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WO2024134236A1 - Dispositif de cueillette de fruits - Google Patents

Dispositif de cueillette de fruits Download PDF

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Publication number
WO2024134236A1
WO2024134236A1 PCT/IB2022/000687 IB2022000687W WO2024134236A1 WO 2024134236 A1 WO2024134236 A1 WO 2024134236A1 IB 2022000687 W IB2022000687 W IB 2022000687W WO 2024134236 A1 WO2024134236 A1 WO 2024134236A1
Authority
WO
WIPO (PCT)
Prior art keywords
fruit
module
loading
conveyor
fruits
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/IB2022/000687
Other languages
English (en)
Inventor
Mikhail KOSTKIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pek Automotive doo
Original Assignee
Pek Automotive doo
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 Pek Automotive doo filed Critical Pek Automotive doo
Priority to PCT/IB2022/000687 priority Critical patent/WO2024134236A1/fr
Priority to EP22854414.4A priority patent/EP4637320A1/fr
Publication of WO2024134236A1 publication Critical patent/WO2024134236A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • A01D46/20—Platforms with lifting and lowering devices
    • 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
    • A01D46/24—Devices for picking apples or like fruit
    • A01D46/253—Portable motorised fruit pickers

Definitions

  • the invention relates to agricultural equipment; specifically, to devices for harvesting and transporting fruit
  • the machine includes a vertical frame, a plurality of linear robots, a plurality of cameras and a processor.
  • the vertical frame is configured to oppose the sector to be harvested.
  • the robots are arranged vertically on the frame in pairs, with each pair consisting of the first and second robots, and both robots are configured to move jointly along the vertical axis and separately from each other along the horizontal axis.
  • Auxiliary conveyor belts are installed along the line of robots for feeding the picked fruit to vertical conveyors. The fruit roll down the chutes from the vertical conveyors into harvest containers.
  • Utility model patent CN207235487, publication date 2018-04-17, ICL A01 D46/30 describes the design of a self-propelled fruit harvesting platform equipped with GPS navigation.
  • the platform includes a support chassis and manipulators positioned at three different levels on both sides of the chassis.
  • the chassis also has an inclined conveyor belt.
  • Each manipulator is equipped with an auxiliary conveyor belt for feeding fruit onto an inclined conveyor belt.
  • the inclined conveyor belt is coupled with a vertical conveyor, which feeds the fruit into containers.
  • the above design is the closest analog to the case in point.
  • the technical result achieved by the present invention consists of enhancing the efficiency of fruit harvesting and reducing the possibility of fruit damage at the same time.
  • the vehicle-mounted fruit picking device includes a base with a vertical support guide carrying a plurality of fruit picking and loading modules adapted to move along said guide.
  • the base also carries a fruit transfer conveyor module coupled with a module for loading fruit into shipping containers.
  • Each fruit picking and loading module includes: a frame-mounted manipulator with a fruit gripper; a loading conveyor with a receiving bowl and a manipulator control unit.
  • the fruit transfer conveyor module includes a vertical lifting conveyor with an adjustable inclined tray attached to it, and a vertical fruit lowering conveyor.
  • the module for loading fruit into shipping containers includes a mechanism for lifting the module to a height that matches the level of fruit in the shipping container and a mechanism for distributing the fruit evenly in said container. It is also equipped with a control system that enables the mutual functioning of said modules.
  • the vertical support guide is attached to the base by means of a locking joint
  • the manipulator with a fruit gripper is oriented upwards at an angle to the horizontal plane of the frame.
  • the manipulator includes an axially turnable main beam attached to a frame and an additional beam mounted on guides fixed on the main beam and capable of moving along said guides parallel to the main beam under the action of an electric drive containing a lead screw and a nut fixed on the additional beam; whereas, the ends of the main beam and additional beam carry fruit grippers, whereas said guides are installed so as to allow creating space between the fruit grippers and the guide nearest to them.
  • the mechanism for raising the module that loads fruit into transport containers is essentially a balancing mechanism, comprising a counterweighted cable passing over pulleys.
  • the mechanism for even distribution of fruit in shipping containers includes a vertical shaft capable of rotating under the action of a drive, with said shaft bearing a frame with linear levelers carrying flexible brushes on their ends.
  • Fig. 1 shows a general view of the fruit picking device.
  • Fig. 2 shows a view of the fruit picking device mounted on an automatic containercarrying vehicle.
  • Fig. 3 shows an example of how fruit picking and loading modules are installed.
  • Fig. 4 shows the manipulator of fruit picking and loading module.
  • Fig. 5 shows the module for loading fruit into shipping containers.
  • Fig. 6 shows the arrangement of the lifting mechanism that raises the module for loading fruit into shipping containers.
  • Fig. 7 shows a view of the module for loading fruit into shipping containers at the beginning of loading process.
  • Fig. 8 shows a view of the module for loading fruit into shipping containers before the end of loading process.
  • a device for harvesting fruit (Fig. 1 - Fig. 3), for example, apples, pears, citrus fruits, etc., includes module 1 for picking and loading the fruit, module 2 for conveying the fruit and module 3 for loading the fruit into shipping containers 17.
  • the device comprises base 5 with vertical support guide 6 fixed to it by means of joint 7.
