72results about How to "Precision picking" patented technology

The invention belongs to the field of agricultural machinery and relates to an accurate picking actuating mechanism of a strawberry picking robot and a ridge-culture strawberry picking robot. The accurate picking actuating mechanism of the strawberry picking robot comprises a mixed coordinate type motion device, a mechanical claw device connected with the mixed coordinate type motion device, and a supporting and connecting device used for fixing the mixed coordinate type motion device. The picking actuating mechanism is simple in structure, compact in volume and flexible in operation; moreover, the picking actuating mechanism is low in cost, thereby not only adapting to ridge-culture strawberry picking in different cultivation patterns, but also realizing multidirectional picking for strawberries positioned at different directions and at different positions. The ridge-culture strawberry picking robot comprises an accurate picking and gathering device and a wide-range movement supporting device of the accurate picking actuating mechanism of the strawberry picking robot and can realize continuous picking for ridge-culture strawberries.

The invention provides a checker cocooning frame silkworm cocoon screening device and method based on image processing. The device comprises a rack, a working table, a checker cocooning frame and a CMOS camera. The CMOS camera is fixed to the working table through a support, and the checker cocooning frame is located below the CMOS camera. Accordingly, automatic checker cocooning frame silkworm cocoon counting and screening are conducted by combining an image processing technology, the CMOS camera is used for extracting the collected image by means of a binaryzation and corrosion division algorithm and region characteristics, checker cocooning frame silkworm cocoon pictures are processed, and silkworm cocoons are separated from the checker cocooning frame effectively; by marking target connected domains and counting the number of the target connected domains, the number of the silkworm cocoons is obtained, and characteristic extraction is conducted by means of area descriptors of all target connected domains; by means of judgement on the connected domain area, bad cocoons such as double cocoons and extra small cocoons are distinguished, and the counting effect is accurate and rapid.

The invention discloses a fruit picking device based on a non-uniform distribution parallel mechanism. The fruit picking device comprises a fixed platform, four motors, four sets of controlling arms, a movable platform, a tail end picking mechanism and a control system. The fixed platform is placed vertically. The four motors are connected with the movable platform in front of the fixed platform through the corresponding controlling arms. The tail end picking mechanism used for picking fruits is installed on the front portion of the movable platform. The four motors and the tail end picking mechanism are connected with the control system. According to the fruit picking device, the tail end picking mechanism can be controlled to position the fruits at any angles, the fruits can be picked at any angles, the inertia of the picking mechanism is greatly reduced, and the accuracy of the picking mechanism is improved; damage to the fruits can be reduced during picking, and the fruit picking device has the fruit picking advantages of being flexible, accurate, fast and low in damage.

The invention discloses a 3-PRS tea picking parallel mechanism and a picking method thereof. The 3-PRS tea picking parallel mechanism comprises a lifting assembly, an extensible assembly, a 3-PRS working platform and a picking-collecting assembly. A flat plate of the lifting assembly is provided with the extensible assembly, the extensible assembly is hinged to the 3-PRS working platform, and thelower portion of the 3-PRS working platform is connected with the picking-collecting assembly. When the 3-PRS tea picking parallel mechanism works, the lifting assembly achieves whole vertical displacement and fine adjustment of the picking mechanism, the extensible assembly can achieve extensible displacement and fine adjustment of the picking mechanism, and the 3-PRS working platform achieves rotation and displacement of the picking platform in a picking range. The 3-PRS tea picking parallel mechanism can achieve quick tea positioning and accuracy picking, greatly reduces the labor intensityof workers and improves the working efficiency in a tea garden.

