ES2940833A1 - EQUIPMENT AND PROCEDURE FOR TAKING SAMPLES, MEASUREMENTS AND RECORDS OF PHOTOGRAMMETRIC, PHYSICAL AND CHEMICAL PARAMETERS OF THE DEGREE OF MATURITY OF A FRUIT (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

The equipment and procedure for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of ripeness of a fruit of the present invention, comprises a tubular capture arm in connection with a sample analysis device, a support on which where a cargo drone is located and where a sample analysis device is secured, which in turn comprises a blocking system, a cutting system, an extraction system, a pumping system, a physical-sensor system chemicals and a filter cone system. So that, by means of an associated procedure, the equipment of the invention obtains all the parameters indicated above directly from the fruit located on the tree without harvesting. (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

EQUIPMENT AND PROCEDURE FOR SAMPLING, MEASUREMENTS AND

RECORDS OF PHOTOGRAMMETRIC, PHYSICAL AND CHEMICAL PARAMETERS

THE DEGREE OF MATURITY OF A FRUIT

OBJECT OF THE INVENTION

The present invention refers to equipment made up of an electromechanical sampling and measurement device located on a cargo drone, which allows the relevant information on the state of ripeness of a fruit to be recorded semi-automatically and successively. The device takes the samples of the fruits of the tree, orienting them with their peduncle towards the upper part and proceeding to their section by a southern plane. On the initial sample and on the sectioned sample, a series of photogrammetric records are made to accurately define the geometry of the peduncular tray and the ocular tray of the fruit, as well as performing chemical tests (PH, degree of acidity and degree of acidity). of sugar), and physical tests (temperature and hardness).

The invention is applicable in those sectors involved in the analysis and automatic sampling in fruit farms, photogrammetric control, instrumentation and chemical and environmental control systems. The application has been developed specifically for apple farms linked to the traditional Asturian cider production sector, but its scope of application extends to all types of quasi-spherical fruits with a consistency and morphology similar to that of an apple that do not have a stone. hard.

The ultimate goal is to establish a systematic and semi-automatic sampling tool that allows an individual analysis of the degree of ripeness of the fruits of each tree in a fruit farm. The system developed for this purpose facilitates the taking of samples at height in a fast and effective way, especially in those large farms, or that are developed in rough terrain that is not easily accessible using conventional agricultural machinery.

STATE OF THE ART

In the development of fruit farms, mechanization work has been introduced throughout the production process, from recording weather conditions, phytosanitary and pest control, soil quality, irrigation, fertilizer, fertilization of farms, as well as in the harvesting and subsequent processing of the fruits. Examples of specialized robots in this regard can be found at https://www.futurefarming.com. Within this scope, phytosanitary treatments in crops developed in the RHEA project (Pérez-Ruiz et al, 2015) at the University of Florence can be highlighted, where the use of sensors and specialized robotics are incorporated. By way of example, agricultural electromechanical devices such as Oktopus (Nobili Inc.) are developed with a tank and a centrifugal fan, which automate fumigation tasks.

In the work prior to harvesting, the sampling of fruits and the estimation of the optimal point of maturation constitute a basic element, which significantly conditions the viability of the farms. The introduction of unmanned aircraft systems or the improvement of mechanization has had a notable importance. Many of these tasks that were previously carried out manually can be automated, especially in large farms with difficult access (https://www.futurefarming.com/tech-in-focus/drone-harvesting-ves-you- dog/).

Drones are unmanned vehicles with stationary and omnidirectional flight capacity, they have been applied to sampling of tree masses, as well as in pesticide treatments. They have also been used as a method of harvesting agricultural production. In many cases, unmanned aircraft are used as cargo drones, on which different optical devices are arranged (photogrammetric cameras, multispectral sensors, infrared sensors, 3D scanners, Lidar, etc.). As an example, we can cite what is known in the sector as "Agroday drone", an innovative system using drones for agricultural uses, and which optimizes the entire fertilizer application process. Developed by Astrakhans University's Advanced Technologies in Electronics and Robotics Center. The device does not collect the fruit but intervenes directly on the trees and plants to facilitate their growth. Basically they make photographic records with natural light, with infrared, or multispectral of the outer surface of the fruits, but they do not collect samples or make cuts to the fruit to analyze its interior.

Regarding the degree of ripeness of the fruit, it is determined by the morphology of the fruit and its degree of growth. These properties of the fruit are defined from its surface characteristics (dimensions, shape, color and texture), as well as the morphology of its elements such as its peduncular tray, its ocular tray, the heart and the location of the seeds within the fruit. fruit. Another series of parameters such as the hardness of the pulp and the skin, the sugar content, the degree of acidity and the PH, are determining values to define the degree of maturation of the fruits. For this, there are very precise specifications within each type of fruit (for example, the parameters established by the Regional Agri-Food Research and Development Service of the Principality of Asturias, also known by the acronym SERIDA () (http://www.serida .org/pdfs/4071.pdf) In this work, the morphological characteristics of the fruits are clearly defined from the peduncular tray and the ocular tray, in the case of apples, and clearly defines the levels of PH, of acidity or sugar that each of the varieties of native apple trees of Asturias has.

Other bodies such as the Regulatory Council for the Asturias Cider Protected Designation of Origin (https://sidradeasturias.es/normativa-general/), clearly establishes the 71 apple varieties that can be considered suitable for making cider with Designation of Origin. To ensure that only these varieties are used, it establishes a meticulous control of the productive process, from the production of the selected apple with geographical identification, the phytosanitary treatments, the collection in the plantations, the elaboration, and the bottling in the wineries (https: //sidradeasturias.es/wpcontent/uploads/2020/07/pliego-dop-sidra-de-asturias.pdf).

This type of very clearly established specifications for the apple can be extended, with its specific characteristics, to other types of fruits: oranges, lemons, limes, plums, kiwis, figs, etc. such as those established by the Regulatory Council of the VALENCIAN CITRUS I.G.P. Protected Geographical Identification (IGP) (https://www.citricosvalencianos.com/).

