NO20210515A1 - Robotic plant crop picker end effector - Google Patents
Robotic plant crop picker end effector Download PDFInfo
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- NO20210515A1 NO20210515A1 NO20210515A NO20210515A NO20210515A1 NO 20210515 A1 NO20210515 A1 NO 20210515A1 NO 20210515 A NO20210515 A NO 20210515A NO 20210515 A NO20210515 A NO 20210515A NO 20210515 A1 NO20210515 A1 NO 20210515A1
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- Prior art keywords
- cutter
- end effector
- crop
- section
- actuator element
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- 239000012636 effector Substances 0.000 title claims description 67
- 238000003306 harvesting Methods 0.000 claims description 19
- 230000001419 dependent effect Effects 0.000 description 35
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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
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Manipulator (AREA)
Description
ROBOTIC PLANT CROP PICKER END EFFECTOR
TECHNICAL FIELD
[0001] The present invention relates to harvesting of plant crops, such as vegetables and fruits, and more specifically to automated harvesting, such as harvesting robots, and end effectors for harvesting robots specifically developed for harvesting of such crops.
BACKGROUND
[0002] The term plant crop is used here to include at least fruits and vegetables. Fruit used in this application refers to the usually edible reproductive body of a seed plant and may be defined as the seed-bearing structure in flowering plants formed from the ovary after flowering. Berries, drupes and aggregate fruits are sub-categories of fruit. Examples of fruits could be grapes, currants, tomatoes, cucumbers, eggplants, peppers, bananas, strawberries, raspberries, blackberries, blueberries, avocados, jujube, mango, olive, dates, coconuts, açaí, sabal, pistachio, white sapote, cashew, almond, apricot, cherry, damson, peach, nectarine, plum, apple, loquat, peach, cherries, pecans, amlas, sloe, ivy etc.
Vegetables may refer to e.g., lettuce, broccoli, cauliflower, cabbage etc.
[0003] A harvesting process can often be seen as two different but interrelated subprocesses, where the first is the perception process, i.e., the ability to detect, identify and isolate individual crops under different environmental conditions. The second process is manipulation, which is related to harvesting and gentle collection of the crop while maintaining the quality of both the crop and the plant.
[0004] Perception requires a combination of sensor systems and robotics. Often the perception depends on the distance from the crop, and after a scanning phase, where the purpose is to get an overview of possible crop locations, the sensors are moved closer to the target crop to obtain more detailed information from the same sensor or from different sensors.
[0005] For the manipulation, it is common to use an end effector on a robotic arm of a harvesting machine. One way of characterizing the end effectors, is to group them based on the technology used for picking.
[0006] One such group of end-effectors uses vacuum to tear the crop off. This seems to work well for fruits of certain types, such as apples. However, when the stalk is stiff and/or the crop is soft, vacuum may easily harm the crop during harvesting.
[0007] Another type of end effector is based on grippers.
[0008] WO2020076616A1 discloses an end effector with a longitudinal shaft, where a suction device is connected to the end of the shaft. In addition, a plurality of fingers are configured to grip the fruit, once sucked in by the suction device.
[0009] Yet another type of end effector uses knives or scissors to cut the stalk.
[0010] CN108834575 A describes two cutting knives of semi-circular shapes, arranged on a cylindrical inlet of a fruit compartment. The inner arc sides of the cutting knifes have a sawtooth structure. One end of the cutting knives are fixed to a common pin on the inlet, and the cutting knives rotate in opposite directions across the inlet about the pins when operated by pressurized air on a push plate opposite the pin. A spring forces the knives back to the initial position after cutting.
[0011] In general, it has been found that the success rate for crop picking is still low for a number of crops, such as e.g., strawberry, mostly due to insufficient end effector capabilities in efficiently perceiving and manipulating the crop.
SHORT SUMMARY
[0012] The invention is a robotic plant crop picker end effector as set out in the independent claims, where the problem identified above has been addressed.
[0013] The invention has one or more of the following advantages over prior art.
