43 results about "Palm fruit" patented technology

The invention discloses a palm fruit picking robot. The palm fruit picking robot comprises a tree climbing mechanism, a picking mechanism and a sensing and main control module. The tree climbing mechanism is used for enabling the fruit picking robot to stably and spirally climb or descend along a tree trunk along a spiral angle of 30 degrees; the picking mechanism is mounted on the machine body of the tree climbing mechanism and is used for picking fruits; the sensing and main control module is installed on the tree climbing mechanism and the picking mechanism and used for controlling the whole fruit picking robot. Compared with the prior art, work such as tree climbing, palm fruit detection and identification, palm leaf felling, palm fruit picking and fruit collection can be completed, manual labor is replaced, the working intensity of workers is reduced, and the picking work efficiency is improved.

The invention relates to a palm fruit grabbing and loading control method and device, equipment and a medium, and the method comprises the steps: aligning a target working region RGB image with a target working region depth image, and carrying out the matching of a depth value in the corresponding target working region depth image according to the center two-dimensional pixel coordinate of a palm fruit in the target working region RGB image, the three-dimensional coordinates of the palm fruits to be loaded in the real space are determined; and detecting whether the center two-dimensional pixel coordinates corresponding to the pedestrians are in the safe operation space or not, and if the center two-dimensional pixel coordinates corresponding to the pedestrians are out of the safe operation space, controlling a mechanical arm to carry out loading operation according to the three-dimensional coordinates of the palm fruits to be loaded in the real space, and the safe operation space is larger than the operable space of the mechanical arm, so that control over palm fruit grabbing and loading is completed. According to the method, the detection precision can be improved, and the use of computing resources can be optimized.

Animal feed formed with a base of palm fronds and combined with palm fruit, such as dates, is a sustainable and affordable feed product that can be developed in hot climates. Palm fronds with a desired moisture content are shredded, chopped, and / or ground, and mixed with palm fruit. Additives such as urea can increase the nutritional content. Feeds with palm fronds, palm fruit, and / or additives can serve as a base feed for other components. Palm fronds can also serve as a base feed for other components. Animal feeds with a variety of bases can have palm fruit added. Animal feeds with a variety of bases, including palm fronds, can include a variety of other components added.

This invention discloses a palm fruit harvester with a retractable lifting arm, relating to the field of palm fruit harvesting technology. It includes a retractable lifting arm with an adjustment component fixedly connected to its top. A palm fruit bunch guiding mechanism is fixedly installed on the right side of the adjustment component. An insertion cutting mechanism and multiple evenly distributed blade blocking mechanisms are installed inside the top opening of the palm fruit bunch guiding mechanism. A fixing component is installed at the bottom right side of the palm fruit bunch guiding mechanism. An inlet annular frame in the palm fruit bunch guiding mechanism is fixedly installed on the right side of a movable plate, and a rubber corrugated pipe is fixedly connected to the bottom of the inlet annular frame. This invention can directly transport the cut palm fruit bunches into the transport vehicle's cargo bed, eliminating the need for frequent manual loading and unloading. It also avoids the palm fruit bunches falling directly to the ground and wasting fruit, thus increasing the palm fruit yield, reducing harvesting costs, and improving loading efficiency.

The invention belongs to the technical field of oil palm fruit picking equipment, and particularly discloses an oil palm fruit picking device and a picking mechanical arm.The oil palm fruit picking device comprises a shoveling and cutting unit used for shoveling and cutting leaf stalks outside oil palm fruits and fruit stalks of the oil palm fruits, and the shoveling and cutting unit comprises a first driving mechanism and a shovel blade; the first driving mechanism is used for driving the scraper knife to linearly move for shoveling; the clamping unit is used for clamping the cut oil palm fruits, the clamping unit comprises a second driving mechanism and two clamping jaws arranged in the horizontal direction, the second driving mechanism is used for driving the two clamping jaws to open or hold tightly, and the shoveling and cutting unit is located below the two clamping jaws; the shoveling and cutting unit and the clamping unit are arranged on the fixing frame, and the two clamping jaws are located outside one end of the fixing frame. The oil palm fruit picking device is convenient and fast to operate, reduces manual intervention, improves efficiency, is high in stability and reliability, and can better meet the picking requirements of oil palm fruits.

