• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device (100) for picking fruit, comprising: an optical detection means (110); a robot arm (120) equipped with a gripping mechanism (130); and a processing unit (140) operatively connected to the optical detection means (110), the robot arm (120) and the gripping mechanism (130). The processing unit (140) controls the robot arm (120) to cause the gripping mechanism (130) to move from below in an upward movement or from a certain preferred orientation at least partially around the piece of fruit to be picked; and when the gripping mechanism (130) is placed around the fruit piece to be picked, drives the fruit piece to be grasped between the at least two fingers (131, 132); and rotating it about a substantially horizontal axis or about an axis located in a plane perpendicular to the direction of the stalk of the piece of fruit that it releases from the plant.
    公开号:BE1023905B1
    申请号:E2016/5710
    申请日:2016-09-21
    公开日:2017-09-07
    发明作者:Jan Anthonis；Tom Coen；Backer Sebastiaan De；Dries Gielis
    申请人:Octinion Bvba；
    IPC主号:
    专利说明:

    Device for picking fruit Domain of the Invention
    The present invention relates to tools for use in horticulture, more particularly to devices for picking fruit.
    Background
    In fruit growing, an important and labor-intensive aspect of the production process is the picking of the ripe fruit. To date, this is still done largely manually. In recent years, attempts have been made to automate fruit picking. EP 2371204 A1 thus discloses a machine for automatically harvesting fruit that is cultivated in rows. This machine picks up a piece of fruit to be picked in a movable funnel and then cuts it loose from the plant. However, the use of machines from EP 2371204 A1 is not suitable for particularly soft fruit, which is easily damaged by machine picking, and where cutting (cutting) the stalks is not desirable. For this reason, for example, to date no use has been made of picking machines for picking certain, very soft strawberries, such as those that are commercially the most interesting in Belgium. Moreover, the known systems are not suitable for carrying out a simultaneous sorting operation.
    It is an object of embodiments of the present invention to at least partially address the aforementioned problems.
    Summary
    According to an aspect of the invention, a fruit-picking device is provided, comprising: an optical detecting means adapted to detect and spatially locate a piece of fruit to be picked from a plant; a robot arm equipped with a gripping mechanism provided with at least two fingers; and a processing unit operatively connected to the optical detection means, the robot arm, and the gripping mechanism; wherein the processing unit is configured to control the robot arm to cause the grabbing mechanism to move the gripping mechanism from below from below in an upward movement or from a certain preferred orientation at least partially around the piece of fruit to be picked by locating a piece of fruit to be picked by the optical detection means ; and wherein the processing unit is configured to control the gripping mechanism when it is wrapped around the piece of fruit to be picked to: grasp the piece of fruit to be picked between the at least two fingers; and rotating the piece of fruit to be picked about a substantially horizontal axis or about an axis that is perpendicular to the direction of the stalk of the piece of fruit, so that it detaches from the plant.
    In this application, the terms "fruit" and "fruit" are used in the broadest sense, without being limited to the strictly botanical meaning of these terms. "Fruit" or "fruit" also includes in particular sham fruits such as strawberries, figs, rose hips and the like. "Fruit" or "fruit" also includes fruits in the botanical sense of the word, which are commonly used as vegetables, such as tomatoes, cucumbers and peppers.
    The present invention is based, inter alia, on the inventors' insight that in the case of fragile fruits it is advantageous to minimize the pressure exerted on the fruit during picking by the fingers of the gripping mechanism at different places distributed over the circumference and / or let the stalk of the fruit engage. The present invention is furthermore based on the inventors' insight that a fruit can be detached from the outside with minimal pressure by not pulling it in the direction of the longitudinal axis of the stalk of the fruit, but rotating the fruit (tilting) , causing the stalk to burst at the weakest point without damaging the fruit. Both requirements are best achieved by approaching the fruit with a multi-finger gripping mechanism.
    The present invention is furthermore based on the inventors' insight that the stalk of a fruit hereby breaks the quickest when, when the fruit is subtracted, a bend is formed in the stalk at an angle of 70 ° to 110 °, preferably an angle of approximately 90 °. In other words, the fruit can be detached from the plant with a minimal risk of damage if the fruit is rotated around an axis that is preferably located in a plane perpendicular to the direction of the stalk of the fruit, at an angle from 70 ° to 110 °, preferably an angle of about 90 °.
