EP4307878A1 - Agencement de cueillette de baies et dispositif de cueillette de baies - Google Patents

Agencement de cueillette de baies et dispositif de cueillette de baies

Info

Publication number
EP4307878A1
EP4307878A1 EP22712012.8A EP22712012A EP4307878A1 EP 4307878 A1 EP4307878 A1 EP 4307878A1 EP 22712012 A EP22712012 A EP 22712012A EP 4307878 A1 EP4307878 A1 EP 4307878A1
Authority
EP
European Patent Office
Prior art keywords
picking
berry
berry picking
wheel
elements
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.)
Pending
Application number
EP22712012.8A
Other languages
German (de)
English (en)
Inventor
Vesa Erkkilä
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.)
490 Innovations Oy
Original Assignee
490 Innovations Oy
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 490 Innovations Oy filed Critical 490 Innovations Oy
Publication of EP4307878A1 publication Critical patent/EP4307878A1/fr
Pending 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
    • A01D46/24—Devices for picking apples or like fruit
    • A01D46/253—Portable motorised fruit pickers
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons

Definitions

  • the invention relates to a berry picking ar rangement of a berry picking device.
  • the invention relates also to a berry picking device.
  • Berry picking has inspired inventors at all ages. Different mechanics to simplify manual picking have been introduced already before 20:th century.
  • SE447952B proposes the use of lists mounted to a rolling belt to remove the berries from the bush es.
  • the method may be suitable for e.g., lingonberries having short twigs and rather strong berries, which are usually clustered thus forming a rather sizable units to be removed. But for wild blue-/bilberries this kind of structure will lead to damaged berries and limited picking efficiency.
  • SE456303B where rolling blades are used to remove the berries and lead them forward in the system.
  • An objective of the invention is to alleviate problems of the prior art.
  • a further aim of the invention is to intro- cute a berry picking arrangement of a berry picking device, and a berry picking device, that would suit to forest berry bushes of various sizes, be lightweight and simple, and would allow fast, efficient, and op tionally automated berry picking.
  • the berry picking arrangement of the berry picking device and/or the berry picking device should not damage the berries or bushes, require constant cleaning, or require very precise or complex picking movements and thus manual control.
  • the present invention provides a berry pick ing arrangement of a berry picking device, and a berry picking device which suits to picking berries from forest berry bushes of various sizes.
  • the device is lightweight and simple, and allow fast, efficient, and optionally automated berry picking.
  • the present invention provides a berry picking arrangement of a berry picking device, the berry pick- ing arrangement comprising berry picking elements ar ranged on a moving device comprising a surface movea- ble around an axis, wherein a first end of the berry picking elements are arranged on a moving device and a second end of the berry picking elements are arranged extending from the moving device, and further compris ing a drive device for rotating the moving device.
  • the present in vention provides a berry picking device, for picking berries from twigs of plants, the device comprising a frame, with a top wall, a first side wall, a second side wall, a back wall and a base and an inlet opening arranged on the frame between the first side wall and the second side wall on a first end of the device.
  • the base may comprise twig guiding elements, with slots arranged between each two adjacent twig guiding elements, ar ranged side-by-side on a lower part of the frame
  • the device may further comprise a berry picking arrange ment, comprising berry picking elements arranged on a moving device comprising a surface moveable around an axis above the twig guiding elements, wherein a first end of the berry picking elements are arranged on a moving device and a second end of the berry picking elements are arranged extending from the moving de vice, and comprising a drive device for rotating the moving device, wherein the berry picking device is configured to be moveable so that upper parts of twigs with berries are guided via the inlet opening into an inner space of the frame and to an operation area of the berry picking arrangement, and wherein the picking elements are configured to move the berries separated from the twigs to a storage space for berries.
  • the technical effect is that by a combination of the twig guide arranged at the lower part of the device and the berry picking arrangement, with above and/or below mentioned features, above the twig guide, a berry picking device with an efficient picking abil- ity for successfully picking berries from twigs with out damaging the berries is achieved.
  • the berry picking arrangement of a berry picking device is characterized by what is stated in the independent claim 1.
