CN210247575U - Self-recognition fruit picking device based on IR and TCS - Google Patents
Self-recognition fruit picking device based on IR and TCS Download PDFInfo
- Publication number
- CN210247575U CN210247575U CN201920971891.3U CN201920971891U CN210247575U CN 210247575 U CN210247575 U CN 210247575U CN 201920971891 U CN201920971891 U CN 201920971891U CN 210247575 U CN210247575 U CN 210247575U
- Authority
- CN
- China
- Prior art keywords
- fruit
- infrared detection
- picking
- control device
- detection probe
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Abstract
The utility model discloses a device is picked to self-identification fruit based on IR and TCS, including telescopic link, controlling means, a harvesting section of thick bamboo, pipeline, cutting off cutter assembly, infrared detection probe group, color sensor, LED lamp, battery, sorter assembly. The utility model discloses simple structure, operation, carry portably, discernment accuracy, automatic picking rate of accuracy height, can alleviate fruit picking workman's intensity of labour, improve work efficiency to conveniently pick the fruit that artifical hand of not being convenient for on the fruit tree was plucked, need not use extra strength to pick fruit.
Description
Technical Field
The utility model belongs to the technical field of agricultural machine, concretely relates to self-identification fruit picking device based on IR and TCS.
Background
China is a world-wide fruit production and consumption country, the fruit consumption demand rapidly increases year by year along with the improvement of the living standard of people, particularly, the fruit planting is very wide in remote mountainous areas, and a large amount of labor force is needed every time the fruit is ripe, so that time and labor are wasted. The traditional fruit picking machine at the present stage generally has the problems of complex structure, heavy body, high cost, inconvenient operation, low efficiency and slow speed, the fruit picking basket which puts picked fruits on the ground needs to be stopped every time one fruit is picked, so that the speed is slow, and the traditional machine drives the machine by using the grip of hands for a long time to cause aching pain of the hands, so that the labor amount of workers is increased. The common fruit shears can not pick fruits at high positions, but the telescopic fruit shears are inconvenient to pick and also can pick fruits only by aligning with fruit branches of the fruits.
In spite of the current development of fruit picking machines at home and abroad, the current mechanized fruit picking modes can be divided into large-scale agricultural machinery equipment and small-scale picking devices. The large-scale agricultural machinery equipment has the advantages of high efficiency, high speed and the like, but due to the obvious difference between the technology and the topographic features, the large-scale agricultural machinery equipment is only suitable for being used in wide plains and standardized planting areas and is not suitable for planting fields such as tablelands, hills, mountainous regions and the like. Large-scale agricultural machinery needs the professional to operate, and the operation is complicated, heavy and have certain danger, can cause certain injury to fruit even fruit tree because of device self defect or misoperation in the picking process. Therefore, the large-scale machine cannot meet the use requirements of individual farmers, cannot be used in mountainous regions and hilly lands, has great damage to fruits, has high manufacturing cost, and is only suitable for large-scale farms.
Ordinary small-size device of picking in market has advantages such as easy and simple to handle, light and handy, nevertheless because the restriction of picking the cycle, the small-size device of picking is picked inefficiently indirectly, and automatic identification function is imperfect, can't accurate location fruit stalk, and the step is loaded down with trivial details, does not have shortcomings such as continuity and exhibit one by one. For a grower with a large planting area and a short picking period, the selection of a product which is simple and convenient to operate and high in efficiency is very important.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the utility model provides a device is picked to self-identification fruit based on IR and TCS, simple structure, operation, carry portably, discernment accuracy, automatic picking rate of accuracy are high, can alleviate fruit picking workman's intensity of labour, improve work efficiency to conveniently pick the fruit that artifical hand was plucked not convenient for on the fruit tree, need not pick fruit using extra strength.
