阅读说明：本技术 物体抓取和操纵的抓取工具 (Gripping tool for gripping and manipulating objects ) 是由 瑞安·R·克诺夫 约书亚·亚伦·莱辛 詹森·A·里斯托斯 于 2020-02-14 设计创作，主要内容包括：一种收割工具,其被构造为独立地抓取并扭转目标物体。还公开了相关的系统和方法。(A harvesting tool is configured to independently grasp and twist a target object. Related systems and methods are also disclosed.)

1. A harvesting implement, comprising:

a rotatable cylinder;

a barrel attached to a distal end of the rotatable cylinder;

a plurality of finger elements radially attached to the drum, the plurality of finger elements being constructed and arranged to surround a target object;

a collar surrounding the plurality of finger elements, the collar being movable along a length of the plurality of finger elements; and

an extendable rod received within the rotatable cylinder at a first end and connected to the collar at a second end, the extendable rod being configured to facilitate movement of the collar along the length of the plurality of finger elements, whereby in operation, the extendable rod cooperates with the collar such that actuation of the extendable rod in an outward direction relative to the barrel forces the plurality of finger elements together to grasp the target object.

2. A tool as claimed in any preceding claim, wherein the cartridge is fixed relative to the rotatable cylinder.

3. The tool of any one of the preceding claims, wherein the harvesting tool is configured to twist the rotatable cylinder independent of actuation of the extendable rod.

4. A tool according to any one of the preceding claims, wherein the rotatable cylinder is a pneumatic cylinder supported on one or more bearings.

5. The tool of any one of the preceding claims, wherein a gear associated with a motor is configured to rotate the rotatable cylinder.

6. A tool according to any one of the preceding claims, wherein the cartridge comprising the plurality of finger elements is interchangeable relative to the rotatable cylinder.

7. The tool of any one of the preceding claims, wherein the plurality of finger elements are configured to accommodate requirements associated with the target object.

8. The tool of any one of the preceding claims, wherein the plurality of finger elements are configured to accommodate requirements associated with an agricultural environment.

9. The tool of any one of the preceding claims, wherein the plurality of finger elements comprises two, three, four, five, six or more finger elements.

10. The tool of any one of the preceding claims, wherein the plurality of finger elements are characterized by a beam stiffness value that is related to a desired force to be applied to the target object.

11. The tool of any one of the preceding claims, wherein the plurality of finger elements are engaged.

12. The tool of any one of the preceding claims, wherein the plurality of finger elements are shaped to facilitate grasping of the target object.

13. The tool of any one of the preceding claims, wherein the plurality of finger elements comprise suitable features to facilitate grasping of the target object.

14. The tool of any one of the preceding claims, wherein the plurality of finger elements comprise an engagement surface to facilitate grasping of the target object.

15. The tool of any one of the preceding claims, further comprising at least one sensor.

16. The tool of any one of the preceding claims, wherein the collar is characterized by a slope angle value that is related to a desired force to be applied to the target object.

17. The tool of any one of the preceding claims, wherein the collar is characterized by a deflection value that is related to a desired force to be applied to the target object.

18. The tool of any one of the preceding claims, wherein the rotatable cylinder is configured to adjust an angular orientation of the plurality of finger elements.

19. The tool of any one of the preceding claims, wherein the harvesting tool is configured to exert a force level on the target object that is below a threshold level.

20. The tool of any one of the preceding claims, wherein the harvesting tool comprises a deformable member bridging the plurality of finger elements.

21. The tool of any one of the preceding claims, wherein the harvesting tool is removably received by a robotic arm.

22. The tool of any one of the preceding claims, wherein the target object is associated with an agricultural product.

23. The implement of any one of the preceding claims, wherein the target object is located in an agricultural environment.

24. The tool of any one of the preceding claims, wherein the target object is a tomato, pepper or cucumber.

25. The tool of any one of the preceding claims, wherein the harvesting tool is configured to remove the target object from a vine.

26. The tool of any one of the preceding claims, wherein the harvesting tool is configured to grasp the target object while substantially avoiding obstacles.

27. A harvesting system, comprising:

a robot arm; and

the harvesting tool of any preceding claim, operably attached to the robotic arm.

