630results about How to "Improve picking efficiency" patented technology

The invention provides double-arm picking equipment for shelf-type planted shiitake mushrooms and an operation method thereof. The double-arm picking equipment comprises a moving platform, the upper portion of the moving platform is connected with a chassis, and a lifting device, a shiitake mushroom storage device and a shiitake mushroom picking device are arranged above the chassis. Through mechanical automatic mushroom stick fixing and mushroom picking, intelligent identification, picking and placing of mushroom sticks on a shelf and identification and picking of mushrooms on the mushroom sticks can be carried out at the same time, planting areas can be traversed automatically, the mushroom picking speed is increased, and labor and time cost is saved. Three-dimensional scanning is carried out through the depth camera vision system, the position and size of the mushroom sticks and the maturity of mushrooms can be accurately recognized, and it is ensured that the quality of picked mushrooms is high. The lifting device adjusts the height of the mechanical arm and cooperates with a visual system, picking and mushroom stick processing are more accurate, damage to mushrooms and mushroom sticks is reduced, mushroom picking automation is achieved, operators do not need to put physical labor heavily, and the workload is relieved.

The invention relates to the technical field of intelligent agriculture, and provides a negative pressure type fruit picking mechanical arm and a control system thereof.The negative pressure type fruit picking mechanical arm comprises a connecting chassis, a plurality of wheels are rotationally connected to the outer side wall of the connecting chassis, a storage groove is fixedly connected to the outer side wall of the top end of the connecting chassis, and a picking mechanism is arranged at the top end of the connecting chassis; the picking mechanism comprises a connecting frame which is mounted at the top end of the connecting chassis; by integrating an advanced mechanical arm and a visual recognition technology, the robot can accurately recognize and quickly pick crops, the picking efficiency is greatly improved, the robot is particularly suitable for large-scale agricultural production, the crop quality is improved, crop maturity judgment is conducted through deep learning models such as YOLOv5, immature crops are prevented from being picked by mistake, and the crop quality is improved. The quality of picked crops is guaranteed, the market value of agricultural products is improved, the labor cost is reduced, full-process automatic operation is achieved, the labor demand is reduced, the labor cost of agricultural production is reduced, and meanwhile the labor intensity of farmers is relieved.

The utility model discloses a detection device. The detection equipment comprises a conveying streamline, a first positioning module, a first detection module, a feeding carrying module, a first transfer module and a discharging carrying module, the conveying streamline can convey a material disc located at a feeding station to a discharging station, and a first interval is formed between every two adjacent material storage stations in the material disc; the first positioning module is provided with a plurality of first bearing positions arranged in the first direction, and a second interval larger than the first interval is formed between every two adjacent first bearing positions. The first detection module is used for detecting a to-be-detected piece; the feeding carrying module is used for carrying a to-be-detected piece to a first bearing position, and a plurality of first pickup pieces of the feeding carrying module can be switched between a first state and a second state; the first transfer module is used for transferring the to-be-detected piece on the first bearing position to the first detection station; the discharging carrying module is used for carrying the to-be-detected pieces which are detected to be qualified to the material disc. The detection equipment can improve the detection efficiency of the to-be-detected piece.

The utility model discloses a work station and a goods picking system. The work station comprises a packaging assembly, a caching assembly and a converging assembly. The temporary storage assembly comprises a temporary storage rack and a plurality of temporary storage hoppers, and the multiple temporary storage hoppers are installed on the temporary storage rack and used for receiving goods conveyed by the goods receiving mechanism. The number of the temporary storage hoppers is larger than or equal to that of the sorting hoppers of the goods taking mechanism. The converging assembly is movably connected to the temporary storage rack through the movable assembly and is configured to receive the goods in at least one temporary storage hopper in the multiple temporary storage hoppers and convey the at least one goods to the packaging assembly.

