WO2017042789A1 - Robot d'entretien de pelouse et de récolte - Google Patents

Robot d'entretien de pelouse et de récolte Download PDF

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Publication number
WO2017042789A1
WO2017042789A1 PCT/IB2016/056450 IB2016056450W WO2017042789A1 WO 2017042789 A1 WO2017042789 A1 WO 2017042789A1 IB 2016056450 W IB2016056450 W IB 2016056450W WO 2017042789 A1 WO2017042789 A1 WO 2017042789A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot
sensors
wasp
lawn
fruit
Prior art date
Application number
PCT/IB2016/056450
Other languages
English (en)
Inventor
Marcos ODENS
José Ángel GONZÁLEZ GILL
Juan Bosco GUEVARA PÉREZ
Ulises GAMALIER MADERO
Yino Xavier SEGURA MARTINEZ
Original Assignee
Universidad Tecnológica De Panamá
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 Universidad Tecnológica De Panamá filed Critical Universidad Tecnológica De Panamá
Publication of WO2017042789A1 publication Critical patent/WO2017042789A1/fr

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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
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/40—Ornithopters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft

Definitions

  • the present invention relates to a robot with the form of a wasp which has the function of harvesting fruit, vegetables and also helps with the care of the garden by cutting the lawn.
  • This robot has a set of sensors to determine the obstacles, and distance, infrared and sound sensors, it also has an internal navigation system which indicates to it the route that should be followed, and it also contains a camera which sends signals to a tracking device and a set of antennas which serve as wireless device to send and receive signals on the task status.
  • the lower part of the robot with the form of a wasp that is a solar panel which is an energy system for the different motors
  • the joining part which, as its name indicates, joins together the lower part with the upper part, giving mobility to the robot
  • the upper part containing a set of pincers which serve as scissors to cut the fruit, the vegetable or the lawn
  • it also contains a set of limbs to enable its ground mobility and a head wherein are housed the sensors and the set of antennas which serve as wireless device, it also contains a camera to send information on the harvest status in real time.
  • the present invention relates to a new model of robot with the form of a wasp containing a set of sensors and a set of pincers which serve to cut the fruit, the vegetables and the lawn exerting a pressure force on the pincers to cut.
  • the invention seeks to reduce the harvesting time and cleaning the garden since the robot is autonomous and is solar powered, thus reducing its dependence on human beings.
  • This invention has the purpose of increasing fruit and vegetable collection production, and also decreasing lawn maintenance time.
  • the patent with application number US20060089764A1 awarded to Filippov, has similarity to the present invention since it presents a system and a method for tracking obstacles by an autonomous vehicle.
  • Said system has a set of elements such as, for example, (an inertial navigation system, a compass, a global positioning system, among others), it also has a set of perception sensors (which could be: light and range detectors or light imaging, detection and ranging (LIDAR), stereo vision, infrared vision, radar or sonar) to assess the environment. The use of these sensors determine the characteristics of the terrain.
  • LIDAR detection and ranging
  • the main objective of the invention is a robot with the form of a wasp, which assists the harvesting process and also helps take care of the garden, which has autonomy and may learn for itself of through a smart system incorporated inside it, which collects the information from the environment through different sensors to thus take the best decisions when harvesting and cutting the lawn.
  • the robot may detect the different types of crops through the pigmentation detection sensors which are placed in its head to determine if the fruit or vegetable is ready to be cut. These sensors send signals to the expert system which is incorporated inside the robot's smart system to take a decision.
  • the robot may detect through the different sensors if the lawn is ready to be cut or not.
  • the robot determines by means of sensors placed in its head that stipulate the pigmentation level of the lawn, and also verify if the height of the lawn is suitable to execute the task. These sensors send signals to the expert system which is incorporated inside the robot's smart system to take a decision.
  • all the robot's components with the form of a wasp have constant energy and this is achieved through a solar cell which is in the lower part of the robot, with this type of energy source, the robot has autonomy to be able to travel long distances.
  • the robot with the form of a wasp may send the harvest status through a camera connected in its head towards an external device. Where the real-time information on the process is collected.
  • the robot with the form of a wasp may detect the different types of objects such as animals, human beings, solid objects to thus avoid accidents, to do this it bases itself on an object recognition system that will be placed in its head and this sends signals to the expert system which is incorporated inside the robot's smart system. With the data sent, it detects what type of object it is.
  • the robot may be switched off manually or automatically (by means of a wireless device).
  • Another objective of the invention is that the pincers of the robot with the form of a wasp can be periodically changed due to the wear of the harvesting process and law maintenance.
  • Another objective of the invention is that the robot with the form of a wasp may adopt different sizes depending on the need present both of the crops and for maintenance; this is done at the time of its construction.
  • the robot with the form of a wasp has a geo positioning system and has a compass system which allows it to be detected and may be guided when it separates from its point of origin.
  • the set of wings of the robot with the form of a wasp which in addition to a mechanism which allows it aerial movement, are also solar cells which collect energy to support the process of aerial movement of the robot together with the lower part.
  • FIGURE 1 is a side view of the robot with the form of a wasp.
  • FIGURE 2 is a side view of the robot with the form of a wasp cutting a fruit with its pinchers.
  • FIGURE 3 is a bottom view of the robot with the form of a wasp.
  • FIGURE 4 is a side view of the robot with the form of a wasp cutting a fruit, but flying.
  • Figure 1 shows the lower part of the robot 1 , which is a photovoltaic cell, which feeds all other components of the robot. It also shows the joining element 13 which joins the component of the lower part of the robot 1 with the upper part 2, it also shows the head 14 containing the set of Normalized Difference Vegetation Index (NDVI) sensors 9 which detect the harvest status. It also has a set of sensors to determine the level of the weeds 11 and a Global Positioning System (GPS) sensor 12. It uses the camera 8 to send the information on crop status. It uses a sensor 7 when it detects obstacles. The wireless system 6 sends signals on the process status to the device receiver. The movement process of the robot is performed on land by a set of limbs 4.
  • NDVI Normalized Difference Vegetation Index
  • the robot uses a pair of pinchers 5 to cut with.
  • the robot with the form of a wasp has a set of sound sensors 10.
  • Figure 2 shows the side view of the robot with the form of a wasp cutting a fruit with its pinchers 5 determined by means of the NDVI sensors 9, which indicates to the robot that the object is a fruit which may be harvested, after this, the wireless system 6 sends the harvest information to an external device 15.
  • Figure 3 is a bottom view of the robot with the form of a wasp wherein it shows the components as they are interconnected, indicating the joins between the lower part of the robot 1 , the joining element 13, the upper part 2 and the head 14.
  • Figure 4 shows the side view of the robot with the form of a wasp cutting a fruit but flying, using the wings 3 as method of movement to be able to perform the cutting.

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un robot se présentant sous la forme d'une guêpe qui a pour fonction de récolter des fruits et des légumes et aide également à l'entretien du jardin en tondant la pelouse. Le robot selon l'invention possède un ensemble de capteurs pour déterminer les obstacles, des capteurs de distance, des capteurs infrarouges, des capteurs de sons; un système de navigation interne qui lui indique l'itinéraire qui doit être suivi. Il est divisé en quatre parties : la partie inférieure du robot avec la forme d'une guêpe qui est un panneau solaire, qui est un système d'énergie pour les différents moteurs, la partie de jonction de la partie inférieure et de la partie supérieure qui donne de la mobilité au robot et la partie supérieure contenant un ensemble de pinces qui servent de ciseaux pour couper le fruit, le légume ou la pelouse et un ensemble de membres pour sa mobilité au sol, ainsi qu'une tête dans laquelle sont logés les capteurs et l'ensemble d'antennes qui servent de dispositif sans fil.
PCT/IB2016/056450 2016-07-20 2016-10-27 Robot d'entretien de pelouse et de récolte WO2017042789A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PA9125001 2016-07-20
PA91250 2016-07-20

Publications (1)

Publication Number Publication Date
WO2017042789A1 true WO2017042789A1 (fr) 2017-03-16

Family

ID=58240741

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2016/056450 WO2017042789A1 (fr) 2016-07-20 2016-10-27 Robot d'entretien de pelouse et de récolte

Country Status (1)

Country Link
WO (1) WO2017042789A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108575319A (zh) * 2018-04-27 2018-09-28 中国农业科学院麻类研究所 一种自动采摘机的控制系统
CN117994751A (zh) * 2024-02-01 2024-05-07 同济大学 一种为红树林种植修复机器人导航的方法、系统及设备

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6336051B1 (en) * 1997-04-16 2002-01-01 Carnegie Mellon University Agricultural harvester with robotic control
US6652352B1 (en) * 2000-02-10 2003-11-25 Macarthur William C. Robotic toy
US20060213167A1 (en) * 2003-12-12 2006-09-28 Harvey Koselka Agricultural robot system and method
US20080109126A1 (en) * 2006-03-17 2008-05-08 Irobot Corporation Lawn Care Robot
CN102914967A (zh) * 2012-09-21 2013-02-06 浙江工业大学 采摘机器人的自主导航和人机协同采摘作业系统
US20130041526A1 (en) * 2011-08-11 2013-02-14 Chien Ouyang Robotic Lawn Mower with Network Sensors
US8666550B2 (en) * 2010-01-05 2014-03-04 Deere & Company Autonomous cutting element for sculpting grass
US20140303814A1 (en) * 2013-03-24 2014-10-09 Bee Robotics Corporation Aerial farm robot system for crop dusting, planting, fertilizing and other field jobs
US20150351309A1 (en) * 2014-06-10 2015-12-10 Agbotic, Inc. Robotic gantry bridge for farming
US20160124433A1 (en) * 2013-11-20 2016-05-05 Rowbot Systems Llc Robotic platform and method for performing multiple functions in agricultural systems

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6336051B1 (en) * 1997-04-16 2002-01-01 Carnegie Mellon University Agricultural harvester with robotic control
US6652352B1 (en) * 2000-02-10 2003-11-25 Macarthur William C. Robotic toy
US20060213167A1 (en) * 2003-12-12 2006-09-28 Harvey Koselka Agricultural robot system and method
US20080109126A1 (en) * 2006-03-17 2008-05-08 Irobot Corporation Lawn Care Robot
US8666550B2 (en) * 2010-01-05 2014-03-04 Deere & Company Autonomous cutting element for sculpting grass
US20130041526A1 (en) * 2011-08-11 2013-02-14 Chien Ouyang Robotic Lawn Mower with Network Sensors
CN102914967A (zh) * 2012-09-21 2013-02-06 浙江工业大学 采摘机器人的自主导航和人机协同采摘作业系统
US20140303814A1 (en) * 2013-03-24 2014-10-09 Bee Robotics Corporation Aerial farm robot system for crop dusting, planting, fertilizing and other field jobs
US20160124433A1 (en) * 2013-11-20 2016-05-05 Rowbot Systems Llc Robotic platform and method for performing multiple functions in agricultural systems
US20150351309A1 (en) * 2014-06-10 2015-12-10 Agbotic, Inc. Robotic gantry bridge for farming

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108575319A (zh) * 2018-04-27 2018-09-28 中国农业科学院麻类研究所 一种自动采摘机的控制系统
CN117994751A (zh) * 2024-02-01 2024-05-07 同济大学 一种为红树林种植修复机器人导航的方法、系统及设备
CN117994751B (zh) * 2024-02-01 2024-09-06 同济大学 一种为红树林种植修复机器人导航的方法、系统及设备

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