CN209693537U - Electromagnetic type apple tree flower and fruit thinning device based on computer control - Google Patents
Electromagnetic type apple tree flower and fruit thinning device based on computer control Download PDFInfo
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- CN209693537U CN209693537U CN201920230778.XU CN201920230778U CN209693537U CN 209693537 U CN209693537 U CN 209693537U CN 201920230778 U CN201920230778 U CN 201920230778U CN 209693537 U CN209693537 U CN 209693537U
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- flower
- fruit thinning
- telescopic rod
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- computer
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Abstract
The utility model relates to a kind of electromagnetic type apple tree flower and fruit thinning devices based on computer control, are mainly characterized by: including pusher gear, cart handle, trolley pole, support frame, turntable, connecting plate, knife head device, Telescopic rod device, CCD camera and control circuit；The top for being fixed on trolley pole, the bottom of trolley pole are mounted on pusher gear rear end by cart；Support frame is four and is fixed at the angle of four ends in pusher gear upper end that turntable is packed in right above the connecting plate at the top of support frame, and Telescopic rod device is mounted on turntable, and knife head device is mounted on the front end of Telescopic rod device；CCD camera is two and is mounted on the front end of two support frames, and two CCD cameras are connected with the control circuit and backstage computer being mounted in support frame.The utility model is designed reasonably can be realized to the automatic flower and fruit thinning operation of apple tree in full wafer orchard, be easy to use, the degree of automation is higher, greatlys save labour, flower and fruit thinning accurate positioning.
Description
Technical field
The utility model belongs to technical field of agricultural machinery, especially a kind of electromagnetic type apple tree based on computer control
Flower and fruit thinning device.
Background technique
In Apple Growth early period, in order to guarantee that the nutrient of fruit is sufficiently fed and improves the quality of fruit, generally to apple
The part flowers and fruits of fruit tree are extractd, and healthy and strong flowers and fruits are left.If not flower thinning, blooming, it is inadequate to will lead to nutrition too much, can make
At a large amount of fallen flowers, influence as a result, if not fruit thinning, as subalimentation makes to come annual output reduction, the quality of fruit
Can be impacted, therefore flower and fruit thinning is of great significance.
Currently employed flower and fruit thinning technique is manual mode mostly or mechanical, when in face of large stretch of orcharding, can be increased
Add working strength, when trimming time-consuming and laborious, even electronic flower and fruit thinning device, the pruning efficiency is also relatively low, and often
The problem of will appear miscut.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, proposes that a kind of design is reasonable, time saving and energy saving, trims
The electromagnetic type apple tree flower and fruit thinning device based on computer control of precise and high efficiency.
The utility model solves its technical problem and adopts the following technical solutions to achieve:
A kind of electromagnetic type apple tree flower and fruit thinning device based on computer control, including pusher gear, cart handle, cart
Bar, support frame, turntable, connecting plate, knife head device, Telescopic rod device, CCD camera and control circuit；The cart handle is fixed on
The top of trolley pole, the bottom of the trolley pole are mounted on pusher gear one end；Support frame as described above is four and is fixed on cart
At the angle of four ends in device upper end, it is solidly installed at the top of four support frames with connecting plate；The turntable is being packed in connecting plate just
Top, the Telescopic rod device are mounted on turntable, and the knife head device is mounted on the front end of Telescopic rod device；The CCD phase
Machine is two and is mounted on the front end of two support frames, two CCD cameras and the control circuit being mounted in support frame and backstage
Computer is connected.
The pusher gear includes brake switch, brake cable, idler wheel, disc brake sheet and plate；The top of the plate is installed by branch
Support, the idler wheel are four and are mounted at the following four corners of plate that the disc brake sheet is mounted on idler wheel, the brake cable
It is mounted on beside idler wheel, the brake switch is mounted on the plate beside trolley pole and is connected with brake cable.
The Telescopic rod device includes photoscope, elongation switchs, shortens switch, flower and fruit thinning handle, motor, electromagnetism are opened
Pass, focusing ring and telescopic rod main body；The photoscope is mounted on above telescopic rod main body, and the flower and fruit thinning handle, which is mounted on, to be stretched
The two sides of contracting bar main body, the electromagnetic switch are mounted in front of the flower and fruit thinning handle of side, the elongation switch and shortening switch
Be mounted in front of other side flower and fruit thinning handle up and down, the motor is four and is located in front of photoscope, four motors with stretch
Contracting bar main body is connected, and described focus is mounted on the rear of telescopic rod main body and is located at beside flower and fruit thinning handle.
