技术领域technical field
本实用新型属于农业器械领域，尤其涉及到基于机器视觉的花椒采摘机器人。The utility model belongs to the field of agricultural equipment, in particular to a pepper picking robot based on machine vision.
背景技术Background technique
花椒是我国广泛种植的一种经济作物。目前收获主要靠人工手摘和借助云梯、采果刀等简单工具辅助采收。林果采收机械的研究在我国仍处于起步阶段，未见成熟先进的实用机具报道。现有技术中采用的收获方式，虽对花椒能较好的提高收获效率，但是所需人工劳动力仍然巨大。多数采摘机械中，还缺乏收集工艺。Zanthoxylum bungeanum is an economic crop widely grown in my country. At present, the harvest mainly relies on manual picking and the aid of simple tools such as ladders and fruit picking knives. The research on fruit harvesting machinery is still in its infancy in my country, and there are no reports of mature and advanced practical machines. Although the harvesting method adopted in the prior art can better improve the harvesting efficiency of Zanthoxylum bungeanum, the required manual labor is still huge. In most picking machines, there is also a lack of collection technology.
实用新型内容Utility model content
本实用新型旨在克服现有技术的缺陷，提供一种基于机器视觉的花椒采摘机器人，能够实现对花椒果实的自动识别、采摘，自动化程度高，并对果实初步杂质分离，人力劳动减少，提高生产效率。The utility model aims to overcome the defects of the prior art, and provides a pepper picking robot based on machine vision, which can realize automatic identification and picking of pepper fruits, has a high degree of automation, and can initially separate impurities from the fruit, reduce human labor, and improve Productivity.
为了解决上述技术问题，本实用新型提供了如下的技术方案：In order to solve the above technical problems, the utility model provides the following technical solutions:
一种基于机器视觉的花椒采摘机器人，包括行走机构、视觉识别定位装置、采摘装置、收集装置、控制装置，所述行走机构由四个车轮、底盘、两个蜗轮减速电机、轴承座构成，涡蜗轮减速电机通过电机座固定于底盘下面，其动力输出轴通过联轴器、轴承与后轮连接，通过轴承座固定在底盘上；所述底盘中部固定有5自由度机械臂构成的采摘装置，所述采摘装置的小臂上固定有视觉识别定位装置，所述底盘前端固定把手，所述底盘前侧固定有收集装置，所述底盘后端固定有控制装置。A pepper picking robot based on machine vision, including a walking mechanism, a visual recognition positioning device, a picking device, a collecting device, and a control device. The walking mechanism is composed of four wheels, a chassis, two worm gear motors, and a bearing seat. The worm gear motor is fixed under the chassis through the motor base, and its power output shaft is connected to the rear wheel through a coupling and a bearing, and is fixed on the chassis through a bearing seat; a picking device composed of a 5-degree-of-freedom mechanical arm is fixed in the middle of the chassis. The forearm of the picking device is fixed with a visual identification and positioning device, the front end of the chassis is fixed with a handle, the front side of the chassis is fixed with a collection device, and the rear end of the chassis is fixed with a control device.
进一步地，所述5自由度机械臂由支柱、大臂、小臂、腕部关节和相对应的伺服驱动电机组成，支柱下端与底盘通过螺栓固定，支柱上安装有伺服电机四，伺服电机四通过谐波齿轮减速安装有支座连接，支座通过谐波减速齿轮与大臂连接，连接处装有伺服电机一；大臂与小臂活动连接，关节处装有伺服电机二，小臂和腕部关节连接，关节处安装有伺服电机三，腕部关节上装有针对花椒果实的末端执行器。Further, the 5-degree-of-freedom mechanical arm is composed of a pillar, a large arm, a small arm, a wrist joint and a corresponding servo drive motor, the lower end of the pillar is fixed to the chassis by bolts, and the servo motor 4 is installed on the pillar, and the servo motor 4 The support is connected through the harmonic gear reduction, and the support is connected with the boom through the harmonic reduction gear. The connection is equipped with a servo motor 1; the boom and the small arm are movably connected, and the joint is equipped with a servo motor 2. The wrist joint is connected, and the servo motor three is installed at the joint, and the end effector for the prickly ash fruit is installed on the wrist joint.
进一步地，所述末端执行器由定梳齿、动梳齿、皮带、皮带轮一、皮带轮二、直流电机和机架构成，机架侧端焊接有安装接头，动梳齿通过轴承、轴承座安装在在机架上，在动梳齿轴的一端固定有皮带轮一，机架的侧面安装有直流电机，直流电机动力输出轴安装有皮带轮二，与动梳齿轴上的皮带轮一通过皮带连接，定梳齿固定在机架上。Further, the end effector is composed of a fixed comb, a moving comb, a belt, pulley 1, pulley 2, a DC motor and a frame, the side ends of the frame are welded with mounting joints, and the moving comb is installed through bearings and bearing seats. On the frame, a pulley 1 is fixed at one end of the moving comb shaft, a DC motor is installed on the side of the frame, and a pulley 2 is installed on the power output shaft of the DC motor, which is connected with the pulley 1 on the moving comb shaft through a belt. The fixed comb teeth are fixed on the frame.
进一步地，所述视觉识别定位装置由双相机和图像识别定位模块组成，双CCD相机安装小臂上，图像识别定位模块安装在电子控制箱内。双CCD相机获取图像后传输给图像识别定位模块，图像识别定位模块对图像进行滤除背景、腐蚀、膨胀、左右图像标定、定位、建立空间坐标模型处理，把花椒果实串的空间坐标传送给控制装置。Further, the visual recognition and positioning device is composed of dual cameras and an image recognition and positioning module, the dual CCD cameras are installed on the forearm, and the image recognition and positioning module is installed in the electronic control box. The dual CCD camera acquires the image and transmits it to the image recognition and positioning module. The image recognition and positioning module processes the image by filtering background, corrosion, expansion, left and right image calibration, positioning, and establishing a spatial coordinate model, and transmits the spatial coordinates of the pepper fruit string to the control panel. device.
进一步地，所述收集装置由风机、风机电机、输送管道、收集箱构成，输送管道一端与末端执行器相连，另一端与收集箱固定，所述收集箱为内层和外壳构成的抽拉式结构，所述收集箱内层近风机侧为网状结构，在收集箱侧端安装风机。Further, the collection device is composed of a fan, a fan motor, a delivery pipe, and a collection box. One end of the delivery pipeline is connected to the end effector, and the other end is fixed to the collection box. The collection box is a pull-out type composed of an inner layer and an outer shell. structure, the inner layer of the collection box near the fan side is a mesh structure, and the fan is installed at the side end of the collection box.
进一步地，所述控制装置由电子控制器箱和蓄电池构成，电子控制器箱包括安装在电子控制器箱内的图像识别定位模块和电机驱动模块，图像识别定位模块采集CCD相机传输来的图像，进行处理，识别出图像中的花椒果实，再对其位置坐标计算，将计算出果实的坐标传输到电机驱动模块；电机驱动模块驱动各伺服电机转动。从而使机械臂动作，并带动末端执行器运动到花椒果实位置进行采摘。Further, the control device is composed of an electronic controller box and a storage battery. The electronic controller box includes an image recognition positioning module and a motor drive module installed in the electronic controller box. The image recognition positioning module collects images transmitted by the CCD camera, After processing, the Zanthoxylum bungeanum fruit in the image is identified, and then its position coordinates are calculated, and the calculated coordinates of the fruit are transmitted to the motor drive module; the motor drive module drives each servo motor to rotate. Thus, the mechanical arm moves and drives the end effector to move to the pepper fruit position for picking.
与现有技术相比较，本实用新型具有如下的有益效果：Compared with the prior art, the utility model has the following beneficial effects:
本实用新型基于机器视觉的花椒采摘机器人，能够对花椒果实进行自动识别定位，采摘收集。与现有的采摘收获方式相比效率高，同时自动化程度也大大提高，极大的减少人力的劳动。The utility model is a pepper picking robot based on machine vision, which can automatically identify and locate the pepper fruits, and pick and collect them. Compared with the existing picking and harvesting methods, the efficiency is high, and the degree of automation is also greatly improved, which greatly reduces human labor.
附图说明Description of drawings
图1为本实用新型基于机器视觉的花椒采摘机器人的主视图。Fig. 1 is the front view of the Chinese prickly ash picking robot based on machine vision of the present invention.
图2为本实用新型基于机器视觉的花椒采摘机器人的左视图。Fig. 2 is the left view of the Chinese prickly ash picking robot based on machine vision of the present invention.
图3为本实用新型基于机器视觉的花椒采摘机器人的俯视结构示意图。Fig. 3 is a top view structure schematic diagram of the pepper picking robot based on machine vision of the present invention.
图4为本实用新型基于机器视觉的花椒采摘机器人的仰视结构示意图。Fig. 4 is a schematic diagram of the looking-up structure of the pepper picking robot based on machine vision of the present invention.
图5为本实用新型所述末端执行器的示意图。Fig. 5 is a schematic diagram of the end effector of the present invention.
图6为本实用新型所述控制装置的示意图。Fig. 6 is a schematic diagram of the control device of the present invention.
图中标记：1.末端执行器，2.腕部关节，3.伺服电机三，4.输送管道，5.小臂，6.双相机，7伺服电机二，8.收集箱，9.把手，10.风机，11.风机电机，12.底盘，13.车轮，14.伺服电机一，15.支柱，16.伺服电机四，17.支座，18.电子控制箱，19.蓄电池，20.大臂，21. 蜗轮减速电机，22. 轴承座，23.动梳齿，24.皮带，25直流电机，26.皮带轮一，27.安装接头，28.机架，29.定梳齿，30皮带轮二，31，识别定位模块，32电机驱动模块。Marks in the figure: 1. End effector, 2. Wrist joint, 3. Servo motor 3, 4. Delivery pipe, 5. Forearm, 6. Dual cameras, 7 Servo motor 2, 8. Collection box, 9. Handle , 10. Fan, 11. Fan motor, 12. Chassis, 13. Wheel, 14. Servo motor one, 15. Pillar, 16. Servo motor four, 17. Support, 18. Electronic control box, 19. Battery, 20 .Boom, 21. Worm gear motor, 22. Bearing housing, 23. Moving comb, 24. Belt, 25 DC motor, 26. Pulley 1, 27. Installation joint, 28. Frame, 29. Fixed comb, 30 pulley two, 31, identification positioning module, 32 motor drive module.
具体实施方式Detailed ways
以下结合附图对本实用新型的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本实用新型，并不用于限定本实用新型。The preferred embodiments of the present utility model are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present utility model, and are not intended to limit the present utility model.
如图1-6所示，一种基于机器视觉的花椒采摘机器人，包括行走机构、视觉识别定位装置、采摘装置、收集装置、控制装置，所述行走机构由四个车轮13、底盘12、两个蜗轮减速电机21、轴承座22构成，涡蜗轮减速电机21通过电机座固定于底盘12下面，其动力输出轴通过联轴器、轴承与后轮连接，通过轴承座22固定在底盘上。前轮轴通过轴承、轴承座22固定于底盘12下面，其前轮与前轮轴通过轴承连接，即两前轮转动相互独立，从而避免差速器的使用。两个蜗轮减速电机分别驱动两个后轮转动，通过控制两驱动轮的转速差来实现车体的前进后退及转向。当两驱动轮同时同速向前转动时，车体前进；反之，车体后退。当左驱动轮向前的转速大于右轮动时，车体向右转向；反之，向左转向。所述底盘12中部固定有5自由度机械臂构成的采摘装置，所述采摘装置的小臂上固定有视觉识别定位装置，所述底盘前端固定把手9，所述底盘前侧固定有和收集装置，所述底盘后端固定有控制装置。As shown in Figures 1-6, a pepper picking robot based on machine vision includes a walking mechanism, a visual recognition positioning device, a picking device, a collecting device, and a control device. The walking mechanism consists of four wheels 13, a chassis 12, two A worm gear reduction motor 21 and bearing block 22 constitute, and the worm gear reduction motor 21 is fixed below the chassis 12 by the motor seat, and its power output shaft is connected with the rear wheel by a shaft coupling, bearing, and is fixed on the chassis by the bearing block 22. Front wheel shaft is fixed below chassis 12 by bearing, bearing block 22, and its front wheel is connected with front wheel shaft by bearing, and promptly two front wheels rotate mutually independent, thus avoid the use of differential gear. The two worm gear motors respectively drive the two rear wheels to rotate, and the forward, backward and steering of the car body are realized by controlling the speed difference between the two driving wheels. When the two drive wheels rotate forward at the same speed, the vehicle body moves forward; otherwise, the vehicle body moves backward. When the forward rotating speed of the left drive wheel was greater than that of the right wheel, the car body turned to the right; otherwise, it turned to the left. The middle part of the chassis 12 is fixed with a picking device composed of a 5-DOF robotic arm, a visual identification and positioning device is fixed on the small arm of the picking device, a handle 9 is fixed at the front end of the chassis, and a collection device is fixed on the front side of the chassis. , the rear end of the chassis is fixed with a control device.
所述5自由度机械臂由支柱15、大臂20、小臂5、腕部关节2和相对应的伺服驱动电机组成，支柱15下端与底盘12通过螺栓固定，支柱15上端安装有伺服电机四16，伺服电机四通过谐波齿轮减速安装有支座17连接。支座通过谐波减速齿轮与大臂20连接，连接处装有伺服电机一14。大臂20与小臂5活动连接，关节处装有伺服电机二7，通过谐波齿轮减速，在控制装置的驱动电路的驱动下，实现大臂与小臂可控角度的转动。小臂和腕部关节连接，关节处安装有伺服电机三3，通过谐波齿轮减速，在控制装置驱动器的驱动下，可以实现小臂与手腕的可控角度转动。从而在控制装置驱动器的作用下，可以实现机械臂在其工作空间内的任意运动，从而使得其末端执行器能够接近花椒果实。腕部关节上装有针对花椒果实的末端执行器1。The 5-degree-of-freedom mechanical arm is composed of a pillar 15, a large arm 20, a small arm 5, a wrist joint 2 and a corresponding servo drive motor. 16. The four servo motors are connected with the support 17 through the harmonic gear reduction. The support is connected with the boom 20 through a harmonic reduction gear, and a servo motor 14 is installed at the connection. The big arm 20 is movably connected with the small arm 5, and the joint is equipped with a servo motor 27, which is decelerated by harmonic gears and driven by the drive circuit of the control device to realize the controllable angle rotation of the large arm and the small arm. The forearm is connected to the wrist joint, and a servo motor 33 is installed at the joint, through harmonic gear reduction, driven by the driver of the control device, the controllable angle rotation of the forearm and wrist can be realized. Therefore, under the action of the driver of the control device, any movement of the mechanical arm in its working space can be realized, so that its end effector can approach the Zanthoxylum bungeanum fruit. The end effector 1 for Zanthoxylum bungeanum fruit is installed on the wrist joint.
所述末端执行器由定梳齿29、动梳齿23、皮带24、皮带轮一26、皮带轮二30和机架28构成，机架侧端焊接有安装接头27，用于连接机械臂。动梳齿23通过轴承、轴承座安装在在机架28上，在动梳齿轴的一端固定有皮带轮一26。机架的侧面安装有直流电机25，直流电机25动力输出轴安装有皮带轮二30，与定梳齿轴上的皮带轮通过皮带24连接，定梳齿固定在机架上。Described end effector is made of fixed comb 29, moving comb 23, belt 24, pulley one 26, pulley two 30 and frame 28, and frame side end is welded with mounting joint 27, is used for connecting mechanical arm. Moving comb tooth 23 is installed on the frame 28 by bearing, bearing seat, and belt pulley-26 is fixed on one end of moving comb tooth shaft. The side of frame is equipped with dc motor 25, and dc motor 25 power output shafts are equipped with belt pulley two 30, are connected by belt 24 with the belt pulley on the fixed comb tooth shaft, and fixed comb teeth are fixed on the frame.
所述的视觉识别定位装置是由双相机6和图像识别定位模块31组成。双CCD相机安装小臂5上，图像识别定位模块安装在电子控制箱18内。在双CCD相机获取图像后传输给图像识别定位模块，图像识别定位模块对图像进行滤除背景、腐蚀、膨胀、左右图像标定、定位、建立空间坐标模型处理，把花椒果实串的空间坐标传送给驱动装置，为驱动电路提供信息。The visual recognition and positioning device is composed of dual cameras 6 and an image recognition and positioning module 31 . Double CCD cameras are installed on the forearm 5, and the image recognition positioning module is installed in the electronic control box 18. After the image is acquired by the dual CCD cameras, it is transmitted to the image recognition and positioning module. The image recognition and positioning module performs background filtering, corrosion, expansion, left and right image calibration, positioning, and establishment of a spatial coordinate model on the image, and transmits the spatial coordinates of the pepper fruit string to the The driving device provides information for the driving circuit.
所述收集装置由风机10、风机电机11、输送管道4、收集箱8构成，输送管道4一端与末端执行器1相连，另一端与收集箱8固定。末端执行器1将采摘下的花椒果实通过输送管道4输送到收集箱8。所述收集箱为内和外壳构成的抽拉式结构，当果实装满收集箱时，可抽出内层，将果实取出。收集箱内层近风机侧为网状结构，便于排出杂物。在收集箱侧端安装的风机10产生负压，将果实吸引到收集箱，同时将果实中混杂的细小枝叶等杂质通过风机排风口排出。The collecting device is composed of a fan 10 , a fan motor 11 , a delivery pipeline 4 and a collection box 8 . One end of the delivery pipeline 4 is connected to the end effector 1 , and the other end is fixed to the collection box 8 . The end effector 1 transports the picked Zanthoxylum bungeanum fruits to the collection box 8 through the transport pipeline 4 . The collection box is a pull-out structure composed of an inner shell and an outer shell. When the fruit is full of the collection box, the inner layer can be pulled out to take out the fruit. The side near the fan in the inner layer of the collection box has a mesh structure, which is convenient for discharging sundries. The fan 10 installed at the side end of the collection box generates negative pressure to attract the fruit to the collection box, and at the same time, impurities such as small branches and leaves mixed in the fruit are discharged through the air outlet of the fan.
所述控制装置由电子控制器箱箱18和蓄电池19构成，电子控制箱内安装图像识别定位模块31和电机驱动模块。电机驱动模块主要由多路伺服电机驱动器32组成，图像识别模块由可编程控制器DSP和FPGA组成。图像识别定位模块采集CCD相机传输来的图像，进行处理，识别出图像中的花椒果实，再对其位置坐标计算，将计算出果实的坐标传输到电机驱动模块；电机驱动模块驱动各伺服电机转动，从而使机械臂动作，并带动末端执行器运动到花椒果实位置进行采摘。其电源主要由电网220V交流电供给，在没有电网供给时，可用蓄电池供电。220V交流电进入后，通过整流、变压为24V，供给电子控制装置使用和蓄电池充电。The control device is composed of an electronic controller box 18 and a storage battery 19, and an image recognition positioning module 31 and a motor drive module are installed in the electronic control box. The motor drive module is mainly composed of multi-channel servo motor drivers 32, and the image recognition module is composed of programmable controller DSP and FPGA. The image recognition and positioning module collects the image transmitted by the CCD camera, processes it, recognizes the pepper fruit in the image, calculates its position coordinates, and transmits the calculated coordinates of the fruit to the motor drive module; the motor drive module drives each servo motor to rotate , so that the mechanical arm moves, and drives the end effector to move to the pepper fruit position for picking. Its power supply is mainly supplied by the grid 220V AC, and when there is no grid supply, it can be powered by a battery. After the 220V alternating current enters, it is rectified and transformed into 24V, which is supplied to the electronic control device and charged the battery.
本实用新型能够对花椒果实进行自动识别定位，采摘收集。与现有的采摘收获方式相比效率高，同时自动化程度也大大提高，极大的减少人力的劳动。The utility model can automatically identify and locate the prickly ash fruit, pick and collect it. Compared with the existing picking and harvesting methods, the efficiency is high, and the degree of automation is also greatly improved, which greatly reduces human labor.
以上所述仅为说明本实用新型的实施方式，并不用于限制本实用新型，对于本领域的技术人员来说，凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。The above is only to illustrate the implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, any modification, equivalent replacement, Improvements and the like should all be included within the protection scope of the present utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420552548.2UCN204132001U (en) | 2014-09-25 | 2014-09-25 | A kind of pepper picking machine people based on machine vision |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420552548.2UCN204132001U (en) | 2014-09-25 | 2014-09-25 | A kind of pepper picking machine people based on machine vision |
| Publication Number | Publication Date |
|---|---|
| CN204132001Utrue CN204132001U (en) | 2015-02-04 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420552548.2UExpired - Fee RelatedCN204132001U (en) | 2014-09-25 | 2014-09-25 | A kind of pepper picking machine people based on machine vision |
| Country | Link |
|---|---|
| CN (1) | CN204132001U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104285588A (en)* | 2014-09-25 | 2015-01-21 | 甘肃农业大学 | Machine vision based wild Chinese prickly ash picking robot |
| CN105359726A (en)* | 2015-10-23 | 2016-03-02 | 钟山县橙浩水果种植专业合作社 | Citrus gonggan picking device and method for same |
| CN105684646A (en)* | 2016-03-18 | 2016-06-22 | 刘阳 | Hazelnut picking device |
| CN105850360A (en)* | 2016-05-03 | 2016-08-17 | 广西高农机械有限公司 | Pepper picking machine |
| CN105917856A (en)* | 2016-05-03 | 2016-09-07 | 广西高农机械有限公司 | Stable type picking machine for Chinese prickly ash |
| CN105993393A (en)* | 2015-07-03 | 2016-10-12 | 中国运载火箭技术研究院 | Picking method for flower harvesting robot |
| CN107047083A (en)* | 2017-03-29 | 2017-08-18 | 华南农业大学 | One kind is pinched robot and its implementation |
| CN108521997A (en)* | 2017-03-02 | 2018-09-14 | 防城港思创信息技术有限公司 | A kind of banana recovering device |
| CN109041804A (en)* | 2018-08-28 | 2018-12-21 | 长江师范学院 | One kind adopting jujube device |
| 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 |
| CN111758397A (en)* | 2020-07-21 | 2020-10-13 | 四川省机械研究设计院 | Device is picked to prickly ash intelligence based on visual identification |
| CN111820006A (en)* | 2020-08-20 | 2020-10-27 | 浙江工业大学 | A picking robot for spherical fruit |
| CN114246059A (en)* | 2021-12-30 | 2022-03-29 | 西昌学院 | Pepper picking system, pepper picking method and picking vehicle moving method |
| CN117501985A (en)* | 2023-11-06 | 2024-02-06 | 兰州理工大学 | A pepper picking robot based on machine vision |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104285588A (en)* | 2014-09-25 | 2015-01-21 | 甘肃农业大学 | Machine vision based wild Chinese prickly ash picking robot |
| CN105993393A (en)* | 2015-07-03 | 2016-10-12 | 中国运载火箭技术研究院 | Picking method for flower harvesting robot |
| CN105359726A (en)* | 2015-10-23 | 2016-03-02 | 钟山县橙浩水果种植专业合作社 | Citrus gonggan picking device and method for same |
| CN105684646B (en)* | 2016-03-18 | 2017-11-17 | 海门名驰工业设计有限公司 | a hazelnut picker |
| CN105684646A (en)* | 2016-03-18 | 2016-06-22 | 刘阳 | Hazelnut picking device |
| CN105850360A (en)* | 2016-05-03 | 2016-08-17 | 广西高农机械有限公司 | Pepper picking machine |
| CN105917856A (en)* | 2016-05-03 | 2016-09-07 | 广西高农机械有限公司 | Stable type picking machine for Chinese prickly ash |
| CN108521997A (en)* | 2017-03-02 | 2018-09-14 | 防城港思创信息技术有限公司 | A kind of banana recovering device |
| CN107047083A (en)* | 2017-03-29 | 2017-08-18 | 华南农业大学 | One kind is pinched robot and its implementation |
| CN109041804A (en)* | 2018-08-28 | 2018-12-21 | 长江师范学院 | One kind adopting jujube device |
| 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 |
| CN111758397A (en)* | 2020-07-21 | 2020-10-13 | 四川省机械研究设计院 | Device is picked to prickly ash intelligence based on visual identification |
| CN111758397B (en)* | 2020-07-21 | 2023-12-12 | 四川省机械研究设计院(集团)有限公司 | Intelligent pepper picking device based on visual identification |
| CN111820006A (en)* | 2020-08-20 | 2020-10-27 | 浙江工业大学 | A picking robot for spherical fruit |
| CN111820006B (en)* | 2020-08-20 | 2024-05-28 | 浙江工业大学 | A picking robot for spherical fruits |
| CN114246059A (en)* | 2021-12-30 | 2022-03-29 | 西昌学院 | Pepper picking system, pepper picking method and picking vehicle moving method |
| CN114246059B (en)* | 2021-12-30 | 2022-11-22 | 西昌学院 | A pepper picking system, a pepper picking method, and a picking vehicle moving method |
| CN117501985A (en)* | 2023-11-06 | 2024-02-06 | 兰州理工大学 | A pepper picking robot based on machine vision |
| Publication | Publication Date | Title |
|---|---|---|
| CN204132001U (en) | A kind of pepper picking machine people based on machine vision | |
| CN104285588A (en) | Machine vision based wild Chinese prickly ash picking robot | |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20150204 Termination date:20150925 | |
| EXPY | Termination of patent right or utility model |