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WO2006013593A1 - Automated fruit and vegetables picker - Google Patents

Automated fruit and vegetables picker Download PDF

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Publication number
WO2006013593A1
WO2006013593A1 PCT/IT2004/000449 IT2004000449W WO2006013593A1 WO 2006013593 A1 WO2006013593 A1 WO 2006013593A1 IT 2004000449 W IT2004000449 W IT 2004000449W WO 2006013593 A1 WO2006013593 A1 WO 2006013593A1
Authority
WO
WIPO (PCT)
Prior art keywords
fruit
video cameras
robot
automated
truck
Prior art date
Application number
PCT/IT2004/000449
Other languages
French (fr)
Inventor
Alessandro Valente
Alberto Valente
Riccardo Valente
Edoardo Valente
Original Assignee
Valente Pali Precompressi Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valente Pali Precompressi Srl filed Critical Valente Pali Precompressi Srl
Priority to PCT/IT2004/000449 priority Critical patent/WO2006013593A1/en
Publication of WO2006013593A1 publication Critical patent/WO2006013593A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means

Definitions

  • This patent relates to the field of the tools for horticulture, and it particularly concerns the devices for the picking of fruits and vegetables in general.
  • the orchards are organized in regular tree rows.
  • the worker employed for the fruit picking must walk on a substantially straightaway path, repeatedly stopping by each tree to perform the delicate picking operation.
  • One aim of the new fruit picker is to make the picking of the fruit a completely automatic operation. Another aim is not to crash the fruits during said picking operation. Another aim is to perfonn said picking in shorter time with respect to the manually performed operation.
  • Another aim is not to employ a high number of seasonal workers. Another aim is to perform the operation even with bad weather conditions and in any moment of the day.
  • the new fruit picker is essentially made of a robot, and of at least two video cameras supported on a truck, also preferably automated; said robot is anthropomorphous with at least six degrees of freedom.
  • the control of said degrees of freedom, and thus the positioning of the arms of said robot is realized by means of a signal sent by a system of video cameras, capable of providing the axial coordinates of the position of the fruit to be picked.
  • said video cameras also send a signal to control the movement to of the truck.
  • the robot is preferably an anthropomorphous robot with at least six degrees of freedom, provided with an absolute system for the positioning of the axis, realized for example with integrated resolver in the engine and in the absolute trasduction modules (resolver Position Tracker).
  • the motion of the axes is preferably due to brushless engines.
  • the six joints can be divided in two groups: the first three represent the shoulder, the second three the wrist.
  • a tool purposely designed for grasping the fruit, is attached.
  • Said tool, or grasping element can be a mechanical hand, or a system of pliers, or a system of suckers.
  • Each joint has a position sensor gauged in a way to have the zero in the central position of its motion.
  • position sensors there is also a force/couple sensor at the tool attached to the flange, that allows to measure the generalized force vector applied to the tip.
  • the maximum loading capacity at the wrist is in the scale often Newton. In this way it is possible to avoid the risk of crushing or ruining the fruit.
  • the determination of Hie position of the fruit to be grasped is realized by a system of two or more video cameras, that allows to determine the exact spatial coordinates of the fruit itself. In order to guarantee a stereoscopic vision said video cameras are preferably positioned in a way that the optic axis of one video camera is incident with respect to the optic axis of the other.
  • the recognition of the fruit or vegetable to be picked up is made, for example, depending on the shape or the colour of the fruit itself.
