CN110100557A - A kind of Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method - Google Patents
A kind of Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method Download PDFInfo
- Publication number
- CN110100557A CN110100557A CN201910530057.5A CN201910530057A CN110100557A CN 110100557 A CN110100557 A CN 110100557A CN 201910530057 A CN201910530057 A CN 201910530057A CN 110100557 A CN110100557 A CN 110100557A
- Authority
- CN
- China
- Prior art keywords
- fertilizer
- fertilizer applicator
- fertilising
- fruit tree
- mobile phone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
- H04L65/40—Support for services or applications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/366—Image reproducers using viewer tracking
Abstract
The present invention relates to a kind of, and the Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method, the mobile phone and AR glasses used including fertilizer applicator and operator, binocular camera is installed at the top of the fertilizer applicator, it being capable of acquisition trajectory side fruit tree image, and cloud streaming media server is uploaded to by 4G/5G network module, relevant location information is received by mobile phone again, and it is shown on AR glasses, then, operating handset sends control signal again, fertilising movement is carried out by cloud server control fertilizer applicator, both narrow space Work machine cannot be introduced between having solved the problems, such as fruit tree, it can be realized the accurate cave of remote operating again to apply, operating efficiency and quality can be effectively improved.
Description
Technical field
The present invention relates to a kind of control method of agricultural machinery, especially a kind of control method of fertilizer applicator, specifically
It is that a kind of Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method.
Background technique
Fruit tree growth needs periodically fertilising.The trunk and canopy of Cold region apple fruit tree are short, and line-spacing and spacing in the rows are smaller.By
In narrow space, the fertilizer machinery of traditional artificial driving can not carry fertilizer box and enter progress fertilising operation inside orchard, be badly in need of
It improves.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of, and the Cold region apple fruit tree based on AR determines cave-applied fertilizer
Teleoperation method, can use AR technology, and fertilizer applicator is controlled by way of remote control and carries out determining cave to Cold region apple fruit tree
Fertilising improves operating efficiency, and can avoid leakage and apply or repeat to apply fertilizer.
The technical scheme is that
A kind of Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method, the mobile phone used including fertilizer applicator and operator
And AR glasses, in orbit, which is equipped with motor for fertilizer applicator installation, can drag the fertilizer applicator along the track
It is mobile；The track is equipped with position sensor, can obtain the location information of the fertilizer applicator；Installation is double at the top of the fertilizer applicator
Lens camera, can acquisition trajectory side fruit tree image, and cloud streaming media server is uploaded to by 4G/5G network module；
The mobile phone can connect cloud streaming media server and cloud communication server, and obtain binocular video stream, then synthesize left and right
It is pushed to after the 3D rendering of format on AR glasses；The operating method the following steps are included:
1) fertilizer applicator moves in orbit under motor drive, and binocular camera is to fix seat in the plane uninterrupted sampling track side surfaces fruit
Tree Image, and cloud streaming media server is uploaded to by 4G/5G network module；
2) image processing unit handles acquired image analysis in real time, whether has trunk in detection image；If so, passing through
Binocular location algorithm, location information of the quick locating tree dry bottom portion's central point with respect to fertilizer applicator geometric center；The location information with
Two-dimensional surface rectangular co-ordinate data indicate；
3) when trunk bottom centre point is within the fertilising operation radius of fertilizer applicator, fertilizer applicator stops moving ahead, and record is current
Trunk bottom centre point coordinate；Otherwise, return step 1)；
4) fertilizer applicator geometric center location information in orbit is obtained by position sensor；
5) position that fertilizer applicator geometric center in trunk bottom centre dot position information in step 3) and step 4) is in orbit
Information carries out data fusion, calculates absolute location information of the trunk bottom centre point in orchard, and pass through 4G/5G network mould
The absolute location information is uploaded to cloud communication server by block；The absolute location information is indicated with coordinate form；
6) operator is remotely passing through the 4G/5G network connection of mobile phone to above-mentioned cloud streaming media server and cloud communication garment
Business device；Binocular video stream is obtained on streaming media server beyond the clouds, and synthesizes the 3D rendering of left-right format in mobile phone, is pushed to
On AR glasses；Trunk bottom centre point coordinate is obtained on communication server beyond the clouds, and as the center of circle, drawing a radius is
The circle of R is pushed on AR glasses, in a manner of stereoprojection and outdoor scene Overlapping display；This circle is that fertilising is justified, any one on circumference
Point can be used as cave and apply a little；
7) operator takes AR glasses, i.e., it can be seen that usage tree root 3D real picture and superposition it is highlighted with color version
Fertilising circle, and gravity sensor data are sent to cloud communication server by mobile phone；
8) fertilizer applicator is connected to cloud communication server by 4G/5G module, fetches gravity sensor data, and the data are turned
It is changed to control instruction, controls the fertilizer arm of fertilizer applicator toward the horizontal movement on 4 directions all around.
