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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J5/00—Manipulators mounted on wheels or on carriages
  • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

Definitions

• the invention relates to a vehicle system for processing a product, in particular for grabbing a consumer item in a warehouse or picking fruit in a greenhouse or in an orchard.
• the invention comprises a vehicle system for processing and transporting a product, the system comprising:
• first autonomous unmanned vehicle provided with automatic driving means comprising wheels and navigation means, and furthermore provided with power supply means, storage means for storing the product and first coupling means,
• processing means comprise a robot for performing processing operations, and are provided with second coupling means;
• the first and second coupling means are uncoupled and detached from each other and at least the first autonomous unmanned vehicle moves separately, and wherein, in a second state, the coupling means of the first and the second autonomous unmanned device are coupled and engage with each other and the first autonomous unmanned vehicle and the processing device together form an autonomous unmanned vehicle unit and as such move together.
• the vehicle system comprises a first autonomous unmanned vehicle with automatic driving means comprising wheels and navigation means.
• the vehicle system comprises a processing device with processing means which perform a processing operation, such as the repetitive operation in a warehouse or horticultural greenhouse.
• the first autonomous unmanned vehicle is provided with additional provisions, such as power supply means, for example a battery, and storage means for storing the product which the processing device has processed.
• the first autonomous unmanned vehicle may then be referred to as the provision vehicle.
• the first autonomous unmanned vehicle and the processing device are coupled to each other, in which case the first and second coupling means engage with each other.
• the first autonomous unmanned vehicle and the processing device then move together as an autonomous unmanned vehicle unit.
• the first autonomous unmanned vehicle may provide power to the processing device.
• the power supply means of the first autonomous unmanned vehicle provide power to the processing device in the coupled state and/or the storage means pick up the product after processing by the processing means.
• a second battery of the processing device can then be charged by a first battery of the first autonomous unmanned vehicle.
• the second battery can be charged while the robot of the processing device performs processing operations. This ensures that the processing device can be charged on location and in situ and does not have to be taken to a remote charging station. This improves efficiency and effectiveness of the processing device.
• the vehicle system may furthermore comprise an automatic energy-charging device for the first autonomous unmanned vehicle. This makes it possible to charge the first battery of the first autonomous unmanned vehicle.
• the processing device may be stationary in the first state and the first autonomous unmanned vehicle may move the processing device in the second state.
• the processing device being stationary may be the result of an interrupted power supply by the uncoupled first state.
• the processing device being stationary may be the result of the absence of automatic driving means.
• the processing device is preferably able to perform the processing operation autonomously.
• the processing device comprises a second autonomous unmanned vehicle and, in the first state, the first and the second autonomous unmanned vehicles move separately from each other.
• the second autonomous unmanned device can perform at least the processing operation in the uncoupled first state for a certain period of time, without the power supply means of the first autonomous unmanned device.
• the processing device is provided with a storage device for temporarily storing the product during the first state.
• a storage device may be provided for temporarily storing products. This temporary storage may last for as long as the first state lasts.
• the power supply means of the first autonomous unmanned vehicle can provide power to the processing device.
• the storage means may pick up the product after processing by the processing device.
• storage of the product may be transferred to the storage means of the first autonomous unmanned vehicle.
• transporting means are preferably provided between the storage means of the first autonomous unmanned vehicle and the storage device of the processing device, wherein the transporting means transport the product from the storage device to the storage means.
• the transporting means may be provided on the first autonomous unmanned vehicle or on the processing device.
• the vehicle system can be used in different sectors.
• the vehicle system is provided in a goods warehouse.
• the product to be processed then involves goods, preferably the product is a consumer item.
• the robot of the processing means may then comprise a gripping arm for grabbing the product.
• the vehicle system is provided in a greenhouse for, for example, cultivation under glass, such as a greenhouse for plants or flowers, or in an orchard.
• the product to be processed is a fruit or flower.
• the robot of the processing means may then be a picking robot for picking a fruit or comprise a cutting robot for cutting flowers.
