CN113243204A - Stretching and sawing type walnut picking device in air - Google Patents
Stretching and sawing type walnut picking device in air Download PDFInfo
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- CN113243204A CN113243204A CN202110626397.5A CN202110626397A CN113243204A CN 113243204 A CN113243204 A CN 113243204A CN 202110626397 A CN202110626397 A CN 202110626397A CN 113243204 A CN113243204 A CN 113243204A
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- walnut
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- 235000020234 walnut Nutrition 0.000 title claims abstract description 54
- 235000009496 Juglans regia Nutrition 0.000 title claims abstract description 45
- 240000007049 Juglans regia Species 0.000 title description 2
- 241000758789 Juglans Species 0.000 claims abstract description 43
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 241000758791 Juglandaceae Species 0.000 claims abstract description 10
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010009 beating Methods 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 235000006667 Aleurites moluccana Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
本发明涉及林果采摘技术领域，公开了一种伸展锯切式核桃空中采摘装置，包括无人机载体、设置在所述无人机载体上的采摘机械臂，所述采摘机械臂上设置有锯切采摘头并能够带动锯切采摘头进行伸展；所述无人机载体下方设置有摄像头，用于采集待采摘核桃位置的视觉图像，并将所述视觉图像实时传输给遥控器；根据所述视觉图像判断采摘位置操作遥控器，控制所述采摘机械臂带动所述锯切采摘头进行采摘作业。本发明通过无人机载体和采摘机械臂能够实现对高空核桃进行采摘，大大减轻了人员的工作强度，降低了人员采摘高空核桃的难度。
The invention relates to the technical field of forest fruit picking, and discloses an extension sawing type walnut aerial picking device, comprising an unmanned aerial vehicle carrier and a picking robotic arm arranged on the unmanned aerial vehicle carrier, wherein the picking robotic arm is provided with a The sawing and picking head can drive the sawing and picking head to stretch; a camera is arranged under the drone carrier to collect visual images of the position of the walnuts to be picked, and transmit the visual images to the remote controller in real time; The visual image judges the picking position and operates the remote control, and controls the picking robotic arm to drive the sawing and picking head to carry out picking operations. The invention can realize the picking of high-altitude walnuts through the unmanned aerial vehicle carrier and the picking mechanical arm, which greatly reduces the work intensity of personnel and reduces the difficulty of personnel picking high-altitude walnuts.
Description
Technical Field
The invention relates to the technical field of picking of forest fruits, in particular to a stretching and sawing type walnut air picking device.
Background
China is the first major country of walnut production in the world and has the largest planting area and yield in the world. The walnut cultivation and planting history in China is long, the walnut has a very wide function as an economic crop, and the nutritional value, the food therapy value and the process value are considered, so that the market prospect of walnut production is wide.
The picking mode of present walnut mainly is that the manual work is beaten and falls, needs the personnel to climb on the walnut and carries out the operation again, and intensity of labour is big, and production efficiency is low, still has certain degree's damage to the walnut branch beating the in-process simultaneously, and the picking mode of beating also can cause the waste of picking in-process fruit, and the walnut that the top of high walnut was tied out is difficult to be beaten and falls off moreover, will make the picking rate higher just need carry out effectual harvesting to the walnut of high altitude position. In addition, the problem of low efficiency also exists at present in the sampling of the walnut fruits of the high walnut trees, and the difficulty of sample collection is high. Above pain point all need a fruit picking mode that is fit for high walnut, and aerial picking device can be better solve above-mentioned problem.
Disclosure of Invention
The invention aims to provide an extending and sawing type walnut in-air picking device aiming at the technical problems in the prior art, and the picking of high-altitude walnut samples is realized through an unmanned aerial vehicle carrier and a picking mechanical arm.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
a stretching and sawing type walnut air picking device comprises an unmanned aerial vehicle carrier and a picking mechanical arm arranged on the unmanned aerial vehicle carrier, wherein a sawing and sawing picking head is arranged on the picking mechanical arm and can be driven to stretch;
a camera is arranged below the unmanned aerial vehicle carrier and used for acquiring a visual image of the position of a walnut to be picked and transmitting the visual image to a remote controller on the ground in real time; and operating a remote controller according to the visual image, and controlling the picking mechanical arm to drive the sawing picking head to carry out picking operation.