[0014] First of all, the result of the cutting process is more reliable and predictable than by the prior art solutions.
[0015] The cutting mechanism of the end effector requires very little space, which in general improves accessibility. This is of specific importance for crops growing in clusters.
[0016] There are no protruding elements that may unintentionally interfere with crops or stalks nearby.
[0017] The end effector allows for fast detection and picking of crop, which could improve the overall yield of the automated crop picker.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Fig. 1 illustrates in a rear-right perspective view, a robotic plant crop harvesting end effector (1) according to an embodiment of the invention. The end effector is moved by the robotic arm such that the crop enters into the cutter space through the crop entrance (31). A first optical detector is arranged close to the robotic arm interface (10) and may be used for crop detection and control of the end effector. After the stalk of the crop has been cut by the cutter, the crop will move through an internal conveyer by gravity until it ends up in the second compartment (6) acting as a crop bin. A lid over the drive section (45) has been intentionally left out in the drawing.
[0019] Fig. 2 illustrates the same end effector as in Fig. 1 in a front-right perspective view. The second optical detector (9) is arranged to detect from underneath a crop inside the cutter through a hole in the wall of the conveyor (5).
[0020] Fig. 3 illustrates the same embodiment as in Fig. 1 and Fig. 2, in a rear-left perspective view. Here, the drive section (45) comprising an electric motor with a pulley and a belt can be seen. The belt operates a pulley part of the second actuator element (not visible here). When the second operator element rotates in one direction, the cutter will move from a rest position to an actuated position, and when rotating in the opposite direction, it will return from the actuated position to the rest position, where the cutter (4) is ready to receive a new crop. Part of the housing is left out in the drawing to illustrate the end of the conveyor (5).
[0021] Fig. 4a illustrates a top view of the cutter (4) of the robotic plant crop harvesting end effector (1) according to an embodiment of the invention. The cutter is here in a rest position (r), and the crop to be picked can enter into the first compartment (3) through the crop entrance (31) without being obstructed by the cutter elements. Bold reference number indicates that the element remains stationary during actuation.
[0022] Fig. 4e illustrate a perspective section view the same embodiment as in Fig. 4a, where the section has been indicated as A-A. The second actuator element (40) is configured to rotate inside the first actuator element (30), e.g., by the drive section shown in Fig. 3. Fig. 4c shows the cutter from the same angle as in Fig. 4e, this time in a perspective view without the section cut. Fig. 4d is identical to Fig. 4c, where the first actuator element (30) has been intentionally hidden. Fig. 4b illustrate in a detailed view the first and second bendable elements (50, 60) with respective first and second cutter sections (51, 61) and the first and second link sections (53, 63) where both the first and second actuator elements (30, 40) have been intentionally hidden. The view angle in Fig. 4b is the same as for Figs. 4c, 4d and 4e.
[0023] Fig. 5a illustrates in a top view the same embodiment as the cutter (4) in Fig. 4a, wherein the cutter is in a middle position (m) between the rest position in Fig. 4a, and the actuated position in Fig. 6a. In this position the first and second cutter sections (51, 61) are approaching the stalk of the crop from respective sides. The second actuator element (40) has been rotated approximately 90 degrees clockwise with regard to the first actuator element (30).
[0024] Fig. 5e illustrates in a perspective section view the same embodiment as in Fig. 5a, where the section has been indicated as B-B. Figs. 5b, 5c, 5d and 5e illustrate in similar views the same elements as in Fig. 4b, 4c, 4d and 4e.
[0025] Fig. 6a illustrates in a top view the same embodiment as the cutter (4) in Fig. 4a, and Fig. 5a, wherein the cutter is in the actuated position (a). In this position, the two first and second cutter sections have passed each other, and the stalk has been cut. The second actuator element (40) has been rotated approximately 135 degrees clockwise with regard to the first actuator element (30). Fig. 6e illustrates in a perspective section view the same embodiment as in Fig. 6a, where the section has been indicated as C-C. Figs. 6b, 6c, 6d and 6e illustrate in similar views the same elements as in Figs. 4b, 4c, 4d and 4e.