The invention discloses an intelligent control system and method for a tea tender shoot picking robot, and the method comprises the steps: obtaining scene image information through a visual analysis module, and accurately recognizing a to-be-picked tea tender shoot region based on a preset neural network model; a task decomposition module is used for dividing a tea tender shoot area, each task in a large number of picking tasks is actually distributed to a corresponding mechanical arm, and a shortest safe working route of the mechanical arm is formulated; through the motion control module, it is ensured that the picking range of each mechanical arm of the robot can completely cover the area where the tea tender shoots suitable for being picked are located, and the missing picking rate of the tea tender shoots is effectively reduced. Multiple mechanical arms of the picking robot can be coordinated to pick tea tender shoots, mechanical picking has the advantages of being controllable in cost, accurate in collection and excellent in efficiency, data calculation and control of the whole system are completely conducted locally, smoothness and high efficiency of the system can be guaranteed, and popularization of the tea picking robot technology is facilitated.

The invention discloses a vibration type wolfberry picking and collecting integrated device, and relates to the technical field of wolfberry picking and collecting, the vibration type wolfberry picking and collecting integrated device comprises a picking head, a driving device, a receiving disc, a collecting device and a conveying pipe, the picking head is used for generating mechanical vibration and driving branches to vibrate; the driving device drives the picking head to generate mechanical vibration; the receiving disc is provided with a blanking port and arranged on one side of the picking head, the picking head is connected with the receiving disc, and the receiving disc is located under the picking head in a picking state; the collecting device is used for collecting wolfberries; one end of the conveying pipe is connected with the bottom of the receiving disc and communicated with the blanking port, and the other end is connected with the collecting device. The device can improve the collection efficiency and the quality of picked Chinese wolfberries.

The invention relates to the field of water pump sorting unmanned vehicles, in particular to full-automatic sorting unmanned vehicle equipment which comprises an unmanned vehicle body, and the upper end of the unmanned vehicle body is fixedly connected with a sorting frame; the automatic sorting mechanism comprises a rotating shaft rotationally connected to the side wall of the sorting frame, a swing rod is fixedly connected to the side wall of the rotating shaft, a sliding groove is formed in the side wall of the swing rod, a sliding block is slidably connected to the inner wall of the sliding groove, a pin shaft is fixedly connected to the side wall of the sliding block, and a grabbing rod is rotationally connected to the side wall of the pin shaft; the lower end of the grabbing rod is fixedly connected with an electric suction cup, a groove is formed in the side wall of the sorting frame, the inner wall of the groove is slidably connected with a U-shaped block, and the side wall of the grabbing rod is slidably connected with the inner wall of the U-shaped block. Goods can be quickly sorted and placed on the unmanned vehicle body, the whole process is automatic, manual interference is not needed, the sorting efficiency is higher, manpower is saved, the adopted mechanical structure is low in failure rate and low in manufacturing cost, and the unmanned vehicle is suitable for small and medium-sized enterprises.

The invention discloses a fruit picking manipulator capable of avoiding branch shielding, and belongs to the technical field of fruit picking equipment. In the invention, the obstacle avoidance ring on the outer side of the expansion mechanism is used for driving and pressing shielded branches and fruits near the to-be-picked area so as to adjust the shielded area, the picking view of the first machine arm and the clamping jaw is fully shown, and the lateral expansion arm is matched with the flexible net bag to press and avoid the picked shielded branches and fruits; the damage and loss of branches and fruits caused by interference are avoided, the picking efficiency is improved, a part of branches and fruits are wrapped through flexible contraction of a flexible net cover and a flexible belt, the situation that the adjacent branches are dialed through elastic force bounce after the branches are dialed through wrapping limiting is avoided, the obstacle avoiding and dialed effect is improved, and the picking efficiency is improved. And when the flexible net bag is adjusted to the bottom side of the second machine arm and the clamping jaw, the flexible net cover can carry out bag taking and storage on the picked fruits, the fruits can be conveniently stored during picking, and the picking adaptability is improved.

The invention discloses an intelligent tobacco leaf picking manipulator and a picking method.The manipulator comprises a mechanical arm, the tail end of the mechanical arm is provided with a binocular camera and an end effector, the end effector comprises a driving motor, a connecting module, a tobacco leaf cutting mechanical claw and an anti-scraping ball mechanical claw, and the two sets of mechanical claws are arranged in parallel up and down; the tobacco cutting mechanical grippers are arranged in parallel, are connected with an output shaft of the driving motor through a connecting module and are driven by the driving motor to perform opening and closing actions, two concentric circles surrounding a tobacco rod can be formed when the tobacco cutting mechanical grippers are closed, a cutting circle formed by the upper tobacco cutting mechanical grippers is larger than the periphery of the tobacco rod, and an anti-scraping circle formed by the lower anti-scraping ball mechanical grippers makes contact with the periphery of the tobacco rod. During working, the binocular camera positions the position of a tobacco stem and transmits the tobacco stem to the upper computer, the mechanical arm moves the end effector to the positioning position according to position information, the closed mechanical claw surrounds the tobacco stem, and when the anti-scraping ball mechanical claw moves upwards, the tobacco cutting mechanical claw cuts tobacco from bottom to top. The device has the advantages of high picking efficiency, low breakage rate, high adaptability and the like.