  • the video cameras are provided with software for the image acquisition, and software for the elaboration of the image itself.
  • Said software provides, as a output, the values of the spatial coordinates of the fruit.
  • Said values are the input of a control device that provides, as a output, the control of the aforementioned robot and the control of the truck on which the robot and the video cameras are fixed.
  • the truck receives the order to proceed, in a way to allow the visualization of a different area of the tree from which the fruit has just been picked up, or to pass to the following tree, or to the opposite side.
  • the new fruit picker works in a completely automatic way.
  • the system robot plus video cameras is integral with the level of a truck that moves in the rectilinear space comprised between the two tree rows.
  • the motion of said truck is decided by a system of video cameras.
  • the base of said robot is fixed on the top head of a lifting device, integral with the truck, capable of lifting and lowering said robot in vertical direction.
  • each series of cases preferably disposed along a side of said truck level on a belt carrier.
  • the robot is driven so as to be positioned with the pliers or the sucker over the first case for the collecting of the fruit
  • a sensor, placed on the end tool allows the determination of the moment for the unhooking of the fruit itself, in a way to establish adequately the falling distance of the fruit, in order to avoid bruises.
  • the carrier belt moves it placing in its place a second empty case, ready to be filled with the modalities described for the first case.
  • the carrier belt moves it placing in its place a second empty case, ready to be filled with the modalities described for the first case.
  • Automated fruit and vegetable picker comprising a robot with at least six degrees of freedom, provided with a grasping element at the end flange, and with at least a couple of video cameras provided with software for the elaboration of the images and software for the determination of the position of the fruit to be picked up, a truck adapted to bear said robot and said video cameras, a control device, also supported on said truck, that receives as an input from the video cameras a signal including the spatial coordinates of the fruit to be picked up, and sends as a output a control signal to said robot, and wherein each motion of said robot is decided by the signal emitted by said control device.
  • Figure 1 represents a lateral section of the new fruit picker.
  • Said new fruit picker comprises a robot (R) positioned on the truck (C) together with the two video cameras (Tl, T2).
  • Robot (R) has, in this specific case, six degrees of freedom, individuated by the six axes shown in figure (Al, A2, A3, A4, A5, A6).
  • the base (Rb) of the robot (R) is fixed on the top head of a lifting device (S), that in this case is telescopic, integral with the truck (C), capable of lifting and lowering said robot (R) in vertical direction.
  • the remaining part of the structure of said robot (R) can rotate with respect to said base (Rb), around axis Al .
  • the grasping element (O) is attached, and is constituted by a system of pliers.
  • the positioning of said grasping element (O) is realized by means of one or more rotations around the afore mentioned axes.
  • a further couple of video cameras (T3, T4) is also fixed, said video cameras adapted to allow the individuation of the position of the fruit in positions that are not visible by the video cameras (Tl, T2), fixed on the truck (C).
  • Figure 2 represents the top view of said robot (R) while picking the fruit (M) from the tree (E).
  • the video cameras (Tl, T2) are positioned in a way that their optic axes are incident
  • the robot (R) having received the signal from said video cameras, positioned itself in a way to be able to grasp the fruit (M).
  • the grasping of the fruit (M) is performed in a way that the fruit is not damaged, thanks to purposely made sensors, attached on the grasping element (O).