• the vehicle system furthermore comprises a guide system for guiding the first autonomous unmanned vehicle and/or the processing device along a predetermined route while it/they move in the first and/or the second state.
• a guide system for the first autonomous unmanned vehicle, the processing device and/or the autonomous unmanned vehicle unit In both goods warehouses and greenhouses, facilities may be provided which can be used as a guide system for the first autonomous unmanned vehicle, the processing device and/or the autonomous unmanned vehicle unit.
• a heating system in a greenhouse comprising a pipe system in which the pipes serve as a guide for the wheels of autonomous unmanned vehicles.
• the first autonomous unmanned vehicle and the processing device are uncoupled in a first state and coupled in a second state.
• the first autonomous unmanned vehicle may comprise a lifting device and the second state may be achieved by lifting the processing device by means of the lifting device, thereby forming an autonomous unmanned vehicle unit, wherein the first autonomous unmanned vehicle moves the autonomous unmanned vehicle unit in the second state.
• the first coupling means comprise a first engagement surface provided on at least a part of a top side of the first autonomous unmanned vehicle
• the second coupling means comprise a second engagement surface provided on at least a part of an opposite side of the processing device, and wherein, in the second state, the first autonomous unmanned vehicle and the processing device engage with each other across the entire first and second engagement surface.
• the opposite side of the processing device may comprise an underside of the processing device.
• first coupling means comprise a first engagement means on a side of the first autonomous unmanned vehicle and the second coupling means comprise a second engagement means on an opposite side of the processing device, wherein the first and second engagement means engage with each other in the second state.
• Suitable coupling means are a towing coupling with a ball coupling, a magnetic coupling, but also an electric coupling by means of induction (wireless charging) is encompassed by the coupling means.
• the autonomous unmanned devices are then coupled one behind the other, wherein the first autonomous unmanned vehicle may pull or push the processing device, depending on the direction of travel and the locations of the autonomous unmanned devices with respect to each other.
• the control device can send a signal to the first autonomous unmanned vehicle, with the first autonomous unmanned vehicle moving towards the processing device after it has received the signal.
• the control device controls the point in time at which the first autonomous unmanned vehicle moves towards the processing device.
• the processing device may previously have sent the control device a signal in order to call the autonomous unmanned vehicle.
• the processing device is able to control the autonomous unmanned vehicle via the control device.
• the vehicle system comprises one or more of the processing device and one or more of the first autonomous unmanned vehicle, wherein the number of first autonomous unmanned vehicles is greater than or equal to the number of processing devices. In order to use the processing device efficiently, it is advantageous if more than one autonomous unmanned vehicle can be coupled to the processing device at a time.
• Fig. 1 shows an embodiment of the vehicle system according to the invention.
• Fig. 2 shows a further embodiment of the vehicle system according to the invention.
• Fig. 1 shows a vehicle system 100 comprising a first autonomous unmanned vehicle 101 , a processing device 102 and a guide system 103.
• Fig. 1A shows the first autonomous unmanned vehicle 101 and the processing device 102 in an uncoupled first state.
• the processing device 102 is provided with a robot 106 for processing products 200, in this embodiment a picking robot for picking fruit.
• the processing device 102 comprises a frame 107 which rests on a ground surface 300 of a greenhouse (not shown). In the frame 107, the picking robot 106 is provided with two robot arms 108, in this case picking arms.
• Second coupling means 115 are provided in the frame 107 for coupling to the first autonomous unmanned vehicle.
• the frame 107 is open up to at least a height at which the first autonomous unmanned vehicle 101 is able to enter and assume a second coupled state, see Fig. 1B, in order to form an autonomous unmanned vehicle unit 117.
• the processing device 102 is stationary in the first uncoupled state (see Fig. 1A), and is not able to move or perform operations by itself without the first autonomous unmanned vehicle 101.
• the first autonomous unmanned vehicle 101 is provided with automatic driving means including wheels 104.
• a control device, navigation means and power supply means such as a battery, are provided.
• the first autonomous unmanned vehicle 101 has storage means 110 for storing the fruit 200 after it has been picked by the picking robot 106. In the uncoupled first state, the first autonomous unmanned vehicle 101 is able to move by itself.
• the vehicle system 100 furthermore comprises an automatic energy charging device 114 for charging the power supply means of the first autonomous unmanned vehicle 101.