In order to achieve the above purpose, the technical scheme of the utility model is that:
the utility model discloses a self-recognition fruit picking device based on IR and TCS, which comprises a telescopic rod, a control device, a picking cylinder, a conveying pipeline, a cutting knife assembly, an infrared detection probe group, a color sensor, a fruit sorting device, an LED lamp and a battery;
the upper end of the telescopic rod is connected with the lower end of the control device, the upper end of the control device is connected with the side wall of the picking cylinder, and the axial direction of the control device is perpendicular to the axial direction of the picking cylinder;
the two ends of the picking cylinder are provided with openings, the opening at the front end of the picking cylinder is provided with a cutting knife assembly, and the rear end of the picking cylinder is communicated with the upper end of the conveying pipeline; the cutting-off tool assembly, the infrared detection probe group and the color sensor are respectively and electrically connected with the control device; the infrared detection probe group comprises 3 infrared detection probes I and 1 infrared detection probe II, the 3 infrared detection probes I are arranged at the front end of the inner wall of the picking cylinder and are uniformly distributed at intervals along the circumference, the infrared detection probes II are arranged at any point on the circumference of the middle part of the inner wall of the picking cylinder, and the color sensor is arranged on the inner wall of the picking cylinder and is positioned between the infrared detection probes I and the infrared detection probes II; the LED lamp is arranged on the inner wall of the picking cylinder and is positioned beside the color sensor;
the battery is respectively and electrically connected with the control device, the cutting-off tool assembly, the infrared detection probe group, the color sensor and the LED lamp and is used for supplying power;
the control device is respectively and electrically connected with the cutting knife assembly, the infrared detection probe I, the infrared detection probe II, the color sensor and the LED lamp; the infrared detection probe I is used for detecting whether the fruits enter the barrel body or not and sending a fruit entering signal to the control device; the control device controls the LED lamp to be lightened after receiving the fruit entering signal, and simultaneously controls the color sensor to be started, the color sensor detects the color frame number of the fruit and transmits a color frame number signal to the control device, the control device presets the color frame number range corresponding to the fruit, and whether the entering object is the fruit or not is determined by comparing the color frame number signal; the infrared detection probe II is used for detecting that the fruits reach the cutting position, and when the infrared detection probe II detects the fruits and the color sensor identifies that the entering object is the fruits, the control device controls the cutting knife assembly to perform cutting operation;
the fruit sorting device is arranged at the lower end of the conveying pipeline and can divide fruits into different fruit boxes.
The self-recognition fruit picking device based on the IR and the TCS further comprises a fruit classifying device, wherein the fruit classifying device comprises a base, a classifying sleeve, a rotating inclined table, a rotating motor, a classifying port and a classifying pipe; the lower end of the classification sleeve is fixedly arranged on the base, and the upper end of the classification sleeve is connected with the lower end of the conveying pipeline; the lower bottom surface of the base is provided with a rotating motor, and an output shaft of the rotating motor penetrates through a base bottom plate and extends into the base; a plurality of classification openings are formed in the inner wall of the classification sleeve at intervals along the circumferential direction, each classification opening is connected with one classification pipe, and each classification pipe is communicated with one fruit box; the rotary inclined table is fixedly arranged on an output shaft of the rotary motor, the rotary inclined table is a cylinder, the upper end face of the rotary inclined table is an inclined plane, the rotary inclined table is driven to rotate by the rotary motor, and the inclined plane of the rotary inclined table can rotate to a position right facing each classification opening.
The cutting-off tool assembly comprises a cutting-off tool I and a cutting-off tool II; the cutting knife I comprises an arc-shaped double knife and a rotating motor I, the tail end of the double knife is connected with a rotating shaft of the rotating motor I, and the rotating motor I is arranged on the side wall of the picking cylinder;
the cutting knife II comprises an arc-shaped single knife and a rotating motor II, the tail end of the single knife is connected with a rotating shaft of the rotating motor II, and the rotating motor II is arranged on the side wall of the picking cylinder;
the single knife is just positioned between the two blades of the double knives in the axial direction of the picking cylinder; the radian of the single knife and the double knives is larger than or smaller than the radian, the circle centers of the single knife and the double knives are positioned on the axis of the picking cylinder, and the radius of the single knife and the radius of the double knives are the same as the radius of the picking cylinder.