The invention discloses an ormosia henryi wood fruit clamping machine and belongs to the technical field of agricultural machine.The fruit clamping machine comprises a machine body, a moving mechanism and a fruit clamping mechanism, the moving mechanism and the fruit clamping mechanism are arranged in the machine body, and the moving mechanism drives a second gear to be meshed with a tooth groove of a stainless steel support through a second motor, so that the stainless steel support bearing clamping plates slides on limiting pulleys; the width is electrically adjusted; the fruit clamping mechanism drives a threaded rod through a double-head motor to drive a sliding base and a clamping rod to move oppositely so as to clamp fruits, and a gear ring is driven to rotate through a first motor so as to adjust the clamping angle. The fruit clamping device solves the problems that an existing fruit clamping device is difficult to adapt to fruits of different sizes due to a fixed structure, low in automation degree and inconvenient to operate, and has the beneficial effects of being capable of rapidly adapting to the fruits of different specifications, high in universality and automation degree and stable and reliable in clamping.

This application relates to a method, apparatus, equipment, and medium for controlling the sorting of palm fruit bunches. The method includes: inputting fused features into a neck multi-scale feature layer containing a CARAFE content-aware upsampling module; generating an adaptive dynamic sampling kernel based on the content-aware sampling kernel predictor in the CARAFE content-aware upsampling module; upsampling the fused features to retain the fine-grained maturity features of the palm fruit bunches to be sorted; inputting the upsampled fused features into a multi-class classification detection head to output the class label and corresponding confidence level of the palm fruit bunches to be sorted; generating a corresponding sorting control signal based on the class label corresponding to the highest confidence level and sending it to an automated sorting device to control the automated sorting device to sort the palm fruit bunches to be sorted to the target station. This application significantly improves the recognition accuracy of the nearest neighbor maturity and defect categories of palm fruit bunches, solving the pain points of low accuracy in manual grading and weak ability of traditional algorithms to distinguish subtle features.

The invention discloses a preparation method of a natural plant-based kitchen heavy oil stain cleaning agent, and relates to the technical field of daily chemical industry, and the preparation method comprises the following steps: selecting palm fruits, coconut meat and pineapple stems as raw materials, crushing, sieving, adding deionized water, carrying out ultrasonic-microwave synergistic extraction to obtain a mixed crude extract, filtering, and drying to obtain the natural plant-based kitchen heavy oil stain cleaning agent. The method disclosed by the invention has the advantages that the vegetable fatty acid and the bromelain are obtained by adopting an ultrasonic-microwave synergistic extraction technology, the enzyme catalysis efficiency is improved by combining directed evolution mutagenesis, and then a nano-micelle structure capable of permeating oil stains is formed through biomimetic modification of a cell membrane; meanwhile, the adaptability of a cleaning environment is enhanced by utilizing a pH self-adaptive adjusting system, the preparation method accurately breaks through an oxidative polymerization structure of aged oil stains through the synergistic effect of multiple components, the defect that an existing cleaning agent is insufficient in decomposition capacity on stubborn oil stains is overcome, and efficient emulsification, decomposition and rapid cleaning of kitchen heavy oil stains are achieved.

The invention discloses a skin care composition for eczema based on sebum membrane bionics as well as a preparation method and application of the skin care composition for eczema based on sebum membrane bionics, the skin care composition for eczema based on sebum membrane bionics comprises active ingredients such as rosa palmifolia fruit oil, oat kernel oil, ceramide, phytosterol oleate, simmondsia chinensis seed oil and squalane, the mass ratio of the rumex mairei fruit oil to the oat kernel oil to the ceramide to the phytosterol oleate to the simmondsia chinensis seed oil to the squalane is (0.005 to 5) to (0.02 to 20) to (0.001 to 5) to (0.001 to 20) to (0.01 to 15) to (0.01 to 15). By implementing the method, the lipid composition structure of a human body sebum film can be accurately simulated, the damaged skin barrier can be effectively repaired, the anti-inflammatory soothing characteristic is achieved, multiple protection is provided for the special pathological state of eczema skin, and the method can be widely applied to the field of cosmetics.