  • the berry picking device is characterized by what is stated in the independent claim 6.
  • inventive embodi ments are also disclosed in the specification and drawings of this patent application.
  • inventive content of the patent application may also be defined in other ways than defined in the following claims.
  • the inventive content may also be formed of several separate inventions, especially if the invention is examined in the light of expressed or implicit sub tasks or in view of obtained benefits or benefit groups. Some of the definitions contained in the fol lowing claims may then be unnecessary in view of the separate inventive ideas.
  • Features of the different embodiments of the invention may, within the scope of the basic inventive idea, be applied to other embodi ments.
  • the moving device may be a shaft or a cylinder.
  • the moving device may be a movable endless belt.
  • a simple and efficient moving device for the picking arrangement is provided.
  • a larger operation range for the picking ele ments may be reached.
  • the picking ele ments may be arranged on a shaft or cylinder so that a gap is formed between adjacent side-by side arranged picking elements.
  • the gaps may be large enough for the twigs to move through the gap, but berries released from the twigs may not fit in the gap. An efficient separation of berries released from the bushes or twigs may be achieved.
  • the picking ele ments may be arranged on a circumference of a shaft or cylinder at a distance from each other so that a com partment may be arranged between each consecutive rows of the picking elements.
  • the distance may be arranged such that suitable speed to the picking operation may be achieved.
  • the compartment size may be arranged ac cording to types of berries and/or a quantity of the berries.
  • the compartment between the picking elements may be suitable for efficiently moving berries from picking to the storage space of the device.
  • the picking ele ment may be flexible at least near the second end of the picking element.
  • Flexible picking elements may be suitable for efficiently releasing berries from the twigs and simultaneously keep the berries undamaged. Furthermore, flexible picking elements may allow the twigs to pass with low friction and without any jams.
  • a protection el ement may be arranged between consecutive rows of picking elements.
  • a protection element such as a protection pole, between the consecutive rows of picking elements, twigs to touch stubs of the picking elements may be prevented.
  • the berry picking device may comprise a berry picking arrangement as mentioned in any one embodiment mentioned above or below alone or combined with another embodiment(s).
  • a twig shield may be arranged between the first side wall and the picking arrangement and/or the second side wall and the picking arrangement.
  • the twig shield may be arranged to prevent twigs to fall in a gap be tween the rotatable cylinder or parts arranged on the rotatable cylinder and the first side wall of the sec ond side wall of the frame.
  • the twigs could have physical characteristics that might easily got the twigs twist around the axis or around the rotatable cylinder, this may be effectively pre vented by the twig shields.
  • a guiding surface and/or a berry guide may be arranged in the device.
  • a first berry guide may be arranged to avoid potentially bouncing berries to move away from the storage space for berries and end up to the space where the picking arrangement and its picking elements are operating.
  • a second berry guide may be arranged on a top part of the inner space and near the front of the device. To stop these berries to fly out from the device, the second berry guide may be implemented. The second berry guide may be arranged to deflect a moving direction of the berries moving along the top wall of the device to downwards.
  • the second berry guide may be arranged to deflect the moving direction of the ber ries so that the berries may fall on the twig guiding members.
  • berry guide bars may be arranged extending to a part of a rotating circumference of the picking members.
  • a plurality of side-by-side arranged curved berry guide bars may have arranged to guide berries and to prevent berries from moving outside the device during the operation.
  • the berry guide may comprise a plurality of side by side arranged curved berry guide bars, and a slot arranged between adjacent side by side arranged berry guide bars.
  • the second end of the berry picking member may extend through the slot. This may allow the picking members to touch the twigs and berries outside the device and move them towards the inlet opening and then pull them inside the device.
  • a movable twig guiding wall may be arranged in a front part of the device. This may be arranged to keep berry bushes with the height of about 25 cm or more in favourable position in the device.
  • the twig guide wall may guide the twigs inside the picking device in favourable po sition. In this position the top parts of the twigs containing most of the berries touch the picking ele ments of the picking arrangement first. Most of the berries are released and removed from the twigs and forwarded to the storage space for berries before the lower parts of the bushes enter the device and make the conditions for optimal picking result less favour able.