The conveying pipeline is a cloth woven pipeline, and a plurality of buffering devices are arranged in the conveying pipeline.
The control device is an Arduino mini, the type of the infrared detection probe I is an Aineanol electronic Ai-IR, the type of the infrared detection probe II is an Aineanol electronic Ai-IR, and the type of the color sensor is a TCS34725 color induction recognition module.
The self-recognition fruit picking device based on the IR and the TCS further comprises a handle, and the handle is arranged at the lower end of the telescopic rod; the handle is provided with a switch, and the switch is electrically connected with the control device to control the opening and closing of each module.
The self-identification fruit picking device based on the IR and the TCS further comprises a display screen, wherein the display screen is arranged on the handle and is electrically connected with the control device, and the display screen receives and displays the electric quantity of the battery and picking quantity data.
The specification of the picking cylinder is designed according to the types of picked fruits, and the axial distance between the infrared detection probe I and the infrared detection probe II is slightly larger than the height of the picked fruits.
The utility model has the advantages that:
the utility model discloses a device is picked to self-identification fruit based on IR and TCS has simplified the structure of picking machine, simple structure, and operation, it is simple and convenient to carry, can alleviate fruit picking workman's intensity of labour, improves work efficiency to conveniently pick the fruit that manual hand of not being convenient for on the fruit tree was plucked, the telescopic link can carry out the color with picking head propelling movement to the position far away in space and pluck, has reduced the picking degree of difficulty.
The utility model discloses an infrared detection probe group, color sensor make up and use, can realize carrying out accurate discernment to fruit position in the sleeve, ensure that the cutting position is accurate, can not hinder to fruit, can discern simultaneously whether for corresponding fruit, avoid picking debris such as unnecessary branch or leaf.
The utility model discloses a controlling means and color sensor can also select according to the fruit kind of difference, have expanded the fruit kind that can accurately pick greatly.
The utility model discloses fruit sorter has still been designed, through manual switch, switches to the categorised mouth and the categorised pipe department that correspond, can carry out categorised transmission storage to different types of fruit.
The utility model discloses a picking head design is unique, scientific and reasonable, and safe and reliable can pick the fruit fast, realizes mechanizedly, improves work efficiency.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the structure of the picking cylinder of the present invention.
Fig. 3 is another schematic structural diagram of the picking cylinder of the present invention.
Fig. 4 is a schematic structural view of the fruit sorting device of the present invention after the sorting sleeve is removed.
The numbers and names in the figure are as follows:
1-a handle; 2, a telescopic rod; 3-a control device; 4-picking cylinder; 5-cutting off a cutter I; 51-double-knife; 52-rotating electrical machine I; 6-cutting off a cutter II; 61-single knife; 62-rotating electrical machine II; 7-a color sensor; 8-a conveying pipeline; 9-LED lamps; 10-infrared detection probe I; 11-infrared detection probe II; 12-a base; 13-sorting sleeves; 14-rotating the inclined table; 15-rotating the motor; 16-a classification port; 17-sorting the tubes.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings by way of specific embodiments.
