WO2016123656A1 - Système de récolte horticole et appareil utilisant des coques tournantes - Google Patents

Système de récolte horticole et appareil utilisant des coques tournantes Download PDF

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Publication number
WO2016123656A1
WO2016123656A1 PCT/AU2016/000028 AU2016000028W WO2016123656A1 WO 2016123656 A1 WO2016123656 A1 WO 2016123656A1 AU 2016000028 W AU2016000028 W AU 2016000028W WO 2016123656 A1 WO2016123656 A1 WO 2016123656A1
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WO
WIPO (PCT)
Prior art keywords
encapsulation
produce
encapsulation mechanism
shells
harvesting
Prior art date
Application number
PCT/AU2016/000028
Other languages
English (en)
Inventor
Mark Calleija
Salah Sukkarieh
Robert FITCH
Original Assignee
The University Of Sydney
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
Priority claimed from AU2015900354A external-priority patent/AU2015900354A0/en
Application filed by The University Of Sydney filed Critical The University Of Sydney
Publication of WO2016123656A1 publication Critical patent/WO2016123656A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/24—Devices for picking apples or like fruit
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

  • the present invention relates generally to horticulture, and more particularly to an apparatus, method and system for automated harvesting of horticultural produce.
  • the invention has been developed primarily for harvesting fruit from fruit trees and will be described primarily in this context. It should be appreciated, however, that the invention is not limited to this particular field of use, being potentially also applicable to harvesting vegetables, nuts, seeds, herbs, grains, flowers or fungi from the associated trees, plants, vines, roots or other growth sources.
  • Such problems and limitations of known mechanised systems include damage to the fruit or other produce, damage to the associated plants, poor grip of the produce during handling, difficulties detaching the produce, control system complexity, path planning complexity, sensing complexity, electrical complexity, mechanical complexity, high computational requirements, high cost, low speed, low reliability, low ingress protection rating and cross-contamination problems.
  • the invention provides an apparatus for harvesting horticultural produce from plants, the apparatus including:
  • an encapsulation mechanism movable between an open configuration to receive at least one selected item of horticultural produce, and a closed configuration to substantially encapsulate the selected item of horticultural produce
  • detachment means operable to detach the encapsulated produce from the associated plant.
  • the encapsulation mechanism includes at least two shells supported for relative rotation between the open configuration and the closed configuration.
  • the shells at least partially overlap in the open configuration.
  • the shells include an inner shell and an outer shell.
  • the inner and outer shells are substantially hemispherical in shape, and are supported for relative rotation about a diametrical hinge axis common to both shells.
  • the inner shell in the open position or configuration the inner shell is substantially nested within the outer shell, and in the closed position the inner and outer shells together define a substantially spherical or partially spherical encapsulation chamber.
  • the encapsulation chamber In the closed position, the encapsulation chamber may be almost entirely closed, or partially open, depending upon the shape of the particular produce to be harvested and other structural or functional constraints.
  • the shells and hence the encapsulation chamber may be perforated by apertures, slots, holes, vents or other openings formed in the shells.
  • the shells may be defined in whole or in part by wire frame, lattice or similar structures.
  • the inner and outer shells are substantially elliptical in cross-sectional profile and the encapsulation chamber is generally in the form of a prolate spheroid.
  • the shells may be supported for relative rotation about a hinge axis corresponding to either a minor or major axis of the prolate spheroid defined by the shells. It should be appreciated, however, that the shells may be formed in virtually any revolved profile, according to the shape of the targeted produce. For example, for harvesting pears, complementary pear- shaped or oblate spheroidal profiles (or partial segments thereof) could be adopted for the shells.
  • a larger number of shell portions such as three, four, five or more, may be provided thereby to enable a greater degree of retraction in the open configuration.
  • the multiple shell-portions are adapted for overlapping nested or inter-leaving engagement in the open position.
  • the multiple shell-portions may have a degree of overlap or interleaving engagement in the closed position.
  • the control for closing each shell can be determined with respect to one or more predetermined parameters such as, for example, position and torque. It will be appreciated that such control of the shell portions, when the shell portions reach an obstacle such as the fruit stem or adjacent branch, can advantageously protect the closing mechanism, fruit and surrounding environment against damage during the harvesting process.
  • the leading edge of the closing shell portions may be configured (e.g. tapered and/or spring loaded) to facilitate both smooth docking and securing of the target when docked.
  • the shell portions are formed by a plurality of discrete elements (e.g. fingers - curved or straight, etc) which can either be separated or intertwining so that the stem of the produce automatically passes between the fingers when closing.
