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1. 发明公开

EP3297417A1 STEM DETECTOR FOR CROPS IN A HIGH-WIRE CULTIVATION SYSTEM 无效
标题翻译：高线耕作系统中作物的茎检测器
公开(公告)号：EP3297417A1
公开(公告)日：2018-03-28
申请号：EP16726045.4
申请日：2016-05-19
申请人： Technische Universiteit Eindhoven , Wageningen Universiteit
发明人： SOETENS, Robin Petrus Theodorus , VAN DE MOLENGRAFT, Marinus Jacobus , VAN DEN DRIES, Sjoerd , BRUYNINCKX, Herman Pierre Julien , IJSSELMUIDEN, Joris Midas Maarten , VAN HENTEN, Eldert
IPC分类号： A01D46/30 , B25J13/08
CPC分类号： A01D46/30 , A01D46/264 , A01G9/143 , B25J13/081 , B25J13/082 , B25J13/085 , Y02A40/252
摘要： A plant detection device is provided that includes a robotic arm having gripping element that includes first and second curved grippers with opposing concave surfaces that move between an open and closed states, and the arm moves and vibrates the gripping element, a proximity force sensor that is disposed on the gripper and outputs a measurement signal of a force between the gripping element and an outgrowth from a stem of a plant under test to a computer, a force and frequency sensor that is orthogonal to the proximity force sensor outputs a gripping force measurement and a frequency response measurement of the stem of the plant under test to the computer, where the computer moves the gripping and vibrating arm according to the sensor signal outputs.

2. 发明公开

EP3082397A1 AUTOMATED SELECTIVE HARVESTING OF CROPS 有权
标题翻译：计算机自动选择收获场的水果
公开(公告)号：EP3082397A1
公开(公告)日：2016-10-26
申请号：EP14870751.6
申请日：2014-12-19
申请人： Harvest Croo, LLC
发明人： PITZER, Robert
IPC分类号： A01D46/20 , A01D46/00 , A01D45/00
CPC分类号： A01D46/30 , A01D45/006
摘要： Various embodiments include a device for selectively harvesting crops on a plant. The device can include a picking apparatus. The picking apparatus can be rotatable around a central axis. The picking apparatus can include a plurality of grippers each spaced apart and extending radially from the central axis, and each configured to pick a different individual one of the crops. Each of the plurality of grippers can be adjustable between an open position and a closed position. Each of the plurality of grippers can be configured in the open position to open around the individual crop. Each of the plurality of grippers can be configured in the closed position to securely hold the individual crop when the picking apparatus is rotated around the central axis. Other embodiments are provided.

3. 发明授权

EP1891852B1 Method and collection vehicle for harvesting crops growing on stems 有权转让
标题翻译：收割程序和收割车长在茎文化
公开(公告)号：EP1891852B1
公开(公告)日：2010-02-03
申请号：EP07115028.8
申请日：2007-08-27
申请人： EGA MATIC ApS
发明人： Beiskjær, Peder Zoëga
IPC分类号： A01D46/30
CPC分类号： A01D46/30

4. 发明公开

EP2086308A1 AUTONOMOUS FRUIT PICKING MACHINE 有权
标题翻译：自动水果捡拾机
公开(公告)号：EP2086308A1
公开(公告)日：2009-08-12
申请号：EP07815689.0
申请日：2007-09-28
申请人： Katholieke Universiteit Leuven , ACRO - KHLimburg
发明人： CLAESEN, Eric
IPC分类号： A01D46/30
CPC分类号： A01D46/30
摘要： In a first object the present invention provides a fruit picking device which comprises a robot arm carrying a suction grabber and a vision system for the identification of a fruit and the determination of the position of said fruit relative to the suction grabber. The vision system of the device of the present invention is arranged such that the spatial co-ordinates of a fruit as provided by said vision system can be readily used to steer the suction grabber towards the fruit, without the need for complex transformation of the vision system co-ordinates into robot co-ordinates. This set-up of the vision system allows limiting the calculation time required for carrying out a picking cycle, which significantly enhances the time-efficiency of this automatic fruit by fruit picking device.
摘要翻译：在第一个目的中，本发明提供了一种水果采摘装置，其包括机器人臂，该机器人臂携带用于识别水果的吸取抓取器和视觉系统以及确定所述水果相对于吸取抓取器的位置。本发明的装置的视觉系统被布置为使得由所述视觉系统提供的水果的空间坐标可以容易地用于使吸取抓持器转向水果，而不需要视觉的复杂转换系统协调成机器人坐标。视觉系统的这种设置允许限制执行采摘周期所需的计算时间，这通过水果采摘装置显着提高了该自动水果的时间效率。

