WO2022144409A2 - Système robotique de manipulation de cultures - Google Patents

Système robotique de manipulation de cultures Download PDF

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Publication number
WO2022144409A2
WO2022144409A2 PCT/EP2021/087815 EP2021087815W WO2022144409A2 WO 2022144409 A2 WO2022144409 A2 WO 2022144409A2 EP 2021087815 W EP2021087815 W EP 2021087815W WO 2022144409 A2 WO2022144409 A2 WO 2022144409A2
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WO
WIPO (PCT)
Prior art keywords
crop
product
crop product
treatment
robotic
Prior art date
Application number
PCT/EP2021/087815
Other languages
English (en)
Other versions
WO2022144409A3 (fr
Inventor
Luc Jacques S. MAERTENS
Original Assignee
Biotalys NV
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 Biotalys NV filed Critical Biotalys NV
Publication of WO2022144409A2 publication Critical patent/WO2022144409A2/fr
Publication of WO2022144409A3 publication Critical patent/WO2022144409A3/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
    • A01D46/30—Robotic devices for individually picking crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields

Definitions

  • the disclosure relates to robotic systems and methods for handling and treating crop products.
  • the system is configured to identify one or more parameters indicating a condition of a crop product and selectively pick, treat, and/or reposition the crop products based on the identified parameters.
  • Robotic picking systems may also be provided with interchangeable end effectors to allow for targeted treatment of crop products, using an end effector configured to spray a treatment product onto the fruit.
  • An example of a robotic fruit picking system that can be provided with interchangeable end effectors is described in WO2018087546A1 .
  • aspects of this disclosure provide a multi-purpose end effector for a robotic crop handling system. Associated methods are also disclosed.
  • the end effectors and methods of the present disclosure are configured to allow an end effector to wholly or partially enclose a crop product, such as a fruit, identify a condition of the fruit, and selectively treat, pick and/or reposition the product using the end effector.
  • the disclosure also provides a robotic crop handling system, comprising a multi-purpose end effector and a controller configured to selectively detach (e.g. pick), reposition, and/or apply a treatment product to crops based on an assessment step carried out by the controller that identifies a crop condition.
  • the system can further comprise one or more of an articulatable arm configured to support the end effector, one or more reservoirs for containing a treatment product to be delivered to the crop, a base including conveying means for moving the crop handling system across terrain or through a greenhouse or between plants, and one or more containers for collecting detached crop products.
  • the systems and methods described herein are generally relate to end effectors adapted for selectively manipulating crop products (e.g. detaching or repositioning crop products) and selectively applying treatment products with the same end effector.
  • end effectors adapted for selectively manipulating crop products (e.g. detaching or repositioning crop products) and selectively applying treatment products with the same end effector.
  • a detector configured to detect at least one crop condition
  • aspects of the present disclosure may provide a more efficient and reliable crop handling process.
  • embodiments of the present disclosure may allow for more targeted delivery of treatment agents, and/or for efficient delivery of treatment agents at the point of picking or repositioning a crop product.
  • a robotic crop handling system comprising: an end effector having an enclosing element, configured to partially or wholly enclose a crop product, and a nozzle configured to deliver a dose of treatment product to the enclosed crop product.
  • the system also comprises a drive configured to move, or drive, the enclosing element between an open configuration or position, and a closed configuration or position in which the crop product is partially or wholly enclosed in the enclosing element.
  • the system further comprises a detection system configured to detect a condition of a crop product; and a controller configured to selectively control, based on the detected crop condition, at least one of: detachment of the crop product from a plant by the end effector; repositioning of the crop product by the end effector, and delivery of treatment product to the crop product via the nozzle.
  • a robotic crop handling system comprising: an end effector comprising: i. an enclosing element configured to partially or wholly enclose a crop product; ii. a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product; a drive configured to move the enclosing element between an open configuration and a closed configuration in which the crop product is partially or wholly enclosed in the enclosing element; a treatment product delivery system configured to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture; and wherein the system further comprises: a detection system configured to detect a condition of the crop product; and a controller configured to selectively control, based on the detected crop condition, the treatment product delivery system so as to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture.
  • the treatment product can be applied to the crop product in a more targeted way with less wastage or inadvertent contamination of other crop products as treatment product is only delivered to the crop products which require it, Which in turn leads to a reduced cost per application of the crop protection product and leads to a reduction of chemical residue on the crops or in the environment.
  • the enclosing element may optionally be configured to receive an individual crop product, for example a single grape bunch (or bunch of grapes) of a grape vine or a single grape of a grape vine.
  • open configuration/position it is meant that the enclosing element is opened sufficiently such that the end effector is able to receive a crop product.
  • the “closed configuration/position” is that in which the crop product is more enclosed within the enclosing element than in the “open configuration/position”.
  • a treatment volume defined by the enclosing element may be smaller in the enclosed configuration/position than in the open configuration/position.
  • the enclosing element may optionally comprise a plurality of enclosing elements such that one or more enclosing elements are configured to move relative to one or more other enclosing elements when moving between the open and closed configurations/positions.
  • the drive could be any suitable drive for moving the enclosing element between the open and closed configurations/positions.
  • the drive could be mechanical, electromagnetic or hydraulic for example, and could optionally be a drive mechanism.
  • the drive could optionally be configured to move the enclosing element from the open configuration to the closed configuration only, and not be configured to move the enclosing element from the closed configuration to the open configuration.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a fluid dispensing aperture for example a liquid or powder dispensing aperture.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a nozzle.
  • the nozzle could be any nozzle or aperture capable of dispensing the treatment product, which may be in a liquid or powder form for example.
  • the treatment product delivery system may comprise the dispensing aperture or nozzle.
  • the treatment product delivery system may comprise a treatment product reservoir, or a treatment product storage, fluidly coupled to the dispensing aperture.
  • the treatment product delivery system may comprise a pump configured to pump treatment product to the dispensing aperture, and optionally from the treatment product storage or reservoir.
  • the treatment product delivery system may comprise one or more fluid transport lines, or delivery conduits, fluidly coupling a treatment product reservoir, or treatment product storage, to the dispensing aperture for transporting treatment product to the dispensing aperture.
  • the system may comprise a plurality of treatment product dispensing apertures each fluidly coupled to the same or to respective treatment product reservoir(s) or treatment product storage(s).
  • the detection system may optionally comprise a sensor, for example a camera (e.g. CCD or CMOS camera), chemical sensor or the like, configured to detect a condition of the crop product.
  • the sensor may be disposed within a treatment volume or chamber defined by the enclosing element.
  • the end effector further comprises a detachment means configured to detach the crop product from the plant when, or as, the crop product is enclosed by the end effector and wherein the controller is configured to control the detachment means so as to detach the crop product from the plant, optionally wherein the controller is configured to control the detachment means so as to detach the crop product from the plant based on the detected condition of the crop product.
