• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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  • 优先权
    • 专利摘要:
    The system of integral collection of fruits comprises a vibrating vehicle (1), with a vibrating arm (6) and a first screen (3), and a collecting vehicle (2), comprising a second screen (4) that incorporates a channel collection (7) at one end. The vibrating vehicle (1) comprises storage means of a mapping of a plot, a detector for the identification of trees, elements for coordination with the collecting vehicle (2) that include a detector of the position of the collecting vehicle (2). The harvesting vehicle (2) also comprises a mapping of the ground, a detector to identify trees and a detector of the position of the accompanying vehicle. In addition, it comprises a logic control unit, a leveling system with two inclinometers, a cleaning zone and a container (5) for the harvested fruit. The invention also describes the collection procedure carried out by the system. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2613862A1
    申请号:ES201531715
    申请日:2015-11-25
    公开日:2017-05-26
    发明作者:Francisco GONZALEZ CASTREJON；Enrique Del Pozo Polidoro；Jesus Gil Ribes；Gregorio BLANCO ROLDAN；Francisco JIMENEZ JIMENEZ
    申请人:Isotrol SA；Mc2 Ingenieria Y Sistemas SL；Isotrol S A；Mc2 Ingenieria Y Sist S L；Universidad de Cordoba；
    IPC主号:
    专利说明:



    INTEGRAL FRUIT COLLECTION SYSTEM AND PROCEDURE.

    DESCRIPTION 5

    OBJECT OF THE INVENTION
    The present invention relates to a system of collection and integral management of fruits in row trees. The system comprises a vehicle that incorporates a log vibrating arm with screen for the collection of downed fruits and an accompanying vehicle 10 for the management of the downed fruits.

    Although not limited, the system is designed for use in fruit trees that have a trunk and a globose or spherical tree canopy, especially olive trees, and, in particular, for the collection of fruits in medium-sized and homogeneous trees such as intensive olive groves, with a density of between 200 and 600 trees / ha characterized by having a single vertical foot and planted in a uniform rectangular frame planted in rows. In addition, it can also be used in other similar tree species such as nuts, stone fruits, citrus fruit trees, or any other fruit hanging on trees or shrubs. twenty

    The invention finds special application in the field of table and mill olive groves where the mechanization of harvesting is essential for reducing production costs and increasing profitability. The system aims to solve the management of the downed fruit, including the interception, cleaning and unloading of 25 containers, whether they are trailers, containers or bags.

    The work according to the typology described above is defined as discontinuous, being understood as such the process in which the machine advances and stops to perform the corresponding cycles of the collection work, such as demolition, interception and management of the downed fruit . This cycle includes the positioning of the vibrating arm on each tree, covering all its projection with the screens and activating for the demolition the vibrating head attached to the trunk. The demolition of fruit is carried out simultaneously and synchronously on a collection vehicle that includes screens for the
    fruit interception and management, cleaning and loading systems. Once this intervention has been carried out, the mechanisms are automatically retracted and the march is resumed until it is placed on the next tree to be harvested, repeating the previous cycle.
     5
    TECHNICAL PROBLEM TO BE RESOLVED AND BACKGROUND OF THE INVENTION
    The process of harvesting the fruits in fields of extensive cultivation has undergone a small evolution in terms of the implementation of mechanization, due to the difficulties that have been encountered to establish in the fields a machine model that adapts to the different types of plantation. In the same way, the difficulty in implementing specific machinery for the high variety in plantation typologies has also put a brake on the development of this machinery.

    The great advance in the collection of fruits has focused on the development of machinery for the demolition of fruits such as log vibrators and their implementation in different 15 versions of vehicles. These vibrators have been implemented in vehicles adapted to each need depending on the terrain in which they are used, such as buggy, with a high maneuverability or simply tractors, due to their high versatility to be used in a variety of functions . Log vibrators feature a vibrating clamp system with an eccentric mass, which is rotated by 20 hydraulic systems. When the mass is rotated, a vibration is generated that is transmitted to the tree trunk, dropping the fruits on collection surfaces, such as tarps, nets or the like.