  • Vertical guide 6 capable of moving, for example, using a rack-and-pinion gear (not shown in the Figure)
  • Module 1 for picking and loading fruits also includes loading conveyor 10 with receiving bowl 11 and a fruit detection system that includes a fruit detection sensor, for example, video camera 30.
  • Manipulator 4 equipped with fruit picker 9 is oriented upwards at an angle to the horizontal plane of the frame (Fig. 1 - Fig. 3).
  • the fruit harvesting device contains several modules 1 for picking and loading fruit with manipulators 4, for example, as shown in Fig. 3, where two fruit picking and loading modules 1 are installed on vertical guide 6. Additional fruit picking and loading modules 1 can be installed on additional vertical rails.
  • Manipulator 4 contains main beam 18, mounted on axially turnable frame 8, as well as additional beam 19 mounted on guides 20 on main beam 18 and capable of moving along said guides parallel to main beam 18.
  • the movement is driven by electric drive 22, which is connected to lead screw 21 with a nut (not shown in the Figures) fixed on additional beam 19.
  • the ends of main beam 18 and additional beam 19 are equipped with fruit grippers 9.
  • Guides 20 situated between main beam 18 and additional beam 19 can create space 23 between fruit grippers 9 and the nearest guide 20.
  • the presence of space 23 reduces the possibility of damage to fruit 17 if the manipulator orientation system makes a mistake in measuring the distance to the fruit. In this case, the fruit gets into space 23 and avoids damage from manipulator 4 parts, for example, guide 20.
  • Fruit-conveying module 2 includes vertical lifting conveyor 12 with adjustable inclined tray 13 and vertical fruit lowering conveyor 14.
  • Module 3 for loading fruit into shipping containers includes mechanism 15 for lifting the module to a height that matches the level of fruit in shipping container 17, and mechanism 16 for distributing the fruit evenly in shipping container 17.
  • Module raising mechanism 15 (Fig.6) is essentially a balancing mechanism, comprising pulleys 34 with counterweighted (26) cable system 25 passing over them.
  • Mechanism 16 for even distribution of fruit across shipping container 17 includes a vertical shaft mounted to rotate by the action of a drive; said shaft carries a frame (not visible in the Figures) with linear levelers installed thereon and having their ends equipped with flexible brushes 28. Flexible brushes 28 are made as plates of plastic material and are fixed on axially rotating drum 33.
  • the device for harvesting fruits is equipped with a control system that enables the mutual functioning of the modules and comprises sensors installed on all device modules; said control system being operated from the central control unit.
  • the fruit harvester is mounted on a vehicle capable of operating in an automatic mode; therefore its control system is coupled with the vehicle control system, for example, by cable connection or a radio channel.
  • the device can be mounted on vehicle 31 in various ways, for example, as shown in Fig. 2 using mounting joints 32 in vehicle's front.
  • the fruit harvesting device operates as follows.
  • the device is installed on vehicle 31 using mounting joints 32 (Fig. 2).
  • Shipping container 17 is installed on the vehicle's platform housing fruit loading module 3 inside.
  • the location of all modules is adjusted by changing the inclination angle of vertical support guide 6 by means of joint 7, which is locked after the adjustment.
  • Harvesting of fruits is performed by manipulator 4 capable of moving in three planes, as well as rotate axially.
  • the control system brings manipulator 4 up to a fruit.
  • the electric drive activates and through mechanical transmission "screw 21 - nut" brings additional beam 19 closer to main beam 18 (Fig. 4).
  • the stalk of fruit for example, an apple, separates when main beam 18 axially rotates by an angle - up to 360°.
  • the fruit is transferred onto loading conveyor 10 by means of receiving bowl 11.
  • the fruit from loading conveyors 10 gets onto vertical lifting conveyor 12 of fruit-conveying module 2, from which said fruit gets transferred onto adjustable inclined tray 13. From adjustable inclined tray 13 the fruit gets onto vertical fruit lowering conveyor 14, from which the fruit first falls onto the bottom of transport container 17, and then, as the container gets filled, onto the underlying layer of fruit.
  • Module 3 that loads fruit in shipping containers 17 operates as follows.
  • Vertical conveyor 14 lowers the fruit onto the central part of the botom of shipping container 17.
  • Rotating linear levelers 29 gradually move the fruit from the center to the edges of shipping container 17.
  • Flexible brushes 28 rest on the fruit layer at the edges of the shipping container; being freely fixed on the axles of drums 33 they roll over a layer of fruit.
  • Flexible brushes 28 on the drums are not only an element of the system for leveling the layer of fruit in shipping container 17, but also act as a kind of sensor for indicating the position of fruit layer in the container; said sensor brings balancing mechanism 24 (Fig. 6) out of standstill maintained by counterweights 26 that balance the weight of the device equipment inside shipping container 17.
  • the weight of counterweights 26 offsets the weight of module 3 that loads fruit into the shipping container and the weight of vertical fruit lowering conveyor 14. As shipping container 17 gets filled with fruit, module 3 for loading fruit into the shipping container and vertical fruit lowering conveyor 14 go upward as shown in (Fig. 7 - Fig. 8).
  • the device harvests fruit efficiently and carefully, delivers it into shipping containers and carefully levels fruit layers while the container is filled.
  • the proposed design of a fruit harvesting device is technologically advanced and highly efficient; during trial operations it demonstrated a high degree of harvested fruit integrity preservation.