5. 发明授权

EP0270469B1 Machine robotisée, notamment pour la récolte de fruits 失效
标题翻译：机器人，特别用于收获水果
公开(公告)号：EP0270469B1
公开(公告)日：1991-03-06
申请号：EP87430032.0
申请日：1987-11-04
申请人： ETABLISSEMENTS PELLENC ET MOTTE , CENTRE NATIONAL DU MACHINISME AGRICOLE, DU GENIE RURAL, DES EAUX ET DES FORETS (CEMAGREF)
发明人： Pellenc, Roger , Montoya, José Luis , Grand d' Esnon, Antoine , Rombaut, Marc
IPC分类号： A01D46/24 , B25J9/10 , B25J19/02
CPC分类号： B25J19/023 , A01D46/24 , A01D46/30 , B25J9/1065 , Y10S414/13

6. 发明授权

EP3726957B1 HARVESTING OF CROPS 有权
公开(公告)号：EP3726957B1
公开(公告)日：2024-04-17
申请号：EP18829960.6
申请日：2018-12-21
IPC分类号： A01D46/00 , A01D46/30
CPC分类号： A01D46/00 , A01D46/30

7. 发明公开

EP3373203A1 EQUIPMENT OF LOCALIZATION OF PEDUNCLE AND METHOD OF LOCALIZATION OF PEDUNCLE 有权
公开(公告)号：EP3373203A1
公开(公告)日：2018-09-12
申请号：EP18160767.2
申请日：2018-03-08
申请人： Panasonic Corporation
发明人： TOSHIMA, Ryou , ARAKI, Hidekazu , KAWANO, Hajime
IPC分类号： G06K9/00 , A01D46/30
CPC分类号： G06K9/00 , A01D46/30 , G06K2209/17
摘要： A equipment of localization of peduncle and a method of localization of peduncle that can achieve a stable harvesting motion by estimating the position of a peduncle even in the case where the peduncle is located behind fruits and the like and cannot be recognized as viewed from the image sensor side. The peduncle position estimating apparatus includes image acquiring section 102 that acquires an image of fruits; and estimation section 104 that estimates a position of a peduncle that is coupled with the fruits based on positions of the fruits and a distance between the fruits in the image acquired by the image acquiring section.

8. 发明公开

EP3337307A1 A SELF-GUIDED BLOSSOM PICKING DEVICE 有权
公开(公告)号：EP3337307A1
公开(公告)日：2018-06-27
申请号：EP16847556.4
申请日：2016-09-19
申请人： Carnegie Mellon University
发明人： HERMAN, Herman , FROMME, Christopher Chandler , CUZZILLO, Elliot Allen , BOURNE, Jaime W. , PANTALEO, Richard D. , STEGALL, Neil Frederick , BAGNELL, James Andrew , MCMAHILL, Jeffrey David , CAMPOY, Joan
IPC分类号： A01D46/00 , A01D46/24 , A01D46/253 , A01D46/30 , B25J19/04
CPC分类号： A01G3/00 , A01D46/005 , A01D46/253 , A01D46/30 , A01G2003/005 , A01G2003/007
摘要： Disclosed is a self-guided blossom picker that uses a vision system to identify and locate blossoms or inflorescence growing on a plant. The device is intended to be used on a farm and towed by a tractor, for example, or it can be self-propelled. As the device is moved over the blossom the image data captured by the vision system is sent to a machine vision module, which interprets the data and identifies a location of blossom. A controller uses the location data to command a picker to the proper location. A cutter on the picker is actuated to remove the blossom.

