U.S. patent application number 17/422443 was filed with the patent office on 2022-03-24 for system and method for autonomous harvester installation and farm harvesting operation.
The applicant listed for this patent is TEVEL AEROBOTICS TECHNOLOGIES LTD.. Invention is credited to Tal DESHEH, Yaniv MAOR, Arie PELEG, Amit SHEFI, Or SHEFI, Elad SHIFMAN.
Application Number | 20220087105 17/422443 |
Document ID | / |
Family ID | 1000006047698 |
Filed Date | 2022-03-24 |
United States Patent
Application |
20220087105 |
Kind Code |
A1 |
MAOR; Yaniv ; et
al. |
March 24, 2022 |
SYSTEM AND METHOD FOR AUTONOMOUS HARVESTER INSTALLATION AND FARM
HARVESTING OPERATION
Abstract
The present invention provides an autonomous harvesting system
designed to be mounted onto a standard collection bin/wagon for
autonomously harvesting and filing the bin.
Inventors: |
MAOR; Yaniv; (Modiin,
IL) ; SHEFI; Amit; (Aseret, IL) ; DESHEH;
Tal; (Zur Yitshak, IL) ; SHEFI; Or; (Aseret,
IL) ; PELEG; Arie; (Karmiel, IL) ; SHIFMAN;
Elad; (Gedera, IL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
TEVEL AEROBOTICS TECHNOLOGIES LTD. |
Modiin |
|
IL |
|
|
Family ID: |
1000006047698 |
Appl. No.: |
17/422443 |
Filed: |
January 15, 2020 |
PCT Filed: |
January 15, 2020 |
PCT NO: |
PCT/IL2020/050060 |
371 Date: |
July 12, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62793480 |
Jan 17, 2019 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B64C 2201/027 20130101;
G01N 33/025 20130101; B64D 47/08 20130101; A01D 46/30 20130101;
B64C 2201/12 20130101; B64C 39/024 20130101; A01D 46/253 20130101;
A01F 25/14 20130101 |
International
Class: |
A01D 46/30 20060101
A01D046/30; A01D 46/253 20060101 A01D046/253; A01F 25/14 20060101
A01F025/14; B64C 39/02 20060101 B64C039/02; B64D 47/08 20060101
B64D047/08; G01N 33/02 20060101 G01N033/02 |
Claims
1.-30. (canceled)
31. A harvesting system for autonomous harvesting to be used
together with a fruit collection bin, the system comprising: a) at
least one robotic harvester equipped with: a fruit detection unit
for identifying a fruit; a fruit's gripping or collecting tool; and
optionally, a cutting tool for cutting a fruit off a tree, and b) a
frame/box for holding said at least one robotic harvester, wherein:
said frame/box is designed to fit onto said fruit collection bin,
and optionally includes a power source; and said robotic harvester
is a: robotic harvesting arm that is connected to the frame/box
that includes a power source; or flying unmanned aircraft
harvesting vehicle (UAV), which is either flying wirelessly or is
wirely connected to the frame/box.
32. The system of claim 31, wherein said fruit detection unit
comprises at least one camera.
33. The system of claim 31, further comprising: (i) at least one
autonomous energy pack/power source for powering up and/or charging
said at least one robotic harvester; (ii) at least one sensor
designed to deliver fruit quality data to said computing system;
(iii) at least one sensor designed to count the number of fruits
placed inside each collection bin; or (iv) a computing system
comprising a memory and processor, that enables said at least one
robotic harvester to be completely independent/autonomous, or any
combination thereof.
34. The system of claim 33, wherein said computing system is
further designed to: (i) determine/calculate fruit's quality placed
inside each collection bin; and/or (ii) receive data regarding the
amount and/or quality of the fruits placed inside each collection
bin.
35. The system of claim 31, wherein: said robotic harvester is: a
robotic harvesting arm that is connected to the frame/box; or a
flying unmanned aircraft harvesting vehicle (UAV), which is either
flying wirelessly or is wirely connected to the frame/box; and the
system: comprising at least one autonomous energy pack/power source
for powering up and/or charging said at least one robotic
harvester; comprising at least one sensor designed to deliver fruit
quality data to said computing system and/or count the number of
fruits placed inside each collection bin; and comprising a
computing system comprising a memory and processor, that enables
said at least one robotic harvester to be completely
independent/autonomous.
