Patent Application
20210283788
The present invention claims priority to Israeli application No. 273316 filed Mar. 15, 2020. The contents of this application are incorporated by reference into this application in their entirety.
The present invention is in the technical field of agriculture technology, specifically autonomous harvesting. More particularly, the present invention relates to devices, systems and methods for harvesting fruits, such as apples, pears, apricots, peaches, citrus fruits, small-citrus fruit, lemon, avocado, vines, tomatoes, eggplants, cucumbers and peppers.
A human picker picks fruits by pulling and rotating the fruit simultaneously. Pulling a fruit without rotating it can damage the fruit or its shell, e.g. the fruits' shell integrity, which exposes the inside of the fruit to the surroundings and shortens the fruit's shelf life. Moreover, pulling without rotation requires applying strong pulling forces. Notably, pulling while rotating requires holding the fruit strong enough to prevent slipping thereof.
Conventional fruit harvesting devices are equipped with a gripper designed to grasp the fruit and pull it off. The gripper usually comprises a few fingers (e.g. 3) that grab the fruit. One main disadvantage of known grippers is that the gripper's footprint is big and may get stacked in branches and leaves when trying to access a fruit. Another disadvantage is that the fingers of the gripper may damage the fruit or its skin due to high squeezing pressure. Another problem is that standard fruit gripper heads show difficulty in gripping irregular shapes of fruits, and thus tend to apply excessive pressure that may cause bruising. An Additional problem is that the gripper may also grab leaves together with the fruit: since fruits are usually covered with leaves, grabbing with fingers can lead to holding a fruit together with the leaves. This may cause any of the following: applying stronger forces in order to pick the fruit with the leaves; tearing the leaves off the tree, which damages the tree and does not meet fruit picking requirements (fruit without leaves); and inability to pick the fruit.
Accordingly, a need exists for an efficient and harm-free gripper.
Some robotic companies use suction to suck fruits through a suction pipe, but such pipes cannot actually hold the fruit. Moreover, such suction pipes are big, clumsy, expensive, and might damage the fruits.
In various industrial factories, such as fruit-sorting facilities, robotic vacuum-gripping devices are used. Such vacuum grippers constitute a vacuum generator connected to a flexible nipple (e.g. silicone or rubber): the gripper is designed to attach the flexible nipple to an object to be lifted and push the object against a surface/support (e.g. the bottom of a container, a table or a treadmill) and creating vacuum to attach the object to the nipple.
However, such vacuum grippers are required to push the object against a solid support, while the flexible nipple is squeezed and changes its shape according to the object's shape. Normally, the gripper itself is not soft (80 shor) since it needs to push the nipple onto the object and against a solid surface. Moreover, if the nipple would be too flexible, the internal vacuum that is generated will squeeze the nipple and cause its deformity while holding the object.
In addition, the design of current vacuum grippers does not enable them to apply rotation powers, which means that an attempt to twist the object sucked to the gripper, which the object is anchored, will result in loss of vacuum and the releasing of the object.
Various other suction-based grippers have been developed, but none demonstrate the ability of keeping hold of the sucked object when tilting and rotation forces are applied thereon. For instance, the MIT-Harvard origami-robot-gripper having irregular shape designed to engulf fruits with arbitrary shapes and changing size and Soft-Robotics' starfish-like-gripper, both require hard support to engulf a fruit and will lose grip if twisted when the fruit is still anchored to the tree.
Accordingly, a need exits for an efficient vacuum-gripper that can be used on “floating” objects (without a solid surface behind), as well as can withstand rotation powers applied on anchored floating objects.
The present invention provides a suction-nipple comprising an interlock mechanism and has two configurations: (i) a first open-configuration when the nipple is not attached to a fruit and no vacuum is generated, in which said interlock mechanism is open and the nipple is free to twist; and (ii) a second locked/crammed-configuration when the nipple is attached to a fruit and vacuum is applied, in which said interlock mechanism is locked thereby preventing twisting of the nipple
The present invention further provides a vacuum-based fruit gripper assembly for use in a fruit-picking machine, said assembly comprising: (a) a support having a main axis and receivable onto a fruit-picking machine, said support comprising an aperture therethrough for communication with a source of suction generator; and (b) a gripping suction-nipple for engaging a fruit, mounted on said support and connected to said aperture, wherein said nipple is designed to withstand rotational forces when attached to a fruit by suction/vacuum.