    In any case, the vibrators represent only the first stage in the harvesting process, such as the demolition of the fruit from the tree, the evolution of the vibrators having developed in parallel to different forms, also implemented in vehicles, focused on the collection or collection itself. This second stage of the collection process, traditionally, has been carried out by placing flexible surfaces, such as nets, tarpaulins and the like, on the ground under 30 trees, being extended and subsequently collected by labor personnel. The development of these fruit collection surfaces has evolved in different ways. One of them is by means of a mechanical arm that protrudes from the collecting vehicle until it is placed next to the tree to deploy a series of arms around the tree. Arms
    They are joined by flexible surfaces, such as fabrics or plastics, creating a kind of inverted umbrella. Another type of collector involves the use of two vehicles, each located next to the row of trees to be collected. One of the vehicles incorporates the vibrating arm that grabs the tree. Each of the vehicles incorporates a screen, a fixed one destined to the collection and another extensible and inclined one that overlaps on the previous one and 5 that unfolds when arriving at the position of the tree to collect. Once produced the vibration of the tree, the fruit falls on the screens. The extensible screen is collected and the vehicles will look for the next tree. In addition to the aforementioned vibration systems, branch vibrators are also found, without acting directly on tree trunks. 10

    These types of developments are already known in the state of the art and have been disclosed in documents such as those mentioned below.

    The document US4279118 describes a team that incorporates a system of demolition by vibration and management of the demolished fruit by means of a retractable structure that intercepts the fruit and drives it through two conveyor belts to the rear of the combine.

    Documents US3964244 and US 3683617 describe a vehicle that incorporates a log vibrator and a folding canvas system for interception of fruits and two conveyor belts 20 on each side for the management of the downed fruit.

    Document US7117661 describes a towed vehicle that incorporates a structure for receiving fruits with a folding system that extends under the tree.
     25
    Document US6925792 describes a fruit collection system that incorporates a first vehicle with a log vibrator and a system of deflectors on the clamp for the demolition of fruit, together with a screen for the collection of downed fruits. The system also incorporates a second accompanying vehicle that also incorporates a screen for the collection of the fruit and on which the fruit collected on the first screen is derived. This second screen connects to a demolished fruit management system through which it is stored.

    However, none of these systems has been able to completely solve the process of collecting a row of fruit trees.

    The present invention solves this problem, which was not solved in the present state of the art, presenting a system that solves the complete process of collecting a row of fruit trees in a completely autonomous way.

    DESCRIPTION OF THE INVENTION
    The present invention discloses a comprehensive fruit collection system comprising a vibrating vehicle with a vibrating arm and a first screen incorporating an opening for the passage of the trunk of the tree to be collected. The system also comprises a collection vehicle that has a second screen that incorporates a collection channel at one of its ends. By joining the screens to proceed to harvest the fruit of the tree, they form a “V” configuration.
     fifteen
    The vibrating vehicle comprises means for storing a mapping of a terrain, a detector for the identification of trees and elements for coordination with the collecting vehicle. These elements include a detector of the position of the collection vehicle.
     twenty
    The collecting vehicle also comprises storage means for mapping the terrain, a tree identification detector and a vibrating vehicle position detector. In addition, it also comprises a logical control unit, a leveling system comprising two inclinometers to control the transverse level and the longitudinal level of the vehicle respectively. In the collection vehicle there is a cleaning area and a container for the storage of the collected fruit.

    The mapping of the land includes the position of the trees to be collected.

    The logical control unit is configured to manage communication continuously between the vibrating vehicle and the collecting vehicle.

    The leveling system is configured to maintain the orientation of the second screen, acting on the suspension system of the collection vehicle.

    The cleaning zone comprises a blowing system and a destemmer for cleaning the fruit collected by the screens.

    The container receives the fruit collected from the clean cleaning area of 5 impurities.

    The tree identification detector of the invention can also be configured to identify obstacles that the vehicle is in its path.
     10
    The leveling system that incorporates the collecting vehicle can also be incorporated by the vibrating vehicle.

    The detection of the accompanying vehicle is carried out by means of a detector that uses electromagnetic waves, a GPS positioner, light signals or a video camera with its respective visual marker.

    The integral collection system of the invention can also comprise a switchboard for vehicle management. This switchboard can be located in the vibrating vehicle, in the collection vehicle or in a remote area. twenty

    The collection vehicle may comprise a weighing system that emits a signal if the container has reached a predetermined level. In this case, the collection vehicle is managed by an operator in charge of the advancement and stopping functions of the vehicle, either on the same vehicle or by towing it with a tractor with a lance that can be articulated to allow misalignment between the machine Tractor and collecting vehicle. In this way, the tractor does not have to go as close to the tree line as the collection vehicle. In this case, the operator also manages the traceability control of the collection process, which includes replacing the full container and sending information to the control unit about the replaced container and the trees 30 collected in that container.