36. The system of claim 31, further comprising a fruit protection
system for delivering/moving harvested fruits from the collection
bin's top to its bottom/floor for protecting fruit from damage
during falling into the collection bin.
37. The system of claim 31, wherein said collection bin is a
wheeled bin or wagon, optionally as part of a train of wheeled bins
or wagons.
38. A harvesting system for autonomous harvesting to be used
together with a fruit collection bin, the system comprising: a) at
least one robotic harvester equipped with: a fruit detection unit
for identifying a fruit; a fruit's gripping or collecting tool; and
optionally, a cutting tool for cutting a fruit off a tree, and b) a
frame/box for holding said at least one robotic harvester, wherein
said frame/box is designed to fit onto said fruit collection bin,
and optionally includes a power source.
39. A harvesting system for autonomous harvesting, the system
comprising concatenated fruit collecting (harvesting)
wheeled-wagons designed to be pulled by a pulling machine, wherein
at least one of the wagons is equipped with: a) at least one flying
robotic harvester equipped with: a fruit detection unit for
identifying a fruit; a fruit's gripping or collecting tool; and
optionally, a cutting tool for cutting a fruit off a tree, and b) a
frame/box for holding said at least one robotic harvester and
designed to fit onto said fruit collection bin wheeled-wagon, and
optionally includes a power source; wherein each one of said fruit
collecting (harvesting) wheeled-wagons further comprises a fruit
protection system for delivering/moving harvested fruits from the
wagon's top to its bottom/floor for protecting fruit from damage
during falling into the wagon.
40. A method for autonomously harvesting fruits, the method
comprising the steps of: a. mounting/attaching a harvesting system
according to claim 31 onto a fruits' collection bin; b. placing
said fruits' collecting bin(s) in an orchard; c. activating the at
least one robotic harvester of the harvesting system, thereby
enabling autonomous picking of fruits and filling the fruits'
collection bin; and d. switching the harvesting system off when the
bin is full.
41. The method of claim 17, further comprising: (i) step (e) of
dismantling the harvesting system from the full bin and optionally
placing/attaching same on an empty bin, wherein said step is
optionally carried out outside the orchard; and/or (ii) a final
step of transporting the full bin to a warehouse.
42. The method of claim 41, wherein: step (a) is carried out
outside the orchard; and step (b) means that the collection bin is
placed in the orchard when the harvesting system is already
attached thereto; step (b) is carried out by a tractor/truck or by
rolling/pulling the bins on their own wheels (if present); and/or
step (d) is carried automatically when the harvesting system
identifies that the fruits' collection bin is full.
43. The method of claim 41, wherein more than one fruits'
collection bin is used, and: (i) each collection bin is equipped
with said harvesting systems, and all harvesting systems work
simultaneously, autonomously and independently from one another; or
(ii) only some of the collection bins are equipped with said
harvesting systems, and all harvesting systems work simultaneously,
autonomously and independently from one another, wherein once a
collection bin is filled, its associated harvesting system is
transferred to an empty collection bin and activated for filling
said collection bin, until all collection bins are filled.
44. The method of claim 41, wherein: step (a) of mounting/attaching
a harvesting system according to claim 1 onto a fruits' collection
bin means mounting/attaching a harvesting system according to claim
1 onto one or more fruits' collection wagons that constitutes a
train of wagons; and step (b) of placing said fruits' collecting
bin(s) in an orchard, means pulling the train of wagons into the
orchard between tree lines.
45. The method of claim 44, further comprising a step of relocating
the train of wagons when there are no more fruits to pick to a new
harvesting location in the orchard.
46. The method of claim 44, wherein step (b) of pulling the train
of wagons into the orchard means continuously pulling the train of
wagons through the orchard's lines, while the harvesting robots
harvest the fruits as the train moves.
47. The method of claim 44, wherein each wagon is responsible for
picking fruits from: (i) a predefined different tree height; and/or
(ii) a different grade.
Description
FIELD OF THE INVENTION
[0001] The present invention is in the technical field of
agriculture technology, specifically autonomous harvesting, more
particularly, the present invention relates to harvesting-devices,
systems and methods. More particularly, the present invention
relates to harvesting devices for orchards, plantations green
houses and field, such as apple-, pear-, apricot-, peach-, orange-,
small-citrus fruit-, and lemon-trees, avocado, vines, tomatoes,
eggplants, cucumbers, and peppers.
