KR-20260063621-A - Harvesting robot system

KR20260063621AKR 20260063621 AKR20260063621 AKR 20260063621AKR-20260063621-A

Abstract

The present invention discloses a harvesting robot system. The robot harvesting system includes a harvesting robot comprising an end effector for harvesting fruit as a harvesting target and a conveyor conveyor through which a collection container for collecting harvested fruit is conveyed, and a transport robot configured to be detachably connected to the harvesting robot along a front-to-back connection direction, wherein the collection container is loaded and unloaded for replacing the collection container of the harvesting robot. According to the present invention, a harvesting robot system is provided that includes a harvesting robot and a transport robot formed as separate actuators for implementing a harvesting task for harvesting fruit as a harvesting target and a transport task for the harvested fruit, and a loading/unloading mechanism for unloading a collection container filled with harvested fruit and loading a collection container emptied of fruit between the harvesting robot and the transport robot, along with a separable connection between the harvesting robot and the transport robot formed by these different actuators.

Inventors

최광용
전종표
전종우

Assignees

(주)시스콘로보틱스

Dates

Publication Date: 20260507
Application Date: 20241030

Claims (14)

A harvesting robot comprising an end effector for harvesting fruit as a harvesting target and a conveyor through which a collection container for collecting harvested fruit is conveyed; and A harvesting robot system comprising: a transport robot configured to be detachably connected to the harvesting robot along the front and rear connection directions, wherein a collection container is loaded and unloaded for replacement of the collection container of the harvesting robot.
In paragraph 1, A harvesting robot system characterized in that the harvesting robot and the transport robot are separatedly connected by the mating of joints formed with mutually complementary shapes.
In paragraph 2, The joint portion of the harvesting robot and the transport robot each includes a projection protruding outward and a groove recessed inward. The protrusions of the harvesting robot and the transport robot, and the grooves of the harvesting robot and the transport robot, are formed at positions that intersect each other along the edges of the harvesting robot and the transport robot facing each other. A harvesting robot system characterized in that the protrusions of the harvesting robot and the grooves of the transport robot, and the grooves of the harvesting robot and the protrusions of the transport robot, are formed at the same position facing each other along the rear edge of the harvesting robot and the front edge of the transport robot.
In paragraph 3, The above coupling part includes a front position coupling part for docking with a charging station on the front position edge of the harvesting robot, and a rear position coupling part for connecting with a transport robot on the rear position edge of the harvesting robot. The protrusions of the coupling portion at the front position and the coupling portion at the rear position are formed at positions that are staggered from each other along the first diagonal direction of the harvesting robot, and A harvesting robot system characterized in that the grooves of the connecting portion at the front position and the connecting portion at the rear position are formed at positions that are staggered from each other along the second diagonal direction of the harvesting robot.
In paragraph 2, The above harvesting robot is, A forward position in which the above end effector and a robot mechanism formed at the end of the above end effector are formed; and Includes a rear position where the above-mentioned transfer conveyor is formed; A harvesting robot system characterized in that the above-mentioned joint is formed at the rear position of the harvesting robot and at the front position of the transport robot, respectively.
In paragraph 1, The above transport robot includes a first level and a second level for loading collection containers at different heights along a height direction intersecting the front-rear direction, and A harvesting robot system comprising, in the first and second levels, a transfer conveyor driven along opposite conveyor transfer directions to follow a loading direction toward the harvesting robot and an unloading direction from the harvesting robot.
In paragraph 6, Forward and rear positions that are staggered relative to each other along the opposite conveying directions of the above-mentioned first-level conveyor and second-level conveyor, or, A harvesting robot system characterized by having a movable stopper provided at the start position and the end position of the conveyor transfer, which are staggered relative to each other along opposite transfer directions of the first-level transfer conveyor and the second-level transfer conveyor, driven between a raised restraining position and a relatively lowered release position to prevent the collection container from falling out.
In paragraph 1, A harvesting robot system characterized by having a location arm formed on the conveyor of the harvesting robot, which is movably formed along the collecting container to receive the fruit harvested by the end effector on the collecting container placed on the conveyor and to distribute the falling position of the fruit along the collecting container.
In paragraph 1, Each of the above-mentioned harvesting robot and transport robot is provided with a driving motor that provides driving power, a driving wheel connected to the power, and a oscillating member that pivotably connects the bodies of each harvesting robot and transport robot. A harvesting robot system characterized by the above-mentioned oscillating member varying the height between the drive wheel and the vehicle body along a height direction intersecting the front-rear direction by following the rotational state of the oscillating member.
In Paragraph 9, The above-mentioned oscillating member extends between one end position connected to the drive wheel and the other end position connected to the vehicle body of the harvesting robot and the transport robot, and A harvesting robot system characterized by further including a turning drive motor for implementing turning relative to each other between one end position and the other end position of the oscillating member according to a driving control signal for controlling the turning state of the oscillating member.
In Paragraph 10, A harvesting robot system characterized in that the above-described slewing drive motor is controlled under the control of a control unit that generates a drive control signal applied to the slewing drive motor by receiving as input the output signal of a posture detection sensor formed on the vehicle body of the harvesting robot and the transport robot to detect the posture of each of the harvesting robot and the transport robot.
In Paragraph 10, Each of the above harvesting robot and transport robot is, It further includes an encoder for detecting the pivoting state of the above-mentioned pivoting member or the rotational position of a pivoting drive motor for implementing the pivoting of the above-mentioned pivoting member, and A harvesting robot system characterized by further including a zero point indicator block formed on the vehicle body of each of the harvesting robot and the transport robot, and a zero point setting bracket formed on one side of the oscillating member in contact with the zero point indicator block so as to set the zero point position of the encoder at a position in contact with the zero point indicator block.
In Paragraph 9, A harvesting robot system characterized by each of the above-mentioned harvesting robot and transport robot having drive wheels formed at four different locations and a oscillating member that pivotably connects the drive wheels formed at four different locations and the vehicle bodies of the harvesting robot and the transport robot.
In paragraph 1, The above harvesting robot is, A harvesting robot system characterized by further including a scissor lift for lifting up and down along a height direction intersecting the front position of the harvesting robot, the front position in which an end effector is formed and a robot mechanism formed at the end of the end effector is formed, and the rear position in which a transfer conveyor is formed.