9) operator is in the position for remotely observing fertilizer arm by AR glasses, when the fertilising arm reaches fertilising circle top
Afterwards, operator's operating handset makes the end of fertilising arm be inserted into soil, completes fertilising；Meanwhile by the number of coordinates of the fertilization point
It saves according to cloud communication server is passed back to by 4G/5G network, and on fertilising circle, which is marked；
10) return step 1).
Further, in the step 7), operator holds mobile phone, and vertical display static 5 seconds, then slowly tilts
Mobile phone makes it generate gravitational cue；Inclination can carry out in 4 directions all around, and angle is no more than 90 degree, inclination angle speed
Degree is no more than 15 degrees seconds.
Further, in the step 9), mobile phone lower vibration 2 times in vertical direction are generated gravity and passed by operator
Sensor data；After the fertilizer applicator receives the gravity sensor data, fertilising arm stops horizontal movement, then directly down
Vertical movement, and after being inserted into soil, the fertilizer valve of fertilization mouth automatically opens, and liquid fertilizer is injected into soil.
Further, in the step 9), the fertilization point is marked by other colors.
Beneficial effects of the present invention:
The present invention has rational design, easy to operate, can use AR technology, and fertilizer applicator is controlled by way of remote control to dwarfing
Dense planting fruit tree carries out determining cave-applied fertilizer, improves operating efficiency, and can avoid leakage and apply or repeat to apply fertilizer, and improves fertilising quality.
Specific embodiment
Below with reference to embodiment, the present invention is further illustrated.
A kind of Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method, uses including fertilizer applicator and operator
Mobile phone and AR glasses, in orbit, which is equipped with motor for fertilizer applicator installation, can drag the fertilizer applicator described in
Track is mobile；The track is equipped with position sensor, can obtain the location information of the fertilizer applicator；Peace at the top of the fertilizer applicator
Fill binocular camera, can acquisition trajectory side fruit tree image, and cloud streaming media service is uploaded to by 4G/5G network module
Device；The mobile phone can connect cloud streaming media server and cloud communication server, and obtain binocular video stream, then synthesize a left side
It is pushed to after the 3D rendering of right format on AR glasses；The operating method the following steps are included:
1) fertilizer applicator moves in orbit under motor drive, and binocular camera is to fix seat in the plane uninterrupted sampling track side surfaces fruit
Tree Image, and cloud streaming media server is uploaded to by 4G/5G network module；Preferably, the fertilizer applicator along track at the uniform velocity
It moves ahead, travel speed 0.3m/s；
2) image processing unit handles acquired image analysis in real time, whether has trunk in detection image；If so, passing through
Binocular location algorithm, location information of the quick locating tree dry bottom portion's central point with respect to fertilizer applicator geometric center；The location information with
Two-dimensional surface rectangular co-ordinate data indicate；Preferably, picture-taken frequency 10fps；
3) when trunk bottom centre point is within the fertilising operation radius of fertilizer applicator, fertilizer applicator stops moving ahead, and record is current
Trunk bottom centre point coordinate；Otherwise, return step 1)；
4) fertilizer applicator geometric center location information in orbit is obtained by position sensor；
5) position that fertilizer applicator geometric center in trunk bottom centre dot position information in step 3) and step 4) is in orbit
Information carries out data fusion, calculates absolute location information of the trunk bottom centre point in orchard, and pass through 4G/5G network mould
The absolute location information is uploaded to cloud communication server by block；The absolute location information is indicated with coordinate form；
6) operator is remotely passing through the 4G/5G network connection of mobile phone to above-mentioned cloud streaming media server and cloud communication garment
Business device；Binocular video stream is obtained on streaming media server beyond the clouds, and synthesizes the 3D rendering of left-right format in mobile phone, is pushed to
On AR glasses；Trunk bottom centre point coordinate is obtained on communication server beyond the clouds, and as the center of circle, drawing a radius is
The circle of R is pushed on AR glasses, in a manner of stereoprojection and outdoor scene Overlapping display；This circle is that fertilising is justified, any one on circumference
Point can be used as cave and apply a little；
7) operator takes AR glasses, i.e., it can be seen that usage tree root 3D real picture and superposition it is highlighted with color version
Fertilising circle, and gravity sensor data are sent to cloud communication server by mobile phone；Wherein, operator holds mobile phone, erects
It directly puts, static 5 seconds, then slowly tilts mobile phone, its is made to generate gravitational cue；Inclination can carry out in 4 directions all around,
Angle is no more than 90 degree, and inclination angular speed is no more than 15 degrees seconds；
8) fertilizer applicator is connected to cloud communication server by 4G/5G module, fetches gravity sensor data, and the data are turned
It is changed to control instruction, controls the fertilizer arm of fertilizer applicator toward the horizontal movement on 4 directions all around；
