EP4637321A1 - Système de véhicule pour le traitement d'une plante botanique - Google Patents

Système de véhicule pour le traitement d'une plante botanique

Info

Publication number
EP4637321A1
EP4637321A1 EP23833208.4A EP23833208A EP4637321A1 EP 4637321 A1 EP4637321 A1 EP 4637321A1 EP 23833208 A EP23833208 A EP 23833208A EP 4637321 A1 EP4637321 A1 EP 4637321A1
Authority
EP
European Patent Office
Prior art keywords
axis
robotic arm
vehicle system
plant
base
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP23833208.4A
Other languages
German (de)
English (en)
Inventor
Karel Van Den Berg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lanvi Patent BV
Original Assignee
Lanvi Patent BV
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 Lanvi Patent BV filed Critical Lanvi Patent BV
Publication of EP4637321A1 publication Critical patent/EP4637321A1/fr
Pending legal-status Critical Current

Links

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

Definitions

  • the invention is related to a vehicle system for the processing of a botanical plant.
  • the invention relates to the use of such a vehicle system in an agricultural environment, in particular a horticultural and/or vinicultural environment.
  • a vehicle system for the processing of a botanical plant comprising a processing device provided with processing means for the processing of the botanical plant and comprising a base with driving means comprising wheels, and an axis extending in a perpendicular direction from the base, wherein the processing means comprise a robot for executing at least one processing action on the botanical plant and a control unit for controlling the robot, wherein the robot comprises two or more robotic arms provided on the axis, wherein a first robotic arm is movably mounted on the axis and a second robotic arm is movably mounted on the axis, between the first robotic arm and the base, the first and second robotic arms being independently movable in a height direction along the axis between the base and a top end of the axis, wherein the second robotic arm has a maximum height set by the first robotic arm, and the first robotic arm has minimum height set by the second robotic arm.
  • a botanical plant predominantly photosynthetic eukaryotes, has a plant body comprising a stem, roots and leaves.
  • a robot having at least two robotic arms is provided.
  • the robotic arms are mounted on an axis so they can move along that axis.
  • the axis extends in a perpendicular direction from the base, preferably in a vertical direction, or vertically, from the base.
  • the axis may be formed as a shaft or spindle, or a pole that extends from the base.
  • the axis may have a polygonal cross section, specifically rectangular or square, a circular cross section having a diameter, or an elliptical crosssection.
  • the robotic arms are movable along the axis in a height direction with respect to the base.
  • the top end of the axis is the maximum height, which can be a free top end, and the bottom end, preferably located at the base, is the minimum height of the robotic arms.
  • the second robotic arm is movably mounted in between the first robotic arm and the base. As such, the maximum height that the second robotic arm can reach depends on the location of the first robotic arm along the axis, and the minimum height that the first robotic arm can reach depend on the location of the second robotic arm along the axis. In between the minimum and maximum heights, each robotic arm is independently movable along the axis.
  • the control unit is provided to control the robot.
  • the control unit may be provided with server that comprises a processor and a memory unit.
  • the processor may be configured to execute the steps to control the robot and subsequently the robotic arms.
  • the first robotic arm is able to execute a first processing action
  • the second robotic arm is able to execute a second processing action, and wherein each robotic arm executes the processing action independently.
  • each robotic arm can be programmed for different actions that are needed to process or take care of the botanical plant.
  • the first and second robotic arm execute the first and second processing action, respectively, wherein the first and second actions form a cooperative act.
  • the independently programmed actions can together form a cooperative act, for instance when an action of the first robotic arm requires that the second robotic arm holds the stem of the plant, i.e. keep the plant in place by gripping the stem.
  • Other acts that would normally require two human hands can now be executed by the first and second robotic arms with each other’s independent actions.
  • the cooperative act is programmed as such.
  • the first and/or second robotic arm is rotatably mounted on the axis, such that the first and/or second arm is rotatable along the axis.
  • the advantage of a rotatable robotic arm is that the robotic arm can revolve freely around the axis, i.e. can be rotated 360 degrees. With this, it is possible that two robotic arms can work at a maximum angle of 180 degrees from each other, for instance with plants located at opposite sides of the base, or plants located next to each other on one side of the base.