  • the detachment means is configured to detach the crop product from the plant when, or as, the enclosing element moves from the open configuration to the closed configuration.
  • the controller may be configured to control the drive so as to move the enclosing element from the open to the closed configuration, or vice versa, so as to detach the crop product.
  • the enclosing element or end effector is configured to reposition the crop product and wherein the controller is configured to selectively control, based on the detected condition of the crop product, the enclosing element or end effector so as to reposition the crop product.
  • Repositioning of the crop product may allow for improve crop ripeness for example or for facilitating access to other products.
  • the controller is further configured to determine one or both of whether to discard or to harvest a crop product, and wherein the controller is optionally configured to control the end effector to discard or harvest the crop product, optionally wherein the controller is configured to determine one or both of whether to discard or to harvest a crop product based on the detected condition of the crop product.
  • the controller is configured to control the dispensing aperture to selectively control the volume, quantity or dose oftreatment product delivered to the crop product, optionally wherein the treatment product delivery system comprises the dispensing aperture.
  • the controller may optionally also or instead be configured to control the quantity or mass of treatment product delivered to the crop product.
  • the dispensing aperture may comprise a valve and the controller may be configured to control the valve.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the closed configuration or position.
  • the detection system may optionally be configured not to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the controller is configured to selectively control delivery of the treatment product when the enclosing element is in the closed configuration or position.
  • the controller may be configured to control the treatment product delivery system when the enclosing element is in the closed configuration or position, for example optionally the controller maybe configured to control the dispensing aperture or nozzle, or a dispensing aperture valve, when the enclosing element is in the closed configuration.
  • the treatment product may only be delivered when the enclosing element is in the closed configuration and so when a crop product is received within the enclosing element so as to provide more targeted application of the treatment product and less cross contamination of crop products.
  • the enclosing element comprises a plurality of fingers which together define a cage for enclosing the crop product, at least one of the plurality of fingers comprising the dispensing aperture, optionally wherein two or more of the plurality of fingers each comprise a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product.
  • the fingers may partially or substantially enclose the crop product in the closed configuration.
  • the plurality of fingers may be said to be configured to receive a crop product.
  • the enclosing element in the closed configuration defines a treatment volume, or treatment chamber, for receiving the crop product and wherein the enclosing element is configured to wholly or partially contain or enclose the crop product within the treatment volume, or treatment chamber, and wherein the dispensing aperture is optionally disposed within the treatment volume or treatment chamber.
  • the end effector comprises a plurality of dispensing apertures, optionally wherein the dispensing apertures are spaced-apart from each other, for example wherein the end effector comprises a plurality of enclosing elements each comprising one or more dispensing apertures.
  • the detachment means comprises a cutting blade.
  • the detected crop condition is one or more of: crop product ripeness; crop product disease; the presence or absence of plant pests on the crop product or whether the crop product is affected by plant pests; crop product damage; crop product colour; crop product shape; crop product position and/or overcrowding; and/or crop product size.
  • the dispensing aperture is a nozzle, optionally wherein the nozzle comprises a valve and wherein the controller is configured to selectively control, based on the detected crop condition, the valve so as to selectively deliver a dose of treatment product to the enclosed crop product via the nozzle.
  • a robotic crop handling system comprising: an end effector comprising: i. an enclosing element configured to partially or wholly enclose a crop product attached to a plant; ii. a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product; a drive configured to move the enclosing element between an open configuration and a closed configuration in which the crop product is partially or wholly enclosed in the enclosing element; detachment means configured to detach the crop product from a plant when the crop product is enclosed by the end effector; and wherein the system further comprises: a detection system configured to detect a condition of the crop product; and a controller configured to selectively control, based on the detected crop condition, the detachment means so as to detach the crop product from a plant when the crop product is enclosed by the end effector.
  • the crop product can be harvested, or picked, in a more targeted way with less wastage as crop products are only harvested or picked or detached according to their crop condition.
  • the enclosing element may optionally be configured to receive an individual crop product, for example a single grape of a grape vine.
  • open configuration/position it is meant that the enclosing element is opened sufficiently such that the end effector is able to receive a crop product.
  • the “closed configuration/position” is that in which the crop product is more enclosed within the enclosing element than in the “open configuration/position” - thus, a treatment volume defined by the enclosing element may be smaller in the enclosed configuration/position than in the open configuration/position.
  • the enclosing element may optionally comprise a plurality of enclosing elements such that one or more enclosing elements are configured to move relative to one or more other enclosing elements when moving between the open and closed configurations/positions.
  • the drive could be any suitable drive for moving the enclosing element between the open and closed configurations/positions.
  • the drive could be mechanical, electromagnetic or hydraulic for example, and could optionally be a drive mechanism.
  • the drive could optionally be configured to move the enclosing element from the open configuration to the closed configuration only, and not be configured to move the enclosing element from the closed configuration to the open configuration.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a fluid dispensing aperture for example a liquid or powder dispensing aperture.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a nozzle.
  • the nozzle could be any nozzle or aperture capable of dispensing the treatment product, which may be in a liquid or powder form for example.
  • the system may comprise a treatment product delivery system which may comprise the dispensing aperture or nozzle.
  • the treatment product delivery system may comprise a treatment product reservoir, or a treatment product storage, fluidly coupled to the dispensing aperture.
  • the treatment product delivery system may comprise a pump configured to pump treatment product to the dispensing aperture, and optionally from the treatment product storage or reservoir.
  • the treatment product delivery system may comprise one or more fluid transport lines, or delivery conduits, fluidly coupling a treatment product reservoir, or treatment product storage, to the dispensing aperture for transporting treatment product to the dispensing aperture.
  • the system may comprise a plurality of treatment product dispensing apertures each fluidly coupled to the same or to respective treatment product reservoir(s) or treatment product storage(s).
  • the detection system may optionally comprise a sensor, for example a camera (e.g. CCD or CMOS camera), chemical sensor or the like, configured to detect a condition of the crop product.
  • the sensor may be disposed within a treatment volume or chamber defined by the enclosing element.
  • the controller may be configured to control the drive so as to move the enclosing element from the open to the closed configuration, or vice versa, so as to detach the crop product.
  • the end effector comprises the detachment means.
  • the detachment means for all embodiments disclosed herein may also be referred to as detacher and can optionally be a detachment mechanism.
  • the detachment means may comprise a cutter which may optionally comprise a blade.
  • the enclosing element or end effector is configured to reposition the crop product and wherein the controller is configured to selectively control, based on the detected condition of the crop product, the enclosing element or end effector so as to reposition the crop product. Repositioning of the crop product may allow for improve crop ripeness for example or for facilitating access to other products.
