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WO2006013593A1 - Cueilleur automatique de fruits et de légumes - Google Patents

Cueilleur automatique de fruits et de légumes Download PDF

Info

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
Application number
PCT/IT2004/000449
Other languages
English (en)
Inventor
Alessandro Valente
Alberto Valente
Riccardo Valente
Edoardo Valente
Original Assignee
Valente Pali Precompressi Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valente Pali Precompressi Srl filed Critical Valente Pali Precompressi Srl
Priority to PCT/IT2004/000449 priority Critical patent/WO2006013593A1/fr
Publication of WO2006013593A1 publication Critical patent/WO2006013593A1/fr

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).

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

La présente invention concerne un appareil qui est un cueilleur de fruits et de légumes comprenant un robot (R) avec au moins six degrés de liberté, muni d’un élément de préhension (O) sur le bord d'extrémité (F), au moins une paire de caméras vidéo (T1, T2) muni d'un logiciel pour l'élaboration d'images et un logiciel pour la détermination de la position du fruit (M) à cueillir, un chariot (C) conçu pour porter ledit robot et lesdites caméras vidéo, un dispositif de contrôle, également porté par le chariot, qui reçoit comme entrée un signal des caméras vidéo, notamment les coordonnées spatiales du fruit à ramasser et envoie comme sortie un signal de contrôle dudit robot. Dans ce cas, chaque mouvement dudit robot est décidé par le signal émis par le dispositif de contrôle.
PCT/IT2004/000449 2004-08-06 2004-08-06 Cueilleur automatique de fruits et de légumes WO2006013593A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IT2004/000449 WO2006013593A1 (fr) 2004-08-06 2004-08-06 Cueilleur automatique de fruits et de légumes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IT2004/000449 WO2006013593A1 (fr) 2004-08-06 2004-08-06 Cueilleur automatique de fruits et de légumes

Publications (1)

Publication Number Publication Date
WO2006013593A1 true WO2006013593A1 (fr) 2006-02-09

Family

ID=34958502

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IT2004/000449 WO2006013593A1 (fr) 2004-08-06 2004-08-06 Cueilleur automatique de fruits et de légumes

Country Status (1)

Country Link
WO (1) WO2006013593A1 (fr)

Cited By (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008037035A1 (fr) * 2006-09-28 2008-04-03 Katholieke Universiteit Leuven Machine cueilleuse de fruits autonome
CN103299776A (zh) * 2013-05-29 2013-09-18 西北农林科技大学 一种果实采摘机器人三指灵巧手
CN103348819A (zh) * 2013-07-12 2013-10-16 中南林业科技大学 一种油茶果采摘方法及其油茶果采摘机器人
CN103503637A (zh) * 2013-10-14 2014-01-15 青岛农业大学 智能辨识采摘机器人及采摘方法
WO2015003513A1 (fr) * 2013-07-12 2015-01-15 中南林业科技大学 Robot et procédé permettant de cueillir des fruits de camellia oleifera
CN104396449A (zh) * 2014-09-26 2015-03-11 山东理工大学 一种遥控自走气吸梳摘转碗输送带式淸选分级梨采摘机
CN103548494B (zh) * 2013-10-31 2015-11-25 詹博锦 一种基于机器视觉的果实采摘方法及其手提式移动采摘设备
CN105103795A (zh) * 2015-09-02 2015-12-02 山东农业大学 樱桃采摘机械人末端执行器
WO2016132264A1 (fr) * 2015-02-22 2016-08-25 Ffmh-Tech Ltd. Machine de récolte multi-robot
CN106171298A (zh) * 2016-08-24 2016-12-07 李传慧 一种用于树上果实自动摘取装置
CN106385979A (zh) * 2016-08-30 2017-02-15 钟山县橙浩水果种植专业合作社 一种智能采摘果实装置
CN106982597A (zh) * 2017-05-17 2017-07-28 广西科技大学鹿山学院 一种塔吊式自动水果采摘装置
CN107593112A (zh) * 2017-09-12 2018-01-19 沈阳建筑大学 一种基于物联网的智能果实采摘机及其使用方法
CN107736130A (zh) * 2017-11-22 2018-02-27 蓬安县斯创格汽车配件科技有限公司 一种桑叶自动采摘机
CN107750645A (zh) * 2017-11-01 2018-03-06 绍兴职业技术学院 一种采摘机器人
CN107873241A (zh) * 2017-11-22 2018-04-06 蓬安县斯创格汽车配件科技有限公司 一种养蚕桑叶自动采摘方法
CN108243726A (zh) * 2018-01-18 2018-07-06 连雪芳 一种山核桃采摘机器人设备
CN108353622A (zh) * 2018-03-15 2018-08-03 广东工业大学 一种全自动菠萝采摘方法
EP3366107A1 (fr) * 2017-02-23 2018-08-29 Panasonic Corporation Appareil et procédé de récolte
CN108718680A (zh) * 2018-04-27 2018-11-02 昆明理工大学 一种玫瑰花采摘装置
CN108718704A (zh) * 2018-04-18 2018-11-02 常州大学 一种人机交互式野外果蔬采收机器人系统及其采收方法
CN108811766A (zh) * 2018-07-06 2018-11-16 常州大学 一种人机交互式温室果蔬采收机器人系统及其采收方法
CN108858129A (zh) * 2018-08-01 2018-11-23 方鲸联合科技（惠州）有限公司 一种果园快速组装采摘智能系统
CN109049004A (zh) * 2018-10-31 2018-12-21 西北农林科技大学 一种采摘机器人竞赛场地
CN109123718A (zh) * 2018-09-23 2019-01-04 宁波高智科技咨询服务有限公司 一种可调节的果物激光打标装置
CN109202848A (zh) * 2018-09-12 2019-01-15 西南大学 基于Leap Motion与机器视觉的人机协作采摘机器人及其控制方法
CN111247963A (zh) * 2020-03-27 2020-06-09 华南农业大学 一种香蕉智能采收系统
WO2020154473A1 (fr) * 2019-01-24 2020-07-30 Ceres Innovation, Llc Moissonneuse dotée de capacités de préhension robotiques
CN111656960A (zh) * 2020-07-20 2020-09-15 湖南翰坤实业有限公司 一种采摘机械臂和智能摘果机
CN113330916A (zh) * 2021-07-07 2021-09-03 青岛理工大学 一种葡萄采摘机构、一体化装置及方法
US20210337734A1 (en) * 2018-10-08 2021-11-04 Advanced Farm Technologies, Inc. Autonomous crop harvester
JP2022006698A (ja) * 2020-06-24 2022-01-13 株式会社クボタ 農業用ロボット
US20220081226A1 (en) * 2020-09-14 2022-03-17 Yamaha Hatsudoki Kabushiki Kaisha Movable harvesting apparatus and harvesting unit
CN114451146A (zh) * 2022-01-27 2022-05-10 浙江小远机器人有限公司 一种果蔬采摘方法及系统
CN114467485A (zh) * 2022-01-07 2022-05-13 深圳喜沃生态科技有限公司 一种具有喷雾器机构的蔬菜采摘用小车
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 (fr) * 2021-10-22 2023-06-15 Ai. Land Gmbh Système pour l'exploitation d'une surface agricole utile et procédé correspondant
WO2023154267A1 (fr) * 2022-02-09 2023-08-17 Advanced Farm Technologies, Inc. Effecteur terminal pour le prélèvement d'articles
CN116686547A (zh) * 2023-07-11 2023-09-05 合肥工业大学智能制造技术研究院 一种基于机器视觉和人工智能的蔬果采摘机器人系统
CN117260760A (zh) * 2023-10-07 2023-12-22 苏州博田自动化技术有限公司 一种采摘机器人自动换框运输车
DE102023113950A1 (de) 2023-05-26 2024-11-28 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Erntevorrichtung
WO2024255962A3 (fr) * 2023-06-13 2025-03-27 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulateur à bras articulé pour une machine de récolte

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Cited By (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008037035A1 (fr) * 2006-09-28 2008-04-03 Katholieke Universiteit Leuven Machine cueilleuse de fruits autonome
CN103299776A (zh) * 2013-05-29 2013-09-18 西北农林科技大学 一种果实采摘机器人三指灵巧手
CN103348819A (zh) * 2013-07-12 2013-10-16 中南林业科技大学 一种油茶果采摘方法及其油茶果采摘机器人
WO2015003513A1 (fr) * 2013-07-12 2015-01-15 中南林业科技大学 Robot et procédé permettant de cueillir des fruits de camellia oleifera
CN103503637B (zh) * 2013-10-14 2016-05-25 青岛农业大学 智能辨识采摘机器人及采摘方法
CN103503637A (zh) * 2013-10-14 2014-01-15 青岛农业大学 智能辨识采摘机器人及采摘方法
CN103548494B (zh) * 2013-10-31 2015-11-25 詹博锦 一种基于机器视觉的果实采摘方法及其手提式移动采摘设备
CN104396449B (zh) * 2014-09-26 2016-02-03 山东理工大学 一种遥控自走气吸梳摘转碗输送带式清选分级梨采摘机
CN104396449A (zh) * 2014-09-26 2015-03-11 山东理工大学 一种遥控自走气吸梳摘转碗输送带式淸选分级梨采摘机
WO2016132264A1 (fr) * 2015-02-22 2016-08-25 Ffmh-Tech Ltd. Machine de récolte multi-robot
US9475189B2 (en) 2015-02-22 2016-10-25 Ffmh-Tech Ltd. Multi-robot crop harvesting machine
CN105103795A (zh) * 2015-09-02 2015-12-02 山东农业大学 樱桃采摘机械人末端执行器
US11470781B2 (en) * 2016-06-07 2022-10-18 Kms Projects Limited Method and apparatus for selectively harvesting crops
CN106171298B (zh) * 2016-08-24 2018-10-12 山东黄河三角洲慢城建设有限公司 一种用于树上果实自动摘取装置
CN106171298A (zh) * 2016-08-24 2016-12-07 李传慧 一种用于树上果实自动摘取装置
CN106385979A (zh) * 2016-08-30 2017-02-15 钟山县橙浩水果种植专业合作社 一种智能采摘果实装置
EP3366107A1 (fr) * 2017-02-23 2018-08-29 Panasonic Corporation Appareil et procédé de récolte
JP2018134059A (ja) * 2017-02-23 2018-08-30 パナソニック株式会社 収穫装置及び収穫方法
CN108496538A (zh) * 2017-02-23 2018-09-07 松下电器产业株式会社 收割装置及收割方法
CN106982597A (zh) * 2017-05-17 2017-07-28 广西科技大学鹿山学院 一种塔吊式自动水果采摘装置
CN107593112A (zh) * 2017-09-12 2018-01-19 沈阳建筑大学 一种基于物联网的智能果实采摘机及其使用方法
CN107750645A (zh) * 2017-11-01 2018-03-06 绍兴职业技术学院 一种采摘机器人
CN107873241A (zh) * 2017-11-22 2018-04-06 蓬安县斯创格汽车配件科技有限公司 一种养蚕桑叶自动采摘方法
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