Further, the unmanned aerial vehicle carrier includes the unmanned aerial vehicle organism, connects the unmanned aerial vehicle horn of unmanned aerial vehicle organism, sets up the battery case at unmanned aerial vehicle organism top, the tip of unmanned aerial vehicle horn is provided with the brushless motor who provides power, brushless motor connects the paddle.
Further, the below of unmanned aerial vehicle organism is provided with the unmanned aerial vehicle support, the unmanned aerial vehicle support adopts the style of calligraphy of falling T structure.
Further, the unmanned aerial vehicle carrier adopts four-axis unmanned aerial vehicle, four unmanned aerial vehicle horn of fixedly connected with on the unmanned aerial vehicle organism, every the tip of unmanned aerial vehicle horn is provided with brushless motor and is connected with the paddle.
Furthermore, the picking mechanical arm comprises a lower connecting arm, an upper connecting arm and a vertical connecting arm, wherein a set of steering engine shaft and a set of steering engine are respectively arranged between the lower connecting arm and the upper connecting arm and between the upper connecting arm and the vertical connecting arm, the end of the lower connecting arm is provided with a sawing picking head, and the end of the vertical connecting arm is connected to the unmanned aerial vehicle body.
Furthermore, the sawing and picking head comprises a sawing motor bracket connected with the lower connecting arm, a sawing motor arranged on the sawing motor bracket, and a saw blade connected with the sawing motor, wherein the saw blade is used for sawing a fruit handle of a walnut to be picked.
Furthermore, a sawing motor baffle is further arranged on the sawing motor bracket.
Furthermore, the surface of saw bit still is provided with the saw bit protective housing, the saw bit protective housing adopts semi-circular casing.
Further, the unmanned aerial vehicle organism below still is provided with the control unit, be used for with remote controller wireless transmission to control the motion of picking the arm.
Further, the control unit comprises a single chip microcomputer and a Bluetooth module, and the single chip microcomputer is used for controlling the rotating angle of the steering engine; the Bluetooth module is in wireless transmission with the remote controller, receives a control signal from the remote controller, communicates with the single chip microcomputer through a serial port, and controls the picking mechanical arm to move.
Compared with the prior art, the invention has the beneficial effects that:
the aerial picking device provided by the invention is a remotely-controllable unmanned picking device, realizes high-altitude picking by utilizing the flexible movement of an unmanned aerial vehicle carrier and a picking mechanical arm, can transmit images in real time through a camera, feeds back the position information of walnuts, realizes accurate picking of high-altitude walnut samples, and has the advantages of simple integral structure, reliable work and easy realization.
Drawings
Fig. 1 is an overall axonometric view of the stretching saw cutting type walnut in-air picking device.
Fig. 2 is an isometric view of a saw picking head of the present invention.
Fig. 3 is an isometric view of the picking arm of the present invention.
Fig. 4 is an isometric view of the aerial drone carrier of the present invention.
The reference numerals are explained below: 1-sawing a picking head, 2-picking mechanical arms, 3-control unit, 4-camera, 5-unmanned aerial vehicle carrier, 6-remote controller, 11-saw blade protective shell, 12-saw blade, 13-sawing motor baffle, 14-sawing motor bracket, 21-steering engine shaft, 22-steering engine, 23-lower connecting arm, 24-upper connecting arm, 25-vertical connecting arm, 51-unmanned aerial vehicle bracket, 52-brushless motor, 53-unmanned aerial vehicle arm, 54-battery box and 55-unmanned aerial vehicle body.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1, an embodiment of the present invention provides an extending and sawing type walnut picking device in the air, including: the picking mechanical arm 2 is arranged on the unmanned aerial vehicle carrier 5, the picking mechanical arm 2 is provided with a sawing picking head 1 for sawing walnuts to be picked, and the sawing picking head 1 can be driven to extend.
The camera 4 is arranged below the unmanned aerial vehicle carrier 5 and used for acquiring visual images and position information of the positions of walnuts to be picked and transmitting the visual images to the remote controller 6 in real time. And operating the remote controller 6 according to the visual image, and controlling the picking mechanical arm 2 to drive the sawing picking head 1 to carry out picking operation.
