The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 27, 2025
Filed:
Sep. 12, 2024
Intelligent Equipment Research Center, Beijing Academy of Agriculture and Forestry Sciences, Beijing, CN;
Ya Xiong, Beijing, CN;
Abstract
This patent describes a method and apparatus for harvesting fruits using a snap-off harvesting gripper. The method includes the following steps: identifying the pose of a target fruit according to an image perception; controlling the gripper to grip the target according to the pose; monitoring an acting force of the gripper acted on the fruit to be harvested, determining a connection status between the target's stem and the target fruit according to the acting force, and controlling the gripper to rotate the target fruit according to the connection status. The snap-off harvesting apparatus includes a multi-axis adjusting device, a gripping device, sensor assemblies and a control device. The apparatus features tension sensors for real-time force monitoring and a parallel finger mechanism using pulleys and ropes for adaptive gripping. The apparatus's first joint can rotate the fruit to break the stem without requiring arm movement, enhancing efficiency.