9) operator is in the position for remotely observing fertilizer arm by AR glasses, after the fertilising arm reaches fertilising circle top, behaviour
Make personnel for mobile phone lower vibration 2 times in vertical direction, generates gravity sensor data；The fertilizer applicator receives gravity biography
After sensor data, fertilising arm stops horizontal movement, then moves vertically directly down, and after being inserted into soil, applies fertilizer
The fertilizer valve of mouth automatically opens, and liquid fertilizer is injected into soil, completes fertilising；Meanwhile by the number of coordinates of the fertilization point
It is saved according to cloud communication server is passed back to by 4G/5G network, and on fertilising circle, to red equal other face of the fertilization point
Color is marked, to provide reference frame when subsequent top dressing.Preferably, vibration severity when mobile phone vibration is at least up to 10cm/
s；
10) return step 1).
The fertilizer applicator can use the UR3 fertilizer applicator or other like products of You Ao company.
The present invention carries out Cold region apple fruit tree to determine cave-applied fertilizer by AR technology remote control fertilizer applicator, both solves fruit tree
Between narrow space Work machine the problem of cannot be introduced into, and can be realized the accurate cave of remote operating and apply, operating efficiency can be effectively improved
And quality.
Part that the present invention does not relate to is the same as those in the prior art or can be realized by using the prior art.
Claims (4)
1. a kind of Cold region apple fruit tree based on AR determines cave-applied fertilizer teleoperation method, the hand used including fertilizer applicator and operator
Machine and AR glasses, in orbit, which is equipped with motor for fertilizer applicator installation, can drag the fertilizer applicator along the rail
Road is mobile；The track is equipped with position sensor, can obtain the location information of the fertilizer applicator；It is characterized in that: the fertilising
Binocular camera is installed at the top of machine, can acquisition trajectory side fruit tree image, and cloud is uploaded to by 4G/5G network module and is flowed
Media server；The mobile phone can connect cloud streaming media server and cloud communication server, and obtain binocular video stream,
It is pushed on AR glasses after synthesizing the 3D rendering of left-right format again；The operating method the following steps are included:
1) fertilizer applicator moves in orbit under motor drive, and binocular camera is to fix seat in the plane uninterrupted sampling track side surfaces fruit
Tree Image, and cloud streaming media server is uploaded to by 4G/5G network module；
2) image processing unit handles acquired image analysis in real time, whether has trunk in detection image；If so, passing through
Binocular location algorithm, location information of the quick locating tree dry bottom portion's central point with respect to fertilizer applicator geometric center；The location information with
Two-dimensional surface rectangular co-ordinate data indicate；
3) when trunk bottom centre point is within the fertilising operation radius of fertilizer applicator, fertilizer applicator stops moving ahead, and record is current
Trunk bottom centre point coordinate；Otherwise, return step 1)；
4) fertilizer applicator geometric center location information in orbit is obtained by position sensor；
5) position that fertilizer applicator geometric center in trunk bottom centre dot position information in step 3) and step 4) is in orbit
Information carries out data fusion, calculates absolute location information of the trunk bottom centre point in orchard, and pass through 4G/5G network mould
The absolute location information is uploaded to cloud communication server by block；The absolute location information is indicated with coordinate form；
6) operator is remotely passing through the 4G/5G network connection of mobile phone to above-mentioned cloud streaming media server and cloud communication garment
Business device；Binocular video stream is obtained on streaming media server beyond the clouds, and synthesizes the 3D rendering of left-right format in mobile phone, is pushed to
On AR glasses；Trunk bottom centre point coordinate is obtained on communication server beyond the clouds, and as the center of circle, drawing a radius is
The circle of R is pushed on AR glasses, in a manner of stereoprojection and outdoor scene Overlapping display；This circle is that fertilising is justified, any one on circumference
Point can be used as cave and apply a little；
7) operator takes AR glasses, i.e., it can be seen that usage tree root 3D real picture and superposition it is highlighted with color version
Fertilising circle, and gravity sensor data are sent to cloud communication server by mobile phone；
8) fertilizer applicator is connected to cloud communication server by 4G/5G module, fetches gravity sensor data, and the data are turned
It is changed to control instruction, controls the fertilizer arm of fertilizer applicator toward the horizontal movement on 4 directions all around；
9) operator is in the position for remotely observing fertilizer arm by AR glasses, after the fertilising arm reaches fertilising circle top, behaviour
Make personnel's operating handset, so that the end of fertilising arm is inserted into soil, complete fertilising；Meanwhile the coordinate data of the fertilization point being led to
It crosses 4G/5G network and passes back to the preservation of cloud communication server, and on fertilising circle, which is marked；
10) return step 1).
