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PL3742883T3 - System i metoda autonomicznego zbierania pieczarek - Google Patents

System i metoda autonomicznego zbierania pieczarek

Info

Publication number
PL3742883T3
PL3742883T3 PL19885549.6T PL19885549T PL3742883T3 PL 3742883 T3 PL3742883 T3 PL 3742883T3 PL 19885549 T PL19885549 T PL 19885549T PL 3742883 T3 PL3742883 T3 PL 3742883T3
Authority
PL
Poland
Prior art keywords
mushrooms
autonomous harvesting
harvesting
autonomous
Prior art date
Application number
PL19885549.6T
Other languages
English (en)
Inventor
Murray Good
Stefan Glibetic
Nikita Kuchinskiy
Mehrdad Kermani
Scott Hayden
John Phan
Original Assignee
Mycionics Inc.
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 Mycionics Inc. filed Critical Mycionics Inc.
Publication of PL3742883T3 publication Critical patent/PL3742883T3/pl

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A01G18/60—Cultivation rooms; Equipment therefor
    • A01G18/62—Racks; Trays
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • 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
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A01G18/60—Cultivation rooms; Equipment therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A01G18/70—Harvesting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0475—Exchangeable fingers
    • 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
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/188—Vegetation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/68—Food, e.g. fruit or vegetables
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/06—Recognition of objects for industrial automation

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Mycology (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Mushroom Cultivation (AREA)
PL19885549.6T 2018-11-13 2019-11-13 System i metoda autonomicznego zbierania pieczarek PL3742883T3 (pl)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201862760598P 2018-11-13 2018-11-13
PCT/CA2019/051619 WO2020097727A1 (en) 2018-11-13 2019-11-13 System and method for autonomous harvesting of mushrooms

Publications (1)

Publication Number Publication Date
PL3742883T3 true PL3742883T3 (pl) 2022-12-05

Family

ID=70730408

Family Applications (1)

Application Number Title Priority Date Filing Date
PL19885549.6T PL3742883T3 (pl) 2018-11-13 2019-11-13 System i metoda autonomicznego zbierania pieczarek

Country Status (6)

Country Link
US (2) US11154010B2 (pl)
EP (2) EP4108064A1 (pl)
CN (1) CN113301797A (pl)
CA (1) CA3084650C (pl)
PL (1) PL3742883T3 (pl)
WO (1) WO2020097727A1 (pl)

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CN115581174A (zh) * 2022-10-08 2023-01-10 山东农业大学 一种瓶栽鹿茸菇自动采收机
CN115812525B (zh) * 2022-10-26 2025-01-28 浙江宏业装备科技有限公司 一种外行走式的蘑菇自动采摘装置与方法
CN115474513B (zh) * 2022-11-01 2023-12-26 浙江宏业装备科技有限公司 一种采摘装置、末端执行器、采摘机架与采摘方法
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CN116267231B (zh) * 2023-04-12 2025-05-06 广西大学 一种多自由度机械臂的自动摘果智能小车
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CN116787484A (zh) * 2023-07-05 2023-09-22 佛山科学技术学院 一种绳牵引自适应软体机械手
CN116784183B (zh) * 2023-08-17 2023-11-14 山东恒发生物科技有限公司 一种食用菌种湿度测量装置
CN117502114B (zh) * 2023-11-29 2024-04-30 江苏裕灌现代农业科技有限公司 一种双孢菇柔性采摘机械手
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Also Published As

Publication number Publication date
EP3742883A1 (en) 2020-12-02
CA3084650C (en) 2022-04-26
EP4108064A1 (en) 2022-12-28
WO2020097727A1 (en) 2020-05-22
US20220000028A1 (en) 2022-01-06
EP3742883A4 (en) 2021-03-24
CA3084650A1 (en) 2020-05-13
US11154010B2 (en) 2021-10-26
US11889789B2 (en) 2024-02-06
CN113301797A (zh) 2021-08-24
EP3742883B1 (en) 2022-08-17
US20200404845A1 (en) 2020-12-31

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