ES536384A0 - Procedimiento y aparato para recolectar frutas de arboles frutales - Google Patents

Procedimiento y aparato para recolectar frutas de arboles frutales

Info

Publication number
ES536384A0
ES536384A0 ES536384A ES536384A ES536384A0 ES 536384 A0 ES536384 A0 ES 536384A0 ES 536384 A ES536384 A ES 536384A ES 536384 A ES536384 A ES 536384A ES 536384 A0 ES536384 A0 ES 536384A0
Authority
ES
Spain
Prior art keywords
procedure
fruit trees
collecting fruits
fruits
collecting
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
ES536384A
Other languages
English (en)
Other versions
ES8600845A1 (es
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Martin Marietta Corp
Original Assignee
Martin Marietta Corp
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 Martin Marietta Corp filed Critical Martin Marietta Corp
Publication of ES536384A0 publication Critical patent/ES536384A0/es
Publication of ES8600845A1 publication Critical patent/ES8600845A1/es
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • A01D46/24—Devices for picking apples or like fruit
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S56/00—Harvesters
    • Y10S56/15—Condition responsive

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
ES536384A 1983-09-30 1984-09-28 Procedimiento y aparato para recolectar frutas de arboles frutales Expired ES8600845A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US06/537,833 US4532757A (en) 1983-09-30 1983-09-30 Robotic fruit harvester

Publications (2)

Publication Number Publication Date
ES536384A0 true ES536384A0 (es) 1985-10-16
ES8600845A1 ES8600845A1 (es) 1985-10-16

Family

ID=24144298

Family Applications (1)

Application Number Title Priority Date Filing Date
ES536384A Expired ES8600845A1 (es) 1983-09-30 1984-09-28 Procedimiento y aparato para recolectar frutas de arboles frutales

Country Status (5)

Country Link
US (1) US4532757A (es)
JP (1) JPS6098909A (es)
ES (1) ES8600845A1 (es)
IL (1) IL73070A (es)
IT (1) IT1176845B (es)