Sampling and classification techniques not only use conventional images but also physical and chemical sensors (humidity, temperature, air quality, etc.). AirRobot GmbH & Co. KG (www.airrobot.com) has developed cargo drones with high-precision sensors. In any case, the analyzes are based on photogrammetric techniques with light color video sensors. daytime, black and white video sensors, high-resolution digital photos, or infrared thermal imaging cameras. They do not have specific devices to analyze sugars or hardness, since they have not incorporated designs that allow the fruit to be captured and analyzed in detail by sectioning it in the mechanical device attached to the drone.

The work developed by the Israeli company Tevel have patented and developed the Tevel Drone Fluit Picker system (https://www.dronesinsite.com/drone-news/teveldrone-fruit-pickers/). Its development is focused on the automatic collection of the final production. They develop different devices to capture the fruit, but at no time do they cut or section the fruit, nor do they perform chemical analyzes on it. In the patent ( Tevel Aerobotics Technologies Ltd 2018) he claims an autonomous unmanned vehicle for harvesting and selection (dilution) for harvesting. It implements a vertical bar attached to the drone, with a claw at its end that has a pressure sensor in its claws and also a camera at its end. For selection tasks, a circular saw can be attached to the end of the arm. In some applications the arm is articulated.

Another patent with a different name US2019/0166765 A1 (Tevel Aerobotics Technologies Ltd 2019) but practically the same content as (Tevel Aerobotics Technologies Ltd 2018). Tevel Aerobotics Technologies Ltd. 2018. Device, system and method for harvesting and diluting using aerial drones, for orchards, plantations and green houses, issued August 17, 2018.

The system has a photogrammetric device to identify the fruit on the tree, and although it is mounted on a drone, it is connected by a power cable to a robotic unit on the ground, where it deposits and quantifies the harvested fruit. For this reason, it is not a suitable system for sampling large extensions of plantations, where it is necessary to access areas with uneven terrain and difficult access.

Patent US20170094909A1 - Method and Apparatus for Harvesting Produce -Google Patents (no date). Available at: https://patents.google.com/patent/US20170094909A1/en (Accessed: 28 May 2021), it focuses more on the spatial characterization of sampling over the tree. It does not section or analyze in detail the state of maturation of the fruits.

Patent US4109314A - Automatic fruit analyzer - Google Patents (no date). Available at: https://patents.google.com/patent/US4109314A/en (Accessed: May 28, 2021), it is focused on designing a device to analyze the juice of the fruits, but it does not indicate how said exploitation is captured fruits.

Patent WO2018033922A1 develops a harvesting method - Device, system and method for harvesting and diluting using aerial drones, for orchards, plantations and green houses - Google Patents (no date). Available at: https://patents.google.com/patent/WO2018033922A1/en (Accessed: 28 May 2021). In this patent, more importance is given to the geolocation of a drone or several drones on the tree or inside a greenhouse to proceed with the sampling.

In patent US 10555460 B2 (Amrita Vishwa Vidyapeetham et. al. 2016) a drone is equipped with an arm with a camera at its end that collects information and has a cutting mechanism that causes the fruit to fall to the ground for collection. . In any case, physicochemical sampling tests are not carried out on it. It is used primarily for collection, not for sampling.

Patent US2016/0307448 A1 (Bee Robotics Corp. 2016) claims a hybrid drone (multicopter-airship) for agricultural work in general that requires a large load capacity for dispersing fertilizer and carrying out phytosanitary treatments.

Patent US 2017/0094909 describes a harvesting drone and includes a means of cutting using a chainsaw and a camera for viewing and controlling the necessary maneuvers.

US patent No. 748850 (Automatic fruit analyzer 1976) refers to an automatic analyzer of fruit in terms of its quality and condition. It is a laboratory instrument capable of measuring PH, weight, and some other parameter.

In the same field of agricultural analysis there is a patent (Miresmailli 2019) referring to a control and communication device for sensors (unspecified) of a physiological, chemical and surface analysis type. It is intended as a handheld or mobile platform (unspecified) mounted device for crop health analysis. miresmailli. 2019. Multi-sensor platform for crop health monitoring, issued 2019.

The patent (Fabio Augusto Coella 2019) refers to a drone system for bleeding latex-producing trees. It has a secretion stimulator arm and furrow tracer. Fabio Augusto Coella. 2019. System and process to automate the extraction of latex by means of unmanned vehicles and its use in precision livestock for the production of natural borracha, issued 2019.

A compendium of methods for real-time remote quantification of citrus traits in orchards or plantations can be found at (Ali and Imran 2021). These features are measured by sensors housed in land mobile devices, usually installed on articulated arms. Ali, Ansar, and Muhammad Imran. 2021. “Remotely Sensed Real-Time Quantification of Biophysical and Biochemical Traits of Citrus (Citrus Sinensis L.) Fruit Orchards - A Review.” Scientia Horticulturae, Vol 282, Elsevier B.V. https://doi.org/10.1016/j.scienta.2021.110024.

Similar work can be found in Bee Robotics Corp. 2016. Hybrid Airshipdrone farm robot system for crop dusting, planting fertilizing and other field jobs, issued 2016. and in Google Patent. 2019. System and method for mapping and building database for harvesting-dilution tasks using aerial drones - Google Patents, issued 2019. https://patents.google.com/patent/US20190166765A1/en. They are more focused on fumigation work and on the design of databases to facilitate the maneuverability of cargo drones.

For all these reasons, and in accordance with the foregoing, the sampling equipment and procedure of the present invention solves the sampling, measurements and records of a fruit collected on the tree in a totally different way from the aforementioned records. function of the photogrammetric, physical and chemical parameters that indicate the degree of maturity of a fruit.

For this, the equipment of the present invention comprises a structure formed by a tubular capture arm, a support, a loading drone, a sample analysis device and a loading drone; where, in addition, the electromechanical mechanisms of the sample analysis device are made up of at least one blocking system, a cutting system, an extraction system, a pumping system, a physical-chemical sensor system and a filtering cone system . So that by means of a procedure the equipment of the invention obtains all parameters previously indicated in a different and improved way to what is known to date in this sector.

