34results about How to "Shorter picking time" patented technology

An order picking system includes a storage system for storing containers arranged in multiple rows at various horizontal levels with respect to ground, the containers including source containers with goods stored in the storage system and reception containers to be filled with the ordered goods. At least one mobile picking unit may be moved in a horizontal direction along an upper level of the storage system, the picking unit is configured for taking ordered goods from the source containers arranged at the upper level and placing the ordered goods into the reception containers for delivery to the customers. At least one transportation unit may be moved along a lower level of the storage system arranged lower than the upper level. The transportation unit is configured for taking the containers from levels of the storage system lower than the upper level, and delivering the containers to the upper level.

The invention discloses a double-arm fruit picking robot and a fruit picking method. The double-arm fruit picking robot comprises a fruit picking mechanical device and a control system, wherein the fruit picking mechanical device comprises a left mechanical arm, a right mechanical arm, a left tail end actuator, a right trail end actuator, a moving platform and a fruit basket, the left mechanical arm and the right left mechanical arm are of the same structures, are respectively arranged at the left side and the right side of the moving platform, and respectively complete the work of conveying the left tail end actuator and the right trail end actuator to specified picking points, the left tail end actuator and the right trail end actuator are of the same structures, are respectively arranged at the front end of the left mechanical arm and the front end of the right mechanical arm, and respectively complete the work of obtaining and recovering fruits of fruit trees at the left side and the right of the advancing direction of the robot, and a control system completes the control tasks of robot navigation, walking and picking. The invention also discloses a fruit picking method of the double-arm fruit picking robot. According to the method, the mechanical arms carry out picking in different picking points, and the continuous and respective picking of a plurality of fruits can be realized in one picking point.

The invention discloses a fruit picking method of a picking robot, and the method comprises the following steps: the image acquisition step: continuously acquiring fruit images in a real-time manner; the step of detecting target fruits: performing pretreatment on the acquired images, removing backgrounds, and detecting the target fruits in the images; the step of calculating an oscillation period of the target fruits through fast Fourier transform: calculating the depth of the target fruit through the monocular vision distance measuring method; and the step of determining the travel speed of direct-acting joints of the robot and the step of picking the target fruits. By adopting the method, the picking process of the picking robot under oscillation of apples and other similar spherical fruits can be met, and the picking efficiency of the picking robot can be improved.

The invention discloses a convenient fruit picking device which comprises a frame body. The bottom of the frame body is fixedly connected with a fruit bag net, one side of the bottom of the frame body is fixedly connected with a top rod, one end of the top rod far away from the frame body is in threaded connection with a connecting rod, the bottom of the connecting rod is in threaded connection with the a bottom rod, one side of the frame body is fixedly connected with a lead wheel device, one side of the inner wall of the frame body is fixedly connected with a fixed spring, one end of the fixed spring far away from the frame body is fixedly connected with a connecting plate, and one side of the connecting plate is fixedly connected with a knife handle. One side of the knife handle far away from the connecting plate is fixedly connected with a knife edge, and one side of the inner wall of the frame body far away from the fixed spring is fixedly connected with a fixed plate. According to the convenient fruit picking device, the problem that fruit farmers cannot pick fruits accurately is solved, the picking accuracy is improved, the phenomena that the fruits cannot be picked are greatly reduced, the picking time is reduced, and working efficiency is improved.

The invention provides an integrated cherry picking and sorting machine, and belongs to the field of fruit and vegetable picking and sorting equipment. For the problem that the picking and sorting time is longer due to the fact that picking and sorting of cherries cannot be completed by same equipment in the prior art, the following technical scheme is proposed that the integrated cherry picking and sorting machine comprises a bracket and a vibration holder, wherein the bracket is provided with a collector, a conveyor belt and a sorting system; the vibration holder makes the trunk shake to shake off the cherries; the collector is used for receiving the falling cherries, and comprises two semicircular fan-shaped trays, multiple supporting rods and collection cloth, and a conveying port is formed in the bottom of the collection cloth, so that the cherries fall onto the conveyor belt; the sorting system comprises rolling shafts and sorting belts, and the cherries conveyed by the conveyorbelt move along with the sorting belts or fall off from gaps between the sorting belts, so that the cherries of different sizes are sorted. The integrated cherry picking and sorting machine has the advantages that the function of picking and sorting the cherries is integrated, the time for picking sorting the cherries is shortened, and the human cost is reduced.