  • the controller is further configured to determine one or both of whether to discard or to harvest a crop product, and wherein the controller is optionally configured to control the end effector to discard or harvest the crop product, optionally wherein the controller is configured to determine one or both of whether to discard or to harvest a crop product based on the detected condition of the crop product.
  • the controller is configured to control the dispensing aperture to selectively control the volume, quantity or dose of treatment product delivered to the crop product, optionally wherein the treatment product delivery system comprises the dispensing aperture.
  • the controller may optionally instead or also be configured to control the quantity or mass of treatment product delivered to the crop product.
  • the dispensing aperture may comprise a valve and the controller may be configured to control the valve.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the closed configuration or position.
  • the detection system may optionally be configured not to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the controller is configured to selectively control delivery of the treatment product when the enclosing element is in the closed configuration or position.
  • the controller may be configured to control a treatment product delivery system when the enclosing element is in the closed configuration or position, for example optionally the controller maybe configured to control the dispensing aperture or nozzle, or a dispensing aperture valve, when the enclosing element is in the closed configuration.
  • the treatment product may only be delivered when the enclosing element is in the closed configuration and so when a crop product is received within the enclosing element so as to provide more targeted application of the treatment product and less cross contamination of crop products.
  • the fingers may partially or substantially enclose the crop product in the closed configuration.
  • the plurality of fingers may be said to be configured to receive a crop product.
  • the enclosing element comprises a plurality of fingers together defining a cage for enclosing the crop product, at least one of the plurality of fingers comprising the dispensing aperture, optionally wherein two or more of the plurality of fingers each comprise a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product.
  • the enclosing element in the closed configuration defines a treatment volume, or treatment chamber, for receiving the crop product and wherein the enclosing element is configured to wholly or partially contain or enclose the crop product within the treatment volume, or treatment chamber, and wherein the dispensing aperture is optionally disposed within the treatment volume or treatment chamber.
  • the end effector comprises a plurality of dispensing apertures, optionally wherein the dispensing apertures are spaced-apart from each other, for example wherein the end effector comprises a plurality of enclosing elements each comprising one or more dispensing apertures.
  • the detachment means comprises a cutting blade.
  • the detected crop condition is one or more of: crop product ripeness; crop product disease; the presence or absence of plant pests on the crop product or whether the crop product is affected by plant pests; crop product damage; crop product colour; crop product shape; crop product position and/or overcrowding; and/or crop product size.
  • the dispensing aperture is a nozzle, optionally wherein the nozzle comprises a valve and wherein the controller is configured to selectively control, based on the detected crop condition, the valve so as to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture.
  • the system further comprises: a treatment product delivery system configured to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture; and wherein the controller is configured to selectively control, based on the detected crop condition, the treatment product delivery system so as to selectively deliver a dose of treatment product to the enclosed crop product via the nozzle.
  • a treatment product delivery system configured to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture
  • the controller is configured to selectively control, based on the detected crop condition, the treatment product delivery system so as to selectively deliver a dose of treatment product to the enclosed crop product via the nozzle.
  • a robotic crop handling system comprising: an end effector comprising: i. an enclosing element configured to partially or wholly enclose a crop product attached to a plant; ii. a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product; a drive configured to move the enclosing element between an open configuration and a closed configuration in which the crop product is partially or wholly enclosed in the enclosing element; repositioning means for repositioning the crop product; and wherein the system further comprises: a detection system configured to detect a condition of the crop product; and a controller configured to selectively control, based on the detected crop condition, the repositioning means so as to reposition the crop product.
  • crop products for example individual crop products
  • the enclosing element may optionally be configured to receive an individual crop product, for example a single grape of a grape vine.
  • open configuration/position it is meant that the enclosing element is opened sufficiently such that the end effector is able to receive a crop product.
  • closed configuration/position is that in which the crop product is more enclosed within the enclosing element than in the “open configuration/position”.
  • a treatment volume defined by the enclosing element may be smaller in the enclosed configuration/position than in the open configuration/position.
  • the enclosing element may optionally comprise a plurality of enclosing elements such that one or more enclosing elements are configured to move relative to one or more other enclosing elements when moving between the open and closed configurations/positions.
  • the drive could be any suitable drive for moving the enclosing element between the open and closed configurations/positions.
  • the drive could be mechanical, electromagnetic or hydraulic for example, and could optionally be a drive mechanism.
  • the drive can be referred to as a driver or drive means.
  • the drive could optionally be configured to move the enclosing element from the open configuration to the closed configuration only, and not be configured to move the enclosing element from the closed configuration to the open configuration.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a fluid dispensing aperture for example a liquid or powder dispensing aperture.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a nozzle.
  • the nozzle could be any nozzle or aperture capable of dispensing the treatment product, which may be in a liquid or powder form for example.
  • the treatment product delivery system may comprise the dispensing aperture or nozzle.
  • the treatment product delivery system may comprise a treatment product reservoir, or a treatment product storage, fluidly coupled to the dispensing aperture.
  • the treatment product delivery system may comprise a pump configured to pump treatment product to the dispensing aperture, and optionally from the treatment product storage or reservoir.
  • the treatment product delivery system may comprise one or more fluid transport lines, or delivery conduits, fluidly coupling a treatment product reservoir, or treatment product storage, to the dispensing aperture for transporting treatment product to the dispensing aperture.
  • the product delivery system may comprise a plurality of treatment product dispensing apertures each fluidly coupled to the same or to respective treatment product reservoir(s) or treatment product storage(s).
  • the detection system may optionally comprise a sensor, for example a camera (e.g. CCD or CMOS camera), chemical sensor or the like, configured to detect a condition of the crop product.
  • the sensor may be disposed within a treatment volume or chamber defined by the enclosing element.
  • the end effector further comprises a detachment means configured to detach the crop product from the plant when the crop product is enclosed by the end effector, and wherein the controller is configured to control the detachment means so as to detach the crop product from the plant, optionally wherein the controller is configured to control the detachment means so as to detach the crop product from the plant based on the detected condition of the crop product.
  • the controller may be configured to control the drive so as to move the enclosing element from the open to the closed configuration, or vice versa, so as to detach the crop product.
  • the enclosing element or end effector is configured to reposition the crop product and wherein the controller is configured to selectively control, based on the detected condition of the crop product, the enclosing element or end effector so as to reposition the crop product.
  • Repositioning of the crop product may allow for improve crop ripeness for example or for facilitating access to other products.
  • the controller is further configured to determine one or both of whether to discard or to harvest a crop product, and wherein the controller is optionally configured to control the end effector to discard or harvest the crop product, optionally wherein the controller is configured to determine one or both of whether to discard or to harvest a crop product based on the detected condition of the crop product.
