WO2009030108A1 - Dispositif mobile commandé à distance et système de fonctionnement dudit dispositif - Google Patents

Dispositif mobile commandé à distance et système de fonctionnement dudit dispositif Download PDF

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Publication number
WO2009030108A1
WO2009030108A1 PCT/CN2008/001536 CN2008001536W WO2009030108A1 WO 2009030108 A1 WO2009030108 A1 WO 2009030108A1 CN 2008001536 W CN2008001536 W CN 2008001536W WO 2009030108 A1 WO2009030108 A1 WO 2009030108A1
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WO
WIPO (PCT)
Prior art keywords
remotely
movable
arm
operator
motor
Prior art date
Application number
PCT/CN2008/001536
Other languages
English (en)
Chinese (zh)
Inventor
Ferrie Luping Lau Li
Zhonghua Li
Original Assignee
Ferrie Luping Lau Li
Zhonghua Li
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from AU2007904656A external-priority patent/AU2007904656A0/en
Application filed by Ferrie Luping Lau Li, Zhonghua Li filed Critical Ferrie Luping Lau Li
Publication of WO2009030108A1 publication Critical patent/WO2009030108A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type

Definitions

  • the invention relates to a remote control movable device applied to the fields of picking fruits, shooting, supermarket shelves, bricks in the construction industry, mail classification and the like, and a working system using the same. Background technique
  • the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and to provide a remotely movable device that can connect a person's eyes and brain with the arm of the machine via the Internet. With this device, you can increase your work efficiency, extend your working hours, and even work in harsh natural environments.
  • Another object of the present invention is to provide a remotely movable fruit picker with the above-mentioned device, which is suitable for repetitive work such as picking delicate fruits and turning dry fruits dried on the ground.
  • the object of the present invention is to provide a remote-controlled parcel sorter with the above device, Replace the hands of the workplace and sort the packages by remote control.
  • the technical solution of the remote control movable device of the present invention is: a remote control movable device comprising a plane frame having an X track and a Y track and a positioning component disposed along a Z axis direction perpendicular to the plane, the positioning component being provided with a difference a vision lens of the target and a range finder for measuring a target distance, the longitudinal axis of the video lens and the range finder being perpendicular to the XY plane; the positioning assembly being coupled to the Y track, the Y track being driven by the first motor Moving along the X-track, the positioning assembly is driven by the second motor to move along the Y-track, the first motor is disposed on the plane frame, the second motor is disposed on the Y-track, and the z-axis motion of the positioning assembly is driven by the third motor, all motors It works according to the control instructions issued by the information processor.
  • the first application of Benming is as a remote-controlled mobile fruit picker.
  • the working system comprises the following components: a carrier; one or more lenses that identify the fruit; a wireless network in communication with the picker for transmitting and receiving data; one or more rangefinders for measuring the distance of the fruit a robotic arm that can be telescoped to the fruit; a robotic arm that grasps the fruit at the end of the robotic arm; a remotely movable device that moves the robotic arm in three dimensions, the device moves according to the received command;
  • the control end of the processor remote operation controls the picker to extract the fruit.
  • a second application of the invention is a remotely controlled mobile aiming shooter.
  • the working system comprises the following components: a carrier device; a plurality of video lenses for distinguishing the target; a wireless data transceiver portion, a plurality of range finder for measuring the target distance; one or more shooting devices; A two-dimensionally mobile remotely movable device whose moving distance is determined according to the received data ⁇ a device for controlling the pitch of the shooting device, the angle of which is determined according to the received data; the control terminal remotely operated by the operator through the information processor , used to control the shooting of the shooting device.
  • a third application of the invention is a remotely controlled mobile shelf loading device.
  • the working system has the following components: a carrying device; a lens for identifying goods, which may be multiple; a wireless network connected to the loading device for transmitting and receiving data; a range finder for measuring the distance of the cargo, which may be more a robotic arm that can be telescoped to the shelf; a robot that can grip the cargo at the end of the robotic arm; a remotely movable device that moves the robotic arm in three dimensions, the device moves according to the received command to control the loading Device HI / position of the cargo; the operator is remotely operated by the operator through the information processor.