The invention discloses a red tea processing technology. The red tea processing technology comprises the steps of picking, splitting and wilting, tea ball packaging, rolling, water removing, re-rolling, fermentation, reshaping, drying and sterilization. The red tea processing technology fundamentally solves the technical problem that tea leaves are quickly aged and are difficult to use due to the fact that the tea picking time every year is insufficient, meanwhile the difficulty of tea picking is also reduced, and fresh tender tea leaves are not restricted during tea picking, so that the tea picking range is enlarged, the supply range of raw materials is widened, and then the manufacturing cost of tea leaves is reduced. Moreover, old leaves are not wasted or prepared into low-grade tea leaves such as tea in bags, but the old leaves are prepared into medium-grade tea leaves with complete shapes to be sold after being processed. The processed old leaves are not fresh and tender like tender leaves, but the color, aroma and taste of old leaves compared with independently processed old leaves are greatly promoted due to the fact that the old leaves are contaminated by fragrance and polyphenols emitted and secreted from the tender leaves, so that the quality of the old leaves is effectively improved.

The invention discloses a visual positioning bionic snake mouth picking mechanism, an unmanned aerial vehicle harvesting device and an unmanned aerial vehicle harvesting method. The bionic snake mouthpicking mechanism comprises a snake mouth upper portion, a snake mouth lower portion and a snake neck, the snake mouth upper portion and the snake mouth lower portion are mainly used for picking, thesnake neck is mainly used for harvesting, and the bionic snake mouth picking mechanism is mounted on an unmanned aerial vehicle body through a support. The picking mechanism has excellent bionic effect, bionic shapes of the snake mouth upper portion and the snake mouth lower portion can be effectively applicable to fruit picking in the picking process, blades are arranged and simulate actions ofteeth, quick response of electromagnets and rotating motors is achieved, so that fruits can be rapidly separated from plants, the picking mechanism has excellent error-tolerant rate and correspondingresponse measures in aspects such as positioning picking deviation of the fruits and obstacles environment response, labor intensity is low, and damage to the fruits and injury to workers can be effectively avoided in the picking process.

The invention discloses a fruit visual collaborative searching method of a harvesting robot. According to the method, a large-small dual-view-field visual acquisition system is employed; a large-view-field camera is arranged at a mobile platform of a robot and is used for carrying out global imaging on a fruit tree in a orchard, carrying out salient region extraction on the image, measuring a fruit likelihood target by using a target likelihood value, removing a small region, determining an approximate region of a fruit target in a large-view-field image, and guiding the robot to approach thefruit tree; a small-view-field camera is arranged at a mechanical arm on which an end effector of the robot is arranged and is used for establishing a large-view-field image coordinate system and a small-view-field image coordinate system as well as a mapping relationship between the view-field coordinate systems and a world coordinate system and carrying out regional imaging based on fruit targetsearch region information obtained in the large-view-field current image and the coordinate system mapping relationship so as to search for a fruit cooperatively. The method is similar to human-eye target searching; blind out-of-order searching of the robot is avoided; and the foundation is laid for follow-up precise fruit identification.

The invention relates to the technical field of flower tea, and discloses a method for preparing okra flower tea. The method comprises the following steps: (1) freshness preservation treatment; (2) picking; (3) refrigeration; (4) airing; (5) drying; (6) sterilization; (7) packaging and storage; (8) classification and packaging. The method has the advantages that okra flowers can keep fresh for a long time after picked, nutritional ingredients of the okra flowers are maintained without losing in a preparation process, and the okra flowers are eventually prepared into flower tea products; the okra flower tea has the advantages of full and firm flower shapes, rich nutrients and good healthy function.