  • the controller is configured to control the dispensing aperture to selectively control the volume, quantity or dose of treatment product delivered to the crop product, optionally wherein the treatment product delivery system comprises the dispensing aperture.
  • the controller may optionally instead be configured to control the quantity or mass of treatment product delivered to the crop product.
  • the dispensing aperture may comprise a valve and the controller may be configured to control the valve.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the closed configuration.
  • the detection system may optionally be configured not to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the controller is configured to selectively control delivery of the treatment product when the enclosing element is in the closed configuration or position.
  • the controller may be configured to control a treatment product delivery system when the enclosing element is in the closed configuration or position, for example optionally the controller maybe configured to control the dispensing aperture or nozzle, or a dispensing aperture valve, when the enclosing element is in the closed configuration.
  • the treatment product may only be delivered when the enclosing element is in the closed configuration and so when a crop product is received within the enclosing element so as to provide more targeted application of the treatment product and less cross contamination of crop products.
  • the fingers may partially or substantially enclose the crop product in the closed configuration.
  • the plurality of fingers may be said to be configured to receive a crop product.
  • the enclosing element comprises a plurality of fingers together defining a cage for enclosing the crop product, at least one of the plurality of fingers comprising the dispensing aperture, optionally wherein two or more of the plurality of fingers each comprise a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product.
  • the enclosing element in the closed configuration defines a treatment volume, or treatment chamber, for receiving the crop product and wherein the enclosing element is configured to wholly or partially contain or enclose the crop product within the treatment volume, or treatment chamber, and wherein the dispensing aperture is optionally disposed within the treatment volume or treatment chamber.
  • the end effector comprises a plurality of dispensing apertures, optionally wherein the dispensing apertures are spaced-apart from each other, for example wherein the end effector comprises a plurality of enclosing elements each comprising one or more dispensing apertures.
  • the detachment means comprises a cutting blade.
  • the detected crop condition is one or more of: crop product ripeness; crop product disease; the presence or absence of plant pests on the crop product or whether the crop product is affected by plant pests; crop product damage; crop product colour; crop product shape; crop product position and/or overcrowding; and/or crop product size.
  • the dispensing aperture is a nozzle, optionally wherein the nozzle comprises a valve and wherein the controller is configured to selectively control, based on the detected crop condition, the valve so as to selectively deliver a dose of treatment product to the enclosed crop product via the nozzle.
  • the system further comprises a treatment product delivery system configured to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture; and wherein the controller is configured to selectively control, based on the detected crop condition, the treatment product delivery system so as to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture.
  • a treatment product delivery system configured to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture
  • the controller is configured to selectively control, based on the detected crop condition, the treatment product delivery system so as to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture.
  • a robotic crop handling system comprising: an end effector comprising: i. an enclosing element configured to partially or wholly enclose a crop product, the enclosing element defining a treatment volume for receiving crop product; ii. a dispensing aperture disposed within the treatment volume, the dispensing aperture being configured to deliver a dose of treatment product to the enclosed crop product; a drive configured to move the enclosing element between an open configuration and a closed configuration in which the crop product is partially or wholly enclosed in the enclosing element; and a treatment product delivery system configured to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture.
  • a robotic crop handling system which is able to deliver treatment product in a more targeted way as the treatment product is delivered directly into the treatment volume by virtue of the dispensing aperture being located with the treatment volume defined by the enclosing element.
  • the enclosing element may optionally be configured to receive an individual crop product, for example a single grape of a grape vine.
  • open configuration/position it is meant that the enclosing element is opened sufficiently such that the end effector is able to receive a crop product.
  • closed configuration/position is that in which the crop product is more enclosed within the enclosing element than in the “open configuration/position”.
  • a treatment volume defined by the enclosing element may be smaller in the enclosed configuration/position than in the open configuration/position.
  • the enclosing element may optionally comprise a plurality of enclosing elements such that one or more enclosing elements are configured to move relative to one or more other enclosing elements when moving between the open and closed configurations/positions.
  • the drive could be any suitable drive for moving the enclosing element between the open and closed configurations/positions.
  • the drive could be mechanical, electromagnetic or hydraulic for example, and could optionally be a drive mechanism.
  • the drive could optionally be configured to move the enclosing element from the open configuration to the closed configuration only, and not be configured to move the enclosing element from the closed configuration to the open configuration.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a fluid dispensing aperture for example a liquid or powder dispensing aperture.
  • the dispensing aperture of all embodiments disclosed herein may optionally be a nozzle.
  • the nozzle could be any nozzle or aperture capable of dispensing the treatment product, which may be in a liquid or powder form for example.
  • the treatment product delivery system may comprise the dispensing aperture or nozzle.
  • the treatment product delivery system may comprise a treatment product reservoir, or a treatment product storage, fluidly coupled to the dispensing aperture.
  • the treatment product delivery system may comprise a pump configured to pump treatment product to the dispensing aperture, and optionally from the treatment product storage or reservoir.
  • the treatment product delivery system may comprise one or more fluid transport lines, or delivery conduits, fluidly coupling a treatment product reservoir, or treatment product storage, to the dispensing aperture fortransporting treatment product to the dispensing aperture.
  • the treatment product delivery system may comprise a dispensing aperture disposed within the treatment volume, the dispensing aperture being configured to deliver a dose of treatment product to the treatment volume.
  • the system may comprise a plurality of treatment product dispensing apertures each fluidly coupled to the same or to respective treatment product reservoir(s) or treatment product storage(s).
  • the detection system may optionally comprise a sensor, for example a camera (e.g. CCD or CMOS camera), chemical sensor, gas sensor, biosensor or the like, configured to detect a condition of the crop product.
  • the sensor may be disposed within a treatment volume or chamber defined by the enclosing element.
  • the system further comprises: a detection system configured to detect a condition of the crop product; and a controller.
  • the controller is configured to selectively control the treatment product delivery system so as to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture, optionally wherein the controller is configured to selectively control the treatment product delivery system based on the detected crop condition.
  • the end effector further comprises a detachment means configured to detach the crop product from the plant when the crop product is enclosed by the end effector, and wherein the controller is configured to control the detachment means so as to detach the crop product from the plant, optionally wherein the controller is configured to control the detachment means so as to detach the crop product from the plant based on the detected condition of the crop product.
  • the detachment means is configured to detach the crop product from the plant when, or as, the enclosing element moves from the open configuration to the closed configuration.
  • the controller may be configured to control the drive so as to move the enclosing element from the open to the closed configuration, or vice versa, so as to detach the crop product.
  • the enclosing element or end effector is configured to reposition the crop product and wherein the controller is configured to selectively control, based on the detected condition of the crop product, the enclosing element so as to reposition the crop product.