EMBODIMENTS OF THE INVENTION
[0026] In the following description, various examples and embodiments of the invention are set forth in order to provide the skilled person with a more thorough understanding of the invention. The specific details described in the context of the various embodiments and with reference to the attached drawings are not intended to be construed as limitations. Rather, the scope of the invention is defined in the appended claims.
[0027] The embodiments described below are numbered. In addition, dependent embodiments defined in relation to the numbered embodiments are described. Unless otherwise specified, any embodiment that can be combined with one or more numbered embodiments may also be combined directly with any of the dependent embodiments of the numbered embodiment(s) referred to.
[0028] Crop is exemplified as strawberries in some of the drawings, but any crop that may otherwise be picked manually by e.g., manual cutting of the stalk, may potentially be picked by a similar end effector adapted for the specific crop, e.g. by adjusting the size of the components to accommodate the crop to be picked.
[0029] In a first independent embodiment EM1, the invention is a robotic crop picker end effector (1) comprising;
- a first compartment (3) configured to enclose a crop or crops, wherein the first compartment has a crop entrance (31),
- a cutter (4) comprising;
- first and second cutter sections (51, 61) configured to cut a crop stalk of a crop in the first compartment, wherein a view, the cutter is configured to reversibly move the first and second cutter sections between a rest position (r), wherein the cutter sections are arranged on respective halves of the entrance, to an actuated position, wherein the cutter sections have moved to respective opposite halves of the entrance.
[0030] In a first dependent embodiment, the cutter comprises
-first and second bendable elements (50, 60), comprising the first and second cutter sections (51, 61) pivotally interconnected with first and second link sections (53, 63), respectively.
[0031] In a second dependent embodiment that may be combined with first dependent embodiment, the first and second cutter sections have respective first and second ends (51a, 51b, 61a, 61b), wherein the second ends are configured to pivot about the respective first ends, and the first ends are arranged on opposite sides of the entrance.
[0032] In a second independent embodiment, EM2, the invention is a robotic crop picker end effector (1) comprising;
- a cutter (4) configured to cut a stalk of a crop, wherein the cutter comprises;
- a first bendable element (50) comprising a first cutter section (51) and a first link section (53), wherein the first cutter section (51) and the first link section (53) are interconnected.
[0033] In a first dependent embodiment, the cutter comprises a second cutter section (61), wherein the cutter is configured to move the first cutter section with regard to the second cutter section to cut the stalk.
[0034] In a second dependent embodiment, that may be combined with first dependent embodiment, the cutter comprises a second bendable element (60) comprising the second cutter section (61) and a second link section (63), wherein the second cutter section (61) and the second link section (63) are interconnected.
[0035] In a third dependent embodiment, that may be combined with first or second dependent embodiments, the end effector comprises a first compartment (3) configured to enclose a crop or crops, wherein the first compartment has a crop entrance (31), and wherein a view, the cutter is configured to reversibly move the first and/or second cutter sections between a rest position (r), wherein the cutter sections are arranged on respective halves of the entrance, to an actuated position, wherein the cutter sections are arranged on respective opposite halves of the entrance.
[0036] EM3: The end effector according to EM1 or EM2, wherein the first cutter section has respective first and second ends (51a, 51b), wherein the second end is configured to pivot about the first end.
[0037] In a first dependent embodiment, the second cutter section has respective first and second ends (61a, 61b), wherein the second end is configured to pivot about the first end, wherein the cutter is configured to rotate the second ends (51b, 61b) in opposite rotational directions about the first ends (51a, 51c).
[0038] In a second dependent embodiment, that may be combined with the first dependent embodiment, the first ends of the first and second cutter sections are arranged on opposite sides of the entrance.