28. The system of any one of the preceding claims, further comprising a second robotic arm and a second harvesting tool operably attached to the second robotic arm.

29. The system of any one of the preceding claims, further comprising a second harvesting tool operably attached to the first robotic arm.

30. The system of any one of the preceding claims, further comprising a controller programmable to operate the robotic arm and/or the harvesting tool.

31. A system according to any preceding claim, further comprising a processor programmable to identify and/or locate a target object, for example to locate the target object.

32. A system according to any preceding claim, wherein the processor is programmable to estimate the maturity of a target object.

33. The system of any preceding claim, wherein the processor is programmable to visualize an environment or a target object.

34. A system according to any one of the preceding claims wherein the controller is programmable to position the plurality of finger elements in proximity to a target object to facilitate harvesting of the target object.

35. The system of any one of the preceding claims, wherein the controller is programmable to actuate the extendable rod to achieve a predetermined degree of closure of the plurality of finger elements.

36. The system of any one of the preceding claims, wherein the predetermined degree of closure is related to at least one parameter of the target object.

37. The system of any one of the preceding claims, wherein the predetermined degree of closure is related to a size or geometry of the target object.

38. The system of any one of the preceding claims, wherein the controller is programmable to actuate the extendable rod at a variable speed.

39. The system of any one of the preceding claims, wherein the controller is programmable to actuate the rotatable cylinder at a variable speed.

40. The system of any one of the preceding claims, wherein the controller is configured to release the target object.

41. The system of any one of the preceding claims, wherein the controller is configured to place the target object at a desired location.

42. The system of any one of the preceding claims, wherein the controller is configured to deliver the target object to a downstream process.

43. The system of any one of the preceding claims, wherein the controller is configured to manipulate the harvesting tool to sequentially enclose, grasp, separate and remove the target object from the environment.

44. The system of any one of the preceding claims, wherein the controller is configured to be calibrated.

45. A method of harvesting a target object, comprising:

enclosing the target object with a plurality of finger elements;

grasping the target object with the plurality of finger elements;

disengaging the grasped target object by a twisting operation; and

removing the target object from the surrounding environment.

46. The method of any preceding claim wherein the plurality of finger elements are associated with a harvesting tool of any preceding claim.

47. The method of any preceding claim, further comprising identifying and/or locating the target object.

48. The method of any preceding claim, further comprising assessing the maturity of the target object.

49. The method of any one of the preceding claims, further comprising selecting at least one characteristic of the plurality of finger elements based on at least one parameter associated with the target object and/or a related environment.

50. A method according to any of the preceding claims, characterized in that environmental obstacles are substantially avoided.

51. The method according to any one of the preceding claims, wherein the grabbing of the target object is performed independently of detaching the grabbed target object.

52. The method of any of the preceding claims, further comprising adjusting an angular orientation of the plurality of finger elements.

53. The method of any preceding claim, further comprising releasing and/or delivering the target object to a downstream process.

54. The method of any one of the preceding claims, wherein the target object is enclosed, grasped, detached and removed continuously.

55. The method according to any of the preceding claims, wherein a force level less than a threshold level is exerted on the target object.

Technical Field

Aspects disclosed herein relate generally to robot body gripping and manipulation.

Background

Agricultural technologies are sectors of significant commercial interest. Examples of some emerging agricultural technologies relate to automated farm implements for crop care and irrigation. Automation of the harvesting operation presents significant challenges.

Drawings

The figures are not drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures is represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. In the drawings:

1A-1D present a process control loop for harvesting a target object in accordance with one or more embodiments;

fig. 2 is an exploded view of a working head of a harvesting tool according to one or more embodiments;

3A-3C illustrate features of various gripping finger elements in accordance with one or more embodiments; and

fig. 4 shows a schematic view of a harvesting tool according to one or more embodiments.

Detailed Description

In accordance with one or more embodiments, robotic grasping and manipulation tools and related systems and methods are disclosed.

