ES2231009B1 - AUTOMATED PRUNING DEVICE. - Google Patents
AUTOMATED PRUNING DEVICE.Info
- Publication number
- ES2231009B1 ES2231009B1 ES200302425A ES200302425A ES2231009B1 ES 2231009 B1 ES2231009 B1 ES 2231009B1 ES 200302425 A ES200302425 A ES 200302425A ES 200302425 A ES200302425 A ES 200302425A ES 2231009 B1 ES2231009 B1 ES 2231009B1
- Authority
- ES
- Spain
- Prior art keywords
- pruning
- automated
- vineyards
- detection
- pruning device
- 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.)
- Expired - Fee Related
Links
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/02—Cultivation of hops or vines
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Botany (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
Dispositivo de poda automatizado, en especial para la poda de viñedos, conformado por un sistema de detección o visión artificial (1), que obtiene los parámetros relacionados con la posición y dirección de las cepas y las ramas, de los diámetros de las mismas, etc.; y un mecanismo de poda (2) de viñedos, relacionados ambos por un software apto para tal efecto, capaz de procesar los datos recogidos por el sistema de detección y determinar los puntos de corte o poda de cada cepa. El mecanismo de poda (2) está conformado por un brazo robotizado y articulado dotado en su extremo libre de unos elementos de corte (3) aptos para actuar sobre los puntos de corte de los mismos.Automated pruning device, especially for pruning vineyards, consisting of a system of detection or artificial vision (1), which obtains the parameters related to the position and direction of the strains and branches, of the diameters thereof, etc.; and a pruning mechanism (2) of vineyards, both related by software suitable for this purpose, capable of processing the data collected by the detection system and determining the cut-off or pruning points of each strain. The pruning mechanism (2) is made up of a robotic and articulated arm provided at its free end with cutting elements (3) suitable for acting on the cutting points thereof.
Description
Dispositivo de poda automatizado.Automated pruning device.
La presente solicitud de Patente de Invención tiene por objeto el registro de un dispositivo de poda perfeccionado que incorpora notables innovaciones y ventajas frente a las actuales sistemas empleados para un mismo fin.The present invention patent application Its purpose is to register a pruning device perfected that incorporates notable innovations and advantages over to the current systems used for the same purpose.
Más concretamente, el dispositivo de la presente invención, consiste en un dispositivo automatizado, integrado por un sistema de detección o visión artificial y un mecanismo robotizado de poda de viñedos, interrelacionados por un software apto para procesar y ordenar la poda de los mismos.More specifically, the device of the present invention, consists of an automated device, integrated by a detection or artificial vision system and a mechanism robotic pruning of vineyards, interrelated by software suitable to process and order the pruning of them.
La poda de la vid es la práctica de cultivo que consiste en la supresión o eliminación parcial de la parte aérea de la planta, conocida como sarmientos, de tal modo que año tras año, el número de yemas o brotes dejados asegure y garantice el potencial productivo de años posteriores.Vine pruning is the cultivation practice that it consists in the suppression or partial elimination of the aerial part of the plant, known as branches, so that year after year, the number of yolks or sprouts left secure and guarantee the productive potential of later years.
El desarrollo de nuevos brotes, es la acción decisiva para la continuidad de la producción y la garantía de la calidad de la vendimia.The development of new shoots, is the action decisive for the continuity of production and the guarantee of vintage quality.
Esta acción se realiza manualmente, ya que el proceso de visualización, selección o decisión, y corte de las ramas de la vid, es difícil de mecanizar. Tan solo se conocen herramientas o dispositivos que ayudan y/o facilitan parcialmente la poda al operario. Dichos dispositivos son prepodadoras, tijeras eléctricas, etc., que facilitan la poda del trabajador sin llegar nunca a sustituirlo.This action is performed manually, since the process of visualization, selection or decision, and cutting of the Vine branches, it is difficult to mechanize. They only know each other tools or devices that help and / or partially facilitate Pruning the operator. These devices are pre-pruners, scissors electrical, etc., that facilitate the pruning of the worker without arriving Never replace it.
Teniendo en cuenta la gran cantidad de mano de obra necesaria para llevar a cabo esta acción, el elevado coste de la misma, y el fatigoso esfuerzo que el operario debe realizar, se ha desarrollado el dispositivo de poda de la presente invención, el cual radica la problemática mencionada.Given the large amount of hand of necessary work to carry out this action, the high cost of the same, and the tiring effort that the operator must make, is has developed the pruning device of the present invention, the Which is the problem mentioned.