2. the Cold region apple fruit tree according to claim 1 based on AR determines cave-applied fertilizer teleoperation method, it is characterized in that: described
In step 7), operator holds mobile phone, and vertical display static 5 seconds, then slowly tilts mobile phone, its is made to generate gravitational cue；
Inclination can carry out in 4 directions all around, and angle is no more than 90 degree, and inclination angular speed is no more than 15 degrees seconds.
3. the Cold region apple fruit tree according to claim 1 based on AR determines cave-applied fertilizer teleoperation method, it is characterized in that: described
In step 9), mobile phone lower vibration 2 times in vertical direction are generated gravity sensor data by operator；The fertilizer applicator connects
After receiving the gravity sensor data, fertilising arm stops horizontal movement, then moves vertically directly down, and be inserted into soil
After earth, the fertilizer valve of fertilization mouth is automatically opened, and liquid fertilizer is injected into soil.
4. the Cold region apple fruit tree according to claim 1 based on AR determines cave-applied fertilizer teleoperation method, it is characterized in that: described
In step 9), the fertilization point is marked by other colors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530057.5A CN110100557B (en) | 2019-06-19 | 2019-06-19 | AR-based remote control operation method for hole-fixing fertilization of dwarf close-planted fruit trees |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530057.5A CN110100557B (en) | 2019-06-19 | 2019-06-19 | AR-based remote control operation method for hole-fixing fertilization of dwarf close-planted fruit trees |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110100557A true CN110100557A (en) | 2019-08-09 |
| CN110100557B CN110100557B (en) | 2021-06-01 |
Family
ID=67495491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910530057.5A Active CN110100557B (en) | 2019-06-19 | 2019-06-19 | AR-based remote control operation method for hole-fixing fertilization of dwarf close-planted fruit trees |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110100557B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862562A (en) * | 2020-05-15 | 2020-10-30 | 合智和利(山东)智能设备有限公司 | Electric self-propelled multifunctional application platform based on real-time teleoperation and implementation method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105432166A (en) * | 2014-09-24 | 2016-03-30 | 洛阳师范学院 | Unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery |
| CN106797930A (en) * | 2015-11-26 | 2017-06-06 | 上海洲涛智能技术有限公司 | A kind of greenhouse automatic intelligent spray fertilizer applicator |
| CN107027015A (en) * | 2017-04-28 | 2017-08-08 | 广景视睿科技（深圳）有限公司 | 3D trends optical projection system based on augmented reality and the projecting method for the system |
| CN207008443U (en) * | 2017-06-02 | 2018-02-13 | 刘运志 | A kind of remote management family declines farm |
| CN108427457A (en) * | 2018-04-23 | 2018-08-21 | 华超 | A kind of greenhouse control system based on augmented reality application |
| CN108682031A (en) * | 2018-05-21 | 2018-10-19 | 深圳市酷开网络科技有限公司 | Measurement method, intelligent terminal based on augmented reality and storage medium |
| CN109191074A (en) * | 2018-08-27 | 2019-01-11 | 宁夏大学 | Wisdom orchard planting management system |
| US20190141883A1 (en) * | 2017-11-13 | 2019-05-16 | Cnh Industrial America Llc | System For Treatment Of An Agricultural Field Using An Augmented Reality Visualization |
| CN109769447A (en) * | 2017-11-15 | 2019-05-21 | 财团法人资讯工业策进会 | Fertilizer mixing system and fertilizer concocting method |
| CN109905572A (en) * | 2017-12-07 | 2019-06-18 | 深圳纬目信息技术有限公司 | A kind of AR system of wireless transmission |
-
2019
- 2019-06-19 CN CN201910530057.5A patent/CN110100557B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105432166A (en) * | 2014-09-24 | 2016-03-30 | 洛阳师范学院 | Unmanned weeding and fertilizing machine belonging to agricultural primary intelligent machinery |
| CN106797930A (en) * | 2015-11-26 | 2017-06-06 | 上海洲涛智能技术有限公司 | A kind of greenhouse automatic intelligent spray fertilizer applicator |
