WO2022031164A1 - Cultivation system equipped with a harvesting robot - Google Patents

Cultivation system equipped with a harvesting robot Download PDF

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Publication number
WO2022031164A1
WO2022031164A1 PCT/NL2021/050485 NL2021050485W WO2022031164A1 WO 2022031164 A1 WO2022031164 A1 WO 2022031164A1 NL 2021050485 W NL2021050485 W NL 2021050485W WO 2022031164 A1 WO2022031164 A1 WO 2022031164A1
Authority
WO
WIPO (PCT)
Prior art keywords
harvesting robot
vehicle
harvesting
cultivation system
robot
Prior art date
Application number
PCT/NL2021/050485
Other languages
French (fr)
Inventor
Richard Henricus Adrianus Van Lieshout
Original Assignee
Richard Henricus Adrianus Van Lieshout
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 Richard Henricus Adrianus Van Lieshout filed Critical Richard Henricus Adrianus Van Lieshout
Publication of WO2022031164A1 publication Critical patent/WO2022031164A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Definitions

  • the invention relates to a cultivation system comprising: a vehicle that can be moved over a surface between products to be harvested, a harvesting robot present on the vehicle for harvesting the products, a camera present on the vehicle or on the harvesting robot for determining the position of the products to be harvested, and a control unit present on the vehicle or on the harvesting robot for controlling the harvesting robot, which control unit is coupled to the camera and the harvesting robot and comprises an image processing unit provided with image recognition software.
  • a cultivation system provided with a harvesting robot is known from JP2008062812A.
  • This known cultivation system has an automatic harvesting robot provided with a picking device and two cameras with an image processing unit.
  • fruit is grown and harvested in the field or in a greenhouse.
  • the paths between the fruit trees are narrow and the ground is not level everywhere. That is why the harvesting robot is mounted on a special manoeuvrable vehicle fitted with caterpillar tracks.
  • the surface on which the harvesting robot travels is relatively soft.
  • the picking device will have to be moved relatively quickly.
  • the harvesting robot will exert reaction forces on the relatively soft ground, as a result of which the position and orientation of the harvesting robot changes and as a result the picking device has to be adjusted depending on the displacement of the harvesting robot as a result of the soft ground.
  • the disadvantage of a cultivation system in which harvesting is based on cameras with image recognition is that such systems are relatively slow, so that harvesting takes a relatively long time.
  • the cultivation according to the invention is characterized in that the cultivation system furthermore comprises an inertia measuring unit which is present on the vehicle or on the harvesting robot and which is coupled to the control unit.
  • An inertial measurement unit IMU is a widely known electronic device that measures and reports the specific force, angular velocity and sometimes orientation of the body using a combination of accelerometers, gyroscopes and sometimes magnetometers.
  • IMUs are typically used to maneuver aircraft (an attitude and heading reference system), including unmanned aerial vehicles and spacecraft, including satellites and landers. Recent developments enable the production of IMU- compatible GPS devices.
  • Application of an IMU in a control system of a cultivation system makes possible a faster control than if the control only takes place with a camera as a sensor for the position of the piece of fruit or vegetable to be harvested relative to a gripper present on the harvesting robot. Even when the ground is soft, the control system is fast enough to move the gripper in a smooth movement to the products to be harvested, so that harvesting can be carried out quickly.
  • the cultivation system according to the invention furthermore has a rail system which is present on the ground and over which the vehicle can travel.
  • This rail system is present on the relatively soft ground.
  • a harvesting robot on a vehicle that drives over the rail system will sag even more due to the reaction forces when the robot is moved quickly during harvesting, making even higher demands on the harvesting robot in order to be able to harvest products under these conditions.
  • the cultivation system according to the invention which is provided with an IMU, can also harvest products well and quickly in this situation.
  • An embodiment of the cultivation system according to the invention is characterized in that the vehicle is provided with a drive and a control which is coupled to the drive and is configured to drive the vehicle autonomously over the ground. In this case, the vehicle preferably drives according to a predefined route.
  • a further embodiment of the cultivation system according to the invention is characterized in that the harvesting robot is provided with a further control which is configured to cause the harvesting robot to move autonomously. This movement of the harvesting robot preferably takes place according to a predetermined algorithm.
  • the harvesting robot can also be provided with a camera which is directed forward in the direction of travel, so that the position of the fruit to be picked is known at an early stage and the harvesting robot can anticipate this while driving.
  • Figure 1 shows a schematic representation of the cultivation system according to the invention.
  • Figure 2 shows the inertial measurement unit of the cultivation system shown in Figure 1.
  • FIG. 1 shows schematically an embodiment of the cultivation system according to the invention.
  • the cultivation system 1 has a vehicle 3 which can be moved over a ground 5 between products to be harvested.
  • the cultivation system 1 furthermore has a rail system 7 which is present on the ground 5 and over which the vehicle 3 can drive.
  • a harvesting robot 9 is present on the vehicle 3 for harvesting the products.
  • the harvesting robot is provided with a telescopic arm 11 which is rotatably connected to a frame 13 of the harvesting robot.
  • a gripper 15 is present at the end of the arm for picking the products to be harvested.
  • the harvesting robot 9 Present on the harvesting robot 9 is a camera 17 for determining the position of the products to be harvested.
  • the harvesting robot 9 is further provided with a control unit 19 for controlling the arm 11 and the gripper 15.
  • This control unit 19 is coupled to the camera 17 and the arm 11 and is provided with an image processing unit 21 with image recognition software.
  • the cultivation system 1 furthermore has an inertia measuring unit 23 which is present on the vehicle or on the harvesting robot 9 and which is coupled to the control unit 19.
  • an inertia measuring unit 23 of the cultivation system is shown.
  • the inertial measurement unit 23 has a housing 25 which is partially cut away in Figure 2.
  • a stable member 27 which is connected to the housing 25 via a middle gimbal 29 and an outer gimbal 31 .
  • the vehicle 3 is provided with a drive (not shown in the figures) as well as a control (also not shown in the figures) which is coupled to the drive and is designed such that it can drive the vehicle autonomously over the ground.
  • the vehicle preferably drives according to a predefined route.
  • the harvesting robot is furthermore provided with a further control (not shown in the figures) which is designed such that it can allow the harvesting robot to move autonomously. This movement of the harvesting robot preferably takes place according to a predetermined algorithm.

