NL2029679B1 - Automatic harvesting device - Google Patents

Automatic harvesting device Download PDF

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Publication number
NL2029679B1
NL2029679B1 NL2029679A NL2029679A NL2029679B1 NL 2029679 B1 NL2029679 B1 NL 2029679B1 NL 2029679 A NL2029679 A NL 2029679A NL 2029679 A NL2029679 A NL 2029679A NL 2029679 B1 NL2029679 B1 NL 2029679B1
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Netherlands
Prior art keywords
cutting
branch
instrument
crop
trunk
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NL2029679A
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Dutch (nl)
Inventor
Hubrecht Maria Van Der Sande Nick
Vermeulen Dirk
Original Assignee
Belua Beheer B V
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Application filed by Belua Beheer B V filed Critical Belua Beheer B V
Priority to NL2029679A priority Critical patent/NL2029679B1/en
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Publication of NL2029679B1 publication Critical patent/NL2029679B1/en

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    • 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
    • A01D46/30—Robotic devices for individually picking crops
    • 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
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • A01G23/095—Delimbers
    • A01G23/0955—Self-propelled along standing trees

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

An automatic harvesting device (1, for harvesting a crop (11) growing on a stem (12) from a branch (13), comprises a sensor (4) for detecting the crop (11), a controller (6), an arm (7) and a tool (3,15) attached to 5 the arm (7). The controller (6) can move the arm (7) and the tool (3,15) to a crop and operating the tool (3,15). The tool has a capture part (16) that can be placed at least partly around the stem (12) and that can axially move along the stem until it reaches the proximity ofthe branch (13), and a cutting part (17) attached to the capture part (16) and being engageable with the branch (13) for cutting of the branch (13) and removing the fruit from the stem (12). 10 Fig. 2

Description

Automatic harvesting device
Technical Field
The invention relates to an automatic harvesting device, for harvesting a crop growing on a stem from a branch, the device comprising a sensor for detecting the crop, a controller, an arm and a tool attached to the am, the controller being adapted for moving the arm and tool to a crop and operating of the tool.
The invention also relates to a tool for harvesting a crop and to a method of harvesting.
Background Art
Automatic harvesting robots are known for harvesting crop that grows on stems or shoots in greenhouses or in the field, such as fruit or vegetables. The crop may grow on the stem or shoot from a branch or peduncle and may be in the form of a single fruit, such as a pear or cucumber, or may grow in a truss, such as grapes or tomatoes. The robot comprises a movable arm with a gripper and a cutting tool, one or more sensors such as a camera, a laser measurement system, a LIDAR and optical and/or tactile sensors. The controller determines the position of a fruit on the basis of information from the sensors and directs the gripper to the targeted fruit and actuates the gripper to secure the fruit, while the cutting tool is moved to the branch to cut it from the stem on which the fruit grows.
The known robots are relatively slow in view of the complicated operation of first engaging the gripper with the fruit, followed by cutting of the branch and placing the captured fruit in a container. The known robots are furthermore subject to errors as the selection of the fruit and engagement of the branch may be obscured by leaves, stems or shoots or other fruit, which may lead to slow and inaccurate positioning of the cutting tool. The robot needs to operate accurately in order not to cut the stem by accident which would damage the remaining crop on the stem that still needs to be harvested.
It is an object of the invention to provide an automatic harvesting device and tool that allows rapid, accurate and efficient harvesting of a crop growing on a stem from a branch. It is another object of the invention to provide a tool for automatic harvesting that allows rapid and accurate placement of the tool while carefully handling the crop and that result in little damage during the positioning, cutting and collecting steps.
Summary of the Invention
An automatic harvesting device according to the invention comprises a tool having a capture part that can be placed at least partly around the stem and that is arranged for axially moving along the stem until it reaches the proximity of the branch, and a cutting member attached to the capture part and being engageable with the branch for cutting of the branch and removing the fruit from the stem.
The tool with the cutting member can in the vicinity of the fruit be engaged with the stem on which the crop grows, hanging on its branch that grows sideways from the stem. The tool is then directed along the stem to a cutting position near the branch in which the branch is accurately positioned in relation to the tool. In this defined cutting position, the cutting member is actuated to engage with the branch such that the crop and a part of the branch are released from the stem. The released crop is captured, for instance on a chute or by dropping in a container that is placed below the targeted crop.