The knife head device includes accepting rotary table, fixed station, spring stack, magnetic induction loop, six pawl cutter heads, iron plate, trundle
And blade；The spring stack is six and is uniformly mounted on and accepts between rotary table and fixed station, each spring stack by cylinder and
It is sleeved on the composition of the spring outside cylinder, and the magnetic induction loop is six and is evenly distributed among insertion undertaking rotary table, the six pawls knife
Head is located on fixed station；Six perforation and six iron sheets are staggeredly equipped on fixed station, the iron plate is tightly embedded in fixed station
Lower surface is simultaneously corresponding with the magnetic induction loop accepted on rotary table；The trundle is mounted on blade obliquely downward, and six cover spring
Cylinder pass through perforation be connected with trundle.
The undertaking rotary table and fixed station are made of aluminum material.
The control circuit includes microprocessor and inserted computer interconnected, the microprocessor and two CCD
Camera is connected to form image collecting device, which is transmitted to inserted computer and backstage computer for image information,
The inserted computer obtains object three-dimensional coordinate information with backstage compunlcation and from backstage computer simultaneously；The embedded-type electric
Brain, which is connected with turntable, elongation switch and shortening switch and controls motor, to be gone control Telescopic rod device mobile and positions object,
The inserted computer is connected with electromagnetic switch and starts to object flower and fruit thinning.
The advantages and positive effects of the utility model are as follows:
1, the utility model is easy to use: its six pawl cutter head for installing electromagnetic type additional on flower and fruit thinning device is filled by cart
It sets at the position for being moved to desired flower and fruit thinning and is fixed by brake switch, work can be increased by telescopic rod and turntable and covered
Capping reduces workload.During being worked using flower and fruit thinning device, suitable focal length can be adjusted by focusing ring, led to
The position that turntable adjusts Telescopic rod device is crossed, the length of telescopic rod is adjusted by motor, in this way for orchard worker, removes apple
Flowers and fruits on tree will become easy.
2, the utility model flower and fruit thinning is high-efficient: its cutter head is acted on by the electromagnetic attraction that flower and fruit thinning switch generates
Iron plate, so that fixed station moves down, spring stack can be closed six pawl cutter heads by trundle, six pawl knife after flower and fruit thinning
Head opens, and the position that can continue to adjust telescopic rod carries out flower and fruit thinning operation next time, as long as pressing flower and fruit thinning switch at this time,
Can continue generation electromagnetic attraction is closed six pawl cutter heads.If flower and fruit thinning needs to carry out operation to large stretch of orcharding
When, the advantage of the utility model can be more obvious, before only pusher gear need to being pushed to the apple tree of desired flower and fruit thinning,
The position that telescopic rod is arbitrarily adjusted using turntable and motor switch makes the alignment flowers and fruits that cutter head is more accurate, efficiently positions.Largely
Saving manpower and accurate positioning, when flower and fruit thinning, is not required to ladder, and it is also not required to lift hand and ceaselessly operates, cutter head registration base
Originally the case where being not in miscut.
3, the utility model is designed reasonably can be realized under conditions of not needing too many artificial participation to full wafer fruit
The automatic flower and fruit thinning operation of apple tree in garden, is easy to use, the degree of automation is higher, greatlys save labour, apparatus structure
Distinct characteristics, flower and fruit thinning accurate positioning, beneficial effect are obvious.
Detailed description of the invention
Fig. 1 is the overall structure figure of the utility model；
Fig. 2 is the partial schematic diagram of the pusher gear of the utility model；
Fig. 3 is the schematic diagram of the Telescopic rod device of the utility model；
Fig. 4 is the schematic diagram of the cutter head single unit system of the utility model；
Fig. 5 is the schematic diagram of the cutter head local device of the utility model；
Fig. 6 is the electric control schematic diagram of the utility model；
Wherein, A- pusher gear, B- connecting plate, C- knife head device, D- Telescopic rod device, 1- cart handle, 2- trolley pole, 3-
Support frame, 4- turntable, 5-CCD camera, 6- brake switch, 7- brake cable, 8- idler wheel, 9- disc brake sheet, 10- plate, 11- perspective
Mirror, 12- elongation switch, 13- shorten switch, 14- flower and fruit thinning handle, 15- motor, 16- electromagnetic switch, 17- focusing ring, 18-
Spring stack, 19- fixed station, 20- magnetic induction loop, six pawl cutter head of 21-, 22- perforation, 23- iron plate, 24- trundle, 25- blade,
26- accepts rotary table.