The utility model relates to the technical field of agricultural picking instruments, in particular to tomato maturity intelligent identification picking equipment which comprises a collecting bin, a camera is installed on the collecting bin, a visual identification system is arranged in the camera, a base is fixedly connected to the middle of the collecting bin, a steering motor is installed on the base, and a control system is installed on the steering motor. The output end of the steering motor is connected with a steering main gear, the steering main gear is in meshed connection with a steering auxiliary gear, the steering auxiliary gear is coaxially and fixedly connected with a steering seat, and the steering seat is rotationally connected with the base. The angle of the scissor mechanical arm is adjusted through the steering motor and the steering base, so that mature tomatoes at different horizontal positions and different heights can be picked, the tomatoes do not need to be picked by adjusting the position of equipment, time and labor are saved, and meanwhile the picking efficiency is improved.

The utility model discloses a residual film picking and bundling integrated device, and relates to the technical field of waste film recycling, the device comprises a traction frame, a rack, a film lifting mechanism, a film picking mechanism, a waste film winding mechanism and a moving mechanism; the film lifting mechanism comprises a film lifting frame, a plurality of film lifting rods and a plurality of film lifting shovels, the film lifting rods and the film lifting shovels are arranged in a one-to-one correspondence mode, the film lifting frame is arranged at the end, close to the traction frame, of the rack, one ends of the multiple film lifting rods are movably arranged on the film lifting frame side by side at intervals, and each film lifting shovel comprises a shovel handle and a shovel body; the shovel handles are arranged at the ends, away from the film lifting frame, of the corresponding film lifting rods, one ends of the shovel bodies are connected to the ends, away from the film lifting rods, of the shovel handles, and the other ends of the shovel bodies are pointed-end-shaped. The waste film winding mechanism is arranged at the tail end of the rack, and the film picking mechanism is arranged between the film lifting frame and the waste film winding mechanism. Waste films buried in soil in the film mulching and sowing process can be lifted out through the film lifting shovel, the waste films are exposed to the ground surface, operation of the residual film picking and bundling integrated device is facilitated, and the waste film recycling efficiency is improved.

The invention discloses a flexible clamping jaw capable of automatically adjusting clamping force based on deformation measurement, and belongs to the field of vegetable and fruit picking devices.The flexible clamping jaw comprises a rotating mechanism, three clamping jaw mechanisms are symmetrically installed at the front end of the rotating mechanism through an installation disc, and the rotating mechanism and the clamping jaw mechanisms form a picking mechanism; the rotating mechanism can drive the three clamping jaw mechanisms to rotate through an internal rotating motor, each clamping jaw mechanism comprises a flexible clamping jaw, the tail of each flexible clamping jaw is driven by a connected cam connecting rod mechanism to swing, and the back face of each clamping jaw mechanism is fixedly provided with a monitoring mechanism. The monitoring mechanism monitors the deformation quantity of the flexible clamping jaw through a camera. According to the flexible clamping jaw, the clamping force is accurately controlled through a camera and an algorithm, and fruits are protected against damage; the three-jaw structure is stable, the process is automatic, and the efficiency is improved; ginseng can be flexibly set according to vegetables and fruits, and the adaptability is wide; data after picking is driven and optimized, long-acting operation of equipment is facilitated, and the cost is reduced.

The utility model discloses a goods taking mechanism and a goods picking system. The goods taking mechanism comprises a lifting frame, a goods taking device and a sorting assembly. The goods taking device is movably connected to the lifting frame through a moving assembly. The sorting assembly is connected to the lifting frame and comprises a plurality of sorting hoppers. The goods taking device is configured to take out goods on the goods shelf and convey the goods to any one of the sorting hoppers.

