Onboard and/or offboard crop stabilization for reducing movement within an agricultural environment to enhance robotic manipulation for crop harvesting.
A gripper assembly of a device for harvesting produce from a plant includes a blade, a pivot axis coupled to the blade, and a pair of fingers including a first finger and a second finger configured to pivot about the pivot axis. The gripper assembly may also include an actuation system, configured to actuate the first finger. The gripper assembly may also include a spring steel configured to bias the second finger to keep the second finger at a stable position when no force is exerted against the second finger, such that when the first finger is actuated, the pair of fingers are caused to open and close to grip a stem of a target produce item, or swipe over the blade to cause the blade to cut the stem of the target produce item to detach the target produce item from a plant.
A new and distinct variety of strawberry plant named ‘HongHui’, particularly selected for its very large fruit size, strong fruit glossiness, aroma, juiciness, and very early and consistent flowering, is disclosed.
An exemplary computer-implemented method for administering one or more treatments to a plant in a greenhouse comprises: receiving data associated with the plant; providing the received data to a trained machine-learning prediction model to obtain: a first set of health predictions of the plant corresponding to a present time; and a second set of health predictions of the plant corresponding to a future time; determining whether the plant is unhealthy or lagging a growth trajectory based on: a first comparison based on the first set of health predictions and observed health of the plant at the present time, and a second comparison based on the second set of health predictions and a future production goal of the plant; if the plant is unhealthy or lagging the growth trajectory, identifying the treatments for the plant; and controlling one or more robots in the greenhouse to administer the treatments.
A01G 7/06 - Traitement des arbres ou des plantes en cours de croissance, p. ex. pour prévenir la décomposition du bois, pour teinter les fleurs ou le bois, pour prolonger la vie des plantes
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
Robotic systems and methods for harvesting agricultural produce along multiple rows crops are disclosed. A mobile platform may include a robotic arm having a gripping tool and repositionable catch for collecting harvested target objects. A vision system may facilitate the identification of target objects and an associated controller may coordinate the various operational functions.
An exemplary computer-implemented method for administering one or more treatments to a plant in a greenhouse comprises: receiving data associated with the plant; providing the received data to a trained machine-learning prediction model to obtain: a first set of health predictions of the plant corresponding to a present time; and a second set of health predictions of the plant corresponding to a future time; determining whether the plant is unhealthy or lagging a growth trajectory based on: a first comparison based on the first set of health predictions and observed health of the plant at the present time, and a second comparison based on the second set of health predictions and a future production goal of the plant; if the plant is unhealthy or lagging the growth trajectory, identifying the treatments for the plant; and controlling one or more robots in the greenhouse to administer the treatments.
G06Q 10/04 - Prévision ou optimisation spécialement adaptées à des fins administratives ou de gestion, p. ex. programmation linéaire ou "problème d’optimisation des stocks"
7.
System and method for automatically gripping and cutting fruits and plants
An autonomous robot for harvesting produce from a plant include a base, an arm coupled to the base, and an end-effector coupled to the arm. The end-effector includes one or more grippers, each having a first cutter, second cutter, and a compliant member between the first cutter and the second cutter. The first cutter is configured to cut a stem of the produce at a first location. The second cutter is configured to cut the stem of the produce at a second location. The compliant member is configured to plastically deform to hold the stem of the produce.
An autonomous robot for harvesting produce from a plant include a base, an arm coupled to the base, and an end-effector coupled to the arm. The end-effector includes one or more grippers, each having a first cutter, second cutter, and a compliant member between the first cutter and the second cutter. The first cutter is configured to cut a stem of the produce at a first location. The second cutter is configured to cut the stem of the produce at a second location. The compliant member is configured to plastically deform to hold the stem of the produce.
A61L 2/18 - Procédés ou appareils de désinfection ou de stérilisation de matériaux ou d'objets autres que les denrées alimentaires ou les lentilles de contactAccessoires à cet effet utilisant des substances chimiques des substances liquides
9.
