초록

The disposed fruit harvesting robot comprises fruit detecting sensors arranged around an opening of a cylindrical case for taking in fruit. The case also includes at least one additional sensor disposed inside the case.

대표청구항 ▼

A fruit harvesting robot hand comprising; a movable arm having an end portion, a fruit intake case having an opening and articulatably attached to said end portion of said arm, contact sensor means arranged around said opening of said case for detecting a position of fruit to be harvested, a calyx c

A fruit harvesting robot hand comprising; a movable arm having an end portion, a fruit intake case having an opening and articulatably attached to said end portion of said arm, contact sensor means arranged around said opening of said case for detecting a position of fruit to be harvested, a calyx cutter projectable and retractable relative to said opening in said case, at least one fruit detecting sensor mounted on a support means within said case so as to be movable axially relative thereto, and the fruit detecting sensor is movable between a first position in an upper portion of said case arranged to act as a centering sensor for centering said case relative to the fruit to be harvested and a second position in a lower portion of said case arranged to act as an intake completion sensor for detecting completion of fruit intake.