9. 发明公开

EP1891852A1 Method and collection vehicle for harvesting crops growing on stems 有权转让
标题翻译： Verfahren und Erntefahrzeug zur Ernte von aufStämmenwachsenden Kulturen
公开(公告)号：EP1891852A1
公开(公告)日：2008-02-27
申请号：EP07115028.8
申请日：2007-08-27
申请人： Egatec A/S
发明人： Beiskjær, Peder Zoëga
IPC分类号： A01D46/30
CPC分类号： A01D46/30
摘要： The present invention is directed to a method for harvesting fruits and vegetables in particular fruits and vegetables in bunches or clusters such as truss tomatoes, grapes and the like. Furthermore, the invention is also directed to a collection vehicle (1) on which vehicle the implements for automatically carrying out the method are arranged.
The invention therefore provides a novel method for harvesting fruits or vegetables, in particular fruits or vegetables in bunches or clusters, such as truss tomatoes, grapes and the like where the method comprises the following steps :
a) placing a collection vehicle (1) adjacent a fruit bearing plant along a row of fruit bearing plants;
b) activating a vision system (40);
c) activating a first gripping means (5) arranged below a cutting station for gripping a fruit bearing stem (10);
d) activating a second gripping means (6) arranged above the cutting station;
e) adjusting the stem into a substantially vertical position, by moving the first and second gripping means in the horizontal plane;
f) simultaneously retracting the first and second gripping means towards the vehicle, whereby the stem enters a cutting station (20);
g) the second gripping means releases the stem (10);
h) if the vision system has been de-activated it is re-activated, and the cutting station is moved upwards until the vision system detects a side stem carrying a bunch of fruits;
i) cutter means in the cutting station are activated for cutting the side stem;
j) the cutter station is advanced upwards along the stem for cutting of non-fruit carrying stems;
k) the cutter station opens the vertical slit, and the gripping means releases the stem back to the stems position in the row;
l) the collection vehicle advances to the next fruit bearing plant.
摘要翻译：本发明涉及一种用于收获水果和蔬菜，特别是水果和蔬菜的束或簇的方法，例如桁架番茄，葡萄等。此外，本发明还涉及一种在其上布置有用于自动执行该方法的工具的车辆的收集车辆（1）。因此，本发明提供了一种用于收获水果或蔬菜，特别是串或簇的水果或蔬菜的新颖方法，例如桁架番茄，葡萄等，其中该方法包括以下步骤：a）将收集车辆（1）放置在邻近沿着一排水果植物的水果轴承植物; b）激活视觉系统（40）; c）激活布置在切割站下方的用于夹持果实轴承杆（10）的第一夹持装置（5）; d）启动布置在切割站上方的第二夹持装置（6）; e）通过在水平面中移动第一和第二夹持装置来将杆调节到基本垂直的位置; f）同时将第一和第二夹持装置朝向车辆缩回，由此杆进入切割站（20）; g）第二夹持装置释放杆（10）; h）如果视觉系统被激活，则其被重新激活，并且切割站向上移动直到视觉系统检测到携带一束水果的侧杆; i）切割站中的切割装置被激活以切割侧杆; j）切割台沿着茎向上推进以切割非水果携带茎; k）切割站打开垂直狭缝，并且夹持装置将杆释放回行中的杆位置; l）收集车辆前进到下一个水果轴承厂。

10. 发明公开

EP1488678A1 Remote controlled helicopter 有权
标题翻译： Ferngesteuerter Mini-Huschrauber
公开(公告)号：EP1488678A1
公开(公告)日：2004-12-22
申请号：EP04425419.1
申请日：2004-06-08
申请人： Maflex S.r.l.
发明人： Mazzotti, Giuseppe
IPC分类号： A01D46/24 , A01D46/26 , A01D46/30
CPC分类号： A01D46/30 , A01D46/24 , A01D46/264 , A01D2046/262
摘要： The apparatus comprises a helicopter (1) remote-controlled by an operator on the ground, an implement (3) that can be slewed for shaking branches of trees, which is applied to the helicopter, and means for slewing and actuating the implement (3). The helicopter (1) and said means for slewing and actuating the implement (3) are remote-controlled by an operator in order to orient the implement against the branches of a tree and actuate it, producing a shaking designed to cause the fruit to drop.
摘要翻译：该装置包括由操作人员在地面上遥控的直升机（1），可以旋转的工具（3），用于摇动施加到直升机的树枝，以及用于回转和致动工具（3）的装置）。直升机（1）和所述用于回转和致动所述工具（3）的装置由操作者远程控制，以将所述工具对准树的分支并致动它，产生设计成使果实下降的震动。

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