CN116235705A - Novel durian of cyclic annular inflatable boat type is picked device - Google Patents
Novel durian of cyclic annular inflatable boat type is picked device Download PDFInfo
- Publication number
- CN116235705A CN116235705A CN202310460924.9A CN202310460924A CN116235705A CN 116235705 A CN116235705 A CN 116235705A CN 202310460924 A CN202310460924 A CN 202310460924A CN 116235705 A CN116235705 A CN 116235705A
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- inflatable boat
- embedded
- durian
- annular inflatable
- unit
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- 235000006025 Durio zibethinus Nutrition 0.000 title claims abstract description 74
- 240000000716 Durio zibethinus Species 0.000 title claims abstract description 74
- 125000004122 cyclic group Chemical group 0.000 title description 2
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000003698 laser cutting Methods 0.000 claims abstract description 10
- 239000004677 Nylon Substances 0.000 claims description 13
- 229920001778 nylon Polymers 0.000 claims description 13
- 239000002184 metal Substances 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 abstract description 5
- 238000007599 discharging Methods 0.000 abstract 2
- 239000007789 gas Substances 0.000 description 23
- 235000013399 edible fruits Nutrition 0.000 description 6
- 230000006378 damage Effects 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 208000007333 Brain Concussion Diseases 0.000 description 1
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 241000221089 Jatropha Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention discloses a novel annular flying durian picking device, and belongs to the field of high-altitude automatic picking and durian picking agriculture. The whole device consists of four parts, namely a buoyancy lifting unit, a flight position control unit, a cutting unit and a gas transmission and exhaust unit. The buoyancy unit is the main body of the whole device, and the lifting and descending of the unit can be realized by charging and discharging light gas through the charging and discharging unit, so that the feasibility of high-altitude operation is ensured. The flying position control unit can control the omni-directional movement of the buoyancy unit and is realized by four distributed brushless ducted fans. The cutting unit comprises a mechanical arm with two degrees of freedom and a laser cutting port at the tail end and two positioning cameras, the cameras can perform binocular imaging positioning, the cutting target position can be realized by matching with the mechanical arm, and the picking efficiency is ensured. The invention not only improves the picking efficiency and quality, but also improves the safety in an automatic picking working mode and enhances the practicability of the device.
Description
Technical Field
The invention relates to a novel ring-shaped inflatable boat type durian picking device, and belongs to the field of high-altitude automatic picking and durian picking agriculture.
Technical Field
Durian is a tropical fruit with extremely high economic value, is very popular in China as a fruit king, and has a taste and rich nutritional value, so that more and more people start to chase the fruit. Today, durian is expensive, not only because durian has higher requirements on planting environment and mode, but also a great amount of manpower and material resources required for picking after the durian is ripe. Traditional durian harvesting is usually performed in a manual harvesting mode: picking is completed by one person climbing to more than ten meters and even tens of meters of durian trees, and the other person takes the jatropha bags with both hands to collect fruits thrown by the person on the tree. The picking mode is time-consuming and labor-consuming, the danger coefficient is very large, the picked durian is easy to be injured and damaged, picking personnel have the risk of falling off at high altitude, personnel connected with the durian underground are also easy to be injured by smashing or scratched by durian spines, and in recent years, a plurality of durian picking personnel are smashed into cerebral concussion by the durian falling off at high altitude. Therefore, a device capable of replacing manual durian picking is urgently needed, automatic picking is achieved, picking efficiency is effectively improved, and risks of workers are reduced.