In this embodiment, pick arm 2 is carried to 5 bottoms of unmanned aerial vehicle carriers, as saw cutting picking head 1 bear and the transmission, it saw cuts picking head 1 and can drive its extension to set up on the picking arm 2. The camera 4 is used for collecting real-time visual images, and the remote controller 6 is used for controlling the picking mechanical arm 2 to drive the sawing picking head 1 to cut the walnut fruit stem, so that the purpose of picking the walnut is achieved.
Further, referring to fig. 2, the unmanned aerial vehicle carrier 5 includes an unmanned aerial vehicle body 55, an unmanned aerial vehicle arm 53 connected to the unmanned aerial vehicle body 55, and a battery box 54 disposed at the top of the unmanned aerial vehicle body 55, wherein a brushless motor 52 is disposed at an end of the unmanned aerial vehicle arm 53, and the brushless motor 52 is connected to the blade.
Further, unmanned aerial vehicle support 51 is provided with in the below of unmanned aerial vehicle organism 55, unmanned aerial vehicle support 51 adopts the style of calligraphy of falling T structure, ensures to pick 2 shrink back of arm and leave the clear height with unmanned aerial vehicle support 51 bottom surface to guarantee the reliability of whole device work.
Further, unmanned aerial vehicle carrier 5 adopts four-axis unmanned aerial vehicle, promptly four unmanned aerial vehicle horn 53 of fixedly connected with on the unmanned aerial vehicle organism 55, every unmanned aerial vehicle horn 53's tip is provided with brushless motor 52 and is connected with the paddle, and its quantity can be adjusted as required, guarantees the reliability and the stability of unmanned aerial vehicle carrier 5 flight to guarantee the reliability of whole device work.
In this embodiment, battery case 54 is located unmanned aerial vehicle organism 55 top, is convenient for like this change the battery and does not influence the mount space of unmanned aerial vehicle carrier 5 below simultaneously. Unmanned aerial vehicle support 51 is located unmanned aerial vehicle organism 55 below to ensure that unmanned aerial vehicle organism 55 is at least 30cm apart from the clear height on ground, make unmanned aerial vehicle descend more stably, and the protection paddle makes it can not contact ground because of the slope, also guarantees the reliability and the life-span of 5 work of unmanned aerial vehicle carriers. Specifically, the unmanned aerial vehicle support 51 adopts the design of two sets of symmetries, the unmanned aerial vehicle carrier 5 of being convenient for take off and land and hang the installation space of equipment down.
Further, referring to fig. 3, the picking mechanical arm 2 includes a lower connecting arm 23, an upper connecting arm 24 and a vertical connecting arm 25, wherein a set of steering engine shaft 21 and a set of steering engine 22 are respectively disposed between the lower connecting arm 23 and the upper connecting arm 24, and between the upper connecting arm 24 and the vertical connecting arm 25, a sawing picking head 1 is disposed at an end of the lower connecting arm 23, and an end of the vertical connecting arm 25 is connected to the unmanned aerial vehicle body 55.
In this embodiment, the two steering engines 22 can respectively realize rotation in the horizontal direction and the vertical direction, that is, the steering engines 22 are used as nodes of three connecting arms, the sawing picking head 1 can be driven to rotate with two degrees of freedom, the rotation angle of the sawing picking head can reach 180 °, the torque of the steering engines 22 can reach 150N · m, and therefore shaking of the whole picking mechanical arm 2 caused by vibration in the picking process is avoided.
In this embodiment, the lower connecting arm 23, the upper connecting arm 24 and the vertical connecting arm 25 are made of aluminum alloy, and have high hardness, high strength and light weight. Picking arm 2 and saw cut the electric wire of picking head 1 and all fix on the linking arm to along linking arm connection control unit 3 and unmanned aerial vehicle organism 55 in. The end of the vertical connecting arm 25 is provided with a connecting hinge so as to be mounted below the unmanned aerial vehicle body 55.
