System and method for harvesting fruit

Patent metadata

Field	Value
Publication number	US-12063889-B2
Application number	US-202117188177-A
Country	US
Kind code	B2
Filing date	Mar 1, 2021
Priority date	Feb 28, 2020
Publication date	Aug 20, 2024
Grant date	Aug 20, 2024

Abstract

A three-dimensional stereo vision camera communicates the location of a targeted fruit (preferably an apple) to a controller. The controller directs a vacuum selection tube to the location of the targeted apple. The selection tube has a gripping orifice that has a smaller diameter than the apple so that the vacuum suction from the selection tube grips the apple. The selected fruit is then rotated and pulled away from the tree canopy by the selection tube until the apple detaches from the canopy. The detached apple is then gently placed in a collection bin for later sorting and processing.

First claim

The claimed invention is:

1. A fruit harvesting system comprising:
a camera identifying a targeted fruit;
a controller/processor in communication with the camera;
tilting and panning mechanisms in communication with the controller;
a vacuum module comprising at least a vacuum source, the vacuum module being in communication with the controller;
a vacuum selection tube being in pneumatic communication with the vacuum module, the vacuum module generating suction in the vacuum selection tube; and,
a gripping orifice positioned on an end of the vacuum selection tube;
wherein the vacuum selection tube further comprises a pressure sensor in communication with the controller, wherein the pressure sensor is configured to measure and monitor a drop in the vacuum selection tube vacuum pressure;
whereby, the system is configured so that after the camera identifies the targeted fruit, the processor directs the tilting and panning mechanisms to move the vacuum selection tube adjacent to the targeted fruit so that suction from the vacuum selection tube enables the gripping orifice to grip, hold, and detach the targeted fruit from a plant, wherein the gripping orifice is rotated about the axis of the vacuum selection tube to detach the targeted fruit from the plant responsive to the pressure sensor sensing that the drop in the vacuum selection tube vacuum pressure has reached a preset threshold.

2. The system of claim 1 wherein the camera comprises at least one three-dimensional stereographic camera.

3. The system of claim 1 wherein the system further comprises an expandable vacuum hose connecting the vacuum selection tube to the vacuum module.

4. The system of claim 1 wherein the pressure sensor sensing the pressure drop has reached the preset threshold indicates to the controller that the gripping orifice is gripping and holding the fruit.

5. The system of claim 1 wherein the gripping orifice comprises a soft, flexible, and resilient surface and forms at least a partial vacuum seal with the targeted fruit so that the gripping orifice can grip and hold the targeted fruit.

6. The system of claim 1 wherein the gripping orifice is rotated in one direction for a specific angle, or rotated multiple full or partial revolutions, or rotated in one direction and then rotated in the opposite direction to detach the targeted fruit from the plant.

7. The system of claim 1 wherein the gripping orifice is selected from a group consisting of: a generic gripping orifice, a straight end effector, a funnel-shaped end effector, a curved funnel-shaped end effector, and a bellows-shaped end effector.

8. The system of claim 1 further comprising a large driving gear that encompasses and is attached to the vacuum selection tube, so that rotating the large driving gear rotates the vacuum selection tube and the gripping orifice, thereby detaching the fruit from the plant.

9. The system of claim 8 wherein the large driving gear is rotated by a smaller driving gear so that the small and large driving gears are positioned within a single rotational mechanism housing.

10. A fruit harvesting system comprising:
a camera identifying a targeted fruit;
a controller/processor in communication with the camera;
tilting and panning mechanisms in communication with the controller;
a vacuum module comprising at least a vacuum source, the vacuum module being in communication with the controller;
a vacuum selection tube being in pneumatic communication with the vacuum module, the vacuum module generating suction in the vacuum selection tube; and,
a gripping orifice positioned on an end of the vacuum selection tube;
whereby, the system is configured so that after the camera identifies the targeted fruit, the processor directs the tilting and panning mechanisms to move the vacuum selection tube adjacent to the targeted fruit so that suction from the vacuum selection tube enables the gripping orifice to grip, hold, and detach the targeted fruit from a plant;
further comprising a large driving gear that encompasses and is attached to the vacuum selection tube, so that rotating the large driving gear rotates the vacuum selection tube and the gripping orifice, thereby detaching the fruit from the plant, wherein the large driving gear is rotated by a smaller driving gear so that the small and large driving gears are positioned within a single rotational mechanism housing, wherein a system of support and stabilizing rollers are positioned on an outer face of the rotational mechanism housing, the rollers supporting and stabilizing the vacuum selection tube.

11. The system of claim 10 wherein the stabilizing rollers engage raised collars that encircle the vacuum selection tube.

12. A fruit harvesting system comprising:
a camera identifying a targeted fruit;
a controller/processor in communication with the camera;
tilting and panning mechanisms in communication with the controller;
a vacuum module comprising at least a vacuum source, the vacuum module being in communication with the controller;
a vacuum selection tube being in pneumatic communication with the vacuum module, the vacuum module generating suction in the vacuum selection tube; and,
a gripping orifice positioned on an end of the vacuum selection tube;
whereby, the system is configured so that after the camera identifies the targeted fruit, the processor directs the tilting and panning mechanisms to move the vacuum selection tube adjacent to the targeted fruit so that suction from the vacuum selection tube enables the gripping orifice to grip, hold, and detach the targeted fruit from a plant;
further comprising a large driving gear that encompasses and is attached to the vacuum selection tube, so that rotating the large driving gear rotates the vacuum selection tube and the gripping orifice, wherein a screw-type gear drives the large driving gear, the vacuum selection tube being supported by a unitary support bracket, the unitary support engaging at least one support bearing which encircles the vacuum selection tube so that the vacuum support tube rotates within the at least one support bearing.

13. The system of claim 12 wherein the unitary support bracket supports multiple support bearings, the support bearings encircling the vacuum selection tube so that the selection rotates within the support bearings.

14. The system of claim 13 wherein the support bearings are roller bearings.

15. The system of claim 1 wherein the tilting and panning mechanisms as well as the vacuum selection tube are positioned on a sliding base and are moved laterally on a grooved track by a lateral movement means, the lateral movement means being in communication with the controller.

16. The system of claim 15 wherein the lateral movement means is pneumatic.

17. The system of claim 1 wherein a vertical lifting means that is controlled by the controller moves the tilting and panning mechanisms as well as the vacuum selection tube vertically.

18. The system of claim 17 wherein the vertical lifting means comprises a telescoping hydraulic lift.

19. A method of picking fruit, the method comprising:
(a) providing the system of claim 1 ;
(b) positioning the system on a vehicle;
(c) moving the vehicle and system and positioning the system adjacent to a plant;
(d) directing the camera to a region of interest on the plant and providing power to the system so that the system picks the fruit from the plant; and
(e) placing the picked fruit in a collection bin on the vehicle.

Assignees

• Us Agriculture
• Univ Michigan State

Inventors

• Lu Renfu
• Li Zhaojian
• Lammers Kyle

Classifications

• G06V20/188

  Vegetation · CPC title

• B25J15/0616 Primary

  with vacuum · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• A01D46/24

  Devices for picking apples or like fruit (A01D46/28 {and A01D46/005} takes precedence) · CPC title

• H04N13/207

  using a single two-dimensional [2D] image sensor · CPC title