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Automatic-navigation crawler-type mobile fruit picking robot and fruit picking method

The invention discloses an automatic-navigation crawler-type mobile fruit picking robot which comprises a mechanical execution system and a control system and is characterized in that the mechanical execution system comprises an intelligent movable platform, a fruit picking mechanical arm and a two-finger type manipulator, wherein the intelligent movable platform comprises two crawler assemblies, an experimental facility fixing rack, a supporting stand column, a cross beam, a speed reducer and the like; and the control system comprises an industrial personal computer, a motion control card, a data collecting card, an image collecting card, an encoder, a GPS (global position system), a monocular zooming camera assembly, a binocular camera, a laser ranging sensor, a control circuit and the like. The automatic-navigation crawler-type mobile fruit picking robot integrates the fruit picking mechanical arm, the two-finger type manipulator, the intelligent movable platform and the sensor system, integrates multiple key technologies such as fruit identification, motion of the picking mechanical arm, grabbing of a tail-end executer, automatic navigation and obstacle avoidance of the movable platform, and the like, and really realizes automatic and humanized fruit picking.
Owner:NANJING AGRICULTURAL UNIVERSITY

Multi-directional and variably expanded sheet material surfaces

Expandable surfaces made from sheet materials with slits distributed on the surface of sheet material where the surfaces expand by application of force along or / and across the surface of sheet material. The unexpanded surfaces are flat sheets, or closed surfaces like cylinders, spheres, tubes, or custom-designed organic shapes marked with pre-formed or post-formed slit designs. The expanded surfaces can be single units or modules which can be attached to one another through various means. The sheet materials range from hard surfaces like metals, to softer materials like papers and plastics, or pliable materials like fabrics, rubbers, synthetic surfaces or bio-surfaces. The slits are arranged in patterns ranging from periodic, non-periodic to irregular designs. The slits can be straight, bent, curved or irregularly shaped with even or uneven spacing. Slitting can be achieved by digital cutting or punching devices like laser-cutting, water-jet cutting, digital punching, automated dies, etc. or pre-formed when casting the sheet material. Force can be applied manually with tools or through the use of machines and special set-ups. Applications range from architectural surfaces, walls, ceilings, panel systems, structures and sculpture. On a smaller scale, applications include containers, packaging material, fabrics and human wear. On micro- to nano-scale, applications range from expandable surfaces for gauzes, band-aids, stent designs, skin grafts, semi-permeable membranes and micro-filters for various industries including purification of fluids and chemical substances.
Owner:LALVANI HARESH

Three-dimensional enhancing realizing method for multi-viewpoint free stereo display

The invention discloses a three-dimensional enhancing realizing method for multi-viewpoint free stereo display, which comprises the following steps: 1) stereoscopically shooting a natural scene by using a binocular camera; 2) extracting and matching a characteristic point of an image of a main camera, generating a three-dimensional point cloud picture of the natural scene in real time, and calculating a camera parameter; 3) calculating a depth image corresponding to the image of the main camera, drawing a virtual viewpoint image and a depth image thereof, and performing hollow repairing; 4) utilizing three-dimensional making software to draw a three-dimensional virtual model and utilizing a false-true fusing module to realize the false-true fusing of the multi-viewpoint image; 5) suitably combining multiple paths of false-true fused images; and 6) providing multi-viewpoint stereo display by a 3D display device. According to the method provided by the invention, the binocular camera is used for stereoscopically shooting and the characteristic extracting and matching technique with better instantaneity is adopted, so that no mark is required in the natural scene; the false-true fusing module is used for realizing the illumination consistency and seamless fusing of the false-true scenes; and the multi-user multi-angle naked-eye multi-viewpoint stereo display effect is supplied by the 3D display device.
Owner:万维显示科技(深圳)有限公司
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