Example 1
As shown in fig. 1-2, the self-recognition fruit picking device based on IR and TCS of the present invention comprises a telescopic rod 2, a control device 3, a picking cylinder 4, a conveying pipeline 8, a cutting knife assembly, an infrared detection probe set, a color sensor 7, an LED lamp 9, and a battery;
the upper end of the telescopic rod 2 is connected with the lower end of the control device 3, the upper end of the control device 3 is connected with the side wall of the picking cylinder 4, and the axial direction of the control device 3 is vertical to the axial direction of the picking cylinder 4;
the two ends of the picking cylinder 4 are provided with openings, the opening at the front end of the picking cylinder 4 is provided with a cutting knife assembly, and the rear end of the picking cylinder 4 is communicated with the upper end of the conveying pipeline 8; the cutting-off tool assembly, the infrared detection probe group and the color sensor 7 are respectively and electrically connected with the control device 3; the infrared detection probe group comprises 3 infrared detection probes I10 and 1 infrared detection probe II 11, the 3 infrared detection probes I10 are arranged at the front end of the inner wall of the picking cylinder 4 and are uniformly distributed at intervals along the circumference, the infrared detection probes II 11 are arranged at any point on the middle circumference of the inner wall of the picking cylinder 4, and the color sensor 7 is arranged on the inner wall of the picking cylinder 4 and is positioned between the infrared detection probes I10 and the infrared detection probes II 11; the LED lamp 9 is arranged on the inner wall of the picking cylinder 4 and is positioned beside the color sensor 7;
the battery is respectively and electrically connected with the control device, the cutting-off tool assembly, the infrared detection probe group, the color sensor 7 and the LED lamp 9 and is used for supplying power;
the control device 3 is respectively and electrically connected with the cutting-off tool assembly, the infrared detection probe I10, the infrared detection probe II 11, the color sensor 7 and the LED lamp 9; the infrared detection probe I10 is used for detecting whether the fruits enter the barrel body or not and sending a fruit entering signal to the control device 3; after receiving the fruit entering signal, the control device 3 controls the LED lamp 9 to be lightened, and simultaneously controls the color sensor 7 to be started, the color sensor 7 detects the color frame number of the fruit and transmits the color frame number signal to the control device 3, the control device 3 presets the color frame number range corresponding to the fruit, and determines whether the entering object is the fruit or not by comparing the color frame number signal; the infrared detection probe II 11 is used for detecting that the fruit reaches a cutting position, and when the infrared detection probe II 11 detects the fruit and the color sensor 7 identifies that the entering object is the fruit, the control device 3 controls the cutting-off knife assembly to perform cutting operation;
fruit sorter locate 8 lower extremes of pipeline, can divide fruit to in the fruit box of difference.
The self-recognition fruit picking device based on the IR and TCS further comprises a fruit sorting device, wherein the fruit sorting device comprises a base 12, a sorting sleeve 13, a rotating inclined table 14, a rotating motor 15, a sorting port 16 and a sorting pipe 17; the lower end of the classification sleeve 13 is fixedly arranged on the base 12, and the upper end of the classification sleeve 13 is connected with the lower end of the conveying pipeline 8; a rotating motor 15 is arranged on the lower bottom surface of the base 12, and an output shaft of the rotating motor 15 penetrates through the bottom plate of the base 12 and extends into the base 12; a plurality of classification openings 16 are formed in the inner wall of the classification sleeve 13 at intervals along the circumferential direction, each classification opening 16 is connected with one classification pipe 17, and each classification pipe 17 is communicated with one fruit box; the rotating inclined table 14 is fixedly arranged on an output shaft of the rotating motor 15, the rotating inclined table 14 is a cylinder, the upper end face of the rotating inclined table is an inclined plane, the rotating inclined table 14 is driven to rotate by the rotating motor 15, and the inclined plane of the rotating inclined table 14 can rotate to a position opposite to each sorting port 16.
The cutting knife assembly comprises a cutting knife I5 and a cutting knife II 6; the cutting knife I5 comprises an arc-shaped double knife 51 and a rotary motor I52, the tail end of the double knife 51 is connected with the rotating shaft of the rotary motor I52, and the rotary motor I52 is arranged on the side wall of the picking cylinder 4;
the cutting knife II6 comprises an arc-shaped single knife 61 and a rotary motor II62, the tail end of the single knife 61 is connected with the rotating shaft of the rotary motor II62, and the rotary motor II62 is arranged on the side wall of the picking cylinder 4;
the single knife 61 is positioned between two blades of the double knife 51 in the axial direction of the picking cylinder 4; the radian of the single knife 61 and the double knives 51 is larger than 120 degrees and smaller than 180 degrees, the circle centers of the single knife and the double knives are positioned on the axis of the picking cylinder 4, and the radius of the single knife and the double knives is the same as that of the picking cylinder 4.
The conveying pipeline 8 is a cloth woven pipeline, and a plurality of buffer devices are arranged in the conveying pipeline 8.
