Patent ID: 11931890
Assignee: THE STATE OF ISRAEL, MINISTRY OF AGRICULTURE & RURAL DEVELOPMENT, AGRICULTURAL RESEARCH ORGANIZATION (ARO) (VOLCANI INSTITUTE)
Field: Handling (Mechanical engineering)
Classification: CPC B  A | IPC A  B

Claim 0:
1. A human-robot system for performing an agricultural task, the system comprising:
a robotic manipulator with an agricultural tool coupled to an end effector thereof;
an imaging device adapted to capture imagery of a target, said imaging device mechanically coupled to said end effector;
a laser distance sensor adapted to measure a distance between said manipulator and said target, said laser distance sensor mechanically coupled to said end effector and collocated with said imaging device; and
a control unit including: a processing unit, a monitor and a human-machine interface (HMI), wherein said processing unit is configured to display said imagery on said monitor and to receive markings from said HMI and calculate a trajectory for said manipulator to perform the agricultural task with said tool;
wherein said trajectory includes instructions for moving said manipulator from a scanning or homing location to an execution location at which said agricultural tool effects the agricultural task on said target at a location corresponding to said marking on said image of said target, and
wherein said instructions for moving said manipulator are calculated in robot joint space wherein said robot joint space is defined by a vector whose components are translational and angular displacements of each joint of a robotic link of the robotic manipulator.