238results about How to "Improve picking efficiency" patented technology

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 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 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 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 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 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.

The invention discloses a rose picking robot and belongs to the field of agricultural automatic picking equipment. The device is composed of a crawler, a collecting device, a picking device, an unmanned aerial vehicle and an autonomous endurance device. According to the device, an unmanned aerial vehicle is used for collecting rose data and driving a picking mechanism to pick roses, an end effector on the picking mechanism is a cutting container with eight adjustable cutting blades, opening and closing of the cutting blades are controlled through a motor to achieve swallowing of the roses and cutting of pedicels, a draught fan is installed on a crawler, and the unmanned aerial vehicle drives the picking mechanism to pick the roses. According to the rose cutting unmanned aerial vehicle, the rotating blades in the draught fan are driven by the motor to rotate, the blades rotate to generate airflow, roses in the cutting container are sucked into the storage box on the crawler, the load of the unmanned aerial vehicle is reduced in the process, and the cruising ability of the unmanned aerial vehicle is improved; the unmanned aerial vehicle can automatically return to be charged when the electric quantity is insufficient, and the crash risk caused by electric quantity exhaustion is reduced.

The invention relates to a single-arm multi-claw pneumatic-electric double-control picking robot end effector and a using method. The effector comprises a rotary table, pneumatic clamping claws, a shearing device, a rubber clamping piece, an anti-skid gasket, a fixing rod, a buckle and an adapter plate. In order to improve the picking efficiency, four pneumatic clamping jaws are symmetrically arranged on the edge of the upper surface of the rotating disc, and after one pneumatic clamping jaw completes picking, the next pneumatic clamping jaw continues picking by rotating the flange plate. In order to adapt to picking operation of fruits with long fruit stems, a blade and a rubber clamping piece are installed at the front end of the pneumatic clamping jaw, the fruit stems can be clamped while shearing is conducted, and full-automatic picking is achieved. One end of the pneumoelectric slip ring is arranged below the flange plate, is connected with the electromagnetic valve through an air pipe and can rotate along with the rotation of the turntable; and the other end is fixed through a fixing rod and a buckle, so that air pipe winding caused by rotation of the turntable is prevented. Compared with a traditional picking system, multiple picking and single placement can be achieved, and the picking efficiency is greatly improved.

The invention relates to the technical field of pepper picking, and discloses a picking device of an unmanned pepper picking machine, which comprises a vehicle body, the top of the vehicle body is fixedly connected with a square frame, the inner side of the square frame is provided with an electric turntable, and the top of the electric turntable is provided with a connecting arm I; and a third electric telescopic rod is rotationally installed on the outer side of the first connecting arm, a second connecting arm is rotationally installed at the output end of the third electric telescopic rod, a fixing plate is installed at the tail end of the second connecting arm through an electric rotating shaft, and two driving rods are connected to the inner side of the fixing plate through rotating shafts. And through the design of the automatic picking assembly and multi-range flexible movement, the efficiency and precision of pepper picking can be remarkably improved. According to the picking structure, the working posture can be automatically adjusted according to different Chinese prickly ash tree shapes and growing environments, dependence on manual labor is reduced through automatic control, and the phenomena of mistaken picking, missing picking and damage in manual operation are avoided.

The utility model discloses a multifunctional aquatic brasenia schreberi harvesting catamaran, and mainly relates to the technical field of aquatic brasenia schreberi harvesting. Comprising a supporting frame, floating barrels are arranged at the left end and the right end of the supporting frame, a rectangular coordinate robot is arranged on the supporting frame, the positions of a suction type end effector in the X-axis direction, the Y-axis direction and the Z-axis direction are adjusted through the rectangular coordinate robot, and the suction type end effector is located on the inner side of the supporting frame. A suction pipe is arranged at the bottom of the suction type end effector, a shearing bin is arranged at the top of the suction pipe, a vertical pipe is arranged at the top of the shearing bin, a cutting mechanism is arranged in the shearing bin, a sensor is arranged in the shearing bin or the vertical pipe, and the top end of the vertical pipe is connected with a negative pressure suction device through a conveying pipeline. A driving device is arranged at the rear end of the supporting frame; according to the water shield picking machine, a negative pressure suction shearing type nondestructive picking mode is adopted, the water shield picking efficiency can be improved, and the labor intensity of vegetable farmers is reduced.