  • a moving device may be arranged for moving the berry picking device.
  • the berry picking device is suitable for use with various types of moving devices. It is a compact size and shape so that it could be moved in forests in a sustainable way.
  • a first wheel and a second wheel are arranged to the berry picking device.
  • the first wheel and/or the second wheel may be provided with a drive device.
  • a first wheel may be arranged on a first side wall side of the device and at a back part of the device and the second wheel may be arranged on a second side wall side and at a front part of the device. This makes the arrangement more stable than if the wheels would have equal positions at both sides of the struc ture.
  • the first wheel and/or second wheel may comprise flex- ible spikes.
  • a contact to the ground may be improved re markably.
  • the wheel may be provided with means to limit gripping force. This may help to avoid the wheels with spikes not to get stuck when the berry bushes or other vegetation grip the wheel.
  • a moving means for moving wheels upwards and downwards in relation to the picking device may be arranged. This may enable the device to have both wheels on the ground in uneven environment. In an embodiment this may enable to produce necessary horizontal forces for the picking arrangement, for example at any suitable height.
  • a suspension may be arranged to the first wheel and/or the second wheel.
  • the suspension may comprise a support rod and a support sleeve arranged to a support point of the device.
  • the first wheel and/or the second wheel may be arranged rotatably around a wheel axis at a lower end of the support rod.
  • the support rod may be arranged movably on the support sleeve.
  • an unmanned aerial vehicle may be arranged to move the berry picking device.
  • UAV unmanned aerial vehicle
  • an UAV, drone etc for moving to device to the berry picking loca tion in the berry picking location and from the berry picking location an efficient moving solution is achieved.
  • intelligent positioning solutions and controlling possibilities of the UAVs it may be possible to achieve an extensive berry picking system comprising several berry picking devices and possible several UAVs for moving the berry picking devices.
  • a sensor may be arranged to the berry picking device.
  • the sen sor may be one of the following: a camera, a lidar, a multispectral camera, an ultrasound sensor, or a com bination of two or more of these.
  • the device is configured to be controlled at least partly with information or signal of the sensor.
  • the device may be configured to be moved during a berry picking operation at first a distance forwards and then a shorter distance back wards, and again a distance forwards and then a short er distance backwards, and by continuing this as need ed. This may be repeated as long as needed or accord- ing to the requirements. This may be efficient way of picking berries thoroughly from the bushes or twigs.
  • Figure 1 is a schematic representation of an embodiment of a berry picking device
  • Figure 2 is a schematic representation a lon gitudinal cross section along line I-I of Figure 1 of an embodiment of a berry picking device
  • Figure 3 is a schematic representation of a detail of a front of an embodiment of a berry picking device
  • Figure 4 is a schematic representation of an embodiment of a berry picking device
  • Figure 5 is a schematic representation of a detail of a separation arrangement of an embodiment of a berry picking device
  • Figure 6 is a schematic representation of an embodiment of a berry picking device
  • Figure 7 is a schematic representation of an embodiment of a berry picking device
  • Figure 8 is a schematic representation of a detail of wheel with one side plate removed of an em bodiment of a berry picking device
  • Figure 9 is a schematic representation of an embodiment of a berry picking device with moving de vices.
  • the berry picking device may be intended for picking berries B from twigs T of plants.
  • the berry picking device 1 may comprise a frame 2.
  • the frame may comprise a top wall 4, a first side wall 5, a second side wall 6, a back wall 7, a base 8 and a front 9 defining an inner space 10 of the frame.
  • the first side wall 5 may be arranged to extend from the top wall 4 towards the base 8 of the frame.
  • the second side wall 6 may be ar ranged to extend towards the base 8 of the frame, and in a direction perpendicular to a plane of the second side wall at a distance from the first side wall 5.
  • an opening 3 may be arranged from outside of the frame to the inner space 10 of the frame 2.
  • twig guiding elements 12 may be arranged on a lower part of the device.