The invention discloses an integrated machine for auxiliary picking and classified collecting of fruits. The integrated machine comprises a picking device and a classifying device, and the picking device can precisely pick the fruits without damaging the fruits; the classifying device can obtain sizes of the fruits by capturing images of the fruits, and then classify the fruits according to the sizes of the fruits. Therefore, the human-assistance semi-automatic mode is adopted for picking, classifying and collecting multiple fruits, and the machine is simple in structure, low in cost, easy tooperate and convenient to move; after being picked, the fruits are directly classified and collected according to the sizes, the damage to the fruits and fruit trees in the picking process is reduced,the safety in the process of picking the fruits is improved, the efficiency of picking, classifying and collecting the fruits is improved, and the labor intensity of fruit farmers is reduced.

The invention provides a pineapple picking machine, which includes a rack, a picking claw hand connected onto the rack, a moving device connected with the rack, a pineapple storage device connected onto the rack, a monitoring device connected onto the rack, and a control device connected onto the rack, wherein the control device and all the devices are in control connection with the picking claw hand; the monitoring device is in transmission connection with the control device. The invention also provides a pineapple picking method. The picking machine is stable to walk, facilitates walking ona bumpy pineapple filed, is flexible to move, convenient to pick, is high in picking efficiency, is not easy to cause damage to fruits, realizes automatic operation in all the course, greatly improvesthe working efficiency, reduces labor intensity of operators, and avoids personal injury of the operators during picking of pineapples.

The invention discloses a hillside orchard intelligent picking robot based on visual recognition. According to the hillside orchard intelligent picking robot based on visual recognition, a camera system is used for acquiring field images in real time and recognizing the images, and after crops to be picked are recognized, a first track system and a second track system are controlled to automatically navigate to the optimal picking position through an algorithm; and obstacles can be avoided in real time through an ultrasonic sensor in the process. After reaching the optimal picking position, amotion processor continues to call a first mechanical arm and / or a second mechanical arm to pick the crops to be picked. The hillside orchard intelligent picking robot based on visual recognition canautomatically navigate and accurately pick hillside orchards, and the labor cost and the danger of picking work are reduced.

The invention discloses a screwing type pineapple picking device. The pineapple picking device comprises a swinging motor, a clamping mechanism and a picking head, the picking head comprises a base and an arc-shaped slideway, the clamping mechanism comprises a double-sided rack, the tail end of the slideway is provided with a linear sliding chute perpendicular to the slideway, the base is arrangedin the slideway, the double-sided rack is arranged in the sliding chute, cranks, connecting rods and the double-sided rack jointly form a crank sliding block mechanism, the clamping mechanism comprises a pair of clamps, the two sides of the double-sided rack mesh with gears, the gears mesh with gear structures on gear rods, each gear rod is hinged to the rear end of one clamp correspondingly, themiddle rear parts of the clamps are hinged to one ends of swing rods, the other ends of the swing rods are hinged to the base, and the gear rods, the swing rods and the clamps form two double-rockermechanisms. The pineapple picking device has the characteristics of being capable of achieving the clamping and screwing picking functions at the same time by adopting one driving device, efficient, energy-saving, accurate in picking and small in damage to branches and leaves.

The invention discloses a fruit picking method based on a fruit three-dimensional parameter prediction model. The fruit picking method comprises the steps that first image collection processing is carried out on to-be-picked fruits to obtain a first image; a first range is determined; a manipulator is controlled to perform first movement processing; intermittent gas injection treatment is carried out, so that the to-be-picked fruits are forced to vibrate; secondary image collection processing is carried out for multiple times to obtain a plurality of second images; the first image is used as a reference object, and two specified second images with the maximum offset balance position are screened out; the second images are jointly input into a preset fruit three-dimensional parameter prediction model to obtain predicted three-dimensional parameters; the manipulator is controlled to perform second-time movement processing; and the fruit stem position is cut, so that the to-be-picked fruits fall onto the manipulator, and the purposes of accurately and intelligently picking the fruits and not damaging the fruits and fruit trees are achieved.

