CN113928444A - A moving platform that is used for greenhouse seedbed to patrol and examine operation - Google Patents
A moving platform that is used for greenhouse seedbed to patrol and examine operation Download PDFInfo
- Publication number
- CN113928444A CN113928444A CN202111037074.9A CN202111037074A CN113928444A CN 113928444 A CN113928444 A CN 113928444A CN 202111037074 A CN202111037074 A CN 202111037074A CN 113928444 A CN113928444 A CN 113928444A
- Authority
- CN
- China
- Prior art keywords
- rack
- wheel
- seedbed
- driving
- greenhouse
- 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.)
- Pending
Links
- 238000007689 inspection Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001502 supplementing effect Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 2
- 239000000575 pesticide Substances 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 235000013311 vegetables Nutrition 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 235000021384 green leafy vegetables Nutrition 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011031 large-scale manufacturing process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
Abstract
The invention relates to a routing inspection mobile platform. The technical scheme is as follows: the utility model provides a moving platform that is used for greenhouse seedbed to patrol and examine operation which characterized in that: the moving platform comprises a rack which is arranged in a rectangular shape and can stretch over a seedbed, a wheel set assembly which is arranged at the bottom of the rack and used for moving, two depth cameras which are arranged at the upper part of the rack and used for collecting point cloud data information of the seedbed and an electric cabinet which is arranged on the side surface of the rack; the wheel set assembly comprises two driving wheels and two driven wheels which are respectively arranged at four corner positions of the bottom surface of the frame, and the two driving wheels and the two driven wheels are respectively arranged in a diagonal manner; the two depth cameras are respectively arranged in the middle of the front side and the rear side of the rack. The mobile platform can independently walk in the seedling raising greenhouse and carry out inspection operation on seedling raising seedbeds at specified positions and in specified quantity, so that the inspection operation efficiency and the autonomy of seedling removing and supplementing operation and other health detection, pesticide application and water spraying are improved, and the intelligent management of the seedling raising greenhouse is facilitated.
Description
Technical Field
The invention relates to a mobile platform for routing inspection, in particular to a mobile platform for routing inspection operation of a greenhouse seedbed.
Background
China is the world with the largest vegetable production, the annual vegetable yield accounts for about 60% of the annual production of the world, and the annual leaf vegetable yield accounts for about 1/3% of the annual vegetable production. The cultivation of the leaf vegetable seedlings is carried out on a seedling bed of a seedling raising greenhouse, 5% -20% of inferior seedlings exist in a seedling raising plug tray in the seedling raising process, and excellent seedlings need to be removed and supplemented. At present, the seedling removing and supplementing operation is mainly carried out by workers in a seedling raising greenhouse, the labor intensity is high, the intensity is high, seedling removing and supplementing transplanting machines appear in the market, most of the seedling removing and supplementing transplanting machines are fixed, the structure is complicated, the seedling removing and supplementing transplanting machines are usually placed outside the seedling raising greenhouse, the hole trays need to be carried and taken manually, and the seedling removing and supplementing efficiency is seriously influenced. In view of this, it is very necessary to develop a research on a moving platform for greenhouse seedbed inspection work.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a mobile platform for greenhouse seedbed inspection operation, the mobile platform can automatically walk in a seedling greenhouse to inspect seedling seedbeds at specified positions and quantity, so that the efficiency and autonomy of seedling removal and compensation operation, inspection operation of other health detection and pesticide application and water spraying are improved, and the intelligent management of the seedling greenhouse is facilitated.
The technical scheme provided by the invention is as follows:
the utility model provides a moving platform that is used for greenhouse seedbed to patrol and examine operation which characterized in that: the moving platform comprises a rack which is arranged in a rectangular shape and can stretch over a seedbed, a wheel set assembly which is arranged at the bottom of the rack and used for moving, two depth cameras which are arranged at the upper part of the rack and used for collecting point cloud data information of the seedbed and an electric cabinet which is arranged on the side surface of the rack; the wheel set assembly comprises two driving wheels and two driven wheels which are respectively arranged at four corner positions of the bottom surface of the frame, and the two driving wheels and the two driven wheels are respectively arranged in a diagonal manner; the two depth cameras are respectively arranged in the middle of the front side and the rear side of the rack.