  • the twig guiding elements 12 may be arranged in the base 8 of the frame. In an embodiment the twig guiding elements 12 may comprise a plurality of elongate members and slots 14 between the elongate members. In an embodiment the twig guiding elements 12 may be arranged between a first plane tangential to the first side wall 5 and a second plane tangential to the second side wall 6. In an embodiment the twig guiding element 12 may be ar ranged to provide a base 8 or a part of the base of the frame. In an embodiment the twig guiding elements 12 may extend from the inner space 10 to the front 9 of the frame. In an embodiment a front end 13 of the of the twig guiding elements 12 may extend through the opening 3 of the frame 2.
  • the twig guiding elements 12 may be extend through a plane ex tending from a front edge of the first side wall 5 to a front edge of the second side wall 6.
  • the slots 14 may extend a distance from the front end 13 of the twig guiding elements 12 the towards the back end of the frame.
  • Adjacent twig guiding elements 12 may be arranged at a distance from each other in a lateral cross direction of the guiding elements 12. Between two adjacent twig guiding elements may be arranged a slot.
  • the twig guiding elements 12 may be teeth.
  • the twig guiding ele ments may be arranged in a substantially horizontal direction.
  • a berry picking arrangement 17, i.e. a separating arrangement for separating berries B from twigs T, may be arranged in the inner space 10 of the berry picking device 1.
  • the berry picking arrangement 17 may comprise a plurality of picking elements 18 ar ranged on a moving device 19 of the picking elements.
  • a first end of the picking element 18 may be arranged on the moving device 19 and a second end, i.e. a dis tal end, of the picking element may be arranged ex tending a distance from the moving device 19.
  • the moving device may have a moving surface 23.
  • the moving device 19 may be a ro tatable shaft with a rotating axis 26. In an embodi ment the moving device 19 may be a cylinder.
  • the movable surface 23 is a cylinder surface.
  • the picking elements may be arranged divided on the moving surface.
  • the picking elements may be arranged on circumference of the cylinder surface.
  • the picking el ements may be arranged evenly divided on a circumfer ence in a plurality of consecutive rows.
  • compartments 22 may be arranged between the con secutive picking elements 18 in a moving direction of the picking elements.
  • a drive device 27 may be arranged to move the moving device 19 of the picking elements 18.
  • the drive device 27 may be arranged to rotate the cylinder about the rotating axis 26.
  • the picking elements 18 may be arranged to move on a moving path wherein the sec ond ends 21 of the picking elements may touch or al most touch the base 8 or the twig guiding element 12.
  • a first end 20 of the picking element 18 may be arranged on the moving surface 23.
  • the first end of the picking elements may be rigid.
  • the picking element 18 may be flexible or a portion of the picking element is flexi ble.
  • the flexibility of the picking element 18 increases from the first end 20 towards the second end 21 of the picking element 18.In an embodi ment the flexibility of the picking element 18 in creases from the second end 21 towards the first end 20 of the picking element 18.
  • the picking arrangement 17 may comprise a rake structure.
  • the berry picking arrange ment may combine the principle of rolling blades with a rake type of means for removing the berries.
  • the picking elements 18 i.e. teeth of the rake-like struc ture may be arranged on the movable surface 23 of a rotatable cylinder or other movable surface.
  • an endless belt structure may be used instead of a circular shape for the movable surface of the moving device for picking elements. In an embodiment this may be for lengthen the picking distance and for minimizing a number of non-picked berries.
  • the picking elements 18 may be made of a flexible material. This may help in avoiding berries to damage during the picking opera tion.
  • a removal of the berries from the bushes may base mainly on a force or a momentum of the picking elements 18.
  • the removal of berries may depend on a speed and rigidity of the picking elements. These physical quantities may be op timised to gain optimal picking results. Accordingly, the distances between the picking elements may be op timised. The optimisation may depend, for example, on types of berries to be picked, characteristics of plants or twigs carrying berries.
  • the twigs T of forest bil berry bushes can exceed half meters. They may twist around any rolling structures. Even though the picking elements may be made of flexible material, their mounting point to the core structure in the first end 20, stub, may be rigid. In an embodiment this may lead to jams and ripping of the bushes.
  • a protecting element 24 may be arranged on the picking arrangement 17 between the consecutive picking elements 18.