Specific embodiment
The utility model embodiment is further described below in conjunction with attached drawing.
A kind of electromagnetic type apple tree flower and fruit thinning device based on computer control, as shown in Figure 1, including pusher gear A, pushing away
Handlebar 1, trolley pole 2, support frame 3, turntable 4, connecting plate B, knife head device C, Telescopic rod device D, CCD camera 5 and control circuit.
The top that the cart is fixed on trolley pole 21, the bottom of the trolley pole 2 are mounted on the one end pusher gear A.The support
Frame 3 is four and is fixed at the angle of four ends in the upper end pusher gear A, passes through four nuts and connecting plate B at the top of four support frames 3
It is solidly installed.The turntable 4 is packed in the surface of connecting plate B, and the Telescopic rod device D is mounted on turntable 4, by turning
Platform 4 can freely adjust the position of Telescopic rod device D.The knife head device C is mounted on the front end of Telescopic rod device D.It is described
CCD camera 5 is two and is mounted on the front end of two support frames 3, and two CCD cameras 5 and the control being mounted in support frame 3 are electric
Road and backstage computer are connected.
As shown in Fig. 2, pusher gear A includes brake switch 6, brake cable 7, idler wheel 8, disc brake sheet 9 and plate 10.It is described flat
Support frame 3 is installed in the top of plate 10, and four rolling 8 is housed at the following four corners of plate 10, and disc brake sheet 9 is on idler wheel 8, brake
Line 7 is located at 8 side of idler wheel.Brake switch 6 is mounted on the plate 10 on 2 side of trolley pole, can be by idler wheel 8 by brake cable 7
It fixes on the ground, uses disc brake technology can be by brake switch stationary carts device.
As shown in figure 3, Telescopic rod device D includes photoscope 11, elongation switch 12, shortens switch 13, flower and fruit thinning handle
14, motor 15, electromagnetic switch 16, focusing ring 17 and telescopic rod main body.In the present embodiment, it is specified that direction knife head device C is front,
17 directions focus as rear, the position of electromagnetic switch 16 is a left side, and the position for extending switch 12 and shortening switch 13 is the right side.It is flexible
Lever apparatus D is installed on turntable 4, can adjust the direction Telescopic rod device D by turntable 4.Equipped with perspective above telescopic rod main body
Mirror 11, the two sides of telescopic rod main body are equipped with flower and fruit thinning handle 14, and electromagnetic switch 16 is located in front of flower and fruit thinning left handle, flower thinning
Elongation switch 12 is installed in front of the right handle of fruit thinning and shortens switch 13, extends switch 12 upper, shortening switch 13 is under, motor
15 are located at 11 front of photoscope, and four motors 15 connect with telescopic rod main body, by elongation switch 12 and can shorten switch 13
The length that motor 15 controls telescopic rod is acted on, focusing ring 17 is mounted on the rear of telescopic rod main body, closely in flower and fruit thinning handle
Hand 14, with the use of focusing ring 17 and photoscope 11, so that flower and fruit thinning operation positioning can be more accurate.