    The vibrating vehicle can also be managed by an operator who is responsible for the advancement and stopping functions of the vehicle and the process of grasping the tree with the vibrating arm.

    The invention also includes the method of integral harvesting of fruits by means of the system described above.

    Starting from a situation in which the vibrating vehicle and the collecting vehicle are positioned at the beginning of a row of trees and each one at the side of the row, it comprises the following phases:

    a) Start and start the movement of the vibrating vehicle;
    b) Start and start the movement of the collection vehicle;
    c) Stop the vehicle if, at any time while in motion, the obstacle detector of the corresponding vehicle detects a foreign element; fifteen
    d) Stop the vibrating vehicle when detecting a tree;
    e) Stop the collecting vehicle when detecting a tree;
    f) Detect by means of the vibrating vehicle that the collection vehicle is stopped and positioned in the same tree;
    g) Extend the vibrating arm and grab the detected tree; twenty
    h) Extend the first screen;
    i) Activate the leveling system of the collection vehicle;
    j) Extend the second screen;
    k) Activate the conveyor belts and the elements of the cleaning area of the collection vehicle; 25
    l) Begin the vibration of the tree;
    m) Maintain the duration and intensity of the vibration according to the preset parameters;
    n) Stop the vibration of the tree;
    o) Release the tree, pick up the vibrating arm and
    p) Pick up the first screen; 30
    q) Pick up the second screen;
    r) If it is detected that the weight of the container has exceeded a predetermined value, stop the conveyor belts, leave the container on the ground and place a new container in the collection vehicle, identifying in a database the
    container replaced with the collected trees, so that the procedure includes the traceability of the collection;
    s) If the detected tree is not the last in the row, return to phase a).
    t) If the tree detected is the last in the row, stop the vibrating vehicle and the collecting vehicle; 5

    The procedure may also include, after phase f), an additional phase:
    u) Detect the collecting vehicle that the vibrating vehicle is stopped and is positioned in the same tree;
     10
    BRIEF DESCRIPTION OF THE FIGURES
    To complete the invention that is being described and in order to help a better understanding of the features of the invention, according to a preferred embodiment of the invention, a set of drawings is attached where, for illustrative purposes and not limiting, the following figures have been represented: 15

    - Figure 1 represents a front view of the system of the invention where a tree intended to be collected with a vibrating vehicle and a collecting vehicle on each side can be seen.
    - Figure 2 represents a plan view of the system as shown in Figure 1.
    - Figure 3 represents a front perspective view of a collection vehicle.
    - Figure 4 represents a front view of the collection vehicle.
    - Figure 5 represents a plan view of the collection vehicle.
    - Figure 6 represents a rear perspective view of a collection vehicle. 25

    The following is a list of the references used in the figures:
    1. Vibrating vehicle.
    2. Collection vehicle.
    3. First screen. 30
    4. Second screen.
    5. Container
    6. Vibrating arm.
    7. Collection channel.
    DESCRIPTION OF A PREFERRED EMBODIMENT OF THE INVENTION
    The present invention describes a system for carrying out the complete process of collecting a row of fruit trees, as well as the procedure followed.
     5
    The system comprises two vehicles (1, 2) located on both sides of the row of fruit trees to be collected and that move parallel to the row of fruit trees.

    The first vehicle, or vibrating vehicle (1), incorporates a vibrating arm (6) of logs for the demolition of fruits and a first screen (3) that is deployed to cover about 10 half of the shadow surface of the tree in the interception of the fruit when it is knocked down. The vibrating arm (6) is known in the state of the art. It is typically formed by a mechanically articulated axle attached to the vibrating vehicle (1) that ends in a pressing clamp.
     fifteen
    The second vehicle, or collecting vehicle (2), incorporates a second screen (4) to intercept the fruit that covers the other half of the tree's shadow surface. In addition, it incorporates a cleaning zone with the necessary elements to clean the downed fruit and store it in a container (5) that can be a trailer, a container or a bag. twenty

    To cover the entire shadow surface of the tree, the first screen (3) incorporates a central opening for the introduction of the tree trunk, so that it can cover more than half of the shadow surface of the tree.
     25
    The collection vehicle (2) incorporates a logic PLC control unit that includes sensor and control elements necessary to introduce the automation, partial or total, of the tasks that are part of the process. It also incorporates elements for coordination with the vibrating vehicle (1).
     30
    In the same way, the vibrating vehicle (1) incorporates elements for coordination with the collection vehicle (2).

    In a first embodiment, the vehicles (1, 2) of the invention are autonomous, managed through a switchboard that can be located in one of the vehicles (1, 2) or in a remote area. In this case, the vehicles (1, 2) incorporate the appropriate electronics to carry out the tasks that make up the comprehensive collection procedure. 5

    In a second embodiment, the vehicles (1, 2) are directed by an operator. The operator of the vibrating vehicle (1) is responsible for the tasks related to the movement and stopping of the vehicle (1), in addition to operating the vibrating arm (6) to position it on the tree. The operator of the collection vehicle (2) is only responsible for tasks 10 related to the movement and stopping of the vehicle (2).

    For communication between both vehicles (1, 2), the system incorporates a control and signaling interface via a can, modbus or similar bus. This interface allows the input and output of signals for communication at any time between vehicles (1, 2). fifteen

    To proceed with the collection of a row of fruit trees, the vibrating vehicle (1) and the collecting vehicle (2) are placed in an initial position, each side of the row of fruit trees. Each of the vehicles (1, 2) incorporates a mapping of the land to be collected, which includes information on the position of the trees in the row to be collected and also on the accompanying vehicle (1, 2). In this way, the trees that make up the row have been detected and located and the accompanying vehicle (1, 2) is positioned. Once the vehicles (1, 2) start moving, the exchange of information between the two takes place continuously.
     25
    In this way, to begin the collection, both vehicles (1, 2) begin to move forward, each one on the side of the street.

    As soon as the vibrating vehicle (1) starts moving, when it detects the first tree in the row, it stops next to it when it reaches the height of the position in which the vibrating arm 30 is located (6). That is when the vibrating arm (6) is extended to grip the tree firmly.

    The collection vehicle (2) incorporates a tree detection system by means of which the stop is carried out once a tree has been detected. This detection process includes a phase of communication with the vibrating vehicle (1) to confirm the position in which it is located, so that the situation that each vehicle (1, 2) is facing a different tree cannot occur. Although the process of detecting the accompanying vehicle 5 (1, 2) can be carried out by only one of the vehicles (1, 2), in the first embodiment with autonomous vehicles, it can be carried out by each of the two vehicles (1, 2), as a double check, so that each vehicle (1, 2) detects the passenger's position.
     10
    Once the collecting vehicle (2) is stopped, the second screen (4) makes an approach movement to the trunk of the tree to be collected, usually in the direction perpendicular to that of the vehicle advance (2). This extension of the second screen (4) is carried out by means known in the state of the art such as, for example, hydraulic cylinders or electronic mechanisms. fifteen

    The vibrating vehicle (1), stopped in front of a fruit tree and seized by the vibrating arm (6), detects when the collection vehicle (2) has stopped. In the same way, it also proceeds to send a signal to the collection vehicle (2) to confirm its presence in the same tree. twenty

    The communication between both vehicles (1, 2) to determine the position of the passenger can be carried out by means of electromagnetic waves, by exchanging GPS positioning, by means of light signals or by any other method known in the state of the art. A preferred option is to use visual markers installed at specific points of both vehicles (1, 2). To ensure the facing of the vehicles (1, 2), a properly aligned camera is used to detect the relative position of the other vehicle (1, 2). The camera focuses on the perpendicular direction of travel to capture the image of the characteristic visual marker placed in a specific position of the other vehicle (1, 2). 30

    Once the extension maneuver of the second screen (4) is finished, the collecting vehicle (2) sends a warning signal to the vibrating vehicle (1), which issues the order to extend the first screen (3) for the collection of the Fruit that is going to be knocked down. This
    The first screen (3) is subsequently extended to the positioning of the second screen (4) because this order is considered simpler, because the first screen (3) must be overlapping it, so that the downed fruit does not fall outside the screens (3. 4). In any case, as shown in Figure 1, the arm that moves the first screen (3) and the vibrating arm (6) can be joined together, so that the movement is supportive. In this case, the first screen (3) would be displayed before the second screen (4), without influencing the order.