  • the protecting element may be for example a pole.
  • the protecting ele ment 24 may be arranged to the compartment 22 between the picking element rows.
  • the pro tecting element may be arranged between consecutive rows of side-by side arranged picking elements.
  • the protecting element 24 may be of cylin drical shape.
  • a cross-section of the protection element may be round or ellipse or half circular or any other suitable form.
  • the protecting element may be a bar or a pipe, or a piece of a spherical shape.
  • the pro tecting element may be of low friction material.
  • the protection elements 24 may prevent the twigs T to touch the stubs of the picking elements.
  • the picking elements may be flexible and thus may allow the twigs to pass with low friction and without any jams.
  • the picking arrangement 17 may be arranged to operate in the inner space 10 of the frame 2 of the picking device 1.
  • a rotatable picking arrangement may be a rake structure arranged inside the frame of the picking device.
  • a slot or a gap may be arranged between adjacent picking elements 18.
  • the picking arrangement may com prise a rake cylinder structure or a paddle feeder type structure.
  • the picking elements 18 may form teeth of the rake cylinder and/or paddles of the paddle feeder.
  • An embodiment of the berry picking device may operate as follows.
  • the device 1 may be moved in main moving directions as shown with double headed arrow C.
  • the device In a berry picking state the device may be moved in arrow C directions.
  • a forward direction F the ar row C direction F
  • the device In a forward direction F (the ar row C direction F) the device may be moved the first end 13 of the twig guiding members 12 and the front 9 end of the frame end in front.
  • a moving direction backwards i.e. reverse direction
  • the device may be moved in the arrow C direction R.
  • the first end 13 of the twig guiding members i.e. front spikes, penetrate to the bushes so that twigs T of the nearest bushes may be placed in slots 14 between the adjacent twig guiding members 13.
  • the device may be moved so that the twig guiding mem bers can be placed between the ground and upper end of the twigs so that berries carrying part of the twigs are placed above the twig guiding members in the inte rior space 10.
  • the twig guiding mem bers 12, i.e. the spikes may be made of relatively thin.
  • the picking members 18 are made from rela tively thin material they may be arranged to minimize any resisting forces from the berry bushes and to pre- vent the twigs T to be pushed away from the device 1 and below it.
  • the movable picking elements 18, i.e. teeth may take hold on twigs of the bushes and move them further inside the device. Depending on their length, the twigs T may be either just tightened or they twist around the rotating cylinder or other moving surface 19 used to mount and move the picking elements i.e. teeth. As the picking elements 18 or the teeth may constantly move and hit twigs and possible berries, the berries B may be picked, i.e. separated from the twigs T. The picked and separated berries may be moved to the storage space 11 for berries along a guiding surface 28 by the picking elements. In an embodiment the guiding surface 28 may be a spherically shaped strip. The bottom of the storage space 11 for berries may comprise openings or slots 16 for example to allow leaves and different small particles from the forest to fall out from the storage space 11 and/or from the device 1.
  • a first berry guide 29 may be arranged on a top portion of the storage space 11. This may be arranged to avoid potentially bouncing berries to move away from the storage space 11 for berries and end up to the space where the picking ar rangement and its picking elements are operating. De spite of the first berry guide 29, some berries may be flown forwards and are getting speed from the picking elements 18.
  • a second berry guide 30 may be arranged on a top part of the inner space 11 and near the front of the device. To stop these ber ries to fly out from the device, the second berry guide 30 may be implemented. The second berry guide may be arranged to deflect a moving direction of the berries moving along the top wall 4 of the device to downwards.
  • the second berry guide 30 may be arranged to deflect the moving direction of the berries so that the berries may fall on the twig guiding members 12 i.e. on the front spikes. From the twig guiding mem bers the berries may be moved by the picking elements
  • the device may comprise berry guide bars 32 extending to a part of a rotating circumference of the picking members 18.
  • a plurality of side-by-side arranged curved berry guide bars 32 may have arranged to guide berries and to prevent berries from moving outside the device during the operation.
  • a slot 33 may be arranged between adjacent side-by-side ar ranged berry guide bars 32.