  • the encapsulation mechanism may also incorporate a supplementary retention mechanism, such as a suction cup, suction pad, inflatable/deflatable bladder, linear actuated supporting pad (e.g. using a solenoid or pneumatic cylinder to push a soft grip pad), granular jamming mechanism etc.), to help locate and hold the fruit in place without damaging the fruit, whilst supplying a sufficient grip to enable manipulation of the fruit when detaching and removing the fruit from the tree.
  • the supplementary retention mechanism may be activated upon coming into contact with the fruit, by reference to the position of the fruit relative to the encapsulation mechanism, or by reference to the relative position of the shells.
  • the supplementary retention mechanism may be activated once the shells are in a predetermined position relative to one another (e.g. upon initial movement away from the fully open position, a partially closed position of a predetermined percentage, or the fully closed position).
  • the supplementary retention mechanism may be in the form of an inflatable bladder which can be inflated to a predetermined pressure once the end effector is closed to provide a reliable and positive engagement or grip on the fruit.
  • one or more solenoids with a soft grip pad for engaging the fruit can be used in a force control mode to achieve a similar positive engagement or grip function.
  • the shell portions may be adapted to be controlled to move inwardly (i.e. shrink in volume) once the fruit is encapsulated by means of a sensing/control device, until the shrinking force reaches a predetermined value such that the shell portions and/or supplementary retaining mechanism lightly squeezes the fruit (so as not to damage the fruit).
  • the shells may be formed at least partially from a flexible material, or incorporate a relatively soft or flexible inner lining, to reduce the risk of inadvertent damage to or bruising of the produce.
  • the encapsulation mechanism includes fluid delivery means, which may be adapted for a variety of purposes. For example, water spray may be introduced to wash or cool the produce contained within the encapsulation chamber. Additionally or alternatively, pressurised air may be introduced to dry, heat or cool the produce. Heating in particular may be used in some circumstances to reduce risks of cross-contamination. Oils, emulsions, herbicides, pesticides, disinfectants, preservatives or other horticultural chemicals may also be introduced to the encapsulation region and thereby applied to the produce by substantially the same mechanism.
  • cutting blades or cutting edges are integrated with or attached to the circumferential edges of the shells whereby upon movement of the shells into the closed position, the stem of the encapsulated produce is automatically severed from the associated plant.
  • the detachment means take the form of a cutting mechanism directly associated with, or formed integrally with, the encapsulation mechanism.
  • the apparatus may be adapted to snap, twist, pull or otherwise separate the produce from the associated stem or spur of the supporting plant, by rotational and/or translational displacement of the encapsulated produce itself.
  • the detachment means are integral with the encapsulation mechanism or an associated supporting apparatus.
  • the detachment mechanism may be separate from or external to the encapsulation mechanism, and operable either during the encapsulation process or after the produce has been encapsulated.
  • the detachment mechanism may take the form of independently operable cutting blades, knives, shears, scissor mechanisms, rotary cutters or alternative stem severing means incorporated into the apparatus.
  • At least one of the shells incorporates a slot, optionally tapered, to receive and locate the stem of the produce, thereby providing a guidance or "docking" mechanism to facilitate more accurate initial positioning and encapsulation of the produce.
  • the separate detachment mechanism is positioned closely adjacent the guidance or docking mechanism. In further embodiments, the separate detachment mechanism may be contained substantially within the encapsulation mechanism.
  • the detachment means may include cutting blades, knives, shears or the like separate from the encapsulation mechanism, but operable in direct response to movement of the encapsulation mechanism toward the closed position, for example by means of intermediate mechanical, electrical, hydraulic or pneumatic linkages or connections.
  • the drive mechanism includes one or more electronically controlled servo motors adapted to regulate rotation of the shells, with respect to one another and/or with respect to a supporting element of the apparatus, thereby to effect controlled movement between the open and closed positions.
  • the same or separate motors may be used to operate the detachment mechanism.
  • hydraulic, pneumatic, electro-mechanical or other suitable forms of actuator may additionally or alternatively be used.
  • the apparatus further includes an articulated robotic arm incorporating a support assembly for the encapsulation mechanism, whereby the robotic arm is adapted to support the encapsulation mechanism as an end-effector of the arm.
  • multiple encapsulation mechanisms may be supported by the robotic arm, either as end-effectors or at intermediate positions along the arm.
  • the robotic arm preferably includes a base and a plurality of links connected in series by a corresponding plurality of revolute joints, the links and joints thereby forming a kinematic chain terminating with the encapsulation mechanism as the end-effector.