Description

Harvesting robot system The present invention relates to a harvesting robot system for implementing a fruit harvesting task. With the recent advancement of the robot industry, robots are being developed to perform given tasks by moving toward a workspace using autonomous driving algorithms or traction drives and driving end effectors to target positions and attitudes in the workspace. These robots are being operated in various industrial settings by feedback controlling the driving of joint actuators that form the position and attitude of the end effectors to follow the target position and attitude generated from the creation of the target position and attitude to be tracked by the end effectors. FIG. 1 shows a perspective view of a harvesting robot system according to one embodiment of the present invention. Figure 2 shows a side view of the harvesting robot system illustrated in Figure 1. Figure 3 shows a perspective view of the harvesting robot illustrated in Figure 1. Figure 4 shows a perspective view of the transport robot illustrated in Figure 1. Figure 5a shows a perspective view illustrating the lowered state of the scissor lift of the harvesting robot of Figure 1. Figure 5b shows a perspective view illustrating the raised state of the scissor lift of the harvesting robot of Figure 1. FIGS. 6a to 6c illustrate different drawings for explaining a configuration in which, in one embodiment of the present invention, a oscillating member that pivotally connects the rotation axis of a drive wheel at one end and the vehicle body at the other end relative to each other, and a pivoting drive motor that controls the pivoting state of the oscillating member adaptively according to the flatness of the ground, thereby maintaining horizontal leveling. FIG. 7 illustrates a configuration for explaining, in one embodiment of the present invention, a oscillating member that pivotally connects the rotation axis of a drive wheel at one end and the vehicle body at the other end relative to each other, and a pivoting drive motor for adaptively controlling the pivoting state of the oscillating member according to the flatness of the ground. FIG. 8 shows a diagram illustrating the face-to-face contact state between a zero point indication block and a zero point setting bracket, as a configuration for setting the zero point position of the encoder of the slewing drive motor shown in FIG. 7. FIG. 9 illustrates a diagram for explaining the configuration of a movable stopper driven between a relatively raised restraining position and a relatively lowered release position to prevent the collection container from falling off at the transfer start position and/or transfer end position of a transfer conveyor for loading or unloading the collection container. A fruit harvesting robot (100) system according to one embodiment of the present invention will be described below with reference to the attached drawings. A fruit harvesting robot (100) according to one embodiment of the present invention may include an end effector (E) that performs a harvesting operation on a fruit to be harvested, a collection container (10) in which the harvested fruit is collected, a harvesting robot (100) that implements a harvesting task, and a transport robot (200) in which the collection container (10) is loaded or unloaded for replacement of the collection container (10). In one embodiment of the present invention, the harvesting robot (100) and the transport robot (200) may form a detachable connection from each other while forming physical interference with each other. For example, in one embodiment of the present invention, the harvesting robot (100) and the transport robot (200) may include first and second connecting parts (g1, g2) that form a complementary connection to each other. For example, one of the first and second connecting parts (g1, g2) may include a projection (g) that protrudes outward, and the other connecting part (g) among the first and second connecting parts (g1, g2) may include a groove that is recessed inward. The first and second connecting parts (g1, g2) formed with mutually complementary shapes may form a fit to each other, for example, a snap-fit connection to each other. For example, depending on the relative movement of the harvesting robot (100) and the transport robot (200) facing each other, the first and second connecting parts (g1, g2) formed on the opposing sides of the harvesting robot (100) and the transport robot (200) facing each other form a fitting or interlocking connection toward each other, and the relative movement between the harvesting robot (100) and the transport robot (200) can be regulated through the first and second connecting parts (g1, g2), and for example, the relative position and posture between the harvesting robot (100) and the transport robot (200) can be regulated. In one embodiment of the present invention, the end effector (E) of the harvesting robot (100) is formed at the end of the