The invention relates to an intelligent fruit picking vehicle utilizing solar energy and oil hybrid power, which includes a vehicle body, a solar operating power mechanism, a hydraulic lifting mechanism, an intelligent picking mechanism, a movable digital display control mechanism and a drive traveling mechanism, wherein the vehicle body is lozenge-shaped and internally provided with a lozenge-shaped vehicle frame; two wheels are arranged at the front and the rear ends of the vehicle body respectively, and two wheels are arranged in the middle of the vehicle body; the solar operating power mechanism includes a solar panel, a battery pack, an electric control system, a hydraulic system and a hydraulic oil tank; the hydraulic lifting mechanism is arranged at the top of the vehicle body and includes a picking rotary platform, a support bracket, a lifting hydraulic cylinder and a picking platform fixing mechanism that are fixedly connected with the vehicle top; the intelligent picking mechanism is arranged on the picking platform fixing mechanism and includes a picking intelligent robot working platform, a picking intelligent robot platform traveling mechanism and a picking intelligent robot that are arranged on the intelligent picking mechanism; and the movable digital display control mechanism is movable and connected with the intelligent picking mechanism, the hydraulic lifting mechanism and the solar operating power mechanism respectively. The intelligent fruit picking vehicle utilizing solar energy and oil hybrid power is simple to operate, and is practical, efficient, environment-friendly and energy-saving.

The invention discloses an intelligent tea picking robot capable of recognizing and simulating human hands through artificial intelligence. The intelligent tea picking robot comprises a frame, a central control module and a camera; a four-axis parallel robot body is arranged on the inner top wall of the frame; a strip-shaped plate is fixedly connected to the bottom end of the four-axis parallel robot body; the camera is arranged on the lower edge of one side of the strip-shaped plate; a clamping structure is arranged at the bottom end of the strip-shaped plate; an auxiliary structure is arranged in the strip-shaped plate; a cutting structure is arranged on one side of the bottom end of the clamping structure; and a collecting structure is arranged at the other end of the bottom end of the clamping structure. Tea leaves to be picked are determined according to comparison of a video of the tea leaves shot by the camera and atlas, a mechanical arm is rapidly moved to automatically and accurately pick the tea leaves, meanwhile, the picked tea leaves are sucked into a storage container, and the quality of the tea leaves cannot be affected; and the picked tea leaves can be automatically collected and packaged, subsequent processing procedures are reduced, the labor intensity is reduced, and the production efficiency is improved.

The invention relates to a pineapple picking machine. The pineapple picking machine comprises a frame, a travelling device, a picking device, a lifting device, and a collecting device, wherein the travelling device is installed at the bottom of the frame, and used for realizing advancing and turning of the picking machine; the picking device comprises an inference mechanism, the inference mechanism comprises a support, a swinging mechanism and a pushing plate, a pineapple channel is formed in one side of the support, the swinging mechanism is installed on the support, and the swinging direction opposites the pineapple channel, and the pushing plate is installed at the top of the swinging mechanism and opposites the tail end of the pineapple channel; the lifting device is used for lifting pineapples broken by the picking device and conveying the pineapples to the collecting device; and the collecting device is used for collecting the broken pineapples. According to the pineapple pickingmachine, the pineapples are picked by breaking stems of the pineapples to separate the pineapples from pineapple plants, and damage to seedlings is reduced in the picking process; and in the pickingprocess, the travelling device, the picking device, the lifting device, the collecting device and a camera are all continuously operated, and the picking and collecting efficiency of the pineapples isgreatly improved.