  • a fourth application of the present invention is a remotely controlled mobile barrier.
  • the working system has the following components: a carrier; a plurality of video lenses for distinguishing bricks; a wireless network for data transmission and reception; Multiple range finder for measuring brick distance; a robotic arm that can be extended to the brick and place where the brick is placed; one or more gripping devices; a remotely movable device that moves the robot arm in two dimensions, the moving distance Based on the received data; the operator is remotely operated by the operator through the information processor.
  • a fifth application of the present invention is a remote packet parcel classifier.
  • the working system has the following components: a carrier, a parcel sorter installed thereon; a plurality of video lenses for identifying addresses on the parcel; a wireless network for data transceiving; a machine that can be telescoped to the parcel and parcel sorting area One or more gripping devices; a device that moves in a two-dimensional space with a moving distance determined by the received data; a control terminal that is remotely operated by an operator through an information processor.
  • the device and the working system thereof provided by the invention have the following advantages:
  • the function of the operator's eyes and hands can be used in the workplace, and the operator himself can not be on site to achieve the goal of labor remote output; part of solving the problem of insufficient labor in high-wage countries/regions.
  • the arm Since the arm is linear, it can give the arm a constant load-bearing capacity, and the load capacity of the human arm and the bionic arm is affected by the stretching angle, making it difficult to achieve a constant load.
  • a controller can control multiple machines at the same time, greatly improving production efficiency.
  • FIG. 1 is a schematic structural view of a movable device for use in an acquisition mode according to an embodiment of the present invention
  • FIG. 2 is a first perspective view of the fruit picker
  • Figure 3 is a perspective view of the horizontal movement assembly of the fruit picker of Figure 2.
  • Figure 4 is a perspective view of the telescopic mechanical arm of the fruit picker of Figure 2.
  • Figure 5 is a perspective view of the vertical movement assembly of the fruit picker of Figure 2.
  • Figure 6 is a perspective view of the fruit picker robot of Figure 2.
  • FIG. 7 is a side perspective view of the manipulator of the fruit picker of Figure 2 placing the fruit into the zigzag slide.
  • FIG. 8 is a schematic structural view of a movable device used in an aiming mode according to Embodiment 2 of the present invention.
  • Figure 9 is a perspective view of the remote aiming shooter of the present invention.
  • Figure 10 is a top plan view of the aiming shooter of Figure 9.
  • Figure 11 is a front elevational view of the aiming shooter of Figure 9.
  • FIG. 12 is a schematic structural diagram of a movable device used in an arrangement mode according to Embodiment 3 of the present invention.
  • control components include: a computer; broadband Internet (when remote operation is required); synchronous motor controls and drivers; power source, which can be battery or solar.
  • this mode can be used for picking crops, picking flowers, cleaning ground waste, and so on.
  • the working end of the working system (where the machine is located) is assigned a coordinate value for each object in the field of view of the lens, which corresponds to each object in the video of the display on the console (the location of the remote operator).
  • the robotic arm of the positioning assembly will reach the corresponding target, allowing the working device on the robotic arm to function (can be a picker, cutter, electric insect killer, etc.).
  • the operation mode of the robot arm is: Press the left mouse button, the arm extends forward, release and stop immediately; when the right mouse button is pressed, the arm is retracted and released immediately.
  • the gripper automatically grabs the target after it hits the target.
  • the remote control movable device in this embodiment includes a plane frame 3 having an X-track 1 and a Y-track 2 and a robot arm 4 disposed along the Z-axis direction.
  • the robot arm 4 is provided with a target for distinguishing the target.
  • the video lens 5 and the central laser range finder 6 for measuring the target distance, the longitudinal axes of the video lens 5 and the range finder 6 are perpendicular to the XY plane; the mechanical arm 4 is connected to the Y track 2, the first motor 71 Provided on the plane frame 3, the second motor 72 is disposed on the Y rail 2.
  • the frame 3 can have a housing on which the powered or unpowered wheels 8 can be placed.
  • auxiliary lenses can be mounted on the frame 3 to assist the operator in observing the environment and machine operation.