Furthermore, after the stem has been received in the capture part, the arm carrying the capture part can be moved sideways to pull on the stem, so that the crop is moved to a position where sufficient space is available for cutting of the branch and capture of the cut-off crop via a chute or a container.
The moment the tool reaches the cutting position can be determined by the controller on the basis of signals derived from a tactile sensor or from an optical sensor on the tool or on the arm or on the body of the harvesting device, or both. The guidance of the tool along the stem of the crop results in a rapid and accurate placement of the cutting member near the branch of the targeted fruit, even in the presence of dense foliage, other branches or shoots of a multitude of crop. As no gripper is required for the tool according to the invention, the speed of the harvesting operation can be high. The tool according to the present invention can increase the crop picking speed by as much as 20% or more and increases the efficiency by 50% or more.
With a crop as used herein, is meant a crop that grows on a branch from a stem either low to the ground such as a fruit like a cucumber, a paprika or strawberry or growing on higher branches such as a fruit like tomatoes, apples, pears, cherries, and also grapes and the like. It is also intended to indicate with the term “crop”, one or more leaves growing on a branch that projects sideways from the stem.
It is noted that from US 4,279,281 an automatic branch cutting device is known for cutting branches off trees, the cutting device moving axially along the stem of the tree. The known device is not suitable for automatic placement in different positions and cannot selectively engage with one of a collection of branches for the purpose of automatic harvesting of a crop.
From US 5,899,019 a stripping tool is known for manually removing thorns from a stem of a rose having a cutting member that can be placed around the stem of the rose and moved along the stem to cut off the thoms.
The cutting member according to the invention may be optical, electrical or mechanical.
In one embodiment, tool comprises a body extending in an axial direction, the body supporting three or more axially extending fingers, of which at least two are situated at a mutual radial distance, forming a holding aperture for receiving of the branch, the holding aperture being defined by an end edge of the body and two side edges of adjacent circumferentially spaced fingers, at least one finger carrying a cutting member and being movable across the holding aperture.
The body can be easily placed around the stem at a position remote from the crop, while at the cutting position the branch that projects from the stem will be captured between the fingers and cut. The fingers are placed at such a mutual circumferential distance that the risk of the stem becoming accidentally situated between the fingers and cut, is minimized.
The tool may comprise two or more circumferentially spaced fingers for forming multiple holding apertures to capture branches that project from the stem in different directions.
In another embodiment, the body is cylindrical with a center line extending in the axial direction, the capture part and the cutting part each having an axial slit for receiving a stem, the cutting part being coaxial with the capture part, the capture part and the cutting part being rotatable relative to one another around the center line, a cutting member being attached to the fingers.
In the cutting position, relative rotation of the cutting part and the capture part ensures effective cutting of the branch.
The cutting part may be placed around the capture part so that the cutting member is easily accessible for inspection, maintenance or repair.
The cutting part may be provided along an end edge with a ring gear that is driven by an actuator gear on the am, the actuator gear engaging with the ring gear.
In another embodiment, the cutting part may be driven via small-sized pulley and belt or via a linear actuator mounted on the tool or the arm.
The body may comprise an optical or tactile sensor situated between two adjacent circumferentially spaced fingers at or near the end edge of the body, for detecting the presence of a branch in the holding aperture between the fingers.
For fine positioning, the tool may be pivotable around a transverse axis extending transversely to the center line so that a versatile wrist construction of the end effector at the end of the robot arm is formed.
For collecting the cut crop, the harvesting device may comprise a transport member that is positionable below a crop to capture the crop when the branch is cut.
A method according to the invention of harvesting a crop growing on a stem from a branch, comprises: - placing a tool, the tool having a capture part and two axial fingers that are circumferentially spaced-apart and that define a holding aperture there between, at least partly around the stem, - moving the tool along the stem until it reaches the proximity of the branch, the fingers extending on both sides of the branch, and - displacing a cutting member on the tool across the holding aperture and cutting off the branch .