[0039] EM4: The end effector according to any of EM 1 to EM3, the cutter (4) comprises a first actuator element (30), wherein a first end (50a, 60a) the first and second bendable elements (50, 60) are pivotally interconnected with the first actuator element (30), respectively.
[0040] In a first dependent embodiment, the cutter comprises first element first and second joints (31, 32), wherein the first ends (50a, 60a) of the first and second bendable elements (50, 60) are pivotally interconnected with the first actuator element in the first element first and second joints (31, 32), respectively.
[0041] In a second dependent embodiment, that may be combined with the first dependent embodiment, the first elements first and second joints are non-adjacent.
[0042] EM5: The end effector according to any of EM 1 to EM4, the stalk cutter (4) comprises a second actuator element (40), wherein a second end (50b, 60b) the first and second bendable elements (50, 60) are pivotally interconnected with the second actuator element (40), respectively.
[0043] In a first dependent embodiment, the stalk cutter comprises second element first and second joints (41, 42), wherein the second ends (50b, 60b) of the first and second bendable elements are pivotally interconnected with the second actuator element (40) in the second element first and second joints (41, 42), respectively.
[0044] In a second dependent embodiment, that may be combined with the first dependent embodiment, the second elements first and second joints are non-adjacent.
[0045] In a third dependent embodiment, that may be combined with any of the first and second dependent embodiments, the first and second bendable elements are pivotally interconnected with the second actuator element in a second end (50b, 60b) in second element first and second joints (41, 42), wherein the first and second joints are nonadjacent.
[0046] In a fourth dependent embodiment, that may be combined with any of the first to third dependent embodiments, the end effector is arranged to move the second actuator element relative the first actuator element.
[0047] In a fifth dependent embodiment, that may be combined with any of the first to fourth dependent embodiments, the end effector is arranged to rotate the second actuator element relative to the first actuator element.
[0048] In a sixth dependent embodiment, that may be combined with any of the first to fifth dependent embodiments, the first and second actuator elements, in a view, have the shapes of open rings, wherein the rings are arranged coaxially.
[0049] EM 6: The end effector according to any of EM1 to EM5, wherein the cutter is configured to rotate the first and second cutter sections in opposite directions.
[0050] EM7: The end effector according to any of EM 1 to EM6, wherein a rectilinear distance between the first and second ends (51a, 61a, 51b, 61b) of the first and second cutter sections (51, 61) is at least half the distance between the first and second ends (50a, 50b, 60a, 60b) of the first and second bendable elements (50, 60) respectively, when the cutter is in the rest position.
[0051] In a dependent embodiment, the rectilinear distance is less than 1.75 times the radius of the entrance.
[0052] EM8: The end effector according to any of EM 1 to EM7, wherein the first and second cutter sections comprise edges that are facing each other when the cutter is in the rest position.
[0053] EM9: The end effector according to any of EM 1 to EM8, wherein a view, the first cutter section has a curvature similar to a curvature of the second actuator element.
[0054] In a first dependent embodiment, the second cutter section have a curvature smaller than a curvature of the second actuator element.
[0055] In a second dependent embodiment, that may be combined with the first dependent embodiment, the first cutter section and first link section have similar curvatures.
[0056] In a third dependent embodiment, that may be combined with any of the first to second dependent embodiments, the second cutter section and second link section have similar curvatures.
[0057] EM10: The end effector according to any of EM 1 to EM8, wherein the first and second link sections (53, 63), have respective first and second ends (53a, 53b, 63a, 63b), wherein the first ends are pivotally connected to the second ends of the first and second cutter sections in first and second intermediate joints (52, 62), respectively.
[0058] In a dependent embodiment, the second ends of the first and second link sections are pivotally connected to the second element first and second joints (41, 42), respectively.
[0059] EM11: The end effector according to any of EM1 to EM 10, wherein the first and/or second actuator elements are tubular and defining at least a part of the first compartment.
[0060] EM12: The end effector according to any of EM1 to EM 11, comprising a second optical detector (9) arranged to detect a crop inside the crop container (3).
