公开(公告)号：US20170105346A1

公开(公告)日：2017-04-20

申请号：US15383000

申请日：2016-12-19

Applicant: Washington State University

Inventor： Joseph Ryan Davidson ,  Changki Mo ,  Qin Zhang ,  Abhisesh Silwal ,  Manoj Karkee

IPC: A01D46/30 ,  B25J15/10 ,  B25J9/16 ,  B25J13/08 ,  B25J9/10 ,  B25J15/00

CPC classification number: A01D46/30 ,  B25J9/104 ,  B25J9/1075 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1697 ,  B25J13/084 ,  B25J15/0009 ,  B25J15/10 ,  G05B2219/45003

Abstract: Robotic systems and specialized end-effectors provide for automated harvesting of produce such as fresh market apples. An underactuated design using tendons and flexure joints with passive compliance increases robustness to position error, overcoming a significant limitation of previous fruit harvesting end-effectors. Some devices use open-loop control, provide a shape-adaptive grasp, and produce contact forces similar to those used during optimal hand picking patterns. Other benefits include relatively low weight, low cost, and simplicity.

公开(公告)号：US09468146B2

公开(公告)日：2016-10-18

申请号：US14533635

申请日：2014-11-05

Applicant: Washington State University

Inventor： Mark De Kleine ,  Manoj Karkee ,  Yunxiang Ye

IPC: A01D46/22 ,  A01D46/26

CPC classification number: A01D46/264 ,  A01D2046/266

Abstract: The embodiments are directed to a fruit harvesting system that includes at least one end-effector coupled to a distal end of the manipulating arm and configured using at least one of a jaw and a clamp to couple to one or more branches of a fruit tree or a trellis wire that is coupled to the fruit tree residing in a trained orchard. The embodiments also include a pair of dual motor actuators eccentrically coupled to the at least one end-effector and directed to manipulate the at least one end-effector with a same or different frequency, and amplitude, and with same or counter-propagating motions, wherein the directed same or different frequency and amplitude, and same or counter-propagating motions provide one or more eccentric shaking patterns to the coupled branches or the trellis wire so as to enable fruit to be removed and collected by catch frames.

Abstract translation: 实施例涉及一种果实收获系统，其包括耦合到操纵臂的远端的至少一个端部执行器，并且使用钳口和夹具中的至少一个来配置以耦合到果树的一个或多个分支或 与连接在受过训练的果园中的果树相连的格子线。 这些实施例还包括一对双电机致动器，其偏心联接到至少一个末端执行器并被引导为以相同或不同的频率以及振幅以及相同或反向传播的运动来操纵至少一个末端执行器， 其中所引导的相同或不同的频率和幅度以及相同的或反向传播的运动向耦合的分支或网格线提供一个或多个偏心的振动图案，以便能够通过捕获框架去除和收集果实。

公开(公告)号：US09554512B2

公开(公告)日：2017-01-31

申请号：US14849729

申请日：2015-09-10

Applicant: Washington State University

Inventor： Joseph Ryan Davidson ,  Changki Mo ,  Qin Zhang ,  Abhisesh Silwal ,  Manoj Karkee

IPC: A01D46/24 ,  A01D46/30 ,  B25J9/10 ,  B25J15/00

CPC classification number: A01D46/30 ,  B25J9/104 ,  B25J9/1075 ,  B25J9/1612 ,  B25J9/1664 ,  B25J9/1697 ,  B25J13/084 ,  B25J15/0009 ,  B25J15/10 ,  G05B2219/45003

Abstract: Robotic systems and specialized end-effectors provide for automated harvesting of produce such as fresh market apples. An underactuated design using tendons and flexure joints with passive compliance increases robustness to position error, overcoming a significant limitation of previous fruit harvesting end-effectors. Some devices use open-loop control, provide a shape-adaptive grasp, and produce contact forces similar to those used during optimal hand picking patterns. Other benefits include relatively low weight, low cost, and simplicity.

Abstract translation: 机器人系统和专门的终端效应器可以自动收获诸如新鲜市场苹果的产品。 使用具有被动柔量的腱和挠曲接头的欠驱动设计增加了对位置误差的鲁棒性，克服了以前的果实收获终端效应器的显着限制。 一些设备使用开环控制，提供形状自适应控制，并产生类似于最佳手动拾取模式中使用的接触力。 其他好处包括重量轻，成本低，简单。