Below is a detailed description of the invention that completes these general ideas introduced at this point.

DESCRIPTION OF THE INVENTION

The present invention refers to equipment comprising an electromechanical device for taking samples and analyzing the fruits of a tree, to determine their degree of maturation; which is mounted on a cargo drone, which allows access to the farm where the fruits are to be collected. Specifically, the equipment of the invention is made up of the following components:

- A tubular capture arm in the shape of a semi-closed channel fitted with a blade that detaches the fruit from the tree, and channels it towards the interior of the analysis and sampling system.

- A support that allows joining the tubular capture arm, a sample analysis device and a cargo drone.

- A sample analysis device that is made up of a cylindroconical body that serves as a support for a camera that will carry out the photogrammetric record as well as all the electro-mechanical devices that allow orienting, sectioning and analyzing the fruit, by means of a system locking system, a cutting system, an extraction system and a pumping system. This measuring device has a filtering cone system where the fruit is placed and which allows, by means of flotation, to orient the fruit with its stem upwards. It has a blade that sections the fruit, proceeding with the camera and a system of physicochemical sensors to take samples. The samples obtained from each fruit correspond to: photogrammetric images of the fruit in zenithal position and southern section, temperature values, hardness, PH, degree of acidity, and sugar content. On the other hand, the sample analysis device has a sample ejection mechanism, which automatically expels the fruit from the inner body of the sample analysis device and puts it in a position to analyze another fruit.

- A cargo drone (with stationary and omnidirectional flight capacity that allows the fruit to be located, through conventional piloting maneuvers, on a tubular capture arm, for its correct collection and sampling.

In a preferred embodiment, the cargo drone must have a closed chassis to collect the fruit without the branches of the tree interfering with some propellers of the cargo drone. The sampling system must be managed from the drone using GPS sensors and its front camera, but once the fruit is captured within the sample analysis device, the photographic record and treatment of the samples will be automatic. In a preferred embodiment, the loading drone must have GPS antennas and a height sensor to determine the georeferenced coordinates of the tree and the height at which the fruit to be studied is located. It is collected using conventional piloting maneuvers of the cargo drone, forcing the blade of the tubular capture arm to cut the stem of the fruit, and it slides by gravity into the sample analysis device.

The sample analysis device has a cylindrical upper part and a conical lower part where the fruit is housed once it has been detached from the tree. In order to initially prevent said fruit from coming out of the analysis device, a locking lever is provided. This blocking lever is blocked by a stop in the form of a lug located in the upper part of the blade of the cutting system. When said cutting blade moves inside the analysis device and cuts the fruit into two halves, the locking lever is free from the lug and can rotate freely around a hinge joint. This allows the two halves of the sampled fruit to be successively withdrawn from the interior of the sample analysis device.

In another preferred embodiment, to carry out the orientation of the fruit, a filter cone is used as a decanter, which sits internally on the lower cone of the analysis device. Said filtering cone allows the fruit not to be obstructed or trapped. Through the lower part of the filtering cone, water is introduced by means of a pumping system, so that the natural flotation of the fruit occurs, which will remain by gravity in a vertical position, that is, with the stem towards the top and the eye towards the bottom. Subsequently, the introduced water is expelled and the fruit will be conveniently oriented inside the filtering cone. The openings of the filtering cone prevent the fruit from acting as a stopper, facilitating the water circulation. On the other hand, said filtering cone will conveniently be graduated with regularly spaced circular concentric marks. Once the photos have been taken from the zenithal part of the sample analysis device, the calibrated size of the fruit can be easily obtained by photogrammetry using said graduated marks.

The locking plate is hinged only at its upper end. The knife that cuts the fruit depending on the forward position, allows the rotation of the hinge joint to be released. Initially, when the blade is inside the guide and outside the cylindrical body and outside the settling cone, it prevents the fruit that is introduced through the tubular capture arm from inertia leaving the filtering cone of the analysis device. Subsequently, when the blade enters the cylindrical body and the settling cone, the rotation of the hinge of the locking lever is released. At this moment, the two halves of the sectioned fruit are ready to be extracted. To do this, once the fruit is sectioned, its remains are extracted from the sample analysis device using the extractor forceps. This clamp performs its circular movement by punching the fruit (in its entirety or partially in each of its halves) and extracts it by turning in the opposite direction. It has a point that punches the fruit and that rotates jointly with the clamp along with the arm, using the hinge joint for this. On the other hand, said hinge has a fixed part that acts as a stop, facilitating the detachment of the fruit once the fruit is out of the sample analysis device.

The flotation system consists of a water tank located at the bottom of the analysis device. It is joined by a central inner tube that connects the lower part of the tank with the filtering cone. In a preferred embodiment, it consists of an air compressor that injects pressurized air into the upper part of the tank and causes the water to pass from the tank to the lower body of the lower cylindrical cone of the analysis device, flooding the filtering cone. This means that the fruit is floating and subjected to the action of gravity, and the fruit will be arranged naturally with the stem area up and the eye area down. Through the solenoid valve located in the upper part of the tank, the pressure of the injected air is released, with which the atmospheric pressure will cause the water to return slowly to the tank, leaving the fruit supported and embedded in a vertical position inside the filtering cone.

In a zenithal position of the body of the device, a digital camera is adjusted, with an angular led-type flash that allows taking photographic samples of the fruit conveniently oriented in a vertical position.

The filter cone is an element with cynical grooves that allows the passage of water and facilitates the centering of the fruit, preventing it from having a plug effect on the conical surface of the device. To do this, it has four closed vertical slots that facilitate this process, and it also has two open vertical slots facing each other that section it at the top, providing enough space for the blade that cuts the fruit to pass through.