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

It is an automated fruit and vegetable picker comprising a robot (R) with at least six degrees of freedom, provided with a grasping element (0) at the end flange (F), at least a couple of video cameras (T1, T2) provided with software for the elaboration of the images and software for the determination of the position of the fruit (M) to be picked up, a truck (C) adapted to bear said robot and said video cameras, a control device, also supported on said truck, that receives as input a signal from the video cameras, including the spatial coordinates of the fruit to be picked up, and sends as output a control signal to said robot, and wherein each motion of said robot is decided by the signal emitted by said control device.

Description

TITLE
AUTOMATED FRUITS AND VEGETABLES PICKER
DESCRIPTION
This patent relates to the field of the tools for horticulture, and it particularly concerns the devices for the picking of fruits and vegetables in general.
At the present time, fruit picking from the trees is a manual operation.
It's actually a long and delicate operation, as the fruit needs to be picked intact and must not be crushed during the picking.
Usually to accomplish this task it is necessary, during the picking season, to employ a high number of workers for few days, thus making this operation difficult and expensive.
Moreover the operation is uncomfortable and it requires long time, as the workers have to climb on a truck or a ladder, pick up one by one the fruits within reach and move the truck or the ladder to another part of the tree, in order to continue the operation.
Also, the fact that the operation is completely manual has as a consequence that the operation cannot be performed with bad weather conditions or during the night, because said operation would become way too difficult.
The orchards are organized in regular tree rows. The worker employed for the fruit picking must walk on a substantially straightaway path, repeatedly stopping by each tree to perform the delicate picking operation.
In order to overcome to the above-cited drawbacks a new automated fruit picker has been studied and carried out.
Due to the regular tree arrangement, the integral automation of said operation is particularly facilitated, in fact a truck can easily move between two rows of trees.
One aim of the new fruit picker is to make the picking of the fruit a completely automatic operation. Another aim is not to crash the fruits during said picking operation. Another aim is to perfonn said picking in shorter time with respect to the manually performed operation.
Another aim is not to employ a high number of seasonal workers. Another aim is to perform the operation even with bad weather conditions and in any moment of the day.
These and otiher direct and complementary aims are achieved by the new automated fruit picker. The new fruit picker is essentially made of a robot, and of at least two video cameras supported on a truck, also preferably automated; said robot is anthropomorphous with at least six degrees of freedom. The control of said degrees of freedom, and thus the positioning of the arms of said robot, is realized by means of a signal sent by a system of video cameras, capable of providing the axial coordinates of the position of the fruit to be picked. Moreover, said video cameras also send a signal to control the movement to of the truck.
The robot is preferably an anthropomorphous robot with at least six degrees of freedom, provided with an absolute system for the positioning of the axis, realized for example with integrated resolver in the engine and in the absolute trasduction modules (resolver Position Tracker). The motion of the axes is preferably due to brushless engines.
The six joints can be divided in two groups: the first three represent the shoulder, the second three the wrist. At the flange, that is the end part of the arm, a tool, purposely designed for grasping the fruit, is attached. Said tool, or grasping element, can be a mechanical hand, or a system of pliers, or a system of suckers.
Each joint has a position sensor gauged in a way to have the zero in the central position of its motion. Besides the position sensors there is also a force/couple sensor at the tool attached to the flange, that allows to measure the generalized force vector applied to the tip. In particular, the maximum loading capacity at the wrist is in the scale often Newton. In this way it is possible to avoid the risk of crushing or ruining the fruit. The determination of Hie position of the fruit to be grasped is realized by a system of two or more video cameras, that allows to determine the exact spatial coordinates of the fruit itself. In order to guarantee a stereoscopic vision said video cameras are preferably positioned in a way that the optic axis of one video camera is incident with respect to the optic axis of the other. The recognition of the fruit or vegetable to be picked up is made, for example, depending on the shape or the colour of the fruit itself. The video cameras are provided with software for the image acquisition, and software for the elaboration of the image itself. Said software provides, as a output, the values of the spatial coordinates of the fruit. Said values are the input of a control device that provides, as a output, the control of the aforementioned robot and the control of the truck on which the robot and the video cameras are fixed.