Depth and vision sensors for challenging agricultural environments
Provided is a method for three-dimensional imaging a plant in an indoor agricultural environment having an ambient light power spectrum that differs from a power spectrum of natural outdoor light. The method comprises directing a spatially separated stereo pair of cameras at a scene including the plant, illuminating the scene with a non-uniform pattern provided by a light projector utilizing light in a frequency band having a lower than average ambient intensity in the indoor agricultural environment, filtering light entering image sensors of each of the cameras with filters which selectively pass light in the frequency band utilized by the light projector, capturing an image of the scene with each of the cameras to obtain first and second camera images, and generating a depth map including a depth value corresponding to each pixel in the first camera image.
A01D 46/30 - Dispositifs robotisés pour cueillir les articles un par un
H04N 13/239 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant deux capteurs d’images 2D dont la position relative est égale ou en correspondance à l’intervalle oculaire
An exemplary computer-implemented method for administering one or more treatments to a plant in a greenhouse comprises: receiving data associated with the plant; providing the received data to a trained machine-learning prediction model to obtain: a first set of health predictions of the plant corresponding to a present time; and a second set of health predictions of the plant corresponding to a future time; determining whether the plant is unhealthy or lagging a growth trajectory based on: a first comparison based on the first set of health predictions and observed health of the plant at the present time, and a second comparison based on the second set of health predictions and a future production goal of the plant; if the plant is unhealthy or lagging the growth trajectory, identifying the treatments for the plant; and controlling one or more robots in the greenhouse to administer the treatments.
A01G 7/06 - Traitement des arbres ou des plantes en cours de croissance, p. ex. pour prévenir la décomposition du bois, pour teinter les fleurs ou le bois, pour prolonger la vie des plantes
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un programme
11.
Gripper tools for object grasping and manipulation
A harvesting tool configured to independently grasp and twist a target object. The harvesting tool comprising a pneumatic cylinder, a pneumatic coupling communicating with the pneumatic cylinder; bearings supporting the pneumatic cylinder for rotation relative to the pneumatic coupling; and a gear assembly configured to rotate the pneumatic cylinder relative to the pneumatic coupling. Related systems and methods are also disclosed.
A01D 46/24 - Dispositifs pour la cueillette des pommes ou de fruits similaires
B25J 9/04 - Manipulateurs à commande programmée caractérisés par le mouvement des bras, p. ex. du type à coordonnées cartésiennes par rotation d'au moins un bras en excluant le mouvement de la tête elle-même, p. ex. du type à coordonnées cylindriques ou polaires
B25J 15/10 - Têtes de préhension avec des éléments en forme de doigts avec au moins trois éléments en forme de doigts
B25J 15/12 - Têtes de préhension avec des éléments en forme de doigts avec des éléments en forme de doigts flexibles
12.
Ripeness detection system using hue color space and peak finding
A method for estimating ripeness of produce includes illuminating the produce with light, measuring intensities of the light reflected from the produce at different frequencies, and determining a degree of ripeness of the produce from the relative intensities of the light reflected from the produce at the different frequencies.
G06T 7/90 - Détermination de caractéristiques de couleur
A01H 6/54 - Leguminosae ou Fabaceae, p. ex. soja, luzerne ou arachide
G01N 21/95 - Recherche de la présence de criques, de défauts ou de souillures caractérisée par le matériau ou la forme de l'objet à analyser
G06T 7/44 - Analyse de la texture basée sur la description statistique de texture utilisant des opérateurs de l'image, p. ex. des filtres, des mesures de densité des bords ou des histogrammes locaux
Harvesting tools are disclosed which may comprise a gripper including a set of finger elements constructed and arranged to envelop a target object pertaining to agricultural produce, and a manipulator carriage configured to actuate the gripper during operation to grasp the target object. Related systems and methods are also disclosed.
Onboard and/or offboard crop stabilization for reducing movement within an agricultural environment to enhance robotic manipulation for crop harvesting.
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