The invention relates to an intelligent fruit picking vehicle utilizing solar energy and oil hybrid power, which includes a vehicle body, a solar operating power mechanism, a hydraulic lifting mechanism, an intelligent picking mechanism, a movable digital display control mechanism and a drive traveling mechanism, wherein the vehicle body is lozenge-shaped and internally provided with a lozenge-shaped vehicle frame; two wheels are arranged at the front and the rear ends of the vehicle body respectively, and two wheels are arranged in the middle of the vehicle body; the solar operating power mechanism includes a solar panel, a battery pack, an electric control system, a hydraulic system and a hydraulic oil tank; the hydraulic lifting mechanism is arranged at the top of the vehicle body and includes a picking rotary platform, a support bracket, a lifting hydraulic cylinder and a picking platform fixing mechanism that are fixedly connected with the vehicle top; the intelligent picking mechanism is arranged on the picking platform fixing mechanism and includes a picking intelligent robot working platform, a picking intelligent robot platform traveling mechanism and a picking intelligent robot that are arranged on the intelligent picking mechanism; and the movable digital display control mechanism is movable and connected with the intelligent picking mechanism, the hydraulic lifting mechanism and the solar operating power mechanism respectively. The intelligent fruit picking vehicle utilizing solar energy and oil hybrid power is simple to operate, and is practical, efficient, environment-friendly and energy-saving.

The invention discloses a full-automatic male and female silkworm cocoon sorting device. The device comprises a transmission mechanism, a detection module, a sorting mechanism and a silkworm cocoon recovery mechanism; a partitioned cocooning frame tray supporting silkworm cocoons to be sorted is positioned on the transmission mechanism, the partitioned cocooning frame tray is transmitted by the transmission mechanism, and a darkroom is fixed on the transmission path of a transmission belt of the transmission mechanism; when the transmission mechanism transmits the partitioned cocooning frame tray to the detection module, the detection module detects the sex of the silkworm cocoons to be sorted on the partitioned cocooning frame tray to confirm the sex of the silkworm cocoons to be sorted;silkworm chrysalises are sorted according to the detection recognition result of the silkworm chrysalises to be sorted, placing female cocoons into a female cocoon recovery box, and placing male cocoons into a male cocoon recovery box; and the silkworm cocoon recovery mechanism comprises a female cocoon recovery mechanism and a male cocoon recovery mechanism. The device provided by the invention has the advantages of high efficiency, high accuracy rate and low cost.

The invention relates to a picking device with self-adaptability to sizes of apples. The picking device is characterized in that a telescopic rod, support racks and two symmetric fruit clamping platesfunction as a main body; a holding handle which is fixedly connected through welding and a pull handle which is capable of moving at the front end of the holding handle are arranged at the tail end of the telescopic rod; the Y-shaped support racks which are fixedly connected are arranged at the front end of the telescopic rod; linkage connecting rods which are moveably rotated are arranged between front ends of the support racks and the fruit clamping plates; a central positioning body which is fixedly connected with the support racks is arranged between bottoms of the support racks and the fruit clamping plates; semicircular blades and magnet columns in up and down symmetry are respectively arranged at the front end of each fruit clamping plate; a steel wire rod of which the length can be adjusted is arranged between each fruit clamping plate and the pull handle; and a sponge is arranged in the middle of each fruit clamping plate. As sawtooth-shaped blades are adopted for cutting, twigs and leaves can be prevented from dragging damage; due to adoption of the magnet columns, the blades can be precisely and rapidly meshed; and in addition, as a layer of a sponge is adhered to the inner wall of each fruit clamping plate, the picking device is in self-adaptability to sizes of apples.

The invention discloses a camellia oleifera fruit picking robot based on machine vision. The camellia oleifera fruit picking robot comprises a conveying platform, a six-degree-of-freedom mechanical arm, an end effector, a conveying pipe, a collecting basket and a vision device; the collecting basket and the six-degree-of-freedom mechanical arm are installed on the front portion and the middle portion of the conveying platform correspondingly; the end effector is installed on a sixth shaft of the six-degree-of-freedom mechanical arm and communicates with the collecting basket through the conveying pipe; and the end effector comprises a left mechanical arm rod, a connecting rod, a right mechanical arm rod, an external comb, a fruit track, a motor, a planet wheel mechanism, a large bearing and a small bearing. The robot can autonomously run in the camellia oleifera fruit field and autonomously complete camellia oleifera fruit picking, and the picking efficiency is high.

