DEVICE FOR AUTOMATED PICKING OF TOMATOES Russian patent published in 2023 - IPC A01D46/30 B25J13/08 

FIELD: agricultural engineering.

SUBSTANCE: invention relates to agricultural engineering, in particular, to automated devices for harvesting vegetables, namely tomatoes, based on computer vision technologies and intelligent image recognition technologies. The device consists of a mobile platform equipped with movement devices and a body, inside of which there is a control unit, a power source, whereas a remotely controlled manipulator equipped with a finger grip, a tomato recognition camera and a technical vision system is fixed outside. A container for picking tomatoes is fixed on the body and configured for placing cooling elements in it. Independent motor-wheels with omnidirectional motion fixed to the platform via a suspension are used as means of moving the platform. An on-board computer is installed in the case, which provides recognition and classification of tomatoes according to the degree of maturity using a pre-installed convolutional neural network. The suspension is a swinging trolley and includes swivel racks connected on one side to motor wheels and to swivel suspension elements and on the other side, which in turn are connected to linear actuators fixed on the sides of the platform.

EFFECT: stabilization of the body of the device in a horizontal position while increasing the maneuverability of the device.

5 cl, 5 dwg