    It is an advantage of the invention that the fruit can be picked undamaged, without the need for a cutting mechanism to cut the stem. Systems that require a cutting operation generally do not work as quickly. Such systems are also more likely to damage the fruit itself or neighboring fruits because of the difficulty of having the cutting mechanism cut off the fruit at the right place in the plant. In addition, germs can be transmitted between plants via the cutting surfaces.
    In an embodiment of the device according to the present invention, the processing unit is configured to control the robot arm and the gripping mechanism to: rotate the piece of fruit after picking about a substantially horizontal axis; and depositing the fruit in a container thus obtained in a preferred orientation.
    It is an advantage of this embodiment that the fruits can immediately be optimally stored for storage after picking. Especially for strawberries, it is desirable that the fruits are placed with the crowns facing downwards in the box, so that the relatively pointed and completely red bottom is facing the potential customer.
    In an embodiment of the device according to the present invention, the at least two fingers are provided on the side facing the fruit piece to be picked with an elongated, elastically deformable surface, which surface is configured to contact a fruit piece to be picked. to assume a concave shape which, viewed in a vertical plane, at least partially follows the contour of the piece of fruit to be picked.
    It is an advantage of this embodiment that good contact can be made with the fruit to be picked while only minimal pressure is exerted on the outside of the fruit. This is especially important with delicate fruits so as not to damage the fruit when picking. The inventors have further discovered that with a judiciously designed flexible contact surface, the average damage inflicted on the fruit to be picked does not vary continuously with the applied force, but will exhibit a stepping function such that there is a wide range of force levels within which the fruit virtually not damaged. This offers the advantage that it is easier to determine a suitable operating point and allows the damage to the fruit to be reduced to a minimum.
    For fruits that grow in clusters, contact with other fruits can be prevented while approaching the fruit to be picked and moving back to the deposition position of the fruit. From the outside, the fingers preferably have such a shape and flexibility that they cause other fruits as little damage as possible.
    It is an advantage of the invention that because of the compact dimensions of the device, it avoids contact with other fruits as much as possible during the picking of a fruit. As a result, the device causes other fruits as little damage as possible.
    In one embodiment, the device according to the present invention is further provided with a propulsion mechanism, adapted to move the device substantially horizontally along a straight line.
    It is an advantage of this embodiment that the device can be used in situations where large quantities of plants are arranged along substantially straight lines, such as in traditional greenhouse cultivation and rack cultivation. The propelling mechanism may be provided with wheels that travel over the ground, wheels that are adapted to ride on one or more rails, tracks, glides, and the like. Because the device as a whole in this embodiment has only one degree of freedom of movement, it can be positioned relatively easily accurately. This embodiment lends itself to an implementation of a stable platform on a vehicle that is propelled with a stop & go strategy.
    According to an aspect of the invention, a use of the device described above is provided for picking strawberries.
    It is a characteristic of the strawberry varieties common in Belgium that they grow on large clusters and are relatively soft. For these varieties there is therefore a need for a solution in which the pressure on the strawberry is minimal and the number of manipulations is limited. The device according to the present invention meets these requirements and thus offers a very suitable solution for strawberries. The use of the device according to the present invention, in which the fruit is picked while tilting, has the additional advantage with respect to strawberries that the stalk in the crown will break off, as would be the case with manual picking. This prevents a piece of stem from sticking out the picked strawberry, which could damage other strawberries in the same container, and which is not accepted by commercial buyers of, among others, Belgian strawberries.
    According to an aspect of the invention, a use of the device described above is provided for picking tomatoes.
    It is a characteristic of certain tomato varieties that they are relatively soft. For these varieties there is therefore a need for a solution in which the pressure on the fruit is minimal and the number of manipulations is limited. The device according to the present invention meets these requirements and thus offers a very suitable solution for these fruits.
    According to an aspect of the invention, a use of the device described above is provided for picking fruits of the species Capsicum annuum.
    It is a characteristic of certain varieties of the species Capsicum annuum, including certain peppers and peppers, that they are relatively soft. For these varieties there is therefore a need for a solution in which the pressure on the fruit is minimal and the number of manipulations is limited. The device according to the present invention meets these requirements and thus offers a very suitable solution for these fruits.
    According to an aspect of the invention, a use of the device described above is provided for picking the species Cucumis sativus, in particular for picking cucumbers or pickles.
    It is a characteristic of certain varieties of the species Cucumis sativus that the skin of the fruit is susceptible to damage. For these varieties there is therefore a need for a solution in which the pressure on the fruit is minimal and the number of manipulations is limited. The device according to the present invention meets these requirements and thus offers a very suitable solution for these fruits.
    According to an aspect of the invention, a use of the device described above is provided for picking fruits of the genus Rubus, in particular for picking blackberries or raspberries.
    According to an aspect of the invention, a use of the device described above is provided for picking fruits of the genus Vaccinium, in particular for picking blueberries or cranberries.
    According to an aspect of the invention, a use of the device described above is provided for picking fruits of the genus Ribes, in particular for picking currants, gooseberries or black currants.
    It is a common characteristic of the said varieties of the genera Rubus, Vaccinium and Ribes that these are relatively soft. For these varieties there is therefore a need for a solution in which the pressure on the fruit is minimal and the number of manipulations is limited. The device according to the present invention meets these requirements and thus offers a very suitable solution for these fruits.
    Brief Description of the Figures
    These and other aspects and advantages of embodiments of the present invention will be described in more detail below with reference to the accompanying drawings, in which:
    Figure 1 illustrates an embodiment of the device according to the present invention;
    Figure 2 illustrates an example of a gripping mechanism for use in embodiments of the device of the present invention;
    Figure 3 illustrates in detail a finger of the gripping mechanism of Figure 2; and
    Figures 4a-c illustrate three different positions of a part of the device according to a specific embodiment.
    Description of Embodiments
    Figure 1 gives a schematic representation of a device 100 according to an embodiment of the present invention.
    The device 100 comprises an optical detection means 110, adapted to detect and spatially locate a piece of fruit to be picked on a plant. The optical detection means 110 may in particular comprise one or more digital cameras, which supply images on which analyzes are carried out to detect the fruit to be picked on the basis of shape, size, color and / or other desired criteria. The detection may in particular include an estimate of the ripeness of the fruit, so that only the ripe fruits are picked.
    In addition or simultaneously, certain measurable characteristics of the fruit can be detected, which can be used for a quality classification (eg size, estimated weight, color uniformity, etc.). Based on this classification, the picked fruits can immediately be sorted correctly.
    The spatial localization of the fruit to be picked can be done by combining the images from multiple cameras (stereoscopic localization) or by applying other known localization techniques.
    The one or more cameras are preferably arranged so that they can observe the fruits to be picked not only from the side but also (obliquely) from below. This is particularly advantageous when picking strawberries, which grow in such a way that the ripe strawberries usually hang at the bottom of the plant. After all, strawberries grow on flower branches that develop one after the other and whose later branches are always longer than the previous ones. The flower branches initially grow upwards, but bend downwards due to the weight of the ripening strawberries that hang on it. The branches with the ripest (and generally largest) strawberries tend to hang farthest, so that the ripe strawberries hang at the bottom. Also with other plants with a similar fruit growth pattern it is advantageous to set up one or more cameras in such a way that they can observe the fruit to be picked (obliquely) from below.
    The device furthermore has a robot arm 120, equipped with a gripping mechanism 130. The term "robot arm" is understood to mean a controllable movable whole which, based on its degrees of freedom, has a payload - in this case the gripping mechanism 130 with possibly a fruit - within a range of action. can bring a desired location. The robot arm 120 is preferably light and thin and can be designed as a parallelogram with hinged corners, which provides a good balance between mobility and stability. In one embodiment of the device, the robot arm 120 comprises an approach element 121 and a plucking element 122. This is further explained in the context of Figs. 4a-c.
    The gripping mechanism 130 is provided with at least two fingers. Advantageously, there is also at least one camera that forms part of the detection means 110 mounted on the robot arm 120, for example at the bottom of the cage of the gripping mechanism 130 formed by the fingers. The image from below provided by this camera contributes to the mapping of the fruits to be picked, and since this camera moves with that robot arm 120, it can in particular be used to more accurately control the relative movement of the robot arm 120 relative to the fruits to be picked.
    The device 100 further has a processing unit 140 operatively connected by means of suitable interfaces to the optical detection means 110, the robot arm 120 and the gripping mechanism 130.
    This processing unit 140 is configured such that it controls the robot arm 120, after localization of a piece of fruit to be picked by the optical detection means 110, to cause the gripping mechanism 130 to move at least partially around the piece of fruit to be picked. The processing unit 140 is configured such that any contact of the device 100 with other fruits, and the possible damage to the fruits that could result therefrom, is minimized.