The invention discloses a visual identification and picking sequence planning method for oranges on trees and a simulation system thereof, and the method comprises the steps: carrying out the image segmentation of the oranges on the trees through an image depth segmentation subsystem, and obtaining a depth segmentation image; a vector machine fruit recognition subsystem is adopted to recognize thedepth segmentation image, different description information is obtained, a citrus region information matrix is formed, and a citrus region which is correctly recognized in the image is obtained; andthen a picking sequence planning subsystem is adopted to carry out picking sequence planning on the fruit targets in the citrus region to obtain the sequential picking sequence numbers of the citrus on the tree so as to guide the picking manipulator to orderly pick the citrus fruits on the tree. According to the method and the simulation system thereof, the requirements for accuracy, orderliness and real-time performance of multi-target picking of fruits on trees can be met, the movement distance of the picking manipulator is effectively shortened, and the overall picking time is saved.

The invention provides a multi-arm type harvesting robot and a picking method thereof. The multi-arm type harvesting robot is composed of a harvesting system and a chassis system. The harvesting system is loaded on the chassis system to complete a picking task of fruit in an orchard. The harvesting system is composed of a picking mechanical arm group, a working platform and a fruit collecting andstorage device, the picking mechanical arm group realizes a multi-station, layering and blocking picking task; and a fruit harvesting device completes a task of fruit collection. A layering and blocking picking strategy based on 'a plurality of epencephalons and a brain' edge computing is proposed, the picking efficiency is high, and interference is small. According to the multi-arm type harvesting robot, mechanical arms are arranged in layers and coordinately work, each mechanical arm can independently complete the integrated actions such as pomelo picking, debagging, collecting, clearing, and transporting, and the multi-station picking task is achieved.

The invention discloses a small semiautomatic apple picking machine comprising a picking machine head and motor control part, a single-axis telescopic operating lever part, a collecting part and a bottom support frame part; during use, a speed reducing motor is used as a driving source, an arc-shaped blade is driven by the speed reducing motor to shear fruit pedicels to make fruits enter the collecting part, the fruits reach a collecting box by the collecting part, so that it is ensured that the surfaces of the fruits are not damaged; the length and pitching angle of the single-axis telescopicoperating lever part can be manually regulated, so that the picking range is widened; and the bottom support frame part plays a supporting role, can rotatably regulate the spatial position of an operating lever and can also be combined with an agricultural trolley. The small semiautomatic apple picking machine has the advantages that not only is the picking efficiency increased, but also the picking time is saved, the safety of picking personnel during working can also be guaranteed, the labor intensity of a fruit farmer is relieved, and the quality of the fruits is guaranteed.

The invention relates to a bark Chinese herbal medicine picking machine, which comprises a rotary clamping fixing frame, a rotary lifting mechanism and a regeneration protection mechanism. When the machine is used, the clamping fixing frame is clamped to a tree trunk, a connecting belt is retracted into a groove in the upper end of the clamping fixing frame, and the position of a nut is adjusted to enable a cutting blade to reach a proper position. A motor drives a rotating mechanism to clamp the tree trunk, a gear J drives the cutting blade to advance to a certain position and incline by a certain angle, and the motor drives the whole machine to rotate to strip the tree bark. After stripping is completed, the trunk is loosened, a lifting mechanism clamps the trunk, the machine is lifted to a certain position, the trunk is loosened, the trunk rotates a rotatable connecting plate to a certain position, a film pressing plate presses a film on the trunk, pesticide is evenly sprayed to the trunk, and the trunk is wrapped by the film for protection. In this way, the steps of stripping, pesticide spraying, film wrapping and the like are completed at a time, the picking time is saved, manpower is saved, the stripping thickness is controllable, and tree death caused by damage to phloem can be prevented.

The invention provides a multifunctional pineapple picking machine which comprises a rack, a rotating rod, a grasping mechanism and a cutting mechanism, wherein the rotating rod is configured on the rack through a pivoting part and is provided with a working end and a holding stem end; the grasping mechanism is configured on the rotating rod and is provided with a grasping claw which can be openedor closed; the grasping claw is arranged at a working end of the rotating rod and is used for grasping pineapples; the cutting mechanism is configured on the rotating rod through a support rod, is positioned beside the grasping claw and comprises a rotating support base and a cutter which is fixed on the support base; the support base is capable of rotationally driving the cutter to move to a part below the grasping mechanism to cut off stems, and thus the pineapples are separated from the stems. Compared with the prior art, the picking machine provided by the invention is convenient to use,simple and practical in structure and good in usability, and integration of picking, collection and transportation of pineapples can be achieved.