The invention discloses a self-adaptive cotton harvesting method based on binocular vision recognition and an intelligent mechanical harvesting device. The intelligent mechanical harvesting device comprises a mobile platform, a mechanical arm, a picking component and a binocular stereoscopic vision system, the mechanical arm is mounted on the moving platform, the binocular stereoscopic vision system is mounted on a small arm of the mechanical arm; the picking component is mounted at the tail end of the mechanical arm; the picking part comprises a cotton storage device, a compression spring, a motor, a joint hinge, a bionic elastic flexible mechanical claw and a flexible baffle. According to the self-adaptive cotton harvesting method based on binocular vision recognition and intelligent mechanical harvesting device, good cotton images can be segmented through an image processing technology and the like, and the cotton recognition rate is high; an opening and closing degree of the mechanical claw can be adjusted in a self-adaptive mode, cotton of different areas can be picked rapidly, accurately and cleanly, the cotton doping rate is remarkably lowered, and cotton with good quality is obtained.

The invention discloses a three-point clamping-type vibration picking device. The device comprises a middle clamping vibration mechanism, and the middle clamping vibration mechanism comprises a firstmechanical hand, a vibration exciter, a first upper movable arm, a first middle movable arm, a first lower movable arm and a first electric rotating platform; the first upper movable arm is rotatablyconnected with the first middle movable arm, the first middle movable arm is connected with a first upper driving motor, and the vibration exciter is connected with a first upper rotary arm; the firstmiddle movable arm is rotatably connected with the first lower movable arm, and the first lower movable arm is connected with a first middle driving motor; the first middle movable arm comprises an upper arm and a lower arm, and the upper arm and the lower arm are connected through a damper; the first electric rotating platform is connected to the base and connected with a first support and a first lower driving motor, and the first lower movable arm is rotatably connected with the first support. According to the technology, ripe blueberries on the selected blueberry branches fall down through vibration on the premise of not being damaged as far as possible, precise picking of the blueberries can be achieved, the labor intensity is low, and the labor cost is low.

The invention discloses an upright wearable single-person amomum tsaoko breaking-off and twisting splitting lodging-resistant ground gripping thin strip vehicle. The vehicle comprises a reciprocatingrotation breaking-off and twisting mechanism, a reciprocating rotation swing mechanism, a reverse reciprocating rubbing first-stage separation mechanism, a second-stage progressive forward-pushing type flexible dislocation full-separation mechanism, an amomum tsaoko multi-stage full-separation loading moving box, a lodging-resistant handrail ground gripping crawling mechanism and the like. The invention belongs to the technical field of amomum tsaoko picking machinery, and particularly provides a mountain land gripping vehicle which achieves high slip prevention, zero error and lossless picking of amomum tsaoko by adopting a breaking-off and twisting type picking method of simultaneous force application in the horizontal direction, vertical direction and other multiple directions and adjusting the size of a picking part according to the size of the amomum tsaoko, also achieves the efficient, lossless and full-stripping technical effects of the amomum tsaoko by adopting the combinationof the reverse reciprocating rubbing first-stage separation mechanism and the second-stage progressive forward-pushing type flexible dislocation full-separation mechanism, creatively achieves the picking separation integration of the amomum tsaoko, and can meet upright wearing and lift up lodging plants.

The invention belongs to the field of picking manipulators, and particularly discloses a cherry tomato picking method and a cherry tomato picking manipulator, and the picking method comprises the following steps: (1) obtaining an image of a fruit string to be picked; (2) controlling the recognition system to analyze and recognize the images of the fruit bunches to be picked, and segmenting main vines; (3) extracting the position of the cherry tomato fruit at the uppermost part of the trunk vine to obtain the initial cutting position of the picking manipulator; (4) moving an end effector of the picking manipulator to the initial cutting position, closing a cutter on the end effector, and clamping the trunk vine; and (5) an end effector of the picking manipulator moves from top to bottom in the extending direction of the trunk vine to cut stems of the cherry tomatoes on the two sides of the trunk vine, and picking of the cherry tomatoes is completed. Picking is carried out based on the growth characteristics of cherry tomatoes, and the picking efficiency can be improved.