    The first screen (3) extends with an inclination directed towards the second screen (4), that is, towards the area on the other side of the tree. On the other hand, the second screen (4) also has an inclination, directed towards the end closest to the tree. This end of the second screen (4) ends in a collection channel (7) that can incorporate a conveyor belt or be formed by it, so that the fruit dropped on the screens (3, 4) is transferred to a particular area of the second screen (4) where a second conveyor belt is located which, located inside the collecting vehicle (2), is responsible for transporting the harvested fruits to a cleaning zone. As shown in Figure 1, it can be seen that both screens (3, 4) form a "V" configuration. The first screen (3) does not have to be directed to the collection channel (7), but only overlaps the second screen (4), that being the limit position, so that, due to gravity, the fruit knocked down go on its own to the collection channel (7). twenty

    In this way, the process of coordinating the vibrating vehicle (1) with the collecting vehicle (2) includes the following phases:
    1. Indication that the vibrating arm (6) is attached to the tree and ready to vibrate. 25
    2. Collection vehicle indication (2) positioned.
    3. Second screen display (4) displayed.
    4. First screen indication (3) displayed.
    5. Vibration indication finished.
    6. Indication of collection completed and sent to the cleaning area. 30
    7. Indication of vibrating vehicle (1) moving to locate the next tree.
    8. Collection vehicle indication (2) moving to locate the next tree.

    The operation of the vibrating arm (6) is carried out for a predetermined time. This time depends on the time in which the collection is carried out, which will be a function of the degree of maturity in which the fruits are found. In this way, the more mature fruits will need less time to vibrate to be knocked down.
     5
    Once the vibration is finished, in addition to the vibrating arm (6), the first screen (3) is collected and the vibrating vehicle (1) continues the march towards the next tree in the row. In the same way, the second screen (4) is also collected and the collection vehicle (2) continues the march towards the next tree, repeating the process in the same way described. 10

    The exchange of signals between the vibrating vehicle (1) and the collecting vehicle (2) allows to coordinate the operation of both vehicles (1, 2). It should be noted that the signals can originate in the autonomous system or can be generated manually, in the event that the system incorporates an operator. fifteen

    Thus, the end of vibration indication is transmitted from the vibrating vehicle (1) to the collection vehicle (2) once it has been carried out. If it is the embodiment with operator, the signal is received in the collection vehicle (2), which can be activated by activating a light, sound or a combination of both, so that the operator is informed. In the case of the embodiment with autonomous vehicle, the warning may not be made sensory, but only by activating the next phase. In either case, once information about the end of vibration has been sent, the collection vehicle (2) detects that it can terminate the collection phase in that tree, picking up the second screen (4) and continue 25 towards The next tree in the row.

    Figures 1 and 2 represent the system of the invention where a vibrating vehicle (1) and a collecting vehicle (2) appear, each on one side of the tree to be collected. You can see in these figures how the two screens (3, 4) cover the entire shadow area of the tree to be collected. It can also be seen that the collection vehicle (2) has been represented in a very basic way, because the representation of a collection vehicle (2) appears in more detail in Figures 3 to 6.

    Figure 1 shows the vibrating arm (6) attached to the arm of the first screen (3), although each of the arms could be independent and connected to the vibrating vehicle (1).

    Figures 3 to 6 represent a collection vehicle (2) without operator, as one of the possible embodiments. 5

    A fundamental factor in obtaining optimal harvesting is that it must be ensured that the two screens overlap (3, 4), since, otherwise, the downed fruit would fall to the ground. This is important in situations in which the terrain is inclined, either by the terrain's own orography, or by work done on the terrain expressly with some intention, such as the use of ridges to avoid problems of soil flooding. wet

    For this, the collecting vehicle (2) incorporates a leveling system that provides the orientation of the vehicle in order to position the second screen (4), so that 15 is always positioned perpendicularly to the line of the force of gravity. Keep in mind that the second screen (4) has a necessary inclination so that the fruits fallen on it move by themselves to the collection channel (7), so it is actually the collection channel (7) , as the end of the second screen (4), which is positioned. Although it may also be considered necessary, normally the vibrating vehicle (1) 20 does not incorporate any leveling system, since the only function that the first screen (3) must fulfill is that its end is overlapping the second screen ( 4) and this situation will always be met, since the second screen (4) is located at ground level or very close to it.
     25
    The leveling mechanism is based on the definition of the plane that forms the terrain through three points located in the vehicle (1, 2). Information on this plane is analyzed in the PLC control logic unit. In the case of the collection vehicle (2), in order to find the position perpendicular to the gravity line, as mentioned, the control system acts on the vehicle suspension system itself (2). 30

    The suspension system of the collection vehicle (2) is formed by four hydraulic cylinders installed in proximity to each of the wheels of the collection vehicle. The two cylinders of the rear wheels are independent, and are fed by paths
    solenoid valves The two cylinders of the front wheels operate in parallel, powered by a single solenoid valve. In this way, the lift triangle that ensures the contact of the four wheels with the ground in any type of terrain and the definition of the inclination of the vehicle (2) with respect to the vertical is produced. 5

    The leveling system comprises two inclinometers, one lateral and one longitudinal, and four encoders, associated with the stroke of each of the hydraulic cylinders.