The invention discloses an impact type camellia oleifera fruit picker. The impact type camellia oleifera fruit picker is composed of a fork head, a guide pipe, a hand-held rod, a driving mechanism anda pack basket, wherein the fork head is installed at the top end of the guide pipe, the guide pipe is hinged to the upper end of the hand-held rod in an up-down sliding mode, the driving mechanism iscomposed of a fixed pulley, a composite winding wheel, a steel wire cord, a driving flexible wire and a pedal, the composite winding wheel is formed by compounding a large winding wheel and a small winding wheel, the steel wire cord is connected between the large winding wheel and the lower end of the guide pipe around the fixed pulley, the upper end of the driving flexible wire is connected withthe small winding wheel and winds the small winding wheel, the front end of the pedal is connected with the lower end of the driving flexible wire, fork teeth are arranged at the top end of the forkhead, shielding of small branches and leaves can be avoided, when the pedal is treaded, the fork teeth linearly arrive at the camellia fruits, the camellia fruits fall into the fork head under the combined action of thrust or impact force and reverse tension of the branches to the camellia fruits and automatically slide into the pack basket along the guide pipe, the weight and counter-acting forcedo not act on hands, and hands are only responsible for stabilizing and aiming.

The invention discloses a convenient fruit picking device which comprises a telescopic rod, a fruit bag, a top steel ring, a blade, fittings thereof and a fixed cross rod. The telescopic rod is composed of three segments and has adjustable length. The top of the telescopic rod is connected with the fixed cross rod and the steel ring through a welding manner. The steel ring and the fruit bag are connected for forming an integrated structure. The convenient fruit picking device can pick the fruits at different heights through adjusting the height of the telescopic rod. Furthermore the convenient fruit picking device has advantages of simple structure, convenient operation and effective picking efficiency improvement.

The invention provides a mulberry picking machine with an improved structure, belonging to the technical field of agricultural equipment. The present invention includes a housing, the housing includesan outer shell plate and an inner shell plate, the inner shell plate is located on the inside of the outer shell plate, A mounting cavity is formed between the inner shell plate and the outer shell plate, the left and right sides of the mounting chamber are provided with a plurality of air collecting boxes, the left and right side walls of the inner shell plate are vertically provided with a plurality of long sliding slots, A storage chamber is arranged in the gas collecting box, A supercharge air pump is arranged at that top of the out shell, A supercharge air pump is communicated with a storage cham through an air pipe, A plurality of through holes are arranged on the side wall of the gas collecting box close to the inner shell plate, The through hole is communicated with the connectingpipe, the other end of the connecting pipe extends out the sliding slot hole and the end part is provided with an air jet head, a plurality of air holes are arranged on the air jet head, a driving mechanism capable of sliding the air collecting box up and down along the sliding slot hole is arranged in the mounting cavity, and a receiving mechanism capable of receiving dropped mulberry is arranged on the left and right sides of the inner shell plate. The invention blows the mulberry off through the non-contact airflow to ensure the integrity of the mulberry.

The invention relates to the field of healthcare food preparation, and discloses a method for preparing okra and ginseng composite nutritive buccal tablets. The method comprises the steps of 1 picking, 2 preparation of dry okra flower powder, 3 preparation of an okra fruit extract solution, 4 preparation of a ginseng extract solution, 5 preparation of a concentrated solution and 6 tableting. The prepared nutritive buccal tablets are diversified in nutritional ingredient, the extraction rate of nutrient substances of the raw materials is high, freshness retaining treatment on the raw materials is good, and loss of the nutrient substances is reduced.