Abstract

A cultivation system 1 comprises a vehicle 3 which is movable over a rail system 7 present on a surface 5 between products to be harvested. A harvesting robot 9 is present on the vehicle 3 for harvesting the products. The harvesting robot is provided with a telescopic arm 11 with a gripper 15 at the end for picking the products to be harvested. A camera 17 is provided on the harvesting robot 9 for determining the position of the products to be harvested. The harvesting robot 9 is further provided with a control unit 19 for controlling the arm 11 and the gripper 15. This control unit 19 is provided with an image processing unit 21 with image recognition software. The cultivation system 1 further comprises an inertial measuring unit 23 which is present on the vehicle or on the harvesting robot 9 and is coupled to the control unit 19.

Description

Cultivation system equipped with a harvesting robot
DESCRIPTION:
Technical field of the invention
The invention relates to a cultivation system comprising: a vehicle that can be moved over a surface between products to be harvested, a harvesting robot present on the vehicle for harvesting the products, a camera present on the vehicle or on the harvesting robot for determining the position of the products to be harvested, and a control unit present on the vehicle or on the harvesting robot for controlling the harvesting robot, which control unit is coupled to the camera and the harvesting robot and comprises an image processing unit provided with image recognition software.
Background of the invention
A cultivation system provided with a harvesting robot is known from JP2008062812A. This known cultivation system has an automatic harvesting robot provided with a picking device and two cameras with an image processing unit. In this known cultivation system, fruit is grown and harvested in the field or in a greenhouse. The paths between the fruit trees are narrow and the ground is not level everywhere. That is why the harvesting robot is mounted on a special manoeuvrable vehicle fitted with caterpillar tracks.
The surface on which the harvesting robot travels is relatively soft. During harvesting, the picking device will have to be moved relatively quickly. When the picking device is moved, the harvesting robot will exert reaction forces on the relatively soft ground, as a result of which the position and orientation of the harvesting robot changes and as a result the picking device has to be adjusted depending on the displacement of the harvesting robot as a result of the soft ground. The disadvantage of a cultivation system in which harvesting is based on cameras with image recognition is that such systems are relatively slow, so that harvesting takes a relatively long time.
Summary of the invention
It is an object of the invention to provide a cultivation system of the type described in the preamble, wherein harvesting can be done efficiently with a relatively simple robot and wherein harvesting can take place faster than with the known cultivation system. To this end, the cultivation according to the invention is characterized in that the cultivation system furthermore comprises an inertia measuring unit which is present on the vehicle or on the harvesting robot and which is coupled to the control unit. An inertial measurement unit (IMU) is a widely known electronic device that measures and reports the specific force, angular velocity and sometimes orientation of the body using a combination of accelerometers, gyroscopes and sometimes magnetometers. IMUs are typically used to maneuver aircraft (an attitude and heading reference system), including unmanned aerial vehicles and spacecraft, including satellites and landers. Recent developments enable the production of IMU- compatible GPS devices. Application of an IMU in a control system of a cultivation system makes possible a faster control than if the control only takes place with a camera as a sensor for the position of the piece of fruit or vegetable to be harvested relative to a gripper present on the harvesting robot. Even when the ground is soft, the control system is fast enough to move the gripper in a smooth movement to the products to be harvested, so that harvesting can be carried out quickly.