Further, referring to fig. 4, the sawing picking head 1 includes a sawing motor bracket 14 connected to the lower connecting arm 23, a sawing motor disposed on the sawing motor bracket 14, and a saw blade 12 connected to the sawing motor, wherein the saw blade 12 saws a stem of a walnut to be picked.
Further, in order to guarantee the reliability of the work of the sawing motor, a sawing motor baffle 13 is further arranged on the sawing motor bracket 14, and wood chips or blades are prevented from flying in the sawing process.
Further, the outer surface of the saw blade 12 is further provided with a saw blade protecting shell 11, and the saw blade protecting shell 11 is a semicircular shell and protects the saw blade 12 under the condition that the work of the saw blade is not influenced.
Further, a control unit 3 is further arranged below the unmanned aerial vehicle body 55 and used for wirelessly transmitting with the remote controller 6 and controlling the picking mechanical arm 2.
The control unit 3 comprises a single chip microcomputer and a Bluetooth module, and the single chip microcomputer is connected with signal lines of the two steering engines 22 to realize the rotation angle control of the two steering engines; the Bluetooth module is in wireless transmission with the remote controller 6, receives a control signal of the remote controller 6, and communicates with the single chip microcomputer through a serial port, so that the action of the picking mechanical arm 2 is controlled.
In this embodiment, the singlechip adopts Arduino singlechip, the control unit 3 sets up plays certain balanced centrobaric effect in the rear side of unmanned aerial vehicle organism 55, is connected to unmanned aerial vehicle battery case 54 with singlechip's ground point (GND) on to weld on the negative electrode bus, reduce the outside power supply of unnecessary, make and trade the electricity convenient. The Bluetooth module transmits the control operation of the two steering engines 22 on the picking mechanical arm 2 to the single chip microcomputer, and the remote control operation of the picking mechanical arm 2 is integrated on the remote controller 6, so that the operation is convenient, and the operation efficiency is reliable.
In this embodiment, the remote controller 6 is an eight-channel remote controller, and the carried screen presents the image transmission content of the remote controller, is used for remotely controlling the pitching, the rotating and the tilting of the unmanned aerial vehicle carrier 5, and can also send signals for controlling the picking mechanical arm 2 and the sawing motor to the control unit 3.
The invention provides a stretching and sawing type walnut in-air picking device, which comprises the following working processes:
ground personnel control remote controller 6, control brushless motor work and drive the paddle rotatory, realize taking off, descending, rotation, the slope of unmanned aerial vehicle carrier 5, make unmanned aerial vehicle carrier 5 fly to the position that high-end walnut branch is terminal and be close to the walnut carpopodium.
The camera 4 collects the whole course and feeds back a real-time visual image to the remote controller 6, wherein the visual image comprises the moving range of the picking mechanical arm 2 and the position posture of the unmanned aerial vehicle carrier 5. The ground personnel operate the remote controller 6 according to the real-time visual images and transmit signals to the control unit 3, so as to move the picking mechanical arm 2 and adjust the rotating angle of the picking mechanical arm 2. The picking mechanical arm 2 moves with two degrees of freedom, so that the sawing picking head 1 at the end part of the picking mechanical arm is accurately close to the walnut fruit handle. At the moment, the sawing motor of the sawing picking head 1 works and drives the saw blade 12 to rotate at a high speed to cut off the walnuts, so that the walnuts fall off and the picking is finished.
Drive through unmanned aerial vehicle carrier 5 and saw cut picking head 1 and realize the picking operation of eminence walnut, solved high altitude walnut sample and picked difficult problem, realize accurate picking with the help of unmanned aerial vehicle carrier 5, also avoid because hitting of artifical picking in-process hits the damage to the walnut.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a device is picked in air to extension saw cutting formula walnut which characterized in that: the picking machine comprises an unmanned aerial vehicle carrier (5) and a picking mechanical arm (2) arranged on the unmanned aerial vehicle carrier (5), wherein a sawing picking head (1) is arranged on the picking mechanical arm (2) and can be driven to extend;
a camera (4) is arranged below the unmanned aerial vehicle carrier (5) and used for acquiring a visual image of position information of walnuts to be picked and transmitting the visual image to a remote controller (6) in real time; and operating a remote controller (6) according to the visual image, and controlling the picking mechanical arm (2) to drive the sawing picking head (1) to carry out picking operation.