The utility model discloses an olive machine, which belongs to the technical field of olive picking, and is characterized in that a driving component is independently mounted through a gear box, so that the driving component is conveniently separated from a connector shell, and then a movable frame is movably connected with the connector shell through a bearing by utilizing a swinging shaft; meanwhile, the movable frame is connected with the swing shaft through a swing head locking screw, so that the movable frame and the connector shell are conveniently disassembled and assembled, all main components of the olive machine are detachably connected, maintenance and replacement are conveniently carried out when equipment breaks down, the maintenance time is shortened, meanwhile, transmission is carried out through a connecting rod structure on a force transmission structure, and the practicability is high. According to the nut picking device, the transmission stability can be guaranteed, the force conductivity can be improved, meanwhile, movable parts are structurally optimized, the movable parts and branches are prevented from being stuck, the problems that traditional equipment is prone to breaking down during operation, and consequently the nut picking efficiency is low are solved, and meanwhile the nut picking device can be used for picking various nut fruits.

The utility model discloses a test tube storage device for animal husbandry veterinary sampling, belongs to the technical field of animal husbandry sample collection and storage devices, and aims to solve the problems that an existing storage device for animal blood sample collection in a pasturing area is relatively tedious in use process, consumes more time, increases the residence time of sampling workers in the pasturing area, and is inconvenient to use. The test tube storage device comprises a shell and a top cover, a plurality of test tube storage blocks are sequentially arranged in the shell in the length extension direction of the shell at equal intervals, and a plurality of opening and closing units are sequentially arranged on the lower surface of the top cover in the length extension direction of the top cover at equal intervals; each opening and closing unit corresponds to one test tube storage block, each opening and closing unit is correspondingly connected with one control unit, the execution end of each control unit is fixedly connected with one opening and closing unit, and the control end of each control unit extends to the upper part of the top cover and is movably connected with the top cover. The device is mainly used for storing blood samples collected by animals in a pasturing area in time.

The utility model discloses a device for detecting a coating layer of an optical lens, which belongs to the technical field of optical lenses and comprises a frame, a first gripping clamp for clamping and fixing the outside of the optical lens is mounted in the frame, and a driving component for driving the gripping clamp to turn over is rotatably connected in the frame. The four sets of first grabbing clamps are symmetrically installed on the outer wall of the driving assembly, and a detection assembly used for detecting the optical lens clamped in the first grabbing clamps is installed in the frame. An adjusting structure used for driving a support used for bearing the optical lens to move is mounted at the bottom of the first grabbing clamp; when the lens taking device is used, the adjusting structure and the driving assembly are arranged and matched with each other, and after each group of grabbing clamps takes one lens, the adjusting structure pushes the next group of lenses to be supplemented, so that the next group of grabbing clamps can continuously take out a pair of lenses conveniently, and when the lens taking device is used, the taking efficiency is improved, and meanwhile, the lens taking efficiency is improved. Before detection is completed, manual contact with the engineering lens is avoided.

The invention relates to the technical field of control, in particular to a multi-manipulator agaricus bisporus picking control method and system, and aims to solve the technical problem of low agricultural product picking working efficiency in the prior art. The area where the mushroom bed is located is partitioned, and a plurality of areas to be picked are obtained; based on the position information of the agaricus bisporus to be picked on the mushroom bed in each area to be picked, a graph structure is constructed and then converted into a tree structure, so that the initial path is more hierarchical and clearer, and the initial path is subjected to intersection and variation processing to obtain a picking path capable of improving the picking efficiency; and finally, the multiple manipulators pick the agaricus bisporus according to the corresponding picking paths, different avoiding strategies are implemented according to the movement stages in the agaricus bisporus picking process, multi-arm dynamic coordination planning is achieved, and the agaricus bisporus picking work efficiency is improved.

The invention discloses a mobile robot performance system popularity racking method based on an improved TabNet algorithm. Comprising the following steps: collecting historical order data; the historical order data is preprocessed; a TabNet algorithm is improved, and a popularity model based on the improved TabNet algorithm is constructed; training a popularity model based on an improved TabNet algorithm by using the preprocessed data set, calculating a popularity score of each SKU, and performing real-time data updating and dynamic recalculation of the popularity score; and according to the SKU popularity score obtained through calculation, goods are put on different goods shelf areas. The invention provides a novel mobile robot performance system popularity shelving method based on an improved TabNet algorithm, so that high-popularity SKUs can be effectively identified and shelved in a concentrated manner through dynamic feature selection and a popularity scoring mechanism, thereby improving the order line hit rate of an RMFS system and optimizing the sorting efficiency.