[0061] EM 13: The end effector according to any of EM1 to EM 12, wherein any of the first and/or second bendable elements (50, 60) are linkages.
[0062] EM14: The end effector according to any of EM1 to EM 13, wherein any of the first and/or second cutter sections (51, 61) are ridgid knives.
[0063] EM15: The end effector according to any of EM1 to EM 14, wherein any of the first and/or second link sections (53, 63) are ridgid link elements.
[0064] EM16: The end effector according to any of EM1 to EM 15, wherein the first cutter section (51) is pivotally interconnected with the first link section in a first intermediate joint (52).
[0065] In a dependent embodiment, the second cutter section (61) is pivotally interconnected with the second link section in a second intermediate joint (62).
[0066] The invention is also in an independent embodiment ES1, A crop picking robot (100) comprising;
- a robotic arm,
- an end effector according to any of the embodiments EM 1 to EM 16 arranged on the robotic arm.
[0067] A specific embodiment of the robotic crop picker end effector (1) will now be further described with reference to the accompanying drawings.
[0068] The end effector (1) comprises a housing (2) protecting the mechanical and electrical components. A first part (2a) of the housing has the form of a hollow conical frustum wherein the stalk cutter (4) and the first compartment (3) are arranged.
[0069] The open, narrow end of the frustum can be seen as the crop entrance (31), allowing a receptacle pending from the peduncle or stalk to enter into the first crop compartment.
[0070] For the conveyance of crop from the first compartment to the second compartment, the second part of the housing comprises a conveyor (5) in the form of a curved tube, interconnecting the lower end of the first compartment with the second compartment.
[0071] As is well-known from the art, the end effector may be arranged on a robotic arm.
[0072] In a specific embodiment, as illustrated in the accompanying drawings, the invention is a robotic plant crop picker end effector (1) comprising;
- a cutter (4),
- a first compartment (3),
- a second compartment (6),
- a conveyor (5),
- a first optical detector (8),
- a second optical detector (9) and
- a local control unit. In addition, the end effector comprises a frame (1a) for securely fixing the above mentioned elements relative to each other and a housing (2) protecting the elements of the end effector. The frame is configured to provide an interface for mechanically connecting the end effector to a robotic arm. It is further configured to releasably hold a second compartment (6) for short-time storage of harvested crop.
[0073] The basic operating principle of the end-effector shown here is that the end effector arranged on the end of a robotic arm of a robotic crop harvester is moved to a first area considered ready for harvesting. Once in this area, the first optical detector scanning an area around and behind the crop entrance arranged above the first compartment, will detect whether or not there are crops ready to be harvested and their position. The information may be processed in the local control unit, a central processing unit of the robotic crop harvester, or a combination of both.
[0074] Once one or more crops ready for harvesting have been detected and localized, the robotic crop harvester will arrange the crop entrance of the end effector below one of the detected crops, and push the end effector up until the crop is located inside the first compartment. While still pending in the stalk, the crop is further investigated by the second detector. Since the crop is now inside a closed compartment, the light conditions are more stable and more details about the crop can be determined, such as maturity, quality etc. If it is found that the crop is ready for harvesting, the cutter cuts the stalk and the crop is gently conveyed inside the conveyor to the second compartment acting as a crop bin. The robotic crop harvester will move the end effector to the next crop, where the process will be repeated. If any crop is considered not appropriate for harvesting after being investigated inside the first compartment it will be left uncut. When all the crops in the first area have been considered for harvesting, the robotic crop harvester will move the end effector to a next area.
[0075] Once the second compartment is filled up, it is replaced by an empty container before continuing harvesting. The robotic crop harvester may contain magazines for empty and full containers.
[0076] The cutter (4) comprises first and second actuator elements (30, 40), both with cylindrical shapes, wherein the second actuator element (40) is coaxially arranged inside the first actuator element (30). The inner diameter of the second actuator element is designed to allow free space around the crop for the specific crop that is the target of harvest, e.g., strawberry as illustrated in the drawings. The size of the second cylinder could be smaller or larger, depending on the crop type.