The invention belongs to the field of agricultural machinery. The invention aims to provide an adsorption type tea picking device with a screening function. The adsorption type tea picking device can realize picking of tender shoots with one bud and one leaf and one bud and two leaves, so that the picked tender shoots meet the requirements of making famous and high-quality tea, and meanwhile, the stability and the accuracy of the device in the picking process can be ensured. According to the technical scheme, the adsorption type tea leaf picking device with the screening function is characterized by comprising an end effector used for picking tea leaves, a delta mechanical arm fixedly connected with the end effector to drive the end effector to move and a negative pressure collecting device used for providing negative pressure to collect the tea leaves. The end effector communicates with the negative pressure collecting device.

The invention relates to the field of robots, and discloses a fruit and vegetable picking robot which comprises a walking mechanism, a grabbing mechanism, a collecting mechanism and a control module. A recognition device is arranged in front of the walking mechanism. The grabbing mechanism comprises a mechanical claw assembly and an adjusting assembly capable of driving a mechanical claw to rotate and move in the horizontal direction and the vertical direction. The mechanical claw assembly is arranged on a moving part of the adjusting assembly. The control module controls the walking mechanism, the grabbing mechanism and the collecting mechanism to cooperatively act. The fruit and vegetable picking robot can recognize road conditions and fruits, avoid roadblocks and accurately recognize the fruits, the mechanical claw assembly is driven by the adjusting assembly to rotate, ascend, descend and translate, the fruits can be accurately picked, the picking efficiency is improved, automatic control is achieved, the labor intensity is reduced, operation is easy, the safety problem of manual picking is avoided, the labor cost is lowered, and meanwhile, the self structure is reasonable and compact, the production is easy, the processing cost is low, and the economical efficiency is higher.

The invention relates to an accurate crop picking device. The device is characterized in that a translation driving mechanism, a push plate correcting mechanism, a vertical moving mechanism and a picking storage mechanism which are respectively connected with a controller are arranged on a fixed bracket, the controller is connected with a visual detector, and the controller is used for determining position information and an inclination state of a to-be-picked object according to image information, collected by the visual detector, of the to-be-picked object so as to output a corresponding control instruction to the translation driving mechanism, the vertical moving mechanism, the picking storage mechanism and the push plate correcting mechanism; the translation driving mechanism is used for driving the picking storage mechanism connected with the vertical moving mechanism to move horizontally; the vertical moving mechanism is used for driving the picking storage mechanism to vertically move; the picking storage mechanism is used for executing opening, closing and shearing actions on the to-be-picked object; and the push plate correcting mechanism is used for pushing and straightening the inclined crops. Compared with the prior art, the accurate crop picking device can achieve the purpose of comprehensive, reliable and accurate picking, and picking loss can be reduced.

The invention discloses a safe tool cutter for fruit picking in agriculture, and relates to the field of fruit picking machines. According to the tool cutter, a first fixed connection plate includes a round connection board, a first connection board, a second connection board and a third connection board; a first through-hole structure is formed in the round connection board; a screw-rod structure is fixedly connected to the first fixed connection plate; a blade base plate includes a strip-shaped support board, an arc-shaped support board, a hemi-toroidal support board, a first semi-circular support board and a second semi-circular support board; a first screw hole structure is formed in the blade base plate; the screw rod on the first fixed connection plate is mounted and matched with the first screw hole structure in the blade base plate; the inner side of the blade base plate is fixedly connected with a wedge-shaped blade. According to the safe tool cutter for fruit picking in the agriculture, by mounting the blade base plate on the first fixed connection plate and mounting the wedge-shaped blade on the blade base plate, operators can accurately pick fresh fruits in an intact mode, the selling rate of the fruits is greatly increased, and the refreshing time of the fruits is prolonged.