The invention discloses a movable portable Chinese prickly ash picking machine and a use method, and aims to solve the problems that the picking efficiency is low when an existing Chinese prickly ash harvesting device needs to frequently replace a storage bag and is held by a single hand to pick Chinese prickly ash, and the Chinese prickly ash is damaged when the Chinese prickly ash is picked in a double-roller reverse movement mode. Comprising a chassis, a storage box and a handheld assembly, a moving assembly is arranged at the bottom of the chassis, the storage box is located at the top of the chassis, the handheld assembly comprises a negative pressure chamber, a handle is fixed to the first end of the negative pressure chamber, a shifting plate is rotationally installed in the second end of the negative pressure chamber, and a driving mechanism for driving the shifting plate to rotate is arranged on the negative pressure chamber; the negative pressure chamber is communicated with a storage cavity in the storage box through a connecting pipe, the storage box is provided with a negative pressure machine, and the negative pressure machine is used for generating a negative pressure environment in the storage cavity. The storage box is installed on the chassis, the pepper storage capacity is improved, and the efficiency is higher compared with the mode of replacing a storage bag.

The invention discloses a shed frame type orchard kiwi fruit picking device and a picking method. The device comprises a walking mechanism; the picking mechanism is installed on the frame of the walking mechanism through a lifting mechanism and comprises a support, a driving component, a transmission shaft, picking discs and shifting fingers, the support is installed at the top end of the lifting mechanism, the driving component is installed on the support and connected with the transmission shaft, the picking discs are installed on the transmission shaft in a staggered mode, and an included angle is formed between every two adjacent picking discs; the gaps between the adjacent picking discs are periodically expanded and contracted; the shifting fingers are connected with the driving part, are arranged corresponding to the picking disc and are mounted on the bracket through a supporting shaft; the detection mechanism is used for detecting the density and height distribution of the fruits to be picked in real time to obtain detection information; and the controller is connected with the walking mechanism, the picking mechanism and the detection mechanism, dynamically plans an optimal picking path and an optimal picking sequence according to the detection information, and adjusts picking operation parameters and picking postures in real time. The invention further provides a shed frame type orchard kiwi fruit picking method.

The invention discloses a waxy yam transverse shaping growth cultivation device, and relates to the technical field of waxy yam planting, the waxy yam transverse shaping growth cultivation device comprises a support, and further comprises a storage box; a cultivation assembly is installed on the support and used for cultivating Chinese yams and guiding the Chinese yams so that the Chinese yams can grow transversely. A nutrient solution conveying assembly is installed on the support and used for conveying a nutrient solution in the storage box into the cultivation assembly for Chinese yam growth. A seedling raising guide assembly is mounted on the bracket and is used for guiding Chinese yam seedlings and keeping the Chinese yam seedlings vertical. The waxy yam cultivation device has the advantages that waxy yams grow transversely through physical guidance and are biologically guided, so that the waxy yams automatically and transversely grow during growth, the reverse influence of physical guidance on the growth of the waxy yams is reduced, the growth of the waxy yams is promoted, in addition, the upper cultivation pipe can be automatically opened, the waxy yams in the cultivation assembly are exposed, and the cultivation efficiency is improved. And the picking efficiency of the glutinous Chinese yams is improved.

The utility model relates to the field of orchard machinery, in particular to an intelligent apple picking, grading and collecting vehicle which comprises an intelligent picking vehicle, a transfer vehicle and a fruit conveying device. Two fruit conveying belts which are arranged side by side are arranged at the top of the picking vehicle, a fruit elevator is arranged at the tail end of each fruit conveying belt, and a fruit picking mechanical arm and a fruit sensing depth camera are correspondingly arranged above each fruit conveying belt; the intelligent transfer trolley is provided with two fruit rolling guide grooves arranged side by side, each fruit rolling guide groove is sequentially provided with three specifications of falling holes from small to large in the fruit entering direction, and a storage basket is arranged below each falling hole. The apple picking and transferring vehicle integrates picking, grading, collecting and transporting, fruit picking efficiency can be effectively improved, labor intensity is reduced, the mechanical development requirement of orchard operation is met, and meanwhile the picking vehicle and the transferring vehicle achieve uninterrupted operation of mechanical picking of apples in a child-mother matching operation mode.