BACKGROUND
[0002] Conventional orchards harvesting is done by deployment of
fruit collection bins between the tree lines, before manual workers
arrive to pick the fruit and fill the bins. The bins are evenly
spread throughout the orchard prior to harvesting. In most cases,
the bin is placed on the ground and carried by a forklift.
Alternatively, the bins are equipped with wheels or mounted on a
cart and pulled by a tractor to their designated location. After
deploying the bins on the ground, human- or robotic-pickers get in
between the tree-lines, start harvesting and fill the bins with
harvested fruits.
[0003] When a bin is filled with fruit, the pickers move to the
next tree line, while a forklift or a dedicated track takes the
full bin for storage, shipment or any other action. Today, bins are
usually taken to a warehouse for storage/cooling, and are
removed/shipped according to market demand.
[0004] Notably, only after taken out from storage, the bin is taken
to a sorting house for sorting the fruits. Only after sorting of
the fruit it is possible to evaluate the economic value of each bin
and each fruit therein. As a result, there is no way of knowing the
real value of each bin within a warehouse, let alone the number of
fruits and their quality.
[0005] In all known robotic systems, the bins are mounted and
installed on a harvester-robot or on a track to facilitate easy
access of the harvesting arms to the bin for deployment of the
fruits therein.
[0006] The disadvantage with such robotic systems is that they
require many tractors or other vehicles in order to work
simultaneously and harvest multiple lines of trees within an
orchard. This means that the overall cost of the robotic machinery,
which includes the robotic-harvesting arms and the large collecting
platform that carries the bin(s) and arms, is quite high,
especially when more than one system is required for faster
harvesting. An example of such robotic system is a robotic machine
that has 1-8 robotics arms, and is designed to carry one or more
bins, all mounted on a vehicle or attached to one that pulls
it.
[0007] Alternative harvesting techniques involve the use of
autonomous harvesting unmanned aircraft vehicles (UAV). However,
the advanced UAV harvesters need to maneuver to the trees and back
to the bin and thereby spend precious flight time which reduces
their overall harvesting time.
[0008] Accordingly, a need exists for a more efficient technique
and system for harvesting orchards that saves harvesting time and
reduces costs.
SUMMARY
[0009] The present invention provides a harvesting system for
autonomous harvesting to be used together with a fruit collection
bin, the system comprising: (a) at least one robotic harvester
equipped with: a fruit detection unit for identifying a fruit; a
fruit's gripping or collecting tool; and optionally, a cutting tool
for cutting a fruit off a tree, and (b) a frame/box for holding the
at least one robotic harvester, wherein the frame/box is designed
to fit onto the fruit collection bin, and optionally includes a
power source.
[0010] The present invention further provides a method for
autonomously harvesting fruits, the method comprising the steps of:
(a) mounting/attaching a harvesting system of the invention onto a
fruits' collection bin or onto a bin wagon; (b) placing the fruits'
collecting bin(s) in an orchard either alone or as a train of bins;
(c) activating the at least one robotic harvester of the harvesting
system, thereby enabling autonomous picking of fruits and filling
the fruits' collection bin; (d) optionally, switching the full bin
with an empty collection bin; and (e) switching the harvesting
system off when the bin is full.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is an illustration of a standard collection bin.
[0012] FIGS. 2A-2C are illustrations of a standard collection bin
with an upper frame comprising flying harvesters: FIG. 2A and 2C
are of a standard collection bin; and FIG. 2B is of a collection
bin with wheels (wagon bin).
[0013] FIGS. 3A-3B are side illustrations of a standard collection
bin with a side-addition for holding flying harvesters.
[0014] FIG. 4 is an illustration of a standard collection bin with
a side addition of an attached harvesting arm.
[0015] FIGS. 5A-5B are illustrations of a standard collection bin
with an inner addition of a flying harvester.
[0016] FIGS. 6A-6C are illustrations of how an upper frame with
harvesters (A-flying; B & C-wired) is mounted unto a standard
collection bin and then used for harvesting.
[0017] FIGS. 7A-7D are illustrations of a train of collection bin
equipped with the harvesters' upper frame: FIG. 7A is a side-view
illustration of a two-wagon train, each wagon with wired flying
harvesters; FIG. 7B is an upper-view illustration of an orchard
with a three-wagon train with free-flying harvesters; FIG. 7C is an
illustration of an orchard with three identical trains; and FIG. 7D
is an illustration of an orchard with three types of trains.
