Abrégé

Mushroom harvesting vision system including: a camera; a processor for running an algorithm including: an input module for selecting an ellipse diameter range, a sensitivity and accuracy values; an image input module for inputting at least one image, said at least one image depicting one or more mushrooms; a preprocessing module for preprocessing each image and converting each image into greyscale; and a detection module for detecting coordinates of at least one mushroom, the detection module comprising an image processor in which each image is processed to produce at least one image output matrix; wherein each row of each image output matrix comprises x, y, z coordinates of one of said at least one mushroom, a corresponding gripper orientation, and a corresponding mushroom orientation; and a robot comprising a gripper arm, wherein the robot utilizes the output matrix to automatedly pick the at least one mushroom with the gripper arm.

Classes IPC  ?

• A01G 18/70 - Récolte
• A01G 18/60 - Salles de cultureÉquipement à cet effet

Abrégé

A mushroom gripper finger (10) having a structure based on the Fin Ray Effect is provided. The mushroom gripper finger comprises two flexible flanks (30A 30B) arranged in a V-shape relative to each other, such that the flexible flanks (30A 30B) are convergent and form a point (40). The mushroom gripper finger further comprises a plurality of cross-struts (50A 50B 50C) which interconnect the flexible flanks (30A 30B) and extend between the flexible flanks (30A 30B), wherein the gripper finger (10) is made of a material having a Shore Hardness of between 50 A and 65 A. A mushroom harvesting gripper device (100) comprising a gripper finger (10) and a bracket portion (70) is also provided.

Classes IPC  ?

• A01D 46/30 - Dispositifs robotisés pour cueillir les articles un par un
• A01G 18/70 - Récolte
• B25J 15/08 - Têtes de préhension avec des éléments en forme de doigts
• B65G 47/90 - Dispositifs pour saisir et déposer les articles ou les matériaux