Robotic Fruit Picking End Effector with Suction and Grippers
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Solution Overview
Problem
Existing robotic fruit picking apparatuses are inefficient and unreliable due to challenges in accurately identifying and grasping fruit, as well as navigating around obstacles.
Innovation Solution
A robotic fruit picking apparatus equipped with a vision system for identifying fruit, an end effector featuring multiple gripper fingers and an extendable suction element, and a control system that operates in different modes to manage the suction element and gripper movements for effective fruit picking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a robotic apparatus is used for fruit picking, then labor cost is reduced and production levels increase, but the efficiency and reliability of fruit picking deteriorates
Solution Approach 1:
The end effector combines multiple gripping mechanisms (gripper fingers and suction element) into a single integrated tool that can securely hold fruit using either mechanical grip or suction, or both simultaneously, thereby improving reliability while maintaining high productivity
Solution Approach 2:
The end effector is designed with multi-functionality to adapt to different fruit types and sizes through the coordinated action of gripper fingers and suction element, allowing the robotic system to reliably pick various fruits without requiring separate specialized tools for each fruit type
2Extent of automation
If existing robotic apparatuses are used for fruit picking, then automation is achieved, but the accuracy of fruit identification and grasping deteriorates
Solution Approach 1:
The vision system continuously captures images of the orchard environment and feeds this information back to the control system, which processes the data to identify fruit locations and characteristics in real-time, enabling accurate fruit identification and positioning for the robotic arm
Solution Approach 2:
The vision system performs preliminary identification and classification of fruit before the robotic arm reaches them, allowing the control system to pre-plan the optimal approach path and gripping method, thereby improving both identification accuracy and picking reliability
3Extent of automation
If existing robotic apparatuses are used for fruit picking, then automation is achieved, but the reliability of fruit grasping deteriorates
Solution Approach 1:
The end effector merges mechanical gripping (gripper fingers) and suction-based holding into a single coordinated system that can securely grasp fruit using either method or both simultaneously, significantly improving grasping reliability compared to single-method systems
Solution Approach 2:
The end effector employs dynamic control where the gripper fingers and suction element can independently adjust their state based on real-time feedback about the fruit being grasped, allowing the system to adapt to different fruit textures, sizes, and shapes to maintain reliable contact
4Reliability
If a complex end effector with multiple gripper fingers and suction element is used, then fruit grasping reliability is improved, but device complexity increases
Solution Approach 1:
Multiple gripping functions are merged into a single end effector assembly where the gripper fingers and suction element work together as an integrated unit, sharing common actuation mechanisms and control logic, thereby reducing overall system complexity despite the multi-functional capability
Solution Approach 2:
The end effector is designed as a universal tool that can handle various fruit types through the coordinated action of its components, eliminating the need for multiple specialized gripping tools and reducing overall system complexity while maintaining high reliability across different applications
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus achieves efficient and reliable fruit picking by accurately identifying fruit, securely grasping them using a combination of suction and gripper mechanisms, and navigating around obstacles to optimize fruit retrieval.
Implementation Method 1
a suction element extendable from the end effector; a control system configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on the movement of the piece of fruit
Data Source
AI summary
Embodiments relate generally to a robotic fruit picking apparatus and a method of picking fruit. An example apparatus includes: a chassis; a robotic arm supported by the chassis and having an end effector, wherein the end effector includes a plurality of grippers and an extendable suction element; a vision system carried by the chassis and configured to identify pieces of fruit for picking; and a control system carried by the chassis and in communication with the vision system to control the robotic arm to pick identified pieces of fruit using the end effector. The control system may be configured to operate in a first mode to control the extendable suction element to extend the suction element towards a piece of fruit. The control system may be further configured to operate in a second mode following the first mode to retain contact with the piece of fruit by applying suction while freely allowing extension or retraction of the suction element based on movement of the piece of fruit.