The invention discloses a planting frame device for mushroom greenhouse planting. The planting frame device comprises two rotating square rods and a placement rack, the placement rack is mounted between the rotating square rods, and a retaining column is fixedly mounted at a corner of the upper surface of the placement rack. By arranging the retaining column on the placement rack, a culture box for culturing mushroom is avoided falling down; by forming water permeable holes different in shape and position in adjacent placement racks, the circumstance that water falls onto a lower layer beforea middle layer is soaked by the water is avoided; rectangular protrusions and rectangular clamping grooves are arranged at two ends of each rotating square rod, the rotating square rods can be connected according to height difference of a culture plant to increase the number of the placement rack on vertical space, so that space is reasonably utilized; by arranging the rotating square rods, the placement rack can be rotated to a horizontal position, and a ladder does not need to be set up during placing of a hypha culture box or picking of mature mushroom, so that picking time is saved, and efficiency is improved.

The invention discloses an anti-falling manual tool for peeling rodlike crop. The anti-falling manual tool comprises a storage basket and a peeling part, wherein the storage basket is in a tapered structure with a greater upper part and a smaller lower part; the upper surface of the storage basket is opened and the lower surface is sealed; the anti-falling manual tool further comprises a notch formed on a side wall of the storage basket; the lower end of the notch communicates with the lower surface of the storage basket; the peeling part has an inner ring and an outer ring sharing the same center as the inner ring; the inner ring and the outer ring are made of elastic material; the inner ring is fixedly connected with the outer ring via a plurality of connection members annularly distributed; N spacing rods annularly distributed are arranged on the inner wall of the storage basket; axis of the spacing rods is parallel to an axis of the storage basket; the N spacing rods wind to form around circle being parallel to the upper surface of the storage basket; and an external diameter of the round circle formed by winding of the N spacing rods is smaller than the internal diameter of the inner ring. The anti-falling manual tool for peeling rodlike crop can solve a problem of low manual plucking efficiency for the rodlike crop, so the rodlike crop can be manually plucked with high efficiency; and destructive damages to crops can be avoided.

The invention discloses a double-arm fruit picking robot and a fruit picking method. The double-arm fruit picking robot comprises a fruit picking mechanical device and a control system, wherein the fruit picking mechanical device comprises a left mechanical arm, a right mechanical arm, a left tail end actuator, a right trail end actuator, a moving platform and a fruit basket, the left mechanical arm and the right left mechanical arm are of the same structures, are respectively arranged at the left side and the right side of the moving platform, and respectively complete the work of conveying the left tail end actuator and the right trail end actuator to specified picking points, the left tail end actuator and the right trail end actuator are of the same structures, are respectively arranged at the front end of the left mechanical arm and the front end of the right mechanical arm, and respectively complete the work of obtaining and recovering fruits of fruit trees at the left side and the right of the advancing direction of the robot, and a control system completes the control tasks of robot navigation, walking and picking. The invention also discloses a fruit picking method of the double-arm fruit picking robot. According to the method, the mechanical arms carry out picking in different picking points, and the continuous and respective picking of a plurality of fruits can be realized in one picking point.

The invention discloses a target fruit identification method in a night vision environment, and the method comprises the following steps: 1, obtaining an environment image with the target fruit in the night vision environment, carrying out the noise reduction of the environment image through employing a frequency domain algorithm based on edge direction features, and obtaining a denoised environment image; 2, performing target fruit recognition from the denoised environment image by adopting an a * CbR fusion space method to obtain a target fruit image; and step 3, optimizing the circle center and the corresponding radius of the target fruit image obtained in the step 2 by adopting a three-point circle setting method improved by a genetic algorithm to obtain a final target fruit recognition result.

The invention provides a fruit double-line operation picking robot. The fruit double-line operation picking robot comprises a moving platform and a picking device. The picking device comprises a rotating base, a mechanical arm, a vacuum air suction assembly and an end effector. The fixed end of the rotating base is arranged on the moving platform, the head end of the mechanical arm and the vacuum air suction assembly are both arranged at the movable end of the rotating base, and the end effector is arranged at the tail end of the mechanical arm; and the vacuum air suction assembly communicates with the end effector, and under the action of suction force provided by the vacuum air suction assembly, fruits sequentially pass through the end effector and the vacuum air suction assembly to be picked. The fruit double-line operation picking robot is reasonable in design, easy to operate and stable in work, the picking efficiency can be effectively improved, the picking time is shortened, the labor cost is reduced, and the fruit double-line operation picking robot can be widely applied and popularized.