The current durian picking device mainly comprises the following three types: (1) durian picking hands. The durian is taken down to the branch by adopting the extendable rod, and has the advantages of simple and low-cost device, certain damage to durian and low picking efficiency. (2) durian buffer device. The patent CN202011428297.3 is used for protecting durian falling aloft by comprising a buffer mechanism and an elastic material receiving net on a vehicle body, and has the defects that picking personnel are still required to perform aloft picking operation, potential safety hazards still exist, and automatic picking is difficult to realize. (3) durian picking robot. Patent CN202010007618.6 adopts translation shearing to remove the durian on with the tree slowly to ground, and the device's shortcoming is that the complete machine is too huge, is difficult for being convenient for the operation of rugged topography, and picking efficiency is not high. And at present, a small-sized fruit picking robot similar to an unmanned aerial vehicle is available, and has the defects of small picking load and easy collision and damage. The durian picking device is integrated with the three durian picking devices, the first two picking devices cannot realize automatic operation of a full machine, the picking efficiency is low, the labor intensity is high, and the third picking device is too expensive and heavy and is inconvenient for fruit growers to operate.
In order to overcome the problems, the novel annular flying durian picking device disclosed by the invention comprehensively considers and upgrades the defects of the three picking devices, creatively designs light gas buoyancy to control the durian to stably lift, precisely controls the picking direction and high-energy laser non-contact cutting by using a plurality of groups of brushless duct fans, not only can improve the efficiency of traditional manual durian picking, but also can solve the problems of heavy and inconvenient carrying of the picking devices, and has good practicability.
Disclosure of Invention
The invention aims to solve the problems of low picking efficiency, high labor intensity, high cost and heavy weight of the durian picking by the existing device, and provides a novel annular inflatable boat type durian picking device which is provided with an annular inflatable boat and can prevent the durian from being damaged due to impact and has better plasticity, and corresponding picking devices can be increased or decreased appropriately according to requirements.
Aiming at the problems of the existing durian picking device, the invention carries out principle innovation, and the basic idea is as follows: (1) the annular inflatable boat filled with light gas (such as hydrogen and helium) is used as a main body, the inflatable boat is inflated or exhausted through an inflator pump and an exhaust pump respectively, and the buoyancy of the inflatable boat is controlled by the difference of gas density, so that the annular inflatable boat is lifted and lowered; (2) in order to enable the device to comprehensively pick durian, 4 brushless ducted fans in different directions are embedded in the annular inflatable boat, and the horizontal position and the inclination angle of the annular inflatable boat can be adjusted by controlling the rotating speed of the fans; (3) for making durian can high altitude automation pick, realize binocular imaging location through two cameras, the cooperation is installed at the embedded laser arm in airship top, seeks the connecting stalk of durian voluntarily to realize laser fast cutting.
In order to achieve the above purpose and principle, the technical scheme of the invention is as follows:
an inflatable lifting-adjustable annular flying durian picking device consists of four parts, namely a buoyancy lifting unit I, a flying position control unit II, a cutting unit III and a gas transmission and exhaust unit IV;
the buoyancy lifting unit I comprises a rubber annular inflatable boat 1, an embedded motor mounting table 2, a remote control steering engine 3, an embedded mechanical arm mounting table 4, a metal nested hanging ring inner ring 5, a detachable nylon net 6, a gas pipe orifice 7, an exhaust pipe orifice 8, a direct current power supply 16 and a gravity sensor 17;
the buoyancy unit I is a base for installing the flying position control unit II and the cutting unit III, and provides a proper position for installing devices of the buoyancy unit I, so that the units can be connected together;
the metal nested hanging ring inner ring 5 can protect the whole rubber annular inflatable boat 1 from the air leakage phenomenon caused by the puncture damage on durian, and is internally provided with a hanging ring which can be used for installing a detachable nylon net 6 so as to catch the collected durian;