The control device 3 is an Arduino mini, the type of the infrared detection probe I10 is an Ainoainol electronic Ai-IR, the type of the infrared detection probe II 11 is the Ainoainol electronic Ai-IR, and the type of the color sensor 7 is a TCS34725 color induction recognition module.
The self-recognition fruit picking device based on the IR and the TCS further comprises a handle 1, wherein the handle 1 is arranged at the lower end of the telescopic rod 2; the handle 1 is provided with a switch, and the switch is electrically connected with the control device 3 and used for controlling the opening and closing of each module.
The self-identification fruit picking device based on the IR and the TCS further comprises a display screen 9, wherein the display screen 9 is arranged on the handle 1 and is electrically connected with the control device 3 to receive and display the electric quantity of the battery and the picking quantity data.
The specification of the picking cylinder 4 is designed according to the types of picked fruits, and the axial distance between the infrared detection probe I10 and the infrared detection probe II 11 is slightly larger than the height of the picked fruits.
The working process of the utility model is as follows:
A. fruit types are preset in the control device 3, the number of color frames corresponding to each fruit type is set, and the specific set value ranges are as follows: below 2000 frames are apples, 3000-4000 frames are bergamot pears, and 1000-3000 frames are oranges;
B. selecting a proper picking cylinder 3 according to the size of the picked fruit, and selecting a set value range of the number of color frames of the control device 3 according to the type of the currently picked fruit; starting a power supply, starting the control device 3, the infrared detection probe group and the color sensor 7;
C. manually enabling a picking cylinder 4 of the self-identification fruit picking device to face fruits, and if the infrared detection probe I10 detects objects, sending an entering signal to the control device 3; the control device 3 sends a starting signal to turn on the LED lamp 9, the color sensor 7 detects the object color frame number and transmits the object color frame number to the control device 3, the control device 3 contrasts the detected object color frame number and the set value range of the color frame number, if the detected object color frame number is in the set value range, the detected object color frame number is fruit, and if not, the detected object color frame number is other objects; if the detection result belongs to the fruit, a successful identification signal is sent to the control device 3;
D. when the infrared detection probe II 11 detects an object, and the control device 3 receives a successful identification signal, the control device 3 drives the cutting-off tool assembly to cut off the fruit branches, otherwise, the control device 3 does not drive the cutting-off tool assembly; then the control device 3 controls the LED lamp 9 to be turned off;
E. the rotating motor 15 is controlled by a rotating motor switch to drive the rotating sloping platform 14 to rotate to the classification port 16 corresponding to the fruit type, and the fruit enters the classification port 16 through the inclined plane of the rotating sloping platform 14 and falls into the corresponding position in the fruit separation box through the classification pipe 17.
Claims (8)
1. The utility model provides a device is picked to self-identification fruit based on IR and TCS, includes telescopic link (2), controlling means (3), picks a section of thick bamboo (4), pipeline (8), cutting off cutter assembly, infrared detection probe group, color sensor (7), LED lamp (9), battery, fruit sorter, its characterized in that:
the upper end of the telescopic rod (2) is connected with the lower end of the control device (3), the upper end of the control device (3) is connected with the side wall of the picking cylinder (4), and the axial direction of the control device (3) is vertical to the axial direction of the picking cylinder (4);
openings are formed in two ends of the picking cylinder (4), a cutting-off knife assembly is arranged on the opening in the front end of the picking cylinder (4), and the rear end of the picking cylinder (4) is communicated with the upper end of the conveying pipeline (8); the cutting-off tool assembly, the infrared detection probe group and the color sensor (7) are respectively and electrically connected with the control device (3); the infrared detection probe group comprises 3 infrared detection probes I (10) and 1 infrared detection probe II (11), the 3 infrared detection probes I (10) are arranged at the front end of the inner wall of the picking cylinder (4) and are uniformly distributed at intervals along the circumference, the infrared detection probes II (11) are arranged at any point on the circumference of the middle part of the inner wall of the picking cylinder (4), and the color sensor (7) is arranged on the inner wall of the picking cylinder (4) and is positioned between the infrared detection probes I (10) and the infrared detection probes II (11); the LED lamp (9) is arranged on the inner wall of the picking cylinder (4) and is positioned beside the color sensor (7);