Preferably, the cultivation system according to the invention furthermore has a rail system which is present on the ground and over which the vehicle can travel. The advantage of this is that it is easier to control the vehicle. This rail system is present on the relatively soft ground. A harvesting robot on a vehicle that drives over the rail system will sag even more due to the reaction forces when the robot is moved quickly during harvesting, making even higher demands on the harvesting robot in order to be able to harvest products under these conditions. The cultivation system according to the invention, which is provided with an IMU, can also harvest products well and quickly in this situation. An embodiment of the cultivation system according to the invention is characterized in that the vehicle is provided with a drive and a control which is coupled to the drive and is configured to drive the vehicle autonomously over the ground. In this case, the vehicle preferably drives according to a predefined route.
A further embodiment of the cultivation system according to the invention is characterized in that the harvesting robot is provided with a further control which is configured to cause the harvesting robot to move autonomously. This movement of the harvesting robot preferably takes place according to a predetermined algorithm. The harvesting robot can also be provided with a camera which is directed forward in the direction of travel, so that the position of the fruit to be picked is known at an early stage and the harvesting robot can anticipate this while driving.
Brief description of the drawings
The invention will be further elucidated below on the basis of an exemplary embodiment of the cultivation system according to the invention shown in the drawings, wherein:
Figure 1 shows a schematic representation of the cultivation system according to the invention; and
Figure 2 shows the inertial measurement unit of the cultivation system shown in Figure 1.
Detailed description of the drawings
Figure 1 shows schematically an embodiment of the cultivation system according to the invention. The cultivation system 1 has a vehicle 3 which can be moved over a ground 5 between products to be harvested. The cultivation system 1 furthermore has a rail system 7 which is present on the ground 5 and over which the vehicle 3 can drive. A harvesting robot 9 is present on the vehicle 3 for harvesting the products. The harvesting robot is provided with a telescopic arm 11 which is rotatably connected to a frame 13 of the harvesting robot. A gripper 15 is present at the end of the arm for picking the products to be harvested.
Present on the harvesting robot 9 is a camera 17 for determining the position of the products to be harvested. The harvesting robot 9 is further provided with a control unit 19 for controlling the arm 11 and the gripper 15. This control unit 19 is coupled to the camera 17 and the arm 11 and is provided with an image processing unit 21 with image recognition software.
The cultivation system 1 furthermore has an inertia measuring unit 23 which is present on the vehicle or on the harvesting robot 9 and which is coupled to the control unit 19. In figure 2 the inertia measuring unit 23 of the cultivation system is shown. The inertial measurement unit 23 has a housing 25 which is partially cut away in Figure 2. In the core of the housing is a stable member 27 which is connected to the housing 25 via a middle gimbal 29 and an outer gimbal 31 .
The vehicle 3 is provided with a drive (not shown in the figures) as well as a control (also not shown in the figures) which is coupled to the drive and is designed such that it can drive the vehicle autonomously over the ground. In this case, the vehicle preferably drives according to a predefined route.
The harvesting robot is furthermore provided with a further control (not shown in the figures) which is designed such that it can allow the harvesting robot to move autonomously. This movement of the harvesting robot preferably takes place according to a predetermined algorithm.
Although the invention has been elucidated in the foregoing with reference to the drawings, it should be noted that the invention is by no means limited to the embodiment shown in the drawings. The invention also extends to all embodiments deviating from the embodiment shown in the drawings within the framework defined by the claims.