  • a plurality of laser emitters 61 can be installed to form a laser scale to assist in positioning.
  • the first motor 71 passes the belt/gear Or the worm drive Y track 2 moves horizontally along the X track 1 within the frame.
  • the motor can use a synchronous motor or a servo motor or the like as a power source.
  • the second motor 72 moves up and down on the cymbal track 2 via the belt/gear or worm drive robot 4 and the center laser range finder 6 and the video lens 5 thereon.
  • the movement of the arm 4 is linear telescopic, which can be an antenna type, pneumatic or hydrodynamic expansion, or articulated for the safety gate, or directly drive the steel tape with a gear (the steel tape itself has teeth or holes) or Use a crimpable nylon rack.
  • the third motor (not shown) drives the curlable nylon rack, and the driving robot arm 4 projects straight.
  • the end of the robot arm 4 has an interface for connecting various types of robots 9, and may include a gripper, a cutter, a receiver, an electric shock hopper, a suction cup, and the like. If the device is used for aiming, the robot arm and the third motor are not required and replaced by a launching device.
  • the robot 9 can be an automatic type, such as a passive inductive gripper, which automatically grabs when the gripper touches the target, and automatically opens after the robot arm 4 is reset.
  • the robot 9 can also be active, and all actions can be remotely controlled by the operator through a computer as an information processor.
  • the position of the robot after it has been extended should be returned to the center laser of the range finder 6.
  • a plurality of robot arms 4 can be installed in one frame 3 at the same time, and a plurality of robots 9 can be simultaneously mounted on one robot arm 4 to improve production efficiency.
  • the remote control fruit picker using the above device is generally introduced.
  • a video lens such as a high-fidelity CCD 1.3 M VGA lens
  • All the operations of picking are done by clicking on the target in the video.
  • the position of the center laser range finder is as close as possible to the midline of the lens field of view. This laser is at the center of the field of view, so the relationship between the laser point and the screen video is constant regardless of the distance between the target and the lens.
  • This laser represents the track during the extension of the arm and also represents the position reached by the robot after the arm is extended.
  • a plurality of lasers can be installed, each laser is equally spaced, and a laser scale is formed, which can simultaneously measure the distance between different regions in the field of view and speed up the picking.
  • the automatic ranging technology is very mature.
  • multi-point optical ranging or sonar ranging used in the camera can provide the ranging function for the device.
  • ranging is only required in the picking mode and the aiming mode.
  • the arrangement mode such as package classification, waste classification, and goods on the shelf, since the distance between the machine and the target is constant, no distance measurement is required. In this device, since the arm has no joints and linearly expands and contracts, the picking speed is greatly improved.
  • the operation procedure of the remote fruit picker is: first click the center laser spot on the computer screen with the middle mouse button.
  • the software will display the message: The center point is already set. If you use a laser ruler, right-click on any two adjacent laser points and the software will display the message: Ranging is complete. If you don’t make it Using a laser to know the center laser (for example, in the aiming mode), this step is omitted. Then click on the target with the left mouse button and the center laser will fall on the target. After the center laser falls on the target, you can press the corresponding keyboard key or put the mouse outside the video and then press the right mouse button. The arm will automatically extend. When the robot's palm touches the target, the robot arm automatically stops, and the robot automatically catches. After the arm is removed, the arm is automatically retracted, and the robot is automatically released after resetting.
  • any type of robot that can be replaced remotely such as a metal-powered robot, can be used to simulate a human hand gripping action.
  • Robot framework of this application is not configured ⁇
  • the frame plane is parallel to the ground, the robot is facing the ground, or the frame plane is perpendicular to the ground, the arm 7f, flat or obliquely extended, can complete ground crop picking, high-position product picking, ore sample collection and ground Clean and other work.
  • both employers and employees can trade online.
  • the employer will list the machines and rewards that someone is operating on the web page, and the registered controller can log in and operate the machine at any time, anywhere.
  • An electronic scale or piece counter can be placed on the machine to calculate the operator's compensation.
  • the employer records the operator's salary through the computer.
  • the fruit picker 100 has four secondary picking device devices 100a, 100b. 100c, 100d from front to back and left and right. Combined.