[0018] FIGS. 8A-8C illustrate a process of harvesting an orchard
using one embodiment of a harvesting system according to the
invention.
[0019] FIGS. 9A-9D illustrate another process of harvesting an
orchard using one embodiment of a harvesting system according to
the invention.
DETAILED DESCRIPTION
[0020] Today, the process of harvesting includes a step of
deploying fruit collection bins between the trees. The pickers
(human or mechanic) pick the fruits and discharge the fruits into
the bins. When a bin is full, it is carried away with a forklift to
a storage warehouse.
[0021] When harvesting with ground-moving harvester robots, the
robots usually carry their own collection bin(s) and fill it as
they move through the tree lines.
[0022] Such manual or robotic harvesting it time consuming and
costly since it usually requires either a long harvesting time or
numerous harvesters. For example, a 500-hectare farm, with 9000
lines of trees, the length of each line is about 180 meters, needs
to be picked within 60 days. Accordingly, it is required to harvest
150 tree lines per day to complete the picking on time. In modern
orchards, the number of bins in such a line is about 18, so that
the distance between two adjacent bins is approximately 10 meters.
The density and number of bins is dependent on the fruit density
and on the quality of selective harvesting. The picking rate of a
ground harvesting robot with 6 harvesting arms is about one line
per day, which means that about 150 tractors or vehicles equipped
with such harvesting robot are required to operate the farm, along
with about 8 forklifts for collecting the full bins.
[0023] Accordingly, the present invention provides a harvesting
system for autonomous harvesting to be used together with a fruit
collection bin, the system comprising: (a) at least one robotic
harvester equipped with: a fruit detection unit for identifying a
fruit; a fruit's gripping or collecting tool; and optionally, a
cutting tool for cutting a fruit off a tree, and (b) a frame/box
for holding the at least one robotic harvester, wherein the
frame/box is designed to fit onto the fruit collection bin, and
optionally includes a power source.
[0024] The present invention further provides a harvesting system
that comprises a harvesting collection bin and one or more
integrated harvesting robots.
[0025] The terms "collection bin" or "bin" as used herein
interchangeably, refers to a container for collecting fruits. The
bin may be any standard collection bin as currently used in the
field or any other container that can be used to collect fruits.
Notably, a "collection bin" also includes a portable bin with
wheels, such as a collection wagon (also used herein
interchangeably) that can be used either as individual wagons that
can be dispersed in an orchard, or as a train of wagons that is
pulled together into and out of an orchard. Notably, the wagons can
be pulled together, disconnect and dispersed in several locations
in the orchard, and reconnect back together once filled for removal
from the orchard. Accordingly, in certain embodiments, the
collection bin according to the invention is a wheeled bin or
wagon, wherein the wagon is either a standalone unit or is part of
a train of wagons.
[0026] The systems of the invention, in which the harvesting
robot(s) is installed-on/integrated-with a fruit collection bin,
the number of large machinery vehicles required is reduced to a
minimum since a single tractor (or two) may be sufficient to deploy
all the bins in the orchard in a short period of time, and 8 (or
less) forklifts can be used to collect all the filled bins, while
the harvesting robots keep on harvesting.
[0027] In certain embodiments of the harvesting system of the
invention, the harvesting robots are installed on a collection bin,
i.e. using a dedicated vessel/box holding the harvesting robots.
This is in contrary to known systems in which the collection bin is
mounted on the robot/vehicle.
[0028] In certain embodiments, the collection bin and harvesting
robots of the harvesting system of the invention constitute a
single unified unit that can be carried into and out of orchards by
either a tractor or a forklift. Accordingly, in certain
embodiments, the harvesting bin of the invention (with its
integrated harvesting robots) or a standard collection bin with a
harvesting system of the invention mounted thereon, constitutes an
autonomous harvesting bin that harvests its own fruit.
[0029] In specific embodiments of the harvesting system of any of
the embodiments above, the harvesting robot(s) 103 is installed in
a dedicated frame/ring 102 deigned to be mounted onto the top side
(opening) of a collection bin 101 or are part of the wagon of a
train of collection bins. FIGS. 2A and 2C illustrate how a standard
collection bin 101 looks like when equipped with an upper frame 102
comprising flying robotic harvesters 103. FIG. 2B illustrates how a
standard collection bin 101 equipped with wheels or part of a train
of bins (wagon bin) looks like when equipped with an upper frame
102 comprising flying robotic harvesters 103.