The driving wheel and the driven wheel respectively comprise a rack connecting plate fixedly connected with the bottom of the rack, a worm rotatably positioned at the bottom of the rack connecting plate around a horizontal axis, a steering motor fixed on the rack connecting plate to drive the worm to rotate, a rotating frame rotatably connected with the rack connecting plate through a slewing bearing, a wheel shaft, two ends of which are horizontally fixed on the rotating frame through shaft end fixing seats, a travelling wheel rotatably arranged on the wheel shaft, a shaft head rotatably connected with the wheel shaft through a bearing and fixedly connected with the travelling wheel, and a protective end cover arranged between the shaft head and the shaft end fixing seats and sleeved on the wheel shaft; the axis of the slewing bearing is vertically arranged, the inner ring of the slewing bearing is fixed with the rack connecting plate, and the outer peripheral surface of the outer ring of the slewing bearing is in meshing transmission with the worm.
And a driving mechanism for driving the travelling wheels to rotate is also arranged in the driving wheel.
The driving mechanism comprises a driving motor arranged on the rotating frame, a driving chain wheel connected with the driving motor through a speed reducer, a driven chain wheel limiting seat sleeved on the wheel shaft and fixedly connected with the shaft head, and a driven chain wheel fixedly sleeved on the periphery of the driven chain wheel limiting seat and performing chain transmission with the driving chain wheel.
The electric cabinet comprises an upper computer, a lower computer, a driver and a battery assembly, wherein the upper computer is used for receiving and processing point cloud data information, the driver is electrically connected with each motor to drive each motor to act, and the battery assembly is used for providing a working power supply; the upper computer and the lower computer are respectively electrically connected with the two depth cameras, the driver and the battery component.
The invention has the beneficial effects that:
according to the greenhouse seedbed inspection operation mobile platform, a diagonal differential drive independent steering motion mode is adopted, point cloud information of a seedbed is collected through two depth cameras, and after analysis by an upper computer and a lower computer, the mobile platform is enabled to carry out automatic inspection operation along the edge of the seedbed, so that accurate starting and stopping positioning of the mobile platform in the process of traveling is achieved, and the reliability is high. In addition, the invention can effectively improve the working efficiency of the routing inspection operation in the greenhouse seedling farm, realize the large-scale production in the seedling process and is beneficial to improving the total production amount of seedlings.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is one of the perspective views of the driving wheel.
Fig. 3 is a second perspective view of the driving wheel.
Fig. 4 is an exploded structure diagram of the road wheel.
FIG. 5 is a schematic perspective view of a seedling greenhouse.
Reference numerals:
01-frame, 02-electric cabinet, 03-depth camera, 0301-supporting rod, 04-driving wheel, 0401-frame connecting plate, 0402-worm support, 0403-worm, 0404-pivoting support, 0405-steering motor, 0406-speed reducer, 0407-rotating frame, 0408-driving motor, 0409-driving chain wheel, 0410-walking wheel, 0411-shaft end fixing seat, 0412-shaft head, 0413-bearing, 0414-wheel shaft, 0415-driven chain wheel limit seat, 0416-driven chain wheel, 0417-protective end cover, 05-driven wheel, 06-greenhouse trunk, 07-seedbed, 08-greenhouse ceiling and 09-greenhouse supporting cement column.
Detailed Description
The following further description is made with reference to the embodiments shown in the drawings.
A moving platform for greenhouse seedbed inspection operation as shown in figure 1 includes frame 01, wheelset subassembly, two depth cameras 03 and electric cabinet 02. The frame is arranged in a rectangular shape and can be laid over the bed (in this embodiment, when the frame is laid over the bed, two long sides of the frame are perpendicular to the longitudinal direction of the bed, and two short sides of the frame are parallel to the longitudinal direction of the bed). The two depth cameras are respectively connected with a supporting rod 0301, and the supporting rods are fixedly connected with the upper part of the rack through bolts; the two depth cameras are respectively positioned in the middle positions of the front side and the rear side of the machine frame and are used for acquiring point cloud data information of the seedbed (in the embodiment, two long sides of the machine frame are respectively used as the front-rear direction, and two short sides of the machine frame are respectively used as the left-right direction); preferably, the camera is tilted upwards and forms an angle of 30 ° with the horizontal.
The wheel set assembly is installed at the bottom of the rack and used for driving the whole mobile platform to move. The wheel set assembly comprises two driving wheels 04 and two driven wheels 05 which are respectively arranged at four corner positions of the bottom surface of the frame, and the two driving wheels and the two driven wheels are respectively arranged in a diagonal manner.