As shown in Figures 4 and 5, knife head device C include spring stack 18, fixed station 19, magnetic induction loop 20, six pawl cutter heads 21,
Iron plate 23, blade 25, accepts rotary table 26 at trundle 24.In the present embodiment, it is specified that focusing ring position is the beginning of Telescopic rod device
End, six pawl cutter head positions are the end of Telescopic rod device, and entire knife head device is connected with Telescopic rod device, and are located at telescopic rod and fill
The end set.Spring stack 18, which is mounted on, to be accepted between rotary table 26 and fixed station, and spring stack 18 is by cylinder and its is sleeved on outside cylinder
Spring constitute, cylinder one end, which is fixed on, accepts on rotary table, and the other end passes through fixed station, and six springs are respectively sleeved in six circles
On column.It accepts rotary table and fixed station is made by aluminum material, six magnetic induction loops 20, which are respectively embedded into, to be accepted among rotary table, six pawls
Cutter head 21 is located on fixed station, and six pawl cutter heads 21 are in open configuration when not working.Perforation 22 is equipped on fixed station 19,
Iron plate 23 is tightly embedded in fixed station lower surface, corresponding with the magnetic induction loop accepted on rotary table, six perforation and six iron plates
It is staggered between fixed station.Trundle 24 is satisfied with blade obliquely downward, six cylinders for covering spring pass through perforation 22 with it is small
Idler wheel 24 is connected, and six pawl cutter heads can be removed by rotating entirety, and replacement cutter head is convenient.Knife head device technology is electromagnetic relay
Principle, starting knife head device switch are located at flower and fruit thinning handle lower left, facilitate operation
As shown in fig. 6, the control circuit of the utility model includes microprocessor, inserted computer, microprocessor and insertion
Formula computer is connected, and the microprocessor and two CCD cameras 5 are connected to form image collecting device, and image collecting device will scheme
As the backstage computer that information is transmitted to inserted computer and is mounted on outside electromagnetic type apple tree intelligence flower and fruit thinning device, inserted computer
Simultaneously with backstage compunlcation, object three-dimensional coordinate information is obtained from backstage computer.Inserted computer and electromagnetic switch 16 turn
Platform 4, elongation switch 12 are connected with switch 13 is shortened, and inserted computer controls turntable 4, elongation switch 12 and shortens switch 13,
It goes control Telescopic rod device mobile to start motor 15 and positions object, while the starting of electromagnetic switch 16 is to object flower thinning
Fruit thinning.
The utility model uses computer binocular vision technology, is taken pictures to apple tree and by two CCD cameras to flowers and fruits
Classification, respectively larger, moderate, smaller three kinds of states simultaneously position object.Backstage computer is according to two width X-Y schemes of object
As obtaining the three-dimensional coordinate of object and being transferred to inserted computer, inserted computer is believed according to the three-dimensional coordinate for collecting object
Breath goes control Telescopic rod device to be automatically moved to target position.In the present embodiment, inserted computer uses PC104 on hardware
Embedded computer uses the xPC kernel of The Mathworks company on software.The backstage computer is common computer.
The flower and fruit thinning process of the utility model is illustrated below.
It is assumed that large stretch of orcharding needs flower and fruit thinning, the mode that manual control turntable 4 and Telescopic rod device can be used is fixed
Position flowers and fruits.At this time by cart 1 by the utility model it is a kind of based on computer control electromagnetic type apple tree flower and fruit thinning device
Before shifting the apple tree for needing to carry out flower and fruit thinning onto, suitable vacant lot is found, presses brake switch 6, brake switch 6 passes through at this time
Flower and fruit thinning device is fixed on herein by brake cable 7 and disc brake sheet 9.Next the position that flower and fruit thinning handle 14 adjusts cutter head is held
It sets, focusing ring 17 and 11 Dual positioning of photoscope can be first passed through, it is only necessary to during eye alignment focuses, next may be used
To be moved up and down Telescopic rod device by turntable 4, position successfully at this time, but Telescopic rod device away from flowers and fruits farther out, can be with
By pressing elongation switch 12 back and forth and shortening the length of 13 de-regulation Telescopic rod device of switch, make to stretch at cutter head alignment flowers and fruits
Long switch 12 and shortening switch 13 control four motors 15, and motor 15 starts so that Telescopic rod device elongates or shortens, and principle is straight
It sees, it is easy to operate.It works followed by flower and fruit thinning, presses electromagnetic switch 16, iron plate 23 is generated by magnetic induction loop 20
Electromagnetic attraction, fixed station 19 made of aluminum at this time moves down, so that trundle 24 be driven to move down, at this moment six pawl cutter head
Closure, can be cut flowers and fruits by blade 25, and electromagnetic switch 16 generates 3 seconds electromagnetic attractions, after 3 seconds, since electromagnetism is inhaled
Power disappears, and since spring is in compressive state always, electromagnetic attraction will be restored to reset condition after disappearing, so that fixed station
19 move up again and are restored to original position, and trundle 24 is also begun to move up, and then six pawl cutter heads open, then
Complete the process of a flower and fruit thinning.It next proceeds to through turntable 4, elongation switch 12 and shortens the adjusting telescopic rod of switch 13
The length of device and position position next flowers and fruits for needing to cut, when most of flower and fruit thinning of an apple tree has worked
Cheng Hou does not need mobile handcart device, continues the length and the position that adjust telescopic rod, so just saves a large amount of
Man power and material.When complete an apple tree it is all flower and fruit thinning work after, press brake switch 6, pusher gear is solved
Lock before continuing to press on the apple tree that electromagnetic type apple tree flower and fruit thinning device needs flower and fruit thinning to next at this time, repeats above-mentioned
Step is accurately positioned flowers and fruits and wipes out.It, only need to be by six pawls of damage if six pawl cutter heads are damaged because a large amount of flower and fruit thinnings work
Cutter head is screwed down by way of rotation, and changing six new pawl cutter heads can work on.