[0030] In specific embodiments of the harvesting system of any of
the embodiments above, the robotic harvester is a: (a) robotic
harvesting arm that is connected to the frame/box that includes a
power source, or (ii) flying unmanned aircraft harvesting vehicle
(UAV), which is either flying wirelessly or is wirely connected to
the frame/box.
[0031] It should be noted that the number of robotic harvesters
103, either flying ones or not, within the harvesting system of the
invention may vary according to need and desire. For instance,
there can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more robotic
harvesters 103.
[0032] In certain embodiments of the harvesting system of any of
the embodiments above, the harvesting robot(s) is
provided/installed in a box/suitcase 102 that is designed to be
mounted on the outer surface of the collection bin's side wall.
FIGS. 3A-3B illustrate how a standard collection bin 101 looks like
when equipped with a side-box 102 for holding flying harvesters
103. FIG. 4 illustrates how a standard collection bin 101 looks
like when equipped with a side-box 102 holding a robotic harvesting
arm(s) 104. It should be noted that the box/suitcase 102 can be
mounted on the external side wall of the collection bin (as
illustrated in FIGS. 3 and 4); inside the collection bin (i.e.
between the bin's walls); or on top of the bin, i.e. placed on the
upper edge of the bin's walls.
[0033] In certain embodiments of the harvesting system of any of
the embodiments above, the harvesting robot(s) is placed inside the
collection bin. FIGS. 5A-5B illustrates a standard collection bin
101 with an inner addition of a flying harvester 103. Notably, once
the collection bin 101 is filled, the flying harvester 103 may
either return to the box/frame 102 or be simply placed/land onto
the pile of fruits within the bin 101. Alternatively, the flying
harvester 103 may be secured to the side walls of the bin (or a
wagon-bin), or placed in a dedicated box that can be optionally
secured to the side walls of the bin or placed onto the fruits in
the bin.
[0034] FIGS. 6A-6B illustrates one possibility to transfer a
standard collection bin 101 into a self-harvesting collection bin
according to the invention: onto a standard collection bin 101, an
upper frame 102 with harvesters (FIG. 6A illustrates free-flying
harvesters 103; FIG. 6B illustrates 4 flying harvesters that are
wirely connected to the upper frame 102; and FIG. 6C illustrates 2
flying harvesters that are wirely connected to the upper frame 102)
is mounted/attached unto the upper surface of the bin 101. Once in
place, the assembled bin-frame can be positioned anywhere in an
orchard thereby enabling the robotic harvesters 103 to start
harvesting and filling the collection bin 101.
[0035] It should be noted that the term "harvesting robot" as used
herein refers to a harvesting robotic arm or an unmanned aircraft
vehicle (UAV).
[0036] As illustrated in FIG. 6B, a harvester unit that consists 4
drones is installed on a bin before bin deployment, and the bin is
then filled with fruits harvested by the drones. In an exemplary
embodiment, the harvesting rate of a single drone is about 100
Kg/hours, which means that 4 drones provide a picking rate of 400
Kg/hour, thereby filling a bin within 1 hour.
[0037] As illustrated in FIG. 6C, a harvester unit that consists 2
drones is installed on a bin before bin deployment, and the bin is
then filled with fruits harvested by the drones. In an exemplary
embodiment, the harvesting rate of a single drone is about 100
Kg/hours, which means that 2 drones provide a picking rate of 200
Kg/hour, thereby filling a bin within 2 hours.
[0038] In yet another exemplary embodiment, the power consumption
of each drone is about 1 kW, weight about 3 Kg, having a lifting
force of 8 Kg, and has a fruit payload of about 2 Kg (10
apples).
[0039] As illustrated in FIG. 4, in certain embodiment of the
harvesting system of the invention, the harvesting robot is a
robotic arm 104 designed to harvest fruits from nearby trees and
deliver the harvested fruits into the collection bin 101. In
specific embodiments, the robotic arm 104 is telescopic and
rotatable to enable reaching distant fruits in any angle. In
certain embodiments, the robotic arm 104 has a working radius of up
to 5 meters or more, up to 10 meters or more; up to 15 meters or
more, up to 20 meters or more, or at least about 30 m.
[0040] In certain embodiments of the harvesting system of any of
the embodiments above, the fruit detection unit comprises at least
one camera in order to identify fruits for harvesting, and/or to
identify obstacles, and optionally for obtaining data regarding
fruits' quality and ripeness.