  • Each of the revolute joints preferably incorporates an actuator, ideally in the form of an independently operable electric servo motor.
  • one or more of the links may include a telescopic extension mechanism to provide additional degrees of freedom in the kinematic chain, and additional operating range for the robotic arm.
  • the robotic arm incorporates multiple redundant degrees of freedom, thereby to provide additional flexibility in terms of the spatial location of the encapsulation mechanism, the orientation of the opening of the encapsulation mechanism and the path from each location to the next target.
  • the support assembly for the encapsulation mechanism may also be adapted for movement around additional rotational and/or along additional translational control axes, such that the resultant additional degrees of freedom facilitate optimal encapsulation and detachment of the targeted produce.
  • the support assembly takes the form of an articulated wrist mechanism disposed intermediate the robotic arm and the encapsulation mechanism, providing additional control around at least pan and tilt axes.
  • a 3-axis pan, tilt and yaw gimbal can be used to orient the encapsulation mechanism to further assist the docking and detachment procedure, as the gimbal enables twisting and rolling of the fruit in all directions.
  • sensors e.g.
  • force and torque can be used to sense and control the amount of torque being applied in various rotational degrees of freedom, and force in the various translational degrees of freedom.
  • This functionality can also be useful in selective harvesting of the produce, where the system can be adapted to automatically apply only a limited amount of force or torque in any given combination of axes such that fruit that is not ready to be picked will be indentified as being harder to detach will not be forcibly harvested by the system, but rather will be automatically left for harvesting in future passes.
  • the apparatus further includes a sensing system for sensing aspects of a surrounding environment and generating data indicative thereof.
  • a classification system is preferably provided for identifying targets within the environment on the basis of data from the sensing system, such targets corresponding to specified produce such as fruit, vegetables, flowers, nuts, or seeds to be harvested.
  • the apparatus preferably further includes a control system adapted to control the robotic arm to position the encapsulation mechanism around targeted produce identified by the classification system, to close the encapsulation mechanism, to activate the detachment mechanism, and thereby to harvest the targeted produce.
  • the control system is preferably further adapted to regulate the robotic arm and the encapsulation mechanism, in order to subsequently deposit the harvested produce in a designated transfer chute or storage receptacle, before proceeding to the next identified target.
  • the apparatus is specifically adapted for picking fruit from fruit trees, although it should be understood that other embodiments may be specifically adapted for targeting and harvesting other specified forms of produce, including but not limited to harvesting of vegetables, nuts, seeds, seed pods, berries, herbs, grains, flowers, fungi or other value crops from associated trees, plants, vines, roots or other growth sources.
  • the system may also be adapted to target other objects such as pests, rubbish or weeds.
  • the apparatus includes a second sensing system for sensing in real time the position and orientation of the encapsulation mechanism, as part of a feedback control loop.
  • these parameters may alternatively be determined or calculated by means of an open loop control strategy, optionally utilising respective pre-defined intermediate reference or waypoints for actuators regulating the position, orientation and/or encapsulation status of the robotic arm and encapsulation mechanism.
  • at least one sensor of the sensing system is substantially co-located with the encapsulation mechanism, to facilitate targeting and route-planning.
  • the apparatus is attached to or integrated with an unmanned ground vehicle (UGV), the control of which may be partially or fully automated, as part of an overall environmental scanning, produce targeting, route planning and harvesting control methodology, optionally networked with a plurality of like or complementary autonomous vehicles.
  • UUV unmanned ground vehicle
  • the vehicle is adapted to systematically traverse successive rows of fruit trees, crops, vines or garden beds as part of an automated harvesting process.
  • the apparatus may be attached to a fixed base station, optionally in conjunction with a plurality of like base stations disposed in predetermined spaced apart relationship with adjoining or overlapping target zones and operating in concert to provide effective coverage of a defined area to be harvested.
  • the apparatus is mounted to an autonomous unmanned aerial vehicle (UAV).
  • UAV autonomous unmanned aerial vehicle
  • multiple harvesting robots are networked and configured to communicate with a central control system, which is adapted to store state information and generate higher level harvesting plans. Another variation utilises a decentralised control system, wherein multiple harvesting robots can communicate and coordinate directly between themselves, thereby obviating the need for a central control system.
  • the senor comprises a camera adapted to generate a 2-D image of the environment
  • the control system includes a mathematical transformation algorithm to correlate the pixel space of the image from the camera to the positions of the actuators in the targeting mechanism and/or the robotic arm.