Landscapes

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

Abstract

L'invention concerne des dispositifs de récolte et de transport de fruits. Le dispositif monté sur véhicule comprend une base avec un guide de support vertical, portant des modules mobiles pour cueillir et charger des fruits. Un module transporteur de fruits est installé sur la base et accouplé à un module pour charger des fruits dans des conteneurs d'expédition. Chaque module de cueillette et de chargement de fruits comprend : un manipulateur monté sur châssis avec un dispositif de préhension de fruits ; un convoyeur de chargement avec un bol de réception et une unité de commande de manipulateur. Le module transporteur de transfert de fruits comprend un transporteur de levage vertical avec un plateau incliné réglable fixé à celui-ci, et un transporteur d'abaissement de fruits vertical. Le module de chargement de fruits dans des conteneurs d'expédition comporte un mécanisme pour soulever le module à une hauteur qui correspond au niveau des fruits dans le conteneur d'expédition et un mécanisme pour répartir les fruits uniformément dans ledit conteneur. Il est également équipé d'un système de commande qui permet le fonctionnement mutuel desdits modules.
PCT/IB2022/000687 2022-12-22 2022-12-22 Dispositif de cueillette de fruits Ceased WO2024134236A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/IB2022/000687 WO2024134236A1 (fr) 2022-12-22 2022-12-22 Dispositif de cueillette de fruits
EP22854414.4A EP4637320A1 (fr) 2022-12-22 2022-12-22 Dispositif de cueillette de fruits

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2022/000687 WO2024134236A1 (fr) 2022-12-22 2022-12-22 Dispositif de cueillette de fruits

Publications (1)

Publication Number Publication Date
WO2024134236A1 true WO2024134236A1 (fr) 2024-06-27

Family

ID=85174044

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2022/000687 Ceased WO2024134236A1 (fr) 2022-12-22 2022-12-22 Dispositif de cueillette de fruits

Country Status (2)

Country Link
EP (1) EP4637320A1 (fr)
WO (1) WO2024134236A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110126505A1 (en) * 2008-02-13 2011-06-02 Picker Technologies Llc Mobile system for improving the picking and preliminary processing of apples, citrus, stone fruit and like objects
DE102015111665A1 (de) 2015-07-17 2017-01-19 Klaus Spies Pflückwagen zur Mechanisierung der Obsternte mit Sammelband und Abrolltisch
CN207235487U (zh) 2017-08-23 2018-04-17 西北农林科技大学 一种基于gps导航自走式果园自动采摘平台
US20200128744A1 (en) * 2018-10-29 2020-04-30 Ffrobotics Ltd. Robotic Fruit Harvesting Machine with Fruit-Pair Picking and Hybrid Motorized-Pneumatic robot arms

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110126505A1 (en) * 2008-02-13 2011-06-02 Picker Technologies Llc Mobile system for improving the picking and preliminary processing of apples, citrus, stone fruit and like objects
DE102015111665A1 (de) 2015-07-17 2017-01-19 Klaus Spies Pflückwagen zur Mechanisierung der Obsternte mit Sammelband und Abrolltisch
CN207235487U (zh) 2017-08-23 2018-04-17 西北农林科技大学 一种基于gps导航自走式果园自动采摘平台
US20200128744A1 (en) * 2018-10-29 2020-04-30 Ffrobotics Ltd. Robotic Fruit Harvesting Machine with Fruit-Pair Picking and Hybrid Motorized-Pneumatic robot arms

Also Published As

Publication number Publication date
EP4637320A1 (fr) 2025-10-29

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