Device for picking fruit with robotic arm

A technology of robotic arms and fruits, applied in the direction of instruments, applications, picking machines, etc., can solve the problems of unsuitable harvesting of fruits or attached fruits

Active Publication Date: 2022-07-22
OCTINION ROBOTICS BV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, such a system is not suitable for harvesting fruit or appendages when there is no picking point where the fruit has weakened fibers when ripe, such as strawberries

Method used

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  • Device for picking fruit with robotic arm
  • Device for picking fruit with robotic arm
  • Device for picking fruit with robotic arm

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Embodiment Construction

[0034] figure 1 A graphical representation of a device 100 according to an embodiment of the present invention is shown. The apparatus 100 includes an optical detection device 110 configured to detect and spatially locate the fruit to be picked and hung from the plant. The optical detection device 110 may include, inter alia, one or more digital cameras that provide images that are analyzed to detect the fruit to be picked based on shape, size, color, and / or other desired criteria. The detection may in particular include an assessment of the ripeness of the fruit, so that only ripe fruit is picked.

[0035] Additionally or concurrently, certain measurable characteristics of the fruit can be detected, which can be used for quality classification (eg, size, estimated weight, uniformity of color, etc.). On the basis of this classification, the picked fruit can be sorted immediately and correctly.

[0036] The spatial position of the fruit to be picked can be determined by comb...

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Abstract

The invention relates to a device (100) for picking fruit, the device being provided with an optical detection device (110), a robotic arm (120) equipped with a gripper mechanism (130). The processing unit (140) actuates the robotic arm (120) to move the gripper mechanism (130) from below around the fruit to be picked. Once grasped, the fruit to be picked is rotated about a substantially horizontal axis in such a way that the stalk of the fruit is detached from the plant.

Description

technical field [0001] The present invention relates to tools for gardening, in particular to equipment for picking fruit. Background technique [0002] In fruit growing, picking ripe fruit is an important and labor-intensive aspect of the production process. Even today, this is still mostly done by hand. Over the past few years, attempts have been made to automate the fruit picking process. Thus, EP2371204A1 discloses a machine for automatically harvesting rows of fruit. The machine holds a fruit to be picked in a movable funnel, which is then cut from the plant. However, the use of the machine of EP2371204A1 is not suitable for very soft fruits, which are prone to damage during mechanized picking and where severing (cutting through) the stalk is not desirable. For this reason, some very soft types, such as strawberries, are still not used with pickers. Additionally, known systems are not suitable for performing sorting operations simultaneously. [0003] US2016 / 00735...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/30
CPCA01D46/30A01D45/006A01D46/24B25J15/10B25J19/021G05D2201/0201
Inventor 德莱斯·吉利斯皮尔特·邓丁塞巴斯蒂安·迪巴克贾恩·安东尼斯汤姆·科恩
Owner OCTINION ROBOTICS BV
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