  • the fruit picker 100 is mounted on the carrier 101.
  • the carrier 101 runs on the track, distributing the pressure evenly over the ground, reducing damage to the roots of the plant, fruit picker
  • 100 can be rotated in different angles. Since the four sub-devices operate in the same way, only 100a is used here as an example.
  • the secondary fruit picking device 100a includes a fruit loading bin 102 for viewing the illumination lights 103m and 103n of the fruit trees (see Fig. 3), and the wireless data transmission devices 106d (see Fig. 7) and 105x (see Fig. 4) for bidirectional transmission.
  • the data as the laser emitting devices 105f, 105g, 105h, 105i, 1051, 105m, 105j, 105k (see Figures 4, 5), also includes a positioning assembly 105 (see Figure 4) for extending to the fruit and The recovered robot arm 105 ⁇ and its gripper at the end are composed.
  • the robot arm 10511 is mounted on a movement system (see FIG. 2) that is movable in a two-dimensional space, the movement system including a horizontal movement assembly 103 and a vertical movement assembly 104, the movement coordinates of which are issued according to the control assembly 106f (see FIG. 7) The decision of the order.
  • the horizontal moving assembly 103 includes a horizontal rail 103b made of metal and a horizontal rail 103q (see FIG. 3), and the horizontal rail 103q guides the vertical moving assembly 104 and supports the vertical moving assembly 104 and Bit component 105.
  • the mobile platform 103h has four rollers, and one of the rollers 10'3d is shown in Fig. 2, and the moving platform 103h is connected to the horizontal rail 103b through the above-mentioned rollers.
  • the motor 103o drives the worm gear or the worm to move the moving platform 103h (see Fig. 3), and the motor 103o is connected to the control assembly 106f by wires.
  • the auxiliary lenses 103k, 1031 are supported on the support plates 103i and 103j, respectively.
  • the vertical movement assembly 104 is disposed between the mobile platform 103h and the horizontal rail 103q.
  • the vertical moving assembly 104 includes a vertical rail 104a, a moving platform 104b, a motor 104c, and a wire 104d.
  • the mobile platform 104b is equipped with six rollers, one of which has 104e, 104f, 104g (see Figure 5).
  • the moving platform 104b is coupled to the vertical rail 104a via the above-described rollers.
  • the positioning assembly 105 is mounted to the mobile platform 104b on the vertical moving assembly 104.
  • the positioning assembly 105 includes: a control la; a support 105d for supporting four laser emitters 105f, 105g, 105j, 105k for ranging; a telescopic mechanical arm 105n; a gripping device 105o linked to the end of the robot arm 105n; a touch switch
  • the 105p is mounted on the gripping device 105o, and can trigger the claws 105q, 105r, 105s on the gripper to close the grasping fruit;
  • the electric saw 105u is arranged on the support 105t, and the electric saw 105u can be used to cut the fruit handle; the laser 105v
  • the lens 105w is used to provide video for remote manipulation for selection and positioning.
  • the picker 100 can be transported to the work place by the carrier 101, the remote end clicks the target fruit with the mouse on the screen by video, and the horizontal moving component 103 and the vertical moving component 104 will simultaneously move to the facing fruit ⁇
  • the target position then the robot arm 105n extends straight until the 105 ⁇ touches the clicked fruit, stops, the 105q, 105r, 105s on the gripper closes the grasped fruit, and the robot arm 105 ⁇ is recovered to the fruit loading device 102, on the gripper
  • the 105q, 105r, 105s are released and the fruit falls into the box 102.
  • the fruit can enter the box 102 through the vacuum extractor 106 and the zigzag slide. By repeating this action, the selected fruit can be extracted.
  • the invention is used in a (remote or non-remote) aiming mode.
  • the launcher moves within a frame for precise positioning, precise aiming at a distance, and the frame can be rotated horizontally and vertically to substantially increase the area covered by the sight. Therefore, as long as there is an Internet place to control, of course, it can also be controlled by wireless or wired close-range control, the launching device is placed on the ground, so that the launching device is protected from physical vibration, and everyone can click on the target on the screen to perform extremely Precise aiming also allows the operator to be hidden from view.