  • Repositioning of the crop product may allow for improve crop ripeness for example or for facilitating access to other products.
  • the controller is further configured to determine one or both of whether to discard or to harvest a crop product, and wherein the controller is optionally configured to control the end effector to discard or harvest the crop product, optionally wherein the controller is configured to determine one or both of whether to discard or to harvest a crop product based on the detected condition of the crop product.
  • the controller is configured to control the dispensing aperture to selectively control the volume of treatment product delivered to the crop product, optionally wherein the treatment product delivery system comprises the dispensing aperture.
  • the controller may optionally instead or also be configured to control the quantity or mass of treatment product delivered to the crop product.
  • the dispensing aperture may comprise a valve and the controller may be configured to control the valve.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the closed configuration or position.
  • the detection system may optionally be configured not to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the detection system is configured to detect the condition of the crop product when the enclosing element is in the open configuration or position.
  • the controller is configured to selectively control delivery of the treatment product when the enclosing element is in the closed configuration or position.
  • the controller may be configured to control a treatment product delivery system when the enclosing element is in the closed configuration or position, for example optionally the controller maybe configured to control the dispensing aperture or nozzle, or a dispensing aperture valve, when the enclosing element is in the closed configuration.
  • the treatment product may only be delivered when the enclosing element is in the closed configuration and so when a crop product is received within the enclosing element so as to provide more targeted application of the treatment product and less cross contamination of crop products.
  • the fingers may partially or substantially enclose the crop product in the closed configuration.
  • the plurality of fingers may be said to be configured to receive a crop product.
  • the enclosing element comprises a plurality of fingers together defining a cage for enclosing the crop product, at least one of the plurality of fingers comprising the dispensing aperture, optionally wherein two or more of the plurality of fingers each comprise a dispensing aperture configured to deliver a dose of treatment product to the enclosed crop product.
  • the enclosing element in the closed configuration defines a treatment volume, or treatment chamber, for receiving the crop product and wherein the enclosing element is configured to wholly or partially contain or enclose the crop product within the treatment volume, or treatment chamber, and wherein the dispensing aperture is optionally disposed within the treatment volume or treatment chamber.
  • the end effector comprises a plurality of dispensing apertures, optionally wherein the dispensing apertures are spaced-apart from each other, for example wherein the end effector comprises a plurality of enclosing elements each comprising one or more dispensing apertures.
  • the detachment means comprises a cutting blade.
  • the detected crop condition is one or more of: crop product ripeness; crop product disease; the presence or absence of plant pests on the crop product or whether the crop product is affected by plant pests; crop product damage; crop product colour; crop product shape; crop product position and/or overcrowding; and/or crop product size.
  • the dispensing aperture is a nozzle, optionally wherein the nozzle comprises a valve and wherein the controller is configured to selectively control, based on the detected crop condition, the valve so as to selectively deliver a dose of treatment product to the enclosed crop product via the dispensing aperture.
  • the controller is configured to selectively control, based on the detected crop condition, the valve so as to selectively deliver a dose of treatment product to the enclosed crop product via the nozzle.
  • an end effector for a robotic crop handling system.
  • the end effector comprises an enclosing element, configured to partially or wholly enclose a crop product, and a nozzle configured to deliver a dose of treatment product to the enclosed crop product.
  • the end effector also comprises a drive or drive mechanism configured to move the enclosing element between an open position and a closed position in which the crop product is partially or wholly enclosed in the enclosing element.
  • the end effector also comprises a sensor configured to detect a condition of a crop product.
  • the end effector is configured for communication with a controller, the controller configured to selectively control, based on the detected crop condition, at least one of: detachment of the crop product from a plant by the end effector; repositioning of the crop product by the end effector, and delivery of treatment product to the crop product via the nozzle.
  • a method of robotic crop handling comprising: enclosing, using an enclosing element of an end effector, a crop product, wherein the enclosing element is configured to partially or wholly enclose the crop product; detecting, using a detection system, a condition of a crop product; selectively controlling, based on the detected condition of the crop product, at least one of: detaching the crop product from a plant by the end effector; repositioning the crop product using the end effector; and delivering (optionally, based on the detected condition of the crop product), using a dispensing aperture of the end effector, a dose of treatment product to the enclosed crop product.
  • the dispensing aperture may optionally be a nozzle.
  • the method may also include identifying multiple crop conditions and determining whether a crop product should be picked and harvested, picked and discarded, treated with one or more treatment products, repositioned, or any combination of the above.
  • the detection system is configured to detect at least one of: crop product ripeness; crop product disease; the presence or absence of plant pests on the crop product or whether the crop product is affected by plant pests; crop product damage; crop product colour; crop product shape; crop product position and/or overcrowding; and crop product size.
  • the controller controls the dispensing aperture and/or a treatment product delivery system that supplies the dispensing aperture to: selectively deliver a dose of treatment product to the enclosed crop product based on the detected crop condition; and/or selectively control the volume of treatment product delivered based on the detected crop condition.
  • the method further comprises enclosing the crop product in a treatment volume, or treatment chamber, defined by the enclosing element in the closed configuration and delivering a dose of treatment product to the crop product within the treatment volume or treatment chamber.
  • the treatment chamber may be defined by a virtual boundary or volume or void defined by the enclosing element in the closed configuration and may not be wholly physically enclosed, although embodiments in which the treatment chamber may be wholly or partially or substantially enclosed are also envisaged.
  • the steps of the method above may be carried out in any order.
  • the detecting step may be carried out before the crop product is enclosed by the enclosing element.
  • multiple detection steps may be carried out.
  • a first detection step may determine whether a crop product is to be enclosed.
  • a second detection step may determine the selective application of treatment product to the crop product.
  • additional detection means may be provided.
  • the systems and methods of all embodiments described herein can include an additional camera or other guidance sensor(s) configured to guide the end effector toward target crop products.
  • enclosure of the crop products may be a substantially complete enclosure (wherein the crop product is surrounded by solid walls when the enclosing element is in the closed configuration) or the crop product may be enclosed in a cage like structure (e.g. confined within a plurality of arms or fingers) when the enclosing element is in the closed configuration.
  • the end effector of the aspects above may further comprise a detachment means, for example a detachment mechanism, for detaching a crop product from a plant.
  • the controller can be configured to control the detachment means.
  • the detachment means can comprise a cutting blade.
  • the cutting blade may be fixedly mounted to the enclosing element. In such a configuration, movement of the enclosing element from the open configuration to the closed configuration may detach the crop product.
  • the cutting blade may also be movably mounted to the enclosing element. The cutting blade may therefore be selectively activated to detach the crop product.
  • the end effector can also be configured to detach enclosed crop products from a supporting plant without cutting the supporting stalk. For example, the end effector can be configured to detach the crop product from the supporting plant by a twisting and/or pulling motion of the end effector.
