BR112019007302A8 - Método para pegar e recolher matéria vegetal, sistema para pegar matéria vegetal e para coletar a matéria vegetal pega em uma bandeja tendo pelo menos um compartimento, e unidade de coleta - Google Patents

Método para pegar e recolher matéria vegetal, sistema para pegar matéria vegetal e para coletar a matéria vegetal pega em uma bandeja tendo pelo menos um compartimento, e unidade de coleta

Info

Publication number
BR112019007302A8
BR112019007302A8 BR112019007302A BR112019007302A BR112019007302A8 BR 112019007302 A8 BR112019007302 A8 BR 112019007302A8 BR 112019007302 A BR112019007302 A BR 112019007302A BR 112019007302 A BR112019007302 A BR 112019007302A BR 112019007302 A8 BR112019007302 A8 BR 112019007302A8
Authority
BR
Brazil
Prior art keywords
picking
plant matter
collection unit
collecting
plant
Prior art date
Application number
BR112019007302A
Other languages
English (en)
Other versions
BR112019007302B1 (pt
BR112019007302A2 (pt
Inventor
Cornelis Adrianus Gerardus Verbocht Kevin
Van Den Berg Mark
Petrus Adrianus Roeland Voermans Wilhelmus
Original Assignee
Rijk Zwaan Zaadteelt En Zaadhandel Bv
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 Rijk Zwaan Zaadteelt En Zaadhandel Bv filed Critical Rijk Zwaan Zaadteelt En Zaadhandel Bv
Publication of BR112019007302A2 publication Critical patent/BR112019007302A2/pt
Publication of BR112019007302A8 publication Critical patent/BR112019007302A8/pt
Publication of BR112019007302B1 publication Critical patent/BR112019007302B1/pt

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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
    • A01H4/00—Plant reproduction by tissue culture techniques ; Tissue culture techniques therefor
    • A01H4/005—Methods for micropropagation; Vegetative plant propagation using cell or tissue culture techniques
    • A01H4/006—Encapsulated embryos for plant reproduction, e.g. artificial seeds
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Biochemistry (AREA)
  • Robotics (AREA)
  • Biotechnology (AREA)
  • Pathology (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Immunology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Organic Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Developmental Biology & Embryology (AREA)
  • Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Environmental Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cell Biology (AREA)
  • Genetics & Genomics (AREA)
  • Sustainable Development (AREA)
  • Computer Hardware Design (AREA)
  • Microbiology (AREA)
  • Marketing (AREA)
  • Tourism & Hospitality (AREA)
  • Strategic Management (AREA)
  • Agronomy & Crop Science (AREA)
  • General Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Animal Husbandry (AREA)
  • Primary Health Care (AREA)
  • Economics (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Mining & Mineral Resources (AREA)

Abstract

a invenção se refere a um método e sistema para pegar e recolher matéria vegetal, em particular embriões de planta. para pegar a matéria vegetal, uma unidade de coleta é usada que é montada em um braço robótico. de acordo com a invenção, duas etapas de imageamento separadas são executadas em duas posições diferentes da unidade de coleta. a primeira etapa de imageamento é executada para identificar um pedaço isolado de matéria vegetal. a segunda etapa de imageamento é executada quando a unidade de coleta está em uma posição de confirmação e permite uma verificação de se um pedaço de matéria vegetal foi pego ou não. a posição de confirmação está entre a posição da unidade de coleta para pegar matéria vegetal e a posição para depositar matéria vegetal em receptáculos adequados
BR112019007302-7A 2016-10-10 2017-10-06 Método para pegar e recolher matéria vegetal, sistema para pegar matéria vegetal e para coletar a matéria vegetal pega em uma bandeja tendo pelo menos um compartimento, e unidade de coleta BR112019007302B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NL2017599A NL2017599B1 (en) 2016-10-10 2016-10-10 Method and system for picking up and collecting plant matter
NLPCT/NL2017/050658 2017-10-06
PCT/NL2017/050658 WO2018070866A1 (en) 2016-10-10 2017-10-06 Method and system for picking up and collecting plant matter

Publications (3)

Publication Number Publication Date
BR112019007302A2 BR112019007302A2 (pt) 2019-07-02
BR112019007302A8 true BR112019007302A8 (pt) 2022-05-17
BR112019007302B1 BR112019007302B1 (pt) 2023-03-07

Family

ID=57796908

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112019007302-7A BR112019007302B1 (pt) 2016-10-10 2017-10-06 Método para pegar e recolher matéria vegetal, sistema para pegar matéria vegetal e para coletar a matéria vegetal pega em uma bandeja tendo pelo menos um compartimento, e unidade de coleta

Country Status (9)

Country Link
US (1) US11641803B2 (pt)
EP (1) EP3523619B1 (pt)
CN (1) CN110114653B (pt)
BR (1) BR112019007302B1 (pt)
CA (1) CA3039949A1 (pt)
DK (1) DK3523619T3 (pt)
FI (1) FI3523619T3 (pt)
NL (1) NL2017599B1 (pt)
WO (1) WO2018070866A1 (pt)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020047211A1 (en) * 2018-08-31 2020-03-05 Abundant Robotics, Inc. Multiple channels for receiving dispensed fruit
JP7204513B2 (ja) * 2019-02-13 2023-01-16 株式会社東芝 制御装置及びプログラム
US11526997B2 (en) * 2019-12-21 2022-12-13 Verdant Robotics, Inc. Targeting agricultural objects to apply units of treatment autonomously
CN112243698B (zh) 2020-10-22 2021-08-13 安徽农业大学 一种基于多传感器融合技术的核桃自动化采摘及收集方法

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CA2381905C (en) * 1999-08-23 2005-05-24 Edwin Hirahara An embryo delivery system for manufactured seeds
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US7530197B2 (en) * 2003-06-30 2009-05-12 Weyerhaeuser Co. Automated system and method for harvesting and multi-stage screening of plant embryos
CA2484533C (en) * 2003-11-25 2008-12-02 Weyerhaeuser Company Systems and method of embryo delivery for manufactured seeds
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US10119108B2 (en) * 2013-08-01 2018-11-06 Sartorius Stedim Biotech Gmbh Manufacturing within a single-use container
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WO2016036697A1 (en) * 2014-09-05 2016-03-10 Progyny, Inc. Methods of detecting embryo mosaicism
CN105523222A (zh) * 2014-10-22 2016-04-27 深圳富泰宏精密工业有限公司 整列机构
CN104438095A (zh) * 2014-12-12 2015-03-25 杭州郝姆斯食品有限公司 一种自动分拣出货设备及分拣出货的方法
CN204448619U (zh) * 2014-12-23 2015-07-08 中国农业大学 一种种子实时在线分选装置
WO2016148905A1 (en) * 2015-03-19 2016-09-22 President And Fellows Of Harvard College Flim for differentiating old and young oocytes
NL2014637B1 (nl) * 2015-04-14 2016-12-16 Rijk Zwaan Zaadteelt En Zaadhandel Bv Systeem en werkwijze voor het zaaien van zaden.
US10552951B2 (en) * 2015-06-16 2020-02-04 Growtonix, LLC Autonomous plant growing systems

Also Published As

Publication number Publication date
NL2017599B1 (en) 2018-04-16
CN110114653B (zh) 2022-12-16
CA3039949A1 (en) 2018-04-19
CN110114653A (zh) 2019-08-09
DK3523619T3 (da) 2024-03-18
WO2018070866A1 (en) 2018-04-19
US20190281765A1 (en) 2019-09-19
EP3523619A1 (en) 2019-08-14
US11641803B2 (en) 2023-05-09
WO2018070866A8 (en) 2019-05-16
BR112019007302B1 (pt) 2023-03-07
BR112019007302A2 (pt) 2019-07-02
FI3523619T3 (fi) 2024-03-28
EP3523619B1 (en) 2024-02-28

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Legal Events

Date Code Title Description
B350 Update of information on the portal [chapter 15.35 patent gazette]
B06W Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

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