On the other hand, the sample analysis device allows sectioning the fruit and refloating it to take a photograph of the southern section plane of the fruit. The meridional planes are those formed by the planes that pass through the line defined by the center of the eye and the center of the peduncle of a fruit. This photograph of the fruit sectioned by its southern plane has precisely marked the shape and dimensions of its peduncular tray and its ocular tray. For this, the body of the blade consists of a cutting edge that completely sections the fruit as it advances. Said blade has a drive system using an electric motor and a toothed pulley. The teeth of said pulley fit into the strip of calibrated holes, acting as a rack system that radially displaces the position of the blade, entering the filtering cone of the device and cutting the fruit. The shape of the knife edge and its fit through the filter cone, allows a clean cut keeping the fruit wedged on the inner conical surface of the filter cone, preventing the fruit from slipping or changing position.

The physical-chemical analysis device consists of a mobile rack-shaped guide for four probes that move in parallel until they come into contact with the sectioned fruit through four tubes that connect to the inside of the body of the device and that also go through the filter cone. The following sensors are placed in each of these ducts: a pH and temperature sensor, a penetrometer made up of a dynamometer that punctures the fruit and allows it to determine its degree of hardness, a sugar sensor to measure Brix degrees, and a acidity sensor to measure the percentage of malic acid. The movement of said physical-chemical analysis device is carried out using an electric motor and a conventional rack system. From the photographs, and the physical-chemical data of the mentioned sensors can determine the state of maturation of the fruit.

In a preferred embodiment, the sample analysis device is a semi-automatic system piloted through the controls of the cargo drone, therefore, some of the steps may be repeated or discarded, depending on the methodology adopted by the technician. for taking samples.

In another preferred embodiment, a chemical solution is added to the water in the tank that acts as a marker of the level of sugar in the fruit. In this way, the recorded photographs of the southern section of the fruit show the cut of the fruit stained by said marker, establishing a qualitative indicator of the distribution of sugars and the degree of maturity of the fruit.

Regarding the applicability of the equipment of the invention and its associated procedure proposed here, indicate the following:

- The invention is applicable in those sectors involved in the analysis and automatic sampling in fruit farms, photogrammetric control, instrumentation and chemical and environmental control systems.

- The equipment incorporates a device for taking samples semi-automatically through a tubular capture arm mounted on a cargo drone that does not require the continuous supervision of an operator to take samples, nor does it need to land to carry out samples. physical and chemical tests. The analysis device automatically records: collection of calibrated photos, GPS position, height of the sample, as well as the digital record of each of the physical and chemical sensors.

- The proposed system is mounted on a cargo drone that easily works at height and in rough terrain areas in a way that allows a more systematic and periodic collection of samples. This is not possible with other types of vehicle-mounted systems or agricultural robots. The loading drone greatly facilitates access to fruits from the upper parts of the tree, especially when the fruit plantation takes place on uneven and/or rocky terrain.

- The invention facilitates the taking of samples to analyze the state of maturation of the same and establish a documentary record that allows establishing the optimal moment of harvesting the fruits in large farms.

Its operability allows obtaining information from large areas at a reduced cost and in less time.

- Said system is considered adequate for the registration of apple orchards dedicated to the production of natural cider. Periodically, as established by the Regional Agri-Food Research and Development Service of the Principality of Asturias, for the control of farms with Protected Designation of Origin Sidra de Asturias, it is necessary to monitor the state of the fruit, verify that it corresponds to the varieties of autochthonous fruits of Asturias, and to prepare the pertinent certifications. The use of the sampling equipment proposed here can greatly speed up and reduce the cost of these tasks.

DESCRIPTION OF THE FIGURES

From figure 1 to figure 17 the main components that make up the equipment for sampling, measurement and recording of the parameters that define the degree of maturity of a fruit of the present invention are represented, which are at least:

A tubular capture arm (C1);

A support (C2);

A sample analysis device (C3), which is made up of a cylindrical-conical body and six electromechanical mechanisms grouped into six systems, which are:

A Lock System (S1);

A cutting system (S2);

An Extraction System (S3)

A pumping system (S4);

A physical-chemical sensor system (S5); and

A Filter Cone System (S6).

A cargo drone (C4).

Figure 1A and figure 1B respectively show an elevation view and an isometric view of the distribution of each of the components that make up the equipment of the invention. These figures represent the structural arrangement of the equipment of the invention, which is formed by the capture arm (C1), the support (C2), the sample analysis device (C3) and the cargo drone (C4).

Figure 2A and figure 2B show two different views of the tubular capture arm (C1) of the equipment of the invention. The capture arm (C1) is tubular and is made up of a tube (3) with a curved shape that has a gutter-shaped opening at its top through which the fruit is channeled; It has a blade (1) on a support (2) at its end, which allows cutting the peduncle of the fruit and tearing it from the tree; and it also has a ring (4) at its lower end that allows the assembly of the capture arm (C1) to be joined to the body of the sample analysis device.

Figure 3 illustrates an axonometric view of the support (C2), which has two functions that are to allow the assembly of a cargo drone (C4) and to secure the body of the sample analysis device. The support (C2) consists of a frame (9), in the shape of a cross, on which all the components of the cargo drone are placed; four inner drop arms (10) that are attached to a ring of the sample testing device; some external descending arms (8) that are joined by a reinforcing crossbar (6), on which a perforated square plate (7) rests that allows fixing physicochemical sensors (not shown) and a drive motor (not shown). ; and two landing skids (5) that make up the base of the cargo drone assembly.

In figure 4A and figure 4B, two axonometric views of the frame of the body of the sample analysis device (C3) are illustrated in a rear and front perspective respectively, and where said device is represented devoid of its internal mechanisms. As represented in these figures 4A and 4B, the body of the sample analysis device (C3) is made up of a cylindrical-conical body configured by a vertical cylindrical tube (14) and a conical tube where the vertical cylindrical tube (14) It has a horizontal cylindrical tube (13) of the same diameter intersected, with a ring (12) where the device unit is joined to the capture arm of the equipment; and where the conical tube acts as decantation for the fruit through a decantation cone (15) inside which a slotted metal filter (not shown) is housed that forms a filter cone system.