Families Citing this family (97)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4733457A (en) * 1985-02-04 1988-03-29 Metalmeccanica Gori & Zucchi M.G.Z. S.P.A. Apparatus for the automation of operative systems with mechanical hand or the like
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
FR2588719B1 (fr) * 1985-10-17 1993-06-18 Kubota Ltd Appareil automatique de recolte de fruits
FR2605834B1 (fr) * 1986-11-05 1989-01-06 Pellenc & Motte Machine robotisee, notamment pour la recolte de fruits
US4838010A (en) * 1987-06-29 1989-06-13 Deere & Company Electronics enclosure for an agricultural combine
US4873644A (en) * 1987-09-16 1989-10-10 Kubota, Ltd. Guide system for a working machine having a product identifying system
US5253302A (en) * 1989-02-28 1993-10-12 Robert Massen Method and arrangement for automatic optical classification of plants
GB2237491B (en) * 1989-11-03 1993-12-22 Priorlucky Ltd Harvesting of delicate produce
US5005347A (en) * 1990-01-12 1991-04-09 Du-Kedem Technologies, Ltd. Fruit picking device
FR2658624B1 (fr) * 1990-02-22 1993-06-18 Sagem Systeme de detection d'objets a localiser dans une scene, notamment pour robot de cueillette.
ES2036909B1 (es) * 1990-04-18 1994-01-01 Ind Albajar S A Sistema de vision artificial para la recoleccion robotizada de frutos.
HU210376B (en) * 1990-05-24 1995-04-28 Mezoegazdasagi Es Elelmiszerip Fruit-picking apparatus and method for looking for fruits
EP0494319B1 (de) * 1990-12-07 1996-03-13 Doll Fahrzeugbau Gmbh Entaster
NL9101205A (nl) * 1991-07-09 1993-02-01 Ccm Beheer Bv Inrichting en werkwijze voor het automatisch selectief oogsten van champignons.
KR950009344B1 (ko) * 1992-09-15 1995-08-21 주식회사삼성중공업 무궤도식 크레인 자동주향방법 및 그 장치
JP2732018B2 (ja) * 1993-10-12 1998-03-25 株式会社ミヤデン チップソー及びその製造方法
US6377881B1 (en) 1994-12-30 2002-04-23 Donald B. Mullins GPS guided ground-clearing apparatus and method
US6044316A (en) * 1994-12-30 2000-03-28 Mullins; Donald B. Method and apparatus for navigating a remotely guided brush cutting, chipping and clearing apparatus
US5666792A (en) * 1994-12-30 1997-09-16 Mullins; Donald B. Remotely guided brush cutting, chipping and clearing apparatus and method
US5544474A (en) * 1995-02-21 1996-08-13 Finkelstein; Zvi System for harvesting crop items and crop harvesting tools used therewith
FR2752940A1 (fr) * 1996-08-30 1998-03-06 Cemagref Procede et dispositif de determination d'une proportion entre des fruits et des corps etrangers et procede et machine de recolte de fruits
FR2760595B1 (fr) * 1997-03-13 1999-05-14 Tecnoma Procede de recolte d'objets portes par une tige, tels que des grappes de raisins
WO1998046065A1 (en) 1997-04-16 1998-10-22 Carnegie Mellon University Agricultural harvester with robotic control
US6155489A (en) * 1998-11-10 2000-12-05 Ncr Corporation Item checkout device including a bar code data collector and a produce data collector
US6332573B1 (en) 1998-11-10 2001-12-25 Ncr Corporation Produce data collector and produce recognition system
US6431446B1 (en) * 1999-07-28 2002-08-13 Ncr Corporation Produce recognition system and method
NL1013780C2 (nl) * 1999-12-07 2001-06-08 Inst Voor Milieu En Agritechni Werkwijze en inrichting voor het detecteren van waterrijke objecten.
US6520008B1 (en) * 2000-09-19 2003-02-18 Delaware Capital Formation Inc. Hydraulic movement measuring system
US7215420B2 (en) * 2001-03-22 2007-05-08 Werner Gellerman Optical method and apparatus for determining status of agricultural products
WO2006013593A1 (en) * 2004-08-06 2006-02-09 Valente Pali Precompressi Srl Automated fruit and vegetables picker
NL1027480C2 (nl) * 2004-11-10 2006-05-17 Beheersmij G A Ch M Jentjens B Inrichting voor het oogsten van aan een steel groeiende gewassen.
US20060150602A1 (en) * 2005-01-07 2006-07-13 Stimmann Eric M Method and apparatus for remotely assisted harvester
FI20055187A (fi) * 2005-04-22 2006-10-23 Green Automation Ltd Oy Laitteisto seinien poimimiseksi
ES2296452B2 (es) * 2005-06-29 2009-12-04 Universidad Politecnica De Madrid Detector de pedunculos y tallos vegetales basado en la designacion optica con laser de linea.
ES2253135B2 (es) * 2006-01-31 2006-12-16 Universidad Politecnica De Madrid Sistema de vision artificial para recolectar pequeños frutos cultivados en hileras.
WO2008008972A2 (en) * 2006-07-13 2008-01-17 George Gray Self propelled robotic fresh fruit picker
NZ587417A (en) * 2008-02-13 2012-04-27 Picker Technologies Llc Mobile system for improving the picking and preliminary processing of apples, citrus, stone fruit and like objects
NL2001479C2 (nl) * 2008-04-14 2009-10-19 Ronald Zeelen Werkwijze en inrichting voor het verwijderen van een blad.
US9357708B2 (en) * 2008-05-05 2016-06-07 Energid Technologies Corporation Flexible robotic manipulation mechanism
WO2010063075A1 (en) * 2008-12-03 2010-06-10 Magnificent Pty Ltd Crop picking device and method
US20110022231A1 (en) * 2009-07-25 2011-01-27 Jeffrey Walker Apparatuses, Systems and Methods for Automated Crop Picking
US20110047951A1 (en) 2009-08-25 2011-03-03 Francis Wilson Moore Fruit tree pruner and harvesting machine
US7926252B2 (en) * 2009-09-01 2011-04-19 Dbr Conveyor Concepts, Llc Pneumatic fruit decelerator apparatus and method
AU2009230787B1 (en) * 2009-09-18 2011-03-03 Fada Pty Ltd A Process and Apparatus for Grading and Packing Fruit
US8733240B2 (en) * 2011-09-09 2014-05-27 Joseph A. Randazzo System for automated destemming
US8997446B2 (en) 2011-10-17 2015-04-07 Dbr Conveyor Concepts, Llc Pneumatic fruit decelerator body
US11212962B2 (en) 2013-02-20 2022-01-04 Deere & Company Field condition determination
US10178828B2 (en) * 2013-02-20 2019-01-15 Deere & Company Per plant crop sensing resolution
AU2014307603B2 (en) 2013-08-16 2018-01-25 Husqvarna Ab Intelligent grounds management system integrating robotic rover
JP6511715B2 (ja) * 2013-10-31 2019-05-15 セイコーエプソン株式会社 ロボット制御装置、ロボットシステム、及びロボット
US11483975B2 (en) 2013-12-20 2022-11-01 Harvest Croo, Llc Harvester pick deck suspension
US9913428B2 (en) 2013-12-20 2018-03-13 Harvest Croo, Llc Individual plant location positioning
US9897429B2 (en) 2013-12-20 2018-02-20 Harvest Croo, Llc Harvester suspension
US9888630B2 (en) 2013-12-20 2018-02-13 Harvest Croo, Llc Robot positioning with station-keeping
US9888631B2 (en) 2013-12-20 2018-02-13 Harvest Croo, Llc Foliage holding
WO2015095661A1 (en) 2013-12-20 2015-06-25 Harvest Croo, Llc Automated selective harvesting of crops
US9554513B2 (en) 2013-12-20 2017-01-31 Harvest Croo, Llc Automated selective harvesting of crops with continuous offload
US10448578B2 (en) * 2014-07-21 2019-10-22 The Penn State Research Foundation Selective automated blossom thinning
US9462749B1 (en) 2015-04-24 2016-10-11 Harvest Moon Automation Inc. Selectively harvesting fruits
US9532508B1 (en) * 2015-04-27 2017-01-03 X Development Llc Tagging of fruit-producing flowers for robotic selective harvesting
US9468152B1 (en) 2015-06-09 2016-10-18 Harvest Moon Automation Inc. Plant pruning and husbandry
WO2017049304A1 (en) * 2015-09-18 2017-03-23 Carnegie Mellon University A self-guided blossom picking device
US10555460B2 (en) * 2015-10-05 2020-02-11 Amrita Vishwa Vidyapeetham Automated drone for harvesting produce
US10219448B2 (en) 2015-12-21 2019-03-05 International Business Machines Corporation Autonomous mobile platform and variable rate irrigation method for preventing frost damage
US10999977B2 (en) 2016-03-29 2021-05-11 Monsanto Technology Llc Stem sensor
CN115533875A (zh) * 2016-05-26 2022-12-30 精工爱普生株式会社 水平多关节型机器人
US9928584B2 (en) 2016-07-11 2018-03-27 Harvest Moon Automation Inc. Inspecting plants for contamination
US9965845B2 (en) 2016-07-11 2018-05-08 Harvest Moon Automation Inc. Methods and systems for inspecting plants for contamination
BE1024167B1 (nl) * 2017-03-22 2017-11-23 Octinion Bvba Inrichting voor het plukken van fruit met een verbeterde robotarm
WO2018015416A1 (en) 2016-07-19 2018-01-25 Octinion Bvba Device for picking fruit having an improved robot arm
US10238031B2 (en) * 2016-08-03 2019-03-26 D'arrigo Bros Co. Of California Harvester for leafy plants
US10462972B2 (en) 2016-09-15 2019-11-05 Harvestmoore, L.L.C. Methods for automated pruning and harvesting of fruit plants utilizing a graphic processor unit
DE102017204158A1 (de) * 2017-03-14 2018-09-20 Robert Bosch Gmbh Verfahren zum Erkennen mindestens eines Fortpflanzungsorgans einer Pflanze
GB201711768D0 (en) * 2017-07-21 2017-09-06 Xihelm Ltd Device for handling objects
CN107018754A (zh) * 2017-04-26 2017-08-08 广西职业技术学院 自动分级橘子采摘机
US11143261B2 (en) 2017-05-10 2021-10-12 Harvestmoore, L.L.C. Shock damping systems and methods for using shock damping systems
US10674666B2 (en) 2017-05-18 2020-06-09 Harvestmoore, L.L.C. End effectors for harvesting machines and methods for using end effectors
US10785912B2 (en) 2017-05-18 2020-09-29 Harvestmoore, L.L.C. End effectors for harvesting machines and methods for using end effectors
CN108551882B (zh) * 2018-01-17 2021-03-23 吕梁学院 一种塔式叶菜种植采摘机器人
CN108056073B (zh) * 2018-02-01 2023-07-28 重庆京渝瑞基测控仪器仪表制造有限公司 全智能柔性养蚕系统
CN109121708A (zh) * 2018-07-25 2019-01-04 贵州省望谟县明灿芒果种植有限公司 芒果采摘器
AU2019327467B2 (en) * 2018-08-31 2022-03-03 Abundant Robotics, Inc. Multiple channels for receiving dispensed fruit
WO2020089768A1 (en) * 2018-10-29 2020-05-07 Ffrobotics Ltd. Robotic fruit harvesting machine with fruit-pair picking and hybrid motorized-pneumatic robot arms
CN109566092B (zh) * 2019-01-24 2024-05-31 西北农林科技大学 一种用于竞赛的果实收获机器人控制系统
CN109847307B (zh) * 2019-01-29 2024-02-02 常州机电职业技术学院 一种投篮机器人
US11198529B2 (en) 2019-04-01 2021-12-14 Harvest Croo, Llc Apparatus and method for filling a container with fragile fruit
CN109874506A (zh) * 2019-04-08 2019-06-14 济南大学 一种可喷药或采摘的模块化仿生四足机器人
CN110249792A (zh) * 2019-07-05 2019-09-20 徐州市贾汪区贾汪镇宏发水蜜桃营销专业合作社 一种便于水蜜桃摘取的装置
US11285612B2 (en) * 2019-08-20 2022-03-29 X Development Llc Coordinating agricultural robots
CN110692355B (zh) * 2019-11-21 2021-02-19 江西理工大学 一种剑麻叶片自动采割收集装置
US20210267125A1 (en) * 2020-02-28 2021-09-02 The United States Of America, As Represented By The Secretary Of Agriculture System and method for harvesting fruit
CN112385398A (zh) * 2020-10-22 2021-02-23 成都大学 一种用于自动采摘农机的高精度定位方法
US11202409B1 (en) * 2021-02-05 2021-12-21 Tortuga Agricultural Technologies, Inc. Robotic harvesting system with a gantry system
CN113348871B (zh) * 2021-04-13 2023-05-02 陕西顶端果业科技有限公司 可升降式旋转摘锭平台
CN113317035B (zh) * 2021-05-25 2022-07-29 河南科技大学 一种水培生菜低损吸拔切茎采收装置
CN113940196B (zh) * 2021-09-30 2023-07-04 阿里云计算有限公司 采摘机器人、采摘方法、采摘机构及装箱机构
CN115380740B (zh) * 2022-09-22 2024-01-19 浙江工业大学之江学院 一种自动采摘的植物工厂

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3925973A (en) * 1974-11-19 1975-12-16 Starkey Caroline J Fruit picking apparatus
GR63081B (en) * 1979-07-31 1979-08-09 Tirogiannis Dimitrios Portable oil catcher or for other fruits
FR2495432A1 (fr) * 1980-12-09 1982-06-11 Enserb Robot ramasseur d'asperges

Also Published As

Publication number Publication date
JPS6098909A (ja) 1985-06-01
IL73070A0 (en) 1984-12-31
IL73070A (en) 1988-06-30
ES8600845A1 (es) 1985-10-16
US4532757A (en) 1985-08-06
IT8422888A0 (it) 1984-09-28
IT1176845B (it) 1987-08-18

Similar Documents

Publication Publication Date Title
ES536384A0 (es) Procedimiento y aparato para recolectar frutas de arboles frutales
GB8319807D0 (en) Apparatus for sorting fruits and vegetables
IT1115208B (it) Metodo ed apparecchio per la classificazione di frutta
FR2588719B1 (fr) Appareil automatique de recolte de fruits
ES521333A0 (es) Procedimiento y aparato para la recoleccion de maiz u otros frutos de grano.
MX9100211A (es) Aparato electrico para rebanar frutas y vegetales
IL71800A0 (en) Method and apparatus for extracting finished juices from fruits,vegetables and the like
MX7530E (es) Procedimiento y aparato para la deshidratacion de frutas
ZA822437B (en) Apparatus and method for separating the pulp from the skin of fruit such as tomatoes
ES515179A0 (es) "aparato de recoleccion de frutos y bayas mediante desprendimiento para cultivos en lineas".
AR219976A1 (es) Extractor de jugos para citricos y otras frutas
GB1549488A (en) Apparatus for removing calyxes and the like from fruits
FR2500273B1 (fr) Appareil pour peler et couper les fruits
FR2514227B1 (fr) Appareil de cueillette des fruits
IT1167003B (it) Apparecchio per la raccolta meccanica di frutta
GB2034607B (en) Fruit collecting and separating apparatus
FR2530402B1 (fr) Appareil de cueillette de fruits
ES277068Y (es) Dispositivo cortador y exprimidor de fruta
DK302188D0 (da) Fremgangsmaade og anlaeg til afrensning af rodfrugter
JPS54135293A (en) Fruit meat taking out apparatus for citrus fruits
ES506572A0 (es) Aparato para sacudir arboles y recolectar sus frutos
AR229436A1 (es) Aparato para cosechar bayas,y especialmente para vendimiar
IT1157461B (it) Cassetta particolarmente adatta per prodotti ortofrutticoli
IT8205123V0 (it) Cassetta particolarmente adatta per prodotti ortofrutticoli
YU230680A (en) Device for pasteurizing fruits and vegetables

Legal Events

Date Code Title Description
FD1A Patent lapsed

Effective date: 19990503