Binocular vision technology intelligent positioning can be used when flower and fruit thinning, when shifting the utility model onto 1 by cart
Before the apple tree for needing to carry out flower and fruit thinning, suitable vacant lot is found, presses brake switch 6, intelligent flower and fruit thinning device is fixed
Herein.Open inserted computer and backstage computer at this time, by two CCD cameras 5 from different directions different angle to apple tree
It takes pictures, the two dimensional image of apple tree is obtained after the pretreatment such as filtering, according to the SVM principle pair in pattern-recognition
Flowers and fruits classification, respectively larger, moderate, smaller three kinds of states utilize flowers and fruits Information locating object.Backstage computer is according to target
The two dimensional image of object calculates the three-dimensional coordinate of object, is then inserted into formula computer according to this three-dimensional coordinate and removes control telescopic rod certainly
It is dynamic to move to target position.It, can be by saturating if feeling there are error after telescopic rod is directed at the flowers and fruits of positioning with six pawl cutter heads 21
17 fine tuning of visor 11 and focusing ring, presses electromagnetic switch 16 after adjustment is suitable, generates electromagnetism to iron plate 23 by magnetic induction loop 20
Suction, fixed station 19 made of aluminum at this time moves down, so that trundle 24 be driven to move down, at this moment six pawl cutter heads are closed
It closes, flowers and fruits can be cut by blade 25.
Inserted computer on flower and fruit thinning device is used to control Telescopic rod device and knife head device, including whole
The position control of body motion planning and each motor.When inserted computer receives the three-dimensional coordinate for the object that backstage computer is sent
Afterwards, it will be planned according to motion path of the three-dimensional coordinate to telescopic rod, and implement motor position control.In flower and fruit thinning
The image acquisition and processing device used in the process is related to binocular vision technology positioning, captures image letter by a pair of of CCD camera 5
Breath, it is general just as two eyes, sense of depth is obtained according to the image difference captured, establishes feature corresponding relationship, it will be same
Photosites of the space physics point in different images are mapped, and (this technology can be found in: the positioning based on binocular vision technology
Research, Southern Yangtze University, 2016, which illustrates the principle using binocular visual positioning).Image procossing link will adopt
The image collected is converted to gray level image, two dimensional image is obtained after the pretreatment operations such as filtering, using parallel thinning algorithm
The profile of apple tree flowers and fruits is extracted from two dimensional image.Support vector machines is mainly used to handle classification problem, and the utility model is adopted
With support vector machines principle, classify to the shape size of flowers and fruits, so that it is determined that flower and fruit thinning object.Backstage computer according to
Image calculates the three-dimensional coordinate of object, then three-dimensional coordinate is transmitted to the inserted computer on flower and fruit thinning device, since electromagnetism is opened
It closes 16, turntable 4, elongation switch 12 and the single-chip microcontroller shortened in switch 13 to be connected with inserted computer respectively, therefore embedded-type electric
Brain obtains i.e. controllable electromagnetic switch 16, turntable 4, elongation switch 12 and shortening switch after the three-dimensional coordinate that backstage computer transmits
13, to plan telescopic rod motion path, it is automatically positioned by the telescopic rod that turntable 4 and motor 15 control to target object location,
Implement flower and fruit thinning operation.Analysis shows the system can obtain higher positioning accuracy.
The utility model does not address place and is suitable for the prior art, and related component can be commercially available.Furthermore
Binocular vision technology belongs to the prior art, and algorithm and software can be realized using the prior art, not the utility model patent
Protection content.
It is emphasized that embodiment described in the utility model be it is illustrative, without being restrictive, therefore this reality
It is all practical new according to this by those skilled in the art with novel including being not limited to embodiment described in specific embodiment
The other embodiments that the technical solution of type obtains also belong to the range of the utility model protection.