The invention discloses a planting frame device for growing mushrooms in a greenhouse, which comprises a rotating square rod and a placing frame. Two groups of rotating square rods are arranged, and a placing frame is installed between the two groups of rotating square rods. The corners are fixedly equipped with blocking posts; the present invention prevents the incubator for cultivating mushrooms from falling down by setting the blocking posts on the racks, and sets water permeable holes with different shapes and positions on adjacent racks to avoid insufficient moisture. Wet the middle layer, and the water will fall to the lower layer; set rectangular protrusions and rectangular slots at both ends of the rotating square rod, which can be connected to the rotating square rod according to the height of the cultivation plant to increase the vertical space. The number of groups makes reasonable use of the space; by setting the rotating square rod, the rack can be rotated to a horizontal position. When placing the mycelium incubator or picking mature mushrooms, there is no need to set up a ladder, which saves picking time and improves efficiency.

The invention discloses a manual peeling device for rodlike crop. The manual peeling device comprises a bearing part and a peeling part independent to the bearing part, wherein the bearing part has around disc body; the edge of the disc body is provided with a baffle plate perpendicular to the surface of the disc body; a linear opening is formed in the surface of the disc body; one end of the linear opening is formed in the circle center of the disc body and the other end cuts the edge of the disc body; a notch is formed in the baffle plate; the notch communicates with the liner opening; thepeeling part has an inner ring and an external ring sharing the same circle center as the inner ring; the inner ring and the external ring are both made of elastic material; and the inner ring is fixedly connected with the external ring via a plurality of connection members annularly distributed. The manual peeling device for rodlike crops can solve a problem of low plucking efficiency for rodlikecrops; rodlike crops can be plucked in a manual way and with high efficiency; and destructive damage to the crops can be avoided.

The invention discloses a self-propelled oil peony pod harvester which comprises a rack, a main picking device, auxiliary picking devices, a walking device and a collecting device; the main picking device comprises a main picking rack, a reciprocating cutter arranged on the main picking rack, a reel, two reel plates and a guide plate; scattered branches, leaves and pods at the canopy part of a peony tree are gathered on the same horizontal line by the reel plates and the reel and are cut by the reciprocating cutter; the cut pods slide into the collecting device under the action of the guide plate; each auxiliary picking device comprises a flail knife component, a main shaft and an auxiliary picking motor; pods on the side faces of the peony trees are cut by the flail knife components; and the cut pods naturally fall into the collecting device under the action of gravity. The oil peony pod harvester is self-propelled, so that the labor intensity of picking personnel can be reduced. In addition, the cutting devices comprise the main picking device and the two auxiliary picking devices, peony fruit pods on the canopy part and the two sides of the peony tree can be picked respectively, the picking time is shortened, and the picking efficiency is improved.

The invention provides a fixed-point lifting laver (Porphyra) stripping device for spherical laver culture balls and belongs to the technical field of laver culture. The fixed-point lifting laver stripping device for spherical laver culture balls comprises a hull, a fixing rebar, a stripper housing, a hydraulic bar I, a bearing, bearing center connection points, a bearing outer ring, a gear, a bearing II, a motor, a transmission gear, stripping jaws, a spring, a water pump, a hose, a lifting rack, a recess, a slide groove, an oblique slide groove, a retaining plate, a filter net and a second hydraulic bar II; the fixing rebar is fixedly connected to the left top of the hull; the stripper housing is fixedly connected to the left top of the fixing rebar; the hydraulic bar I is clamped to thetop surface of the stripper housing; the bearing is fixedly connected to the bottom surface of the hydraulic bar I; the bearing center connection points are fixedly connected to the left and right sides of the top surface of the bearing; the bearing is connected with the hydraulic bar I through the bearing center connection points; the bearing outer ring is rotationally connected to the outer surface of the bearing; the gear is fixedly connected to the outer surface of the bearing outer ring; the bearing II is fixedly connected to the inner side of the bottom of the stripper housing.