On the other hand, comment that figures 4A and 4B also show that the vertical cylindrical tube (14) has an upper lid with an opening, where there is a hole through which the visual axis of a camera is placed. (not shown); and a ring (11) where a control box (not shown) is placed with the connections, electrical components and electronic controllers of some motors (not shown), as well as an air compressor, a solenoid valve and some electronic triggers of a camera (not represented in these figures).

Figure 5 and figure 6 show a front view and a rear view respectively of the body of the sample analysis device (C3), where the electro-mechanical mechanisms that allow cutting and taking samples of the sample are shown. invention team. So, these mechanisms configure systems that are a blocking system (S1), a cutting system (S2), an extraction system (S3), a pumping system (S4), a physical-chemical sensor system (S5 ) and a filter cone system (S6).

Figures 7A and 7B show the components that make up the blocking system (S1), where a blocking position and an unlocking position of the sample analysis device (C3) are respectively illustrated. The locking system (S1) is located in the vertical tube (14) of the cylindrical-conical body of the device and is made up of a locking lever (S1.1), which prevents the fruit from inertia leaving the body of the locking device. sample analysis (C3) when it is captured from the tree; and a joint (S1.2) that acts as a hinge for the locking lever (S1.1) to facilitate the expulsion of the fruit once it has been photographed, cut and sampled.

Figure 8A shows the components that make up the cutting system (S2) of the sample analysis device (C3), and figure 8B shows a blade (S2.1) of the aforementioned cutting system in detail. As can be seen in the figures, the cutting system (S2) is located between the vertical cylindrical tube (14) and the settling cone (15) of the cylindrical-conical body of the device, and is formed by a blade ( S2.1) that slides inside a guide (16); a gear (S2.2) that is linked to a motor (S2.3) that meshes like a rack with some slots (S2.1.3) of the blade (S2.1) facilitating the movement of this blade (S2.1 ), which by means of an edge (S2.1.2) performs the section of the fruit. This blade (S2.1) also includes a lug (S2.1.1) that allows blocking the movement of the lever of the locking system (not shown), when the blade is outside the settling cone (15) and the filtering cone. Once the fruit has been cut, said pin is unlocked (S2.1.1), and the lever of the locking system can rotate to allow the extraction of the sectioned fruit (not shown).

Figure 9A shows the components that make up the extraction system (S3) of the sample analysis device (C3), and figure 9B shows in detail the parts that make up the extraction arm (S3.1) of the aforementioned system. extraction. As can be seen in these figures, the extraction system (S3) is made up of an extractor arm (S3.1), which is fixed to the vertical cylindrical tube (14) of the sample analysis device (C3) by a hinge piece (S3.2) that acts as a hinge for the rotation of the extractor; a motor (S3.5) that acts with the extractor arm (S3.1), which allows the extractor arm to rotate inside the cylindrical body (14) of the device that by means of teeth (S3.4) punches the fruit through its upper part for its extraction; a support (S3.3) that remains fixed, and allows the extractor arm (S3.1) to pass through its axis in its rotation, thus making the fruit detach once it is out of the cylinder tube ( 14) of the sample analysis device (C3); and a protuberance (S3.6) that establishes the maximum rotation stop of the extractor arm (S3.1).

Figure 10 shows the pumping system (S4) of the sample analysis device (C3), while figure 11A shows in detail the elements that make up a tank (S4.1) that makes up the pumping system. (S4) and in figure 11B a section of said tank (S4.1) is represented. As shown in these figures, the pumping system (S4) comprises a tank (S4.1) that initially contains water; an air compressor (S4.2) with a tube (S4.4), where air is injected into the top of the reservoir (S4.1) through an orifice (S4.5), so that the air introduced through the aforementioned hole (S4.5) it allows the water to rise through the central tube (S4.6) entering through the lower part of the settling cone (15) of the sample analysis device, and flooding the filtering cone. This produces the floating of the fruit, arranging by gravity its pendulous tray upwards and its ocular tray downwards. The pumping system (S4) also includes an air solenoid valve (S4.3) in connection with a conduit (4.7), which allows the air injected into the pump to be brought to atmospheric pressure. deposit (S4.1), facilitating the return of water by gravity, leaving the fruit oriented inside the filter cone.

Figure 12 shows the elements that make up the physical-chemical sampling system (S5) of the sample analysis device (C3), which includes sensors (S5.2) that are introduced into the settling cone. (15) of the device for taking samples of the fruit; a sensor motor (S5.5) which is fixed on the perforated square plate of the equipment support and activates the sensor mechanism (S5.2); a rack mechanism (S5.4), which allows the physical-chemical contact sensors (S5.2) to be introduced through some horizontal tubes (S5.1) located in the settling cone (15) of the device. Preferably, four contact sensors (S5.2) are used, corresponding to a PH and temperature sensor (a), a hardness sensor (b), a degree of acidity sensor (c), and a sensor of sugars (d). Figure 12 A illustrates the sensors outside the horizontal tubes (S5.1), which act as movement guides for the aforementioned sensors until they come into contact with the surface of the fruit inside the filter cone. Another detail of the invention is that the connections necessary for the operation of said chemical sensors (S5.2) are arranged inside a box (S5.3). In a preferred application, a dynamometric sensor for punching the fruit is used to carry out the hardness test.

Figure 13 shows the elements that make up the filter cone system (S6) in a partially sectioned plane of the sample analysis device; and in Figures 14A, 14B and 14C an axometric view plan, an elevation plan and a plan plan of the internal part of the filter cone system (S6) are respectively shown. As shown in the figures, the filtering cone system (S6) is located inside the settling cone (15) of the device, which acts as a metallic cone formed by a descending succession of circular marks (S6 .5) on its internal face where the fruit to be sampled sits (not shown), allowing the flotation water to pass through, the blade (S2.1) of the cutting system and the physical-chemical analysis sensors. The filtering cone system (S6) is made up of the following slotted elements: four openings (S6.1) for the passage of the flotation water, two facing vertical openings (S6.2) that allow the passage of the blade (S2 .1), and four circular openings (S6.3) for the access of the chemical sensors. In addition, the filter cone system (S6) comprises two coupling rings (S6.4) located perimeter on the upper and lower part of his body. Furthermore, specifying that the size of the filter cone allows controlling the size of the sampled fruit, allowing the analysis device to be adjusted to treat different types of fruit, or to analyze the same type of fruit with different maturation periods.