[0077] In a view perpendicular to the length of the cylindrical elements, the first and second joints (31, 32) are arranged on opposite ends of the diameter of the first actuator element (30). While the second joint (32) is arranged in line with the circular wall of the second actuator element (30), the first joint (32) is arranged radially inside the circular wall of the second actuator element (40).
[0078] In the current embodiment, the first actuator element (30) and thus the first and second joints (31, 32) of the first actuator element, are arranged stationary with regard to the housing (2).
[0079] The first and second joints (41, 42) of the second actuator element (40) are arranged on opposite ends of the diameter of the second actuator element (40). While the second joint (42) is arranged in line with the circular wall of the second actuator element (40), the first joint (41) is arranged inside the circular wall of the second actuator element (40). Both the first and second joints (41, 42) of the second actuator element are stationary with regard to the second actuator element (40).
[0080] First and second, curved, longitudinal first cutter sections (51, 61), implemented as long knives, are configured to cut a stalk of a crop, once the crop is inside the second actuator element (40). In a first end (51a, 61a) the first and second cutter sections are pivotally connected to the first and second joints (31, 32) of the first actuator element (30), respectively.
[0081] The first and second cutter sections (51, 61) have sharp edges at least partly on their inner curve. Optionally the knives have sharp edges on both their inner and outer curves.
[0082] Second ends (53b, 63b) of first and second, curved link sections (53, 63) are pivotally connected to the first and second joints (411, 42) of the second actuator element (40), respectively. As mentioned above, these joints are stationary with respect to the second actuator element (40).
[0083] The curvature of the first link section (53) is the same as the curvature of the first cutter section (51), and the curvature of the second link section (63) is the same as the curvature of the second cutter section (61).
[0084] The first ends (53a, 63a) of the first and second link sections (53, 63) are pivotally connected to the second ends (51b, 61b) of the first and second cutter sections (51, 61), in first and second intermediate joints (52, 62), respectively.
[0085] Thus, each of the first and second cutter sections (51, 61) are part of a bendable element, chain or linkage of pivotally interconnected elements, wherein a bendable element (50) sequentially comprises the first actuator element (30), the first cutter section (51), the first link section (53) and the second actuator element (40). The second bendable element (60) comprises the first actuator element (30), the second cutter section (61), the second link section (63) and the second actuator element (40).
[0086] The first and, second joints (31, 32, 41, 42) of the first actuator element (30) and the second actuator element (40) and the first and second intermediate joints (52, 62), are rotational joints, allowing rotation of the interconnected elements with respect to each other.
[0087] The description of the two-dimensional view above will now be supplemented with a description of the planes that the cutter sections are operating in.
[0088] The first cutter section (51) and the first link section (53) are arranged in a first plane, perpendicular to the axis of rotation of the first and second joints (31, 32, 41, 42). Likewise, the second cutter section (61) and the second link section (63) are arranged in a second plane, parallel to the first plane, such that the elements in one plane are allowed to move without being obstructed by elements in the other plane. Thus, in the present embodiment the first joints of the first bendable element (50) are arranged in the first plane, and joints of the second bendable element (60) are arranged in the second plane. If we consider the crop entrance to be the top of the end effector, the second plane is arranged above the first plane.
[0089] The planes are arranged close to each other wherein the top of the first cutter section (51) is in line with the bottom of the second cutter section (61), and wherein the edge of the inner curve of the first cutter section (51) faces the edge of the inner curve of the second cutter section (61). The knives are adjacent, in a plane perpendicular to the first and second planes, but not necessarily adjoining.
[0090] The cutter comprises a drive section (45), comprising an electric motor and a belt drive, where a first pulley is arranged on the motor axle and a second pulley arranged outside the second actuator element. The second pulley is in the present embodiment integrated with the second actuator element.
[0091] Based on the description of the elements comprised by the cutter (4), we can now describe how the end effector can cut a crop stalk.