  • the sec ond end 21 of the picking member 18 may extend through the slot 33. This allows the picking members 18 to touch the twigs and berries outside the device and move them towards the inlet opening 17 and then pull them inside the device.
  • a first end of the berry guide bar 32 may extend from upper por tion of the device towards the lower part of the de vice so that the input opening 3 may be formed between the base 8 and the first ends 34 of the berry guide bars 32.
  • a twig shield 25 may be ar ranged.
  • the twig shield 25 may be arranged to prevent twigs to fall in a gap between the rotatable cylinder or parts arranged on the rotatable cylinder and the first side wall of the second side wall of the frame
  • the twig shield may be arranged on both sides of the space 11. In an embodiment the twig shield may be arranged to cover gaps between protect ing poles 24 and the first side wall 5 and/or the sec ond side wall 6 of the device and thus prevent the twigs to fall into the gaps.
  • the movement of the cylinder may be motorized by a drive device.
  • the drive device may be integrated to the cylinder or placed at the side of the picking device. Different options for placing the drive device and for transmitting torque from the drive device to the moving device are possible but are not described here in detail.
  • the picking device may be operated at the following manner.
  • the picking device may be first moved forwards and then a shorter distance backwards. During the movement backwards the berries may move through the twig guiding elements and are then reached by the picking elements 18 arranged on a circumference on the cylinder or the movable belt. It may be chal lenging to get optimal picking results with high bush es.
  • the top parts of the bushes or twigs T carrying most of the berries B may during the forward movement raise well above the picking device.
  • a twig guide wall 35 may be arranged to the picking device.
  • the twig guide wall 35 may be arranged on the front end 19 of the frame 2 of the device 1.
  • the twig guide wall 35 may be arranged mounted horizontally movable to the frame 2 of the of the picking device. In an embodiment the twig guide wall may be arranged to move horizontally forwards and backwards.
  • the twig guide wall 35 may be equipped with two or more legs 36. In an embodiment the two or more legs may be ar ranged to allow the twig guide wall 35 to have a con tact with the ground or the low and rigid parts of the berry bushes or twigs. When the picking device 2 is moved forwards, the twig guide wall 35 may open and start moving forwards only after it has reached its opening limit.
  • the twigs T may raise up when the twig guide members 12 i.e. front spikes, no longer push the twigs downwards.
  • the twig guide wall 35 may be arranged to limit a raising of the twigs T.
  • the twigs T cannot raise above the top of the guide wall 35.
  • the twig guide wall keeps its position and drives the twigs in side the picking device in favourable position. In this position the top parts of the twigs containing most of the berries touch the teeth of the rake first. Most of the berries are removed from the twigs and forwarded to the berry storage before the lower parts of the bushes enter the device and make the conditions for optimal picking result less favourable.
  • a moving arrangement may be provided for moving the berry picking device.
  • wheels may be arranged to move the device.
  • An example of a wheel-based moving arrangement is presented in figure 7.
  • a wheel or a plurality of wheels may be arranged for moving the device and/or for supporting the movement of the device.
  • two wheels 40, 41 may be arranged to the device.
  • a first wheel 40 may be arranged to a side of the first side wall 5 of the device.
  • the second wheel 44 may be arranged to a side of the second side wall 6 of the device.
  • the first wheel 40 and the second wheel 44 may be arranged at opposite sides of the picking device 1.
  • the first wheel 40 and/or the second wheel 44 may be pro vided with a drive device.
  • the drive device may be a motor.
  • each wheel 40, 44 may be provided with drive devices capable for ro tating the wheel in forward and reverse (backward) di rections.
  • the moving arrangement may enable movements of the berry picking device forward and backward as well as turns to right and left.
  • one of the wheels 40, 44 may be arranged at the front part of the device and the other of the wheels may be arranged at the back part of the device on the other side of the device.
  • the second wheel may be arranged on a front part of the device and the first wheel 40 may be ar ranged on the back part of the device.
  • the back part may be the part of the device that is at back side of a vertical plane arranged in a mid dle of the device in perpendicular to longitudinal ax is of the device.