The invention discloses a fruit and vegetable picking method based on an intelligent mechanical arm, and belongs to the technical field of fruit and vegetable picking. According to the fruit and vegetable picking description information, a task instruction understanding model based on a large language model is adopted for analysis, and a control signal for controlling a mechanical arm is generated; according to the control signal, a fruit and vegetable intelligent sensing model with intelligence is utilized, the fruit and vegetable category and the grabbing posture are determined through an image collected by a depth camera, and the picking action is adjusted in combination with real-time feedback; according to the control signal, in the process that the mechanical arm executes the picking task, real-time environment perception is conducted through the intelligent technology, and the motion trail is dynamically adjusted through the intelligent obstacle avoidance neural network model so as to avoid the obstacle, according to the fruit and vegetable picking method provided by the invention, a user does not need to manually write a picking instruction code; the operation complexity of the mechanical arm is remarkably reduced, and the accuracy and efficiency of the picking task are improved.

The embodiment of the invention discloses a picking task list building method and device and a storage medium, and the method comprises the steps: carrying out the grouping of a batch of positioning results in any wave according to a preset grouping rule, and obtaining a plurality of groups of positioning results; the preset grouping rule is a grouping rule comprising commodity codes, storage positions and commodity picking area information; in the multiple groups of positioning results, splitting and / or combining the multiple positioning results in any group of positioning results according to a preset task order picking specification to obtain any group of task order information until multiple groups of task order information is obtained according to the multiple groups of positioning results; the multiple groups of positioning results are in one-to-one correspondence with the multiple groups of task list information; and building a picking task list according to the multiple groups of task list information.

The invention relates to the technical field of tobacco harvesting machinery, and provides a small-sized full-automatic tobacco harvesting machine which comprises a crawler power chassis, a tobacco picking mechanism, a tobacco conveying mechanism, a tobacco storage mechanism, a power mechanism and a control system, and the tobacco conveying mechanism, the tobacco storage mechanism and the power mechanism are all arranged on the crawler power chassis; the tobacco leaf picking mechanism comprises an upper lead screw sliding table module, a lower lead screw sliding table module, a grabbing mechanism and a telescopic mechanism, the upper lead screw sliding table module is connected to the crawler power chassis, the lower lead screw sliding table module is connected to the upper lead screw sliding table module, one end of the telescopic mechanism is connected to the lower lead screw sliding table module, and the other end of the telescopic mechanism is connected to the upper lead screw sliding table module. The grabbing mechanism is connected to the other end of the telescopic mechanism, and the height of the telescopic mechanism is adjusted through the upper lead screw sliding table module and the lower lead screw sliding table module. The tobacco picking device has the advantages that the picking mechanism can effectively recognize and select proper tobacco plants, it is guaranteed that each layer of tobacco leaves are completely picked, the overall quality of the tobacco leaves is effectively improved, and losses caused by misoperation are reduced.

The invention discloses an intelligent hot pepper picking system and method, and the system comprises a visual positioning device which is used for recognizing the coordinate position of hot peppers, a hot pepper picking device which is used for picking the hot peppers according to the position coordinates of the hot peppers, and a control device. The pepper picking device comprises a base, a mechanical arm arranged on the base, a picker arranged at the tail end of the mechanical arm and a picking driving mechanism used for driving the mechanical arm to move in the X-axis direction and the Y-axis direction. The picking device comprises a support, a fixed cutter arranged on the support, a movable cutter and a shearing driving mechanism used for driving the movable cutter to swing so as to be matched with the fixed cutter to complete shearing and clamping actions. The fixed cutter is fixed on the bracket; the movable cutter is rotationally connected to the support and located above the fixed cutter. The visual positioning device comprises a binocular camera arranged on a base of the mechanical arm. The intelligent hot pepper picking system can achieve accurate picking of hot peppers.

The invention relates to the technical field of images, and discloses a three-dimensional model pickup method, device and equipment and a storage medium, and the method comprises the steps: distributing non-repeated random colors for each model as pickup colors corresponding to each model; each model is used for being displayed in a target scene; respectively rendering each model to a pre-constructed color pick-up cache through a shader according to the pick-up color corresponding to each model; and when the three-dimensional model is picked up, obtaining a two-dimensional coordinate of a first position in a target scene, obtaining a corresponding target pickup color from the color pickup cache according to the two-dimensional coordinate of the first position, and determining a target model corresponding to the first position according to a corresponding relationship between each model and the pickup color. The model is rendered to the pre-constructed color cache region, and the color value is extracted according to the coordinate of the target position so as to obtain the target model needing to be picked up, so that the time consumed by model picking up is shortened, and the efficiency of model picking up is improved.

