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    ROBOTIC SYSTEMS, METHODS, AND END-EFFECTORS FOR HARVESTING PRODUCE
    1.
    发明申请
    ROBOTIC SYSTEMS, METHODS, AND END-EFFECTORS FOR HARVESTING PRODUCE 有权
    用于收获生产的机器人系统，方法和终止效应

    公开(公告)号：US20160073584A1

    公开(公告)日：2016-03-17

    申请号：US14849729

    申请日：2015-09-10

    申请人： Washington State University

    发明人： Joseph Ryan Davidson ,  Changki Mo

    IPC分类号： A01D46/30 ,  B25J15/00 ,  B25J15/10

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

    摘要： 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.

    摘要翻译： 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。

    AGRICULTURAL SYSTEM WITH DECK PLATE POSITIONING CONTROL
    5.
    发明公开
    AGRICULTURAL SYSTEM WITH DECK PLATE POSITIONING CONTROL 审中-公开

    公开(公告)号：US20240122119A1

    公开(公告)日：2024-04-18

    申请号：US18140102

    申请日：2023-04-27

    申请人： DEERE & COMPANY

    发明人： TROY M. HEIMS ,  NATHAN E. KREHBIEL ,  DUANE M. BOMLENY ,  CURTIS R. HAMMER ,  NATHAN R. VANDIKE ,  MEGHNA CHANDRASEKARAN

    IPC分类号： A01D45/02 ,  G05B19/4155

    CPC分类号： A01D45/028 ,  G05B19/4155 ,  G05B2219/45003

    摘要： An agricultural system comprises a stalk-diameter sensing system associated with a row unit and configured to sense diameter-related data of respective stalks and generate signals based on the diameter-related data. Deck plates associated with the row unit are spaced apart to define a deck plate spacing. A deck plate positioning system is coupled to at least one of the deck plates to adjust the deck plate spacing. A control system is configured to communicate with the stalk-diameter sensing system and the deck plate positioning system. The control system is configured to receive the signals, determine a statistical representative stalk diameter for a sample of stalks based on the diameter-related data, determine a target deck plate spacing based on the statistical representative stalk diameter, and output a control signal to command the deck plate positioning system to set the deck plate spacing based on the target deck plate spacing.

    MULTI-ROBOT CROP HARVESTING MACHINE
    7.
    发明申请
    MULTI-ROBOT CROP HARVESTING MACHINE 有权
    多机器人收割机

    公开(公告)号：US20160243696A1

    公开(公告)日：2016-08-25

    申请号：US14628258

    申请日：2015-02-22

    申请人： FFMH-Tech Ltd.

    发明人： Avi Kahani

    IPC分类号： B25J9/00 ,  G06T7/40 ,  G06T7/00 ,  A01D46/30 ,  B25J9/16

    CPC分类号： B25J9/0084 ,  A01D46/30 ,  B25J9/023 ,  B25J9/1612 ,  B25J9/1697 ,  B25J19/023 ,  G05B2219/45003 ,  G06K9/00664 ,  G06K9/2036 ,  G06K2209/17 ,  G06T7/0004 ,  G06T2207/30128 ,  G06T2207/30188 ,  Y10S901/09

    摘要： A harvesting system includes multiple robots, one or more sensors and one or more computers. The robots are mounted on a common frame facing an area to be harvested, and are each configured to harvest crop items by reaching and gripping the crop items from a fixed angle of approach. The sensors are configured to acquire images of the area. The computers are configured to identify the crop items in the images, and to direct the robots to harvest the identified crop items.

    摘要翻译： 收获系统包括多个机器人，一个或多个传感器和一个或多个计算机。 机器人被安装在面向要收获的区域的公共框架上，并且各自被配置为通过从固定的接近角度到达并夹紧作物物品来收获作物物品。 传感器被配置为获取该区域的图像。 计算机被配置为识别图像中的作物项目，并且引导机器人收获所识别的作物物品。

    System for analyzing spatially-variable harvest data by pass
    8.
    发明授权
    System for analyzing spatially-variable harvest data by pass 失效
    通过分析空间变量收获数据的系统

    公开(公告)号：US5995894A

    公开(公告)日：1999-11-30

    申请号：US863544

    申请日：1997-05-27

    申请人： Keith W. Wendte

    发明人： Keith W. Wendte

    IPC分类号： A01D41/127 ,  G06F13/00 ,  G06F157/00

    CPC分类号： A01D41/127 ,  G06Q40/08 ,  G05B2219/45003

    摘要： An apparatus is provided which analyzes spatially-variable harvest data for one of the passes made by an agricultural harvesting vehicle through an agricultural field. The harvesting vehicle supports an implement for harvesting crop during each pass through the field. The apparatus includes a digital memory, an electronic display, a processor circuit and an operator-actuatable input device. The digital memory stores a geo-referenced map of the field including harvest data representative of at least one sensed parameter of the harvested crop and pass data representative of the plurality of passes of the harvesting vehicle through the field. The processor circuit is configured to read the geo-referenced map of the field from the memory and to generate a display signal therefrom which, when applied to the electronic display, generates visible indicia of at least a portion of the field and at least one sensed parameter of the harvested crop. The operator-actuatable input device is coupled to the processor circuit and configured to generate an input signal which identifies one of the passes of the harvesting vehicle. The processor circuit analyzes the harvest data representative of the at least one sensed parameter of the harvested crop that was harvested by the implement during the identified pass of the vehicle, and generates the display signal to cause the electronic display to display a result of the analysis in association with the identified pass of the vehicle.

    摘要翻译： 提供一种装置，其分析通过农业领域由农业收割车辆制造的通道之一的空间可变收获数据。 收割车辆在每次通过现场时都支持收割作物的工具。 该装置包括数字存储器，电子显示器，处理器电路和操作者致动输入装置。 所述数字存储器存储所述场的地理参考地图，包括表示所收获的作物的至少一个感测参数的收获数据，并且通过所述场通过代表所述收获车辆的多个通过的数据。 处理器电路被配置为从存储器读取地理参考的场的地图并且从其产生显示信号，当应用于电子显示器时，其产生场的至少一部分的可见标记和至少一个感测到的 收获作物的参数。 操作员致动输入装置被耦合到处理器电路并且被配置为产生识别收集车辆的通行之一的输入信号。 所述处理器电路分析表示所识别的车辆通过期间由所述工具收获的收获的作物的所述至少一个感测参数的收获数据，并且生成所述显示信号以使所述电子显示器显示所述分析结果 与所识别的车辆通行证相关联。

    Adjustable knockdown rollers for sugarcane harvester
    9.
    发明授权
    Adjustable knockdown rollers for sugarcane harvester 有权

    公开(公告)号：US09857785B2

    公开(公告)日：2018-01-02

    申请号：US14659189

    申请日：2015-03-16

    申请人： DEERE & COMPANY

    发明人： Eric P. Richard

    IPC分类号： G05B19/19 ,  A01D45/10

    CPC分类号： G05B19/19 ,  A01D45/10 ,  G05B2219/45003 ,  G05B2219/45015

    摘要： A method and control system are disclosed for adjusting orientations of knockdown rollers for sugarcane harvesters. An upper knockdown roller may be moved along a first adjustment path using a first actuator. A lower knockdown roller may be moved along a second adjustment path using a second actuator. A substantially tangential alignment may be maintained for an outer diameter of the upper knockdown roller and an outer diameter of the lower knockdown roller with respect to a reference point along a cutting path of the base cutter assembly, during or after movement of the upper and lower knockdown rollers.