  • the front side may be the part of the device that is at front side of the vertical plane arranged in a middle of the device. This makes the arrangement more stable than if the wheels would have equal positions at both sides of the structure.
  • the first wheel 40 axis 48 and the second wheel 44 (axis) may be arranged in a main moving direction (longitudinal direction) at a distance L from each other.
  • first wheel 40 and/or the second wheel 44 may have moving means for moving upwards and downwards in relation to the picking de vice. This may enable the device to have both wheels on the ground in uneven environment. In an embodiment this may enable to produce necessary horizontal forces for the picking arrangement, for example at any suita ble height.
  • the supporting or suspension of the wheels 40, 44 may be achieved various means.
  • the wheel is arranged rotatable to a lower part of a support rod 41.
  • the support rod is arranged to the frame at a support point 42.
  • the support point may comprise a sleeve 43 for the support rod 41.
  • the support rod may be arranged in the sleeve 43 so that the support rod is movable in its longitudinal direc- tion in the sleeve.
  • the suspension of the wheel may comprise necessary bearings or any suitable means for the suspension.
  • the suspension may comprise a spring and/or a damping device, for example for carrying part of the weight of the picking device by the wheels.
  • the moving arrangement for the berry picking device 1 may comprise an unmanned aerial vehicle (UAV) 70.
  • UAV unmanned aerial vehicle
  • a connecting point 61 may be arranged to a frame 2 of the berry picking device 1.
  • a lifting device may be arranged to the connection point 61.
  • the lifting device may be a lifting rod 62.
  • a lifting wire 63 or a cable may be arranged to the connecting point 63.
  • the lifting device may be a wire and/or the lifting rod or a combination thereof.
  • a lift ing wire 63 may be arranged to the lifting rod 62.
  • the lower part of the lifting device may be rigid.
  • an upper part of the lift ing device may be flexible.
  • the first end of the lifting element may be arranged to the con nection point 61 and the second end of the lifting el ement may be arranged to a connection point 71 of the UAV 70.
  • the suspension of the wheels may comprise pulley mechanisms, which may share the weight of the picking device between the wheels 40, 44 and the UAV 70. Part of the weight of the device may be usually also carried by berry bushes or other low vegetation.
  • the berry picking device In an embodiment in which the berry picking device is provided with the wheels, there may be a risk of not having good enough contact to the ground. The friction may be low and therefore the forces proucked by the wheels are not sufficient. Forests are mainly covered with moss.
  • spikes 47 may be arranged to the wheels. Then the contact to the ground may be im- proved remarkably. To avoid the wheels with spikes not to get stuck when the berry bushes or other vegetation grip the wheel, the wheel may be provided with means to limit a gripping force.
  • FIG 8 is presented a cross section of an embodiment of the wheel.
  • Flexible spikes 47 may be arranged on a ring 51 arranged between a side plates 49 of the wheel on the wheel axis 48 inside the wheel.
  • limiter buttons 50 may be mounted between side plates.
  • the limiter button 50 may be arranged ex tending from one of the side plates towards the other of the side plates.
  • the flexible spikes may bend under force and let branches, for example, stalled with a spike to be passed.
  • Side plates 49 can rotate i.e. turn around the cylinder like wheel axis 48. In an em bodiment this may allow sufficient bending of the spikes 47.
  • the gripping force may limit also an overall moving force from the wheel. In an embodiment a balance between these forces may be found for an optimal operation of the wheels and spikes. In embodiments of figures 7 and 8 examples of solutions for limitation of the gripping force are presented.
  • a sensor device 80 may be arranged to a berry picking device.
  • the sensor device may be one or several of the follow ing, but not limited to these: a camera, a lidar, a multispectral camera.
  • the picking de vice may be provided with a high-resolution camera. Information from the camera may be used to monitor the picking area in general, analyse the amount and the readiness of the berries and to notice any dangers like mushrooms, animals, humans, etc. The information from the camera may be analysed with artificial intel- ligence. To get more precise view on the environment, additional devices, like lidar and multispectral cam era may be used with basic camera.
  • the berry picking device may be provided with devices for positioning systems.