the rubber annular inflatable boat 1 is used as a main body of the whole device, light gas is filled in the rubber annular inflatable boat 1 to generate upward lifting force, and a 16 direct current power supply and a 17 gravity sensor are arranged in the rubber annular inflatable boat 1 and are respectively used for providing energy supply for other units and detecting the current flight attitude;
the embedded motor mounting table 2 is uniformly rotated by 90 degrees and embedded in the annular inflatable boat 1, and can be used for mounting a brushless duct type fan 9. A remote control steering engine 3 is arranged on the inner wall of the air boat, and the horizontal offset angle of a brushless bypass fan 9 can be adjusted to adjust the flight attitude of the air boat;
the detachable nylon net 6 is round as a whole, 10 metal hooks are uniformly distributed on the edge, and can be directly arranged on the inner ring 5 of the metal nested hanging ring on the inner wall of the rubber annular inflatable boat 1, so that the durian collection effect of high-altitude operation is realized, and the maintenance and the replacement are convenient;
the flying position control unit II comprises a brushless ducted fan 9, an embedded motor mounting table 2 and a remote control steering engine 3;
the brushless ducted fans 9 are uniformly rotated by 90 degrees and respectively embedded and installed in the embedded motor mounting table 2, when the power is off, the remote control steering engine 3 can enable the brushless ducted fans 9 to slowly fall down until an included angle of 15 degrees is formed between the brushless ducted fans 9 and the wall surface, when the power is off, the brushless ducted fans 9 can rise around the shaft until an angle of 45 degrees is formed upwards in the horizontal direction, and the remote control steering engine 3 can automatically regulate and control the offset angle between the brushless ducted fans 9 and the horizontal direction according to the operation requirement or the wind direction so as to control the flight direction and the attitude;
the cutting unit III comprises a laser mechanical arm 10, an embedded mechanical arm mounting table 4 and a positioning camera 15;
the laser mechanical arm 10 comprises a mechanical big arm 101, a mechanical small arm 102 and a laser cutting opening 103;
when the airship gradually moves to the target position, the positioning camera 15 starts to operate, binocular imaging positioning is realized through the two cameras, the characteristics of connecting stems of durian are automatically found, the embedded mechanical arm 10 is cooperatively arranged at the top of the airship, the embedded mechanical arm has two rotational degrees of freedom, the mechanical large arm 101 and the mechanical small arm 102 can respectively rotate left and right and in a pitching manner, the positions of the connecting stems are mechanically positioned, then the laser cutting opening 103 starts to operate, so that laser rapid cutting is realized, the durian falls down and steadily falls into the detachable nylon net 6;
the gas transmission and exhaust unit IV comprises a gas transmission hose 11, an exhaust hose 12, an inflator pump 13 and a suction pump 14; the inflator pump 13 and the suction pump 14 can respectively inflate and deflate the rubber annular inflatable boat 1 through the air conveying hose 11 and the air exhausting hose 12 so as to control the light gas content in the rubber annular inflatable boat 1, thereby adjusting the lifting condition of the rubber annular inflatable boat 1; when durian falls into the detachable nylon net 6, the gravity sensor in the rubber annular inflatable boat 1 senses gravity change and automatically sends signals to the inflator pump 13 and the aspirator pump 14 to balance the posture of the rubber annular inflatable boat 1.
The beneficial effects of the invention are as follows:
1. the buoyancy generated by light gas is used for lifting the device, so that the device is different from a common unmanned aerial vehicle, and is more energy-saving and light.
2. The design of rubber annular airship can utilize the elasticity of rubber airship self, avoids picking the damage that the in-process of durian caused because of striking trunk or branch, and annular airship accessible exhaust after the work reduces self volume, portable and storage.
3. The laser mechanical arm with two degrees of freedom is used and matched with the two positioning cameras to perform characteristic positioning and laser cutting on the target stalks, and compared with the common physical cutting, the device has the advantages of good cutting efficiency and high accuracy.
4. The embedded brushless ducted fans in four directions are distributed, the embedded design of the brushless ducted fans can also protect the fans, the brushless ducted fans can not only adjust the horizontal position of the airship device, but also can provide a certain lifting force by combining the pitching included angle of the motor.
5. Each unit of the whole device belongs to a modularized design, can be simply installed and conveniently detached, is easy to maintain and replace devices in later period, and has high practicability and strong universality.