The present invention further provides a vacuum/suction-based fruit gripper assembly for use in a fruit-picking machine, said assembly comprising: (a) a support having a main axis and receivable onto a fruit-picking machine, said support comprising an aperture therethrough for communication with a source of suction generator; and (b) a flexible gripping suction-nipple for engaging a fruit, mounted on said support and connected to said aperture, wherein said nipple is equipped with an interlock mechanism and has two configurations: (i) a first open-configuration when the nipple is not attached to a fruit and no vacuum/suction is generated, in which said interlock mechanism is open and the nipple is free to twist; and (ii) a second locked/crammed-configuration when the nipple is attached to a fruit and vacuum/suction is applied, in which said interlock mechanism is locked thereby preventing twisting of the nipple.
The present invention further provides a fruit-picking machine/robot comprising one or more assemblies of the invention, as well as a method for harvesting fruits, comprising the steps of mounting one or more assemblies of the invention onto a fruit-picking machine/robot, and activating same.
In agriculture, there is a constant requirement for machines and equipment for harvesting fruits, of all types, especially those with soft shells that tend to bruise during picking, such as apples, pears, apricots, peaches, citrus fruits, avocado, tomatoes, eggplants, cucumbers and peppers. Accordingly, various machines and harvesters have been developed, usually designed for picking a specific type of fruit or family of fruits.
The present invention provides a suction-based fruit picking assembly that can be mounted-on and used in any harvesting machine/device, such as autonomous harvesters and flying autonomous harvesters.
Accordingly, in a first aspect, the present invention provides a suction/vacuum-nipple, designed to be used, e.g., for harvesting, the nipple comprising an interlock mechanism that prevent the release of a fruit to which the nipple it attached during rotational movement of the harvester or support arm connected to the nipple. The suction-nipple has two configurations: (i) a first open-configuration when the nipple is not attached to a fruit (or to any other desired object) and no vacuum is generated between the fruit and nipple, in which configuration the interlock mechanism is in an open-orientation enabling free twisting of the nipple on its axis; and (ii) a second locked/crammed-configuration when the nipple is attached to a fruit (or to any other desired object) and vacuum/sucking is applied, in which configuration the interlock mechanism is in a locked-orientation that prevents any twisting of the nipple on its axis, which prevent deforming of the nipple's shape which might cause the release of the fruit therefrom.
The terms “vacuum” and “suction” as used herein interchangeably refer to negative pressure or generation thereof, i.e., by the removal of air from a space, i.e. between the suction-nipple of the invention and an object (e.g., a fruit), thereby enabling attachment/adhesion of the nipple to the object.
In certain embodiments, the suction/vacuum-nipple of the invention is flexible thereby enabling its fitting to any shape and size. Accordingly, the suction-nipple of the invention can be used for harvesting any type, size and shape of fruit or vegetable without damaging or dropping the fruit. When the suction-nipple of the invention is used for other purposes, e.g. industry, sorting, etc., it can be used for picking objects of any type, size and shape, without risking of damaging or dropping such objects.
In certain embodiments, the suction-nipple of the invention is made of any suitable flexible material such as rubber, silicon, etc.
In certain embodiments, and as illustrated in
In certain embodiments, and as illustrated in
When a suction-nipple according to the invention comes in contact with a fruit that needs picking, and vacuum is applied, the pressure inside the nipple is lowered (i.e. vacuum begins to generate) and ribs that constitutes part of the locking mechanism within the nipple's frame are squeezed one against the other. Finally, when the nipple is fully squeezed, the locking mechanism is in its locked-orientation, which enables applying forces on the frit for picking, such as rotation and tilting forces, without releasing the nipple from the fruit.