Claims

5 CLAIMS:
1. Cultivation system (1) comprising: a vehicle (3) that can be moved over a surface (5) between products to be harvested, a harvesting robot (9) present on the vehicle (3) for harvesting the products, a camera (17) present on the vehicle or on the harvesting robot (9) for determining the position of the products to be harvested, and a control unit (19) present on the vehicle or on the harvesting robot for controlling the harvesting robot (9), which control unit (19) is coupled to the camera (17) and the harvesting robot (9) and comprises an image processing unit (21) provided with image recognition software, characterized in that the cultivation system (1) further comprises an inertial measuring unit (23) which is present on the vehicle or on the harvesting robot (9) and which is coupled to the control unit (19).
2. Cultivation system according to claim 1, characterized in that the cultivation system further comprises a rail system (7) which is present on the ground (5) and over which the vehicle (3) can travel.
3. Cultivation system as claimed in claim 1 or 2, characterized in that the vehicle is provided with a drive and a control which is coupled to the drive and is configured to drive the vehicle autonomously over the ground.
4. Cultivation system according to claim 1, 2 or 3, characterized in that the harvesting robot is provided with a further control which is configured to cause the harvesting robot to move autonomously.
PCT/NL2021/050485 2020-08-01 2021-08-01 Cultivation system equipped with a harvesting robot WO2022031164A1 (en)

Applications Claiming Priority (2)

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NL2026196A NL2026196B1 (en) 2020-08-01 2020-08-01 Cultivation system equipped with a harvesting robot
NL2026196 2020-08-01

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WO2022031164A1 true WO2022031164A1 (en) 2022-02-10

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0463504A (en) * 1990-07-03 1992-02-28 Tokyo Nogyo Univ Automatic agricultural work device
US6243987B1 (en) * 1999-09-01 2001-06-12 Organitech Ltd. Self contained fully automated robotic crop production facility
JP2008062812A (en) 2006-09-07 2008-03-21 Kochi Univ Of Technology Vehicle for automatic harvest robot
CN105766220A (en) * 2016-03-24 2016-07-20 山东国兴智能科技有限公司 Carding type branched fruit picking robot
WO2018000922A1 (en) * 2016-06-30 2018-01-04 Tti (Macao Commercial Offshore) Limited An autonomous lawn mower and a system for navigating thereof
US20180017965A1 (en) * 2015-01-21 2018-01-18 Ramot At Tel-Aviv University Ltd. Agricultural robot
WO2019178299A1 (en) * 2018-03-13 2019-09-19 Moog Inc. Autonomous navigation system and the vehicle made therewith
DE112018005907T5 (en) * 2017-11-20 2020-07-30 Sony Corporation INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING PROCESS, PROGRAM AND MOVABLE BODY

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0463504A (en) * 1990-07-03 1992-02-28 Tokyo Nogyo Univ Automatic agricultural work device
US6243987B1 (en) * 1999-09-01 2001-06-12 Organitech Ltd. Self contained fully automated robotic crop production facility
JP2008062812A (en) 2006-09-07 2008-03-21 Kochi Univ Of Technology Vehicle for automatic harvest robot
US20180017965A1 (en) * 2015-01-21 2018-01-18 Ramot At Tel-Aviv University Ltd. Agricultural robot
CN105766220A (en) * 2016-03-24 2016-07-20 山东国兴智能科技有限公司 Carding type branched fruit picking robot
WO2018000922A1 (en) * 2016-06-30 2018-01-04 Tti (Macao Commercial Offshore) Limited An autonomous lawn mower and a system for navigating thereof
DE112018005907T5 (en) * 2017-11-20 2020-07-30 Sony Corporation INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING PROCESS, PROGRAM AND MOVABLE BODY
WO2019178299A1 (en) * 2018-03-13 2019-09-19 Moog Inc. Autonomous navigation system and the vehicle made therewith

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
GRIMSTAD LARS ET AL: "A Novel Autonomous Robot for Greenhouse Applications", 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE, 1 October 2018 (2018-10-01), pages 1 - 9, XP033491505, DOI: 10.1109/IROS.2018.8594233 *

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