[0092] The cutter (4) is configured to reversibly move the first and second cutter sections (51, 61) between a rest position (r) and an actuated position (a). If a crop stalk is initially arranged between the first and second cutter sections in the rest position, the end effector is configured to cut the stalk in the actuating sequence between the rest position and the actuated position.
[0093] When the second actuator element (40) starts rotating with regards to the first actuator element (30), its first and second joints (41, 42) will rotate along. Further, as described above, the first and second bendable elements (50, 60) will start moving, since they are directly interlinked with the first and second joints (41, 42), respectively. Since the first ends (51a, 61a) of the first and second cutter sections (51, 61) are pivotally connected to the first actuator element (30), which is stationary, the first and second cutter sections (51, 61) start rotating about the first and second joints (31, 32) of the first actuator element (31), respectively. However, since they rotate in opposite rotational directions, the second ends (51b, 61b) of the cutter sections (51, 61) will at some point in time intersect with the cutter section of the opposite bendable element. When the second actuator element (40) rotates further, the cutter sections are moved further and the space between the first and second cutter section diminishes. Eventually, the crop stalk in between will be cut by the edges of the knives. In the present embodiment, the rotation continues to a maximum actuated position wherein the knives have passed each other.
[0094] After cutting, the end effector is configured to return the actuator to the rest position by rotating the second actuator element (40) in the opposite direction.
[0095] In the exemplary embodiments, various features and details are shown in combination. The fact that several features are described with respect to a particular example should not be construed as implying that those features by necessity have to be included together in all embodiments of the invention. Conversely, features that are described with reference to different embodiments should not be construed as mutually exclusive. As those with skill in the art will readily understand, embodiments that incorporate any subset of features described herein and that are not expressly interdependent have been contemplated by the inventor and are part of the intended disclosure. However, explicit description of all such embodiments would not contribute to the understanding of the principles of the invention, and consequently some permutations of features have been omitted for the sake of simplicity or brevity.
Claims (10)
1. A robotic plant crop picker end effector (1) comprising;
- a cutter (4) configured to cut a stalk of a crop, wherein the cutter comprises;
- a first bendable element (50) comprising a first cutter section (51) and a first link section (53), wherein the first cutter section (51) and the first link section (53) are interconnected.
2. The robotic plant crop picker end effector (1) according to claim 1, wherein the cutter comprises a second cutter section (61), wherein the cutter is configured to move the first cutter section towards the second cutter section to cut the stalk.
3. The robotic plant crop picker end effector (1) according to claim 2, wherein the cutter comprises a second bendable element (60) comprising the second cutter section (61) and a second link section (63), wherein the second cutter section (61) and the second link section (63) are interconnected.
4. The robotic plant crop picker end effector (1) according to any of claims 1 to 3, wherein the end effector comprises a first compartment (3) configured to enclose a crop or crops, wherein the first compartment has a crop entrance (31), and wherein a view, the cutter is configured to reversibly move the first and/or second cutter sections between the rest position (r), wherein the first and second bendable elements (50, 60) are arranged on respective halves of the entrance, to the actuated position, wherein the first and second bendable elements (50, 60) are arranged on respective opposite halves of the entrance.
5. The robotic plant crop picker end effector (1) according to any of claims 1 to 4, wherein the first and/or second cutter section(s) (51, 61) has respective first and second ends (51a, 51b, 61a, 61b), wherein the cutter is configured to rotate the second ends (51b, 61b) in opposite rotational directions about the first ends (51a, 51c).
6. The robotic plant crop picker end effector (1) according to any of claims 4 to 5, wherein the first ends of the first and second cutter sections (51, 61) are arranged on opposite sides of the entrance in the rest position.
7. The robotic plant crop picker end effector (1) according to any of claims 4 to 6, wherein the cutter (4) comprises a first actuator element (30), comprising non-adjacent first and second joints (31, 32), wherein first ends (50a, 60b) of the first and/or second bendable elements are pivotally interconnected with the first actuator element in the first and second joints, respectively.