  • More sophisticated embodiments utilise 3-D imaging and multi-modal sensing for mapping and localisation. Examples of sensors that may be used for mapping and localisation include infrared, ultraviolet, visual, laser ranging or Lidar, hyperspectral, inertial, acoustic and radar-based sensing systems.
  • the control system includes a prioritisation algorithm for prioritisation of targets for the apparatus.
  • the algorithm is based on a relatively simple "first-in-first-out" (FIFO) prioritisation strategy.
  • additional optimisation parameters may be incorporated into the control strategy, including angle of approach, vehicle velocity (if relevant), time or distance required for the encapsulation mechanism to reach the target, errors in measurement, historical inputs derived from historical system performance in comparable situations, estimated probability of a missed target (e.g. based on range, potential obstacles and other measured or calculated variables), opportunity value parameters (e.g. based on degree of ripeness of target produce), or the like.
  • the invention provides automated methods and systems for harvesting horticultural produce, using the apparatus as described.
  • the apparatus may include optical flow sensors on the encapsulation mechanism/end effector in order to assist the encapsulation mechanism to dock to the target. This may be particularly useful when the apparatus incorporates a level of dynamic behaviour, increasing the difficulty in docking the encapsulation mechanism.
  • the apparatus may include may incorporate jets, propellers or other thrusters in order to effectively control the encapsulation mechanism/manipulator when docking or undocking with the target produce. Again, this may be particularly useful when the encapsulation mechanism acts as the end effector and incorporates a level of dynamic behaviour which increases the difficulty in precisely and accurately locating the encapsulation mechanism.
  • the encapsulation mechanism may be formed as part of a tethered aerial vehicle, where the tether provides a low cost means for spatially constraining the encapsulation mechanism, whilst providing power and communications to the encapsulation mechanism.
  • the encapsulation mechanism may include a separate mechanism for assisting the docking procedure, for example, the encapsulation mechanism may incorporate a separate conical shaped protrusion such that it lowers the localisation tolerance when docking, as the larger diameter of the cone can funnel the target towards the smaller diameter of the cone (and shells) as the encapsulation mechanism approaches the target.
  • the apparatus may also incorporate a means to pack the target (e.g. apple) in a package by wrapping it as the encapsulation mechanism closes.
  • the encapsulation mechanism may incorporate a means for sealing the packaging in such a way that it protects, preserves or seals the target. This may be by way of a spool of packing bags located at the encapsulation mechanism, or as individual packages that are picked up by the encapsulation mechanism prior to docking with and packaging the target.
  • the apparatus may form part of a system which incorporates a conveyer system (e.g. belts, buckets, rollers) or tubes (e.g. gravity feed, vacuum, peristaltic etc.) whereby the targets can be output from the encapsulation mechanism in order to move them from the encapsulation mechanism to a destination (e.g. a basket, tub, refrigerator, freezer, etc).
  • a conveyer system e.g. belts, buckets, rollers
  • tubes e.g. gravity feed, vacuum, peristaltic etc.
  • the shells can rotate past the point of closure, so as to form a second open configuration on the opposite side of entry of the produce, thereby to allow rapid output from the end effector through to the destination (e.g. basket, conveyor etc.).
  • the destination e.g. basket, conveyor etc.
  • one or more sensors are installed as part of the encapsulation mechanism to determine the state of the target produce (e.g. apple) throughout the docking or encapsulating procedure.
  • This may be a simple state representation (e.g. Target DOCKED, Target NOT DOCKED) or a more measured approach (e.g. Target 14.6mm from DOCKED).
  • rotary encoders absolute or incremental
  • switches may be installed to sense any rotational offset between the shells and the main chassis.
  • the encapsulation mechanism incorporates various sensors to measure characteristics of the target.
  • scales and strain gauges can be used to measure weight
  • imaging sensors can measure colour/ripeness
  • temperature sensors can measure the temperature of the produce
  • ranging and distance sensors can measure size, etc.
  • the information obtained from these sensors may be used for data collection purposes, or more actively as a higher level methodology where only targets meeting a certain criteria are harvested (e.g. only harvest apples larger than 7cm diameter and 90g mass).
  • Such information could be used for selective harvesting via connection to a separate or integrated computer system that identifies which fruit, for example, is to be picked using various sensors, and controls the encapsulation mechanism and related devices to harvest the fruit.
  • the operator can interact with the system at a high level to input high level commands, thereby to enhance the efficiency and accuracy of the computer control system to a level at which the apparatus/system can operated substantially autonomously independently with high speed, complex computation and high precision and accuracy, reporting back for operator review or input only selected critical details.
