128results about How to "Realize automatic picking" patented technology

The invention provides a robot picking implementation method and device, and electronic equipment and belongs to the machine vision field. The method comprises steps that an original three-dimensionalimage is received, and the original three-dimensional image is acquired by a camera photographing a container in which multiple to-be-picked objects are stacked; shape data of the to-be-picked objects is received; the position and the posture of a graspable target among the multiple to-be-picked objects is calculated according to the original three-dimensional image and the shape data; the grab information of the graspable target is determined according to the position and the posture of the graspable target, and the grab information is sent to the robot so that the robot picks up the graspable target according to the grab information. The robot picking implementation method is advantaged in that an object having the hollow portion, a shell-like object and an object that is likely to be entangled can be automatically picked by the robot.

The invention discloses a human-machine cooperative picking robot based on Leap Motion and machine vision and a control method thereof. The human-machine cooperative picking robot comprises a walkingmechanism and a picking mechanical arm. A power source, a picking collecting basket and a robot controller are fixedly arranged on the walking mechanism, and the picking mechanical arm is arranged onthe walking mechanism. A picking mechanical hand is arranged on the picking mechanical arm. The human-machine cooperative picking robot also comprises a remote control system, and the remote control system comprises a computer and a Leap Motion somatosensory sensor, the Leap Motion somatosensory sensor communicates with the computer, and the computer communicates with the robot controller. A camera is arranged on the picking mechanical hand and communicates with the robot controller, and the camera and the robot controller are electrically connected with the power source. The human-machine cooperative picking robot can recognize objects to be picked in a complex background environment by using the excellent visual system of a human and is remotely controlled to move to pick fruits by the non-contact somatosensory sensor.

The invention relates to an automatic picking robot for sunflower discs, which comprises a bottom plate, a collection box is installed on the bottom plate, a position adjustment device is installed in the middle of the bottom plate, an angle adjustment device is installed at the front end of the position adjustment device, and a lifting device is installed at the lower end of the angle adjustment device. device, and a shearing device is installed on the outside of the No. 1 lifting device, a moving device is installed at the lower end of the angle adjustment device, and a No. 2 lifting device is installed at the lower end of the moving device, and the angle adjustment device, the moving device, the No. 2 lifting device, No. 1 lifting device, shearing device, position adjustment device, guiding device, and collection box are used together to complete the sunflower automatic picking process. The invention can solve the problems existing in the existing process of picking sunflower flower disks manually, such as high labor intensity, low picking efficiency, damage to sunflower flower disks by mechanized picking, unfavorable use of sunflower flower disks, waste of resources, etc., and can realize automatic picking of sunflower flower disks Function.

The invention discloses a traction type all-in-one machine integrating forest residue picking, crushing and compression, belongs to the field of forestry machinery and aims at solving the problems of insufficient picking in the traditional forest residue picking and conveying process, high requirements for rigidity and stability of mechanical equipment due to rough forest roads, and damage to a crushing or compression device due to easiness in picking up stones and soils. According to the traction type all-in-one machine integrating forest residue picking, crushing and compression, conveying is realized through a conveyor belt; through twice separation by a filter plate and a cyclone separator, gravels and sands are effectively filtered out, and useless objects such as stones doped in the residues are prevented from being picked up to cause low picking efficiency; and in addition, the residues such as fallen leaves and the like can be crushed, thicker residues such as branches and the like can also be manually fed into the crushing device through a side feeding hole, and crushed materials can be primarily compressed by the compression device directly. The traction type all-in-one machine integrating forest residue picking, crushing and compression is suitable for picking up the forest residues.

The invention discloses a spherical fruit picking robot and a picking method.The spherical fruit picking robot comprises a moving trolley, an electric shear type lifting platform, a mechanical arm, an end effector, a visual device, a collecting device and a control device.The moving trolley comprises a double-layer frame, driving wheels, a driving motor and a motor connecting piece; the mechanical arm comprises a base, a rotating motor, a rear arm motor, a mechanical rear arm, a front arm motor, a mechanical front arm, a wrist motor and a mechanical wrist, the end effector is composed of a T-shaped base, an electric push rod, a hydraulic supporting rod, a clamping mechanism, a cutting mechanism, a sliding block mechanism and a pressure sensor, and the vision device comprises a depth camera and a camera support. The control device comprises a controller, a processor and a storage battery, a visual guidance picking method is further combined, automatic picking of the spherical fruits such as apples, oranges and kiwi fruits can be achieved, and the automatic picking device has the remarkable advantages of being high in automation degree, high in universality, high in efficiency, low in damage and the like.