8. The robotic plant crop picker end effector (1) according to any of claims 1 to 7, wherein the cutter (4) comprises a second actuator element (40), comprising non-adjacent first and second joints (41, 42), wherein the second ends (50b, 60b) of the first and/or second bendable elements (50, 60) are pivotally interconnected with the second actuator element in the first and second joints (41, 42), respectively.
9. The robotic plant crop picker end effector (1) according to any of claims above, wherein a rectilinear distance between the first and second ends (51a, 61a, 51b, 61b) of the first and second cutter sections (51, 61) is at least half the distance between the first and second ends (50a, 50b, 60a, 60b) of the first and second bendable elements (50, 60) respectively, when the cutter is in the rest position.
10. A plant crop harvesting robot (100) comprising;
- a robotic arm,
- a robotic plant crop picker end effector (1) according to any of the claims above arranged on the robotic arm.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20210515A NO347253B1 (en) | 2021-04-27 | 2021-04-27 | Robotic plant crop picker end effector |
| PCT/NO2022/050092 WO2022231434A1 (en) | 2021-04-27 | 2022-04-26 | Robotic plant crop picker end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NO20210515A NO347253B1 (en) | 2021-04-27 | 2021-04-27 | Robotic plant crop picker end effector |
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| Publication Number | Publication Date |
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| NO20210515A1 true NO20210515A1 (en) | 2022-10-28 |
| NO347253B1 NO347253B1 (en) | 2023-08-14 |
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| NO20210515A NO347253B1 (en) | 2021-04-27 | 2021-04-27 | Robotic plant crop picker end effector |
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| NO (1) | NO347253B1 (en) |
| WO (1) | WO2022231434A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105359723A (en) * | 2015-10-26 | 2016-03-02 | 刘建初 | Fruit picker |
| CN206491016U (en) * | 2017-02-24 | 2017-09-15 | 中国农业大学 | A kind of portable apple-picking device based on negative-pressure sucking |
| CN108834575A (en) * | 2018-05-27 | 2018-11-20 | 苏州花坞信息科技有限公司 | One kind plucking strawberry manipulator |
| CN109041795A (en) * | 2018-06-25 | 2018-12-21 | 杭州电子科技大学 | A kind of fruit and vegetable picking device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5931614A (en) * | 1982-08-11 | 1984-02-20 | 株式会社クボタ | Fruit harvesting apparatus |
| CN208739609U (en) * | 2018-08-13 | 2019-04-16 | 台州学院 | A kind of automation pineapple picking machine |
| US20210337734A1 (en) | 2018-10-08 | 2021-11-04 | Advanced Farm Technologies, Inc. | Autonomous crop harvester |
| CN110050586A (en) * | 2019-04-15 | 2019-07-26 | 华北理工大学 | Picking mechanical arm based on link mechanism |
| CN111958624B (en) * | 2020-08-27 | 2022-11-15 | 上海大学 | Oranges and tangerines of many connecting rod structures pick end effector |
-
2021
- 2021-04-27 NO NO20210515A patent/NO347253B1/en unknown
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2022
- 2022-04-26 WO PCT/NO2022/050092 patent/WO2022231434A1/en active Search and Examination
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105359723A (en) * | 2015-10-26 | 2016-03-02 | 刘建初 | Fruit picker |
| CN206491016U (en) * | 2017-02-24 | 2017-09-15 | 中国农业大学 | A kind of portable apple-picking device based on negative-pressure sucking |
| CN108834575A (en) * | 2018-05-27 | 2018-11-20 | 苏州花坞信息科技有限公司 | One kind plucking strawberry manipulator |
| CN109041795A (en) * | 2018-06-25 | 2018-12-21 | 杭州电子科技大学 | A kind of fruit and vegetable picking device |
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| Publication number | Publication date |
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| WO2022231434A1 (en) | 2022-11-03 |
| NO347253B1 (en) | 2023-08-14 |
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