It is also foreseen to place a second couple of video cameras fixed to the robot end flange, and integral with it, that permits to visualize the fruit in areas that can be eventually hidden to the two afore described video cameras, that are fixed on the truck.
When none of said video cameras can visualize a fruit, the truck receives the order to proceed, in a way to allow the visualization of a different area of the tree from which the fruit has just been picked up, or to pass to the following tree, or to the opposite side. The new fruit picker works in a completely automatic way.
The system robot plus video cameras is integral with the level of a truck that moves in the rectilinear space comprised between the two tree rows. The motion of said truck is decided by a system of video cameras. In particular the base of said robot is fixed on the top head of a lifting device, integral with the truck, capable of lifting and lowering said robot in vertical direction.
On the level of the truck, besides the robot and the two video cameras, at least two series of cases adapted to contain the fruit are foreseen, each series of cases preferably disposed along a side of said truck level on a belt carrier. The robot is driven so as to be positioned with the pliers or the sucker over the first case for the collecting of the fruit A sensor, placed on the end tool, allows the determination of the moment for the unhooking of the fruit itself, in a way to establish adequately the falling distance of the fruit, in order to avoid bruises.
When the first case is full the carrier belt moves it placing in its place a second empty case, ready to be filled with the modalities described for the first case. When all the cases are full it is possible to proceed to their manual discharge, or it is possible to foresee an automated discharge, towards a second truck eventually towed by the new truck afore described.
Along the straight path the robot can pick up the fruit from the two opposite rows of trees. At the end of each path along the two rows of trees, the truck stops and an employed worker drives it to the following straight path between the two following rows of trees. Automated fruit and vegetable picker comprising a robot with at least six degrees of freedom, provided with a grasping element at the end flange, and with at least a couple of video cameras provided with software for the elaboration of the images and software for the determination of the position of the fruit to be picked up, a truck adapted to bear said robot and said video cameras, a control device, also supported on said truck, that receives as an input from the video cameras a signal including the spatial coordinates of the fruit to be picked up, and sends as a output a control signal to said robot, and wherein each motion of said robot is decided by the signal emitted by said control device.
The characteristics of the new automated frit and vegetable picker will be clarified by the following description, referring to the figures attached as a non-limitative example.
Figure 1 represents a lateral section of the new fruit picker.
Said new fruit picker comprises a robot (R) positioned on the truck (C) together with the two video cameras (Tl, T2).
Robot (R) has, in this specific case, six degrees of freedom, individuated by the six axes shown in figure (Al, A2, A3, A4, A5, A6). In particular the base (Rb) of the robot (R) is fixed on the top head of a lifting device (S), that in this case is telescopic, integral with the truck (C), capable of lifting and lowering said robot (R) in vertical direction. The remaining part of the structure of said robot (R) can rotate with respect to said base (Rb), around axis Al . At the end flange (F) of said robot (R) the grasping element (O) is attached, and is constituted by a system of pliers.
The positioning of said grasping element (O) is realized by means of one or more rotations around the afore mentioned axes.
At the flange (F) a further couple of video cameras (T3, T4) is also fixed, said video cameras adapted to allow the individuation of the position of the fruit in positions that are not visible by the video cameras (Tl, T2), fixed on the truck (C).
In figure 1 the cases (C) for the storage of the fruit are also visible.
Figure 2 represents the top view of said robot (R) while picking the fruit (M) from the tree (E). The video cameras (Tl, T2) are positioned in a way that their optic axes are incident The robot (R), having received the signal from said video cameras, positioned itself in a way to be able to grasp the fruit (M). The grasping of the fruit (M) is performed in a way that the fruit is not damaged, thanks to purposely made sensors, attached on the grasping element (O).
The above are the basic outlines of the invention, on the basis of which the technician, will be able to provide for implementation; therefore any change which may be necessary upon implementation is to be regarded as completely protected by the present invention.
With reference to the above description the following claims are put forth.