Drawings
Fig. 1 is a full view of a novel ring inflatable boat type durian picking device;
fig. 2 is a partial enlarged view of the device body (energized);
fig. 3 is an enlarged view of a portion of the device body (power down);
FIG. 4 is a schematic view of the internal cross-section of the airship;
FIG. 5 is a block diagram of a gas delivery and exhaust unit;
FIG. 6 is a diagram of a detachable nylon mesh structure;
fig. 7 is a schematic diagram of durian harvesting work;
figure 8 is a flow chart of durian harvesting.
The reference numerals in the figures are: the device comprises an I-buoyancy lifting unit, an II-flying position control unit, an III-cutting unit, an IV-gas transmission and exhaust unit, a 1-rubber annular inflatable boat, a 2-embedded motor mounting table, a 3-remote control steering engine, a 4-embedded mechanical arm mounting table, a 5-metal embedded hanging ring inner ring, a 6-detachable nylon net, a 7-gas transmission pipe orifice, an 8-exhaust pipe orifice, a 9-brushless ducted fan, a 10-laser mechanical arm, a 101-mechanical big arm, a 102-mechanical small arm, a 103-laser cutting orifice, a 11-gas transmission hose, a 12-exhaust hose, a 13-inflator pump, a 14-suction pump, a 15-positioning camera, a 16-direct current power supply and a 17-gravity sensor.
Detailed description of the preferred embodiments
The invention will be further described with reference to the drawings and the specific examples.
Examples: the height of durian tree is 20-30 m, the diameter of trunk is 1m, the working height is 10-15 m, and the weight of single durian is 3-5kg.
As shown in fig. 1-8. An inflatable lifting-adjustable annular flying durian picking device consists of four parts, namely a buoyancy lifting unit I, a flying position control unit II, a cutting unit III and a gas transmission and exhaust unit IV;
the buoyancy unit I comprises a rubber annular inflatable boat 1, an embedded motor mounting table 2, a remote control steering engine 3, an embedded mechanical arm mounting table 4, a metal embedded hanging ring inner ring 5, a detachable nylon net 6, a gas pipe orifice 7, an exhaust pipe orifice 8, a direct current power supply 16 and a gravity sensor 17.
The gas delivery and exhaust unit IV comprises a gas delivery hose 11, an exhaust hose 12, an inflator pump 13 and a suction pump 14.
Specifically, the rubber annular inflatable boat 1 is inflated with enough light gas through the inflator pump 13 to enable the whole flying unit to reach a suspension state, when the whole flying unit is electrified, the remote control steering engine 3 enables the brushless ducted fan 9 to be adjusted to form an included angle of 45 degrees with the horizontal direction upwards, after the whole flying unit reaches the suspension state, the brushless ducted fan 9 starts to operate, the fan blades are rotated to enable the annular inflatable boat 1 to ascend until reaching the target mature durian position, and the suction pump 14 can pump out a part of gas to enable the whole device to reach the suspension state again. So far, the whole device stably reaches the position of the target mature durian.
The cutting unit III comprises a laser mechanical arm 10, an embedded mechanical arm mounting table 4 and a positioning camera 15.
The laser mechanical arm 10 comprises a mechanical big arm 101, a mechanical small arm 102 and a laser cutting opening 103;
specifically, when the airship gradually moves to the target position, the two positioning cameras 15 perform binocular imaging positioning to determine the cutting target position, the laser mechanical arm 10 starts to operate after determining the position, the mechanical large arm 101 and the mechanical small arm 102 can respectively perform left-right and pitching rotation to realize mechanical positioning and connection of the positions of the stems, then the laser cutting opening 103 starts to operate, the durian stems are rapidly cut off by using laser, the durian falls down and steadily falls into the detachable nylon net 6, and meanwhile, the inner ring 5 of the metal nested hanging ring can protect the rubber inner wall from being damaged by durian spike.