[0041] In certain embodiment of the harvesting system of the
invention, the harvesting robot is a UAV equipped with one or more
harvesting arms 104 that are designed to harvest fruits in the
bin's surroundings at a radius of up to 5 meters or tree-top or
more, up to 10 meters or more; up to 15 meters or more, up to 20
meters or more, or about 30 meters or more.
[0042] In certain embodiment of the harvesting system of the
invention, the harvesting robot is a threaded UAV 103 that receives
energy wirely from a power source located/installed in the frame or
box mounted/attached on the collection bin/wagon-bin 101. In
certain embodiments, the threaded UAV also receives harvesting
instructions from a main computer/computing system located in the
frame or box mounted/attached on the collection/wagon bin 101.
[0043] Accordingly, in certain embodiments, the harvesting system
according to any of the embodiments above further comprises at
least one autonomous energy pack/power source for powering up
and/or charging the at least one robotic harvester.
[0044] In certain embodiment, the harvesting system of the
invention of any of the embodiments above further comprises a
computing system comprising a memory and processor. Such computing
system may be designed to receive data regarding the amount and/or
quality of the fruits inside each collection bin 101. In certain
embodiments, the data further includes any one of the following:
fruit color, size, sugar ratio, weight, and any combination
thereof. This information is important and useful when managing the
storage and quality in the warehouse, and enables to provide the
farmer knowledge about potential economic value of the stored
fruits in the warehouse.
[0045] In certain embodiments, the computing system of the
harvesting system of the invention further comprises an algorithm
for determining a fruit's quality inside each collection bin. In
certain embodiments, said algorithm for determining the fruit's
quality uses at least one of the following parameters for
determining the fruit's quality, including ripeness, according to
the type of fruit being harvested: color, water content,
rigidity/softness, sparkle, size, season, spots-damages inspection,
fruit disconnection force (the ripper the fruit is--the easier it
is to pull), weight.
[0046] In certain embodiments, the computing system of the
harvesting system of the invention enables the at least one robotic
harvester to be completely independent/autonomous so that there is
no need for a manual control thereof.
[0047] In certain embodiments, the fruit data is provided to the
computer/computing system of the system via sensors and indicators
located on the harvesting robot(s) and/or other locations/devices
or databases. Alternatively, one or more separate units located,
e.g. on the collection bin may be used to gather the information,
e.g. using a camera, scale, lasers, etc.
[0048] Accordingly, in certain embodiments, the harvesting system
according to any of the embodiments above further comprises at
least one sensor designed to deliver fruit quality data, and
optionally ripeness, to said computing system. In further specific
embodiments, the harvesting system according to any of the
embodiments above further comprises at least one sensor designed to
count the number of fruits placed inside each collection bin.
[0049] It should be noted that the sensors may be located any
wherein the system, e.g. as an integral part of the robotic
harvester(s), as part of the frame/box, and/or as independent units
placed anywhere and associated with the system (wirely or
wirelessly).
[0050] In certain embodiments, the harvesting system of the
invention further comprises a computing system that enables the
robotic harvester to be completely independent/autonomous so that
there is no need for a manual control.
[0051] In certain embodiments, the harvesting system of the
invention comprises a single harvesting robot. In alternative
embodiments, the system comprises 2, 3, 4, 5, 6, 7, 8 or more
robots.
[0052] In certain embodiments, the harvesting system of any of the
embodiments above further comprises a computer/computing system
comprising a memory, a processor, and an algorithm that calculates
the fruit's position in relation to the robotic harvester, which
enables: (1) autonomous navigation of the robotic harvester in a
complex environment; and (2) autonomous maneuvering the robotic
harvester to the fruit to be harvested based on data obtained from
the fruit detection unit.
[0053] In certain embodiments, the harvesting system of the
invention is connected to one or more harvesting systems of the
invention thereby creating a "train" of harvesting systems. FIG. 7A
illustrates such a train with collection bins 101 each equipped
with a box/suitcase 102 mounted thereon holding a plurality of
threaded harvesting UAVs. FIG. 7B illustrates such a train or
harvesting wagons placed within an orchard. In such a
configuration, the "train" of harvesting systems may be pulled by
any suitable means, such as a tractor or a pulling tool, that pulls
the "train" through the orchard, positions the bins in place, and
then pulls them to a warehouse once filled. Alternatively, the
train of bins may be pulled into the orchard by one means, and
removed from the orchard, once filled, by another means.