  • Figure 1 is a perspective view showing part of a horticultural harvesting apparatus with the encapsulation mechanism in the open position adjacent a targeted item of horticultural produce in the form of a piece of fruit to be harvested, according to a first embodiment of the invention
  • Figure 2 is a perspective view showing the apparatus of Figure 1 with the encapsulation mechanism in a partially closed position around the fruit;
  • Figure 3 is a perspective view of the apparatus of Figures 1 and 2 with the encapsulation mechanism in a closed configuration, with the fruit disposed within the chamber defined by the revolving shells of the encapsulation mechanism;
  • Figure 4 is a perspective view showing the apparatus of Figures 1 to 3 mounted to a first form of support assembly, with the revolving shells of the encapsulation mechanism supported for rotation about a transverse axis;
  • Figure 5 is a perspective view showing the apparatus of Figures 1 to 3 mounted to a second form of support assembly, with the revolving shells of the encapsulation mechanism supported for rotation about a longitudinal axis;
  • Figure 6 is a perspective view showing a further embodiment of the invention, in which the encapsulation mechanism is mounted as the end-effector of a robotic arm by means of an intermediate support assembly of the type shown in Figure 4;
  • Figure 7 is a perspective view showing a further embodiment of the invention, in which the encapsulation mechanism is mounted to a UAV by means of a support assembly of the type shown in Figure 4;
  • Figure 8 is a perspective view showing a further embodiment of the invention, comprising a system incorporating a plurality of UAVs of the type shown in Figure 7, and a supporting UGV including a receptacle adapted to receive produce harvested and deposited by the UAVs;
  • Figure 9 is a perspective view showing a further embodiment of the invention, in which the encapsulation mechanism is mounted to a UGV by means of a support assembly on the remote end of an extensible manipulator;
  • Figure 10 is a flowchart showing a diagrammatic representation of a high- level control methodology for a harvesting apparatus and system in accordance with one embodiment of the invention.
  • Figure 11 is a flowchart showing a diagrammatic representation of control logic for a targeting strategy of the system
  • Figure 12 is a flowchart showing a diagrammatic representation of control logic for harvesting targeted produce, using the apparatus and system of the invention.
  • Figure 13 is a perspective view showing a further embodiment of the invention, in which the encapsulation mechanism is mounted to a collection canister for the harvested fruit, and the revolving shells include a plurality of discrete finger elements in a partially closed position around the targeted fruit.
  • the invention provides an apparatus 1 for harvesting horticultural produce such as fruit, vegetables, nuts, berries, seeds, seed pods, herbs, grains, flowers or fungi from associated trees, plants, vines, roots or other growth sources.
  • horticultural produce such as fruit, vegetables, nuts, berries, seeds, seed pods, herbs, grains, flowers or fungi from associated trees, plants, vines, roots or other growth sources.
  • the particular embodiment of the invention as shown is intended for harvesting apples, oranges or similar fruits and is shaped accordingly. It should be understood, however, that the invention is not limited to this particular application, and may be shaped and configured in a variety of different ways to suit other forms of produce as required.
  • the apparatus 1 includes an encapsulation mechanism 2 movable between an open position or configuration (as best seen in Figure 1) to receive at least one selected item of horticultural produce 3 such as an apple or similar fruit, and a closed position or configuration (as best seen in Figure 3) to substantially encapsulate the selected item of produce.
  • Figure 2 shows the encapsulation mechanism in an intermediate position, between the open and closed configurations, with the targeted fruit partially encapsulated.
  • the apparatus further includes a drive mechanism 5 to effect movement of the encapsulation mechanism between the open and closed positions, and a detachment mechanism 6 operable to detach the encapsulated produce from the plant by cutting, rolling, twisting, pulling, breaking or otherwise severing the associated stem 7, as described in more detail below.
  • the stem of the fruit preferably stays with the fruit and breaks free from the connecting spur on the tree.
  • the connecting spur preferably stays with the tree such that the fruit, fruit stem, tree and connecting spur are not damaged.
  • the connecting spur on the tree preferably remains in relatively good condition to avoid loss of yield in the next harvest and the fruit maintains a stem in sufficient condition to avoid rotting.
  • the system can coordinate multiple end effectors to harvest the fruit that will become separated and that may otherwise fall to the ground by harvesting other fruit connected to the same spur.