the battery is respectively and electrically connected with the control device, the cutting-off tool assembly, the infrared detection probe group, the color sensor (7) and the LED lamp (9) and is used for supplying power;
the control device (3) is respectively and electrically connected with the cutting-off tool assembly, the infrared detection probe I (10), the infrared detection probe II (11), the color sensor (7) and the LED lamp (9); the infrared detection probe I (10) is used for detecting whether fruits enter the barrel body or not and sending a fruit entering signal to the control device (3); after receiving the fruit entering signal, the control device (3) controls the LED lamp (9) to be lightened, and simultaneously controls the color sensor (7) to be started, the color sensor (7) detects the color frame number of the fruit and transmits a color frame number signal to the control device (3), the control device (3) presets the color frame number range corresponding to the fruit, and whether the entering object is the fruit or not is determined by comparing the color frame number signal; the infrared detection probe II (11) is used for detecting that the fruits reach a cutting position, and when the infrared detection probe II (11) detects the fruits and the color sensor (7) identifies that the entering object is the fruits, the control device (3) controls the cutting-off knife assembly to perform cutting operation;
the fruit sorting device is arranged at the lower end of the conveying pipeline (8) and can divide fruits into different fruit boxes.
2. The IR and TCS based self-identifying fruit picking apparatus of claim 1, wherein: the fruit sorting device comprises a base (12), a sorting sleeve (13), a rotary sloping table (14), a rotary motor (15), a sorting port (16) and a sorting pipe (17); the lower end of the classifying sleeve (13) is fixedly arranged on the base (12), and the upper end of the classifying sleeve (13) is connected with the lower end of the conveying pipeline (8); a rotating motor (15) is arranged on the lower bottom surface of the base (12), and an output shaft of the rotating motor (15) penetrates through a bottom plate of the base (12) and extends into the base (12); a plurality of classification openings (16) are formed in the inner wall of the classification sleeve (13) at intervals along the circumferential direction, each classification opening (16) is connected with one classification pipe (17), and each classification pipe (17) is communicated with one fruit box; the rotary sloping table (14) is fixedly arranged on an output shaft of the rotary motor (15), the rotary sloping table (14) is a cylinder, the upper end surface of the rotary sloping table is an inclined surface, the rotary sloping table (14) is driven to rotate by the rotary motor (15), and the inclined surface of the rotary sloping table (14) can rotate to a position right facing each classification port (16).
3. The IR and TCS based self-identifying fruit picking apparatus of claim 1, wherein:
the cutting knife assembly comprises a cutting knife I (5) and a cutting knife II (6); the cutting knife I (5) comprises an arc-shaped double knife (51) and a rotating motor I (52), the tail end of the double knife (51) is connected with a rotating shaft of the rotating motor I (52), and the rotating motor I (52) is installed on the side wall of the picking cylinder (4);
the cutting knife II (6) comprises an arc-shaped single knife (61) and a rotating motor II (62), the tail end of the single knife (61) is connected with a rotating shaft of the rotating motor II (62), and the rotating motor II (62) is arranged on the side wall of the picking cylinder (4);
the single knife (61) is just positioned between two blades of the double knives (51) in the axial direction of the picking cylinder (4); the radian of the single knife (61) and the double knives (51) is larger than 120 degrees and smaller than 180 degrees, the circle centers of the single knife and the double knives are positioned on the axis of the picking cylinder (4), and the radius of the single knife and the double knives is the same as that of the picking cylinder (4).
4. An IR and TCS based self-identifying fruit picking apparatus as claimed in claim 1 or claim 2 wherein: the conveying pipeline (8) is a cloth woven pipeline, and a plurality of buffer devices are arranged in the conveying pipeline (8).
