ROBOTIC FRUIT HARVESTING SYSTEM
A collection tool comprises a drive chassis, a harvester module disposed on the drive chassis, the harvester module including a vision system configured to identify target objects, and a robotic arm including a grasper configured to collect the target objects, and a subsystem including an articulating semi-rigid catch member, the semi-rigid catch member configured to transition into a retracted state while the drive chassis is in motion and to transition into an extended state while the drive chassis is stationary and the robotic arm is in a process of collecting the target objects.
1 . A collection tool comprising:
a drive chassis;
a harvester module disposed on the drive chassis, the harvester module including:
a vision system configured to identify target objects; and
a robotic arm including a grasper configured to collect the target objects; and
a subsystem including an articulating semi-rigid catch member, the semi-rigid catch member configured to transition into a retracted state while the drive chassis is in motion and to transition into an extended state while the drive chassis is stationary and the robotic arm is in a process of collecting the target objects.
2 . The collection tool of claim 1 , wherein the semi-rigid catch member comprises a plurality of linkages.
3 . The collection tool of claim 2 , further comprising a linear actuator configured to articulate the plurality of linkages between the retracted and extended states.
4 . The collection tool of claim 1 , wherein the semi-rigid catch member comprises a plurality of pivoting panels.
5 . The collection tool of claim 4 , further comprising a linear actuator configured to articulate the plurality of pivoting panels between the retracted and extended states.
6 . The collection tool of claim 1 , wherein the semi-rigid catch member comprises a linear retracting and extending front member and a linear actuator configured to retract and extend the front member.
7 . The collection tool of claim 3 , wherein the linear actuator includes one or more pneumatic cylinders, linear motor and rail systems, rotary motors with ball or lead screw mechanisms, or hydraulic pistons/diaphragms.
8 . The collection tool of claim 1 , further comprising a target surface connected to the semi-rigid catch member and formed of a compliant material configured to receive collected target objects and to direct the target objects through an outlet.
9 . The collection tool of claim 1 , wherein the semi-rigid catch member comprises a dynamically adjustable and flexible hoop.
10 . The collection tool of claim 9 , wherein the hoop includes a flexible hinged roller chain.
11 . The collection tool of claim 9 , wherein the hoop includes a flexible bar element.
12 . The collection tool of claim 10 , further comprising a double-acting linear actuator configured to retract and extend the hoop.
13 . The collection tool of claim 12 , wherein the double-acting linear actuator is a pneumatic cylinder having one end affixed to a side of the collection tool and having a single rotational degree of freedom.
14 . The collection tool of claim 13 , wherein the pneumatic cylinder includes a second end affixed to a side of the hoop and having three degrees of freedom including translation in two directions as well as rotation about the clevis pivot.
15 . The collection tool of claim 14 , wherein a body of the pneumatic cylinder is configured to move in an arc motion while extending and retracting.
16 . The collection tool of claim 9 , wherein the hoop has a first area in a retracted position and a second area greater than the first area in an extended position.
17 . The collection tool of claim 9 , wherein a front portion of the hoop is configured to conform to an obstacle impacted by the hoop.
18 . The collection tool of claim 9 , further comprising a target surface formed of a compliant material connected to the hoop and configured to receive collected target objects and to direct the target objects through an outlet.
19 - 24 . (canceled)
25 . A collection tool comprising:
a drive chassis;
a harvester module disposed on the drive chassis, the harvester module including:
a vision system configured to identify target objects; and
a robotic arm including a grasper configured to collect the target objects; and
a comprehensive landing zone for target objects dropped from the grasper including a flexible fabric structure mounted to static points on the collection tool.
26 - 32 . (canceled)
33 . A system for collecting agricultural products from a crop row comprising:
a collection tool including:
a drive chassis;
a harvester module disposed on the drive chassis, the harvester module including:
a vision system configured to identify target objects; and
a robotic arm including a grasper configured to collect the target objects; and
a catch system including:
a trough-shaped catch zone extending substantially along a full length of the crop row formed of a compliant material and including an outlet; and
a conveyance zone disposed below the outlet of the catch zone and including a conveyor configured to transport target objects to a collection bin.