  • the encapsulation mechanism in this embodiment includes a pair of shells 8 supported for relative rotation between the open and closed configurations. More specifically, the encapsulation mechanism comprises an inner shell 8A and an outer shell 8B, each shell being substantially hemispherical in shape and supported for relative rotation about a diametrical hinge axis, common to both shells. As best seen in Figure 1 , in the open position, the inner shell 8A is substantially nested within the outer shell 8B, whereas in the closed position, the inner and outer shells together define a substantially spherical or partially spherical encapsulation chamber 10.
  • the drive mechanism preferably includes one or more electronically controlled servo motors adapted to regulate rotation of the shells with respect to one another and/or with respect to a supporting element of the apparatus, thereby to effect controlled movement of the shells between the open and closed positions.
  • the same or separate servo motors may be used to regulate the detachment mechanism.
  • hydraulic, pneumatic, electro-mechanical or other suitable forms of actuator may additionally or alternatively be used for either function.
  • the shells and hence the encapsulation chamber may be perforated by apertures, slots, holes, vents or other openings formed in one or both of the shells.
  • the shells may be defined in whole or in part by wire frame, lattice, grate, honeycomb or similar structures.
  • the inner and outer shells may be substantially elliptical in cross-sectional profile, in which case it will be appreciated that the encapsulation chamber generally takes the form of a prolate spheroid.
  • the shells may be supported for relative rotation about a common hinge axis corresponding to either a minor or major axis of the prolate spheroid defined by the encapsulation shells.
  • a larger number such as three, four, five or more shell portions may be provided to enable a greater degree of retraction of the encapsulation mechanism in the open position.
  • the multiple shell portions are adapted for overlapping nested or inter-leaving engagement in the open position.
  • the shells may be formed at least partially from a flexible material, or incorporate a soft or flexible inner lining, to reduce the risk of inadvertent damage or bruising of the produce during the containment and harvesting process.
  • the encapsulation mechanism may also incorporate a supplementary retention mechanism, such as a suction cup or suction pad to help locate and hold the fruit in place. This may be advantageous, for example, in embodiments incorporating a larger number of relatively smaller shell portions, which do not fully cup or optimally locate the targeted produce in the open configuration.
  • the encapsulation mechanism includes a fluid delivery mechanism, which may be adapted for a variety of purposes.
  • a fluid delivery mechanism may be introduced to wash or cool the produce.
  • Pressurised air may be introduced to dry, heat, cool or clean the produce. Heating may be used in some circumstances to reduce the risk of contamination.
  • Oils, emulsions, herbicides, pesticides, fungicides, disinfectants, preservatives, nutrients or other horticultural chemicals, additives, treatments or coatings may also be introduced into the encapsulation chamber and thereby applied to the produce by substantially the same mechanism during the harvesting process.
  • the apparatus preferably further includes a support assembly 20 disposed to support the encapsulation mechanism and facilitate the positioning and orientation of the associated shells.
  • a support assembly 20 disposed to support the encapsulation mechanism and facilitate the positioning and orientation of the associated shells.
  • the shells of the encapsulation mechanism are supported for coaxial rotation about a transverse axis between a yoke formation defined by yoke arms 21.
  • the shells are supported for rotation about a longitudinal axis defined by an axial stem formation 23.
  • Cutting blades or cutting edges 30 are preferably integrated with or attached to the circumferential edges of the shells, whereby upon movement of the shells into the closed position (see Figure 3), the stem 7 of the encapsulated fruit or other produce is automatically severed from the associated plant.
  • the detachment mechanism 6 takes the form of a cutting mechanism directly associated with, and effectively integral with, the encapsulation mechanism itself.
  • the apparatus may be adapted to snap, twist, pull or otherwise separate the produce from the associated stem or spur of the supporting plant, by rotational and/or translational displacement of the encapsulated produce, by means of the encapsulation mechanism or an associated support mechanism.
  • a separate detachment mechanism incorporating cutting blades, shears or alternative stem severing means may be provided and activated substantially independently of the encapsulation mechanism.
  • At least one of the shells and optionally both shells incorporate a guide slot (not shown), optionally tapered, to receive and locate the stem 7 of the produce to be harvested, thereby providing a guide or "docking" mechanism to facilitate more accurate initial positioning and subsequent encapsulation of the produce.
  • the guide slot may also incorporate sharpened edges, blades, teeth, serrations or other formations to assist in the process of separating the produce from its stem upon closure or subsequent displacement of the encapsulation mechanism.
  • the apparatus in one preferred embodiment further includes an articulated robotic arm 40 incorporating a plurality of links 42 connected in series by a corresponding plurality of revolute joints 43 to provide additional degrees of freedom of movement and/or a larger operational envelope.