An embodiment of the method according to the invention comprises the steps of : - detecting the presence of a crop using an optical sensor,
- moving the tool along the stem to a proximity of the crop, - detecting the presence of a branch in the holding aperture via a sensor, - placing a capture member below the crop, - actuating the cutting member, and - catching the crop in the capture member.
Brief Description of the Drawings
Embodiments of an automatic harvesting device and a cutting tool according to the invention will, by way of non-limiting example, be described in detail with reference to the accompanying drawings. In the drawings:
Fig. 1 shows an automatic harvesting device according to the invention,
Fig. 2 shows a perspective view of a cutting tool according to the invention in the connect mode,
Figs. 3a and 3b schematically show the cutting tool being brought to a target crop in the positioning mode,
Figs. 4a and 4b different perspectives of a cutting tool according to the invention in the cutting mode, and
Figs. 5a, 5b and 5c respectively show a bottom view of the tool according to the invention in the contact mode, the positioning mode, and in the cutting mode.
Description of Embodiments
Figure 1 shows an automatic harvesting device 1 comprising a mobile base 2 with an articulated arm 7 that carries an end effector with a cutting tool 3 and an optical sensor, such as a camera 4. A movable collecting arm 5, which may be in the form of a chute, is supported on the base 2. The device 1 comprises a controller 6 that receives positioning signals, such as from a gps system, to determine and control the position of the base 2. The controller 6 further receives signals from the camera 4 to detect a target crop for harvesting. The controller 6 moves the base 2 along a growing bed, substrate or tray 10 in which crop 11 grow on a stem 12 hanging from branches 13, 14 that project from the stem 12. The cutting tool 3 is first placed around the stem 12 in a positioning mode, in which it can rapidly and accurately travel to the branch of a target crop that needs to be cut. Once the teel cutting tool reaches a cutting position near the branch 13,14 of the target crop, and the collecting arm 5 is placed below the target crop, the cutting tool separates the branch of the target crop from the stem 12. The separated crop is moved by the collecting arm 5 to a collecting tray or container on the base 2 and the next target crop is harvested.
Figure 2 shows a cutting tool 15 having an inner cylindrical capture part 16 and an outer cylindrical cutting part 17. Each part 16,17 is coaxial with a center line 18. The capture part 16 and the cutting part 17 have an axial slit 19 for receiving a stem in the central space 20 of the cutting tool 15.
The capture part 16 has a base 22 and three axial fingers 23,24,25 that extend from an end edge 27 of 5 the base 22. Each finger 23-25 is provided with a cutting member 30, 31, 32 along a longitudinal side.
The cutting part 17 is provided with a base 35 that carries along a lower edge 37 a ring gear 36. From an end edge 38 of the cutting member 17, axial fingers 43,44,45 project. The fingers 43-45 are provided with cutting members 50, 51, 52. An actuator gear 54 engages with the ring gear 36 and is driven by a servo motor 55 to rotate the cutting part 17 around the center line 18, relative to the stationary capture part 16.
The fingers 23, 24 that are spaced apart along the circumference of the base 20, define a first holding aperture 48 between them, for receiving a branch that needs to be cut. The circumferentially spaced fingers 24, 25 define a second holding aperture 49.
Figure 3a schematically shows the cutting tool 15 having been placed around the stem 12, which is received in the central space 20 via the slit 19. The cutting tool 15 is now in the positioning mode in which the branch 13 of the target crop can be rapidly approached. The cutting part 17 has been rotated around the center line 18 relative to the capture part 16, so that the slit 19 is closed and the stem is locked within the central space 20. The fingers 23,45; 24,43 and 25,44 are placed at corresponding circumferential positions around the center line 18, so that they are mutually adjacent (see also fig. 5b). The lower part of the longitudinal slit 19 is closed by the base 35.
Upon moving the cutting tool 15 in the axial direction along the stem 12 towards the branch 13 of target crop 11, the branch 13 is caught in the holding aperture 49 bounded by superposed pairs of fingers 24,43 and 25,44. When the branch 13 is near the end edge 38 or abuts against the end edge, the motion on the tool 15 in the direction of the stem 12 is halted and the cutting part 17 is further rotated, so that the cutting member 52 of the finger 43 moves across the holding aperture 49 and along the cutting member 32 of finger 25 (see fig. 5c) so that the branch 13 is severed from the stem 12.