The flying position control unit II comprises a brushless ducted fan 9, an embedded motor mounting table 2 and a remote control steering engine 3.
The brushless ducted fan 9 is uniformly rotated by 90 degrees and is respectively embedded and installed in the embedded motor installation table 2, the remote control steering engine 3 can regulate and control the brushless ducted fan 9 to rotate at a uniform speed around the shaft during operation, a component force F1 on the horizontal direction and a component force F2 on the vertical direction are generated, and the rubber annular inflatable boat 1 can move in different directions on the horizontal direction through the combined wind force generated in different horizontal offset directions of the four motors, so that the task of picking durian once more is realized.
First step (beginning): the inflator pump 13 charges the rubber annular inflatable boat 1 with light gas through the gas transmission hose 11 to increase the volume of the inflatable boat 1 to generate buoyancy, and the remote control steering engine 3 adjusts the brushless ducted fan 9 to form an included angle of 45 degrees upwards with the horizontal direction, and the inflatable boat 1 is suspended in the air by matching with corresponding vertical parameter regulation.
And a second step of: the four distributed brushless ducted fans 9 start to operate, and the component force of the thrust generated by each brushless ducted fan 9 in the vertical direction is combined to generate the total lifting force in the vertical direction so as to slowly lift the rubber annular inflatable boat 1; similarly, a resultant force in the horizontal direction may be generated to move the rubber ring-shaped inflatable boat 1 in the horizontal direction, avoiding the obstacle.
And a third step of: after the rubber annular inflatable boat 1 reaches the target mature durian, the two positioning cameras 1 conduct binocular imaging positioning on durian connecting stems, the accurate positions of the durian connecting stems are determined, after the positions are determined, the laser mechanical arm 10 starts to operate, the mechanical large arm 101 and the mechanical small arm 102 can rotate left and right and in a pitching mode respectively, the positions of the mechanically positioned connecting stems are achieved, then the laser cutting opening 103 starts to operate, the durian stems are cut off rapidly by using laser, and the durian falls down stably and falls into the detachable nylon net 6.
Fourth step: the inflator pump 13 continuously inflates the rubber ring through the air transmission hose 11, so that the rubber ring-shaped inflatable boat 1 filled with durian is continuously suspended in the air. Similarly, four distributed brushless ducted fans 9 perform omnibearing movement by adjusting the rotating speed and controlling the remote control steering engine 3, so that durian picking for a plurality of times is realized.
Fifth step: after the picking number is enough, the suction pump 14 carries out micro-exhaust on the rubber annular inflatable boat 1 through the exhaust hose 12, so that the volume of the rubber annular inflatable boat 1 is reduced, the buoyancy is reduced, and the rubber annular inflatable boat 1 slowly descends until the rubber annular inflatable boat falls to the ground.
Sixth step (end): and (5) detaching the detachable nylon net 6, and taking out the durian which is picked up, so that the durian can be picked up once. After the durian is completely picked, all devices on the rubber annular inflatable boat 1 are disassembled and taken out, and the suction pump 14 exhausts the rubber annular inflatable boat 1 through the exhaust hose 12 until the internal gas is completely exhausted, so that the rubber annular inflatable boat 1 is compressed and retracted.
Claims (6)
1. The novel durian picking device of the annular inflatable boat type is characterized by comprising a buoyancy lifting unit, a flight position control unit, a cutting unit and a gas transmission and exhaust unit.