  • Each of the revolute joints preferably incorporates an actuator, ideally in the form of an independently operable electric servo motor.
  • the number of links, joints and actuators in the arm will be determined by the intended application and operational requirements.
  • the robotic arm ideally incorporates multiple redundant degrees of freedom, to provide additional flexibility in terms of the spatial location of the encapsulation mechanism, the orientation of the opening of the encapsulation mechanism in each location, and the optimal path from each location to the next target for harvesting.
  • One or more of the links may also be adjustably extensible if required.
  • the support assembly 20 of Figure 4 is utilised to connect the encapsulation mechanism 2 as an end-effector of the robotic arm 40.
  • the support assembly itself may be adapted for movement around additional rotational and/or along additional translational control axes, such that the resultant supplementary degrees of freedom facilitate optimal targeting, encapsulation and detachment of the produce.
  • the support assembly takes the form of an articulated wrist mechanism disposed intermediate the robotic arm and the encapsulation mechanism, providing additional control around pan and tilt axes.
  • the apparatus further includes a sensing system for sensing aspects of the surrounding environment and generating data indicative thereof and a classification system for identifying targets within the environment on the basis of data from the sensing system, such targets corresponding to produce such as fruit, vegetables, flowers, nuts, seeds to be harvested.
  • the sensing system and classification system form part of an overall control system adapted to control the robotic arm so as to position the encapsulation mechanism around targeted produce identified by the classification system, close the encapsulation mechanism, activate the detachment mechanism, and thereby harvest the targeted produce.
  • the control system is preferably further adapted to regulate the robotic arm and the encapsulation mechanism in order subsequently to deposit the harvested produce in a designated transfer chute or storage receptacle before proceeding to the next identified target, as described more fully below.
  • FIG. 7 shows a further embodiment of the invention, in which the apparatus is integrated into an unmanned aerial vehicle (UAV) 60 by means of a support assembly 20 of the type shown in Figure 4.
  • UAV unmanned aerial vehicle
  • Control of the UAV is automated as part of an overall environmental scanning, targeting, route planning and control methodology, optionally networked and operating systematically in conjunction with a number of like or complementary autonomous vehicles.
  • the UAV 60 incorporates a body 61 , four independent rotors 62, drive motors 63 and auxiliary equipment including an onboard power supply, remote communications module, navigational control system including GPS and related hardware and software components, the configuration of which will be generally familiar to those skilled in the art. It will be appreciated that in other embodiments, any number of rotors may be employed on the UAV, for example from one to eight or more. Multiple encapsulation mechanisms may be mounted to the same UAV. Other forms of UAV such as hovercraft, and alternative forms of propulsion such as turbofans, may also be used as appropriate in particular applications.
  • the sensing system of the apparatus includes a camera 66 adapted to generate a 2-D image of the environment and the control system 67 includes a mathematical transformation algorithm to correlate the pixel space of the image from the camera to the position of the encapsulation mechanism, or to the position of actuators in a targeting or support mechanism regulating the position of the encapsulation mechanism, based on an overall control logic described more fully below. More sophisticated embodiments utilise 3-D imaging and multi-modal sensing for mapping and localisation. Examples of sensors that may be used for mapping and localisation include infrared, ultraviolet, visual, laser ranging or Lidar, hyperspectral, inertial, acoustic and radar-based sensing systems.
  • FIG 8 shows a series of UAVs 60 similar to that shown in Figure 7, networked and operable in conjunction with an unmanned ground vehicle (UGV) 70.
  • the UGV is a compact, omni-directional vehicle incorporating a body 71 , and four independently driven and independently steerable wheels 72.
  • the UGV incorporates a storage receptacle 75 into which the UAVs deposit harvested produce, one item at a time. When the receptacle 75 is full, the UGV is diverted by a control system to a central repository (not shown) to deposit the harvested fruit before being redeployed.
  • the harvesting robots are networked and configured to communicate with a central control system, which is adapted to store state information and generate higher level harvesting plans.
  • a central control system which is adapted to store state information and generate higher level harvesting plans.
  • Another variation utilises a decentralised system, wherein multiple harvesting robots can communicate and coordinate directly between themselves and the UGV, thereby obviating the need for a centralised control system.
  • Figure 9 shows a further embodiment, in which the apparatus is attached directly to or integrated with an omni-directional UGV 70 of similar type to that shown in Figure 8.
  • this vehicle may be networked with a series of like or complementary autonomous vehicles, operating under a centralised or decentralised harvesting control strategy.
