WO2006013593A1 - Automated fruit and vegetables picker - Google Patents
Automated fruit and vegetables picker Download PDFInfo
- Publication number
- WO2006013593A1 WO2006013593A1 PCT/IT2004/000449 IT2004000449W WO2006013593A1 WO 2006013593 A1 WO2006013593 A1 WO 2006013593A1 IT 2004000449 W IT2004000449 W IT 2004000449W WO 2006013593 A1 WO2006013593 A1 WO 2006013593A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- fruit
- video cameras
- robot
- automated
- truck
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Definitions
- This patent relates to the field of the tools for horticulture, and it particularly concerns the devices for the picking of fruits and vegetables in general.
- the orchards are organized in regular tree rows.
- the worker employed for the fruit picking must walk on a substantially straightaway path, repeatedly stopping by each tree to perform the delicate picking operation.
- One aim of the new fruit picker is to make the picking of the fruit a completely automatic operation. Another aim is not to crash the fruits during said picking operation. Another aim is to perfonn said picking in shorter time with respect to the manually performed operation.
- Another aim is not to employ a high number of seasonal workers. Another aim is to perform the operation even with bad weather conditions and in any moment of the day.
- the new fruit picker is essentially made of a robot, and of at least two video cameras supported on a truck, also preferably automated; said robot is anthropomorphous with at least six degrees of freedom.
- the control of said degrees of freedom, and thus the positioning of the arms of said robot is realized by means of a signal sent by a system of video cameras, capable of providing the axial coordinates of the position of the fruit to be picked.
- said video cameras also send a signal to control the movement to of the truck.
- the robot is preferably an anthropomorphous robot with at least six degrees of freedom, provided with an absolute system for the positioning of the axis, realized for example with integrated resolver in the engine and in the absolute trasduction modules (resolver Position Tracker).
- the motion of the axes is preferably due to brushless engines.
- the six joints can be divided in two groups: the first three represent the shoulder, the second three the wrist.
- a tool purposely designed for grasping the fruit, is attached.
- Said tool, or grasping element can be a mechanical hand, or a system of pliers, or a system of suckers.
- Each joint has a position sensor gauged in a way to have the zero in the central position of its motion.
- position sensors there is also a force/couple sensor at the tool attached to the flange, that allows to measure the generalized force vector applied to the tip.
- the maximum loading capacity at the wrist is in the scale often Newton. In this way it is possible to avoid the risk of crushing or ruining the fruit.
- the determination of Hie position of the fruit to be grasped is realized by a system of two or more video cameras, that allows to determine the exact spatial coordinates of the fruit itself. In order to guarantee a stereoscopic vision said video cameras are preferably positioned in a way that the optic axis of one video camera is incident with respect to the optic axis of the other.
- the recognition of the fruit or vegetable to be picked up is made, for example, depending on the shape or the colour of the fruit itself.
- the video cameras are provided with software for the image acquisition, and software for the elaboration of the image itself.
- Said software provides, as a output, the values of the spatial coordinates of the fruit.
- Said values are the input of a control device that provides, as a output, the control of the aforementioned robot and the control of the truck on which the robot and the video cameras are fixed.
- the truck receives the order to proceed, in a way to allow the visualization of a different area of the tree from which the fruit has just been picked up, or to pass to the following tree, or to the opposite side.
- the new fruit picker works in a completely automatic way.
- the system robot plus video cameras is integral with the level of a truck that moves in the rectilinear space comprised between the two tree rows.
- the motion of said truck is decided by a system of video cameras.
- the base of said robot is fixed on the top head of a lifting device, integral with the truck, capable of lifting and lowering said robot in vertical direction.
- each series of cases preferably disposed along a side of said truck level on a belt carrier.
- the robot is driven so as to be positioned with the pliers or the sucker over the first case for the collecting of the fruit
- a sensor, placed on the end tool allows the determination of the moment for the unhooking of the fruit itself, in a way to establish adequately the falling distance of the fruit, in order to avoid bruises.
- the carrier belt moves it placing in its place a second empty case, ready to be filled with the modalities described for the first case.
- the carrier belt moves it placing in its place a second empty case, ready to be filled with the modalities described for the first case.