As shown in fig. 2 to 4, each of the driving wheel and the driven wheel includes a frame connecting plate 0401, a worm 0403, a steering motor 0405, a rotary support 0404, a rotating frame 0407, a shaft end fixing seat 0411, a wheel shaft 0414, a traveling wheel 0410, a shaft head 0412 and a protective end cover 0417. The rack connecting plate is fixedly connected to the bottom of the rack; the bottom of the connecting plate of the frame is provided with two worm supports 0402 and the inside is provided with bearings, the worm is horizontally arranged and two ends are respectively and rotationally positioned on the two worm supports through the bearings. The steering motor is fixed on the frame connecting plate and is connected with the worm through a speed reducer 0406 so as to drive the worm to rotate and be used for power output when the driving wheel and the driven wheel steer. The axis of the slewing bearing is vertically arranged, wherein the inner ring of the slewing bearing is fixed with the rack connecting plate, the outer ring of the slewing bearing is fixedly connected with the rotating frame, and the peripheral surface of the outer ring of the slewing bearing is in meshing transmission with the worm; when the steering motor drives the worm to rotate, the worm drives the outer ring of the slewing bearing to rotate, and then the rotating frame and the rack connecting plate rotate relatively to achieve steering action of the driving wheel and the driven wheel. Two ends of the wheel shaft are horizontally fixed on the rotating frame through shaft end fixing seats 0411; the travelling wheels and the wheel shaft are coaxially arranged and can be rotatably arranged on the wheel shaft; the two sides of the travelling wheel are fixedly connected with the shaft heads through bolts respectively, bearings 0413 are arranged in the shaft heads, and the shaft heads are rotatably connected with the wheel shafts through the bearings. The protective end cover is sleeved on the wheel shaft and is positioned between the shaft head and the shaft end fixing seat and used for limiting the axial movement of the shaft head.
The driving wheels differ from the driven wheels in that: and a driving mechanism is also arranged in the driving wheel and is used for driving the walking wheel to rotate. The driving mechanism comprises a driving motor 0408, a driving chain wheel 0409, a driven chain wheel limiting seat 0415 and a driven chain wheel 0416. The driving motor is arranged on the rotating frame and is connected with the driving chain wheel through a speed reducer. The driven sprocket limiting seat is sleeved on the wheel shaft and is located between the shaft head and the protective end cover, and the driven sprocket limiting seat is fixedly connected with the shaft head through a bolt. The fixed cover of driven sprocket is established in the spacing seat periphery of driven sprocket, as preferred, adopts the key-type connection between spacing seat of driven sprocket and the driven sprocket to one side that the spacing seat of driven sprocket is close to the spindle nose is provided with the shaft shoulder, and the opposite side is the protection end cover, thereby has restricted driven sprocket's axial displacement, can carry out dustproof protection to driven sprocket simultaneously. Chain transmission is adopted between the driven chain wheel and the driving chain wheel so as to realize power transmission.
The electric cabinet is arranged on the side surface of the rack and comprises an upper computer, a lower computer, a driver and a battery pack. The upper computer and the lower computer are connected with the depth camera through a usb3.0 interface; when the whole mobile platform moves, the upper computer and the lower computer receive and process point cloud data information collected by the depth camera, the edge of the seedbed is identified, the edge of the seedbed is used as a natural road sign for navigation, the wheel set assembly drives the mobile platform to move along the edge of the seedbed, and meanwhile, the movement position of the wheel set assembly can be positioned, so that automatic inspection operation is realized. The driver is electrically connected with each motor (namely a steering motor and a driving motor) and is used for controlling each motor to act; the battery pack is used for providing working power supply. The upper computer and the lower computer are respectively electrically connected with the two depth cameras, the driver and the battery component.
As shown in fig. 5, the working environment of the mobile platform of the present invention is a seedling greenhouse, the ceiling 08 of the greenhouse is supported by greenhouse supporting cement columns 09, and seedling beds 07 in the seedling greenhouse are distributed on both sides of the greenhouse trunk 06 (only one seedling bed is shown in the figure), and each seedling bed has a length of about 2 meters.