  • the encapsulation mechanism 2 is mounted, by means of a support assembly 20 of the type shown in Figure 4, as the end-effector of a robotic manipulator 90.
  • the manipulator is mounted to a chassis or support platform on the UGV for controlled rotation about at least two non-parallel axes (such as pan and tilt axes).
  • the main boom of the manipulator is also telescopically extensible.
  • ground-based vehicles are envisaged, with different numbers of wheels, tracks, legs or skids, including rail-mounted carriages, and a range of options for motive power, steering, navigation and the like are contemplated.
  • a multi-legged autonomous walking vehicle or robot is used.
  • multiple harvesting apparatus may be mounted to a single vehicular platform for substantially simultaneous, co-ordinated operation.
  • Various embodiments of the system may a!so be retrofitted to existing agricultural equipment or vehicles including tractors, trailers, ploughs, harvesters, quads or the fike.
  • the apparatus may be attached to a fixed base station, optionally in conjunction with a piuraiity of like stations disposed in spaced apart relationship, with adjoining or overlapping target zones, and operating in concert to provide effective coverage of a defined target area to be harvested.
  • Figure 10 is a simpie flowchart of a high-level control strategy, which should be understood in the context of the apparatus and related system components previously described. In its most basic form, with some details omitted, the system logic in broad overview is as foliows;-
  • FIG. 11 The flowchart of Figure 11 illustrates in more detail one example of a methodology for target identification and acquisition within a defined target environment.
  • This relatively basic system looks for targets in the initial area, assumes the apparatus and supporting vehicle are stationary, harvests the targets in that area, and moves to the next area.
  • the system involves a classifier for example with selected produce, plant stems, extraneous foliage and ground as the primary classes. Since this particular system assumes the apparatus is stationary, it wilt be more relevant to ground vehicles than UAVs.
  • the methodology in broad overview is as follows:
  • the prioritisation algorithm may be based on a relatively simple "first-in- first-out” (FIFO) prioritisation strategy.
  • additional optimisation parameters may be incorporated into the control strategy, including angle of approach of the encapsuiation mechanism, vehicle velocity, time or distance required for the encapsulation mechanism to reach the target, inputs derived from historical system performance in comparable situations, estimated probability of a missed target (e.g. based on range, potential obstacles and other measured or calculated variables), opportunity value parameters (e.g. degree of ripening of produce based on colour gradations ), or the like.
  • Figure 12 shows a more detailed example of a methodology for target acquisition. This example assumes that a target has been identified, prioritised and located pursuant to the methodology outlined above in connection with Figure 11.
  • targets may also be registered with a target memory in global coordinates, based on local estimates of target positions in a global coordinate frame of reference. This enables generation of a "world map" including localisation and state information based on registered and updated targets in global coordinates.
  • control methodology for the harvesting process itself in broad overview is as follows:
  • detachment mechanism ⁇ e.g. using cutters on shells to sever stem upon closure, or "roll" produce to break stem
  • the classification process may be used to differentiate between targets of different size, shape or colour to determine the degree of deveiopment or ripening and this data may in turn be used to refine the targeting and/or prioritisation processes for harvesting.
  • harvesting of unripe fruit may be de-prioritised and deferred for a subsequent pass at a later time, while overripe fruit may be bypassed altogether, or deposited in a separate receptacle for rejection.
  • the invention in its various preferred embodiments provides a relatively simple, robust and reliable harvesting apparatus enabling a wide variety of produce to be harvested and gathered efficiently, effectively and without damage to either the produce or the associated plant.
  • the apparatus readily lends itself to automation in conjunction with complementary robotic platforms and/or autonomous vehicles to provide a flexible range of harvesting apparatus, methods and systems. In these and other respects, the invention represents a practical and commercially significant improvement over the prior art.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

Selon l'invention, un appareil pour récolter des produits horticoles sur des plantes comprend un mécanisme d'encapsulation mobile entre une configuration ouverte permettant de recevoir au moins un produit horticole sélectionné, et une configuration fermée permettant d'encapsuler sensiblement le produit horticole sélectionné. Un mécanisme d'entraînement engendre le mouvement du mécanisme d'encapsulation entre les configurations ouverte et fermée, et un moyen de détachement peut être actionné pour détacher les produits encapsulés de la plante associée.
PCT/AU2016/000028 2015-02-05 2016-02-05 Système de récolte horticole et appareil utilisant des coques tournantes WO2016123656A1 (fr)

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AU2015900354A AU2015900354A0 (en) 2015-02-05 Horticulture harvesting apparatus using revolving shells
AU2015900354 2015-02-05

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