Claims (6)
1. a kind of electromagnetic type apple tree flower and fruit thinning device based on computer control, it is characterised in that: including pusher gear, cart
, trolley pole, support frame, turntable, connecting plate, knife head device, Telescopic rod device, CCD camera and control circuit；The cart handle
It is fixed on the top of trolley pole, the bottom of the trolley pole is mounted on pusher gear one end；Support frame as described above is four and fixes
At the angle of four ends in pusher gear upper end, it is solidly installed at the top of four support frames with connecting plate；The turntable is packed in connection
The surface of plate, the Telescopic rod device are mounted on turntable, and the knife head device is mounted on the front end of Telescopic rod device；It is described
CCD camera is two and is mounted on the front ends of two support frames, two CCD cameras and the control circuit being mounted in support frame and
Backstage computer is connected.
2. the electromagnetic type apple tree flower and fruit thinning device according to claim 1 based on computer control, it is characterised in that: described
Pusher gear includes brake switch, brake cable, idler wheel, disc brake sheet and plate；The top of the plate is installed by support frame, the idler wheel
It for four and is mounted at the following four corners of plate, the disc brake sheet is mounted on idler wheel, and the brake cable is mounted on by idler wheel
Side, the brake switch are mounted on the plate beside trolley pole and are connected with brake cable.
3. the electromagnetic type apple tree flower and fruit thinning device according to claim 1 based on computer control, it is characterised in that: described
Telescopic rod device includes photoscope, elongation switch, shortens switch, flower and fruit thinning handle, motor, electromagnetic switch, focuses and stretch
Contracting bar main body；The photoscope is mounted on above telescopic rod main body, and the flower and fruit thinning handle is mounted on the two of telescopic rod main body
Side, the electromagnetic switch are mounted in front of the flower and fruit thinning handle of side, are mounted on above and below the elongation switch and shortening switch another
In front of the flower and fruit thinning handle of side, the motor is four and is located in front of photoscope that four motors are connected with telescopic rod main body
It connects, described focus is mounted on the rear of telescopic rod main body and is located at beside flower and fruit thinning handle.
4. the electromagnetic type apple tree flower and fruit thinning device according to claim 1 based on computer control, it is characterised in that: described
Knife head device includes accepting rotary table, fixed station, spring stack, magnetic induction loop, six pawl cutter heads, iron plate, trundle and blade；The bullet
Spring column is six and is uniformly mounted between undertaking rotary table and fixed station that each spring stack is by cylinder and its is sleeved on outside cylinder
Spring constitute, the magnetic induction loop be six and be evenly distributed with insertion accept rotary table among, the six pawls cutter head is located on fixed station；
Six perforation and six iron sheets are staggeredly equipped on fixed station, the iron plate is tightly embedded in fixed station lower surface and justifies with accepting
Magnetic induction loop on platform is corresponding；The trundle is mounted on blade obliquely downward, six cylinders for covering spring pass through perforation with
Trundle is connected.
5. the electromagnetic type apple tree flower and fruit thinning device according to claim 4 based on computer control, it is characterised in that: described
It accepts rotary table and fixed station is made of aluminum material.
6. according to claim 1 to the electromagnetic type apple tree flower and fruit thinning device based on computer control described in 5 any one, feature
Be: the control circuit includes microprocessor and inserted computer interconnected, the microprocessor and two CCD cameras
It is connected to form image collecting device, which is transmitted to inserted computer and backstage computer for image information, this is embedding
Enter formula computer and obtains object three-dimensional coordinate information with backstage compunlcation and from backstage computer simultaneously；The inserted computer with
Turntable, elongation switch, which are connected with shortening switch and control motor, to be gone control Telescopic rod device mobile and positions object, described
Inserted computer is connected with electromagnetic switch and starts to object flower and fruit thinning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920230778.XU CN209693537U (en) | 2019-02-25 | 2019-02-25 | Electromagnetic type apple tree flower and fruit thinning device based on computer control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920230778.XU CN209693537U (en) | 2019-02-25 | 2019-02-25 | Electromagnetic type apple tree flower and fruit thinning device based on computer control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209693537U true CN209693537U (en) | 2019-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920230778.XU Expired - Fee Related CN209693537U (en) | 2019-02-25 | 2019-02-25 | Electromagnetic type apple tree flower and fruit thinning device based on computer control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109673304A (en) * | 2019-02-25 | 2019-04-26 | 河西学院 | Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision |
-
2019
- 2019-02-25 CN CN201920230778.XU patent/CN209693537U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109673304A (en) * | 2019-02-25 | 2019-04-26 | 河西学院 | Electromagnetic type apple tree intelligence flower and fruit thinning device based on computer binocular vision |
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Granted publication date: 20191129 |