    In a particular embodiment of the invention, the gripping mechanism 130 approaches the fruit to be picked from below in an upward movement. This is particularly advantageous for picking strawberries, the fruits of which hang at the bottom of the plant and are usually surrounded by other fruits.
    In another embodiment of the invention, the gripping mechanism 130 approaches the fruit from a particular preferred orientation. The fruit is preferably approached laterally. This is particularly advantageous for picking fruits that grow on a plant in a variety of orientations, as is the case with peppers, for example.
    When it is placed around the piece of fruit to be picked, the gripping mechanism 130 is actuated to grasp the fruit to be picked between the at least two fingers 131, 132 and to rotate it (or tilt it) so that it detaches from the plant.
    The stem of the fruit, when rotating the fruit, is bent at an angle of at least 40 °, preferably at an angle of at least 50 °, more preferably at an angle of at least 60 °, with even more preferably at an angle of at least 70 °, and most preferably at an angle of at least 80 °. The stem is bent at an angle of at most 140 °, preferably at an angle of at most 130 °, more preferably at an angle of at most 120 °, even more preferably at an angle of at most 110 °, and most preferably at an angle of at most 100 °. The best results are obtained when the stalk is bent at an angle of approximately 90 ° during picking, the term "approximately" meaning a deviation of at most 5 °.
    The rotation of the fruit under a certain preferred angle is based on the surprising insight that the fruit can be picked most favorably, ie with the least chance of damaging the fruit or nearby fruit if the stalk of the fruit is moved under a certain preferred angle curved.
    The fruit is preferably rotated about an axis that is perpendicular to the direction of the stalk of the fruit.
    The gripping mechanism 130 is here arranged such that when rotating about said axis a bend is imposed in a predetermined desired break-off point of the stalk of the fruit. In other words, the gripping mechanism 130 is arranged such that both rotation around a predetermined breakpoint of the stalk of the fruit and refraction at that same point are controlled. The inventors have found that the combination of imposing a desired breakpoint in a stalk with the choice of an optimum angle at which the stalk is bent allows the fruit to be picked in a simple manner, thereby reducing the risk of damage to the fruit to be picked. , or near fruit, is reduced to a minimum.
    For strawberries, this break-off point is the connection between the stem and the crown of the strawberry. When picking the strawberry, the stem in the crown will break off, so that no piece of stem protrudes from the picked strawberry. The lack of the stalk has the advantage that the risk of damaging other strawberries is reduced.
    In an alternative embodiment, the fruit is rotated about a substantially horizontal axis.
    The device 100 can be provided with a propulsion mechanism for advancing substantially horizontally along a straight line. The robot arm 120 has sufficient degrees of freedom to move relative to this advancing mechanism. The whole then becomes a moving or sliding picking robot, which, for example, moves along rows of plants in a greenhouse. The advance speed can be autonomously controlled in function of the picking movements to be carried out. The picked fruits can be deposited in a container that is placed on the same trolley, or transported via a conveyor belt to a central location for further processing (eg sorting, packaging, ...).
    The propulsion mechanism can optionally work at two mutually complementary levels: the picking robot is then mounted on a moving or sliding platform that moves in a relative movement relative to the ground, while the robot arm in the same direction but over a limited distance an additional linear has a degree of movement relative to the platform, for example by providing a linear slide. In this way, the platform can be used for rough positioning, and the linear carriage for fine positioning.
    The processing unit 140 can be implemented in specialized hardware (e.g., ASIC), configurable hardware (e.g., FPGA), programmable components with suitable software (e.g., microprocessors), or a combination of the foregoing. The same components can also implement other functions, such as the detection and localization function or parts thereof.
    Figure 2 illustrates an example of a gripping mechanism 130 for use in embodiments of the device of the present invention. In one embodiment, the gripping mechanism 130 is provided with three fingers 131, 132, 133, as illustrated here without loss of generality. The fingers are not necessarily identical. The fingers are preferably designed such that the pressure is constant along the length of the finger for a type fruit with a preselected shape and size.
    Figure 3 illustrates in detail a finger 131 of the gripping mechanism 130 of Figure 2. The preferred features described below with reference to Figure 3 can be provided on one or more fingers of the gripping mechanism 130, preferably all fingers have these characteristics.
    The fingers are preferably designed such that they damage the fruit as little as possible during the picking and the movement of the robot arm. They preferably have an elongated, elastically deformable surface 135 on the side facing inwards (i.e. towards the fruit to be picked); this can be a strip of a flexible material that is oriented in the longitudinal direction of the finger. This surface is configured, for example by the properties of the underlying materials or structures 136, to take on contact with the piece of fruit to be picked a concave shape which, viewed in a vertical plane, at least partially reflects the contour of the piece to be picked piece of fruit follows. The deformation properties of the surface 135 can be checked in a very detailed manner by having the surface 135 supported on a plastic frame 136, which can be produced, for example, by additive manufacturing (3D printing). The configuration can in particular be optimized to follow the typical contour of the type of fruit for which the device is intended. A further reduction in the chance of damage to other fruits can be obtained by judicious shaping of the outside of the fingers. The fingers must exhibit a certain sharpness and be provided with sufficient rounding. The material on the outside is preferably chosen such that it is sufficiently soft to give minimal chance of damage on contact with other fruits.
    Figure 4a-c illustrates in detail three different positions of a part of the device 100 during the picking of a fruit. The device 100 comprises a robot arm 120. The robot arm 120 is preferably light and thin, such that the robot arm 120 can move up very quickly, and substantially perpendicularly, without coming into unnecessary contact with other fruits.
    The robot arm 120 is preferably provided with an approach element 121 and a plucking element 122. The approach element 121 has the function that the gripping mechanism 130 can be brought at a suitable distance from the fruit to be picked and that the fruit to be plucked between the at least two fingers 131,132 can be grabbed. The plucking element 122 has the function of rotating the fruit about a specific axis and thereby imposing a bend in a predetermined desired break-off point of the stalk of the fruit.
    The approach element 121 can be provided with a housing 123, in which the plucking element 122 can be stored. The plucking element 122 and the gripping mechanism 130 can as such be brought at a suitable distance from the fruit to be plucked, without damage being caused to the fruit itself or to nearby fruit.
    In a preferred embodiment, the plucking element 122 comprises a movable frame consisting of a base bar 124 and an action bar 125, the action bar 125 being hingedly connected in parallel with the base bar 124 via a set of mutually parallel transverse bars 126, 127. The action bar 125 in the plane defined by said bars relative to the base bar 124. The presence of the set of cross bars 126, 127 has the consequence on the one hand that the action bar 125 remains parallel to the base bar 124 during this movement, and on the other hand that a change in the lateral distance between the action rod 125 and the base rod 124 (ie a change in the distance in the direction transverse to the action rod 125) is always accompanied by a change in the longitudinal distance (ie a change in the distance in the direction parallel to the action rod 125). The connecting point of the action rod 125 with a given crossbar 126, 127 can only move with respect to the connecting point of the base bar 124 with the same crossbar on a circular arc whose radius is equal to the length of the crossbar 126, 127 between said crossbar connection points. To achieve movement of the action rod 125 in this plane, it is sufficient to drive one of the cross bars with a suitable first motor or actuator 150.
    In a preferred embodiment, one of the cross bars 126, 127 is driven by the first motor or actuator 150 via a first pull cable (not shown in the drawing). The first pull cable preferably connects the first motor or actuator 150 to an attachment point connected to one of the cross bars 126, 127, preferably the lower cross bar 127. Preferably, said attachment point is located in the immediate vicinity of the connection point of the action rod 125 with the said cross bar 126, 127. Preferably, the first pull cable is guided over a cable guide wheel which is located in the immediate vicinity of the connection point of the base bar 124 with one of the cross bars 126, 127, preferably the upper cross bar 126.
    In the preferred embodiment, the gripping mechanism 130 is mounted on a distal point 128 of the action bar 125, allowing rotation about said distal point 128 in the plane defined by said bars. The longitudinal distance between the break-off point defined by the gripping mechanism 130 and said distal point 128 of the action bar 125 is preferably equal to the length of the cross bar 126, 127 between the aforementioned connecting points. As a result, the interruption point remains at the same "absolute" position (with the base bar 124 as an "absolute" reference point) when the cross bars 126, 127 rotate from their rest position through an arbitrary angle, provided that the gripping mechanism 130 simultaneously performs a corresponding rotation .
    In the preferred embodiment, the plucking element 122 is provided with a coordinating means which coordinates the rotation of the gripping mechanism 130 with the rotation of the cross bars 126, 127. In a particularly preferred embodiment, the gripping mechanism 130 is rotationally biased towards the position in which the stem of the fruit to be picked breaks, for example by means of a torsion spring. The desired coordination between the rotation of the gripping mechanism 130 and that of the cross bars 126, 127 can then be achieved by means of a second pull cable 129 which is arranged to act against the force of the bias. The second pull cable 129 is arranged between a first cylinder 160, fixedly connected to the gripping mechanism 130, and a second cylinder 161, fixedly connected to one of the cross bars 126, 127, preferably the lower cross bar 127. Preferably, the second pull cable 129 is guided over a cable guide wheel connected to the action rod 125. The length of the second pull cable 129 is selected so that the gripping mechanism 130, against the force of the bias, forces it into a longitudinally extended position when the movable frame is in the rest position . When the cross bars 126, 127 rotate from their rest position through an arbitrary angle, a portion of the second pull cable 129 unwinds from the cylinder 161 on the cross bar 126, 127, allowing the torsion spring to rotate the gripping mechanism 130 in the plucking direction through a angle determined by the amount of second traction cable 129 that can be wound on the cylinder 160 of the gripping mechanism 130. With mutually equal diameters of the cylinders 160, 161, the angle that can be taken by the gripping mechanism 130 will be equal to the angle that is taken by the cross bar 126, 127.
    In a preferred embodiment, the gripping mechanism 130 further comprises a spring 162 and a second motor or actuator 163. The spring 162 is preferably connected to the at least two fingers 131, 132, 133 of the gripping mechanism 130. The gripping mechanism 130 is arranged such that the spring 162 is tensioned when the at least two fingers 131,132,133 of the gripping mechanism 130 are open, such that the spring 162 at rest holds the at least two fingers 131,132,133 of the gripping mechanism 130 in the closed state. The second motor or actuator 163 is arranged to induce a linear movement, preferably along the longitudinal axis of the gripping mechanism 130, which acts on a judiciously selected portion of the at least two fingers 131, 132, 133. When the second motor or actuator 163 is activated, at least two fingers 131, 132, 133 are opened against the tension of the spring 162. It is an advantage of this embodiment that the fingers 131,132,133 remain passively closed, which keeps the gripping mechanism 130 as compact as possible during the movements preceding the picking. When the fingers 131, 132, 133 are in the open position, the second motor or actuator 163 prevents the picking mechanism consisting of the bars 125, 126, 127 from moving. The second motor or actuator 163 has a position in which the fingers are in the closed position, but in which the picking mechanism is nevertheless blocked. This prevents the picking mechanism from folding out while the robot arm is moving.
    The mention of a "first traction cable" and a "second traction cable" in the above description is intended to clearly describe distinct functions, and does not exclude that these functions are performed by a single traction cable.
    Although the invention has been described above with reference to specific embodiments, this is done to clarify the invention and not to limit it. Those skilled in the art will understand that various modifications to the described embodiments are possible without departing from the scope of the invention, the scope of which is determined by the appended claims.
    权利要求:
    Claims (18)
    [1]
    Conclusions
    An apparatus (100) for picking fruit, comprising: an optical detection means (110) adapted to detect and spatially locate a piece of fruit to be picked from a plant; a robot arm (120) equipped with a gripping mechanism (130) provided with at least two fingers (131, 132, 133); and a processing unit (140) operatively connected to the optical detection means (110), the robot arm (120) and the gripping mechanism (130); the processing unit (140) being configured to drive the robot arm (120) to locate the fruit to be picked by the optical detection means (110), the gripping mechanism (130) from below in an upward movement or from a certain preferred orientation to move at least partially around the piece of fruit to be picked; and wherein the processing unit (140) is configured to drive the gripping mechanism (130) around the fruit piece to be picked to: hold the fruit piece to be picked between the at least two fingers (131, 132) grab; and rotating the piece of fruit to be picked about a substantially horizontal axis or about an axis that is perpendicular to the direction of the stalk of the piece of fruit, so that it detaches from the plant.
    [2]
    Device according to claim 1, wherein the processing unit (140) is configured to rotate the piece of fruit to be picked about said axis at an angle of at least 70 °, preferably at an angle of at least 80 °, and at most 110 °, preferably at most 100 °.
    [3]
    Device according to one of the preceding claims, wherein the gripping mechanism (130) is arranged such that the piece of fruit to be picked is rotated around a predetermined desired break-off point of the stalk of the piece of fruit.
    [4]
    Device according to claim 3, wherein the gripping mechanism (130) is arranged such that the breaking of the piece of fruit to be picked is controlled at said breaking point.
    [5]
    Device as claimed in claim 3 or claim 4, wherein, when the piece of fruit to be picked is rotated about said axis, the spatial position of said break-off point does not change.
    [6]
    The device of any preceding claim, wherein the robot arm (120) comprises a plucking element (122), said plucking element (122) comprising a movable frame consisting of a base bar (124) and an action bar (125), the The action rod (125) is hinged substantially parallel to the base rod (124) via a pair of mutually parallel transverse rods (126, 127).
    [7]
    Device according to any of the preceding claims, wherein the plucking element (122) is provided with a coordination means that coordinates the rotation of the gripping mechanism (130) with the rotation of the cross bars (126, 127).
    [8]
    The device of claim 7, wherein said coordination means comprises a torsion spring and a pull cable (129).
    [9]
    The apparatus of any preceding claim, wherein the processing unit (140) is configured to control the robot arm (120) and the gripping mechanism (130) to: rotate the piece of fruit after picking about a substantially horizontal axis; and depositing the piece of fruit in a container thus obtained in a container.
    [10]
    Device as claimed in any of the foregoing claims, wherein the at least two fingers (131, 132) are provided on the side facing the fruit to be picked with an elongated, elastically deformable surface, which surface is configured to be in contact with the to take a concave shape of fruit-picking piece which, viewed in a vertical plane, at least partially follows the contour of the fruit-picking piece.
    [11]
    Device as claimed in any of the foregoing claims, further provided with a propelling mechanism, adapted to move the device substantially horizontally along a straight line.
    [12]
    Use of the device according to one of the preceding claims for picking strawberries.
    [13]
    Use of the device according to one of claims 1 to 11 for picking tomatoes.
    [14]
    Use of the device according to one of claims 1 to 11 for picking the species Capsicum annuum.
    [15]
    Use of the device according to one of claims 1 to 11 for picking the species Cucumis sativus.
    [16]
    Use of the device according to any of claims 1-11 for picking the genus Rubus.
    [17]
    Use of the device according to any of claims 1-11 for picking the genus Vaccinium.
    [18]
    Use of the device according to any of claims 1 to 11 for picking the genus Ribes.
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    BE1027324B1|2021-01-13|SELECTION DEVICE FOR SEEDLINGS
    JPH0549331A|1993-03-02|Manipulator of fruit-harvesting robot
    同族专利:
    公开号 | 公开日
    BE1023881B1|2017-09-04|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    JP2012148380A|2011-01-20|2012-08-09|Motoji Yamamoto|Robot hand device|
    US20160161238A1|2013-12-20|2016-06-09|Harvest Croo, Llc|Harvester suspension|
    US20160073584A1|2014-09-12|2016-03-17|Washington State University|Robotic systems, methods, and end-effectors for harvesting produce|
    WO2016055552A1|2014-10-07|2016-04-14|Katholieke Universiteit Leuven|Automated harvesting apparatus|BE1025755B1|2017-12-04|2019-07-04|Octinion Bvba|IMPROVED FINGER FOR A GRIJPER MECHANISM FOR A FRUIT PICKING DEVICE|
    WO2019224627A1|2018-05-22|2019-11-28|Octinion Bvba|Improved method and apparatus for automatically picking a fruit|
    CN112544236A|2020-12-10|2021-03-26|浙江理工大学|End effector of rope-driven picking robot|
    法律状态:
    2017-12-13| FG| Patent granted|Effective date: 20170907 |
    优先权:
    申请号 | 申请日 | 专利标题
    BE2016/5602|2016-07-19|
    BE20165602A|BE1023881B1|2016-07-19|2016-07-19|Device for picking fruit|CN201780054038.9A| CN109788732A|2016-07-19|2017-07-19|For selecting fruit and with the device of robotic arm|
    PL17743309T| PL3487282T3|2016-07-19|2017-07-19|Device for picking fruit having an improved robot arm|
    US16/319,073| US20200323140A1|2016-07-19|2017-07-19|Device for picking fruit having an improved robot arm|
    MA045710A| MA45710A|2016-07-19|2017-07-19|FRUIT PICKING DEVICE FEATURING AN ADVANCED ROBOT ARM|
    EP17743309.1A| EP3487282B1|2016-07-19|2017-07-19|Device for picking fruit having an improved robot arm|
    PCT/EP2017/068187| WO2018015416A1|2016-07-19|2017-07-19|Device for picking fruit having an improved robot arm|
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