    In the manual embodiment, the operator can cause a lateral inclination of the collecting vehicle (2), or a level circulation on terraced slopes, by feeding the rear axle cylinders differently. It can also cause a longitudinal inclination of the collection vehicle (2), or a level circulation in ramp terrain, by feeding differently the cylinders of the front axle in relation to those of the rear. In this way, by acting on the different cylinders, the vehicle 15 (2) can be leveled laterally or longitudinally.

    In the automatic embodiment, the longitudinal inclinometer records the possible inclinations of the chassis, ordering the activation of the front or rear axle cylinders in the direction of compensating for the difference with the horizontal. When leveling is detected, the acquired position is retained. If an opposite slope is detected, the maneuver must be reversed, so that the cylinders that had been raised previously descend. The transverse inclinometer records the possible lateral inclinations of the chassis, ordering the activation of the cylinders on either side of the rear axle in order to compensate for the difference with the horizontal. When leveling is detected, the supply of the active solenoid valve is interrupted, keeping the acquired position. If an opposite slope is detected, the maneuver must be reversed, so that the cylinders that had been raised previously descend.

    In the event that the vibrating vehicle (1) also incorporates a leveling system, the control system would act on the suspension system of the vibrating vehicle (1) in the same manner as described for the collecting vehicle (2) .

    The collection vehicle (2) also incorporates a second conveyor belt with the mission of transporting the downed fruits from the collection channel (7) to the cleaning area, where a destemmer is located, which proceeds to eliminate any additional waste to the fruit, such as remains of branches, leaves or the like, a blowing system, responsible for removing all this waste from the cleaning area and a lower area, where the fruits fall 5 clean to be transferred, by a third conveyor belt, to the container (5 ). The destemmer is a machine known in the state of the art, as well as the blowing system, which is formed by at least one fan that blows air over the fruits since they fall from the conveyor belt in the cleaning zone until they have been destemmed The collection vehicle (2) incorporates means responsible for weighing the container (5) where the fruit is deposited, connected to the control unit, so that, upon reaching an initially programmed value, a signal is emitted that prevents The collection vehicle (2) continues the march towards the next tree and the container (5) must be replaced. In the case of an operator, the replacement of the container (5) is carried out without the need for more control. In the realization with autonomous vehicle, it would be convenient to have an automated container exchange system that could involve excessive investment expenses. In this way, a container (5) with a size capable of housing the production of the entire row of trees to be collected can be incorporated.

    The change of container (5) implies a control of the traceability of the system consisting of the incorporation into a database with the information of the substituted container (5) and of the trees that it has collected, so that the origin is totally related of the fruits collected with the location.

    In the case of the operator operation, the collection vehicle (2) can be towed by a tractor instead of having independent mobility. In this case, it is attached to the tractor by means of an articulated lance that allows, despite the fact that the tractor and the collection vehicle (2) move in the same direction, there is a misalignment between them, so that the A tractor can move through the middle of the street between two rows of trees and the collection vehicle (2) 30 can be more attached to the row of trees it is collecting.

    Finally, the collection vehicle (2) also incorporates an IR obstacle detector that provides information to the vehicle (1, 2) in case of any obstacle being found
    Unexpected in his career. This obstacle detector can be the same that is used to detect the tree, and is connected to the control unit, so that the collection vehicle (2) acts according to the information received, being able to stop if an obstacle is detected or unexpected element in its trajectory. The vibrating vehicle (1) can also incorporate an obstacle detector. 5

    In this way, the PLC control logic unit carries out the control of the following elements:
    - Detection of a tree in the row.
    - Detection of vibrating vehicle stopped with the vibrating arm positioned in a tree. 10
    - Detection of the second screen (4) extended.
    - Detection of each of the vehicles (1, 2) by the passenger, so that it is confirmed that the tree detected to be collected is the same for both vehicles (1, 2).
    - Detection of the first screen (4) extended. fifteen
    - Detection of start and end of vibration.
    - Detection of the position of the collection container (5).
    - Detection of the weight of the container (5), to determine if it is necessary to be replaced.
    - Detection of the leveling of the vehicle (1, 2) through the leveling system.
    - Obstacle detection in the trajectory of the collection vehicle (2). twenty
    - Vibrating arm detection (6) removed.
    - First screen detection (3) removed.
    - Second screen detection (4) removed.

    In the embodiment with operator manipulation, the collection vehicle (2) 25 incorporates a control panel with actuators and light and acoustic signaling to warn of the main control maneuvers. The main elements are the following:
    - Drive confirmation key of the vehicle control system. Without this key, the control system will not activate any of its programmed functions. 30
    - Start button of the control system. This button ensures that after an emergency stop, none of the vehicle's mobile operating elements are started.
    - Joystick control multiple drives.
    - Automatic start button of the fruit picker system.
    - Automatic start button for vehicle approach to the tree.
    - Automatic gear button for approaching the screen to the tree.
    - Button for positioning the container (5) for collection. This keypad has two buttons, one to place and another to remove the container (5) of 5 fruits.
    - Emergency stop button, this button will interrupt the supply of voltage to the system elements. The vehicle (2) does not stop completely, but the system control elements.
    - Closed circuit camera for tree location. A closed circuit chamber 10 placed in the structure of the collection vehicle (2) alerts the operator to stop.

    The way in which the comprehensive collection system described carries out the collection procedure is as indicated below. fifteen

    As a phase prior to the process of the invention, the vibrating vehicle (1) and the collecting vehicle (2) are positioned on either side of the row of trees to be collected. The two vehicles incorporate a mapping of the land that includes the position of the trees to be collected. The collection vehicle incorporates the collection container (5), which can be a container, a sack or a trailer.

    1. Start and start the movement of the vibrating vehicle (1).
    2. Start and start the movement of the collection vehicle (2).
    3. Stop the vehicle (1, 2) if, at any time while in motion, the corresponding vehicle obstacle detector (1, 2) detects a foreign element.
    4. Stop the vibrating vehicle (1) when detecting a tree
    5. Stop the collection vehicle (2) when detecting a tree.
    6. Detect the vibrating vehicle (1) that the collecting vehicle (2) is stopped and is positioned in the same tree. 30
    7. Detect the collection vehicle (2) that the vibrating vehicle (1) is stopped and is positioned in the same tree.
    8. Extend the vibrating arm (6) and grab the detected tree.
    9. Extend the first screen (3).
    10. Activate the leveling system of the collection vehicle (2).
    11. Extend the second screen (4).
    12. Activate the conveyor belts and the elements of the cleaning area of the collection vehicle (2).
    13. Start vibrating the tree. 5
    14. Maintain the duration and intensity of the vibration according to the preset parameters.
    15. Stop vibrating the tree.
    16. Release the tree, pick up the vibrating arm (6) and the first screen (3).
    17. Pick up the second screen (4).
    18. If it is detected that the weight of the container (5) has exceeded a predetermined value, 10 stop the conveyor belts, leave the container (5) on the ground and place a new container (5) in the collection vehicle (2), identifying in a database the container (5) replaced with the collected trees.
    19. If the tree detected was the last in the row, stop the vibrating vehicle (1) and the collecting vehicle (2). fifteen
    20. Return to phase 1.

    It should be noted that the present invention should not be limited to the embodiment described herein. Other configurations can be made by those skilled in the art in view of the present description. Accordingly, the scope of the invention 20 is defined by the following claims.

    权利要求:
    Claims (11)
    [1]
    1. Integral fruit collection system comprising a vibrating vehicle (1), comprising a vibrating arm (6) and a first screen (3) with an opening for the passage of the trunk of the tree to be collected, and a collecting vehicle ( 2), which comprises a second screen (4) that incorporates a collection channel (7) at one of its ends, so that, when joining the screens (3, 4) for the collection of the fruit of the tree, they form a “V” configuration, the system being characterized by:
    - the vibrating vehicle (1) comprises:
    - means of storing a terrain mapping,
    - a detector for the identification of trees, and 10
    - elements for coordination with the collection vehicle (2) including a detector of the position of the collection vehicle (2),
    - the collection vehicle (2) comprises:
    - means for storing land mapping,
    - a tree identification detector, 15
    - a vibrating vehicle position detector (1),
    - a logical control unit,
    - a leveling system comprising two inclinometers to control the transverse level and the longitudinal level of the vehicle (2) respectively,
    - a cleaning zone, and 20
    - a container (5) for the storage of the collected fruit,
    where:
    - the mapping of the land includes the position of some trees to be collected,
    - the logical control unit is configured to manage communication continuously between the vibrating vehicle (1) and the collecting vehicle (2), 25
    - the leveling system is configured to maintain the orientation of the second screen (4), acting on the suspension system of the collection vehicle (2),
    - the cleaning zone comprises a blowing system and a destemmer for cleaning the fruit collected by the screens (3, 4),
    - the container (5) receives the fruit collected from the clean cleaning area of 30 impurities.