| CN107027015A (en) * | 2017-04-28 | 2017-08-08 | 广景视睿科技（深圳）有限公司 | 3D trends optical projection system based on augmented reality and the projecting method for the system |
| CN207008443U (en) * | 2017-06-02 | 2018-02-13 | 刘运志 | A kind of remote management family declines farm |
| US20190141883A1 (en) * | 2017-11-13 | 2019-05-16 | Cnh Industrial America Llc | System For Treatment Of An Agricultural Field Using An Augmented Reality Visualization |
| CN109769447A (en) * | 2017-11-15 | 2019-05-21 | 财团法人资讯工业策进会 | Fertilizer mixing system and fertilizer concocting method |
| CN109905572A (en) * | 2017-12-07 | 2019-06-18 | 深圳纬目信息技术有限公司 | A kind of AR system of wireless transmission |
| CN108427457A (en) * | 2018-04-23 | 2018-08-21 | 华超 | A kind of greenhouse control system based on augmented reality application |
| CN108682031A (en) * | 2018-05-21 | 2018-10-19 | 深圳市酷开网络科技有限公司 | Measurement method, intelligent terminal based on augmented reality and storage medium |
| CN109191074A (en) * | 2018-08-27 | 2019-01-11 | 宁夏大学 | Wisdom orchard planting management system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111862562A (en) * | 2020-05-15 | 2020-10-30 | 合智和利(山东)智能设备有限公司 | Electric self-propelled multifunctional application platform based on real-time teleoperation and implementation method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110100557B (en) | 2021-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106291278B (en) | A kind of partial discharge of switchgear automatic testing method based on more vision systems | |
| CN103941746B (en) | Image processing system and method is patrolled and examined without man-machine | |
| CN112505065B (en) | Method for detecting surface defects of large part by indoor unmanned aerial vehicle | |
| CN106142092A (en) | A kind of method robot being carried out teaching based on stereovision technique | |
| CN107515606A (en) | Robot implementation method, control method and robot, electronic equipment | |
| CN112053446A (en) | Real-time monitoring video and three-dimensional scene fusion method based on three-dimensional GIS | |
| CN106020201A (en) | Mobile robot 3D navigation and positioning system and navigation and positioning method | |
| CN104793637B (en) | The real-time tracking system and tracking of a kind of mobile device | |
| CN106384353A (en) | Target positioning method based on RGBD | |
| CN110347186B (en) | Ground moving target autonomous tracking system based on bionic binocular linkage | |
| CN106887037B (en) | indoor three-dimensional reconstruction method based on GPU and depth camera | |
| CN101161151A (en) | Method and system for automatic generating shoe sole photopolymer coating track based on linear structure optical sensor | |
| CN108811766A (en) | A kind of man-machine interactive fruits and vegetables of greenhouse harvesting robot system and its collecting method | |
| CN109870118A (en) | A kind of point cloud acquisition method of Oriented Green plant temporal model | |
| CN109308077A (en) | A kind of mapping method based on aircraft, apparatus and system | |
| CN106998430B (en) | Multi-camera-based 360-degree video playback method | |
| US10893190B2 (en) | Tracking image collection for digital capture of environments, and associated systems and methods | |
| CN114080905B (en) | Picking method based on digital twins and cloud picking robot system | |
| CN106863259A (en) | A kind of wheeled multi-robot intelligent ball collecting robot | |
| CN105551032A (en) | Pole image collection system and method based on visual servo | |
| CN109062407A (en) | Remote mobile terminal three-dimensional display & control system and method based on VR technology | |
| CN103105851A (en) | Kinesthesis teaching control method based on vision sense for remote control of robot | |
| CN106933227A (en) | The method and electronic equipment of a kind of guiding intelligent robot | |
| CN101581874A (en) | Tele-immersion teamwork device based on multi-camera acquisition | |
| CN113115008A (en) | Pipe gallery master-slave operation inspection system and method based on rapid tracking registration augmented reality technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |