GB2607326B - Apparatus and systems for selective crop harvesting - Google Patents

Apparatus and systems for selective crop harvesting Download PDF

Info

Publication number
GB2607326B
GB2607326B GB2107942.1A GB202107942A GB2607326B GB 2607326 B GB2607326 B GB 2607326B GB 202107942 A GB202107942 A GB 202107942A GB 2607326 B GB2607326 B GB 2607326B
Authority
GB
United Kingdom
Prior art keywords
systems
crop harvesting
selective
selective crop
harvesting
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.)
Active
Application number
GB2107942.1A
Other versions
GB2607326A (en
GB202107942D0 (en
Inventor
Masoud Ghalamzan Esfahani Amir
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.)
University of Lincoln
Original Assignee
University of Lincoln
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 University of Lincoln filed Critical University of Lincoln
Priority to GB2107942.1A priority Critical patent/GB2607326B/en
Publication of GB202107942D0 publication Critical patent/GB202107942D0/en
Priority to GBGB2114906.7A priority patent/GB202114906D0/en
Priority to PCT/GB2022/051386 priority patent/WO2022254203A1/en
Publication of GB2607326A publication Critical patent/GB2607326A/en
Application granted granted Critical
Publication of GB2607326B publication Critical patent/GB2607326B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • 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
    • 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
    • B25J11/0045—Manipulators used in the food industry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of 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
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45003—Harvester
GB2107942.1A 2021-06-03 2021-06-03 Apparatus and systems for selective crop harvesting Active GB2607326B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
GB2107942.1A GB2607326B (en) 2021-06-03 2021-06-03 Apparatus and systems for selective crop harvesting
GBGB2114906.7A GB202114906D0 (en) 2021-06-03 2021-10-19 Apparatus and system for selective crop harvesting
PCT/GB2022/051386 WO2022254203A1 (en) 2021-06-03 2022-06-01 Apparatus and system for selective crop harvesting

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2107942.1A GB2607326B (en) 2021-06-03 2021-06-03 Apparatus and systems for selective crop harvesting

Publications (3)

Publication Number Publication Date
GB202107942D0 GB202107942D0 (en) 2021-07-21
GB2607326A GB2607326A (en) 2022-12-07
GB2607326B true GB2607326B (en) 2023-07-19

Family

ID=76838790

Family Applications (2)

Application Number Title Priority Date Filing Date
GB2107942.1A Active GB2607326B (en) 2021-06-03 2021-06-03 Apparatus and systems for selective crop harvesting
GBGB2114906.7A Ceased GB202114906D0 (en) 2021-06-03 2021-10-19 Apparatus and system for selective crop harvesting

Family Applications After (1)

Application Number Title Priority Date Filing Date
GBGB2114906.7A Ceased GB202114906D0 (en) 2021-06-03 2021-10-19 Apparatus and system for selective crop harvesting

Country Status (1)

Country Link
GB (2) GB2607326B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007088225A1 (en) * 2006-01-31 2007-08-09 Universidad Politécnica de Madrid Computer vision system for picking small row-cultivated fruits
US20100292841A1 (en) * 2009-05-13 2010-11-18 Wickham Joseph S Robot with 3d grasping capability
JP2011211969A (en) * 2010-03-31 2011-10-27 National Agriculture & Food Research Organization Peduncle removing apparatus and fruit harvesting apparatus
CN102577755A (en) * 2012-02-17 2012-07-18 中国农业大学 Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot
KR101405858B1 (en) * 2013-12-04 2014-06-16 안성훈 Robot apparatus for harvesting fruit
CN108551883A (en) * 2018-06-25 2018-09-21 南京工程学院 A kind of terminal executor of picking robot
EP3539735A1 (en) * 2018-03-13 2019-09-18 Soluciones Robóticas Agrícolas S.L. Robotic arm end effector for fruit harvesting
US20210212257A1 (en) * 2019-01-30 2021-07-15 Shenzhen University Fruit and vegetable picking method and device based on machine vision and storage medium
WO2021144955A1 (en) * 2020-01-17 2021-07-22 Ａｇｒｉｓｔ株式会社 Harvesting device and harvesting system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007088225A1 (en) * 2006-01-31 2007-08-09 Universidad Politécnica de Madrid Computer vision system for picking small row-cultivated fruits
US20100292841A1 (en) * 2009-05-13 2010-11-18 Wickham Joseph S Robot with 3d grasping capability
JP2011211969A (en) * 2010-03-31 2011-10-27 National Agriculture & Food Research Organization Peduncle removing apparatus and fruit harvesting apparatus
CN102577755A (en) * 2012-02-17 2012-07-18 中国农业大学 Accurate picking actuating mechanism of strawberry picking robot and ridge-culture strawberry picking robot
KR101405858B1 (en) * 2013-12-04 2014-06-16 안성훈 Robot apparatus for harvesting fruit
EP3539735A1 (en) * 2018-03-13 2019-09-18 Soluciones Robóticas Agrícolas S.L. Robotic arm end effector for fruit harvesting
CN108551883A (en) * 2018-06-25 2018-09-21 南京工程学院 A kind of terminal executor of picking robot
US20210212257A1 (en) * 2019-01-30 2021-07-15 Shenzhen University Fruit and vegetable picking method and device based on machine vision and storage medium
WO2021144955A1 (en) * 2020-01-17 2021-07-22 Ａｇｒｉｓｔ株式会社 Harvesting device and harvesting system

Also Published As

Publication number Publication date
GB2607326A (en) 2022-12-07
GB202107942D0 (en) 2021-07-21
GB202114906D0 (en) 2021-12-01

Similar Documents

Publication Publication Date Title
GB2598012B (en) System and method for crop monitoring
EP3897111A4 (en) System and method for directing livestock animal
IL284010A (en) Autonomous crop monitoring system and method
EP4072270A4 (en) System, method and apparatus for integration of field, crop and irrigation equipment data for irrigation management
IL284715A (en) System and method for autonomous harvester installation and farm harvesting operation
ZA202005963B (en) Produce harvesting apparatus and precision farming system
EP3998843C0 (en) Treatment system for agricultural plants
IL277202A (en) System and method for harvesting aquatic plants
EP4140286A4 (en) Crop harvesting method, crop harvesting device, and crop harvesting system
IL282131A (en) Apparatus, system and method for watering plants
EP4009774A4 (en) Aeroponic farming system and method for aeroponic farming
GB2607326B (en) Apparatus and systems for selective crop harvesting
IL273316B (en) Device and method for fruit harvesting
PL3703487T3 (en) Method for harvesting grain crops, and apparatus, provided therefor, for a harvester
EP4128076A4 (en) Method and system for crop loss estimation
GB202007963D0 (en) Forage harvester adjustment apparatus
IL277820A (en) Crop harvesting system
GB202000407D0 (en) Methods and imaging systems for harvesting
GB202003262D0 (en) Crop monitoring system and method
IL276927A (en) End-effector for crop harvesting and crop harvesting system
GB202100406D0 (en) Crop test-weight system
GB202208175D0 (en) Apparatus and systems for breeding insects
GB2606818B (en) Farming system and method
GB2601048B (en) Crop production system and method
GB202007966D0 (en) Forage harvester adjustment apparatus