In Figure 15A and 15B, two partial sections are shown to see the inside of the body of the sample analysis device (C3) when the fruit (19) is sectioned. Figure 15A shows the fruit (19) arranged in the filter cone system (S6) once oriented and prior to sectioning. Figure 15B illustrates the fruit (19) already sectioned into two halves, once the blade (S2.1) of the device has advanced its position until it completely crosses the filter cone (S6) through the facing vertical openings. Another detail of the invention is that the inner surface of the filtering cone (S6) has a descending succession of circular marks, which are engraved at 0.5 cm intervals in the direction of the generatrices of the cone, which are used as a pre-printed scale as a reference standard to calibrate the size of the fruit, from the photographs taken by a camera (17) of the device that is connected to a control box (18).

Finally, in figure 16A and figure 16B, respectively, an elevation view and another plan view of the cargo drone (C4) positioned on the support (C2) of the equipment of the invention are illustrated. As these figures show, the cargo drone (C4) in a preferred execution has a flight system made up of four propellers that are driven by brushless motors (20) known in the sector as "brnshless" motors, a sensor high (21), three GPS positioning antennas (22), a multispectral camera (23), a battery (24), as well as a control box (not represented) that contains all the electronic elements that manage the cargo drone (C4).

EXPLANATION OF A MODE OF OPERATION OF THE INVENTION

The operation of the previously indicated sampling and analysis equipment, according to a preferred embodiment, comprises the seventy 12 phases:

1) The user defines in the cargo drone (C4) the geo-referenced trajectory of the trees to be sampled. To do this, it specifies the sequence of GPS coordinates where to position itself.

2) Next, the operator of the loading drone (C4) visually identifies the fruits to be analyzed. It proceeds to carry out the maneuver with its capture arm, cutting one of the tree's fruits by its peduncle and collecting it in the curved tube (3) of the tubular capture arm (C1).

3) The collected sampling fruit is channeled through the tube (3) to the filter cone system (S6) at the bottom of the sample analysis device (C3). The locking lever (S1.1) is fixed in such a way that it prevents said fruit from inertia leaving the body of the sample analysis device (C3).

4) Water is injected from the tank (S4.1) into the filtering cone system (S6), until the fruit adopts a vertical position. Subsequently, that water is evacuated from the filtering cone system (S6), leaving the fruit placed in a vertical position, that is, with the stem up and the eye down, but now not floating but resting on the filtering cone system ( S6).

5) The overhead photo of said fruit is taken with the photographic camera (17), recording in the photo the circular marks (S6.5) recorded in the filtering cone system (S6), which allows to accurately deduce its diameter by photogrammetry. .

6) The blade (S2.1.) cuts the fruit along its vertical axis but does not make its entire cut. The blade (S2.1) partially cuts the fruit, leaving one of the fixed and wedged halves on the right side and the other fixed and wedged on the left (the direction of advance of the blade is taken to mark the right and left part of the fruit). In this position, the edge of the blade (S2.1.) advances until it reaches the vertical axis of the filter cone system (S6).

7) The physical-chemical sampling mechanism or physical-chemical sensor system (S5) is activated, which punctures each of the fruit halves at two points (four total punctures). In one of the halves, the temperature and PH measurement is carried out by a PH and temperature sensor (a), and the analysis of the hardness of the skin is carried out using a durometer or hardness sensor (b). In the other half, the tests for sugar content and degree of acidity are carried out with contact sensors or sugar sensors (d) by means of an acidity sensor (d).

8) The physical-chemical sensor system (S5) is extracted from the sample analysis device (C3). The blade (S2.1) is then advanced into the body of the sample analysis device (C3), passing through the entire filtering cone system (S6) and leaving the fruit split into two totally separate halves.

9) The left half of the sectioned fruit is punched in its upper part by the extractor arm (S3.1). By rotating the extractor arm (S3.1) with the punched left half, it comes out of the cylindrical body of the sample analysis device (C3) and is discarded outside. The blade (S2.1) is withdrawn to its initial position, remaining inside the sample analysis device (C3) in the right half of the fruit.

10) Float this right half of the fruit again by injecting water from the tank (S4.1), so that the right half of the fruit is arranged with its cut face perfectly horizontal. A new overhead photo is taken with the camera (17) of said section, which accurately records both the shape of the peduncular cuvette and the ocular cuvette.

11) The sample analysis device (C3) stores all the images from the camera and the physical-chemical data of the sample analyzed inside the cargo drone (C4), and transmits them wirelessly preferably via Wi-Fi to its storage system permanent (laptop computer), where to proceed to its interpretation and subsequent analysis, in order to establish the degree of ripeness of the fruit.

12) The extractor arm (S3.1) is used again to punch and extract this right half of the fruit from the lower compartment of the sample analysis device (C3). The procedure is similar using the extractor arm (S3.1) as it was done with the left half of the fruit. The internal compartments of the sample analysis device (C3) and the filter cone system (S6) are left empty and ready to sample a new fruit.

In another preferred embodiment, any of the previous phases may be omitted, or reiterated if necessary in another order. For example, if the fruit shows an incipient stage of maturation, only an overhead photograph and the hardness test can be taken, discarding the rest of the physical-chemical tests. The section of the fruit can be a phase to discard, or if the size of the fruit so advises, it could be repeated several times, gradually reducing the fruit in halves. The same happens with the taking of physical-chemical samples, they can be carried out or ignored. Everything will depend on the sampling methodology, which is considered most appropriate at that time to determine the degree of ripeness of the fruit. In Another example, if two fruits are deposited at the same time in the tubular capture arm (C1), the extractor arm (S3.1) must be used previously to expel one of the two fruits.