2. The extended saw-cut walnut aerial picking device of claim 1, wherein: unmanned aerial vehicle carrier (5) include unmanned aerial vehicle organism (55), connect unmanned aerial vehicle horn (53) of unmanned aerial vehicle organism (55) and paddle, set up battery case (54) at unmanned aerial vehicle organism (55) top, the tip of unmanned aerial vehicle horn (53) is provided with brushless motor (52) that provides power, the paddle is connected in brushless motor (52).
3. The extended saw-cut walnut aerial picking device of claim 2, wherein: the below of unmanned aerial vehicle organism (55) is provided with unmanned aerial vehicle support (51), unmanned aerial vehicle support (51) adopt the style of calligraphy of falling T structure.
4. The extended saw-cut walnut aerial picking device of claim 3, wherein: unmanned aerial vehicle carrier (5) adopt four-axis unmanned aerial vehicle, four unmanned aerial vehicle horn (53) of fixedly connected with on unmanned aerial vehicle organism (55), every the tip of unmanned aerial vehicle horn (53) is provided with brushless motor (52) and is connected with the paddle.
5. The extended saw-cut walnut aerial picking device according to claim 4, characterized in that: picking arm (2) are including lower linking arm (23), go up linking arm (24) and perpendicular linking arm (25), wherein are provided with a set of steering wheel axle (21) and a steering wheel (22) between linking arm (23) and last linking arm (24) and perpendicular linking arm (25) down respectively, the tip setting of linking arm (23) is cut and is sawed picking head (1) down, the end connection of perpendicular linking arm (25) is in on unmanned aerial vehicle organism (55).
6. The extended saw-cut walnut aerial picking device of claim 5, wherein: the sawing and picking head (1) comprises a sawing motor bracket (14) connected with the lower connecting arm (23), a sawing motor arranged on the sawing motor bracket (14), and a saw blade (12) connected with the sawing motor, wherein the saw blade (12) is used for sawing a fruit handle to be used for picking walnuts.
7. The extended saw-cut walnut aerial picking device of claim 6, wherein: the sawing motor bracket (14) is also provided with a sawing motor baffle (13).
8. The stretch-saw-type walnut in-air picking device according to claim 7, characterized in that: the outer surface of the saw blade (12) is further provided with a saw blade protective shell (11), and the saw blade protective shell (11) is a semicircular shell.
9. The extended saw-cut walnut aerial picking device of claim 8, wherein: the rear side below the unmanned aerial vehicle body (55) is further provided with a control unit (3) which is used for wirelessly transmitting a control signal with the remote controller (6) and controlling the motion of the picking mechanical arm (2).
10. The extended saw-cut walnut aerial picking device of claim 9, wherein: the control unit (3) comprises a single chip microcomputer and a Bluetooth module, and the single chip microcomputer is used for controlling the rotating angle of the steering engine (22); the Bluetooth module and the remote controller (6) are in wireless transmission, receives a control signal from the remote controller (6), and controls the picking mechanical arm (2) to move in a serial port communication mode with the single chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110626397.5A CN113243204A (en) | 2021-06-04 | 2021-06-04 | Stretching and sawing type walnut picking device in air |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110626397.5A CN113243204A (en) | 2021-06-04 | 2021-06-04 | Stretching and sawing type walnut picking device in air |
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| CN113243204A true CN113243204A (en) | 2021-08-13 |
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| CN202110626397.5A Pending CN113243204A (en) | 2021-06-04 | 2021-06-04 | Stretching and sawing type walnut picking device in air |
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| CN (1) | CN113243204A (en) |
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| CN114586562A (en) * | 2022-03-07 | 2022-06-07 | 北京林业大学 | Device is picked in walnut high altitude of target injection |
| CN115104432A (en) * | 2022-07-08 | 2022-09-27 | 中山大学 | Harvesting robot system and method coordinated by unmanned aerial vehicle and mechanical vehicle |
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| CN115104432A (en) * | 2022-07-08 | 2022-09-27 | 中山大学 | Harvesting robot system and method coordinated by unmanned aerial vehicle and mechanical vehicle |
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