The invention discloses a picking manipulator. The picking manipulator comprises a base, a large arm, a telescopic forearm, an oscillating wrist, a palm, grabbing fingers, a cutting blade, a first rotary drive assembly, a second rotary drive assembly, a third rotary drive assembly, a fourth rotary drive assembly, a fifth rotary drive assembly, a sixth rotary drive assembly, a first transmission assembly, a second transmission assembly, a first connecting rod and an oscillating gear. The invention further discloses an intelligent fruit picker. The intelligent fruit picker comprises a base plate, a walking mechanism, a swing mechanism, a fruit containing barrel and the picking manipulator, wherein the walking mechanism is arranged below the base plate; the swing mechanism is arranged at theupper part of the base plate; the lower end of the base is connected with the swing mechanism; and the fruit containing barrel is placed at the upper part of the base plate. According to the picking manipulator and the intelligent fruit picker, automatic picking of fruits is achieved, the fruit picking effect is greatly improved, manpower is saved and the artificial labor intensity is reduced.

The invention provides a robot capable of automatically picking up eggs and belongs to the field of poultry breeding. The robot comprises a robot body and a motion assembly. The motion assembly comprises a sliding plate and a fixed sliding rail. The robot body is installed on the sliding plate. Sliding rail bodies are arranged on the fixed sliding rail. The robot is characterized by further comprising a square egg barrel assembly and an egg rack assembly; the lower end of the robot body is connected with the motion assembly, and the square egg barrel assembly is arranged at the upper end of the robot body, the egg rack assembly is arranged on a coop. The effect of automatically picking up the eggs can be achieved, and a large quantity of manpower and material resources are saved.

The invention belongs to the field of complex fiber fabric processing and particularly relates to a cloth cutting method for complex fiber fabrics. The method specifically comprises the steps that distribution design is conducted on multiple shapes of pieces to be cut in a complementary way, distribution design results are imported into a cutting machine control system; the control system segmentsthe distribution design, wherein each segment can be completely covered by the cutting range of a cutting machine in the cutting process, and it is ensured that only one row of pieces exists in eachsegment in the fabric conveying direction; positioning points of the segments are determined and need to coincide with the central line of the cutting range of the cutting machine; the control systemcontrols a device to operate and achieves fabric positioning in the conveying process in the mode that the positioning points coincide with the central line, and cutting is performed by using the distribution design of each segment as a motion trail after positioning is completed. By adopting the fabric cutting and fetching method, automatic fabric cutting and taking can be achieved, the working efficiency is effectively improved, and the labor cost is reduced.

An automatic fruit picking device based on information traceability relates to a picking device and a method. The device comprises a visual recognition device, a QR code pasting device, an automatic picking device and a fruit picking robot, wherein the automatic picking device is connected with a fruit collection box through a conveying hose, the visual recognition device, the QR code pasting device and the automatic picking device are respectively installed on the fruit picking robot; the visual recognition device is connected with the input end of the fruit picking robot, and the output endof the fruit picking robot is respectively connected with the QR code pasting device and automatic picking device. The method includes the steps of determining the position and maturity of the fruit on a fruit tree by the visual recognition device, activating the QR code pasting device to paste planting information, starting the automatic picking device to pick the fruit, and conveying the pickedfruit through the conveying hose to the fruit collection box. The invention can realize automatic picking and quality tracing of fruits, and has great promotion value.

The invention discloses an automatic folium mori picking machine driven in a rocker arm mode. The automatic folium mori picking machine comprises a travelling device and is characterized by comprising a base device, a ramulus mori poking and positioning device, a rocker arm device and a folium mori picking device. The base device is arranged on the travelling device, the ramulus mori poking and positioning device is arranged in a box body of the base device, two hook-shaped guide rails of the folium mori picking device are symmetrically and vertically arranged on the base device, a ramulus mori positioning wheel of the ramulus mori poking and positioning device is arranged behind a folium mori inlet of the base device, cutters at the front ends of two cutter bar shafts of the folium mori picking device are arranged above the ramulus mori positioning wheel, the rears of the cutter bar shafts are sleeved with guide rail sliding blocks, the tail ends of the guide rail sliding blocks are hinged to a connecting rod of the rocker arm device, a rocker arm of the rocker arm device is fixedly connected with a driven shaft at the upper ends of the hook-shaped guide rails, and the driven shaft is connected with a power mechanism. The automatic folium mori picking machine can reduce labor intensity of folium mori planters, improve folium mori picking speed and the picking rate and reduce labor cost and is convenient to use.

The invention relates to a picking and conveying robot for rod-shaped agricultural fruits on an ecological floating bed. There is a separation device, and a conveying device is installed on the rear side of the support plate. The mobile floating device, the picking device, the separating device and the conveying device are used in conjunction with each other to complete the process of automatic picking and conveying of rod-shaped fruits on the floating bed. The present invention can solve the problems existing in the fruit picking process of rod-shaped plants on the existing ecological floating bed that the mature rod-shaped fruit needs to be manually picked, the impurities in the rod-shaped fruit need to be picked manually, and the picked rod-shaped fruit needs to be manually transported. Manually driven water mobile equipment has poor flexibility, manual picking and transporting of rod-shaped fruits is complicated, complicated operation, time-consuming, labor-intensive and low in work efficiency. It can realize the function of automatic picking and conveying of rod-shaped fruits on floating beds.