2. The novel annular inflatable boat type durian picking device according to claim 1, wherein the buoyancy unit comprises a rubber annular inflatable boat (1), an embedded motor mounting table (2), a remote control steering engine (3), an embedded mechanical arm mounting table (4), a metal nested hanging ring inner ring (5), a detachable nylon net (6), a gas delivery pipe orifice (7), an exhaust pipe orifice (8), a direct current power supply (16) and a gravity sensor (17);
the rubber annular inflatable boat (1) is hollow, and is provided with a direct current power supply (16) and a gravity sensor (17);
the embedded motor mounting tables (2) are arranged everywhere and are uniformly embedded and distributed on the outermost ring of the rubber annular inflatable boat (1) at 90 degrees;
the embedded mechanical arm mounting table (4) is arranged above the rubber annular inflatable boat (1) in an embedded manner;
the metal nested hanging ring inner ring (5) is arranged at the innermost ring of the rubber annular inflatable boat (1) in an embedded manner;
the detachable nylon net (6) can be connected with the inner ring (5) of the metal nested hanging ring through the metal hook at the upper part;
the gas pipe orifice (7) and the exhaust pipe orifice (8) are symmetrically arranged at the bottom of the rubber annular inflatable boat (1) in an embedded manner.
3. The novel ring-shaped inflatable boat type durian picking device according to claim 1, wherein the flying position control unit comprises a brushless ducted fan (9), an embedded motor mounting table (2) and a remote control steering engine (3);
the brushless ducted fan (9) can be connected with the embedded motor mounting table (2);
the remote control steering engine (3) is arranged between the brushless ducted fan (9) and the embedded motor mounting table (2).
4. The novel annular inflatable boat type durian picking device according to claim 1, wherein the cutting unit comprises a laser mechanical arm (10), an embedded mechanical arm mounting table (4) and a positioning camera (15);
the laser mechanical arm (10) can be connected with the embedded mechanical arm mounting table (4);
the positioning cameras (15) are symmetrically embedded and distributed above the rubber annular inflatable boat (1).
5. The novel ring-shaped inflatable boat type durian picking device according to claim 4, wherein the laser mechanical arm (10) comprises a mechanical big arm (101), a mechanical small arm (102) and a laser cutting opening (103);
the mechanical small arm (102) is connected with the mechanical large arm (101), and the laser cutting opening (103) is embedded and installed at the tail end of the mechanical small arm (102).
6. The novel annular inflatable boat type durian picking device according to claim 1, wherein the gas transmission and exhaust unit comprises a gas transmission hose (11), an exhaust hose (12), an inflator pump (13) and a suction pump (14);
two ends of the air hose (11) can be respectively connected with an inflator pump (13) and an air pipe orifice (7);
the two ends of the exhaust hose (12) can be respectively connected with the suction pump (14) and the exhaust pipe orifice (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310460924.9A CN116235705A (en) | 2023-04-26 | 2023-04-26 | Novel durian of cyclic annular inflatable boat type is picked device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310460924.9A CN116235705A (en) | 2023-04-26 | 2023-04-26 | Novel durian of cyclic annular inflatable boat type is picked device |
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| Publication Number | Publication Date |
|---|---|
| CN116235705A true CN116235705A (en) | 2023-06-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310460924.9A Pending CN116235705A (en) | 2023-04-26 | 2023-04-26 | Novel durian of cyclic annular inflatable boat type is picked device |
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| Country | Link |
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| CN (1) | CN116235705A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5531400A (en) * | 1993-01-20 | 1996-07-02 | Demidov; German V. | Airborne vehicle |
| CN110583241A (en) * | 2019-09-24 | 2019-12-20 | 江苏大学 | Flight type walnut picking device |
| CN211001815U (en) * | 2019-10-31 | 2020-07-14 | 西北农林科技大学 | Helium balloon unmanned aerial vehicle with super endurance |
-
2023
- 2023-04-26 CN CN202310460924.9A patent/CN116235705A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5531400A (en) * | 1993-01-20 | 1996-07-02 | Demidov; German V. | Airborne vehicle |
| CN110583241A (en) * | 2019-09-24 | 2019-12-20 | 江苏大学 | Flight type walnut picking device |
| CN211001815U (en) * | 2019-10-31 | 2020-07-14 | 西北农林科技大学 | Helium balloon unmanned aerial vehicle with super endurance |
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