El dispositivo de poda automatizado objeto del presente registro soluciona la problemática mencionada con anterioridad, eliminando la presencia de mano de obra para la poda de los viñedos, asegurando y optimizando el resultado de la producción año tras año.The automated pruning device subject to This record solves the problem mentioned with previously, eliminating the presence of labor for pruning of the vineyards, ensuring and optimizing the result of the production year after year.
El dispositivo está integrado por un sistema de detección o visión artificial y un mecanismo de poda de viñedos, relacionados por un software apto para tal efecto.The device is integrated by a system of detection or artificial vision and a pruning mechanism of vineyards, related by software suitable for this purpose.
El sistema de detección o visión artificial, recoge una serie de datos relacionados con la posición y dirección tanto de las cepas como de las ramas de la misma, relación de los diámetros, etc., siendo estos datos procesados por el software mencionado, y transmitidos al mecanismo de poda para su ejecución.The detection or artificial vision system, collects a series of data related to the position and address both the strains and the branches thereof, relation of the diameters, etc., this data being processed by the software mentioned, and transmitted to the pruning mechanism for execution.
El mecanismo de poda, basado en robótica, está conformado, generalmente, por un brazo articulado, dotado en su extremo libre de unos elementos de corte aptos para tal fin. El posicionamiento de dicho brazo junto con sus movimientos están dirigidos y controlados por el software, el cual le indica o transmite los parámetros relacionados con los puntos de corte de las ramas.The pruning mechanism, based on robotics, is conformed, generally, by an articulated arm, endowed in its free end of cutting elements suitable for this purpose. He positioning of said arm along with its movements are directed and controlled by the software, which indicates or transmits the parameters related to the cut-off points of the branches.
El conjunto o dispositivo está integrado o acoplado a un tractor convencional, o a un elemento de transporte similar, que permita el avance del conjunto por las calles del viñedo, ya que estos, por lo general, están distribuidos sobre el terreno en línea, conformado calles debidamente separadas.The set or device is integrated or coupled to a conventional tractor, or a transport element similar, that allows the advance of the set through the streets of vineyard, since these are usually distributed over the land in line, conformed streets properly separated.
A su vez, cada cepa consta de un tronco, más o menos grueso, según la edad, perpendicular al suelo, y de brazos de los que nacen o surgen trozos de madera vieja o pulgares, formados por cortes de sucesivas podas.In turn, each strain consists of a trunk, more or less thick, according to age, perpendicular to the ground, and arms of those that are born or arise pieces of old wood or thumbs, formed by cuts of successive pruning.
Del último pulgar surgen sarmientos, generalmente de un color marrón claro, constituidos por nudos o puntos más necrosados y abultados, y entrenudos o zonas lisas más blanquecinas que separan los nudos.Branches arise from the last thumb, usually a light brown color, consisting of knots or more points necrosed and bulky, and internodes or whitish smooth areas that separate the knots.
Los puntos por donde el brazo robotizado debe cortar son según el sistema de poda utilizado en el viñedo, por ejemplo, el segundo nudo del sarmiento que nace más abajo que el pulgar, y el pulgar antiguo por encima del nacimiento del primer sarmiento.The points where the robotic arm should cut are according to the pruning system used in the vineyard, by example, the second node of the branch that is born lower than the thumb, and the old thumb above the birth of the first sarmiento.
Dichos puntos son detectados por el sistema de visualización, y debidamente procesados para su ejecución como orden sobre el brazo robot.These points are detected by the system of visualization, and duly processed for execution as Order on the robot arm.
Para completar la descripción que seguidamente se va a realizar y con objeto de ayudar a una mejor comprensión de sus características, se acompaña a la presente memoria descriptiva, de un juego de planos en cuyas figuras, de forma ilustrativa y no limitativa, se representan los detalles más significativos de la invención.To complete the description that follows will perform and in order to help a better understanding of their characteristics, is accompanied by the present specification, of a set of planes in whose figures, illustratively and not limiting, the most significant details of the invention.
La figura 1 corresponde a una vista esquemática y en perfil del dispositivo de poda automatizado de la presente invención.Figure 1 corresponds to a schematic view and in profile of the automated pruning device of the present invention.