In certain embodiments, the extending corrugated tube-shaped suction-nipple is somewhat flexible thereby enabling pivoting the tip of the nipple (e.g. when a fruit is sucked thereto) relative to a amin axis of an assembly comprising the nipple. This configuration provide flexibility and extends maneuvering capabilities of a harvesting machine/robot equipped with an assembly with such a suction-nipple.
The present invention further provides a suction-nipple that has a closed-configuration with small footprint that enables easy insertion through a tree's foliage when vacuum/suction is off, and an open-configuration that enables the nipple to fit onto a fruit, wherein the transition from a closed-configuration to an open-configuration is carried out by activation of vacuum/suction.
In certain embodiments, the suction-nipple according to any of the embodiments herein can be used as part of the suction/vacuum-based fruit gripper assembly as defined hereinbelow.
In a second aspect, the present invention provides a suction/vacuum-based fruit gripper assembly for use in a fruit-picking machine, said assembly comprising: (a) a support having a main axis and receivable onto a fruit-picking machine, said support comprising an aperture therethrough for communication with a source of suction generator; and b) a gripping suction-nipple for engaging a fruit, mounted on said support and connected to said aperture, wherein said nipple is designed to withstand rotational forces when attached to a fruit by suction/vacuum.
In specific embodiments of the above assembly, the nipple is made of rigid material(s), such as rubber, plastic, polycarbonate, etc., enabling it to withstand said rotational forces. In alternative specific embodiments, the nipple is made of a semi-rigid material that enables it to adapt its shape according to a fruit's shape while also withstand said rotational forces after sucking onto the fruit. In further alternative specific embodiments, the nipple is made of layers of the same or different flexible material(s), such as silicon and soft rubber, wherein the amount and/or combination of the different layers enable the nipple to withstand said rotational forces while maintaining its capability of engulfing various-shaped and sized fruits.
In specific embodiments, the above assembly further comprising an interlock mechanism that enables the nipple to withstand said rotational forces, said interlock mechanism two configurations: (i) a first open-configuration when the nipple is not attached to a fruit and no vacuum/suction is generated, in which said interlock mechanism is open; and (ii) a second locked-configuration when the nipple is attached to a fruit and vacuum/suction is applied, in which said interlock mechanism is locked thereby preventing twisting of the nipple. In alternative specific embodiments, the nipple is a flexible nipple equipped with an interlock mechanism that enables it to withstand said rotational forces, said nipple has two configurations: (i) a first open-configuration when the nipple is not attached to a fruit and no vacuum/suction is generated, in which said interlock mechanism is open and the nipple is free to twist; and (ii) a second locked/crammed-configuration when the nipple is attached to a fruit and vacuum/suction is applied, in which said interlock mechanism is locked thereby preventing twisting of the nipple. In specific embodiments thereof, the interlock mechanism is a mechanic element. In alternative specific embodiments, the interlock mechanism is a locking engine.
In a third aspect, the present invention provides a suction/vacuum-based fruit gripper assembly for use in a fruit-picking machine/robot, said assembly comprising: (a) a support having a main axis and receivable onto a fruit-picking machine, said support comprising an aperture therethrough for communication with a source of vacuum/suction generator; and (b) a flexible gripping suction-nipple for engaging a fruit, mounted on said support and connected to said aperture, wherein said nipple is equipped with an interlock mechanism and has two configurations: (i) a first open-configuration when the nipple is not attached to a fruit and no vacuum is generated, in which said interlock mechanism is open and the nipple is free to twist on its axis; and (ii) a second locked/crammed-configuration when the nipple is attached to a fruit and vacuum is applied, in which said interlock mechanism is locked thereby preventing twisting of the nipple on its axis.
In certain embodiments, the interlock mechanism of the suction-nipple as defined in any of the embodiments above comprises ribs, such that when the interlock mechanism is in its open-configuration, the ribs are separated from one another, and when it is in its cramped-configuration, i.e. when a fruit is sucked thereby, the ribs are engaged with one another.
