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WO2025017320A3 - Robotic fruit picking system - Google Patents

Robotic fruit picking system Download PDF

Info

Publication number
WO2025017320A3
WO2025017320A3 PCT/GB2024/051905 GB2024051905W WO2025017320A3 WO 2025017320 A3 WO2025017320 A3 WO 2025017320A3 GB 2024051905 W GB2024051905 W GB 2024051905W WO 2025017320 A3 WO2025017320 A3 WO 2025017320A3
Authority
WO
WIPO (PCT)
Prior art keywords
fruit
picking
fruits
arm
picking head
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.)
Pending
Application number
PCT/GB2024/051905
Other languages
French (fr)
Other versions
WO2025017320A2 (en
Inventor
Duncan Robertson
Tom HELLIER
Matthew Cook
Francis TULLY
Thomas Redman
Thomas Dean
Ruan KENDALL
Edward Herbert
Anders Johansson
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.)
Dogtooth Technologies Ltd
Original Assignee
Dogtooth Technologies Ltd
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 Dogtooth Technologies Ltd filed Critical Dogtooth Technologies Ltd
Publication of WO2025017320A2 publication Critical patent/WO2025017320A2/en
Publication of WO2025017320A3 publication Critical patent/WO2025017320A3/en
Pending 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
    • 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
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39543—Recognize object and plan hand shapes in grasping movements
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40564—Recognize shape, contour of object, extract position and orientation
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40584—Camera, non-contact sensor mounted on wrist, indep from gripper
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • 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
    • 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
    • G05B2219/45105—Fruit picker, pruner, end effector is a platform for an operator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

The invention is a robotic fruit picking system. The system comprises: at least one picking arm (33); at least one picking head (251), mounted on the or each picking arm to (i) either cut a fruit or stalk or stem for a specific fruit or bunch of fruits or (ii) pluck that fruit or bunch; at least one picking head camera (252) mounted on the or each picking head or the picking arm; and a survey subsystem (38) that includes a survey camera module configured to obtain and to analyse image scenes containing fruit-producing crops. The survey camera module is configured to generate data for one or more of the following processes: (i) surveying fruits or fruit bunches; (ii) determining target fruit locations of some or all pickable fruits; (iii) determining approach vectors of some or all pickable fruits in the imaged scene; in each case being controlled to be positioned or oriented, at least in part, independently of a position or orientation of one or more of: the or each picking head camera, the picking arm or the picking head.
PCT/GB2024/051905 2023-07-20 2024-07-19 Robotic fruit picking system Pending WO2025017320A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB2311131.3 2023-07-20
GBGB2311131.3A GB202311131D0 (en) 2023-07-20 2023-07-20 Gen 5

Publications (2)

Publication Number Publication Date
WO2025017320A2 WO2025017320A2 (en) 2025-01-23
WO2025017320A3 true WO2025017320A3 (en) 2025-02-27

Family

ID=87851958

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2024/051905 Pending WO2025017320A2 (en) 2023-07-20 2024-07-19 Robotic fruit picking system

Country Status (2)

Country Link
GB (1) GB202311131D0 (en)
WO (1) WO2025017320A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109220227A (en) * 2018-11-01 2019-01-18 江苏集萃智能制造技术研究所有限公司 A kind of Famous High-quality Tea picking robot
US20190261565A1 (en) * 2016-11-08 2019-08-29 Dogtooth Technologies Limited Robotic fruit picking system
CN113334344A (en) * 2021-05-08 2021-09-03 万勋科技(深圳)有限公司 Special operation robot and special operation robot system
EP3918904A1 (en) * 2020-06-02 2021-12-08 Exel Industries Automated method for selecting and harvesting fruit and mechanical equipment implementing the method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190261565A1 (en) * 2016-11-08 2019-08-29 Dogtooth Technologies Limited Robotic fruit picking system
CN109220227A (en) * 2018-11-01 2019-01-18 江苏集萃智能制造技术研究所有限公司 A kind of Famous High-quality Tea picking robot
EP3918904A1 (en) * 2020-06-02 2021-12-08 Exel Industries Automated method for selecting and harvesting fruit and mechanical equipment implementing the method
CN113334344A (en) * 2021-05-08 2021-09-03 万勋科技(深圳)有限公司 Special operation robot and special operation robot system

Also Published As

Publication number Publication date
GB202311131D0 (en) 2023-09-06
WO2025017320A2 (en) 2025-01-23

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