The invention provides a recyclable fruit fiber button. The recyclable fruit fiber button is prepared from the following raw materials in parts by weight: 50-60 parts of palm fruit fiber powder with the particle size of 8-12 microns; 40-50 parts by weight of thixotropic resin, wherein the thixotropic resin is prepared from palm fruit fiber powder with a particle size of 8-12 [mu] m and a resin raw material; 0.1 to 2.0 parts by weight of color paste; 5-15 parts by weight of a diluent; 1.5-3.0 parts by weight of a curing agent; and 1.5 to 2.0 parts by weight of an accelerant. The recyclable fruit fiber button provided by the invention does not need a chemical thixotropic agent, and the obtained button has good color and uniformity.

The invention provides a palm fruit picking machine, and belongs to the technical field of palm fruit picking. Comprising a mechanical picking part and a tracked vehicle body, the mechanical picking part is installed at the top of the tracked vehicle body, the mechanical picking part comprises a bearing table, and the bearing table is rotationally installed at the top of the tracked vehicle body. Stems and leaves sheltered around palm fruits can be cut off through the shearing assembly in the execution device, meanwhile, fruit stems and leaves and stems connected with the palm fruits are clamped into a double-frame clamp through the rib breaking assembly, the fruit stems and the leaves and stems are clamped tightly through cooperation of the double-frame clamp and a bent clamp, and therefore the fruit stems and the leaves and stems are cut off. Then, an annular cutting edge is driven to cut leaves, stems, branches and leaves connected with the palm fruits, meanwhile, a second driving motor is matched to enable the double-frame clamp to do reciprocating motion in the double-frame base, therefore, fruit stems which are difficult to cut off and adhere are pulled, and the palm fruits and the fruit stems can be completely separated through pulling and twisting; the problem that an existing palm fruit picking machine is low in picking efficiency is solved.

The application relates to a palm fruit cutting machine, which comprises a cutter, a support rod assembly connected with the cutter, a power battery arranged at one end of the support rod assembly away from the cutter, and a driving mechanism arranged between the support rod assembly and the cutter. The driving mechanism comprises a motor connected with the power battery and outputting torque, and a worm gear assembly with one end connected with the cutter and the other end connected with the motor. The torque output by the motor is decelerated and increased in torque by the worm gear assembly, and then drives the cutter to reciprocate along the extension direction of the support rod assembly. The worm gear assembly is used for deceleration and torque increase, so that the cutter can reciprocate in a straight line direction to cut palm trees. The application adopts a power battery as a power source, has the advantage of small weight compared with a traditional gasoline engine, and is convenient for manual operation. Meanwhile, a voltage lower than or equal to 24V is used for driving, so that the life safety of users is avoided from being harmed by electric leakage in a humid environment.

This invention discloses a post-medical aesthetic repair and soothing composition, its preparation method, and its application, relating to the field of cosmetic technology. The invention provides a repair and soothing composition comprising the following components in parts by weight: 0.1-1 parts citrus fruit extract, 0.1-0.5 parts date palm fruit extract, 0.05-0.5 parts gentian root extract, and 0.1-1 parts liposomes; wherein the liposomes comprise dipotassium glycyrrhizate and phytol. The repair and soothing composition provided by this invention achieves rapid repair and long-term stabilization through a multi-dimensional synergistic mechanism. The above-mentioned composition of this invention synergistically regulates skin pH, instantly blocks the transmission of neurogenic pain signals mediated by TRPV1 receptors, synergistically rebuilds the physical and microecological barriers, promotes vasoconstriction, and activates skin TRPM cold receptors, achieving the effect of a "cold compress."

The invention discloses a palm fruit and leaf image segmentation method. The method comprises the following steps: acquiring RGB color space images of palm fruits and leaves; converting the image into an HSV color space image; extracting an H component, and drawing an H component histogram; analyzing H component thresholds of the fruits and the leaves under different illumination; on the basis of a traditional FCM clustering segmentation algorithm, weight coefficients are added, calculation of each pixel point is converted into calculation of H component frequency, an improved FCM clustering algorithm is obtained, the H component of the image is segmented, and an interested area is obtained and serves as a result; morphological processing is carried out on the result, the influence of interference factors such as noise is reduced, the obtained mask is applied to an original image, and segmented fruit and leaf images are obtained. According to the method, on the premise that the adverse effect of uneven illumination is reduced, the images of the palm fruits and the leaves can be quickly and accurately segmented, and a basis is provided for work such as three-dimensional positioning and fruit quality detection.