  • the UAV may have ca pabilities for using general positioning systems like GPS for basic navigation.
  • a forest is a challenging environment for satellite-based positioning.
  • general positioning methods with local and more precise meth ods, like local positioning beacons or methods based on the measurements of mutual distances between the elements of the system (UAVs, drones, berry picking devices, additional position references).
  • Both radio and acoustical waves can be used in the measurements for positioning. These methods are, as such, generally known and mostly commercially available.
  • Positioning devices can be installed to all parts of the arrange ment: UAV, picking devices, etc.
  • drive devic es such as electric motors with a risk of stalling may be equipped with a current sensor. Current measurement may allow the AI to estimate the torque the motors are producing, and to notice if the motors are not func tioning as expected and start necessary procedures to return to the normal state.
  • mechanical sensors like force sensors and gyro, may be arranged for various purposes, like measuring the lifting force and/or measuring the posture of the picking device.
  • the pick ing device may be arranged to produce sensor infor mation from its internal parts and forward it to the control unit. This information may be necessary to properly drive the picking process.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un agencement de cueillette de baies (17) comprenant des éléments de cueillette de baies (18) disposés sur un dispositif mobile (19) comprenant une surface (23) mobile autour d'un axe (26) au-dessus des éléments de guidage de petites branches (12). L'invention concerne également un dispositif de cueillette de baies (1) pour la cueillette de baies (B) sur des petites branches (T) de plantes, le dispositif comprenant un cadre (2) ayant une paroi supérieure (4), une première paroi latérale (5), une seconde paroi latérale (6), une paroi arrière (7) et une base (8), et une ouverture d'entrée (3) disposée sur le cadre entre la première paroi latérale et la seconde paroi latérale sur une première extrémité du dispositif. La base (8) comprend des éléments de guidage de petites branches (12), des fentes (13) étant disposées entre tous les éléments de guidage de petites branches adjacents (12), disposés côte à côte sur une partie inférieure du cadre. Le dispositif comprend en outre un agencement de cueillette de baies (17).
EP22712012.8A 2021-03-17 2022-03-11 Agencement de cueillette de baies et dispositif de cueillette de baies Pending EP4307878A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20215288A FI130188B (fi) 2021-03-17 2021-03-17 Marjanpoimintalaite
PCT/FI2022/050158 WO2022195162A1 (fr) 2021-03-17 2022-03-11 Agencement de cueillette de baies et dispositif de cueillette de baies

Publications (1)

Publication Number Publication Date
EP4307878A1 true EP4307878A1 (fr) 2024-01-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP22712012.8A Pending EP4307878A1 (fr) 2021-03-17 2022-03-11 Agencement de cueillette de baies et dispositif de cueillette de baies

Country Status (3)

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EP (1) EP4307878A1 (fr)
FI (1) FI130188B (fr)
WO (1) WO2022195162A1 (fr)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE447952B (sv) 1984-06-28 1987-01-12 Edvin Johannes Hansson Berplockningsapparat med roterande, endlos matta
SE456303B (sv) 1985-11-28 1988-09-26 Jarkko Nieminen Berplockare
US5375402A (en) * 1992-05-27 1994-12-27 Nashua Industrial Machine Corp. Cranberry harvesting method and apparatus
US5369944A (en) 1993-12-13 1994-12-06 Robichaud; Ora Blueberry harvester and method of harvesting blueberries
US6105352A (en) * 1998-07-24 2000-08-22 Benoit Tremblay Soudure Inc. Harvester for picking berries
ITFI20030172A1 (it) * 2003-06-17 2004-12-18 Maflex S R L Un'apparecchiatura per la raccolta di olive, bacche od altri frutti.
US6854255B1 (en) * 2003-09-05 2005-02-15 Zane Emerson Berry harvester
CA2627320A1 (fr) 2007-03-28 2008-09-28 Gerard Couture Systeme et methode de recolte de petits fruits a feuilles etroites

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FI20215288A1 (en) 2022-09-18
WO2022195162A1 (fr) 2022-09-22
FI130188B (fi) 2023-04-03

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