    [2]
    2. Integral fruit collection system according to claim 1, characterized in that the detector for the identification of trees is also configured for the identification of obstacles.

    [3]
    3. Integral fruit collection system, according to claim 1 or 2, characterized in that the vibrating vehicle (1) also incorporates a leveling system with the same characteristics as that incorporated in the collection vehicle (2).

    [4]
    4. Integral fruit collection system according to any one of claims 1 to 3 2, characterized in that the accompanying vehicle detector (1, 2) comprises a means 10 to be selected between electromagnetic waves, information exchange GPS positioning, light signals and sets of camcorders with visual markers.

    [5]
    5. Integral fruit collection system according to any one of claims 1 to 4, characterized in that it comprises a control unit for the management of the vehicles (1, 2) 15 located in a place to be selected from the vibrating vehicle (1), the collection vehicle (2) and a remote area.

    [6]
    6. Integral fruit collection system according to any one of claims 1 to 5, characterized in that the collection vehicle (2) comprises a weighing system 20 configured to emit a signal if the container (5) has reached a predetermined level.

    [7]
    7. Integral fruit collection system, according to claim 6, characterized in that the collection vehicle (2) is managed by an operator responsible for the advancement and detention functions and the traceability control of the collection process, which includes 25 replacing the full container (5) and sending information to the control unit about the replaced container (5) and the collected trees.

    [8]
    8. Integral fruit collection system according to claim 7, characterized in that the collection vehicle (2) is towed by a tractor using a lance. 30

    [9]
    9. Integral fruit collection system according to claim 8, characterized in that the lance is articulated to allow misalignment between the tractor and the collection vehicle (2).

    [10]
    10. Integral fruit collection system, according to any of the preceding claims, characterized in that the vibrating vehicle (1) is managed by an operator in charge of the advancement and stopping functions and of gripping the tree with the vibrating arm (6) . 5

    [11]
    11. Procedure of integral harvesting of fruits by means of the system described in the preceding claims, characterized in that, starting from a situation in which the vibrating vehicle (1) and the collecting vehicle (2) are positioned at the beginning of a row of trees and each side of the row, includes the following phases: 10
    a) Start and start the movement of the vibrating vehicle (1);
    b) Start and start the movement of the collection vehicle (2);
    c) Stop the vehicle (1, 2) if, at any time while in motion, the corresponding vehicle obstacle detector (1, 2) detects a foreign element 15;
    d) Stop the vibrating vehicle (1) when detecting a tree;
    e) Stop the collection vehicle (2) when detecting a tree;
    f) Detect by means of the vibrating vehicle (1) that the collection vehicle (2) is stopped and is positioned in the same tree; twenty
    g) Detect the collection vehicle (2) that the vibrating vehicle (1) is stopped and is positioned in the same tree;
    h) Extend the vibrating arm (6) and grab the detected tree;
    i) Extend the first screen (3);
    j) Activate the leveling system of the collection vehicle (2); 25
    k) Extend the second screen (4);
    l) Activate the conveyor belts and the elements of the cleaning area of the collection vehicle (2);
    m) Begin the vibration of the tree;
    n) Maintain the duration and intensity of the vibration according to the preset parameters; 30
    o) Stop the vibration of the tree;
    p) Release the tree, pick up the vibrating arm (6) and
    q) Collect the first screen (3);
    r) Pick up the second screen (4);
    s) If it is detected that the weight of the container (5) has exceeded a predetermined value, stop the conveyor belts, leave the container (5) on the ground and place a new container (5) in the collection vehicle (2), identifying in a database the container (5) replaced with the collected trees, so that the procedure includes the traceability of the collection; 5
    t) If the detected tree is not the last in the row, return to phase a).
    u) If the tree detected is the last in the row, stop the vibrating vehicle (1) and the collecting vehicle (2);
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    同族专利:
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    ES2613862B1|2018-03-08|
    引用文献:
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    US20040112035A1|2002-12-12|2004-06-17|Fmc Technologies, Inc.|Tree-fruit harvester including deflector with pivoting upper portion and associated methods|
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