The invention relates to a mechanically adjustable fruit picking robot and a picking method thereof, which comprises a walking mechanism and a picking mechanism, wherein the picking mechanism comprises a lifting and adjusting unit arranged on the walking mechanism and a positioning and cutting unit arranged on the lifting and adjusting unit; the lifting and adjusting unit is used for driving the positioning and cutting unit to rise and approach the picking object, and the positioning and cutting unit is used for positioning and cutting the picking object; the walking mechanism is a crawler transport vehicle, and the crawler transport vehicle comprises a crawler walking device, a wireless navigation control device and a hydraulic lifting and rotating device arranged on the crawler walking device. The invention replaces manual picking with intelligent mechanical picking, eliminates the laborious, dangerous and inefficient labor of manual tree climbing, makes it very convenient to pick fruits such as palm fruits, and improves work efficiency.

The invention discloses a full-automatic date palm bagging machine and a bagging method thereof. Horizontal sections of two L-shaped supporting rods form a sliding pair in the horizontal direction, the lower ends of vertical sections of the two L-shaped supporting rods are hinged to two rotating frames through two rotating rods, connecting shafts are hinged to the two rotating frames, and two lifting rods which are vertically arranged at intervals are synchronously driven by lifting mechanisms on the two vertical sections to ascend and descend. Bag clamping mechanisms are arranged between the two lifting rods and between the two connecting shafts; openings are formed in the opposite positions of the two containing bins of the bag clamping mechanism, and heating and closing devices are arranged at the positions of the two openings. A rodless air cylinder in the tensioning and bag distributing device is fixed to the top end of a containing bin between two lifting rods, a first extension arm is driven to drive an electric telescopic cut-off knife to move horizontally, and two bag collecting assemblies are driven to move horizontally. The date palm fruit bagging device can replace manpower to achieve bagging work on date palm fruits, the labor intensity of fruit farmers is relieved, the bagging efficiency is improved, and the labor cost is reduced.

The utility model belongs to the technical field of loaders, and particularly relates to a special bucket for palm fruits, which comprises a U-shaped web plate, a connecting component used for being connected with a loader is arranged on the web plate, a left side plate and a right side plate are respectively arranged on two sides of the web plate, and side blade plates are arranged on the left side plate and the right side plate. A main cutter plate is arranged at one end of the web plate, the two ends of the main cutter plate are connected with the two side blade plates respectively, a bending part is arranged at the other end of the web plate, a grating used for preventing the loading machine from falling off is arranged on the bending part and comprises two transverse rods, a plurality of fixing rods and welding rods are arranged between the two transverse rods at intervals, the two ends of each fixing rod are connected to the two transverse rods respectively, and the welding rods are connected to the two transverse rods. A welding gasket is arranged on the welding rod, and the grating is fixed on the web plate through the welding gasket; the technical problem that the palm fruit shoveling efficiency of a common grain bucket is low is solved.

The present invention belongs to the technical field of picking oil palm fruits, and is particularly an adaptive oil palm fruit picking tool, comprising a main body rod, a support disk is fixedly installed on the top of the main body rod, an arc-shaped positioning plate is rotatably installed at the eccentric part of the top of the support disk, a positioning cone is fixedly installed on the top of the arc-shaped positioning plate, and a push rod is slidably inserted on the inner side of the main body rod. The push rod is pushed to drive the tool to cut the root of the oil palm fruit, and after cutting off the root, the positioning cone is still inserted on the oil palm fruit bunch so that it will not fall, so that it can be transported to the ground. Using this device, on the one hand, the position of the oil palm fruit bunch can be conveniently adjusted to find its root for cutting, and on the other hand, the cut oil palm fruit bunch will not fall freely to the ground, causing the oil palm fruit grains to break and scatter. Using this device to pick oil palm fruits is easy, convenient, and efficient, and can guarantee the integrity of the oil palm fruit bunch to the greatest extent.