- Automated fruit and vegetable picker comprising a robot with at least six degrees of freedom, provided with a grasping element at the end flange, and with at least a couple of video cameras provided with software for the elaboration of the images and software for the determination of the position of the fruit to be picked up, a truck adapted to bear said robot and said video cameras, a control device, also supported on said truck, that receives as an input from the video cameras a signal including the spatial coordinates of the fruit to be picked up, and sends as a output a control signal to said robot, and wherein each motion of said robot is decided by the signal emitted by said control device.
- Figure 1 represents a lateral section of the new fruit picker.
- Said new fruit picker comprises a robot (R) positioned on the truck (C) together with the two video cameras (Tl, T2).
- Robot (R) has, in this specific case, six degrees of freedom, individuated by the six axes shown in figure (Al, A2, A3, A4, A5, A6).
- the base (Rb) of the robot (R) is fixed on the top head of a lifting device (S), that in this case is telescopic, integral with the truck (C), capable of lifting and lowering said robot (R) in vertical direction.
- the remaining part of the structure of said robot (R) can rotate with respect to said base (Rb), around axis Al .
- the grasping element (O) is attached, and is constituted by a system of pliers.
- the positioning of said grasping element (O) is realized by means of one or more rotations around the afore mentioned axes.
- a further couple of video cameras (T3, T4) is also fixed, said video cameras adapted to allow the individuation of the position of the fruit in positions that are not visible by the video cameras (Tl, T2), fixed on the truck (C).
- Figure 2 represents the top view of said robot (R) while picking the fruit (M) from the tree (E).
- the video cameras (Tl, T2) are positioned in a way that their optic axes are incident
- the robot (R) having received the signal from said video cameras, positioned itself in a way to be able to grasp the fruit (M).
- the grasping of the fruit (M) is performed in a way that the fruit is not damaged, thanks to purposely made sensors, attached on the grasping element (O).
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/IT2004/000449 WO2006013593A1 (en) | 2004-08-06 | 2004-08-06 | Automated fruit and vegetables picker |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/IT2004/000449 WO2006013593A1 (en) | 2004-08-06 | 2004-08-06 | Automated fruit and vegetables picker |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006013593A1 true WO2006013593A1 (en) | 2006-02-09 |
Family
ID=34958502
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/IT2004/000449 WO2006013593A1 (en) | 2004-08-06 | 2004-08-06 | Automated fruit and vegetables picker |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2006013593A1 (en) |
Cited By (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008037035A1 (en) * | 2006-09-28 | 2008-04-03 | Katholieke Universiteit Leuven | Autonomous fruit picking machine |
CN103299776A (en) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | Dexterous three-finger hand of fruit picking robot |
CN103348819A (en) * | 2013-07-12 | 2013-10-16 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
CN103503637A (en) * | 2013-10-14 | 2014-01-15 | 青岛农业大学 | Intelligent identification picking robot and picking method |
WO2015003513A1 (en) * | 2013-07-12 | 2015-01-15 | 中南林业科技大学 | Robot and method for picking fruit of camellia oleifera |
CN104396449A (en) * | 2014-09-26 | 2015-03-11 | 山东理工大学 | Remote-control self-walking gas-suction comb-picking revolving-bowl conveyor-belt type sorting and grading pear picking machine |
CN103548494B (en) * | 2013-10-31 | 2015-11-25 | 詹博锦 | A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof |
CN105103795A (en) * | 2015-09-02 | 2015-12-02 | 山东农业大学 | Cherry picking robot end actuator |
WO2016132264A1 (en) * | 2015-02-22 | 2016-08-25 | Ffmh-Tech Ltd. | Multi-robot crop harvesting machine |
CN106171298A (en) * | 2016-08-24 | 2016-12-07 | 李传慧 | One is used for setting fruit automatic picking device |
CN106385979A (en) * | 2016-08-30 | 2017-02-15 | 钟山县橙浩水果种植专业合作社 | Intelligent fruit picker |
CN106982597A (en) * | 2017-05-17 | 2017-07-28 | 广西科技大学鹿山学院 | A kind of tower crane type automatic fruit picker |
CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
CN107736130A (en) * | 2017-11-22 | 2018-02-27 | 蓬安县斯创格汽车配件科技有限公司 | A kind of Automatic folium mori picking machine |
CN107750645A (en) * | 2017-11-01 | 2018-03-06 | 绍兴职业技术学院 | A kind of picking robot |
CN107873241A (en) * | 2017-11-22 | 2018-04-06 | 蓬安县斯创格汽车配件科技有限公司 | A kind of automatic picking method of sericulture mulberry leaf |
CN108243726A (en) * | 2018-01-18 | 2018-07-06 | 连雪芳 | A kind of Chinese walnut picking robot equipment |
CN108353622A (en) * | 2018-03-15 | 2018-08-03 | 广东工业大学 | A kind of full-automatic pineapple picking method |
EP3366107A1 (en) * | 2017-02-23 | 2018-08-29 | Panasonic Corporation | Harvesting equipment and harvest method |
CN108718680A (en) * | 2018-04-27 | 2018-11-02 | 昆明理工大学 | A kind of rose picker |
CN108718704A (en) * | 2018-04-18 | 2018-11-02 | 常州大学 | A kind of man-machine interactive field fruits and vegetables harvesting robot system and its collecting method |
CN108811766A (en) * | 2018-07-06 | 2018-11-16 | 常州大学 | A kind of man-machine interactive fruits and vegetables of greenhouse harvesting robot system and its collecting method |
CN108858129A (en) * | 2018-08-01 | 2018-11-23 | 方鲸联合科技(惠州)有限公司 | A kind of orchard quickly assembles picking intelligence system |
CN109049004A (en) * | 2018-10-31 | 2018-12-21 | 西北农林科技大学 | A kind of picking robot competition venue |
CN109123718A (en) * | 2018-09-23 | 2019-01-04 | 宁波高智科技咨询服务有限公司 | A kind of adjustable fruit object laser mark printing device |
CN109202848A (en) * | 2018-09-12 | 2019-01-15 | 西南大学 | Man-machine collaboration picking robot and its control method based on Leap Motion and machine vision |
CN111247963A (en) * | 2020-03-27 | 2020-06-09 | 华南农业大学 | Banana intelligence system of gathering |
WO2020154473A1 (en) * | 2019-01-24 | 2020-07-30 | Ceres Innovation, Llc | Harvester with robotic gripping capabilities |
CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
CN113330916A (en) * | 2021-07-07 | 2021-09-03 | 青岛理工大学 | Grape picking mechanism, integrated device and method |
US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
JP2022006698A (en) * | 2020-06-24 | 2022-01-13 | 株式会社クボタ | Agricultural robot |
US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
CN114451146A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Fruit and vegetable picking method and system |
CN114467485A (en) * | 2022-01-07 | 2022-05-13 | 深圳喜沃生态科技有限公司 | Vegetable picking trolley with sprayer mechanism |
US11470781B2 (en) * | 2016-06-07 | 2022-10-18 | Kms Projects Limited | Method and apparatus for selectively harvesting crops |
US11477942B2 (en) | 2018-10-29 | 2022-10-25 | Ffrobotics Ltd. | Robotic fruit harvesting machine with fruit-pair picking and hybrid motorized-pneumatic robot arms |
WO2023066430A3 (en) * | 2021-10-22 | 2023-06-15 | Ai. Land Gmbh | Device for managing a usable agricultural area, and corresponding method |
WO2023154267A1 (en) * | 2022-02-09 | 2023-08-17 | Advanced Farm Technologies, Inc. | End effector for picking of items |
Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59202011A (en) * | 1983-05-02 | 1984-11-15 | Kubota Ltd | Fruit position detecting method for fruit harvesting apparatus |
US4519193A (en) * | 1982-08-11 | 1985-05-28 | Kubota, Ltd. | Fruit harvesting apparatus with television camera and monitor |
US4532757A (en) * | 1983-09-30 | 1985-08-06 | Martin Marietta Corporation | Robotic fruit harvester |