• the vehicle system 100 comprises a guide system 103 consisting of guides which run through the greenhouse and which guide the first autonomous unmanned vehicle 101 or the autonomous unmanned vehicle unit 117 when moving through the greenhouse. This may be, for example, the heating pipes in a greenhouse, or a strip which is inserted into the floor of a greenhouse.
• Fig. 1B shows the first autonomous unmanned vehicle 101 and the processing device 102 in the first coupled state, thereby forming the autonomous unmanned vehicle unit 117.
• the first autonomous unmanned vehicle 101 comprises a lifting device 111 which is in the raised position in the coupled state in order to couple the first coupling means 105 and the second coupling means 115 to each other.
• the coupling means 105, 115 are configured as contact surfaces which touch each other when the first autonomous unmanned vehicle 101 has entered the frame 107 of the processing device 102 and the lifting device 111 is in the raised position.
• the contact surfaces comprise a first engagement surface 105 provided on a top side of the first autonomous unmanned vehicle, and a second engagement surface 115 provided on an underside of the processing device 102.
• the first autonomous unmanned vehicle 101 and the processing device 102 engage with each other across the entire first and second engagement surface 105, 115.
• the picking robot 106 picks the fruit 200 using the picking arms 108.
• the picking arm 108 holds the fruit 200 and the picking arm 108 moves towards the storage means 110, in the form of containers, so that the fruit 200 can be stored in the storage means 110.
• the first autonomous unmanned vehicle 101 will uncouple from the processing device 102, in other words, the coupling means 105, 115 will detach from one another.
• the processing device 102 will be stationary and not pick any fruit 200.
• the first autonomous unmanned vehicle 101 comprising the full storage means 110 will travel to a dispensing point (not shown) to deposit the fruit 200 and to empty the storage means 110.
• the first autonomous unmanned vehicle 101 comprising the empty storage means 110 can then travel back to the processing device 102 and couple itself thereto.
• Fig. 2 shows a further embodiment of the vehicle system 100, wherein the first autonomous unmanned vehicle 101 and the processing device 102 are in the coupled state and form the autonomous unmanned vehicle unit.
• the coupling means 105, 115 comprise a first engagement means 105 on a front side of the first autonomous unmanned vehicle 101 and a second engagement means 115 on an opposite side of the processing device 102, viewed in the direction of travel indicated by the arrow 116.
• the first and the second engagement means 105, 115 engage with each other.
• the power supply means in the collection container 109 of the first autonomous unmanned vehicle 101 provide power to the processing device 102, and the storage means 110 receive the product after it has been processed by the processing device.
• the processing device 102 is provided with a storage device 112 for temporarily storing the product 200 after processing by the processing device 106, in this embodiment a robot with gripping arms 108.
• the temporary storage is provided for the first uncoupled state in which the processing device 102 processes products 200 by itself, i.e. without the first autonomous unmanned vehicle 101.
• the storage means 110 are an upper surface of the first autonomous unmanned vehicle 101 on which the product 200 is placed.
• transporting means 113 such as a conveyor belt, are provided between the storage means 110 of the first autonomous unmanned vehicle 101 and the storage device 112 of the processing device 102.
• the transporting means 113 transport the product 200 from the temporary storage device 112 to the storage means 110.
• the first autonomous unmanned vehicle 101 uncouples itself from the processing device 102 and travels to a dispensing point (not shown) in order to dispense the products 200 and empty the storage means 110.
• the first autonomous unmanned vehicle 101 with the storage means 110 empty can then travel back to the processing device 102 and couple itself thereto again.
• the robot 106 can process a number of products 200 and temporarily store them in the storage device 112. After coupling of the first autonomous unmanned vehicle 101 has taken place, the products are transported to the storage means 110 of the first autonomous unmanned vehicle 101.
• First autonomous unmanned vehicle 102 Processing device/second autonomous unmanned vehicle

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• Environmental Sciences (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Manipulator (AREA)

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Publications (1)

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Cited By (4)

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Citations (6)

Family Cites Families (11)

• 2021
  • 2021-05-20 NL NL2028263A patent/NL2028263B1/nl active
• 2022
  • 2022-05-16 US US18/561,918 patent/US20240224865A1/en active Pending
  • 2022-05-16 MX MX2023013772A patent/MX2023013772A/es unknown
  • 2022-05-16 CN CN202280035759.6A patent/CN117320545A/zh active Pending
  • 2022-05-16 EP EP22735977.5A patent/EP4340588A1/en active Pending
  • 2022-05-16 WO PCT/IB2022/054523 patent/WO2022243834A1/en not_active Ceased
  • 2022-05-16 JP JP2023571344A patent/JP2024521671A/ja active Pending
  • 2022-05-16 CA CA3220493A patent/CA3220493A1/en active Pending

Patent Citations (6)

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