Because the two driving wheels and the two driven wheels are respectively provided with the steering motors, the four wheels can perform steering actions of 90 degrees, and the two driving wheels and the two driven wheels are respectively arranged in opposite angles, and posture adjustment of the mobile platform with three degrees of freedom (including rotation around a vertical axis, left-right translation and front-back translation) can be realized based on the cooperation of the opposite angle drives of the differential motion model. The moving platform is provided with three moving states in the moving process and can be connected and switched, namely a straight-line inspection state, a return state and a seedbed line changing state, wherein the moving direction of the walking wheels in the straight-line operation state and the return state is parallel to the short edge of the rack, and the moving direction of the walking wheels in the seedbed line changing state is parallel to the long edge of the rack.
The operation process of the invention comprises the following steps:
step one, remotely controlling the mobile platform to move to a seedbed needing operation, and stopping the mobile platform at a trunk road of a greenhouse;
secondly, the upper computer and the lower computer drive the mobile platform to move to a proper position of the seedbed close to one end of the trunk line through the point cloud data information of the seedbed obtained by the depth camera (namely, the machine frame can be ensured to span above the seedbed) and perform posture adjustment;
step three, switching the mobile platform to a straight-going operation state, and starting to perform inspection operation along the seedbed;
step four, when the moving platform walks to one end of the seedbed close to the wall, the moving platform is switched to a return state and returns to the greenhouse trunk;
step five, the four steering wheels of the mobile platform rotate 90 degrees in the same direction, the state is switched to a seedbed arrangement changing state, and the mobile platform moves to the next seedbed on the greenhouse trunk road;
and step six, the mobile platform moves to the next seedbed, the four steering wheels rotate in the same direction, the operation state is switched to the straight operation state again, the inspection operation is continued, and the operation is repeated until the inspection of all the seedbeds is finished.
Claims (5)
1. The utility model provides a moving platform that is used for greenhouse seedbed to patrol and examine operation which characterized in that: the moving platform comprises a rack (01) which is arranged in a rectangular shape and can stretch over a seedbed (07), a wheel set assembly which is arranged at the bottom of the rack and used for moving, two depth cameras (03) which are arranged at the upper part of the rack and used for collecting point cloud data information of the seedbed, and an electric cabinet (02) which is arranged on the side surface of the rack; the wheel set assembly comprises two driving wheels (04) and two driven wheels (05) which are respectively arranged at four corner positions of the bottom surface of the frame, and the two driving wheels and the two driven wheels are respectively arranged in a diagonal manner; the two depth cameras are respectively arranged in the middle of the front side and the rear side of the rack.
2. The mobile platform for greenhouse seedbed inspection work of claim 1, characterized in that: the driving wheel and the driven wheel respectively comprise a rack connecting plate (0401) fixedly connected with the bottom of the rack, a worm (0403) rotatably positioned at the bottom of the rack connecting plate around a horizontal axis, a steering motor (0405) fixed on the rack connecting plate to drive the worm to rotate, a rotating frame (0407) rotatably connected with the rack connecting plate through a slewing bearing (0404), a wheel shaft (0414) with two ends horizontally fixed on the rotating frame through a shaft end fixing seat (0411), a walking wheel (0410) rotatably arranged on the wheel shaft, a shaft head (0412) rotatably connected with the wheel shaft through a bearing (0413) and fixedly connected with the walking wheel, and a protective end cover (0417) arranged between the shaft head and the shaft end fixing seat and sleeved on the wheel shaft; the axis of the slewing bearing is vertically arranged, the inner ring of the slewing bearing is fixed with the rack connecting plate, and the outer peripheral surface of the outer ring of the slewing bearing is in meshing transmission with the worm.
3. The mobile platform for greenhouse seedbed inspection work of claim 2, characterized in that: and a driving mechanism for driving the travelling wheels to rotate is also arranged in the driving wheel.
4. The mobile platform for greenhouse seedbed inspection work of claim 3, characterized in that: the driving mechanism comprises a driving motor (0408) arranged on the rotating frame, a driving chain wheel (0409) connected with the driving motor through a speed reducer, a driven chain wheel limiting seat (0415) sleeved on the wheel shaft and fixedly connected with the shaft head, and a driven chain wheel (0416) fixedly sleeved on the periphery of the driven chain wheel limiting seat and performing chain transmission with the driving chain wheel.