In a preferred embodiment, the activation of all the mobile mechanisms (motors, pulleys, blade, chemical sensor system) is carried out by a control system managed from the controls of the cargo drone (C4). The digital photographic images and the values of the chemical sensors are stored and geotagged with the GPS coordinates and the height of the fruit. In another preferred embodiment, said recorded data will be transmitted, using the "wifi" of the cargo drone, to the permanent memory of a laptop, for its subsequent analysis and interpretation.

In a more preferred embodiment, the electrical circuit that drives the mechanical components of the sample analysis device (C3) located inside the control box (18) will be governed by a PIC ( Peripheral Interface Controller) microprocessor that continuously records the movements of the engines and the shooting of the camera.

In another preferred embodiment, in the event that the fruit is apple, a Lugol 's solution (iodine and potassium iodide solution) is added to the water in the tank (S4.1), which acts as a marker of the starch contained in the fruit. In this way, the photographs recorded from the southern section of the fruit show the cut of the fruit stained by Lugol's , which is a qualitative indicator of the distribution of starch within the fruit and its degree of maturity ( Lugol's test).

In a preferred embodiment, the sample analysis device (C3) has been designed to allow ranges of fruit of variable sizes between 50 mm and 120 mm in diameter, but by changing the size of the filter cone system (S6) they can be treated. smaller fruits, fully maintaining the design of the rest of the mechanisms of the sample analysis device (C3).

In a preferred embodiment, in the filter cone system (S6) the regularly spaced circular concentric marks will be arranged 5mm apart (in the direction of the inner generatrix of the cone).

In another preferred embodiment, the sample analysis device (C3) could work with the cargo drone (C4) landed on the ground and carry out the introduction of the fruit by manual means. Everything related to the orientation of the fruit, its sectioning for taking photogrammetric samples, as well as the carrying out of chemical tests, would be applicable. In this case, their mobility and accessibility to the fruits at height would be sacrificed. It would make sense if it is necessary to carry out a specific sampling of a large number of fruits from a certain tree, without changing position, or if it is necessary to pick the fruit from the ground manually.

In another preferred embodiment, the sample analysis device (C3) could be located on a motorized land vehicle (an agricultural tractor, a combine harvester, etc.) instead of the cargo drone (C4). In any case, this would be appropriate if it is necessary to carry out a specific sampling of a large number of fruits, in well-aligned fruit farms that are easily accessible by specialized land agricultural vehicles for harvesting.

In another preferred embodiment, the sample analysis device (C3) could replace the photographic camera (17) with a 3D scanner with a color texture that performs a scan of the whole and/or sectioned fruit, obtaining one or more clouds of points. This would make it possible to reconstruct the three-dimensional shape of the whole fruit or its sectioned half. On the other hand, 3D scanners with color textures are equipped with their own photographic system to record the color of each point, so that their use would be similar to that of the photographic camera (17) itself.

Claims (13)