EP0267860A2 (en) * | 1986-11-06 | 1988-05-18 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Method and device for analogous real-time spectral preselection, particularly in a system of artificial vision |
US4873644A (en) * | 1987-09-16 | 1989-10-10 | Kubota, Ltd. | Guide system for a working machine having a product identifying system |
JPH02234608A (en) * | 1989-03-08 | 1990-09-17 | Yanmar Agricult Equip Co Ltd | Harvester for fruit and vegetable |
US4975016A (en) * | 1986-11-05 | 1990-12-04 | Etablissements Pellenc et Motte, Centre National Du Machinisme Agricole Du Genie Rural, des Eaux et des Forets (csm agrcr) | Automated machine for detection and grasping of objects |
FR2658624A1 (en) * | 1990-02-22 | 1991-08-23 | Sagem | System for detecting objects to be located in a scene (visual environment), especially for fruit-picking robots |
DE4116728A1 (en) * | 1990-05-24 | 1991-12-19 | Mezoegazdasagi Es Elelmiszerip | Fruit harvester with video camera on gripper head - has horizontal holder with vertical rotary axis with articulated parallel arms with gripper head |
JPH04166013A (en) * | 1990-10-26 | 1992-06-11 | Iseki & Co Ltd | Visual device for harvester of fruit, vegetables or the like |
US5471827A (en) * | 1991-07-09 | 1995-12-05 | Ccm Beheer B.V. | Device for the automatic selective harvesting of mushrooms |
US5544474A (en) * | 1995-02-21 | 1996-08-13 | Finkelstein; Zvi | System for harvesting crop items and crop harvesting tools used therewith |
-
2004
- 2004-08-06 WO PCT/IT2004/000449 patent/WO2006013593A1/en active Application Filing
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4519193A (en) * | 1982-08-11 | 1985-05-28 | Kubota, Ltd. | Fruit harvesting apparatus with television camera and monitor |
JPS59202011A (en) * | 1983-05-02 | 1984-11-15 | Kubota Ltd | Fruit position detecting method for fruit harvesting apparatus |
US4532757A (en) * | 1983-09-30 | 1985-08-06 | Martin Marietta Corporation | Robotic fruit harvester |
US4975016A (en) * | 1986-11-05 | 1990-12-04 | Etablissements Pellenc et Motte, Centre National Du Machinisme Agricole Du Genie Rural, des Eaux et des Forets (csm agrcr) | Automated machine for detection and grasping of objects |
EP0267860A2 (en) * | 1986-11-06 | 1988-05-18 | Centre National Du Machinisme Agricole, Du Genie Rural, Des Eaux Et Des Forets (Cemagref) | Method and device for analogous real-time spectral preselection, particularly in a system of artificial vision |
US4873644A (en) * | 1987-09-16 | 1989-10-10 | Kubota, Ltd. | Guide system for a working machine having a product identifying system |
JPH02234608A (en) * | 1989-03-08 | 1990-09-17 | Yanmar Agricult Equip Co Ltd | Harvester for fruit and vegetable |
FR2658624A1 (en) * | 1990-02-22 | 1991-08-23 | Sagem | System for detecting objects to be located in a scene (visual environment), especially for fruit-picking robots |
DE4116728A1 (en) * | 1990-05-24 | 1991-12-19 | Mezoegazdasagi Es Elelmiszerip | Fruit harvester with video camera on gripper head - has horizontal holder with vertical rotary axis with articulated parallel arms with gripper head |
JPH04166013A (en) * | 1990-10-26 | 1992-06-11 | Iseki & Co Ltd | Visual device for harvester of fruit, vegetables or the like |
US5471827A (en) * | 1991-07-09 | 1995-12-05 | Ccm Beheer B.V. | Device for the automatic selective harvesting of mushrooms |
US5544474A (en) * | 1995-02-21 | 1996-08-13 | Finkelstein; Zvi | System for harvesting crop items and crop harvesting tools used therewith |
Non-Patent Citations (3)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 009, no. 068 (P - 344) 28 March 1985 (1985-03-28) * |
PATENT ABSTRACTS OF JAPAN vol. 014, no. 548 (C - 0785) 5 December 1990 (1990-12-05) * |
PATENT ABSTRACTS OF JAPAN vol. 016, no. 466 (C - 0989) 28 September 1992 (1992-09-28) * |
Cited By (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008037035A1 (en) * | 2006-09-28 | 2008-04-03 | Katholieke Universiteit Leuven | Autonomous fruit picking machine |
CN103299776A (en) * | 2013-05-29 | 2013-09-18 | 西北农林科技大学 | Dexterous three-finger hand of fruit picking robot |
WO2015003513A1 (en) * | 2013-07-12 | 2015-01-15 | 中南林业科技大学 | Robot and method for picking fruit of camellia oleifera |
CN103348819A (en) * | 2013-07-12 | 2013-10-16 | 中南林业科技大学 | Oil-tea camellia fruit picking method and oil-tea camellia fruit picking robot using same |
CN103503637B (en) * | 2013-10-14 | 2016-05-25 | 青岛农业大学 | Intelligent identification picking robot and picking method |
CN103503637A (en) * | 2013-10-14 | 2014-01-15 | 青岛农业大学 | Intelligent identification picking robot and picking method |
CN103548494B (en) * | 2013-10-31 | 2015-11-25 | 詹博锦 | A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof |
CN104396449A (en) * | 2014-09-26 | 2015-03-11 | 山东理工大学 | Remote-control self-walking gas-suction comb-picking revolving-bowl conveyor-belt type sorting and grading pear picking machine |
CN104396449B (en) * | 2014-09-26 | 2016-02-03 | 山东理工大学 | A kind of remote control is plucked and is turned bowl conveyer belt type from walking aspiration comb and clean classification pears picking machine |
WO2016132264A1 (en) * | 2015-02-22 | 2016-08-25 | Ffmh-Tech Ltd. | Multi-robot crop harvesting machine |
US9475189B2 (en) | 2015-02-22 | 2016-10-25 | Ffmh-Tech Ltd. | Multi-robot crop harvesting machine |
CN105103795A (en) * | 2015-09-02 | 2015-12-02 | 山东农业大学 | Cherry picking robot end actuator |
US11470781B2 (en) * | 2016-06-07 | 2022-10-18 | Kms Projects Limited | Method and apparatus for selectively harvesting crops |
CN106171298B (en) * | 2016-08-24 | 2018-10-12 | 山东黄河三角洲慢城建设有限公司 | One kind is for setting fruit automatic picking device |
CN106171298A (en) * | 2016-08-24 | 2016-12-07 | 李传慧 | One is used for setting fruit automatic picking device |
CN106385979A (en) * | 2016-08-30 | 2017-02-15 | 钟山县橙浩水果种植专业合作社 | Intelligent fruit picker |
JP2018134059A (en) * | 2017-02-23 | 2018-08-30 | パナソニック株式会社 | Harvesting device and harvesting method |
CN108496538A (en) * | 2017-02-23 | 2018-09-07 | 松下电器产业株式会社 | harvesting device and harvesting method |
EP3366107A1 (en) * | 2017-02-23 | 2018-08-29 | Panasonic Corporation | Harvesting equipment and harvest method |
CN106982597A (en) * | 2017-05-17 | 2017-07-28 | 广西科技大学鹿山学院 | A kind of tower crane type automatic fruit picker |
CN107593112A (en) * | 2017-09-12 | 2018-01-19 | 沈阳建筑大学 | A kind of intelligent fruit picking and its application method based on Internet of Things |
CN107750645A (en) * | 2017-11-01 | 2018-03-06 | 绍兴职业技术学院 | A kind of picking robot |
CN107873241A (en) * | 2017-11-22 | 2018-04-06 | 蓬安县斯创格汽车配件科技有限公司 | A kind of automatic picking method of sericulture mulberry leaf |
CN107736130A (en) * | 2017-11-22 | 2018-02-27 | 蓬安县斯创格汽车配件科技有限公司 | A kind of Automatic folium mori picking machine |
CN108243726A (en) * | 2018-01-18 | 2018-07-06 | 连雪芳 | A kind of Chinese walnut picking robot equipment |
CN108353622A (en) * | 2018-03-15 | 2018-08-03 | 广东工业大学 | A kind of full-automatic pineapple picking method |
CN108353622B (en) * | 2018-03-15 | 2023-10-03 | 广东工业大学 | Full-automatic pineapple picking method |
CN108718704A (en) * | 2018-04-18 | 2018-11-02 | 常州大学 | A kind of man-machine interactive field fruits and vegetables harvesting robot system and its collecting method |
CN108718704B (en) * | 2018-04-18 | 2021-07-27 | 常州大学 | Man-machine interactive field fruit and vegetable harvesting robot system and harvesting method thereof |
CN108718680A (en) * | 2018-04-27 | 2018-11-02 | 昆明理工大学 | A kind of rose picker |
CN108811766A (en) * | 2018-07-06 | 2018-11-16 | 常州大学 | A kind of man-machine interactive fruits and vegetables of greenhouse harvesting robot system and its collecting method |
CN108858129A (en) * | 2018-08-01 | 2018-11-23 | 方鲸联合科技(惠州)有限公司 | A kind of orchard quickly assembles picking intelligence system |
CN109202848A (en) * | 2018-09-12 | 2019-01-15 | 西南大学 | Man-machine collaboration picking robot and its control method based on Leap Motion and machine vision |
CN109123718A (en) * | 2018-09-23 | 2019-01-04 | 宁波高智科技咨询服务有限公司 | A kind of adjustable fruit object laser mark printing device |
EP3863814A4 (en) * | 2018-10-08 | 2022-10-19 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
US20210337734A1 (en) * | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
US11477942B2 (en) | 2018-10-29 | 2022-10-25 | Ffrobotics Ltd. | Robotic fruit harvesting machine with fruit-pair picking and hybrid motorized-pneumatic robot arms |
CN109049004A (en) * | 2018-10-31 | 2018-12-21 | 西北农林科技大学 | A kind of picking robot competition venue |
WO2020154473A1 (en) * | 2019-01-24 | 2020-07-30 | Ceres Innovation, Llc | Harvester with robotic gripping capabilities |
CN111247963A (en) * | 2020-03-27 | 2020-06-09 | 华南农业大学 | Banana intelligence system of gathering |
JP2022006698A (en) * | 2020-06-24 | 2022-01-13 | 株式会社クボタ | Agricultural robot |
CN111656960A (en) * | 2020-07-20 | 2020-09-15 | 湖南翰坤实业有限公司 | Picking mechanical arm and intelligent fruit picking machine |
US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
CN113330916A (en) * | 2021-07-07 | 2021-09-03 | 青岛理工大学 | Grape picking mechanism, integrated device and method |
WO2023066430A3 (en) * | 2021-10-22 | 2023-06-15 | Ai. Land Gmbh | Device for managing a usable agricultural area, and corresponding method |
CN114467485A (en) * | 2022-01-07 | 2022-05-13 | 深圳喜沃生态科技有限公司 | Vegetable picking trolley with sprayer mechanism |
CN114451146A (en) * | 2022-01-27 | 2022-05-10 | 浙江小远机器人有限公司 | Fruit and vegetable picking method and system |
WO2023154267A1 (en) * | 2022-02-09 | 2023-08-17 | Advanced Farm Technologies, Inc. | End effector for picking of items |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2006013593A1 (en) | Automated fruit and vegetables picker | |
KR100667220B1 (en) | Pruning and harvesting system and method of pruning and harvesting | |
EP2086308B1 (en) | Autonomous fruit picking machine | |
Reed et al. | AE—Automation and emerging technologies: Automatic mushroom harvester development | |
Ceres et al. | Design and implementation of an aided fruit‐harvesting robot (Agribot) | |
US20110022231A1 (en) | Apparatuses, Systems and Methods for Automated Crop Picking | |
JP2022508625A (en) | Autonomous crop harvester | |
US20180146618A1 (en) | Harvesting Robots for Hydroponics | |
US20060150602A1 (en) | Method and apparatus for remotely assisted harvester | |
CN109803795A (en) | For transporting the mobile workstation of more than one piece article | |
WO2016123656A1 (en) | Horticultural harvesting system and apparatus using revolving shells | |
Aljanobi et al. | A setup of mobile robotic unit for fruit harvesting | |
US11477942B2 (en) | Robotic fruit harvesting machine with fruit-pair picking and hybrid motorized-pneumatic robot arms | |
US20220087105A1 (en) | System and method for autonomous harvester installation and farm harvesting operation | |
CN115250745A (en) | Full-automatic fruit picking robot and picking method based on vision technology | |
CN115397751A (en) | Logistics system | |
Stoelen et al. | Low-cost robotics for horticulture: A case study on automated sugar pea harvesting | |
JP2024505669A (en) | Robotic harvesting system with gantry system | |
Ceres et al. | Agribot: A robot for aided fruit harvesting | |
KR20180066527A (en) | Automatic device for harvesting chili | |
Yung et al. | Partially structured robotic picking for automation of tomato transplantation | |
CN116749173A (en) | Control method and system of fruit picking robot and fruit picking robot | |
CN108718710A (en) | A kind of fruit and vegetable picking device | |
Burks et al. | Orchard and vineyard production automation | |
EMİNOĞLU et al. | Smart farming application in fruit harvesting |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |