US20220087105A1 - System and method for autonomous harvester installation and farm harvesting operation - Google Patents

System and method for autonomous harvester installation and farm harvesting operation Download PDF

Info

Publication number
US20220087105A1
US20220087105A1 US17/422,443 US202017422443A US2022087105A1 US 20220087105 A1 US20220087105 A1 US 20220087105A1 US 202017422443 A US202017422443 A US 202017422443A US 2022087105 A1 US2022087105 A1 US 2022087105A1
Authority
US
United States
Prior art keywords
harvesting
fruit
bin
fruits
collection bin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US17/422,443
Other languages
English (en)
Inventor
Yaniv Maor
Amit Shefi
Tal DESHEH
Or Shefi
Arie PELEG
Elad SHIFMAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tevel Aerobotics Technologies Ltd
Original Assignee
Tevel Aerobotics Technologies Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tevel Aerobotics Technologies Ltd filed Critical Tevel Aerobotics Technologies Ltd
Priority to US17/422,443 priority Critical patent/US20220087105A1/en
Assigned to TEVEL AEROBOTICS TECHNOLOGIES LTD. reassignment TEVEL AEROBOTICS TECHNOLOGIES LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SHEFI, AMIT, PELEG, Arie, DESHEH, Tal, MAOR, YANIV, Shefi, Or, SHIFMAN, Elad
Publication of US20220087105A1 publication Critical patent/US20220087105A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B25/00—Packaging other articles presenting special problems
    • B65B25/02—Packaging agricultural or horticultural products
    • B65B25/04—Packaging fruit or vegetables
    • B65B25/046—Packaging fruit or vegetables in crates or boxes
    • 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
    • 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
    • A01D46/20—Platforms with lifting and lowering devices
    • 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
    • A01D46/22—Baskets or bags attachable to the picker
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24—Devices for picking apples or like fruit
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24—Devices for picking apples or like fruit
    • A01D46/253—Portable motorised fruit pickers
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F25/00—Storing agricultural or horticultural produce; Hanging-up harvested fruit
    • A01F25/14—Containers specially adapted for storing
    • 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
    • A01G22/00—Cultivation of specific crops or plants not otherwise provided for
    • A01G22/05—Fruit crops, e.g. strawberries, tomatoes or cucumbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B39/00—Nozzles, funnels or guides for introducing articles or materials into containers or wrappers
    • B65B39/12—Nozzles, funnels or guides for introducing articles or materials into containers or wrappers movable towards or away from container or wrapper during filling or depositing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/108—Article support means temporarily arranged in the container
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/02—Food
    • G01N33/025—Fruits or vegetables
    • B64C2201/027—
    • B64C2201/12—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations

Definitions

  • the present invention is in the technical field of agriculture technology, specifically autonomous harvesting, more particularly, the present invention relates to harvesting-devices, systems and methods. More particularly, the present invention relates to harvesting devices for orchards, plantations green houses and field, such as apple-, pear-, apricot-, peach-, orange-, small-citrus fruit-, and lemon-trees, avocado, vines, tomatoes, eggplants, cucumbers, and peppers.
  • bins When a bin is filled with fruit, the pickers move to the next tree line, while a forklift or a dedicated track takes the full bin for storage, shipment or any other action.
  • a forklift or a dedicated track takes the full bin for storage, shipment or any other action.
  • bins are usually taken to a warehouse for storage/cooling, and are removed/shipped according to market demand.
  • the bin is taken to a sorting house for sorting the fruits. Only after sorting of the fruit it is possible to evaluate the economic value of each bin and each fruit therein. As a result, there is no way of knowing the real value of each bin within a warehouse, let alone the number of fruits and their quality.
  • the bins are mounted and installed on a harvester-robot or on a track to facilitate easy access of the harvesting arms to the bin for deployment of the fruits therein.
  • robotic systems require many tractors or other vehicles in order to work simultaneously and harvest multiple lines of trees within an orchard.
  • An example of such robotic system is a robotic machine that has 1-8 robotics arms, and is designed to carry one or more bins, all mounted on a vehicle or attached to one that pulls it.
  • UAV unmanned aircraft vehicles
  • the present invention provides a harvesting system for autonomous harvesting to be used together with a fruit collection bin, the system comprising: (a) at least one robotic harvester equipped with: a fruit detection unit for identifying a fruit; a fruit's gripping or collecting tool; and optionally, a cutting tool for cutting a fruit off a tree, and (b) a frame/box for holding the at least one robotic harvester, wherein the frame/box is designed to fit onto the fruit collection bin, and optionally includes a power source.
  • the present invention further provides a method for autonomously harvesting fruits, the method comprising the steps of: (a) mounting/attaching a harvesting system of the invention onto a fruits' collection bin or onto a bin wagon; (b) placing the fruits' collecting bin(s) in an orchard either alone or as a train of bins; (c) activating the at least one robotic harvester of the harvesting system, thereby enabling autonomous picking of fruits and filling the fruits' collection bin; (d) optionally, switching the full bin with an empty collection bin; and (e) switching the harvesting system off when the bin is full.
  • FIG. 1 is an illustration of a standard collection bin.
  • FIGS. 2A-2C are illustrations of a standard collection bin with an upper frame comprising flying harvesters: FIG. 2A and 2C are of a standard collection bin; and FIG. 2B is of a collection bin with wheels (wagon bin).
  • FIGS. 3A-3B are side illustrations of a standard collection bin with a side-addition for holding flying harvesters.
  • FIG. 4 is an illustration of a standard collection bin with a side addition of an attached harvesting arm.
  • FIGS. 5A-5B are illustrations of a standard collection bin with an inner addition of a flying harvester.
  • FIGS. 6A-6C are illustrations of how an upper frame with harvesters (A-flying; B & C-wired) is mounted unto a standard collection bin and then used for harvesting.
  • FIGS. 7A-7D are illustrations of a train of collection bin equipped with the harvesters' upper frame: FIG. 7A is a side-view illustration of a two-wagon train, each wagon with wired flying harvesters; FIG. 7B is an upper-view illustration of an orchard with a three-wagon train with free-flying harvesters; FIG. 7C is an illustration of an orchard with three identical trains; and FIG. 7D is an illustration of an orchard with three types of trains.
  • FIGS. 8A-8C illustrate a process of harvesting an orchard using one embodiment of a harvesting system according to the invention.
  • FIGS. 9A-9D illustrate another process of harvesting an orchard using one embodiment of a harvesting system according to the invention.
  • the process of harvesting includes a step of deploying fruit collection bins between the trees.
  • the pickers human or mechanic
  • the robots When harvesting with ground-moving harvester robots, the robots usually carry their own collection bin(s) and fill it as they move through the tree lines.
  • Such manual or robotic harvesting it time consuming and costly since it usually requires either a long harvesting time or numerous harvesters.
  • the number of bins in such a line is about 18, so that the distance between two adjacent bins is approximately 10 meters.
  • the density and number of bins is dependent on the fruit density and on the quality of selective harvesting.
  • the picking rate of a ground harvesting robot with 6 harvesting arms is about one line per day, which means that about 150 tractors or vehicles equipped with such harvesting robot are required to operate the farm, along with about 8 forklifts for collecting the full bins.
  • the present invention provides a harvesting system for autonomous harvesting to be used together with a fruit collection bin, the system comprising: (a) at least one robotic harvester equipped with: a fruit detection unit for identifying a fruit; a fruit's gripping or collecting tool; and optionally, a cutting tool for cutting a fruit off a tree, and (b) a frame/box for holding the at least one robotic harvester, wherein the frame/box is designed to fit onto the fruit collection bin, and optionally includes a power source.
  • the present invention further provides a harvesting system that comprises a harvesting collection bin and one or more integrated harvesting robots.
  • a “collection bin” refers to a container for collecting fruits.
  • the bin may be any standard collection bin as currently used in the field or any other container that can be used to collect fruits.
  • a “collection bin” also includes a portable bin with wheels, such as a collection wagon (also used herein interchangeably) that can be used either as individual wagons that can be dispersed in an orchard, or as a train of wagons that is pulled together into and out of an orchard.
  • the wagons can be pulled together, disconnect and dispersed in several locations in the orchard, and reconnect back together once filled for removal from the orchard.
  • the collection bin according to the invention is a wheeled bin or wagon, wherein the wagon is either a standalone unit or is part of a train of wagons.
  • the systems of the invention in which the harvesting robot(s) is installed-on/integrated-with a fruit collection bin, the number of large machinery vehicles required is reduced to a minimum since a single tractor (or two) may be sufficient to deploy all the bins in the orchard in a short period of time, and 8 (or less) forklifts can be used to collect all the filled bins, while the harvesting robots keep on harvesting.
  • the harvesting robots are installed on a collection bin, i.e. using a dedicated vessel/box holding the harvesting robots. This is in contrary to known systems in which the collection bin is mounted on the robot/vehicle.
  • the collection bin and harvesting robots of the harvesting system of the invention constitute a single unified unit that can be carried into and out of orchards by either a tractor or a forklift. Accordingly, in certain embodiments, the harvesting bin of the invention (with its integrated harvesting robots) or a standard collection bin with a harvesting system of the invention mounted thereon, constitutes an autonomous harvesting bin that harvests its own fruit.
  • the harvesting robot(s) 103 is installed in a dedicated frame/ring 102 deigned to be mounted onto the top side (opening) of a collection bin 101 or are part of the wagon of a train of collection bins.
  • FIGS. 2A and 2C illustrate how a standard collection bin 101 looks like when equipped with an upper frame 102 comprising flying robotic harvesters 103 .
  • FIG. 2B illustrates how a standard collection bin 101 equipped with wheels or part of a train of bins (wagon bin) looks like when equipped with an upper frame 102 comprising flying robotic harvesters 103 .
  • the robotic harvester is a: (a) robotic harvesting arm that is connected to the frame/box that includes a power source, or (ii) flying unmanned aircraft harvesting vehicle (UAV), which is either flying wirelessly or is wirely connected to the frame/box.
  • UAV flying unmanned aircraft harvesting vehicle
  • robotic harvesters 103 either flying ones or not, within the harvesting system of the invention may vary according to need and desire. For instance, there can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more robotic harvesters 103 .
  • the harvesting robot(s) is provided/installed in a box/suitcase 102 that is designed to be mounted on the outer surface of the collection bin's side wall.
  • FIGS. 3A-3B illustrate how a standard collection bin 101 looks like when equipped with a side-box 102 for holding flying harvesters 103 .
  • FIG. 4 illustrates how a standard collection bin 101 looks like when equipped with a side-box 102 holding a robotic harvesting arm(s) 104 .
  • the box/suitcase 102 can be mounted on the external side wall of the collection bin (as illustrated in FIGS. 3 and 4 ); inside the collection bin (i.e. between the bin's walls); or on top of the bin, i.e. placed on the upper edge of the bin's walls.
  • FIGS. 5A-5B illustrates a standard collection bin 101 with an inner addition of a flying harvester 103 .
  • the flying harvester 103 may either return to the box/frame 102 or be simply placed/land onto the pile of fruits within the bin 101 .
  • the flying harvester 103 may be secured to the side walls of the bin (or a wagon-bin), or placed in a dedicated box that can be optionally secured to the side walls of the bin or placed onto the fruits in the bin.
  • FIGS. 6A-6B illustrates one possibility to transfer a standard collection bin 101 into a self-harvesting collection bin according to the invention: onto a standard collection bin 101 , an upper frame 102 with harvesters ( FIG. 6A illustrates free-flying harvesters 103 ; FIG. 6B illustrates 4 flying harvesters that are wirely connected to the upper frame 102 ; and FIG. 6C illustrates 2 flying harvesters that are wirely connected to the upper frame 102 ) is mounted/attached unto the upper surface of the bin 101 .
  • the assembled bin-frame can be positioned anywhere in an orchard thereby enabling the robotic harvesters 103 to start harvesting and filling the collection bin 101 .
  • harvesting robot refers to a harvesting robotic arm or an unmanned aircraft vehicle (UAV).
  • UAV unmanned aircraft vehicle
  • a harvester unit that consists 4 drones is installed on a bin before bin deployment, and the bin is then filled with fruits harvested by the drones.
  • the harvesting rate of a single drone is about 100 Kg/hours, which means that 4 drones provide a picking rate of 400 Kg/hour, thereby filling a bin within 1 hour.
  • a harvester unit that consists 2 drones is installed on a bin before bin deployment, and the bin is then filled with fruits harvested by the drones.
  • the harvesting rate of a single drone is about 100 Kg/hours, which means that 2 drones provide a picking rate of 200 Kg/hour, thereby filling a bin within 2 hours.
  • the power consumption of each drone is about 1 kW, weight about 3 Kg, having a lifting force of 8 Kg, and has a fruit payload of about 2 Kg (10 apples).
  • the harvesting robot is a robotic arm 104 designed to harvest fruits from nearby trees and deliver the harvested fruits into the collection bin 101 .
  • the robotic arm 104 is telescopic and rotatable to enable reaching distant fruits in any angle.
  • the robotic arm 104 has a working radius of up to 5 meters or more, up to 10 meters or more; up to 15 meters or more, up to 20 meters or more, or at least about 30 m.
  • the fruit detection unit comprises at least one camera in order to identify fruits for harvesting, and/or to identify obstacles, and optionally for obtaining data regarding fruits' quality and ripeness.
  • the harvesting robot is a UAV equipped with one or more harvesting arms 104 that are designed to harvest fruits in the bin's surroundings at a radius of up to 5 meters or tree-top or more, up to 10 meters or more; up to 15 meters or more, up to 20 meters or more, or about 30 meters or more.
  • the harvesting robot is a threaded UAV 103 that receives energy wirely from a power source located/installed in the frame or box mounted/attached on the collection bin/wagon-bin 101 .
  • the threaded UAV also receives harvesting instructions from a main computer/computing system located in the frame or box mounted/attached on the collection/wagon bin 101 .
  • the harvesting system further comprises at least one autonomous energy pack/power source for powering up and/or charging the at least one robotic harvester.
  • the harvesting system of the invention of any of the embodiments above further comprises a computing system comprising a memory and processor.
  • Such computing system may be designed to receive data regarding the amount and/or quality of the fruits inside each collection bin 101 .
  • the data further includes any one of the following: fruit color, size, sugar ratio, weight, and any combination thereof. This information is important and useful when managing the storage and quality in the warehouse, and enables to provide the farmer knowledge about potential economic value of the stored fruits in the warehouse.
  • the computing system of the harvesting system of the invention further comprises an algorithm for determining a fruit's quality inside each collection bin.
  • said algorithm for determining the fruit's quality uses at least one of the following parameters for determining the fruit's quality, including ripeness, according to the type of fruit being harvested: color, water content, rigidity/softness, sparkle, size, season, spots-damages inspection, fruit disconnection force (the ripper the fruit is—the easier it is to pull), weight.
  • the computing system of the harvesting system of the invention enables the at least one robotic harvester to be completely independent/autonomous so that there is no need for a manual control thereof.
  • the fruit data is provided to the computer/computing system of the system via sensors and indicators located on the harvesting robot(s) and/or other locations/devices or databases.
  • sensors and indicators located on the harvesting robot(s) and/or other locations/devices or databases.
  • one or more separate units located, e.g. on the collection bin may be used to gather the information, e.g. using a camera, scale, lasers, etc.
  • the harvesting system according to any of the embodiments above further comprises at least one sensor designed to deliver fruit quality data, and optionally ripeness, to said computing system.
  • the harvesting system according to any of the embodiments above further comprises at least one sensor designed to count the number of fruits placed inside each collection bin.
  • the sensors may be located any wherein the system, e.g. as an integral part of the robotic harvester(s), as part of the frame/box, and/or as independent units placed anywhere and associated with the system (wirely or wirelessly).
  • the harvesting system of the invention further comprises a computing system that enables the robotic harvester to be completely independent/autonomous so that there is no need for a manual control.
  • the harvesting system of the invention comprises a single harvesting robot. In alternative embodiments, the system comprises 2, 3, 4, 5, 6, 7, 8 or more robots.
  • the harvesting system of any of the embodiments above further comprises a computer/computing system comprising a memory, a processor, and an algorithm that calculates the fruit's position in relation to the robotic harvester, which enables: (1) autonomous navigation of the robotic harvester in a complex environment; and (2) autonomous maneuvering the robotic harvester to the fruit to be harvested based on data obtained from the fruit detection unit.
  • a computer/computing system comprising a memory, a processor, and an algorithm that calculates the fruit's position in relation to the robotic harvester, which enables: (1) autonomous navigation of the robotic harvester in a complex environment; and (2) autonomous maneuvering the robotic harvester to the fruit to be harvested based on data obtained from the fruit detection unit.
  • the harvesting system of the invention is connected to one or more harvesting systems of the invention thereby creating a “train” of harvesting systems.
  • FIG. 7A illustrates such a train with collection bins 101 each equipped with a box/suitcase 102 mounted thereon holding a plurality of threaded harvesting UAVs.
  • FIG. 7B illustrates such a train or harvesting wagons placed within an orchard.
  • the “train” of harvesting systems may be pulled by any suitable means, such as a tractor or a pulling tool, that pulls the “train” through the orchard, positions the bins in place, and then pulls them to a warehouse once filled.
  • the train of bins may be pulled into the orchard by one means, and removed from the orchard, once filled, by another means.
  • the present invention provides a harvesting system for autonomous harvesting, the system comprising concatenated fruit collecting (harvesting) wheeled-wagons (i.e. a train of fruit collecting wagons) designed to be pulled by a pulling machine, such as a tractor or an integrated motor and guiding system (located, e.g., in the first wagon), wherein at least one of the wagons in the system is equipped with: (a) at least one flying robotic harvester equipped with: a fruit detection unit for identifying a fruit; a fruit's gripping or collecting tool; and optionally, a cutting tool for cutting a fruit off a tree, and (b) a frame/box for holding said at least one robotic harvester and designed to fit onto said fruit collection bin wheeled-wagon, and optionally includes a power source; wherein each one of said fruit collecting (harvesting) wheeled-wagons further comprises a fruit protection system for delivering/moving harvested fruits from the wagon's top to its bottom/floor for protecting fruit
  • the present invention further provides a method for autonomously harvesting, e.g., fruits in an orchard, the method comprising the steps of: (a) mounting/attaching a harvesting system according to any of the embodiments above onto a fruits' collection bin or onto a fruit collection wagon; (b) placing the fruits' collecting bin/wagon in an orchard; a tractor/truck takes/pulls the bins/wagons (with the mounted harvesting system) to the tree lines and deploy the bins on the ground.
  • the bins can be installed on a wheeled-platform or equipped with wheels (thereby becoming a wagon) to assist their pulling by a tractor; (c) activating the at least one robotic harvester of the harvesting system thereby enabling autonomous picking of fruits and filling the fruits' collection bin; and (d) switching the harvesting system off when the bin is full, and optionally returning the robotic harvester(s) back into its frame/box.
  • the harvesting method according to the invention further comprises step (e) of dismantling the harvesting system from the full bin and optionally placing/attaching same to an empty collection bin for further harvesting if needed. This can be done in the orchard or anywhere else. Accordingly, in another specific embodiment, step (e) is carried out outside the orchard.
  • the harvesting method according to the any of the embodiments above further comprises step (f) of transporting the full bin (with or without the harvesting system) to a warehouse.
  • step (a) is carried out outside the orchard, and step (b) means that the collection bin is placed in the orchard when the harvesting system is already attached thereto;
  • step (b) of the method according to any of the embodiments above is carried out by a tractor/truck or by rolling/pulling the collection bins on their own wheels (if present); and/or step (d) is carried automatically when the harvesting system identifies that the fruits' collection bin is full.
  • each collection bin is equipped with the harvesting system of the invention, and all harvesting systems work simultaneously, autonomously and independently from one another in the same orchard.
  • more than one fruits' collection bin is used, but only some of the collection bins are equipped with the harvesting system of the invention, and all harvesting systems work simultaneously, autonomously and independently from one another, wherein once a collection bin is filled, its associated harvesting system is transferred to an empty collection bin and activated for filling the collection bin, until all collection bins are filled.
  • a single harvesting system of the invention may be used to fill several collection bins in tis proximity, without needing to transfer it from a filled collection bin to an empty one.
  • FIGS. 8A-8C As illustrated, collection bins, each equipped with a harvesting system of the invention with (2 wired) harvesting drones, are dispersed within an orchard ( FIG. 8A ). All drones operate independently from one another and fill the collection bin to which they are associated with ( FIG. 8B ). Once the bins are filled, the drones return to their frame/box, and the filled bins are removed from the orchard by suitable means. The harvesting system can now be transferred to empty bins for further harvesting in the same or different orchard.
  • FIGS. 9A-9D As illustrated, collection bins are dispersed within an orchard while only a few of them are equipped with a harvesting system of the invention ( FIG. 9A ).
  • the harvesting drones operate independently from one another and fill the collection bin they are associated with, while all other collection bins remain empty ( FIG. 9B ).
  • the drones return to their frame/box 102 , which is then transferred to the next collection bin, while the filled bins are removed from the orchard without the harvesting system ( FIGS. 9C & 9D ). This process continues as desired, e.g. until all the orchard has been harvested.
  • an orchard comprises 200 meters tree-lines.
  • the distance between the collection bins that are distributed within the orchard is about 10 meters, which means about 20 bins are used per tree line.
  • the maximal distance between a harvesting drone and the bin is about 5 m, and the average distance is about 2.5 m.
  • two drones are associated with each bin, providing a bin-filling time of about 2 hours. Since all the drones work simultaneously and autonomously, 2 operators are sufficient to operate each tree line (20 bins, 40 drones). For the sake of comparison, the same picking rate of 20 bins would usually require 32 manual workers.
  • one forklift and one tractor are used for deployment and collection of the bins and can serve up to 6 lines of trees per hour (i.e. 120 bins/hour).
  • step (a) of mounting/attaching a harvesting system according to claim 1 onto a fruits' collection bin means mounting/attaching a harvesting system according to claim 1 onto one or more fruits' collection wagons that constitutes a train of wagons; and step (b) of placing said fruits' collecting bin(s) in an orchard, means pulling the train of wagons into the orchard between tree lines.
  • the method further comprises a step of relocating the train of wagons when there are no more fruits to pick to a new harvesting location in the orchard.
  • step (b) of pulling the train of wagons into the orchard means continuously pulling the train of wagons through the orchard's lines, i.e. without stopping, wherein the train moves slowly through the orchard, while the harvesting robots harvest the fruits as the train moves.
  • the movement speed of the train through the orchard is about 25-meters per hour or less, about 20-meters per hour or less, about 15-meters per hour or less, about 10-meters per hour or less, about 7-meters per hour or less, about 5-meters per hour or less, or about 2-meters per hour or less.
  • FIG. 7C illustrates a train of wagons in which all the wagons are equipped with the harvesting system of the invention
  • FIG. 7C illustrates a train of wagons in which all the wagons are equipped with the harvesting system of the invention
  • the harvesting robots may be instructed to fill nearby wagons that are not equipped with the harvesting system (see e.g. FIG. 7D ).
  • the harvesting robots may be flying wired or wireless robots or harvesting arms.
  • Another harvesting configuration is that each harvesting system on each wagon is responsible for picking/harvesting fruits from predefined different tree heights, such that all wagons together pick the entire tree's height.
  • Another harvesting configuration is that each harvesting system on each wagon is responsible for picking/harvesting fruits from a different grade, thereby filling the wagons with fruits of the same grade, e.g. grade A, grade B, etc.
  • the harvesting system and method of the invention has many advantages, such as: all harvesting robots works simultaneously, which saves harvesting time; all harvesting robots works autonomously, which saves man labor; harvesting rate depends-on/can be controlled by the deployment of the harvesting system; no need for special-new bin deployment and collection machinery; and the system enables easy control and supervision on the number of fruits and their quality in each bin before storage.
  • the train configuration in which multiple collection wagon are pulled into the orchard, some or all of the wagons are equipped with the harvesting system of the invention with its harvesting robots (flying or not), is cost effective and further enables fruits' sorting already at the orchard.
  • a train of 5 collection wagons can have 5 different fruit-grades and each wagon may be assigned to collect different grade of fruit, e.g. Grade A (best) in the first wagon, Grade B in the second, etc.
  • the harvesting system of any of the embodiments above further comprises a fruit protection system that comprises an elevator floor that is designed to gradually and gently lower harvested fruits from the top opening of the collection bin to its bottom (or on top of previously harvested fruits) thereby preventing bruising/damaging the fruits due to their falling to the bottom of the collection bin.
  • a fruit protection system that comprises an elevator floor that is designed to gradually and gently lower harvested fruits from the top opening of the collection bin to its bottom (or on top of previously harvested fruits) thereby preventing bruising/damaging the fruits due to their falling to the bottom of the collection bin.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Food Science & Technology (AREA)
  • Chemical & Material Sciences (AREA)
  • Robotics (AREA)
  • General Health & Medical Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Medicinal Chemistry (AREA)
  • Agronomy & Crop Science (AREA)
  • Botany (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Aviation & Aerospace Engineering (AREA)
US17/422,443 2019-01-17 2020-01-15 System and method for autonomous harvester installation and farm harvesting operation Pending US20220087105A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/422,443 US20220087105A1 (en) 2019-01-17 2020-01-15 System and method for autonomous harvester installation and farm harvesting operation

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962793480P 2019-01-17 2019-01-17
PCT/IL2020/050060 WO2020148758A1 (fr) 2019-01-17 2020-01-15 Système et procédé pour une installation de moissonneuse autonome et une opération de récolte agricole
US17/422,443 US20220087105A1 (en) 2019-01-17 2020-01-15 System and method for autonomous harvester installation and farm harvesting operation

Publications (1)

Publication Number Publication Date
US20220087105A1 true US20220087105A1 (en) 2022-03-24

Family

ID=71613730

Family Applications (2)

Application Number Title Priority Date Filing Date
US17/422,443 Pending US20220087105A1 (en) 2019-01-17 2020-01-15 System and method for autonomous harvester installation and farm harvesting operation
US17/423,195 Pending US20220061217A1 (en) 2019-01-17 2020-01-15 System and method for protecting harvested fruits during harvesting

Family Applications After (1)

Application Number Title Priority Date Filing Date
US17/423,195 Pending US20220061217A1 (en) 2019-01-17 2020-01-15 System and method for protecting harvested fruits during harvesting

Country Status (4)

Country Link
US (2) US20220087105A1 (fr)
EP (1) EP3911143A4 (fr)
IL (2) IL284715A (fr)
WO (2) WO2020148758A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210147080A1 (en) * 2019-11-18 2021-05-20 Agco Corporation Crop-extraction system having an unmanned aerial vehicle, and related methods
US12042810B2 (en) 2019-11-18 2024-07-23 Agco Corporation Aerial boom with through-fan spray and related methods and vehicles

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112517444A (zh) * 2021-01-22 2021-03-19 山东商业职业技术学院 一种基于计算机视觉的水果分级设备
CN113330912B (zh) * 2021-07-01 2022-06-10 塔里木大学 一种多功能香梨用采摘剪枝装置
EP4151073A1 (fr) * 2021-09-15 2023-03-22 Kubota Corporation Procédé et système de récolte de fruits ou de légumes
WO2024171289A1 (fr) * 2023-02-14 2024-08-22 株式会社クボタ Aéronef sans pilote, système de gestion, système d'emballage, procédé de gestion et programme informatique

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3408108A (en) * 1966-12-20 1968-10-29 John L. Duda Jr. Wagon with descending floor
KR101458534B1 (ko) * 2014-07-16 2014-11-05 (주)테크맥스텔레콤 잣채취용 덕트형 무인비행체
US9226446B2 (en) * 2009-08-25 2016-01-05 Francis Wilson Moore Robotic fruit tree pruner and harvester machine
US20160192588A1 (en) * 2016-01-14 2016-07-07 Stanley Benjamin Smith Operating Assembly for Harvesting
US20170094909A1 (en) * 2015-10-05 2017-04-06 Amrita Vishwa Vidyapeetham Method and Apparatus for Harvesting Produce
KR20170118641A (ko) * 2017-09-29 2017-10-25 임용철 드론장착용 전동 고지가위 장치
CN207083510U (zh) * 2017-06-13 2018-03-13 重庆市鸿琦无花果开发有限公司 一种采摘无花果的无人机装置
CN108146634A (zh) * 2016-12-02 2018-06-12 北京化工大学 一种基于地面站和氦气球的无人机航母
US10011352B1 (en) * 2014-09-12 2018-07-03 Working Drones, Inc. System, mobile base station and umbilical cabling and tethering (UCAT) assist system
US20180335372A1 (en) * 2017-05-08 2018-11-22 The Trustees Of The University Of Pennsylvania Systems, devices, and methods for agricultural sample collection
CN109168632A (zh) * 2018-10-11 2019-01-11 侍雨 一种基于无人机以及tof成像技术的智能茄科蔬菜采摘系统
US10796275B1 (en) * 2017-10-27 2020-10-06 Amazon Technologies, Inc. Systems and methods for inventory control and delivery using unmanned aerial vehicles
US11235890B1 (en) * 2016-10-25 2022-02-01 Working Drones, Inc. Unmanned aerial vehicle having an elevated surface sensor

Family Cites Families (46)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2215094A (en) * 1938-09-03 1940-09-17 Paterson Pacific Parchment Com Lettuce packing machine
US2670921A (en) * 1949-12-19 1954-03-02 Carl W Dodd Box filler
US2797540A (en) * 1955-01-17 1957-07-02 Fruit Ind Res Foundation Fruit packing apparatus
US2910193A (en) * 1955-04-25 1959-10-27 Northwest Equipment Company In Apparatus for packing articles into containers
US2911775A (en) * 1957-08-12 1959-11-10 Cornell Paperboard Products Co Method and jig for packaging vegetables or the like
US3348714A (en) * 1965-10-06 1967-10-24 Int Harvester Co Tipping-bin trucks or trailers
GB1372427A (en) * 1971-11-19 1974-10-30 Amf Inc Storing and dispensing apparatus
US3928942A (en) * 1974-04-19 1975-12-30 Sunkist Growers Inc Means to guide a layer of objects into a box
US3948401A (en) * 1974-06-24 1976-04-06 Spencer Charles E Method and apparatus for storing and displaying fruit
US4233802A (en) * 1979-01-25 1980-11-18 International Honeycomb Corporation Packaging machine
US4506492A (en) * 1982-09-29 1985-03-26 Boyd Jerry L Apparatus and method for volume filling of storage boxes
US4570419A (en) * 1983-11-10 1986-02-18 Tinsley Charles E Measuring and transfer system
US4660352A (en) * 1985-12-23 1987-04-28 Package Machinery Company Apparatus and method for packaging compressible pouches
US4965982A (en) * 1988-02-08 1990-10-30 Jesperson Leslie S Fruit bin filler
US5072100A (en) * 1988-10-20 1991-12-10 Mcclusky Machinery Sales & Service Apparatus and method for packaging citrus fruit
US5007227A (en) * 1988-10-20 1991-04-16 Mcclusky Machinery Sales & Service Appartaus and method for packaging citrus fruit
NL9001501A (nl) * 1990-07-02 1992-02-03 Aweta Bv Inrichting voor het vullen van houders met produkten, zoals vruchten of dergelijke.
US5123231A (en) * 1990-10-31 1992-06-23 Fallas David M Product grouping and packing apparatus and method
US5325653A (en) * 1992-12-14 1994-07-05 Boyd Jerry L Container filling apparatus
US5502949A (en) * 1994-02-08 1996-04-02 Main; Tim B. Fruit bin filler
FR2730697B1 (fr) * 1995-02-17 1997-06-20 Materiel Arboriculture Dispositif d'emballage automatique pour le remplissage de conteneurs au moyen de couches superposees de produits, notamment de fruits tels que des oranges
US5794415A (en) * 1996-01-11 1998-08-18 Huff; Howard Apparatus for packing layered fruit into bins
ES2161126B1 (es) * 1999-02-26 2002-09-01 Daumar Talleres Maquina para fabricar, llenar y cerrar bolsas de malla.
US6360787B1 (en) * 2000-09-29 2002-03-26 Robert L. Williamson Dispensing mechanism for a produce packaging machine
NL1018425C2 (nl) * 2001-06-29 2003-01-07 Food Processing Systems Inrichting voor het afleveren van in hoofdzaak bolvormige producten in een in hoofdzaak rechthoekige houder.
NL1023046C2 (nl) * 2003-03-28 2005-01-17 Pi Wi Beheer Bv Inrichting en werkwijze voor het beladen van containers met zakken.
US7107742B2 (en) * 2003-08-05 2006-09-19 Material Pour L'arboriculture Fruitiere Automatic packing device for the filling of containers by means of superposed layers of products, in particular fruits such as oranges
ITBO20040610A1 (it) * 2004-10-05 2005-01-05 Aroma System S R L Dispositivo per governare la discesa del tubo formatore di una confezionatrice verticale
US20060288880A1 (en) * 2005-06-28 2006-12-28 Hanks Malcolm E Gentle dry bin filler
US8015781B2 (en) * 2006-03-08 2011-09-13 Seatal Automation Systems LLC. Box loader
JP4924959B2 (ja) * 2006-04-06 2012-04-25 ポリマー ロジスティクス （イスラエル） エルティーディー． 弾性的に吊支された床板を有する折り畳み式コンテナ
WO2008008972A2 (fr) * 2006-07-13 2008-01-17 George Gray Cueilleuse de fruits frais robotisée automotrice
NZ553930A (en) * 2007-03-16 2008-11-28 Anzpac Systems Ltd A packing apparatus for packing boxes with fruit
KR100871087B1 (ko) * 2008-05-09 2008-11-28 이준서 경작지용 운반기계 및 그를 구비한 운반 시스템
US8033084B1 (en) * 2009-03-04 2011-10-11 The United States Of America, As Represented By The Secretary Of Agriculture Automated bin filling system
NL2004696C2 (nl) * 2010-05-10 2011-11-14 Viscon B V Werkwijze en inrichting voor het vullen van houders.
GB2483284B (en) * 2010-09-03 2014-06-18 Pacepacker Services Ltd A packing system
US10005572B1 (en) * 2012-03-06 2018-06-26 Tec Engineering Corporation System for filling a container with dip tubes
FR3049269B1 (fr) * 2016-03-25 2020-01-03 Maf Agrobotic Procede et dispositif de remplissage hydraulique de caisses par des objets flottants a alimentation forcee
BR112019002091B1 (pt) * 2016-08-18 2022-08-02 Tevel Advanced Technologies Ltd Sistema e método de colheita, diluição e poda de fruto e banco de dados
AU2017357645B2 (en) * 2016-11-08 2022-11-10 Dogtooth Technologies Limited A robotic fruit picking system
KR20180066527A (ko) * 2016-12-09 2018-06-19 엠티코리아(주) 고추 자동 수확 장치
CN107593112A (zh) * 2017-09-12 2018-01-19 沈阳建筑大学 一种基于物联网的智能果实采摘机及其使用方法
CN108633464B (zh) * 2018-06-01 2020-09-04 华东交通大学 一种适用于山地的自走式辅助摘果机
CN109168633A (zh) * 2018-10-11 2019-01-11 侍雨 一种基于无人机以及tof成像技术的智能西瓜采摘系统
US20220177171A1 (en) * 2019-03-06 2022-06-09 Kennedy Technologies Limited Apparatus and methods relating to fruit packing

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3408108A (en) * 1966-12-20 1968-10-29 John L. Duda Jr. Wagon with descending floor
US9226446B2 (en) * 2009-08-25 2016-01-05 Francis Wilson Moore Robotic fruit tree pruner and harvester machine
KR101458534B1 (ko) * 2014-07-16 2014-11-05 (주)테크맥스텔레콤 잣채취용 덕트형 무인비행체
US10011352B1 (en) * 2014-09-12 2018-07-03 Working Drones, Inc. System, mobile base station and umbilical cabling and tethering (UCAT) assist system
US20170094909A1 (en) * 2015-10-05 2017-04-06 Amrita Vishwa Vidyapeetham Method and Apparatus for Harvesting Produce
US10555460B2 (en) * 2015-10-05 2020-02-11 Amrita Vishwa Vidyapeetham Automated drone for harvesting produce
US20160192588A1 (en) * 2016-01-14 2016-07-07 Stanley Benjamin Smith Operating Assembly for Harvesting
US11235890B1 (en) * 2016-10-25 2022-02-01 Working Drones, Inc. Unmanned aerial vehicle having an elevated surface sensor
CN108146634A (zh) * 2016-12-02 2018-06-12 北京化工大学 一种基于地面站和氦气球的无人机航母
US20180335372A1 (en) * 2017-05-08 2018-11-22 The Trustees Of The University Of Pennsylvania Systems, devices, and methods for agricultural sample collection
CN207083510U (zh) * 2017-06-13 2018-03-13 重庆市鸿琦无花果开发有限公司 一种采摘无花果的无人机装置
KR20170118641A (ko) * 2017-09-29 2017-10-25 임용철 드론장착용 전동 고지가위 장치
US10796275B1 (en) * 2017-10-27 2020-10-06 Amazon Technologies, Inc. Systems and methods for inventory control and delivery using unmanned aerial vehicles
CN109168632A (zh) * 2018-10-11 2019-01-11 侍雨 一种基于无人机以及tof成像技术的智能茄科蔬菜采摘系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210147080A1 (en) * 2019-11-18 2021-05-20 Agco Corporation Crop-extraction system having an unmanned aerial vehicle, and related methods
US12042810B2 (en) 2019-11-18 2024-07-23 Agco Corporation Aerial boom with through-fan spray and related methods and vehicles

Also Published As

Publication number Publication date
WO2020148758A1 (fr) 2020-07-23
US20220061217A1 (en) 2022-03-03
IL284790A (en) 2021-08-31
EP3911143A1 (fr) 2021-11-24
EP3911143A4 (fr) 2022-09-28
IL284715A (en) 2021-08-31
WO2020148759A1 (fr) 2020-07-23

Similar Documents

Publication Publication Date Title
US20220087105A1 (en) System and method for autonomous harvester installation and farm harvesting operation
CN109862778B (zh) 用于收割和稀释的无人机群管理的系统和方法
US11587030B1 (en) Systems and methods for inventory control and delivery using unmanned aerial vehicles
KR20200103823A (ko) 농업을 위한 방법 및 시스템
CN109952249A (zh) 用于无人驾驶飞行任务优化的装置和方法
US20230189713A1 (en) Fruit picking robotic installation on platforms
CN105519307A (zh) 收割装置
JP7308482B2 (ja) 収穫ロボットシステム
WO2024171289A1 (fr) Aéronef sans pilote, système de gestion, système d'emballage, procédé de gestion et programme informatique
WO2024171291A1 (fr) Engin volant sans pilote embarqué, système de gestion, système d'emballage, procédé de gestion et programme informatique
WO2024171290A1 (fr) Aéronef sans pilote, système de gestion, système d'emballage, procédé de gestion et programme informatique
WO2024142219A1 (fr) Système de travail et corps volant
Zhang et al. Mechanization and automation for apple production

Legal Events

Date Code Title Description
AS Assignment

Owner name: TEVEL AEROBOTICS TECHNOLOGIES LTD., ISRAEL

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:MAOR, YANIV;SHEFI, AMIT;DESHEH, TAL;AND OTHERS;SIGNING DATES FROM 20210629 TO 20210711;REEL/FRAME:056830/0324

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION MAILED