In certain embodiments, the assembly of the invention can be connected-to/mounted-on any suitable machine such as a harvester, an autonomous harvester, and an autonomous flying harvester. Moreover, such a machine can be equipped with one, two, three, four, five, six or more assemblies. See
In certain embodiments, the assembly of the invention further comprises a vacuum/suction-generator. Such a generator may be associated with a single assembly, or a single generator may be used for multiple assemblies mounted onto the same machine/harvester. In case the assembly does not include such a vacuum/suction-generator, the machine/harvester to which the assembly is mounted on comprises such a generator, and during mounting the assembly thereon it is connected to the vacuum-generator. In certain embodiments, when a single vacuum-generator is used for multiple assemblies on the same machine/harvester, the machine/harvester further comprise a computer that controls the activation/deactivation of the suction/vacuum in each one of the assemblies.
In certain embodiments of the assembly according to any of the embodiments above, the support is extendable and retractable. This enables extending the suction-nipple to reach more remote fruits or fruits dipper in the leafage.
In certain embodiments, the assembly according to any of the embodiments above, further comprises an agitation mechanism/motor design to tilt a fruit sucked by the assembly back and forth and/or right and left in order to release it from the tree/branch.
In certain embodiments of the assembly according to any of the embodiments above, the support can rotate along said main axis. In alternative embodiments, only the suction-nipple can rotate, e.g., along said main axis or in any other axis, i.e. if it is pivoted away from the support relative to the main axis (see illustrated in
Notably, standard known suction-nipples cannot maintain hold of a fruit under rotation forces, since the shape of the nipple will be distorted leading to releasing of the vacuum/suction between the fruit and the nipple, and the falling of the fruit from the nipple and gripper. Contrary to that, in certain embodiments, the suction-nipple according to any of the embodiments above can withstand rotation forces (moment) of up to 1 kgf-meter, while holding/sucking a fruit without distorting and loosing grip of the fruit.
In certain embodiments of the assembly according to any of the embodiments above, the support further comprises one or more pivotal joints enabling pivoting the suction-nipple in any direction relative to the main axis. In specific embodiments, the support comprises a single joint, essentially along the support. In alternative specific embodiments, the support comprises a single joint, essentially at the tip, i.e. at the connection point with the suction-nipple. In alternative specific embodiments, the support comprises two or more joints, one essentially at the tip, i.e. at the connection point with the suction-nipple, and the other(s) essentially along the support.
In certain embodiments, the assembly of the invention further comprises an additional elbow/joint that enable easier access to fruits that are covered by leaves, i.e. by tilting the end of the support with the nipple or the nipple itself to reach such fruits from a different side with less leaves.
In certain embodiments, the assembly according to any of the embodiments above has three degrees of freedom obtainable by a combination of: (i) a rotation ability, i.e. by a rotation mechanism rotating the support or the nipple; (ii) a front/back movement generated by a push/pull mechanism or by the movement of the machine/harvester itself; and optionally (iii) by the use of pivotal joints. The combination of these features generates tilt and yaw required for picking a fruit off a tree/branch without damaging it, its stem or its shell.
In certain embodiments, the assembly according to any of the embodiments above further comprises a tilting mechanism/motor for moving said support along said main axis for tilting a fruit gripped by said nipple. In specific embodiments, said tilting mechanism is based on a push/pull mechanism operated by the suction/vacuum generator, i.e. by transferring/utilizing suction/vacuum power to linear movement of the support or joint therein. In alternative or added embodiments, the tilting mechanism/motor is used for moving the nipple and fruit sucked thereto not along the main axis, e.g. in a vertical orientation to the main axis, i.e. by tilting the nipple itself right/left and/or up/down, while maintaining the support steady. In further alternative embodiments, the tilting of the fruit is carried out simultaneously along and away from the main axis, i.e. by moving the support back and forth while tilting the nipple itself right/left and/or up/down.
In certain embodiments of the assembly according to any of the embodiments above, the flexible gripping nipple is affixed to said support along said main axis and cannot pivot relative to the support. In alternative embodiments, the flexible gripping nipple is affixed to said support pivoted away from a central axis thereof and cannot pivot. In further alternative embodiments, the flexible gripping nipple is mounted onto said support by a pivotal mounting element for pivotal movement generally toward and away from said main axis in any angle.
The term “pivot” as used herein refer to the movement relative to an axis. The movement can be in any angle between 0 and 90 degrees, such as 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, and 85 degrees.
In a fourth aspect, the present invention provides a machine comprising or equipped with one or more assemblies according to any of the embodiments above. In specific embodiments, the machine is a fruit-picking/harvesting machine designed to harvest fruits at an orchard. The number of assemblies mounted-on or attached-to the machine may vary and can be one, two, three, four, five, six or more. In specific embodiments, when more than one assembly is mounted-on or attached-to the machine, the movement and operation of each assembly is independent from the other(s). This means that while one assembly picks a fruit, the other(s) await its turn or await with a fruit sucked to its suction-nipple.
In certain embodiments, the machine according to the invention is an autonomous machine, such as an autonomous harvesting machine. In specific embodiments, the machine is a ground harvester, optionally autonomous. In further specific embodiments, the autonomous harvesting machine is a flying harvesting robot
In certain embodiments, the present invention provides an autonomous harvesting flying machine/robot that comprises one, two, three, four, five, six or more assemblies according to any of the embodiments above. In specific embodiments, when the flying robot comprises two or more assemblies, the robot can rotate in order to enable picking a different fruit each time with a different assembly.
In certain embodiments, the assemblies are mounted-on/connected-to the robot's body directly, such that in order to bring one assembly towards a fruit, the entire robot needs to turn to that direction. In such configuration, the robot may be equipped with a movable vision system that can move/rotate in order to maintain visual sight with the fruit during turning and approaching the fruit. In alternative embodiments, the assemblies are mounted-on/connected-to a rotatable constellation on the robot's body, such that the assemblies can rotate around freely without changing the robot's body direction. In such configuration, in order to bring one assembly towards a fruit, the robot simply turns/rotates the constellation, without losing sight of the fruit and without moving the robot's body, to bring the assembly to the direction of the fruit for picking.
In a fifth aspect, the present invention provides a method for harvesting fruits, comprising the steps of mounting or attaching one or more assemblies according to any of the embodiments above onto a fruit-picking machine, and activating same, thereby enabling each assembly on the machine to approach a fruit, attach thereto by suction/vacuum via the suction-nipple, and pick the fruit off the tree/branch, and releasing the fruit at a desired location, e.g., into a fruit-collection container.
Notably, even when the container is much dipper, the slow release of the fruit from the nipple dramatically reduces the falling speed of the fruit and reduces damage due to the fall. Alternatively, the suction-nipple of the invention may comprise multiple units/rings 104 that extend the overall length of the nipple and enable it to gently place a fruit at the bottom of a container at any depth (in accordance with the number of rings 104).
In specific embodiments of the above harvesting method, the activation of the fruit-picking machine leads to suction-gripping a fruit by the suction-nipple, and the picking of the fruit is carried by twisting and/or tilting the fruit until it is released from the tree/branch, wherein the picking of the fruit is without damaging the fruit or its shell. In specific embodiments, when it is preferable to maintain the fruit's stem after picking, the method enables picking a fruit while keeping the stem attached to the fruit, i.e. by disconnecting the stem from the tree/branch and not from the fruit.
In certain embodiments, the method according to any of the embodiments above further comprises a step of continuously rotating the gripper assembly during its penetration into a tree's foliage, such that said rotation enables penetration of the suction nipple through the tree's foliage.
In certain embodiments, the method according to any of the embodiments above further comprises a step of identifying the direction of the fruit's stem and determining the stem-axis, followed by attaching the suction-nipple to the fruit along the determined stem-axis, thereby rotating the fruit along this stem-axis. This enables to disconnect the fruit from the tree/branch while maintain the stem on the fruit.
| Number | Date | Country | Kind |
|---|---|---|---|
| 273316 | Mar 2020 | IL | national |