  • multiple lens covers can be installed to cover different orientations, and a telescope head can also be used.
  • the device can also be made portable.
  • the remote control aiming of the remotely movable device is introduced as a whole.
  • Shooter As shown in Fig. 8, in the cube frame, there are two longitudinally movable components (one or more of up, down, left, and right).
  • Each of the longitudinal moving assemblies 6 includes a base 62, a laser scale 61, a launching device 63, a visual lens 64, and a center laser 65.
  • a Y track 2 and an X track 1 are provided in the frame; the longitudinal moving unit 6 is disposed on the Y track.
  • the second motor 72 and the longitudinal driving member 21 (which may be a screw or a belt gear or the like) drive the longitudinal moving assembly 6 to move up and down along the Y rail 2; the first motor 71 and the lateral driving member 11 drive the Y rail to move left and right along the X rail; It is provided with: six frame auxiliary lenses 51; a control box 7; wheels 8 which can move or rotate the entire system; and a pitcher 12 which can adjust the pitch angle of the entire system.
  • the entire working system can move by itself, that is, the distance of moving a frame, stopping for a certain time, and then moving the distance of a frame; it can also be moved remotely; it can also be installed passively on a fixed track; or controlled by an administrator or the like.
  • the operator can only control the movement of the launcher to perform the task and has no right to move the frame position. In this way, the administrator can control the position of multiple machines at the same time and implement unified management.
  • the aiming firing system 200 includes two stages of combinations 200a and 200b (see Figures 9, 10) coupled to the control box 205 for loading on the carrier 204, and the entire aiming firing system 200 can be relatively
  • the vehicle 204 is rotated 360 degrees horizontally.
  • Sub-combinations 200a and 200b operate in the same way, only 200a is described here.
  • the aiming and shooting system sub-combination 200a includes a center lens 203e, an auxiliary lens 201i, 201j (see Figs. 9, 10, 11), wireless communication in the control 201f, a laser range finder 203c, and a transmitting device 203b.
  • the launching device 203b is movable in a two-dimensional space, the mobile device includes a horizontal moving component 201, a vertical moving component 202, and the moving coordinates are controlled by the control 201f.
  • the pitcher 206 which is aimed at the pitching angle of the shooting device 200, can aim the shooting device at a target that exceeds the height of the device itself.
  • the horizontal moving assembly includes a horizontal rail 201c and a horizontal rail 201m, which may be made of metal; the horizontal rail 201m guides the vertical moving assembly 202 and supports 202 and the transmitting device 203b.
  • the mobile platform 201d is provided with a first motor 201e on which the motor can drive the worm gear or the worm drive member; and the mobile platform 201d is mounted on the horizontal rail 201c.
  • the support plates 201g and 201h are for supporting the auxiliary lens heads 201i, 201j and the spotlights 201k, 2011.
  • the vertical movement assembly 202 is mounted between the mobile platform 201d and the horizontal rail 201m.
  • the vertical movement assembly 202 includes a vertical rail 202a, a mobile platform 202b, and a second motor 202c.
  • the launching device 203b is mounted to the vertical moving assembly 202 for launching the bullet 203f.
  • the remote operator selects the target according to the video provided by the lens, and clicks the target in the video with the mouse.
  • the entire device, horizontal and vertical moving components will automatically move to the coordinates corresponding to the target and transmit.
  • the invention is used in an arrangement mode. This mode is used for automatic identification of supermarket merchandise shelves, waste sorting and recycling, irregular parcel sorting, airport parcel sorting, laboratory sample sorting, etc.
  • the controller observes the target object remotely through the video lens and then decides where to place it in the predetermined position.
  • the button representing the predetermined position is pressed or the on-screen button is clicked, the robot will necessarily grab the object and place it in the selected reservation location (e.g., box or pallet).
  • the video lens can be removed, so that the remote controller can only observe the target object, but can not see the surrounding environment of the object, and does not know the next processing step of the object.
  • multiple lenses can be mounted while observing all aspects of the object (the platform on which the object is carried is made of a transparent material).