Claims

1. Automated fruit and vegetable picker characterized in that it comprises:
• a robot (R) with at least six degrees of freedom, provided with a grasping element (O) at the end flange (F), • at least a couple of video cameras (Tl, T2) provided with software for the elaboration of the image and software for the determination of the position of the fruit (M) to be picked up,
• a truck (C) adapted to support said robot (R) and said video cameras (Tl, T2), • a control device, also supported on said truck (C), that receives as input a signal from the video cameras (Tl, T2), including the spatial coordinates of the fruit (M) to be picked up, and sends as output a control signal to said robot (R), and wherein each motion of said robot (R) is decided by the signal emitted by said control device.
2. Automated fruit and vegetable picker as in claim 1 characterized in that said couple of video cameras (Tl, T2) is integral with the support plane of said robot (R).
3. Automated fruit and vegetable picker as in claim 1, 2, characterized in that it comprises, integral with said end flange (F), two further video cameras (T3, T4).
4. Automated fruit and vegetable picker as in claim 1, 2, 3, and wherein at least one of said couples of video cameras (Tl, T2, T3, T4) comprises two video cameras with incident optic axes.
5. Automated fruit and vegetable picker as in claim 1, 2, 3, 4, and wherein at least one of said couples of video cameras (Tl, T2, T3, T4) comprises two video cameras with parallel optic axes
6. Automated fruit and vegetable picker as in claim 1, 2, 3, 4, 5, and wherein the recognition of the fruit (M) by said video cameras is made on the basis of the shape and /or the colour of the fruit itself.
7. Automated fruit and vegetable picker as in claim 1, 2, 3, 4, 5, 6, and wherein said truck (C) is operated by a signal sent by said control device.
8. Automated fruit and vegetable picker as in claim 1, 2, 3, 4, 5, 6, 7, and wherein the base (Rb) of said robot (R) is fixed on the top head of a lifting device
(S), integral with the truck (C),
9. Automated fruit and vegetable picker as in previous claims and wherein said grasping element (O) comprises one or more pliers, or one or more suckers.
10. Automated fruit and vegetable picker as in previous claims and wherein said grasping element (O) is provided with a couple/force sensor.
11. Automated fruit and vegetable picker as in previous claims, and wherein said truck (C) also supports one ore more series of cases (D) adapted to contain the fruit.
12. Automated fruit and vegetable picker as in previous claims, characterized in that when said video cameras individuate a fruit (M) the robot (R) moves so that the grasping element (O) grasps said fruit (M) and, once grasped said fruit (M), the robot
(R) moves getting closer to one of said cases (D) until when the grasping element (O) unhooks said fruit (M) into one of said case (D).
13. Automated fruit and vegetable picker as in previous claims, characterized in that when said video cameras don't individuate any fruit (M), the truck (C) moves.
14. Automated fruit and vegetable picker as in previous claims, characterized in that it comprises, on the grasping element (O) a distance measurer sensor, to decide the unhooking of the fruit (M).
PCT/IT2004/000449 2004-08-06 2004-08-06 Automated fruit and vegetables picker WO2006013593A1 (en)

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WO2008037035A1 (en) * 2006-09-28 2008-04-03 Katholieke Universiteit Leuven Autonomous fruit picking machine
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CN103503637A (en) * 2013-10-14 2014-01-15 青岛农业大学 Intelligent identification picking robot and picking method
WO2015003513A1 (en) * 2013-07-12 2015-01-15 中南林业科技大学 Robot and method for picking fruit of camellia oleifera
CN104396449A (en) * 2014-09-26 2015-03-11 山东理工大学 Remote-control self-walking gas-suction comb-picking revolving-bowl conveyor-belt type sorting and grading pear picking machine
CN103548494B (en) * 2013-10-31 2015-11-25 詹博锦 A kind of picking fruit method based on machine vision and portable mobile seed harvester thereof
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CN108858129A (en) * 2018-08-01 2018-11-23 方鲸联合科技（惠州）有限公司 A kind of orchard quickly assembles picking intelligence system
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US20210337734A1 (en) * 2018-10-08 2021-11-04 Advanced Farm Technologies, Inc. Autonomous crop harvester
JP2022006698A (en) * 2020-06-24 2022-01-13 株式会社クボタ Agricultural robot
US20220081226A1 (en) * 2020-09-14 2022-03-17 Yamaha Hatsudoki Kabushiki Kaisha Movable harvesting apparatus and harvesting unit
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CN114467485A (en) * 2022-01-07 2022-05-13 深圳喜沃生态科技有限公司 Vegetable picking trolley with sprayer mechanism
US11470781B2 (en) * 2016-06-07 2022-10-18 Kms Projects Limited Method and apparatus for selectively harvesting crops
US11477942B2 (en) 2018-10-29 2022-10-25 Ffrobotics Ltd. Robotic fruit harvesting machine with fruit-pair picking and hybrid motorized-pneumatic robot arms
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WO2023154267A1 (en) * 2022-02-09 2023-08-17 Advanced Farm Technologies, Inc. End effector for picking of items
CN116686547A (en) * 2023-07-11 2023-09-05 合肥工业大学智能制造技术研究院 A vegetable and fruit picking robot system based on machine vision and artificial intelligence
CN117260760A (en) * 2023-10-07 2023-12-22 苏州博田自动化技术有限公司 Automatic frame-changing transport vehicle for picking robot
DE102023113950A1 (en) 2023-05-26 2024-11-28 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr harvesting device
WO2024255962A3 (en) * 2023-06-13 2025-03-27 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Manipulator with articulated arm for a harvesting machine

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