The present invention discloses a cleaning device for palm oil production, which relates to the technical field of cleaning equipment, including a frame, a rotating power assembly for driving a hollow shaft and a connecting sleeve to rotate in opposite directions, a plurality of spray assemblies distributed circumferentially on the diverter disc, a guide block fixed to the bottom of the rotating frame and slidably mounted on the rotating disc in an annular direction, and an elastic cleaning assembly between the enclosure and the rotating disc installed at the bottom of the sliding assembly. The present invention places palm fruits in a position between the rotating disc and the enclosure, and the palm fruits are supported by a supporting tray, while the enclosure and the rotating disc can rotate in opposite directions, and the supporting tray drives the palm fruits to roll, so that the outer wall bristles and the inner wall bristles can rotate in opposite directions around the hollow shaft and brush the palm fruits, while multiple spray assemblies spray toward the palm fruits, so that the surface of each palm fruit is fully cleaned, thereby greatly improving the cleaning effect of the palm fruit surface.

The utility model relates to a leaf cutting and fruit picking device suitable for palm fruit trees. The leaf cutting and fruit picking device comprises a connecting assembly; a pivoting seat is arranged on the outer surface of the cutter assembly, and the cutter assembly is pivoted to the connecting assembly through the pivoting seat, so that the cutter assembly can swing relative to the connecting assembly; the cutter assembly comprises a driving track, a power unit and a cutter; the driving rail is provided with an arc-shaped sliding rail, and the power unit is slidably connected to the sliding rail. The cutter is installed at the power output end of the power unit, and the cutter reciprocates in the linear direction under the driving of the power unit. The power unit and the cutter slide along the sliding rail in the arc direction, the arc sliding rail of the power unit and the cutter and the fruit tree are arranged in a concentric circle mode, the power unit and the cutter can do circular motion around the tree, the power unit drives the cutter, and the cutter rapidly punches leaves and fruits of the palm fruit tree.

The invention discloses a palm fruit picking machine with a telescopic lifting arm, and relates to the technical field of palm fruit picking, the palm fruit picking machine comprises the telescopic lifting arm, the top end of the telescopic lifting arm is fixedly connected with an adjusting assembly, and the right side of the adjusting assembly is fixedly provided with a palm fruit bunch flow guide mechanism; an insertion cutting mechanism and a plurality of evenly-distributed blade blocking mechanisms are arranged on the inner side of an opening in the top of the palm fruit bunch flow guide mechanism, and a fixing assembly is arranged at the bottom of the right side of the palm fruit bunch flow guide mechanism; an inlet annular frame in the palm fruit bunch flow guide mechanism is fixedly arranged on the right side of the movable plate, and a rubber corrugated pipe is fixedly connected to the bottom of the inlet annular frame. The cut palm fruit bunches can be directly conveyed into the carrying cart hopper, frequent back-and-forth loading by manpower is not needed, meanwhile, the situation that palm fruits fall off and are wasted due to the fact that the palm fruit bunches directly fall on the ground can be avoided, the yield of the palm fruits is increased, meanwhile, the picking cost is reduced, and the loading efficiency is improved.

The present application relates to the technical field of picking machine, and discloses a palm fruit picking machine, which comprises a moving table, the surface of the moving table is provided with a chute, the bottom of the moving table is fixedly connected with a moving shaft, the surface of the moving shaft is rotatably connected with a walking track, and the surface of the moving table is fixedly connected with a motor. When the walking track walks to the picking position, the motor is started to drive the threaded rod to rotate, the rising disc is lifted when the threaded rod rotates, the telescopic rod is lifted by the rising disc, the passive rod is moved upwards while the rising disc is lifted, the moving block is moved towards each other while the passive rod is moved, the right-angle plate is moved while the moving block is moved, the elastic plate is extruded while the right-angle plate is moved, the passive sliding block is moved downwards while the elastic plate is extruded, the push rod is moved while the passive sliding block is moved downwards, and the driven disc is moved downwards while the push rod is moved.

The invention belongs to the technical field of oil palm fruit picking, and particularly discloses automatic oil palm fruit picking equipment which comprises a walking chassis; a lifting device; the picking device is used for picking oil palm fruits, and the lifting device is used for lifting the picking device; the picking device comprises a shoveling and cutting unit and a clamping unit, the shoveling and cutting unit is used for shoveling and cutting leaf stalks outside the oil palm fruits and fruit stalks of the oil palm fruits, and the clamping unit is used for clamping the cut oil palm fruits; the shoveling and cutting unit comprises a first driving mechanism and a shovel blade, and the first driving mechanism is used for driving the shovel blade to linearly move for shoveling and cutting; the clamping unit comprises a second driving mechanism and two clamping jaws arranged in the horizontal direction, the second driving mechanism is used for driving the two clamping jaws to be opened or held tightly, and the shoveling and cutting unit is located below the two clamping jaws. The oil palm fruit picking device can achieve automatic picking of oil palm fruits, operation is convenient and fast, manual intervention is reduced, efficiency is improved, and stability and reliability are high.

The application discloses a palm fruit harvesting device and a harvesting method. The device comprises a vehicle body, a picking mechanism is arranged at the front end of the vehicle body, and a collecting mechanism is arranged at the rear end of the vehicle body. The picking mechanism comprises a telescopic mechanical arm, the upper end of the mechanical arm is connected with a steering mechanism, the steering mechanism is connected with a pitching mechanism, the pitching mechanism is connected with a horizontally telescopic insertion needle and a cutter. The collecting mechanism comprises a vehicle compartment, a translation door is connected to the rear side of the vehicle compartment, a collecting fork capable of moving up and down is connected above the translation door, a fruit pushing frame connected with the translation door is arranged below the collecting fork, and the fruit pushing frame is arranged around the outside of the collecting fork. The picking mechanism and the collecting mechanism are arranged as two independent individuals. The insertion needle and the cutter work cooperatively to realize picking. The up and down movement of the collecting fork and the fruit pushing frame realizes the mechanized collection of fruits. The picking and collecting are fast and convenient, labor is saved, and the harvesting efficiency is improved.

The invention relates to an on-tree palm fruit maturity detection method and device based on target segmentation and colorimetric analysis, equipment and a medium, and the method comprises the steps: updating a backbone network of a first maturity detection model to a StarNet framework, updating all C2F modules in the backbone network and a neck network to C2F-Star modules, a detection head network is updated to be a lightweight shared convolution detection head, an original CIOU loss function is updated to be a DIOU loss function to construct a second maturity detection model, and a C2F-Star module is used for updating a Bottleneck structure in an original C2F module to be a Star Block module; and inputting a to-be-detected palm fruit image into the second maturity detection model, outputting a polygon mask corresponding to each target palm fruit, counting a red pixel proportion in a polygon mask area, and determining a maturity category corresponding to each target palm fruit according to the red pixel proportion. According to the method, the target can be stably identified even in the scenes of interlaced branches and overlapped leaves, and the problem of detection failure caused by shielding is solved.

------22 / 05 / 2569------(OCR)OCR09WP A process to increase the Oil Extraction Rate (OER) for standard palm oil mills, consisting of 8 steps: Step 1: Grading and sorting fresh palm fruit and palm bunches; Step 2: Cleaning palm fruit and fresh palm bunches to remove impurities such as soil and others using high-pressure water jets; Step 3: Stopping the free fatty acid formation reaction using a centrifuge; Step 4: Separating palm fruit from palm bunches; Step 5: Separating the components of the palm fruit using a 3-stage centrifuge, resulting in a thick liquid mixture consisting of water, oil, fiber, and palm pulp; Step 6: Removing palm fibers from the thick liquid; Step 7: Separating the oil from the thick liquid; Step 8: Cleaning and dehumidifying the oil. This process can increase the OER from the original 15-18% to 20-26%.

Animal feed formed with a base of palm fronds and combined with palm fruit, such as dates, is a sustainable and affordable feed product that can be developed in hot climates. Palm fronds with a desired moisture content are shredded, chopped, and / or ground, and mixed with palm fruit. Additives such as urea can increase the nutritional content. Feeds with palm fronds, palm fruit, and / or additives can serve as a base feed for other components. Palm fronds can also serve as a base feed for other components. Animal feeds with a variety of bases can have palm fruit added. Animal feeds with a variety of bases, including palm fronds, can include a variety of other components added.

A method for extending the rutab stage date palm fruit. The method can include obtaining leaves from a date palm tree, obtaining date fruit at rutab stage, drying the leaves to obtain dried date palm leaves, reducing the dried date palm leaves to a powder, and covering the rutab stage date fruit with the powder to obtain a powder-covered date fruit. In an embodiment, the powder can be disposed in a container and the rutab stage date fruit can be immersed in the powder within the container.