5. The mobile platform for greenhouse seedbed inspection work of claim 4, characterized in that: the electric cabinet comprises an upper computer, a lower computer, a driver and a battery assembly, wherein the upper computer is used for receiving and processing point cloud data information, the driver is electrically connected with each motor to drive each motor to act, and the battery assembly is used for providing a working power supply; the upper computer and the lower computer are respectively electrically connected with the two depth cameras, the driver and the battery component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111037074.9A CN113928444A (en) | 2021-09-06 | 2021-09-06 | A moving platform that is used for greenhouse seedbed to patrol and examine operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111037074.9A CN113928444A (en) | 2021-09-06 | 2021-09-06 | A moving platform that is used for greenhouse seedbed to patrol and examine operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113928444A true CN113928444A (en) | 2022-01-14 |
Family
ID=79275118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111037074.9A Pending CN113928444A (en) | 2021-09-06 | 2021-09-06 | A moving platform that is used for greenhouse seedbed to patrol and examine operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113928444A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230843A (en) * | 2022-08-02 | 2022-10-25 | 浙江理工大学 | Agricultural movable platform with variable wheel track and conformal vibration reduction |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323328A (en) * | 2008-07-02 | 2008-12-17 | 南京农业大学 | Agricultural intelligent mobile robot platform |
| CN105774899A (en) * | 2016-03-30 | 2016-07-20 | 北京林业大学 | Mobile robot used for agriculture and forestry nursery operation |
| CN110481674A (en) * | 2019-08-30 | 2019-11-22 | 中国农业大学 | Field Omni-mobile job platform |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
| CN111319454A (en) * | 2018-12-13 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | Omnidirectional four-wheel-drive intelligent inspection vehicle |
-
2021
- 2021-09-06 CN CN202111037074.9A patent/CN113928444A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323328A (en) * | 2008-07-02 | 2008-12-17 | 南京农业大学 | Agricultural intelligent mobile robot platform |
| CN105774899A (en) * | 2016-03-30 | 2016-07-20 | 北京林业大学 | Mobile robot used for agriculture and forestry nursery operation |
| CN111319454A (en) * | 2018-12-13 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | Omnidirectional four-wheel-drive intelligent inspection vehicle |
| CN110512929A (en) * | 2019-08-27 | 2019-11-29 | 北京航空航天大学 | A kind of car carrier that achievable cooperation is carried |
| CN110481674A (en) * | 2019-08-30 | 2019-11-22 | 中国农业大学 | Field Omni-mobile job platform |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115230843A (en) * | 2022-08-02 | 2022-10-25 | 浙江理工大学 | Agricultural movable platform with variable wheel track and conformal vibration reduction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108575320B (en) | Strawberry picking robot | |
| CN105800511A (en) | Transversely-telescopic greenhouse transport cart lifting platform | |
| CN111149534A (en) | Movable double-arm fruit tree pruning robot | |
| CN109015703A (en) | A kind of bicycle conditioning machines people | |
| CN113928444A (en) | A moving platform that is used for greenhouse seedbed to patrol and examine operation | |
| CN205699305U (en) | Basketball training auxiliary robot | |
| CN203575087U (en) | Automatic lawn pruning vehicle | |
| CN114223339B (en) | Robot chassis for multifunctional operation of paddy field and agricultural robot | |
| CN110641567A (en) | Multi-foot reversible crawling robot based on intelligent material | |
| CN114754822A (en) | Multiple information intelligent fusion acquisition, study and judgment decision robot based on intelligent agriculture and use method thereof | |
| CN113366972B (en) | Mechanical structure of segmented tea picking robot based on visual positioning | |
| CN106218941A (en) | A kind of crawler type robot palletizer | |
| CN110393111B (en) | Agricultural multipurpose automatic spraying robot | |
| CN114431004B (en) | Banana picking device and method based on 3-PRS parallel mechanism | |
| CN112314292B (en) | Automatic cuttage machine control system of arched shed pillar | |
| CN214604420U (en) | Automatic inspection robot for plant factory | |
| CN111684959B (en) | High accuracy green house is planted with thing networking vegetation monitoring device | |
| CN208696847U (en) | A kind of used with tractor frame tool | |
| CN210928644U (en) | Tomato picking robot | |
| CN210726017U (en) | Weeding robot for weeding lawn | |
| CN203751688U (en) | Turn-mill combination machine | |
| CN212047635U (en) | Plane walking biped robot based on link rod | |
| CN111543179A (en) | Automatic lotus seedpod picking machine based on standardized lotus field | |
| CN217826013U (en) | Sufficient tomato picking mechanical device | |
| CN220274305U (en) | Picking robot suitable for picking various fruits and vegetables |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220114 |