In accordance with one or more embodiments, for example, a target object may be strategically grabbed and manipulated to facilitate harvesting of the target object. In some embodiments, the target object may be picked up at a suitable location, i.e. from a target surface or target location. In at least some embodiments, the target object can be grasped and twisted in order to disengage the target object in the proper location. In various embodiments, the grabbed and/or detached target object may be removed from the environment (i.e., the agricultural environment). In at least some embodiments, the tool can be configured to independently grasp and twist the target object. A common actuation mechanism may be used to accomplish various motions, force profiles, and to handle different target objects via selection of interchangeable components. Advantageously, the number of parts in contact with the target object may be minimized to facilitate cleaning and facilitate sterilization operations. The tools described herein may be constructed of materials that are compatible with various industry and regulatory safety standards.

In accordance with one or more embodiments, a variety of target objects may be used as desired workpieces. The target object may vary in terms of its size, geometry, stiffness, and various other characteristics. In some embodiments, the target object may be generally characterized as being fine or otherwise easily crushed. In at least some embodiments, the target object may relate to an agricultural product, for example, the target object may be a fruit or a vegetable. In some specific non-limiting embodiments, the target object may be a tomato, pepper, or cucumber.

In accordance with one or more embodiments, the target object may be present in various environments or settings. In some embodiments, the target object may be in an agricultural environment. In other embodiments, the target object may be in an industrial environment. The environment or setting of the target object may be indoors or outdoors. In some embodiments, the target object may be generally loose in the target environment. In other embodiments, the target object may be attached or tethered to a host, such as in a target environment. For example, the target object may relate to an agricultural product on a plant (e.g., vine) for ripening.

In accordance with one or more embodiments, the harvesting tool may be used to perform one or more of the following functions with respect to a target object: grasping, disengaging and/or removing. The target object may be enclosed and grasped. The grasped target object may be disengaged in place, typically by a twisting operation, if desired. For example, the target object may be a tomato on a vine. Tomatoes can be grabbed and detached from the calyx of the vine by twisting. In other embodiments, disengagement may not be necessary. It may be necessary to remove or reposition the grasped target object relative to the environment.

FIGS. 1A-1D provide schematic diagrams of representative, but non-limiting, operational permutations. The target object may be grasped in step 1, twisted into place in step 2, and removed from the surrounding environment in step 3. In at least some embodiments, the grasping and twisting can be performed independently.

In accordance with one or more embodiments, the harvesting tool may generally include a rotatable cylinder to facilitate disengagement or separation of the target objects by twisting. The working head may be attached to the distal end of the rotatable cylinder. Thus, upon rotation of the actuating cylinder, the working head can typically rotate as an assembly with the cylinder. In some embodiments, the rotatable cylinder is a pneumatic cylinder supported on one or more bearings. A gear associated with a motor (e.g., a DC motor) may be configured to rotate the rotatable cylinder. Some of these features are shown in fig. 4. The gears may hold a rotatable cylinder having an internal taper. The working head may be interchangeable with respect to the rotatable cylinder in order to accommodate target objects of different sizes and/or requirements. The rotational movement of the cylinder may also assist in fine positioning of the work head according to its angular orientation relative to the target object or the associated environment.

According to one or more embodiments, the working head may generally provide a gripping mechanism. In some embodiments with reference to fig. 2, work head 200 may include a barrel 210 and a plurality of gripping elements 220. In at least some embodiments, the plurality of gripping elements may be a plurality of finger elements. A plurality of finger elements may extend radially from the barrel. The plurality of finger elements may be keyed for assembly and/or retained within the holder 230 of the work head. The collar 240 is discussed below. The plurality of finger elements may be constructed and arranged to surround a target object as described herein. The barrel may be fixed relative to the rotatable cylinder such that the working head rotates with the rotatable cylinder. Rotation of the rotatable cylinder may also adjust the angular orientation of the plurality of finger elements in the target environment.