[0054] In specific embodiments, the present invention provides a
harvesting system for autonomous harvesting, the system comprising
concatenated fruit collecting (harvesting) wheeled-wagons (i.e. a
train of fruit collecting wagons) designed to be pulled by a
pulling machine, such as a tractor or an integrated motor and
guiding system (located, e.g., in the first wagon), wherein at
least one of the wagons in the system is equipped with: (a) at
least one flying robotic harvester equipped with: a fruit detection
unit for identifying a fruit; a fruit's gripping or collecting
tool; and optionally, a cutting tool for cutting a fruit off a
tree, and (b) a frame/box for holding said at least one robotic
harvester and designed to fit onto said fruit collection bin
wheeled-wagon, and optionally includes a power source; wherein each
one of said fruit collecting (harvesting) wheeled-wagons further
comprises a fruit protection system for delivering/moving harvested
fruits from the wagon's top to its bottom/floor for protecting
fruit from damage during falling into the wagon.
[0055] The present invention further provides a method for
autonomously harvesting, e.g., fruits in an orchard, the method
comprising the steps of: (a) mounting/attaching a harvesting system
according to any of the embodiments above onto a fruits' collection
bin or onto a fruit collection wagon; (b) placing the fruits'
collecting bin/wagon in an orchard; a tractor/truck takes/pulls the
bins/wagons (with the mounted harvesting system) to the tree lines
and deploy the bins on the ground. The bins can be installed on a
wheeled-platform or equipped with wheels (thereby becoming a wagon)
to assist their pulling by a tractor; (c) activating the at least
one robotic harvester of the harvesting system thereby enabling
autonomous picking of fruits and filling the fruits' collection
bin; and (d) switching the harvesting system off when the bin is
full, and optionally returning the robotic harvester(s) back into
its frame/box.
[0056] In specific embodiments, the harvesting method according to
the invention further comprises step (e) of dismantling the
harvesting system from the full bin and optionally
placing/attaching same to an empty collection bin for further
harvesting if needed. This can be done in the orchard or anywhere
else. Accordingly, in another specific embodiment, step (e) is
carried out outside the orchard.
[0057] In specific embodiments, the harvesting method according to
the any of the embodiments above further comprises step (f) of
transporting the full bin (with or without the harvesting system)
to a warehouse.
[0058] In certain embodiments of the method according to any of the
embodiments above: step (a) is carried out outside the orchard, and
step (b) means that the collection bin is placed in the orchard
when the harvesting system is already attached thereto; step (b) of
the method according to any of the embodiments above is carried out
by a tractor/truck or by rolling/pulling the collection bins on
their own wheels (if present); and/or step (d) is carried
automatically when the harvesting system identifies that the
fruits' collection bin is full.
[0059] In certain embodiments of the method according to any of the
embodiments above, more than one fruits' collection bin is used,
each collection bin is equipped with the harvesting system of the
invention, and all harvesting systems work simultaneously,
autonomously and independently from one another in the same
orchard.
[0060] In alternative embodiments of the method according to any of
the embodiments above, more than one fruits' collection bin is
used, but only some of the collection bins are equipped with the
harvesting system of the invention, and all harvesting systems work
simultaneously, autonomously and independently from one another,
wherein once a collection bin is filled, its associated harvesting
system is transferred to an empty collection bin and activated for
filling the collection bin, until all collection bins are filled.
Alternatively, a single harvesting system of the invention may be
used to fill several collection bins in tis proximity, without
needing to transfer it from a filled collection bin to an empty
one.
[0061] Reference is now made to FIGS. 8A-8C. As illustrated,
collection bins, each equipped with a harvesting system of the
invention with (2 wired) harvesting drones, are dispersed within an
orchard (FIG. 8A). All drones operate independently from one
another and fill the collection bin to which they are associated
with (FIG. 8B). Once the bins are filled, the drones return to
their frame/box, and the filled bins are removed from the orchard
by suitable means. The harvesting system can now be transferred to
empty bins for further harvesting in the same or different
orchard.
[0062] Reference is now made to FIGS. 9A-9D. As illustrated,
collection bins are dispersed within an orchard while only a few of
them are equipped with a harvesting system of the invention (FIG.