  • the enclosing element can be configured to reposition a crop product.
  • the enclosing element of all embodiments disclosed herein may therefore be articulatable about a joint or hinge.
  • the enclosing element may be mounted on an articulatable arm.
  • the controller of all embodiments disclosed herein can be further configured to determine whether to discard or harvest the crop product. Optionally, this determination is made on the basis of the detected crop condition(s).
  • the detection system of all embodiments disclosed herein can be configured to detect at least one of: crop product ripeness, crop product disease, the presence or absence of plant pests on the crop product or whether the crop product is affected by plant pests, damage caused by pests, crop product colour, crop product shape, crop product damage (e.g. UV damage or bruising), crop product position and/or overcrowding, and crop product size.
  • the detection system can comprise a sensor or detector, such as a camera to capture an image of the crop product.
  • the detection system can also comprise a processor configured to analyse the captured image to determine one or more crop conditions.
  • the sensor described herein comprises a camera for gathering visual information about the crop product, other sensors may be used in addition to or as an alternative to the camera described above.
  • a gas sensor may be used to detect compounds indicative of crop ripeness (e.g. ethylene detection).
  • a suitable sensor is a device that is capable of detecting the presence of a microbial pest prior to the macroscopic manifestation of disease phenotypes (e.g. a biological sensor or biosensor).
  • the controller of all embodiments disclosed herein can be configured to determine multiple crop conditions. For example, the controller can be configured to determine that a crop product should be: picked and harvested, picked and discarded, not picked, treated with one or more treatment products, repositioned, or any combination of the above.
  • a “pest”, as used herein, is an organism that is harmful to a plant, for example by causing a disease in or on and/or damage to a plant, plant part or plant product.
  • a “pest” includes, but is not limited to, microbial pests, such as a bacterium, a fungus, a yeast, or a virus.
  • the term also includes organisms such as invertebrate organisms, for example an insect, such as an aphid, caterpillar, fly, wasp, and the like, a nematode, a mite, or a gastropod.
  • the controller of all embodiments disclosed herein can be configured to control the nozzle, and/or a treatment product delivery system configured to supply the nozzle, to selectively deliver a dose of treatment product to the enclosed crop product based on a detected crop condition.
  • the treatment product delivery system of all embodiments disclosed herein can comprise a fluid delivery conduit and a pump.
  • the fluid delivery conduit connects the nozzle with a reservoir of treatment product.
  • the pump is configured to move treatment product from the reservoir, through the delivery conduit and out of the nozzle for application to the crop product.
  • controller of all embodiments disclosed herein can be configured to control the nozzle, and/or treatment product delivery system configured to supply the nozzle, to selectively control the volume of treatment product delivered.
  • the controller of all embodiments disclosed herein can also be configured to selectively control delivery of treatment product only when the enclosing element is in the closed configuration. This can ensure that the treatment product is delivered directly to the crop product, in a targeted manner, with the crop product in a controlled position, and optionally (for wholly enclosed crop products) in a controlled environment substantially devoid of turbulent or disruptive airflow.
  • the enclosing element comprises a plurality of fingers, at least one of the plurality of fingers comprising the nozzle.
  • a plurality of nozzles on one finger, or a plurality of nozzles on a plurality of fingers may also be provided.
  • the enclosing element of all embodiments disclosed herein can also be configured to wholly or partially enclose the crop product within a treatment chamber.
  • the treatment chamber may be formed by bringing together a plurality of solid (or substantially solid) wall segments around the crop product to form a shell defining the chamber.
  • the nozzle can be disposed within the chamber.
  • the treatment chamber can also be referred to as a treatment volume defined by the enclosing element.
  • Figs. 1a and 1 b show a system comprising an end effector according to a first embodiment, with Fig. 1a showing the end effector in the open configuration and Fig. 1 b showing the end effector in the closed configuration.
  • Figs. 2a and 2b show an end effector according to a second embodiment, with Fig. 2a showing the end effector in the open configuration and Fig. 2b showing the end effector in the closed configuration.
  • Fig. 3 shows an end effector according to a third embodiment.
  • Fig. 4 shows a schematic representation of a robotic crop handling system, including a controller and an end effector.
  • Fig. 5 shows a flow diagram of a method according to an embodiment of the disclosure.
  • Figures 1 a and 1 b show a robotic crop handling system 110 according to the present disclosure.
  • Figure 1a shows the robotic crop handling system 110 with the end effector in an open configuration.
  • Figure 1 b shows the end effector of Figure 1 a in a closed position.
  • the crop handling system 110 comprises an end effector 112 configured to grasp a crop product, such as a fruit 114.
  • the end effector 112 comprises a enclosing element 116 configured to wholly or partially enclose the fruit 114 to be picked.
  • the end effector 112 also comprises a plurality of nozzles 118 (or dispensing apertures 118) configured to deliver a dose of treatment product to an enclosed fruit 114.
  • a plurality of nozzles 118 are shown in the configuration in Figures 1 a and 1 b, it will be understood that a single nozzle may be provided to deliver treatment product to the fruit 114.
  • Figure 1a shows the enclosing element 116 in an open configuration for receiving a fruit 114.
  • the enclosing element 116 is configured to move between the open configuration shown in Figure 1a to a closed position, encapsulating the fruit, as shown in Figure 1 b.
  • the enclosing element 116 shown in Figures 1a and 1 b comprises a pair of opposing jaws 116a, 116b each of which forms a generally hollow cup or concave body.
  • the jaws 1 16a and 116b are articulatable about a pivot point or hinge 120 towards and away from each otherto open and close the enclosing element 116. With the jaws in the closed position, the two generally hollow concave bodies together form a generally closed chamber or volume in which the fruit 114 is disposed. This chamber or volume may form a treatment chamber or treatment volume in which treatment product is applied to a grasped crop product.
  • the nozzles 118 are arranged to deliver treatment product to a fruit disposed within or grasped by the enclosing element 116.
  • the nozzles 118 are therefore mounted within the chamber when the jaws are in the closed position.
  • the nozzles 1 18 can be configured as one or more spray nozzles configured to spray a treatment fluid (e.g. a liquid or powder formulation) onto the enclosed fruit 114.
  • the enclosing element 116 can comprise a detachment means which in some embodiments may be a detachment mechanism, for example a cutting element 122 configured to detach the fruit 114 from the supporting plant.
  • a detachment mechanism for example a cutting element 122 configured to detach the fruit 114 from the supporting plant.
  • the cutting element 122 takes the form of a cutting blade mounted on one of the jaws, and a cutting surface provided on the opposing jaw. It will be appreciated that other cutting arrangements may be provided. Cutting elements may also be omitted entirely and detachment of the fruit from the supporting plant may be accomplished by pulling and/or twisting by enclosing element 116.