In accordance with one or more embodiments, the plurality of finger elements may be configured to accommodate one or more requirements associated with the target object. The plurality of finger elements may be individually configured to accommodate one or more requirements associated with the environment of the target object (e.g., an agricultural environment). The plurality of finger elements may comprise any number of finger elements, such as one, two, three, four, five, six or more finger elements. In some embodiments, a plurality of finger elements may be engaged to facilitate grasping of the target object. In other embodiments, the plurality of finger elements may be shaped to facilitate grasping of the target object. In at least some embodiments, the plurality of finger elements can include compliant features and/or engagement surfaces to facilitate grasping of the target object. As shown in fig. 3A and 3B, in some non-limiting embodiments, the raised ridges may be advanced forward of the gripping surface to provide a low cross-sectional area for enhanced mobility. This feature may also provide a front surface that enables palmar grasping of the target object. As further shown, the curvature and opening size may generally be related to the size of the target object. The ratio of the support distance from the cylinder centerline to the distance of the other beam profile can generally determine the clamping motion control based on velocity, acceleration and total distance clamped down. The plurality of finger elements may be characterized by a beam stiffness value that is related to a desired force to be applied to the target object. As shown in fig. 3C, the stiffness of the beam can be adjusted using a "C" shaped profile to reduce material thickness and increase stiffness to weight ratio. The grasping mechanism can be generally dexterous.

In accordance with one or more embodiments, referring to FIG. 4, the working head may further comprise a collar 440, the collar 440 generally surrounding the plurality of finger elements 420. The cartridge may partially hold the plurality of finger elements in contact with the collar. Collar 440 may be configured to affect grasping of the target object by the plurality of finger elements 410. In this regard, the collar 440 may be movable along the length of the plurality of finger elements. In some embodiments, collar 440 may be characterized by a tilt angle value that is related to a desired force to be applied to the target object. In at least some embodiments, the collar may be characterized by a deflection value that is related to a desired force to be applied to the target object.

According to one or more embodiments, the working head may further comprise an extendable rod 450. The extendable rod 450 may generally be configured to facilitate movement of the collar along the length of the plurality of finger elements. The extendable rod 450 may be received within the rotatable cylinder 460 at a first end and connected to the collar at a second end. The collar 440 may be threaded onto a second end of the extendable rod 450. In operation, the extendable rod may cooperate with the collar such that actuation of the extendable rod in an outward direction relative to the barrel may force the plurality of finger elements together to grasp the target object. Alternatively, the extendable rod may cooperate with the collar such that actuation of the extendable rod in an inward direction relative to the barrel may force the plurality of finger elements together to grasp the target object.

In some embodiments, the collar may generally act as a pusher such that when the extendable rod is actuated, the collar contracts the plurality of finger elements. The groove angle associated with the collar can easily convert axial loads to radial loads. The target object may be grasped to varying degrees by the plurality of finger elements. In some embodiments, the target object may be substantially grasped, while in other embodiments, a palm grip or partial grip may be sufficient to effect detachment and/or removal of the target object.

According to one or more embodiments, the harvesting tool may be configured to actuate the rotatable cylinder independently of the working head. In some embodiments, the harvesting tool may be configured to twist the rotatable cylinder independent of actuation of the extendable rod. The harvesting tool may be configured to remove the target object from the plant (e.g., vine) without damaging the plant. Detachment may be performed at the appropriate location. The target object may then be removed from the environment. Such separation of the target object from the host may advantageously be achieved cleanly without damaging the host and with relatively low force application. The harvesting tool may be configured to grasp the target object while substantially avoiding the environmental obstruction. The harvesting tool may be configured to exert a force level on the target object that is below a threshold level, for example, to avoid damage to the target object.

According to one or more embodiments, the working head may comprise further features to facilitate grasping and/or removal of the target object. For example, the deformable member may bridge a plurality of finger elements to facilitate harvesting operations.

According to one or more embodiments, the harvesting tool may be removably received by the robotic arm. The robotic arm may be connected to a robotic carriage or robotic manipulator as part of a robotic harvesting system. In some embodiments, two or more harvesting tools may be removably received by a single robotic arm. In other embodiments, each robotic arm of the robotic harvesting system may have a dedicated harvesting tool. In other embodiments, two or more robotic arms of the robotic harvesting system may each have two or more dedicated harvesting tools. In some embodiments, the robotic harvesting system may include at least one sensor associated with the harvesting tool, the robotic arm, and/or other components. In at least one embodiment, the robotic harvesting system may include two or more robotic carriages or manipulators.

In accordance with one or more embodiments, the robotic manipulator may allow for customized movement, travel, and/or force distribution during actuation of the associated robotic arm and/or harvesting tool. In at least some embodiments, the robotic manipulators may be calibrated.

In accordance with one or more embodiments, a robotic harvesting system may include a programmable processor to visualize an environment and/or a target object. The processor may be programmable to identify one or more properties of the target object, i.e. its relative positioning and/or its dimensions. The processor may be programmable to identify and/or locate a target object within the environment. The processor may be programmable to estimate the maturity of the target object.

In accordance with one or more embodiments, a robotic harvesting system may include a controller programmable to operate a robotic arm. The controller may be further programmed to operate the harvesting tool. The controller may be associated with the robotic carriage or manipulator. The controller may receive input from the processor and provide one or more control signals to the robotic arm and/or harvesting tool.

In some embodiments, the controller may be programmable to actuate the robotic arm to strategically position the harvesting tool within the environment. In this way, the working head and/or its various finger elements can be placed in the vicinity of the target object, facilitating its harvesting. The controller may manipulate the robotic arm such that the plurality of finger elements of the working head partially or completely encircle the target object. The controller may be programmable to actuate an extendable rod of the harvesting tool to effect grasping of the target object by the plurality of finger elements. The controller may be programmable to achieve a predetermined degree of closure of the plurality of finger elements. The predetermined degree of closure may be related to at least one parameter of the target object (e.g., a size or geometry of the target object). As with the enclosure, different degrees of grasping of the target object may be achieved. Once the target object is grasped, the controller may be programmable to actuate the rotatable cylinder to move the target object into position, for example by twisting. The controller may be programmable to remove or reposition the target object being grasped, or to be removed without environmental impact or being obvious. The controller may also be programmable to release and/or otherwise deliver the target object to a desired location, for example for storage or downstream processing.

In accordance with one or more embodiments, the controller may be programmable to operate various components of the robotic harvesting system at variable speeds. For example, a robotic arm, rotatable cylinder and/or extendable rod of a harvesting tool working head may be strategically operated at variable speeds.

In accordance with one or more embodiments, a robotic harvesting system may be programmed to operate a robotic arm and/or harvesting tool according to customizable routines. For example, in some non-limiting embodiments, the system may sequentially enclose, grab, separate, and remove the target object from the environment.

In accordance with one or more embodiments, a method of harvesting a target object may generally include surrounding the target object, such as with a plurality of finger elements. The target object may then be grasped with the plurality of finger elements. The twisting motion may then be used to move the grasped target object into position. The grasping of the target object may be performed independently of the movement of the grasped target object. The grasped target object may then be removed and/or released from the environment. For example, the target object may be released and/or passed to downstream processing. In some non-limiting embodiments, the target object may be continuously enclosed, grasped, detached, and removed. During the harvesting operation, environmental obstacles, i.e. other target objects, vines and/or leaves, can be substantially avoided.

In some embodiments, a target object may be identified, located and/or characterized. At least one characteristic of the plurality of finger elements may be selected based on at least one parameter associated with the target object and/or the associated environment. The angular orientation of the plurality of finger elements may be adjusted. The maturity of the target object may be assessed. A force level less than a threshold level may be exerted on the target object.

Having thus described several aspects of at least one embodiment, it is to be appreciated various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be part of this disclosure, and are intended to be within the spirit and scope of the disclosure. The acts of the methods disclosed herein may be performed in an alternating order other than that shown, and one or more acts may be omitted, substituted or added. One or more features of any one example disclosed herein may be combined with or substituted for one or more features of any other example disclosed herein. Accordingly, the foregoing description and drawings are by way of example only.

The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. As used herein, the term "plurality" refers to two or more items or components. As used herein, dimensions described as "substantially similar" should be considered to be within about 25% of each other. The terms "comprising," including, "" carrying, "" having, "" containing, "and" involving, "whether in the written description or the claims, etc., are open-ended terms, i.e., mean" including but not limited to. Thus, use of such terms is meant to include the items listed thereafter and equivalents thereof as well as additional items. The transitional phrases "consisting of and" consisting essentially of, respectively, are closing or semi-closing transitional phrases in reference to the claims. Use of ordinal terms such as "first," "second," "third," etc., in the claims to modify a claim element does not by itself connote any priority, precedence, or order of one claim element over another or the temporal order in which acts of a method are performed, but are used merely as labels to distinguish one claim element having a certain name from another element having a same name (but for use of the ordinal term) to distinguish the claim elements.