1. Equipment for taking samples, measurements and records of photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, which is characterized by comprising: - a capture arm (C1), which is in connection with a sample analysis device (C3); - a support (C2), on which a cargo drone (C4) is placed and where a sample analysis device (C3) is secured; - a sample analysis device (C3) comprising a cylindrical-conical body that is formed by a vertical cylindrical tube (14) and a settling cone (15); and some electromechanical mechanisms, which are: - a locking system (S1), - a cutting system (S2), - an extraction system (S3), - a pumping system (S4), - a physical-chemical sensor system (S5) and - a filter cone system (S6); and - a cargo drone (C4) that is secured on the support (C2) of the equipment. 2. Equipment for sampling, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the capture arm (C1) is tubular and comprises: - A tube (3) with a curved shape, which has a gutter-shaped opening at its top where the fruit is channeled; - a blade (1) secured on a support (2), which in turn is fixed on the upper end of the tube (3); and - a ring (4) located around the mouth of the lower end of the tube (3), where the capture arm assembly (C1) joins the sample analysis device (C3). 3. Equipment for taking samples, measurements and records of photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the support (C2) comprises: - a frame (9) on which all the components of a cargo drone (C4) are placed; - inner descending arms (10) that are fixed to a ring of the sample analysis device (C3); - some lowering outer arms (8) that are joined by a reinforcing crossbar (6) with a perforated square plate (7), where sensors (S5.5) and a sensor drive motor (S5.5) are fixed. of a physical-chemical sensor system (S5); and two landing skids (5) that make up the base of the cargo drone assembly (C4). 4. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the sample analysis device (C3) comprises: - a horizontal cylindrical tube (13) inserted in the vertical cylindrical tube (14) of the cylindrical-conical body; - a ring (12) perimetrally arranged in the horizontal cylindrical tube (13) where the assembly joins the tubular capture arm (C1); - a hole located in an upper cover of the vertical cylindrical tube (14) where a visual axis of a camera (17) is located; and - A ring (11) around the perimeter of the upper cover of the vertical cylindrical tube (14) where a control box is located with some connections, electrical components and electronic controllers of some motors, an air compressor, an electrovalve and some triggers electronics of a photographic camera (17). 5. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the blocking system (S1) of the sample analysis device ( C3) is located in the vertical tube (14) of the cylindrical-conical body of the device, and comprises a locking lever (S1.1) that is attached to said vertical tube (14) through a joint (S1.2) . 6. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the cutting system (S2) of the sample analysis device ( C3) is located between the vertical cylindrical tube (14) and the settling cone (15) of the cylindrical-conical body of the device, and comprises: - a blade (S2.1) that slides inside a guide (16) and includes a lug (S2.1.1); and - A gear (S2.2) that is linked to a motor (S2.3) that meshes like a rack with some slots (S2.1.3) of the blade (S2.1) that by means of a cutting edge (S2. 1.2) that facilitates the movement of the blade (S2.1) and performs the section of the fruit; 7. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the extraction system (S3) of the sample analysis device ( C3) includes: - an extractor arm (S3.1) that is fixed to the vertical cylindrical tube (14) of the sample analysis device (C3) through a hinge part (S3.2); - a motor (S3.5) in connection with the extractor arm (S3.1) and that acts in the rotation of said extractor arm (S3.1) introducing it inside the vertical cylindrical body (14); - some teeth (S3.4) located at one end of the extractor arm (S3.1); - a support (S3.3) fixed and has an axis where the extractor arm (S3.1) passes in its rotation; and - a protrusion (S3.6) which is the maximum rotation stop of the extractor arm (S3.1). 8. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the pumping system (S4) of the sample analysis device ( C3) includes: - a tank (S4.1) for water; -an air compressor (S4.2) with a tube (S4.4), where air is injected into the upper part of the reservoir (S4.1) through an orifice (S4.5), so that the air introduced through the aforementioned hole (S4.5) allows the water to rise through the central tube (S4.6) entering through the lower part of the settling cone (15) of the sample analysis device, and flooding the filtering cone; and - an air solenoid valve (S4.3) in connection with a conduit (4.7), which allows the air injected into the tank (S4.1) to be brought to atmospheric pressure, and facilitates the return of the water by gravity inside the cone filtering. 9. Equipment for sampling, measuring and recording photogrammetric, physical and chemical parameters of the degree of ripeness of a fruit, according to claim 1, which is characterized in that the physical-chemical sampling system (S5) of the device sample analysis (C3) includes: - some sensors (S5.2) that are introduced into the settling cone (15) of the sample analysis device (C3) for taking samples of the fruit; - a sensor motor (S5.5) that is fixed on the perforated square plate of the support (C2) of the equipment and activates the sensor mechanism (S5.2); and - A rack mechanism (S5.4), which allows the physical-chemical contact sensors (S5.2) to be introduced through some horizontal tubes (S5.1) located in the settling cone (15) of the device. 10. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 9, characterized in that the sensors (S5.2) are at least: - a PH and temperature sensor (a), - a hardness sensor (b), - an acidity degree sensor (c), and - a sugar sensor (d). 11. Equipment for taking samples, measuring and recording photogrammetric, physical and chemical parameters of the degree of ripeness of a fruit, according to claim 1, which is characterized in that the filtering cone system (S6) of the analysis device for samples (C3) is located inside the settling cone (15) of the cylindrical-conical body of the device and comprises: - some openings (S6.1) for the passage of flotation water, - some facing vertical openings (S6.2) that allow the passage of the blade (S2.1), - some circular openings (S6.3) for the access of the chemical sensors. - Some coupling rings (S6.4) located around the perimeter in the upper and lower part of its body; - some circular marks (S6.5) in descending succession that are located on the inner surface of the cone. 12. Equipment for sampling, measuring and recording photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to claim 1, which is characterized in that the loading drone (C4) comprises: - a flight system made up of four propellers that are driven by brushless motors (20); - a height sensor (21); - GPS positioning antennas (22); - a multispectral camera (23); - a battery (24); and - A control panel, which contains electronic elements for the handling of the cargo drone (C4). 13. Procedure for taking samples, measurements and recording of photogrammetric, physical and chemical parameters of the degree of maturity of a fruit, according to any of the previous claims, which is characterized by comprising the following phases: 1) definition in the cargo drone (C4) of the geo-referenced trajectory of the trees to be sampled, by specifying the sequence of GPS positioning coordinates; 2) identification of the fruits to be analyzed and maneuver with the capture arm (C1) to cut and collect the fruit of a tree by its peduncle through the blade (1) and the tube (3) with a curved shape respectively; 3) channeling the sampling fruit through the tube (3) to the filter cone system (S6) at the bottom of the sample analysis device (C3), where the locking lever (S1.1) is fixed and prevents the fruit from coming out of the body of the sample analysis device (C3). 4) injection of water from the tank (S4.1) into the filtering cone system (S6), until the fruit adopts a vertical position. Subsequently, that water is evacuated from the filtering cone system (S6), leaving the fruit placed in a vertical position and resting on the filtering cone system (S6); 5) taking an overhead photo of the fruit with the photographic camera (17) to register the circular marks (S6.5) of the filter cone system (S6) and obtaining the values of the diameter of the fruit by photogrammetry; 6) partial section of the fruit with the blade (S2.1) along its vertical axis, where each one of the halves of the fruit is fixed and wedged in one of the parts of the filter cone system (S6) of the equipment; 7) activation of the physical-chemical sensor system (S5) of the sampling analysis device, where the temperature and PH measurement is carried out in one of the fruit halves by means of a PH and temperature sensor (a) and an analysis of the hardness of the skin by means of a durometer or hardness sensor (b); while in the other half of the cut fruit, the measurement of the sugar content with a sugar sensor (d) and the measurement of the degree of acidity with an acidity sensor (d); 8) extraction of the sample analysis device (C3) and the physical-chemical sensor system (S5), and carrying out a total cut of the fruit into two halves by means of the blade (S2.1) that advances inside the body of the sample analysis device (C3) and passes through the entire filtering cone system (S6); 9) punching of one of the halves of the fruit sectioned by the extractor arm (S3.1), where when turning the extractor arm (S3.1) with the punched half, it comes out of the cylindrical body of the sample analysis device (C3 ) and discarded abroad; so that the blade (S2.1) is withdrawn to its initial position, leaving the other sectioned half of the fruit inside the sample analysis device (C3). 10) flotation of the sectioned half of the fruit by the injection of water from the tank (S4.1), where an overhead photo is taken with the camera (17) to record the data on the shape of the peduncular tray and the the eye cup; 11) storage of the camera images (17) and the physical-chemical data of the analyzed sample inside the cargo drone (C4) through the sample analysis device (C3), where the data is transmitted wirelessly to its external permanent storage system for the interpretation and analysis of the degree of ripeness of the sampled fruit; and 12) punching and extraction of the half of the fruit contained in the sample analysis device (C3) through the extractor arm (S3.1), and emptying of the internal compartments of the sample analysis device (C3) and the system of the filter cone (S6).