  • the nozzles 118 are supplied with treatment product via a treatment product delivery system, which comprises at least one delivery conduit 124.
  • the delivery conduit may be in fluid communication with a reservoir 126 of treatment product (shown schematically in Figure 1a).
  • the reservoir 126 may be provided within the end effector 112 or remote from the end effector.
  • a pump (not shown) can be configured to deliver product from the reservoir to the nozzles 118.
  • the reservoir may be pressurised and delivery of product to the nozzles may be carried out by opening a valve sealing a pressurised reservoir to allow treatment product to exit the delivery system via the nozzle(s).
  • the system can comprise multiple reservoirs.
  • the fluid delivery system can comprise two or more reservoirs in fluid communication with at least one nozzle via a suitable delivery conduit.
  • the reservoirs may contain different treatment products and the controller can be configured to apply a different treatment product via the nozzle based on the detected crop condition.
  • a first reservoir may contain a first treatment product to be applied on crop products that are identified as unripe by the controller.
  • a second reservoir may contain a second treatment product configured to be applied to ripe crops at the point of harvest, as determined by the controller.
  • the system 110 further comprises a drive which in this embodiment is in the form of a drive mechanism 128 configured to move the jaws between the open and closed configurations.
  • the drive mechanism may be an electromechanical drive mechanism, a pneumatic drive mechanism, or any other suitable drive mechanism known to the person skilled in the art.
  • the enclosing element 1 16 is provided on an arm 130, optionally an articulatable arm.
  • the arm 130 may be configured to move to, between, and from plants and crop products to bring the end effector into contact with target crop products, to deliver harvested crop products to a tray or container, and to reposition crop products.
  • the arm 130 may be mounted on a base (not shown), which includes conveying means configured to propel the system between plants, or different growing spaces.
  • the conveying means can comprise, for example, a wheeled support configured to drive between rows of plants.
  • the base may also comprise one or more trays or containers for collecting harvested crop products and/or crop products to be discarded.
  • the arm 130 may be mounted to a manoeuvrable crop handling robot configured to allow the robot to move between crop products (e.g. individual fruits or bunches of fruit) and/or plants.
  • crop products e.g. individual fruits or bunches of fruit
  • the system 110 also comprises a detection system configured to detect a condition of a crop product to be picked.
  • the detection system comprises a detector or sensor 132 configured to gather data related to the crop product, e.g. a camera configured to gather visual information (shown in Figures 1 a and 1 b), or a gas sensor configured to detect gases indicative of crop condition, such as ripeness (not shown).
  • the detection system is operatively connected to a controller 134 configured to determine a crop condition based on the gathered data.
  • the controller 134 may be configured to determine at least one of: crop product ripeness, crop product disease, crop product colour, crop product shape, crop product position and/or overcrowding, and crop product size based on the gathered data.
  • the controller may be configured to identify a crop product colour(s) indicative of product ripeness, indicating that the crop product is ready to be picked and harvested. Additionally or alternatively, the controller may be configured to identify crop product colour(s) indicative of a disease state, indicating that a crop product should be picked and discarded, or treated (with or without being picked).
  • the controller can selectively apply treatment product only to crop products identified for picking and harvesting.
  • treatment products applied at the point of harvest include oils, emulsions, edible coatings, pesticides, biopesticides, protein-based biocontrols, disinfectants, preservatives, gaseous treatments, radiation, ripening inducers or inhibitors, pressurised air, or water spray.
  • the controller 134, reservoir 126 and delivery conduit 124, and drive mechanism 128 are shown schematically in Figure 1a.
  • Figure 1 b shows only the end effector, with these components emitted for clarity.
  • the controller, reservoir, delivery conduits and drive mechanisms are also omitted from Figures 2 and 3, although equivalent configurations may be present in these embodiments.
  • this implementation may be particularly useful for the application of treatment products to fruits that are safe for consumption, since they can be applied at the point of harvest. This can allow the treatment and harvesting steps to be combined, and to ensure that each crop product is individually (and selectively) treated at the point of harvest as needed.
  • the delivery of treatment products via an end effector configured to wholly or partially enclose a crop product can provide the additional advantage of ensuring that treatment products are delivered in a targeted manner to selected crop products (e.g. fruits identified as needing or benefiting from treatment).
  • the targeted delivery of treatment products can also reduce the quantity of treatment product required (e.g. compared to untargeted spraying of crops), thereby reducing wastage.
  • Targeted delivery can also reduce pollution of the environment in which the crop products are grown by treatment agents applied to crops.
  • the controller 134 is also configured to selectively control the end effector based on the detected crop condition. For example, the controller can control the end effector 112 to pick, reposition, and/or treat with treatment product based on the detected crop condition. The controller 134 may also be configured to discard or harvest picked crop products based on detected crop condition.
  • Figures 2a and 2b an alternative end effector configuration is shown.
  • Figures 2a and 2b show a system 210 comprising an end effector 212 that is movable between an open configuration and a closed configuration, for example by a drive or drive mechanism (not shown).
  • the end effector 210 comprises an enclosing element 216 mounted on an arm 230, in this case an articulatable arm.
  • a nozzle 218 is provided within the enclosing element 216 and is configured to deliver a dose of treatment product to the fruit 214.
  • the enclosing element 216 of the embodiment shown in Figures 2a and 2b comprises two concave bodies 216a, 216b.
  • the concave bodies are rotatably arranged with respect to one another from a first, open position in which a first concave body is nested within a second concave body, and a second, closed position in which the first and second concave bodies form a substantially closed chamber in which a fruit 214 can be positioned.
  • a substantially closed chamber within which treatment product is applied to the fruit via the nozzles, the delivery of treatment product to the enclosed fruit can be highly targeted.
  • the delivery of the treatment product within the sheltered environment of the chamber may prevent environmental conditions (such as wind or rain) reducing the effectiveness of the delivery of treatment product.
  • the enclosing element 216 comprises a cutting element 222 and a sensor (as part of the detection system), here in the form of a camera 232.
  • An optional cleaning element 236 for cleaning the sensor 232 can also be provided. In the illustrated embodiment, this takes the form of a brush configured to wipe the camera lens as the inner concave body 216b rotates relative to the outer concave body 216a.
  • the end effector 312 comprises an enclosing element 316 having a claw with a plurality of fingers 316a-316c.
  • the fingers 316a-316c are jointed and are configured to grasp (and thereby partially enclose) a crop product.
  • the enclosing element 316 like the embodiments described above, comprises at least one nozzle 318 and at least one sensor 332.
  • a controller (not shown in Figure 3) is configured to control actuation of the enclosing element 316 to manipulate and/ortreat a crop product based on a detected crop product condition. Manipulation of the crop product may be picking (and harvesting or discarding) a crop product or repositioning of a crop product (e.g.