A la vista de las comentadas figuras y de acuerdo con la numeración adoptada, se puede observar en las mismas una realización preferente aunque no limitativa de la invención, la cual consiste en un dispositivo de poda automatizado constituido por un sistema de detección o visión artificial (1) y un mecanismo de poda (2) de viñedos, relacionados por un software (no representado) apto para tal efecto.In view of the commented figures and agree with the numbering adopted, you can see in them a preferred but not limited embodiment of the invention, the which consists of an automated pruning device constituted by an artificial vision or detection system (1) and a mechanism of pruning (2) of vineyards, related by a software (no represented) suitable for this purpose.
El sistema de detección o visión artificial, recoge una serie de datos relacionados con la posición y dirección tanto de la cepa como de las ramas de la misma, relación de los diámetros, etc., siendo estos datos procesados por el software, y transmitidos al mecanismo de poda para su ejecución.The detection or artificial vision system, collects a series of data related to the position and address both of the strain and its branches, relation of diameters, etc., this data being processed by the software, and transmitted to the pruning mechanism for execution.
El mecanismo de poda (2) consiste en un brazo articulado dotado en su extremo libre de unos elementos de corte (3) aptos para tal fin. El posicionamiento de dicho brazo junto con sus movimientos están dirigidos y controlados por el software, el cual le indica o transmite los parámetros relacionados con los puntos de corte de las ramas.The pruning mechanism (2) consists of an arm articulated equipped at its free end with cutting elements (3) fit for that purpose. The positioning of said arm together with their movements are directed and controlled by the software, the which indicates or transmits the parameters related to the cutting points of the branches.
Claims (4)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES200302425A ES2231009B1 (en) | 2003-10-17 | 2003-10-17 | AUTOMATED PRUNING DEVICE. |
| PCT/ES2004/000435 WO2005036950A1 (en) | 2003-10-17 | 2004-10-07 | Automated pruning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES200302425A ES2231009B1 (en) | 2003-10-17 | 2003-10-17 | AUTOMATED PRUNING DEVICE. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| ES2231009A1 ES2231009A1 (en) | 2005-05-01 |
| ES2231009B1 true ES2231009B1 (en) | 2006-07-16 |
Family
ID=34451644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| ES200302425A Expired - Fee Related ES2231009B1 (en) | 2003-10-17 | 2003-10-17 | AUTOMATED PRUNING DEVICE. |
Country Status (2)
| Country | Link |
|---|---|
| ES (1) | ES2231009B1 (en) |
| WO (1) | WO2005036950A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102657037A (en) * | 2012-04-13 | 2012-09-12 | 浙江工业大学 | Pruning robot system for grape vines |
| CN102696411B (en) * | 2012-04-13 | 2013-11-13 | 浙江工业大学 | Grape winter-pruning operation device based on machine vision |
| CN102613041B (en) * | 2012-04-13 | 2013-11-13 | 浙江工业大学 | Grape bagging robot system based on machine vision |
| FR2994057B1 (en) * | 2012-07-31 | 2015-04-03 | Tiam | VINE-SIZED ROBOT COMPRISING IMAGE CAPTURING MEANS USING LASER BEAM PROJECTION MEANS |
| CN108575370A (en) * | 2018-01-16 | 2018-09-28 | 刘肖俊 | A kind of high new intelligent gardens pruning machine people |
| ES2795500A1 (en) * | 2019-05-21 | 2020-11-23 | Lopez Felipe Beteta | AUTONOMOUS DEVICE FOR AUTOMATIC VINE PRUNING (Machine-translation by Google Translate, not legally binding) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2655512B1 (en) * | 1989-12-08 | 1992-03-13 | Eden Vert | AUTOMATIC MACHINE FOR PRUNING THE FACES OF TREES HAVING A PROVIDED "CURTAIN". |
| JPH1175544A (en) * | 1997-09-08 | 1999-03-23 | Imoto:Kk | Working car for tree pruning |
| ITMI981694A1 (en) * | 1998-07-22 | 2000-01-22 | Bacchini Sandro | AUTOMATED PRUNING EQUIPMENT FOR TREE PLANTS IN COLAR PARTS |
| FR2816166B1 (en) * | 2000-11-06 | 2003-01-03 | Maurice Dreux | ROBOTIC MACHINE FOR SIZING SHRUBS OR TREES SUCH AS FRUIT TREES |
-
2003
- 2003-10-17 ES ES200302425A patent/ES2231009B1/en not_active Expired - Fee Related
-
2004
- 2004-10-07 WO PCT/ES2004/000435 patent/WO2005036950A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| ES2231009A1 (en) | 2005-05-01 |
| WO2005036950A1 (en) | 2005-04-28 |
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