Figure 4a shows the cutting tool 15, placed around the stem 12 in the cutting position. The stem 12 is contained in the enclosed central space of the cutting tool 15. The outer cutting part 17 has been rotated relative to the inner capture part 16 of the tool, so that the axial slit 19 is closed and the stem 12 is encircled by the base parts 22,35. In the cutting position that is shown in figure 4a, the branch 13, that extends transversely to the stem 12, is situated in the holding aperture 49 so that rotation of the cutting part 17 will result in separation of the branch of crop 11 from the stem 12.
Figure 4b shows the cutting tool 15 with the crop 11 removed from the branch 13 for obtaining an unobstructed view. The branch 13 can be seen to abut against the end edge 38 and is received in the holding aperture 48 between fingers 43 and 44 so that it is in proper position to be cut by the cutting member 32.
Figure 5a shows a top view of the cutting tool 15 in the connect mode, for placement around a stem. The inner capture part 16 and outer cutting part 17 are rotated in such a position that the fingers 23,43; 24, 44 and 25,45 are superposed and the slit 19 is opened for receiving of a stem. An insert 56 is inserted in the central space 20 for keeping the stem positioned near the center of the space 20.
Figure 5b shows a top view of the cutting tool 15, in which the cutting part 17 has been rotated by the actuator gear 54 in a counterclockwise direction, into the positioning mode in which the slit 19 is closed for movement of the tool 15 along the stem. In the positioning mode, the fingers 23,45;24,43 and 25, 44 are placed in a superposed position.
Figure 5c shows a top view of the cutting tool in the cutting mode, after completion of a cutting operation.
The cutting part 17 has been further rotated in a counterclockwise direction from the position shown in figure 5b, and the finger 43 with cutting member 52 has been moved across the holding aperture 49, and finger 45 with cutting member 51 has been moved across the holding aperture 48. Any branches that project sideways from the stem through the holding apertures 48, 49 are cut in this operation.

Claims (14)

Conclusies 1 Automatisch oogsttoestel (1), voor het oogsten van een gewas (11) dat groeit aan een stam (12), aan een tak (13), waarbij het toestel een sensor (4) omvat voor het detecteren van het gewas (11), een regeleenheid (6), een arm (7) en een instrument (3, 15) dat is bevestigd aan de arm (7), waarbij de regeleenheid (6) is ingericht voor het bewegen van de arm (7) en het instrument (3, 15) naar een gewas, en het bedienen van het instrument (3, 15), en waarbij het instrument is voorzien van een grijperonderdeel (16) dat ten minste gedeeltelijk rond de stam (12) kan worden geplaatst en dat is ingericht om zich in axiale richting te verplaatsen langs de stam totdat het de nabijheid bereikt van de tak (13), en een snijgedeelte (17) dat is bevestigd aan het grijperonderdeel (16) en dat in contact kan worden gebracht met de tak (13) voor het afsnijden van de tak (13) en het verwijderen van het fruit van de stam (12). Claims 1 Automatic harvesting device (1), for harvesting a crop (11) growing on a trunk (12), on a branch (13), the device comprising a sensor (4) for detecting the crop (11 ), a control unit (6), an arm (7) and an instrument (3, 15) attached to the arm (7), the control unit (6) being adapted to move the arm (7) and the instrument (3, 15) to a crop, and operating the instrument (3, 15), and wherein the instrument is provided with a gripper member (16) which can be placed at least partially around the stem (12) and which is arranged to move axially along the trunk until it reaches the vicinity of the branch (13), and a cutting portion (17) which is attached to the gripper part (16) and can be brought into contact with the branch (13 ) for cutting the branch (13) and removing the fruit from the trunk (12). 2 Automatisch oogsttoestel (1) volgens conclusie 1, waarbij het instrument (15) een rompgedeelte (22, 35) omvat dat zich uitstrekt in een axiale richting, waarbij het rompgedeelte drie of meer zich axiaal uitstrekkende vingers (23, 24, 25, 43, 44, 45) ondersteunt, waarvan er ten minste twee zich bevinden op een radiale onderlinge afstand, voor het vormen van een opneemopening (48, 49) voor het ontvangen van de tak (13), waarbij de opneemopening (48, 49) wordt gedefinieerd door een rand aan het einde (27, 38) van het rompgedeelte (22, 35) en twee zijranden van naastgelegen in een omtrekrichting op een afstand van elkaar geplaatste vingers, waarbij ten minste één vinger snijgedeelte (30, 31, 32, 50, 51, 52) draagt en kan worden bewogen over de opneemopening (48, 49). An automatic harvesting device (1) according to claim 1, wherein the instrument (15) comprises a trunk portion (22, 35) extending in an axial direction, the trunk portion having three or more axially extending fingers (23, 24, 25, 43 , 44, 45), at least two of which are radially spaced apart, for forming a receiving opening (48, 49) for receiving the branch (13), the receiving opening (48, 49) being defined by an edge at the end (27, 38) of the trunk portion (22, 35) and two side edges of adjacent circumferentially spaced fingers, with at least one finger cutting portion (30, 31, 32, 50 , 51, 52) and can be moved over the receiving opening (48, 49). 3 Automatisch oogsttoestel (1) volgens conclusie 2, waarbij het instrument (3, 15) drie of meer paren vingers (23, 43; 24, 44; 25, 45) omvat. An automatic harvesting device (1) according to claim 2, wherein the instrument (3, 15) comprises three or more pairs of fingers (23, 43; 24, 44; 25, 45). 4 Automatisch oogsttoestel (1) volgens conclusie 2 of 3, waarbij het instrument (3, 15) cilindrisch is, met een middellijn (18) die zich uitstrekt in de axiale richting, waarbij het grijperonderdeel (16) en het snijgedeelte (17) elk zijn voorzien van een axiale gleuf (19) voor het ontvangen van een stam (12), waarbij het snijgedeelte (17) coaxiaal is met het grijperonderdeel (16), waarbij het grijperonderdeel (16) en het snijgedeelte (17) kunnen worden geroteerd ten opzichte van elkaar rond de middellijn (18), en waarbij een snijgedeelte is bevestigd (30, 31, 32, 50, 51, 52) aan de vingers (23, 43; 24, 44; 25, 45). An automatic harvesting device (1) according to claim 2 or 3, wherein the instrument (3, 15) is cylindrical, with a diameter (18) extending in the axial direction, the gripper member (16) and the cutting portion (17) each are provided with an axial slot (19) for receiving a stem (12), the cutting portion (17) being coaxial with the gripper part (16), the gripper part (16) and the cutting part (17) being rotatable relative to relative to each other about the centerline (18), and having a cutting portion attached (30, 31, 32, 50, 51, 52) to the fingers (23, 43; 24, 44; 25, 45). 5 Automatisch oogsttoestel (1) volgens conclusie 4, waarbij het snijgedeelte (17) wordt geplaatst rond het grijperonderdeel (16) en kan roteren om de middellijn (18), voor het afsluiten van de axiale gleuf (19).An automatic harvesting device (1) according to claim 4, wherein the cutting portion (17) is placed around the gripper member (16) and is rotatable about the centerline (18), to close the axial slot (19). 6 Automatisch oogsttoestel (1) volgens conclusie 4 of 5, waarbij het snijgedeelte (17) wordt voorzien, langs een rand (37) aan het einde, van een kroonwiel (36) dat wordt aangedreven door een aandrijftandwiel (54), waarbij het aandrijftandwiel (54) aangrijpt op het kroonwiel (36). An automatic harvesting device (1) according to claim 4 or 5, wherein the cutting section (17) is provided, along an edge (37) at the end, with a crown gear (36) driven by a drive gear (54), the drive gear (54) engages the crown wheel (36). 7 Automatisch oogsttoestel (1) volgens een van de conclusies 2 - 6, waarbij het instrument (3,An automatic harvesting device (1) according to any one of claims 2 to 6, wherein the instrument (3, 15) een optische of voelsensor omvat die zich bevindt tussen twee naburige vingers (23, 43; 24, 44; 25, 45) aan of nabij de rand (27, 38) aan het uiteinde van het rompgedeelte (22, 35), voor het detecteren van de aanwezigheid van een tak tussen twee naburige, in een omtreksrichting op een afstand van elkaar geplaatste vingers.15) includes an optical or tactile sensor located between two adjacent fingers (23, 43; 24, 44; 25, 45) at or near the rim (27, 38) at the end of the trunk portion (22, 35), for detecting the presence of a branch between two adjacent circumferentially spaced fingers. 8 Automatisch oogsttoestel (1) volgens een van de conclusies 2 - 7, waarbij het instrument (3, 15) kan worden gedraaid rond een dwars-as die zich uitstrekt dwars op de middellijn. An automatic harvesting device (1) according to any one of claims 2 to 7, wherein the instrument (3, 15) can be rotated about a transverse axis extending transverse to the centerline. 9 Automatisch oogsttoestel (1) volgens een van de voorgaande conclusies, dat een transport-Automatic harvesting device (1) according to one of the preceding claims, which has a transport onderdeel (5) omvat dat kan worden geplaatst onder een gewas, voor het opvangen van het gewas als de tak (13) wordt afgesneden. includes part (5) that can be placed under a crop, for catching the crop when the branch (13) is cut. 10 Snij-instrument (15) voor het afsnijden van een gewas (11) dat groeit aan een stam (12), aan een tak (13), dat is voorzien van een grijperonderdeel (18) dat ten minste gedeeltelijk rond de stam10 Cutting instrument (15) for cutting a crop (11) growing on a trunk (12), on a branch (13), provided with a gripper part (18) that wraps at least partially around the trunk. (12) kan worden geplaatst, en dat is ingericht om zich in axiale richting te verplaatsen langs de stam totdat het de nabijheid bereikt van de tak (13), waarbij het instrument is voorzien van een rompgedeelte (22, 35) dat zich uitstrekt in een axiale richting, waarbij het rompgedeelte twee of meer zich axiaal uitstrekkende vingers (23, 24, 25, 43, 44, 45) ondersteunt, waarvan er ten minste twee zich op een radiale onderlinge afstand bevinden, voor het vormen van een opneemopening(12) can be positioned, and which is adapted to move axially along the trunk until it reaches the vicinity of the branch (13), the instrument having a trunk portion (22, 35) extending into an axial direction, the body portion supporting two or more axially extending fingers (23, 24, 25, 43, 44, 45), at least two of which are spaced radially apart, to form a receiving opening (48, 49) voor het opnemen van de tak (13), waarbij de opneemopening (48, 49) wordt gedefinieerd door een rand (27, 38) aan het uiteinde van het rompgedeelte (22, 35) en twee zijranden van naast elkaar gelegen, in een omtreksrichting op een afstand van elkaar geplaatste vingers, en waarbij ten minste één vinger een snijgedeelte (30, 31, 32, 50, 51, 52) draagt en kan worden bewogen over de opneemopening (48, 49).(48, 49) for receiving the branch (13), the receiving opening (48, 49) being defined by an edge (27, 38) at the end of the trunk portion (22, 35) and two side edges of side by side located circumferentially spaced fingers, and wherein at least one finger bears a cutting portion (30, 31, 32, 50, 51, 52) and is movable across the receiving opening (48, 49). 11 Snij-instrument (15) volgens conclusie 10, waarbij het grijperonderdeel (16) en het snijgedeelte (17) cilindrisch zijn, met een middellijn (18) die zich uitstrekt in de axiale richting en die is voorzien van een axiale gleuf voor het ontvangen van de stam, waarbij het snijgedeelte (17) coaxiaal is met het grijperonderdeel (18), waarbij het grijperonderdeel en het snijgedeelte ten opzichte van elkaar kunnen roteren rond de middellijn (18), en waarbij een snijgedeelte (30, 31, 32, 50, 51, 52) is bevestigd aan vingers (43, 44, 45) van ten minste het snijgedeelte (17). A cutting instrument (15) according to claim 10, wherein the gripper member (16) and the cutting portion (17) are cylindrical, with a centerline (18) extending in the axial direction and provided with an axial slot for receiving of the trunk, the cutting part (17) being coaxial with the gripper part (18), the gripper part and the cutting part being rotatable relative to each other about the centerline (18), and a cutting part (30, 31, 32, 50 , 51, 52) is attached to fingers (43, 44, 45) of at least the cutting portion (17). 12 Snij-instrument (15) volgens conclusie 10 of 11, waarbij het instrument drie of meer paren vingers (23, 43; 24, 44; 25, 45) omvat.A cutting instrument (15) according to claim 10 or 11, wherein the instrument comprises three or more pairs of fingers (23, 43; 24, 44; 25, 45). 13 Werkwijze voor het oogsten van een gewas (11) dat groeit aan een stam (12), aan een tak (13), die het volgende omvat:13 Method of harvesting a crop (11) growing on a trunk (12), on a branch (13), comprising the following: - het plaatsen van een instrument (3, 15), waarbij het instrument is voorzien van een grijperonderdeel (16) en twee of meer zich axiaal uitstrekkende vingers (23, 24, 25, 43, 44, 45) die in een omtreksrichting op een afstand van elkaar geplaatst en die een opneemopening (48, 49) daar tussenin vormen, ten minste gedeeltelijk rond de stam of scheut,- placing an instrument (3, 15), wherein the instrument is provided with a gripper part (16) and two or more axially extending fingers (23, 24, 25, 43, 44, 45) which are arranged in a circumferential direction on a spaced apart and forming a receptacle (48, 49) therebetween, at least partially around the trunk or shoot, - het verplaatsen van het instrument langs de stam of scheut totdat het de nabijheid bereikt van de tak (13), waarbij twee vingers (23, 24, 25, 43, 44, 45) zich uitstrekken aan beide zijden van de tak (13), en- moving the instrument along the trunk or shoot until it reaches the vicinity of the branch (13), with two fingers (23, 24, 25, 43, 44, 45) extending on both sides of the branch (13) , and - het verplaatsen van een snijgedeelte (30, 31, 32, 50, 51, 52) op het instrument, over de opneemopening (48, 49), en het afsnijden van de tak. - moving a cutting part (30, 31, 32, 50, 51, 52) on the instrument, over the receiving opening (48, 49), and cutting the branch. 14 Werkwijze volgens conclusie 13, die de volgende stappen omvat: het detecteren van de aanwezigheid van een gewas (11), gebruikmakend van een optische sensor (4),A method according to claim 13, comprising the following steps: detecting the presence of a crop (11) using an optical sensor (4), het verplaatsen van het instrument (15) langs de stam (12), zodat deze in de nabijheid komt van het gewas (11),moving the instrument (15) along the trunk (12) so that it comes close to the crop (11), het detecteren van de aanwezigheid van een tak in de opneemopening (48, 49), met behulp van een sensor,detecting the presence of a branch in the receiving opening (48, 49), using a sensor, het plaatsen van een grijperonderdeel (5) onder het gewas (11), het bedienen van het snijgedeelte (30, 31, 32, 50, 51, 52), en het opvangen van het gewas in het grijperonderdeel (5).placing a gripper part (5) under the crop (11), operating the cutting part (30, 31, 32, 50, 51, 52), and collecting the crop in the gripper part (5).
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4279281A (en) 1979-05-25 1981-07-21 Shinko Plant Co. Ltd. Automatic branch cut-off device
US5899019A (en) 1996-06-28 1999-05-04 Groves; Gavin D. Stripping tool
NL1024702C2 (en) * 2003-11-04 2005-05-09 Agrotechnology And Food Innova System is for removal of parts of a plant and employs an autonomous robot comprising a vehicle movable over a rail with aid of wheels
EP1891852A1 (en) * 2006-08-25 2008-02-27 Egatec A/S Method and collection vehicle for harvesting crops growing on stems
US10485171B1 (en) * 2019-05-29 2019-11-26 King Saud University Tree harvesting tool

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4279281A (en) 1979-05-25 1981-07-21 Shinko Plant Co. Ltd. Automatic branch cut-off device
US5899019A (en) 1996-06-28 1999-05-04 Groves; Gavin D. Stripping tool
NL1024702C2 (en) * 2003-11-04 2005-05-09 Agrotechnology And Food Innova System is for removal of parts of a plant and employs an autonomous robot comprising a vehicle movable over a rail with aid of wheels
EP1891852A1 (en) * 2006-08-25 2008-02-27 Egatec A/S Method and collection vehicle for harvesting crops growing on stems
US10485171B1 (en) * 2019-05-29 2019-11-26 King Saud University Tree harvesting tool

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