  • a drive (not shown) is configured to move the enclosing element between an open configuration and a closed configuration in which the crop product is partially or wholly enclosed in the enclosing element 316.
  • At least one of the fingers 316a-316c of the claw supports one or more nozzles 318.
  • the controller is also configured to selectively apply treatment product to the crop product based on the detected crop condition.
  • the claw arrangement of Figure 3 does not wholly enclose the crop product to be picked (and/or repositioned)
  • the delivery of treatment product via an enclosing element partially encapsulating the fruit allows for targeted application of treatment product to the fruit.
  • the enclosing elements described above with reference to Figures 1 -3 need not be configured only for picking crop products to be harvested. Rather, the enclosing elements may be configured for repositioning crop products with respect to the supporting plant.
  • the arm 330 on which the end effector 312 is mounted is configured for movement with multiple degrees of rotational freedom.
  • the end effector 312 can be configured to rotate the enclosing element about its longitudinal axis, thereby allowing a grasped fruit to be rotated.
  • the end effector 312 may be pivotally mounted with respect to the arm 330 to allow the enclosing element to tilt its longitudinal axis away from the longitudinal axis of the arm 330.
  • the arm 330 itself may further comprise articulatable joints, which may be pivotally and/or rotationally coupled to the preceding arm segment. Each of these articulatable joints may be controlled independently of the others by the controller to allow a high degree of flexible movement of the end effector for improved grasping and/or repositioning of the fruit.
  • Figure 4 shows a schematic drawing of a system 410 according to the invention.
  • the system comprises an end effector 412 which supports a sensor 432, enclosing element 416, and nozzle 418.
  • the end effector 412 is in operative communication with controller 434, which selectively controls operation of at least one of the enclosing element 416 and nozzle 418 based on a determined crop condition as measured by the sensor 432
  • the controller 434 may also be configured to determine a quantity of treatment product to be delivered based on a detected crop condition, for example to determine a volume of fluid to be dispensed via the spray nozzle(s) 418.
  • Other parameters configured to be detected by the detection system and used by the controller to determine a crop condition include the size and/or shape of a crop product.
  • the detection system can also be configured to determine overcrowding of crop products, and to control selective picking of crop products for the purpose of thinning the crop products on a supporting plant.
  • the controller may be further configured to determine an appropriate treatment agent (based on the detected crop condition) to be applied through a nozzle of the end effector.
  • the controller may be configured to control delivery of a first treatment product (from a first reservoir) based on a first detected crop condition and a second treatment product (from a second reservoir) based on a second detected crop condition.
  • a controller configured to control delivery of a preserving treatment product (e.g.
  • the controller may also be configured to control the end effector to deliver no treatment product to crop products to be picked and discarded.
  • the controller may further control the end effector to deliver a disease treatment (and/or disease prevention) product (e.g.
  • the end effector 412 shown in Figure 4 also optionally comprises a cutting element 422 and a cleaning element 436 configured to clean the sensor 432.
  • Figure 5 shows in schematic form, a robotic crop handling method.
  • the method comprises the steps of using an enclosing element of an end effector to partially or wholly enclose a crop product; detecting 552, using a detection system, a condition of the crop product; selectively controlling , based on the detected condition of the crop product: detaching of the crop product from a plant by the end effector 554; repositioning of the crop product by the end effector 556; and delivery of treatment product to the crop product via the nozzle 558.
  • the method described herein can comprise steps corresponding to each of the functions described above with reference to the embodiments illustrated in Figures 1 -4.
  • the present disclosure also includes an end effector, as described herein configured to communicate with components provided outside the end effector.
  • the present disclosure includes end effectors as described above, configured to be placed in communication with a controller, as described here.
  • the end effector can be configured for connection with fluid delivery conduits which place the nozzles in fluid communication with one or more treatment product reservoirs.
  • end effector configured for grasping individual soft fruit, such as strawberries.
  • the end effector may be configured for grasping other fruits, including bunched fruits such as grapes.
  • the end effector may be configured to wholly or partially enclose a bunch of grapes.
  • Embodiments of the present disclosure are also not limited to grasping fruit. Rather, end effectors configured for use with flowers, vegetables and other harvestable crops can be provided.
  • treatment product examples include: oils, emulsions, powders, coatings such as wax coatings or other edible coatings, pesticides, biopesticides, protein-based biocontrols, biological crop protection products or biologicals, disinfectants, preservatives, gaseous treatments such as ozone or sulfur dioxide, radiation, sunlight/UV protectants, freeze protectants, ripening inducers or inhibitors, colouring agents, pressurised air or water spray to heat, cool or clean the crop.
  • the present application discloses at least:
  • a robotic crop handling system comprising: an end effector comprising: i. an enclosing element configured to partially or wholly enclose a crop product; ii. a nozzle configured to deliver a dose of treatment product to the enclosed crop product; a drive mechanism configured to move the enclosing element between an open position, and a closed position in which the crop product is partially or wholly enclosed in the enclosing element; wherein the system further comprises: a detection system configured to detect a condition of the crop product; and a controller configured to selectively control, based on the detected crop condition, one or more of: detachment of the crop product from a plant by the end effector; repositioning of the crop product by the end effector; and delivery of treatment product to the crop product via the nozzle.
  • a method of robotic crop handling comprising: using an enclosing element of an end effector, partially or wholly enclosing a crop product; detecting, using a detection system, a condition of the crop product; selectively controlling, based on the detected condition of the crop product, at least one of: detaching of the crop product from a plant by the end effector; or repositioning of the crop product by the end effector; and delivering, using a nozzle of the end effector, a dose of treatment product to an enclosed crop product.

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Abstract

La divulgation concerne un système robotique de manipulation de cultures qui comprend un effecteur présentant un élément d'enfermement, conçu pour enfermer partiellement ou entièrement un produit de culture, et une ouverture de distribution conçue pour distribuer une dose de produit de traitement sur le produit de culture enfermé. Le système comprend également un entraînement conçu pour déplacer l'élément d'enfermement entre une position ouverte et une position fermée dans laquelle le produit de culture est partiellement ou entièrement enfermé dans l'élément d'enfermement. Le système comprend en outre un système de détection conçu pour détecter un état d'un produit de culture ; et un dispositif de commande conçu pour commander sélectivement le détachement ou le repositionnement du produit de culture, par l'effecteur, et la distribution du produit de traitement sur le produit de culture, par l'intermédiaire de la buse, sur la base de l'état détecté de la culture. Des procédés robotiques de manipulation de culture sont également divulgués.
PCT/EP2021/087815 2020-12-30 2021-12-29 Système robotique de manipulation de cultures WO2022144409A2 (fr)

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