5. The IR and TCS based self-identifying fruit picking apparatus of claim 1, wherein: the control device (3) is an Arduino mini, the type of the infrared detection probe I (10) is an Ainoainol electronic Ai-IR, the type of the infrared detection probe II (11) is the Ainoainol electronic Ai-IR, and the type of the color sensor (7) is a TCS34725 color sensing identification module.
6. The IR and TCS based self-identifying fruit picking apparatus of claim 1, wherein: the telescopic rod is characterized by further comprising a handle (1), wherein the handle (1) is arranged at the lower end of the telescopic rod (2); the handle (1) is provided with a switch, and the switch is electrically connected with the control device (3) to control the on and off of each module.
7. The IR and TCS based self-identifying fruit picking apparatus of claim 1, wherein: the electric picking machine is characterized by further comprising a display screen, wherein the display screen is arranged on the handle (1) and is electrically connected with the control device (3) to receive and display the electric quantity of the battery and the picking quantity data.
8. The IR and TCS based self-identifying fruit picking apparatus of claim 1, wherein: the specification of the picking cylinder (4) is designed according to the types of picked fruits, and the axial distance between the infrared detection probe I (10) and the infrared detection probe II (11) is slightly larger than the height of the picked fruits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920971891.3U CN210247575U (en) | 2019-06-26 | 2019-06-26 | Self-recognition fruit picking device based on IR and TCS |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920971891.3U CN210247575U (en) | 2019-06-26 | 2019-06-26 | Self-recognition fruit picking device based on IR and TCS |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210247575U true CN210247575U (en) | 2020-04-07 |
Family
ID=70045042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920971891.3U Expired - Fee Related CN210247575U (en) | 2019-06-26 | 2019-06-26 | Self-recognition fruit picking device based on IR and TCS |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210247575U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199683A (en) * | 2019-06-26 | 2019-09-06 | 广西科技大学 | Self-identifying fruit picker and fruit picking method based on IR and TCS |
-
2019
- 2019-06-26 CN CN201920971891.3U patent/CN210247575U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110199683A (en) * | 2019-06-26 | 2019-09-06 | 广西科技大学 | Self-identifying fruit picker and fruit picking method based on IR and TCS |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107771527B (en) | Efficient nondestructive fruit picking device | |
| CN107371612B (en) | A kind of strawberry picking electric tool | |
| CN210247575U (en) | Self-recognition fruit picking device based on IR and TCS | |
| CN108476725B (en) | Strawberry maturity recognition and picking sorting machine | |
| CN205213451U (en) | Multi -functional picking machine | |
| CN108745850B (en) | Device of supplementary artifical ware of picking of fruit | |
| CN108207318A (en) | A kind of quick pineapple picking machine | |
| CN208159342U (en) | A kind of self-identifying formula fruit picking | |
| CN113475228A (en) | Be used for automatic device of picking of herbaceous peony petal | |
| CN110199683A (en) | Self-identifying fruit picker and fruit picking method based on IR and TCS | |
| CN215454392U (en) | Hang and plant full-automatic ware of picking of edible tree fungus | |
| CN108718701B (en) | Device is cut to detachable fruit of string bag and branch concurrently | |
| CN112273047B (en) | Coffee fruit picking machine | |
| CN109275416A (en) | Pricklyash peel picker | |
| CN209201570U (en) | A kind of fruit picking apparatus | |
| CN114128490B (en) | Hand-held type prickly ash shearing threshing machine | |
| CN208317464U (en) | A kind of high tree picking fruit tool | |
| CN108401675A (en) | Semi-automatic Trepan style fruit picking apparatus | |
| CN108450152A (en) | A kind of Handheld rotary type cherry picking device | |
| CN210928659U (en) | Portable strawberry picking equipment | |
| CN208175397U (en) | A kind of integrated electric fruit of picking collection twists device and picking | |
| CN112772147A (en) | Fruit picking and sorting all-in-one machine | |
| CN209140993U (en) | A kind of multi-functional fig sorting equipment | |
| CN109197149A (en) | A kind of device for picking | |
| CN221768773U (en) | Energy-saving efficient picking equipment for walnut planting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200407 Termination date: 20210626 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |