AU4376900A - Banana harvester - Google Patents
Banana harvester Download PDFInfo
- Publication number
- AU4376900A AU4376900A AU43769/00A AU4376900A AU4376900A AU 4376900 A AU4376900 A AU 4376900A AU 43769/00 A AU43769/00 A AU 43769/00A AU 4376900 A AU4376900 A AU 4376900A AU 4376900 A AU4376900 A AU 4376900A
- Authority
- AU
- Australia
- Prior art keywords
- bananas
- harvester
- boom
- harvesting head
- harvesting
- 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.)
- Abandoned
Links
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- 235000018290 Musa x paradisiaca Nutrition 0.000 title description 11
- 235000021015 bananas Nutrition 0.000 claims description 87
- 238000003306 harvesting Methods 0.000 claims description 74
- 235000013399 edible fruits Nutrition 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 16
- 230000005855 radiation Effects 0.000 claims description 7
- 230000005070 ripening Effects 0.000 claims description 4
- 230000005670 electromagnetic radiation Effects 0.000 claims description 2
- 241000167854 Bourreria succulenta Species 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 235000019693 cherries Nutrition 0.000 description 2
- 235000013162 Cocos nucifera Nutrition 0.000 description 1
- 244000060011 Cocos nucifera Species 0.000 description 1
- 240000003133 Elaeis guineensis Species 0.000 description 1
- 235000001950 Elaeis guineensis Nutrition 0.000 description 1
- 241001063191 Elops affinis Species 0.000 description 1
- 235000002756 Erythrina berteroana Nutrition 0.000 description 1
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- HKPHPIREJKHECO-UHFFFAOYSA-N butachlor Chemical compound CCCCOCN(C(=O)CCl)C1=C(CC)C=CC=C1CC HKPHPIREJKHECO-UHFFFAOYSA-N 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Landscapes
- Harvesting Machines For Specific Crops (AREA)
Description
P/00/011 Regulation 3.2
AUSTRALIA
Patents Act 1990 u ,r a i rr u 1 o r o c s n
ORIGINAL
COMPLETE SPECIFICATION STANDARD PATENT Invention Title: "BANANA HARVESTER" The following statement is a full description of this invention, including the best method of performing it known to us: 2 THIS INVENTION relates to a banana harvester.
The invention also relates to a method of harvesting bananas.
The invention is also suitable for, but not limited to, harvesting other fruits grown on trees in single or bunch form, including dates, coconuts, oil palms and the like. The term "bananas" shall be used throughout the specification to also include such other fruits.
Harvesting of bananas is particularly labour-intensive 10 and, to date, no suitable mechanised harvesters are available.
Generally, the banana pickers use "cherry pickers" to reach the bananas on a tree, and then while holding the stem, severing the stem with a knife or machete.
It is an object of the present invention to provide a method of harvesting bananas using a mechanical harvester.
It is a preferred object to provide a harvester for carrying out the method.
It is a further preferred object to provide a where a harvesting head can be aligned using a reflector the bananas (or a cover over the bananas) to be harvested.
It is a still further preferred object to provide a where the harvesting head can be aligned using natural from the fruit from a cover placed on the fruit.
It is a still further preferred object to provide a harvester placed on harvester reflection harvester 3 which can remove the tops from the trees when the bananas have been harvested.
Other preferred objects of the present invention will become apparent from the following description.
In one aspect, the present invention resides in a method for harvesting bananas (as hereinbefore defined) including the steps of: a) placing a reflector assembly on or adjacent the fruit (or covering for the fruit) to be harvested; b) locating a harvester adjacent a tree bearing the bananas, the harvester having a prime mover with a harvesting head *ooo on an (optionally robotic) arm or boom; c) operating a sensor assembly to co-operate with the reflector assembly to substantially align the harvesting head 15 relative to the bananas; and d) operating the harvesting head to grip the bananas and sever the bananas from the tree.
In a second aspect, the present invention resides in a harvester for bananas (as hereinbefore defined) including: a prime mover; a harvesting head on an (optionally robotic) arm or boom on the prime mover; and a sensor assembly on the arm or boom, operable to cooperate with a reflector assembly placed on or adjacent the bananas 4 (or cover for the bananas) to be harvested; so arranged that: the sensor assembly is operable to substantially align the harvesting head relative to the bananas, to enable the harvesting head to sever the bananas from a tree.
In a third aspect, the present invention resides in a method for harvesting bananas (as hereinbefore defined) including the e S steps of: a) locating a harvester adjacent a tree bearing the 10 bananas, the harvester having a prime mover with a harvesting head **on an arm or boom; *oll b) operating a sensor assembly which is operable to detect reflection from the bananas or cover therefor to substantially align the harvesting head relative to the bananas; and c) operating the harvesting head to grip the bananas and sever the bananas from the tree.
In a fourth aspect, the present invention resides in a harvester for bananas (as hereinbefore defined) including: a prime mover; a harvesting head on an arm or boom on the prime mover; and a sensor assembly on the arm or boom, operable to detect reflection from the bananas (or a cover for the bananas) to be harvested; so arranged that: the sensor assembly is operable to substantially align the harvesting head relative to the bananas, to enable the harvesting head to sever the bananas from a tree.
The prime mover is preferably self-propelled and may be mounted on wheels or tracks which preferably have a low "foot-print pressure" to minimise any damage to the roots of the trees.
Preferably, an operator is provided with a cabin which is preferably air-conditioned and insect free. The cabin may be fixed on 10 the prime mover; or may be mounted, eg., on a turntable to move **.with the arm or (robotic) boom.
o*o* Preferably, the harvesting head is mounted on the distal end of the (preferably telescopic) boom, the boom being preferably arranged for both luffing and slewing movements. Preferably, the 15 harvesting head is tiltable relative to the distal end of the boom so el that the harvesting head can be moved relative to the prime mover in all three axes. (The boom may be a telescopic boom and/or may have one or more boom sections hingedly connected together.) Preferably, the harvesting head includes a gripping assembly operable to grip the stem of the bananas (preferably just above the bunch). For other fruits, the gripping assembly may grip the fruit directly. Preferably, the harvesting head further includes a cutting assembly operable to cut or sever the stem to release the bananas from the tree. The cutting assembly may also be operable to 6 sever the top(s) from the tree in a separate operation.
While the reflector assembly may be mounted directly on the fruit; for bananas, it is preferred that the reflector assembly be provided on the (ripening) bags which are placed over the bananas at a predetermined period before harvesting. Preferably, the reflectors are located at a predetermined distance below the position where the stems are to be engaged by the harvesting head. Preferably, the reflectors are vertically aligned with the stems. Alternatively, the g i..
fruits bananas) per se, or the covers therefor, may provide the "10 reflector assembly.
The sensor assembly means may be of the visible light, ooo.
microwave, infra-red ultra-violet ultrasonic or other electromagnetic radiation type; incorporate a laser; or incorporate at least one video camera.
oilSS S 15 Preferably, the sensor assembly includes a transmitter
S°
which emits a radiation (or laser) beam natural light) (which is preferably collimated or transmitted within a narrow angular range); and a receiver operable to receive the radiation (or laser) reflected from the reflector. (A sensor may incorporate two or more spaced receivers provided with differential computation equipment to enable misalignment of the sensor assembly with the reflector to be automatically corrected before the harvesting head is engaged with the stem of the bananas.) To enable the invention to be fully understood, preferred 7 embodiments will now be described with reference to the accompanying drawings, in which: FIG. 1 is a schematic top plan view of a first embodiment of a harvester, provided with a trailer to transport the harvested bananas, between adjacent rows of banana trees where, the boom and harvesting head is adjacent the tree to be harvested; FIG. 2 is a similar view showing the boom in an alternative position; :0 FIG. 3 is a schematic side elevation showing the boom 10 and harvesting head adjacent a bunch of bananas to be harvested; FIG. 4 is a side elevational view of the boom in more detail; FIG. 5 is a top plan view of an example of the gripping assembly; 0 15 FIG. 6 is a top plan view of an example of the cutting
S*
assembly; FIG. 7 is a side elevational view of a second embodiment of the harvester; FIG. 8 is a top plan view thereof; FIG. 9 is a rear elevational view thereof; FIG. 10 is a bottom plan view of a bin for use with the harvester; FIG. 11 is a sectional end view taken on line A-A on FIG.
and 8 FIG. 12 is an end elevational view of the bin.
Referring to FIGS. 1 to 3, the banana harvester 10 has a prime mover 11 with driving wheels 12 and steerable wheels 13. An diesel) internal combustion engine (not shown) is provided in an engine compartment 14 and is connected to the driving wheels 12 by a suitable, eg., hydrostatic, transmission (not shown).
A turntable 15 is rotatably mounted on the prime mover 11 and is provided with an operator's cabin 16 which is air conditioned and insect free. The operator is provided with a seat 17 10 and an operating console 18.
A boom assembly 20 (to be hereinafter described in more detail with reference to FIGS. 3 and 4) has an inner boom section 21 pivotally mounted on the turntable 15 and is arranged for luffing movement by a hydraulic ram (not shown). A central boom 15 section 22 has its proximal end 23 pivotally mounted on the distal end 24 of the inner boom section 21, and is arranged for luffing movement relative to the inner boom section 21 via a hydraulic ram A harvesting head 26 is mounted on an outer boom section 27 at the distal end of the central boom section 22, and is arranged for luffing movement relative thereto by a hydraulic ram 28.
In a modified embodiment, not illustrated, the harvesting head 26 may be mounted for 3600 rotation about an axis co-axial with the longitudinal axis of the outer boom section 27. The 9 harvesting head 26 may be mounted on a shaft journalled in the distal end of the outer boom section 27, the shaft being rotatable by a hydraulic motor mounted on (or in) the outer boom section 27.
The harvesting head 26 has a gripping assembly beneath a cutting assembly As shown in FIG. 2, the gripping assembly 30 has a pair of hingedly mounted gripping jaws 31, 32 which can be selectively advanced to a gripping position, or retracted, by respective rams 33, *°oooo 34. (It will be readily apparent to the skilled addressee that an 10 operating mechanism may be provided so that a single ram can selectively open or close the gripping jaws 31, 32.) The cutting assembly 40 is generally similar to the gripping assembly, except that the gripping jaws 31, 32 are replaced 0000 by cutting blades 41, 42 (selectively movable by rams 43, 44).
•0 15 In a modified embodiment, not illustrated, the harvesting head 26 may have a pair of the gripping assemblies 30 and a pair of the cutting assemblies 40, to enable the harvesting head to harvest two bunches of bananas 70 each time the boom assembly 20 is extended from the harvester.
In a further alternative embodiment, also not illustrated, the harvesting head 26 may have a pair of cutting heads 40, the first cutting head 40 being operable to cut a banana bunch 70 from a tree the second cutting assembly being operable to trim, or cut down, the tree A sensor assembly 50 is mounted on a bracket 28 below, and intermediate, the central boom section 22. The sensor assembly 50 is operable to direct a beam of microwave or visible light radiation 51 at a reflector 60 on a (blue plastic) ripening bag 61 enclosing a bunch of bananas 70 on a tree 80. The bananas 70 are connected to the tree 80 by a stem 71.
The harvester 10 tows a self-stacking trailer 90 on which the harvested bananas 70 may be placed when they have been severed from the tree 80. The trailer may have a moving surface so 10 that the bunches of bananas are kept separate to prevent damage, eg., by physical contact or damage due to the sap from the severed banana stems.
In a modified embodiment, not shown, a stacker oooo o assembly at a centre unload station on the trailer may take the 15 banana bunches from the boom 20 and position the bunches on the 0 0.
trailer so that the latter may be filled.
The operation of the harvester will now be described.
Plastic ripening bags 61 are placed over the banana bunches at a predetermined period before the bananas 70 are to be harvested. Each bag 61 has a reflector 60 substantially vertically aligned with the stem 71 and preferably at a predetermined distance below the position where the stem 71 is to be severed when the bananas 70 are to be harvested. (In an alternative embodiment (not shown), each bag 61 could serve as the reflector.) 11 The harvester 10 (and trailer 90) advance between the rows of banana trees 80 and the operator, via console 18, extends the boom 20 so that the harvesting head 26 is in the near vicinity of the bananas 70 to be harvested.
The sensor assembly 50 emits a microwave or visible light beam 51 and when it strikes the reflector 60, the beam 51 is reflected to a receiver unit in the sensor assembly 50. On receipt of Se.
*5 S. S
S*
the reflected computer 10 advances the between the gripping jaws grip the stem the stem 71, operator then the harvested beam, the sensor assembly (operably connected to a not shown) overrides the operator's controls and harvesting head 26 until the stem 71 is received (retracted, or opened) gripping jaws 31, 32. The 31, 32 are closed to cause the gripping assembly 30 to 71. The cutting blades 41, 42 are then closed to sever to release the bananas 70 from the tree 80. The retracts and rotates the boom 20 (see FIG. 2) so that bananas 70 may be placed on the trailer In a modified embodiment, not shown, the sensor assembly 80 may have, eg., two horizontally-spaced, and two vertically-spaced, receivers provided with differentiation circuits, so that the sensor assembly 50 can calculate the misalignment of the sensor assembly 50 with the reflector 60 and so accurately align the harvesting head 26 with the stem 71 in all three axes.
It will be readily apparent to the skilled addressee that microwave radiation may be replaced by, eg., IR/UV/ultrasonic 12 radiation, a laser or video camera(s).
After the bananas have been severed from the tree, the foliage 81 at the top of the tree can be removed by the cutting assembly 40 to stimulate the growth of a new plant sucker.
It will be readily apparent to the skilled addressee that the central boom section 22 and outer boom section 27 may be substituted by telescopic boom sections, where the harvesting head 26 is hingedly mounted at the distal end of the outer telescopic boom section.
10 In an alternative embodiment, not shown, a second "crown cutting" head may be provided on the harvesting head 26 *r, ocT• ~which is operable to remove the foliage 81 from the top of the tree ~The "computer control" for the boom 20 may be 15 operable to control the operation of the boom 20 so that it will clear the "canopy" formed by the foliage 81 to minimise any damage to the harvested bananas.
Referring now to FIGS. 7 to 11, the harvester 110 is mounted on tracks 113 and has an operator's cabin 116 at its forward end.
The boom assembly 120 is mounted immediately rearward of the operator's cabin 116 and can deliver the harvested bananas 70 to a distribution head 191 which can place the bananas in selected compartments of a bin 190 (to be hereinafter described).
Referring to FIGS. 9 to 12, each bin 190 has a carriage 192 with a pair of flanged wheels 193 at each end which runs on tracks 200 on the prime mover 110 to enable the bins 190 to be easily loaded/unloaded. The bin 190 has a frame 194, where mesh panels 195 separate the bin 190 into a plurality of open topped compartments 196.
The distribution head 191 runs on tracks 201 on a frame structure 202 to place the bananas 70, received from the harvesting head 126, in the compartments 196. The distribution head 191 has a ,gripping head 191a, to receive the bananas 70 from the harvesting C• head 126, where the gripping head 191a is rotatable about 3600 relative to the longitudinal axis of the arm 191b supporting the gripping head 191a.
15 Referring now to FIGS. 7 to 11, the harvester 110 is S mounted on continuous tracks 113 and has an operator's cabin 116 at its forward end. The boom assembly 120 is mounted immediately rearward of the operator's cabin 116 and can deliver the harvested bananas 70 to a distribution head 191 which can place the bananas 70 in selected compartments of a bin 190 (to be hereinafter described). Referring to FIGS. 9 to 12, each bin 190 has a carriage 192 with a pair of flanged wheels 193 at each end which run on tracks 200 on the prime mover 110, to enable the bins 190 to be easily loaded/unloaded.
14 The bin 190 has a frame 194, where mesh panels 195 separate the bin 190 into a plurality of open-topped compartments 196.
Th distribution head 191 runs on tracks 201 on a frame structure 202 to place the bananas 70, received from the harvesting head 126, in the compartments 196.
The operation of the boom assembly 120, and its *harvesting head 126, are as hereinbefore described with reference to the first embodiment.
10 The harvester 110 of the second embodiment enables direct placement of the bananas in the bins 190, which can be railed to a processing facility, eg., on existing rail infrastructure.
Advantages of the harvester include: only one person is required for the harvesting 15 stage; the boom/harvesting head is lighter than a "cherry picker" with an operator; the harvester can more quickly harvest the bananas and defoliate the trees; damage to the bananas between harvesting and the packaging shed is minimised; and damage to the trees is minimised.
Various changes and modifications may be made to the embodiments described and illustrated without departing from the present invention.
Claims (19)
1. A method for harvesting bananas (as hereinbefore defined) including the steps of: a) placing a reflector assembly on or adjacent the fruit (or covering for the fruit) to be harvested; b) locating a harvester adjacent a tree bearing the bananas, the harvester having a prime mover with a harvesting head *,on an (optionally robotic) arm or boom; c) operating a sensor assembly to co-operate with 10 the reflector assembly to substantially align the harvesting head **,relative to the bananas; and d) operating the harvesting head to grip the bananas and sever the bananas from the tree.
2. A method for harvesting bananas (as hereinbefore defined) including the steps of: a) locating a harvester adjacent a tree bearing the bananas, the harvester having a prime mover with a harvesting head on an arm or boom; b) operating a sensor assembly which is operable to detect reflection-from the bananas or cover therefor to substantially align the harvesting head relative to the bananas; and c) operating the harvesting head to grip the bananas and sever the bananas from the tree.
3. A harvester for bananas (as hereinbefore defined) including: a prime mover; a harvesting head on an (optionally robotic) arm or boom on the prime mover; and a sensor assembly on the arm or boom, operable to co- operate with a reflector assembly placed on or adjacent the bananas (or cover for the bananas) to be harvested; so arranged that: oo** the sensor assembly is operable to substantially align the 10 harvesting head relative to the bananas, to enable the harvesting ***head to sever the bananas from a tree.
4. A harvester for bananas (as hereinbefore defined) including: a prime mover; :15 a harvesting head on an arm or boom on the prime mover; and a sensor assembly on the arm or boom, operable to detect reflection from the bananas (or a cover for the bananas) to be harvested; so arranged that: the sensor assembly is operable to substantially align the harvesting head relative to the bananas, to enable the harvesting head to sever the bananas from a tree.
A harvester as claimed in Claim 3 or Claim 4 wherein: 18 the prime mover is self-propelled and is mounted on wheels or tracks with a low "foot-print pressure" to minimise any damage to the roots of the trees.
6. A harvester as claimed in any one of Claims 3 to wherein: an operator is provided with a cabin which is fixed on the prime mover, or is mounted on a turntable to move with the arm or (robotic) boom.
S7 A harvester as claimed in any one of Claims 3 to 6 10 wherein: the harvesting head is mounted on the distal end of the boom, the boom being arranged for both luffing and slewing movements.
8. A harvester as claimed in Claim 7 wherein: 15 the harvesting head is tiltable relative to the distal end of the boom so that the harvesting head can be moved relative to the prime mover in all three axes.
9. A harvester as claimed in Claim 7 or Claim 8 wherein: the boom is a telescopic boom and/or has one or more boom sections hingedly connected together.
A harvester as claimed in any one of Claims 7 to 9 wherein: the harvesting head includes a gripping assembly operable to grip the stem of the bananas just above the bunch, or for S S. S 19 other fruits, the gripping assembly grips the fruit directly.
11. A harvester as claimed in Claim 10 wherein: the harvesting head further includes a cutting assembly operable to cut or sever the stem to release the bananas from the tree, and the cutting assembly may also be operable to sever the top(s) from the tree in a separate operation.
12. A method as claimed in Claim 1 or Claim 2 wherein: the reflector assembly is mounted directly on the fruit, or for bananas, the reflector assembly is provided on the ripening bags which are placed over the bananas at a predetermined period before harvesting.
13. A method as claimed in Claim 11 wherein: the reflectors are located at a predetermined distance below the position where the stems are to be engaged by the harvesting head.
14. A method as claimed in Claim 11 or Claim 12 wherein: the reflectors are vertically aligned with the stems.
A method as claimed in Claim 11 or Claim 13 wherein: the fruits per se, or the covers therefor, provide the reflector assembly.
16. A method as claimed in Claim 1 or Claim 2 wherein: the sensor assembly is of the visible light, microwave, infra-red ultra-violet ultrasonic or other electro-magnetic radiation type; incorporate a laser; or incorporate at least one video camera.
17. A method as claimed in Claim 15 wherein: the sensor assembly includes a transmitter which emits a radiation (or laser) beam, which is optionally collimated or transmitted within a narrow angular range; and a receiver operable to receive the radiation (or laser) reflected from the reflector.
18. A method as claimed in Claim 16 wherein: a sensor incorporates two or more spaced receivers provided with differential computation equipment to enable 10 misalignment of the sensor assembly with the reflector to be automatically corrected before the harvesting head is engaged with the stem of the bananas.
19. A method of harvesting bananas (as hereinbefore defined) substantially as hereinbefore described with reference to the 15 accompanying drawings. A harvester for bananas (as hereinbefore defined) substantially as hereinbefore described with reference to FIGS. 1 to 6; or FIGS. 7 to 12, of the accompanying drawings. DATED this twenty-ninth day of June 2000. BOOGAN PTY LTD By its Patent Attorneys FISHER ADAMS KELLY
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU43769/00A AU4376900A (en) | 1999-06-29 | 2000-06-29 | Banana harvester |
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AUPQ1277 | 1999-06-29 | ||
| AUPQ1277A AUPQ127799A0 (en) | 1999-06-29 | 1999-06-29 | Banana harvester |
| AUPQ3715 | 1999-10-28 | ||
| AUPQ3715A AUPQ371599A0 (en) | 1999-10-28 | 1999-10-28 | Banana harvester |
| AUPQ7333A AUPQ733300A0 (en) | 2000-05-05 | 2000-05-05 | Banana harvester |
| AUPQ7333 | 2000-05-05 | ||
| AU43769/00A AU4376900A (en) | 1999-06-29 | 2000-06-29 | Banana harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU4376900A true AU4376900A (en) | 2001-01-04 |
Family
ID=27423230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU43769/00A Abandoned AU4376900A (en) | 1999-06-29 | 2000-06-29 | Banana harvester |
Country Status (1)
| Country | Link |
|---|---|
| AU (1) | AU4376900A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110710383A (en) * | 2019-12-03 | 2020-01-21 | 仲恺农业工程学院 | Robot for picking and lifting bananas |
| CN112640665A (en) * | 2021-01-06 | 2021-04-13 | 赵瑞霞 | Auxiliary positioning system for fruit and vegetable picking robot |
| CN113303096A (en) * | 2021-06-24 | 2021-08-27 | 华南农业大学 | Self-adaptive flexible banana supporting and connecting device |
| CN114711029A (en) * | 2022-04-29 | 2022-07-08 | 华南农业大学 | Vision-positioned large bunch banana fruit combing and picking method and device |
| CN117136727A (en) * | 2023-09-25 | 2023-12-01 | 杭州电子科技大学 | Banana picking vehicle and banana picking method |
-
2000
- 2000-06-29 AU AU43769/00A patent/AU4376900A/en not_active Abandoned
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110710383A (en) * | 2019-12-03 | 2020-01-21 | 仲恺农业工程学院 | Robot for picking and lifting bananas |
| CN112640665A (en) * | 2021-01-06 | 2021-04-13 | 赵瑞霞 | Auxiliary positioning system for fruit and vegetable picking robot |
| CN113303096A (en) * | 2021-06-24 | 2021-08-27 | 华南农业大学 | Self-adaptive flexible banana supporting and connecting device |
| CN113303096B (en) * | 2021-06-24 | 2022-03-25 | 华南农业大学 | Self-adaptive flexible banana supporting and connecting device |
| CN114711029A (en) * | 2022-04-29 | 2022-07-08 | 华南农业大学 | Vision-positioned large bunch banana fruit combing and picking method and device |
| CN114711029B (en) * | 2022-04-29 | 2023-04-07 | 华南农业大学 | Vision-positioned large bunch banana fruit combing and picking method and device |
| CN117136727A (en) * | 2023-09-25 | 2023-12-01 | 杭州电子科技大学 | Banana picking vehicle and banana picking method |
| CN117136727B (en) * | 2023-09-25 | 2025-05-09 | 杭州电子科技大学 | Banana picking vehicle and banana picking method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MK5 | Application lapsed section 142(2)(e) - patent request and compl. specification not accepted |