The utility model discloses a grabbing, shearing and twisting integrated fruit and vegetable picking actuator which comprises a cylindrical shell, the axial direction of the cylindrical shell faces the direction of fruits and vegetables to be picked, and the direction of the fruits and vegetables to be picked is the forward direction. The rear end of the cylindrical shell is closed and the front end is provided with an opening; an axial movement mechanism is arranged at the middle rear part of the cylindrical shell, and a circumferential movement mechanism matched with the axial movement mechanism is arranged at the middle front part of the cylindrical shell; the axial movement mechanism is used for driving the upper clamping jaw and the lower clamping jaw to close or open through the upper connecting rod hinging mechanism and the lower connecting rod hinging mechanism; the circumferential movement mechanism is used for driving the upper clamping jaw and the lower clamping jaw to rotate under the driving of the circumferential movement mechanism so as to twist off and cut off possible still connected parts of the stem; the closing action of the upper clamping jaw and the lower clamping jaw is the grabbing action of grabbing fruits and vegetables, the action of inserting the blade into the blade groove is the cutting action, and the grabbing action and the cutting action are two-in-one synchronous actions.

The present invention provides an intelligent stereoscopic warehouse with automatic storage, which belongs to the field of automatic storage technology of intelligent warehouses. Its technical solution is as follows: it includes a stereoscopic warehouse frame, a lifting drive structure arranged on the stereoscopic warehouse frame, several layers of automatic lifting material conveying components are arranged on the stereoscopic warehouse frame, each layer of automatic lifting material conveying components is provided with a power mechanism, and a stacking mechanism for conveying materials to several layers of automatic lifting material conveying components is also arranged at one end of the stereoscopic warehouse frame. The beneficial effects of the present invention are as follows: the stereoscopic warehouse of the present invention does not need to load and unload materials in sequence; each layer can reach the height required for unloading goods, and any layer can carry out goods unloading and loading; it realizes automatic storage, automatic loading and unloading of any layer, and automatic management.

The invention provides a three-dimensional coordinate automatic tea-picking robot, and belongs to the field of tea-picking robots, the three-dimensional coordinate automatic tea-picking robot comprises: a support, the inner top of which is provided with a driving arm; and the picking assembly comprises a first electric telescopic rod, a lifting plate, a cutting knife, a connecting rod and a cover plate. The five functions of picking, collecting, screening, flattening and cleaning are achieved; tea leaf cutting and picking are achieved through the picking assembly and the transmission assembly, then the tea leaves are sucked into a collecting box through the collecting assembly, meanwhile, the tea leaves are efficiently and stably screened through the screening assembly, meanwhile, it is ensured that the tea leaves are evenly distributed in a collecting disc through the paving assembly, and accumulation is avoided; dust on the second dustproof net is cleaned through the cleaning assembly, and smooth operation of the collecting system is guaranteed; the labor burden is relieved, the picking cost is reduced, the picking operation can be continuously carried out, and the picking efficiency is improved.

The utility model discloses a portable screwing grabbing device with an opening and adjustable clamping force. The portable screwing grabbing device comprises a clamping mechanism, a spiral groove mechanism, a clamping force adjusting mechanism and a driving mechanism. The clamping mechanism comprises a plurality of clamping fingers and a finger seat; the spiral groove mechanism comprises a spiral seat and a ring sleeve; the clamping force adjusting mechanism comprises a rack, an adjusting bolt, a friction block, an elastic frame and a fixing nut. The driving mechanism comprises a motor, a first shaft sleeve and a long shaft sleeve. An output shaft of the motor is connected with a shaft sleeve I which is connected with a long shaft sleeve; a friction ring, a spiral seat and a ring sleeve are sleeved outside the long shaft sleeve, the end part of the long shaft sleeve is connected with a finger seat, the finger seat can rotate relative to the ring sleeve and the spiral seat, the finger seat is rotatably connected with a clamping finger, the tail end of each clamping finger is provided with a ball head, the spiral seat is provided with a plurality of arc-shaped grooves with the same number as the ball heads, and the ball heads are connected with the arc-shaped grooves in a sliding manner. The finger seat is provided with multiple groups of pin holes. According to the technology, opening and clamping force adjustment can be achieved, the structure is simple, the weight is light, and the picking efficiency is high.

The utility model discloses a layered apple picking robot which comprises a crawler-type walking device (1), a control box (2) provided with a visual system, a picking mechanical arm (3) and a picking end executor (4) located at the moving end of the picking mechanical arm (3). At least two groups of picking mechanical arms (3) and picking end executors (4) are arranged on the crawler-type walking device (1), and the positions of at least one group of picking mechanical arms (3) and picking end executors (4) are higher than the positions of the other groups of picking mechanical arms (3) and picking end executors (4). According to the picking robot, layered picking is conducted through the two picking mechanical arms, apples on the left side and the right side or on the high layer and the low layer in an orchard are picked at the same time, and the picking efficiency and the picking speed are improved to a certain degree through the picking mode.

The invention provides a method for improving yield and tree vigor balance of grafted Korean pine cones in a semi-arid region, and belongs to the technical field of forest cultivation. In the semi-arid region, 2-3 annual cones are uniformly reserved on bearing branches of Korean pine different-stock grafted young trees which are grafted for more than 4 years and are in the early stage of fruiting; selecting medium and large fruit type scion-picking seed trees; collecting medium and large fruit type scions, and storing at low temperature; selecting pinus sylvestris or pinus tabulaeformis branches as stocks for different-stock grafting; or selecting a partial female Korean pine grafting branch as a stock to perform different-stock grafting or same-stock grafting, and starting stock cutting and unbinding, shaping and pruning and timely fruit thinning from the next year after grafting survival according to a cultivated target tree shape. Through selection under the extreme drought condition, the scion stress resistance is enhanced, and the preservation rate of the Korean pine different-stock fruit forest in the semi-arid region is improved; the pollen amount of medium and large fruit type scion Korean pine is increased, and the proportion of full seeds in cones is improved. The fruit thinning strength in the red pine fruiting period is reduced, and the red pine cones picking efficiency is improved.

The utility model provides a rotary cutting type citrus lossless picking end effector which comprises a comb tooth type fruit catching ring, an annular serrated knife, an upper housing, an end effector supporting frame, a lower housing, a main body mounting frame, a corrugated hose, a pinion, a motor, a bearing, a motor support and an annular serrated knife mounting frame. An annular serrated knife is fixed to the inner ring of the annular serrated knife installation frame, a gear is arranged on the outer ring of the annular serrated knife installation frame, a small gear is installed on the motor, comb teeth are evenly distributed on the end face of the comb tooth type fruit catching ring, and U-shaped gaps are formed between the comb teeth. During picking operation, the comb tooth type fruit catching ring is used for sleeving fruits, fruit stems fall between comb tooth gaps under the action of gravity, and the motor drives the annular serrated knife mounting frame on the outer ring of the bearing to rotate, so that the annular serrated knife is driven to rotate to quickly saw the fruit stems; according to the fruit picking device, fast and efficient picking can be achieved, fruits are effectively protected from being damaged by the cutter, and lossless picking is achieved.

The invention relates to a digital twin-driven distributed warehousing system and method, and belongs to the technical field of intelligent logistics. The system comprises a sensing execution layer, a network transmission layer, an edge computing layer, a cloud platform layer and an application service layer. The method comprises the following steps: acquiring storage physical entity data through a perception execution layer; the data is transmitted to the edge computing layer and the cloud platform layer through the network transmission layer; in the cloud platform layer, a high-fidelity virtual warehouse is constructed and synchronized through a digital twin engine; using a multi-agent reinforcement learning algorithm to perform centralized training in a digital twin environment to generate a distributed cooperative scheduling strategy; and issuing the strategy to an edge computing layer and a sensing execution layer, and driving an autonomous mobile robot cluster to execute a cooperative task. According to the invention, step-type improvement of the warehousing system in flexibility, intelligence and cooperative capability is realized, and the problems of rigid bottleneck, non-optimal decision and low cooperative efficiency of a traditional system are solved.