The invention provides a utilization method of an intelligent mechanical harvesting device and aims to solve the technical problem of intelligent picking of fruit and vegetable agricultural products.The utilization method includes steps that S1, after a camera on an enclosure captures a fruit-vegetable image, a vehicle body stops moving; S2, a picking movement motor drives the front end of a picking rod to reach a fruit-vegetable position, and a fruit-vegetable body is clamped by a picking clamping electromagnetic valve; a picking cutting motor drives a picking cutter to rotate, and a pickingoil cylinder drives the picking cutter to move towards a fruit-vegetable vine through a picking slider to cut the vine; S3, the picking movement motor drives the front end of the picking rod to moveto a position above a transferring tipping bucket, and the picking clamping electromagnetic valve releases the fruit-vegetable body to enable the fruit-vegetable body to fall into the transferring tipping bucket; S4, a transferring hydraulic cylinder enables the transferring tipping bucket to move to a discharging window of the enclosure through a transferring slider, then a tipping bucket hydraulic cylinder acts to tip the transferring tipping bucket, and the fruit-vegetable body falls into a storage chamber through a slide chute at the discharging window.

The invention relates to a ridge walking strawberry picker and a working method thereof. The strawberry picker comprises an upper bracket and a lower bracket, a moving device is arranged at the bottomof the lower bracket, a picking rod is hinged to the upper bracket, a picking portion is arranged at the lower end of the picking rod, and the lower bracket is provided with a collecting portion; thepicking portion comprises two knife holders hinged to each other, each of the knife holders is provided with a clamping blade and an elastic material, the blade is located above the elastic material,and the distance between the elastic materials on the two knife holders is closer than the distance between the blades on the two knife holders. The picker does not damage fruit during the picking process, operation is convenient, and labor intensity is reduced.

The present invention relates to the field of computer vision technology and maturity detection technology of string tomato, in particular to a method for detecting maturity of string tomato based on deep learning and computer vision. The method includes: establishing a first-level SSD target detection model and a second-level AlexNet target detection model based on deep learning; obtaining the position and confidence information of all detected targets output by the last layer of the first-level SSD target detection network First-level area information; calculate the actual length of each detection target in the world coordinate system in the image to be detected, and judge whether the actual length meets the qualification conditions for string tomatoes; obtain the output of the last layer of the second-level AlexNet target detection network containing the Detect the location of all individual fruits of the target and the secondary area information of the confidence information; calculate the ripeness of the bunch tomato fruit. The invention has the advantages of fast identification and detection speed, strong generalization ability and strong portability, and realizes real-time detection of ripeness of string tomato fruit.

The invention belongs to the field of agricultural machinery. The purpose is to provide an adsorption-type tea picking device with screening function, which can only pick the young shoots with one bud and one leaf and one bud and two leaves, so that the picked young shoots can meet the requirements of making famous tea. Requirements, while ensuring the stability and accuracy of the device during the picking process. The technical solution is: an adsorption-type tea picking device with screening function, characterized in that the tea picking device includes an end effector for picking tea leaves, a delta that is fixedly connected with the end effector to drive the movement of the end effector A manipulator and a negative pressure collection device for providing negative pressure to collect tea leaves; the end effector communicates with the negative pressure collection device.

The invention belongs to the technical field of robot control, in particular to a picking robot controller based on a finite state automata architecture and an architectural approach. According to thenew picking robot controller based on the finite state automata architecture and the architectural approach provided by the invention, quick picking of targets can be realized according to the picking robot controller and the architectural approach based on the finite state automata architecture; while the controller is operated, a system is firstly initiated, then the targets are scanned, aligned and grabbed, and all shafts are controlled to return to recording points after grabbing is finished; and due to configuration, according to a current mode and corresponding conditions and actions, switching among scanning, alignment, grabbing and return modes is carried out; and through the switching of the modes, the targets are picked quickly and accurately, so that the generality is strong, and the expansibility is high.