The invention discloses an automatic goods sorting system and method. The system comprises a sorting device and a control device. The sorting device is used for sorting goods on chutes used for storing the goods and located on a goods shelf and can move among the sorting positions of the chutes on the goods shelf. The control device is used for receiving a sorting command used for indicating the chute where the goods to be sorted are located, controlling the sorting device to move to the sorting position of the assigned chute and controlling the sorting device to execute sorting operation. Therefore, the goods can be automatically sorted, so that the labor cost is greatly reduced, and the probability of errors caused by manual operation is decreased. In addition, due to the fact that the sorting device can move among the sorting positions of the chutes on the goods shelf, each chute does not need to be provided with an independent sorting device, and cost is effectively saved. By the adoption of the automatic goods sorting system and method, operation is easy and the application scenes are wide.

The invention discloses an earthquake speed automatic pickup method and device. The method comprises the steps of obtaining a velocity spectrum of a target work area with an earthquake speed to be picked up; specifying a time-seismic velocity pair picked up from a target seismic trace as a reliable time-seismic velocity pair, and searching an energy group in a set time range and a set velocity range from the velocity spectrum by taking the reliable time-seismic velocity pair as a center; and picking up the time-seismic velocity pair from the central position of the searched maximum energy group, and taking the time-seismic velocity pair as the seismic velocity of the seismic trace adjacent to the target seismic trace. According to the invention, on the basis of ensuring the seismic velocity pickup accuracy, the seismic velocity pickup time is reduced, and the seismic velocity pickup efficiency is improved.

The invention relates to an automatic stacking system for thermal cells. The automatic stacking system comprises a supporting frame, a pre-arranged tool, a three-coordinate picking mechanism, a visual detecting mechanism, a four-axis manipulator stacking mechanism and a rotating-table feeding and discharging mechanism. The supporting frame is divided into an upper part and a lower part by a workbench, and the pre-arranged tool is mounted on the left side of the top face of the workbench; the three-coordinate picking mechanism is mounted on the workbench through supporting columns and located above the pre-arranged tool, the visual detecting mechanism is mounted on the workbench and located at the right side of the pre-arranged tool, and the four-axis manipulator stacking mechanism is mounted on the workbench and located at the right side of the visual detecting mechanism. A safe transparent isolating plate is mounted on the front face of the supporting frame, an opening is formed in the safe transparent isolating plate and located above the workbench, the rotating-table feeding and discharging mechanism is mounted on the workbench and located in the position of the opening, and an electric control cabinet, an industrial personal computer, a gas source assembly and an electromagnetic valve are mounted in the supporting frame and located below the workbench. By means of the automatic stacking system, single cells of a cell stack are picked, detected, stacked, fed and discharged automatically.

The invention relates to an agricultural machine and aims to provide a greenhouse leaf vegetable harvesting and root cutting manipulator with adjustable front and back positions. The manipulator has the advantages of being reliable, stable and efficient. According to the technical scheme, the greenhouse leaf vegetable harvesting and root cutting manipulator with the adjustable front and back positions is characterized by comprising a mechanical arm, a pneumatic gripper and a cutter, wherein the pneumatic gripper and the cutter are arranged on the mechanical arm; the mechanical arm is providedwith an adjusting mechanism for driving the mechanical arm to extend and a rotating motor for driving the pneumatic gripper to rotate; the adjusting mechanism comprises a lead screw assembly, an adjusting motor driving a screw of the lead screw assembly to rotate, a guide rail parallel to the screw of the lead screw assembly, a sliding block capable of sliding along the guide rail and fixed to a nut of the lead screw assembly and a connecting plate fixed to the sliding block. The rotating motor and the cutter are arranged on the connecting plate. The cutter comprises a cutting air cylinder anda cutting tool driven by the cutting air cylinder.

The application of the invention relates to a citrus picking device. The device comprises a rack, a sleeve and two opposite jaws, wherein a cutter is formed from opposite bumps at the top ends of inner walls of the two jaws; a curved gripping end is arranged in the portion of the inner walls of the jaws close to the cutter; grooves where the two jaws are inserted are formed at the top of the sleeve; the outer wall of each jaw is contacted with the wall of the groove; a pressing plate is slidably matched with the sleeve; a feed cylinder is slidably connected with the pressing plate; the feed port of the feed cylinder is opposite to the groove; a spring is connected between the inner walls of the two jaws; and the bottom ends of the jaws are hinged with the pressing plate. The device further comprises a rack, wherein a through groove is formed on the bottom surface of the sleeve; one end of the rack across the through groove is welded with the pressing plate, and one end of the rack trough the through groove is engaged with gears. Compared with the prior art, the citrus picking device provided by the invention pushes a motor to drive the gear to move, thereby implementing fruits picking on fruit trees automatically and increasing the picking efficiency.