicing, each crosspoint connected tube and screw are fixed, and 5~7 centimetres of side length of squared mesh is formed；The low capacity is received
The bottom port of collection container 107 is provided with self-shooter 108, installs pressure sensor 109 on self-shooter；
The two sides of 107 upper port of low capacity collection vessel are provided with track, the driving wheel 101 and driven
103 installation of wheel is in orbit；
Wheel mounting bracket 1011 is connected on the outside of two driving wheels 101 of front end, 1011 surface of Wheel mounting bracket connects motor
1012 and DC power supply 1013,
The large capacity collection device 6 is rectangular box body, is fixed on moving device 9；
The moving device is the mobile devices in existing suitable farmland or mountainous region, such as the crawler travel device of baby tractor
9；
Described image acquisition processing device includes three scalable racks and CCD camera 5,7,8 and industrial control computer
4；
In three scalable racks and CCD camera 5,7,8, a scalable rack and CCD camera 5 are located at car body 10
Front, other two scalable rack and CCD camera 7,8 are located at 6 groove upper surface rear portion of large capacity collection device；Industry control
Computer 4 processed is located at side on 9 front platform of car body, respectively with each freedom motor, row in three CCD cameras, mechanical arm
Into device motor, low capacity collection device driver motor, sensor electrical connection；
Above-described embodiment is only preferable example of the invention, is not the restriction to embodiment of the present invention, right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of variation or
It changes, there is no necessity and possibility to exhaust all the enbodiments, done within the spirit and principles of the present invention
Any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention.
The heretofore described residual error neural network based on deep learning, Binocular Vision Principle are the prior art, can
Using number of patent application for the patent of CN201710406044.8 is to carry out image recognition, number of patent application using residual error network to be
The patent of CN201510222345.6 equally uses Binocular Vision Principle.
The present invention does not address place and is suitable for the prior art.
Claims (1)
1. a kind of intelligent hawthorn picking robot based on binocular identification technology, it is characterized in that the device includes hawthorn picking dress
It sets, moving device, image acquisition and processing device；
The hawthorn picker includes mechanical arm, low capacity collection device and large capacity collection device；
The mechanical arm includes pedestal, turntable, large arm, connector, telescopic rod, forearm and rotary shaft；Turntable bottom
Cylindrical end and pedestal be connected, the lower end of large arm is connected with the rotating circular disc of turntable upper end, large arm upper end passes through with connector
Shaft connection；Connector upper end is connected by telescopic rod with forearm lower end；Forearm upper end passes through the tail end phase of shaft and rotary shaft
Even, rotary shaft front end and low capacity collection device are connected；The pedestal is fixed on the front of large capacity collection device；Manipulator
Built-in motor is installed, each freedom motor is electrically connected with industrial control computer respectively in each freedom degree of arm；
The low capacity collection device, including it is driving wheel, telescopic shaft, driven wheel, sensor, fixed device 5, scissors net, small
Capacity collection vessel；The low capacity collection vessel is rectangle cylinder, and the opposite two sides in port, front end are each provided with thereon
1 driving wheel, middle part are each provided with a driven wheel；On each driving wheel and driven wheel, it is mounted on a telescopic shaft, third
Fixed device is fixed on the port of side, the top of fixed device is provided with sensor；The two sides of scissors net are flexible with 4 respectively
Axis is connected, and one end is connected with fixed device；The automatic telescopic scissors net intersects splicing by the sharp strip blade in bottom edge,
Each crosspoint connected tube and screw are fixed, and 5~7 centimetres of side length of squared mesh is formed；The low capacity, which is collected, to be held
The bottom port of device is provided with self-shooter, installs pressure sensor on self-shooter；
The two sides of the low capacity collection vessel upper port are provided with track, and the driving wheel and driven wheel 3 are mounted on
On track；
Wheel mounting bracket is connected on the outside of two driving wheels of front end, Wheel mounting bracket surface connects motor and DC power supply；
The large capacity collection device is rectangular box body, is fixed on moving device；
The moving device is crawler-tread；
Described image acquisition processing device includes three scalable racks and three CCD phases and industrial control computer；
One CCD camera is installed, a scalable rack is located at immediately ahead of car body, other two can in each scalable rack
Flexible rack is located at large capacity collection device groove upper surface rear portion；
Industrial control computer is located in front of car body side on platform, respectively with each freedom degree in three CCD cameras, mechanical arm
Motor, moving device motor, low capacity collection device driver motor, sensor are connected.
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| CN201910212192.5A CN109729829B (en) | 2019-03-20 | 2019-03-20 | Intelligent haw picking robot based on binocular identification |
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| CN201910212192.5A CN109729829B (en) | 2019-03-20 | 2019-03-20 | Intelligent haw picking robot based on binocular identification |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110226413A (en) * | 2019-06-26 | 2019-09-13 | 佛山科学技术学院 | A kind of picking robot goes here and there the method for stacking grape more |
| CN110235692A (en) * | 2019-06-28 | 2019-09-17 | 昆明研顶技术开发有限公司 | A kind of intelligence bark repairing machine device people |
| CN113812334A (en) * | 2021-09-16 | 2021-12-21 | 葛承暄 | Artificial intelligence robot device in agricultural production field |
| CN113853945A (en) * | 2021-09-16 | 2021-12-31 | 北京市农林科学院智能装备技术研究中心 | Suction-picking type actuator and suction-picking control method |
| CN114586548A (en) * | 2022-04-08 | 2022-06-07 | 重庆邮电大学 | Virtual remote fruit picking system and method |
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