9A). The harvesting drones operate independently from one another
and fill the collection bin they are associated with, while all
other collection bins remain empty (FIG. 9B). Once the bins that
were equipped with the harvesting system of the invention are
filled, the drones return to their frame/box 102, which is then
transferred to the next collection bin, while the filled bins are
removed from the orchard without the harvesting system (FIGS. 9C
& 9D). This process continues as desired, e.g. until all the
orchard has been harvested.
[0063] In an exemplary embodiment, an orchard comprises 200 meters
tree-lines. The distance between the collection bins that are
distributed within the orchard is about 10 meters, which means
about 20 bins are used per tree line. In this example, the maximal
distance between a harvesting drone and the bin is about 5 m, and
the average distance is about 2.5 m. As illustrated in FIGS. 8 and
9, two drones are associated with each bin, providing a bin-filling
time of about 2 hours. Since all the drones work simultaneously and
autonomously, 2 operators are sufficient to operate each tree line
(20 bins, 40 drones). For the sake of comparison, the same picking
rate of 20 bins would usually require 32 manual workers. In
addition to the 2 operators, one forklift and one tractor are used
for deployment and collection of the bins and can serve up to 6
lines of trees per hour (i.e. 120 bins/hour).
[0064] In specific embodiments of the method according to any of
the embodiments above, step (a) of mounting/attaching a harvesting
system according to claim 1 onto a fruits' collection bin means
mounting/attaching a harvesting system according to claim 1 onto
one or more fruits' collection wagons that constitutes a train of
wagons; and step (b) of placing said fruits' collecting bin(s) in
an orchard, means pulling the train of wagons into the orchard
between tree lines. In further specific embodiments, the method
further comprises a step of relocating the train of wagons when
there are no more fruits to pick to a new harvesting location in
the orchard.
[0065] In alternative specific embodiments of the above method,
step (b) of pulling the train of wagons into the orchard means
continuously pulling the train of wagons through the orchard's
lines, i.e. without stopping, wherein the train moves slowly
through the orchard, while the harvesting robots harvest the fruits
as the train moves. In specific embodiments, the movement speed of
the train through the orchard is about 25-meters per hour or less,
about 20-meters per hour or less, about 15-meters per hour or less,
about 10-meters per hour or less, about 7-meters per hour or less,
about 5-meters per hour or less, or about 2-meters per hour or
less.
[0066] It should be noted that when using a train of wagons, in
which some or all of the wagons are equipped with the harvesting
system of the invention (FIG. 7C illustrates a train of wagons in
which all the wagons are equipped with the harvesting system of the
invention), it is possible to define specific harvesting
configuration for each harvesting robot. For instance, when the
harvesting system is mounted on every other wagon, the harvesting
robots may be instructed to fill nearby wagons that are not
equipped with the harvesting system (see e.g. FIG. 7D). The
harvesting robots may be flying wired or wireless robots or
harvesting arms. Another harvesting configuration is that each
harvesting system on each wagon is responsible for
picking/harvesting fruits from predefined different tree heights,
such that all wagons together pick the entire tree's height.
Another harvesting configuration is that each harvesting system on
each wagon is responsible for picking/harvesting fruits from a
different grade, thereby filling the wagons with fruits of the same
grade, e.g. grade A, grade B, etc.
[0067] The harvesting system and method of the invention has many
advantages, such as: all harvesting robots works simultaneously,
which saves harvesting time; all harvesting robots works
autonomously, which saves man labor; harvesting rate depends-on/can
be controlled by the deployment of the harvesting system; no need
for special-new bin deployment and collection machinery; and the
system enables easy control and supervision on the number of fruits
and their quality in each bin before storage.
[0068] Notably, the train configuration, in which multiple
collection wagon are pulled into the orchard, some or all of the
wagons are equipped with the harvesting system of the invention
with its harvesting robots (flying or not), is cost effective and
further enables fruits' sorting already at the orchard. For
example, a train of 5 collection wagons can have 5 different
fruit-grades and each wagon may be assigned to collect different
grade of fruit, e.g. Grade A (best) in the first wagon, Grade B in
the second, etc.
[0069] In specific embodiments, the harvesting system of any of the
embodiments above further comprises a fruit protection system that
comprises an elevator floor that is designed to gradually and
gently lower harvested fruits from the top opening of the
collection bin to its bottom (or on top of previously harvested
fruits) thereby preventing bruising/damaging the fruits due to
their falling to the bottom of the collection bin.
* * * * *