US 12,377,567 B1
Mushroom trimming and sorting system
Peter Mankowski, Vernon (CA); Prashanth Haleyur Narayana Rao, Salmon Arm (CA); Mehfuz A. Rahman, Blind Bay (CA); and James Boyd Gibson, Salmon Arm (CA)
Assigned to 4AG Robotics Inc., Salmon Arm (CA)
Filed by 4AG Robotics Inc., Salmon Arm (CA)
Filed on Nov. 22, 2024, as Appl. No. 18/957,448.
Int. Cl. B25J 11/00 (2006.01); B07C 5/342 (2006.01); B26D 5/00 (2006.01); B26D 7/32 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01)
CPC B26D 5/007 (2013.01) [B07C 5/3422 (2013.01); B25J 11/0045 (2013.01); B26D 7/32 (2013.01); B07C 2501/0063 (2013.01); B07C 2501/0081 (2013.01); B25J 15/0028 (2013.01); B25J 15/0616 (2013.01); B26D 2210/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A mushroom processing system comprising:
a stem trimming device;
a positioning system;
an imager set comprising at least one imager;
and a controller communicatively coupled with the stem trimming device, the positioning system, and the imager set, the controller comprising a memory storing computer-readable instructions and a processor operable to perform the computer-readable instructions, whereby the controller is operable:
to control the positioning system to move a single mushroom, having a stem and a cap, to bring the mushroom into view of the imager set;
to control the imager set to generate an image set of the mushroom comprising at least one image;
to process the image set to determine mushroom properties of the mushroom; and
to control the positioning system and/or the stem trimming device to process the mushroom based on the mushroom properties.