公开(公告)号：US12096733B2

公开(公告)日：2024-09-24

申请号：US18114681

申请日：2023-02-27

申请人： DOGTOOTH TECHNOLOGIES LIMITED

发明人： Duncan Robertson ,  Matthew Cook ,  Edward Herbert ,  Frank Tully

IPC分类号： A01G9/14 ,  A01D46/22 ,  A01D46/24 ,  A01D46/253 ,  A01D46/28 ,  A01D46/30 ,  B25J9/16 ,  B25J11/00 ,  B25J15/00 ,  G06F18/214 ,  G06F18/24 ,  G06F18/243 ,  G06Q30/0283 ,  G06T7/00 ,  G06T7/11 ,  G06T7/50 ,  G06T7/60 ,  G06T7/70 ,  G06T7/90 ,  G06V20/10 ,  B25J9/00 ,  B25J9/06 ,  G05D1/00 ,  G06V20/68

CPC分类号： A01G9/143 ,  A01D46/22 ,  A01D46/243 ,  A01D46/253 ,  A01D46/28 ,  A01D46/30 ,  B25J9/1679 ,  B25J9/1697 ,  B25J11/00 ,  B25J15/0019 ,  G06F18/2148 ,  G06F18/24323 ,  G06F18/24765 ,  G06Q30/0283 ,  G06T7/0004 ,  G06T7/11 ,  G06T7/50 ,  G06T7/60 ,  G06T7/70 ,  G06T7/90 ,  G06V20/10 ,  B25J9/0084 ,  B25J9/06 ,  B25J15/0033 ,  G05B2219/45003 ,  G05D1/0219 ,  G06T2207/10048 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30128 ,  G06V20/68 ,  Y02A40/25

摘要： A robotic fruit picking system includes an autonomous robot that includes a positioning subsystem that enables autonomous positioning of the robot using a computer vision guidance system. The robot also includes at least one picking arm and at least one picking head, or other type of end effector, mounted on each picking arm to either cut a stem or branch for a specific fruit or bunch of fruits or pluck that fruit or bunch. A computer vision subsystem analyses images of the fruit to be picked or stored and a control subsystem is programmed with or learns picking strategies using machine learning techniques. A quality control (QC) subsystem monitors the quality of fruit and grades that fruit according to size and/or quality. The robot has a storage subsystem for storing fruit in containers for storage or transportation, or in punnets for retail.

公开(公告)号：US12089531B2

公开(公告)日：2024-09-17

申请号：US17977754

申请日：2022-10-31

申请人： Harvest CROO, LLC

发明人： Robert Pitzer

IPC分类号： A01D46/00 ,  A01D46/30 ,  A01D45/00 ,  A01D46/24

CPC分类号： A01D46/30 ,  A01D45/006 ,  A01D46/24

摘要： A system including a picking apparatus including at least two grippers. Each of the at least two grippers is configured to pick a respective individual crop of crops of a plant. The system is configured to move the at least two grippers of the picking apparatus in a rotational path. The system is configured to stop rotation of the picking apparatus when a first gripper of the at least two grippers is moved to a picking position along the rotational path. Other embodiments are described.

公开(公告)号：US20240284829A1

公开(公告)日：2024-08-29

申请号：US18569916

申请日：2022-06-14

申请人： FIELDWORK ROBOTICS LIMITED

发明人： Thomas SAUERWALD ,  Chris Fernando PULLE ,  Troy BODKIN ,  Dan WHITEAR

IPC分类号： A01D46/30 ,  A01D46/22 ,  A01D46/253 ,  B25J5/00 ,  B25J9/00 ,  B25J15/00

CPC分类号： A01D46/30 ,  A01D46/22 ,  B25J5/007 ,  B25J9/0084 ,  B25J15/0023 ,  A01D46/253

摘要： The present invention provides an end-effector (400) for a robotic arm in which a membrane (430) is inflatable to grasp an object. The end-effector comprises an internal volume (414) for receiving said object to be picked and the flexible membrane (430) within the internal volume. The membrane defines an aperture and an inflatable volume, and is configurable to increase the inflatable volume from an uninflated configuration to an inflated grasping configuration to thereby narrow the aperture and permit an object within the internal volume to be grasped. The present inventors have identified that by using an inflatable membrane to grasp a fruit or vegetable to be picked, swift picking and short cycle times can be achieved without damaging the vulnerable fleshy part of the fruit. The invention has particular application for the picking of soft fruits such as berries, e.g. raspberries, which are especially susceptible to damage.

公开(公告)号：US20240237582A1

公开(公告)日：2024-07-18

申请号：US18289276

申请日：2022-05-02

申请人： METOMOTION LTD.

发明人： Adi NIR ,  Mor BAUM ,  Anton AVSTREIH ,  Adi COHEN ,  Dor LAVI

IPC分类号： A01D46/30 ,  A01D46/20

CPC分类号： A01D46/30 ,  A01D46/20

摘要： An autonomous system for automatic picking and boxing of fruits is disclosed. The system may include a movable picking unit, comprising: a first movable platform; one or more robotic arms connected to the movable platform; and a fruit conveyor. Each robotic arm may be configured to pick at least one fruit at a time and place the at least one picked fruit on the fruit conveyor. The system may further include: a movable boxing unit, comprising: a second movable platform; a containers gripper; a containers' lift; and a container's conveyor. The container's conveyor may be configured to receive a container from the containers gripper and convey the container to a fruit receiving position, at which the container receives fruits from the fruits' conveyor.

公开(公告)号：US20240215488A1

公开(公告)日：2024-07-04

申请号：US18288780

申请日：2022-04-28

申请人： TEVEL AEROBOTICS TECHNOLOGIES LTD.

发明人： Adi TAFLIA ,  Yaniv MAOR ,  Nadav DAN-GUR

IPC分类号： A01D46/30

CPC分类号： A01D46/30

摘要： The present invention provides a method for on-site identification of damaged fruits and ripeness assessment, immediately after picking/harvesting, thereby enabling discarding damaged fruits on-site without delivering such damaged fruits to a warehouse, which also reduces harvesting time and improves harvesting efficiency. The method of the invention enables improved sorting compared to known robotic harvesters as it is based on a 360° inspection of the fruit and without having the leaves and branches interfere. The method of the invention further enables a preliminary sorting of the fruits according to determined fruits' grade based on identified blemishes in each fruit.

公开(公告)号：US20240166454A1

公开(公告)日：2024-05-23

申请号：US18056397

申请日：2022-11-17

申请人： Paul Butler

发明人： Paul Butler

IPC分类号： B65G47/90 ,  A01D46/30 ,  B65G57/03 ,  B65G59/10

CPC分类号： B65G47/905 ,  A01D46/30 ,  B65G57/03 ,  B65G59/106 ,  B65G2201/0235

摘要： A harvesting system incorporating manual picking to bins at varying heights and positions with an automated accumulation of filled containers in unit loads is disclosed and claimed. The system includes a powered rolling chassis driven between crop rows or lanes. The chassis has an adjustable front-mounted operator platform with controls, allowing one person to operate the system. A container pick-and-place apparatus and a container dispenser are mounted behind the platform to stack full containers in predetermined patterns in the unit load area and supply empty containers to the operator platform. The unit load area at the rear of the chassis has an indexer to allow staging of an empty unit load holder with empty containers for a quick changeover after removing a full load.

公开(公告)号：US20240130286A1

公开(公告)日：2024-04-25

申请号：US18547385

申请日：2022-02-24

申请人： N.CRAFT CORP.

发明人： Norimasa HAYASHI

IPC分类号： A01D46/30 ,  B07C5/10

CPC分类号： A01D46/30 ,  B07C5/10

摘要： Provided is an article acquisition system including: an imaging unit configured to image an article; an arm capable of acquiring the article; a control unit configured to determine a shape of the article from image data captured by the imaging unit; and a display unit capable of selecting whether or not to acquire the article. In a case where determination is made to acquire the article imaged by the imaging unit, the control unit displays an arrangement position of the article on the display unit, and displays a screen to which an acquisition position of the article is input, and in a case where the acquisition position is input, the control unit moves the arm toward the arrangement position, and moves the arm in conformity to the acquisition position to acquire the article.

公开(公告)号：US11957090B2

公开(公告)日：2024-04-16

申请号：US16601403

申请日：2019-11-07

申请人： Francis Wilson Moore

发明人： Francis Wilson Moore

IPC分类号： A01G3/08 ,  A01D46/24 ,  A01D46/253 ,  A01D46/30 ,  A01G7/06 ,  A01G17/00 ,  B25J5/00 ,  B25J9/00 ,  B25J9/04 ,  B25J9/16 ,  B25J15/00 ,  G05D1/00 ,  G06T17/00

CPC分类号： A01G7/06 ,  A01D46/24 ,  A01D46/253 ,  A01D46/30 ,  A01G3/08 ,  A01G3/085 ,  A01G17/005 ,  B25J5/00 ,  B25J5/007 ,  B25J9/0084 ,  B25J9/046 ,  B25J9/1679 ,  B25J9/1697 ,  B25J15/0019 ,  G05D1/0231 ,  G05B2219/45105 ,  G05B2219/45106 ,  G05D1/0088 ,  G05D2201/0201 ,  G06T17/00 ,  Y10S901/01

摘要： This disclosure includes a method for pruning a fruit plant. An exemplary method step includes obtaining an image of the fruit plant that has branches. Next, creating exclusion zones surrounding the branches. Then pruning the fruit plant based upon the exclusion zones.

公开(公告)号：US11910751B1

公开(公告)日：2024-02-27

申请号：US18123242

申请日：2023-03-17

申请人： KING SAUD UNIVERSITY

发明人： Mohamed Amine Mekhtiche ,  Mansour Mohammed A. Alsulaiman ,  Yousef Ahmed M. Alohali ,  Mohamed Abdelkader Bencherif ,  Ghulam Muhammad ,  Abdul Wadood ,  Mohammed Faisal Abdulqader Naji ,  Hassan Ismail H. Mathkour ,  Mohammed Mahdi Algabri ,  Hebah Abdulaziz Elgibreen ,  Hamid Abdulsalam Ghaleb ,  Hamdi Taher Altaheri ,  Taha Mohammed Ahmed Alfaqih ,  Muneer Hamid Ahmed Al-Hammadi

IPC分类号： A01D46/30 ,  A01D46/20

CPC分类号： A01D46/30 ,  A01D46/20

摘要： The robotic system for harvesting, and performing pre- and post-harvesting tasks of date palm trees includes three main parts: a truck platform, a scissor lift, and a multi-task system. The truck platform provides mobility for the whole system, while the scissor lift raises the multi-task system to the top of the palm tree. The multi-task system is fixed on top of the scissor lift and includes a large basin that catches fruits during harvesting. A circular track is fixed within the basin and includes a 2-degree-of-freedom (DOF) slider base mounted thereon. On top of the 2-DOF slider base is a robotic arm fitted with the proper tool (harvesting tool, maintenance tool or bagging system) for the task to be performed. The circular track has pivoting sections, and the basin has a flexible portion in the rear of the truck platform to allow the system to surround the palm tree.

公开(公告)号：US11889789B2

公开(公告)日：2024-02-06

申请号：US17469035

申请日：2021-09-08

申请人： Mycionics Inc.

发明人： Stefan Glibetic ,  Scott Hayden

IPC分类号： A01D46/30 ,  A01G18/70 ,  B25J9/02 ,  B25J9/16 ,  B25J19/02 ,  B25J15/02 ,  B25J15/04

CPC分类号： A01D46/30 ,  A01G18/70 ,  B25J9/026 ,  B25J9/1697 ,  B25J15/024 ,  B25J15/0475 ,  B25J19/022

摘要： Provided are a system, method(s), and apparatus for automatically harvesting mushrooms from a mushroom bed. The system, in one implementation, may be referred to herein as an “automated harvester”, having at least an apparatus/frame/body/structure for supporting and positioning the harvester on a mushroom bed, a vision system for scanning and identifying mushrooms in the mushroom bed, a picking system for harvesting the mushrooms from the bed, and a control system for directing the picking system according to data acquired by the vision system. Various other components, sub-systems, and connected systems may also be integrated into or coupled to the automated harvester.