The invention discloses a rose petal picking tool, and belongs to the technical field of agricultural equipment.The rose petal picking tool comprises a vehicle body and a guide rail component, the vehicle body can run on the guide rail component, the top of the vehicle body is rotationally connected with a cleaning frame, and the top of the vehicle body is slidably connected with a cleaning component; the rear side of the vehicle body is rotationally connected with a cam rolling shaft, a first driving mechanism is arranged on one side of the vehicle body, a second driving mechanism is arranged on the other side of the vehicle body, and a picking mechanism is arranged on the rear side of the vehicle body. Picking personnel can be carried to run in a rose field, the picking efficiency is effectively improved, the picked rose petals are preliminarily processed in the vehicle body, and the production efficiency of the rose petals is effectively improved.

The invention relates to the field of harvesting equipment, in particular to a lotus root harvesting operation machine and a harvesting operation method thereof.The lotus root harvesting operation machine comprises an operation machine body, and a power mechanism is arranged at the tail of the operation machine body; the device further comprises a vibration mud loosening mechanism, a spiral rotary blowing mechanism, an inclined conveying mechanism, a screening conveying mechanism, an overwater image recognition mechanism and an underwater robot. Mechanical and automatic technologies are introduced into the lotus root harvesting operation machine, and a traditional manual picking mode is upgraded to mechanical operation, so that the working efficiency is improved, the labor intensity is reduced, and the picking cost is reduced. By means of the vibrating screen and the annular propeller, damage of machinery to lotus roots is reduced, the state of the lotus roots can be recognized based on the multi-physical-quantity sensor technology and the intelligent control technology, operation is conducted according to needs, and the accurate and efficient automatic picking process is achieved.

The utility model relates to an active feeding type pepper picking device, belongs to the technical field of pepper picking equipment, and aims to solve the problems of low pepper picking efficiency, high labor intensity and the like. The device structurally comprises a shell, a picking system and an upper fixing plate, the picking system is arranged in the shell, the upper fixing plate is installed on the upper portion of the shell, and a rear collecting channel is connected with a collecting pipe; a spiral feeding mechanism of an active feeding device of the picking system is driven by a transmission mechanism to actively and rapidly feed Chinese prickly ash into a picking machine; the cutting device synchronously and quickly cuts and separates the Chinese prickly ash; a differential comb tooth threshing device of the picking system is driven by a transmission mechanism to thresh the cut Chinese prickly ash and bring the Chinese prickly ash into a rear collecting channel. The pepper picking machine is light, easy to operate and capable of achieving one-hand operation in the picking process, pepper can be actively and rapidly fed, pepper stem roots do not need to be accurately positioned and found, picking time is effectively shortened, picking efficiency is improved, labor intensity is reduced, and the problems of hand injury and the like are solved.

The invention provides a low-loss bionic elastic tooth type picking table of a linear pepper harvester. The low-loss bionic elastic tooth type picking table of the linear pepper harvester comprises a header frame, a picking roller, a pull-back rolling shaft and a conveying device. The header frame, the picking roller, the back-pulling rolling shaft and the conveying device are sequentially arranged from front to back in the feeding direction; the picking roller comprises a middle rotating shaft, a cam track disc, a spring tooth and a spring tooth shaft; the middle rotating shaft is installed on the header frame, the cam track discs are installed at the two ends of the middle rotating shaft respectively, a plurality of cam grooves are distributed in the circumferences of the cam track discs, the spring teeth are installed on the spring tooth shafts, the spring tooth shafts are arranged along the circumference of the middle rotating shaft, the ends of the spring tooth shafts are embedded into the cam grooves respectively, and the ends of the spring tooth shafts are matched with the cam grooves of the cam track discs. The spring teeth do radial telescopic motion under the constraint of the cam groove when the picking roller rotates; and the rotation direction of the back-shifting rolling shaft is opposite to that of the picking roller. The line pepper picking machine can efficiently complete line pepper picking so as to improve the picking efficiency, and the phenomena of less harvesting and missing harvesting are reduced by adopting secondary callback.

The agricultural robot comprises a tracked robot, an adjusting structure is arranged on the front portion of the upper end of a bearing platform, a picking execution structure is installed at the upper end of the adjusting structure, and a fruit screening structure is arranged on the rear portion of the upper end of the bearing platform; a control module communicating with the inner side of the fruit screening structure is arranged on the front portion of the upper end of the bearing platform, and the control module and the picking execution structure are jointly and fixedly connected with a connecting hose. According to the agricultural robot for picking, mature fruits are recognized through cooperation of the picking execution structure and the control module, and fruits at different positions on a fruit tree are picked through cooperation of the picking execution structure and the adjusting structure; the picked fruits are fed into the fruit screening structure through cooperation of the connecting hose and the control module, sorting and storage are conducted through the fruit screening structure, the fruits with different diameters are stored separately, and subsequent classification is facilitated.

The invention relates to the technical field of agricultural machinery, and discloses an ear picking plate adjusting system, an ear picker and an ear picking plate adjusting method. When the ear picking plate adjusting system is applied to the ear picking machine for harvesting operation, butt-clamping type contact detection can be conducted on the stem diameter of crops to be harvested entering the harvesting space through the stem diameter detection module, the detection precision is higher, the control module determines the size of the stem diameter according to detection data, and the harvesting efficiency is improved. Therefore, the driving module is controlled to adjust the distance between the two ear picking plates, the width of the harvesting space is adjusted, and it is ensured that the width of the harvesting space can be matched with the stem diameter of crops to be harvested. According to the ear picking plate adjusting system, the size of the harvesting space between the two ear picking plates in the execution module can be automatically adjusted, manual adjustment is not needed, the labor intensity of workers is reduced, it is ensured that the damage rate of fruits is reduced in the harvesting process, and the ear picking efficiency is improved.

The invention belongs to the technical field of medical equipment, and discloses a storage vessel for biological medicine analysis, the storage vessel comprises a shell, the outer wall of the shell is provided with a supporting mechanism, and the inner wall of the shell is provided with a fixing mechanism through a lifting mechanism; the fixing mechanism comprises a storage box, the inner wall of the storage box is elastically connected with an inserting block through a connecting spring, the inner wall of the storage box is slidably connected with a pull rod, an inserting groove is formed in the outer wall of the pull rod, the inner wall of the storage box is fixedly connected with a fixed clamp, and the outer wall of the pull rod is hinged to a movable clamp through a hinge rod. The inner wall of the storage box is fixedly connected with a fixed plate; through cooperation of the movable clamp, the pull rod and other structures, by pulling the pull rod, multiple sets of test tubes can be clamped at the same time, or the clamping states of the multiple sets of test tubes can be relieved at the same time, then the efficiency of placing or taking the test tubes by an operator is improved, and more convenience and rapidness are achieved.

The present application belongs to the technical field of agricultural machinery, and particularly relates to a tomato picker used in narrow space, which comprises a moving part for driving the picker to move, a picking end part arranged at the movable end of the moving part, the picking end part comprising a turnover mechanism connected with the movable end of the moving part, the movable end of the turnover mechanism being connected with a holding-shearing mechanism for picking tomato fruits, the holding-shearing mechanism being arranged in a structure of being narrow at the top and wide at the bottom, the holding-shearing mechanism being provided with a temporary storage cylinder, and the turnover mechanism being used for making the holding-shearing mechanism turn over so that the tomato fruits picked by the holding-shearing mechanism are dropped into the temporary storage cylinder for temporary storage. When picking tomatoes, the structure of being narrow at the top and wide at the bottom of the holding-shearing mechanism can prevent the holding-shearing mechanism from damaging unripe tomatoes, meanwhile, multiple tomatoes can be temporarily stored in the temporary storage cylinder, so that the picking efficiency is higher and the picking effect is better.

The invention discloses an object sorting method, system and device, a storage medium, a processor and a program product. The method comprises the following steps: acquiring sorting tasks corresponding to a plurality of to-be-sorted objects in a target warehouse, and a target number of transportation equipment allowed to be called in the target warehouse; based on the sorting task and the target number, determining a sorting sequence of the plurality of to-be-sorted objects; according to the sorting sequence, sorting the to-be-sorted objects from the target warehouse; and the conveying equipment is controlled to convey the sorted objects to be sorted to a sorting station, and the sorting station is used for sorting the objects to be sorted again. The technical problem that the sorting efficiency of the articles is low is solved.