  • the device comprises a frame 3, a mechanical arm 4 which can be moved laterally and longitudinally, a suction cup 5 at the front end of the robot arm, a mailer 14 placed on the conveyor belt 10, and a video lens 51 is provided near the conveyor belt, and the suction cup 5 is directly opposite.
  • the parcel 14 that needs to be crawled.
  • the operator sees the working video on the console computer.
  • click the button with the corresponding street name in the interface, or press the corresponding button on the keyboard the operation will be completed, and another package will appear in the video.
  • Each button sets 3 data, which respectively represent the coordinates of x, y, and z of the robot arm.
  • the package/goods are picked up by the robot arm 4 through the gripping device or the suction cup 5 at a fixed place, and accurately placed in the mail bag. 13 or on the shelf. If you set multiple lenses, you can see each side of the package at the same time.
  • the controller can only see the video and buttons, and has no control over the computer that controls the motor at the working end.
  • the current automated mail distribution system has a program that is a 'face-up' program that flips the address side of the letter to the lens-facing side so that the auto-recognition program can recognize the address.
  • the invention can install multiple lenses and a transparent platform, and can simultaneously view the various faces of the package, eliminating the flipping process and speeding up the sorting speed.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Multimedia (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif mobile commandé à distance et le système de fonctionnement de ce dispositif. Le dispositif comprend un châssis plat (3) à éléments X (1) et Y (2) et des logements situés dans la direction Z. Une caméra (5) servant à reconnaître les objets et un dispositif de mesure de la distance (6) servant à mesurer la distance à partir des objets, sont placés dans les logements, l'axe longitudinal de la caméra (5) et le dispositif de mesure de la distance (6) étant situés verticalement par rapport au plan X-Y. Les logements sont reliés à l'élément Y (2), le premier moteur (71) entraîne l'élément Y (2) à se déplacer le long de l'élément X (1), et le second moteur (72) entraîne les logements à se déplacer le long de l'élément Y (2). Le premier moteur (71) est placé sur le châssis plat (3) et le second moteur (72) est placé sur l'élément Y (2). Le troisième moteur entraîne les logements à se déplacer dans la direction Z. Tous les moteurs fonctionnent en fonction des instructions de commande envoyées par le processeur d'informations.
PCT/CN2008/001536 2007-08-27 2008-08-27 Dispositif mobile commandé à distance et système de fonctionnement dudit dispositif WO2009030108A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2007904656 2007-08-27
AU2007904656A AU2007904656A0 (en) 2007-08-27 Remotely controlled mobile targeting device

Publications (1)

Publication Number Publication Date
WO2009030108A1 true WO2009030108A1 (fr) 2009-03-12

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TWI680039B (zh) * 2015-05-12 2019-12-21 美商Ｇｎｅｔｉｃ股份有限公司 自主模組化機械人
US10802499B2 (en) 2015-05-12 2020-10-13 Viabot Inc. Autonomous modular robot
CN112166824A (zh) * 2020-10-15 2021-01-05 四川农业大学 一种基于直角坐标式机械臂的水果采摘机器人
CN113487793A (zh) * 2021-08-26 2021-10-08 江苏星星冷链科技有限公司 一种带有智能移运机械手的智能无人售货柜
US20220081226A1 (en) * 2020-09-14 2022-03-17 Yamaha Hatsudoki Kabushiki Kaisha Movable harvesting apparatus and harvesting unit
IT202000028670A1 (it) * 2020-11-26 2022-05-26 Aigritec S R L Macchina automatizzata per svolgere lavori di frutticoltura

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CN112166824A (zh) * 2020-10-15 2021-01-05 四川农业大学 一种基于直角坐标式机械臂的水果采摘机器人
IT202000028670A1 (it) * 2020-11-26 2022-05-26 Aigritec S R L Macchina automatizzata per svolgere lavori di frutticoltura
WO2022113137A1 (fr) * 2020-11-26 2022-06-02 Aigritec S.R.L. Machine automatisée pour réaliser un travail de culture de fruits
CN113487793A (zh) * 2021-08-26 2021-10-08 江苏星星冷链科技有限公司 一种带有智能移运机械手的智能无人售货柜

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