  • Rotatably mounted may mean that the robotic arm can rotate as a whole around the axis, or that the robotic arm can rotate around a mounting means, i.e. there is a mounting means that can move the robotic arm up and down along the axis, and the robotic arm itself rotates around the mounting means, possibly with a bearing element or the like.
  • first and/or second robotic arm may comprise at least one of a plane joint, a ball and socket joint, a hinge joint, a pivot joint, a condyloid joint, and a saddle joint, or a combination thereof.
  • a plane joint a ball and socket joint
  • a hinge joint a pivot joint
  • a condyloid joint a condyloid joint
  • a saddle joint or a combination thereof.
  • at least one joint between two segments of the robotic arm may be advantageous.
  • the first and second robotic arms each comprise an extension for executing an action, wherein the action is at least one of the group of picking a fruit from a plant, removing suckers from a plant, for cutting leaves from a stem of a plant, for holding a stem of a plant, for moving a stem of a plant in a horizontal and/or a vertical direction, for rotating the stem of a plant, for winding a holding thread around the stem of the plant, or a combination thereof.
  • Each of the robotic arms movably mounted on the axis has at least one extension, or tool, to perform an action. Extensions or tools may be combined in one robotic arm, e.g.
  • a robotic arm may be equipped with a tool to hold the stem of the plant and a tool for picking a fruit, or any other combination.
  • a robot with robotic arms that each have a single tool specialized for a particular action, e.g. a first robotic arm with a tool to hold the stem of the plant, a second robotic arm with a tool to cut the leaves from the stem, and possibly a third robotic arm with a tool for another action.
  • the axis is located off set from the center of the base. Having the axis off set from the center of the base has the advantage that the robotic arms do not need to stretch as far out to extend beyond at least part of the circumference or at least one side of the base as they do at the other sides.
  • the projected area of the base is a rectangle and wherein the axis is located off set from the center of the base in a longitudinal dimension of the rectangle. Additionally, or alternatively, the axis is located off set from the center of the base in a width direction.
  • the axis may be placed off set in a direction of motion of the vehicle system, such that the robotic arms are able to reach any plants located at or near the dead end.
  • a single axis extends from the base.
  • the robotic arms of the robot are mounted on a single axis.
  • a second axis may extend from the base at an opposite side of the base, and at least two robotic arms are movably mounted on the second axis.
  • the axis may be a rotatable shaft that rotates along a longitudinal axis, preferably parallel to the shaft itself.
  • the rotation may be provided by a rotation mechanism at a foot of the axis, i.e. at the base, or a rotation mechanism in the shaft itself.
  • the processing device comprises a first autonomous unmanned vehicle provided with automatic driving means comprising wheels and navigation means, and further provided with energy supply means.
  • the processing device comprises an autonomous unmanned vehicle that can move autonomously between the botanical plants and work autonomously.
  • the vehicle system may furthermore comprise a guide system for guiding at least the processing device along a predetermined route while moving.
  • a guide system for guiding at least the processing device along a predetermined route while moving In for instance greenhouses, facilities may be provided which can be used as a guide system for the wheels of any 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 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 botanical product to be processed is a fruit or flower, and/or any other parts of a plant body such as the stem or the leaves.
  • the robot of the processing means may then include a robotic arm for picking a fruit or comprise a robotic arm for cutting flowers.
  • the invention furthermore relates to the use of the vehicle system as described above in an agricultural environment, in particular a horticultural and/or vinicultural environment.
  • FIG. 1 shows an embodiment of the vehicle system according to the invention.
  • Figure 2 shows a further embodiment of the vehicle system according to the invention.
  • Figure 3 shows the vehicle system of Fig. 1 in extended mode.
  • the axis 103 extends from the base, in a vertical direction with respect to the ground floor 300, and with respect to the base 102.
  • the robotic arms 107, 108 can move up and down along the axis 103, independently.
  • the height of one robotic arm 107, 108 is limited by the location of the other robotic arm 107, 108 along the axis 103.
  • a first robotic arm 107 limits the maximum height of a second robotic arm 108, i.e. the second robotic arm 108 cannot have a higher location than the first robotic arm 107, since the second robotic arm 108 cannot overtake the first robotic arm 107.
  • the second robotic arm 108 limits the minimum height of the first robotic arm 107, i.e.
  • the first robotic arm 107 cannot have a lower location than the second robotic arm 108, since the first robotic arm 107 cannot overtake the second robotic arm 108.
  • the first robotic arm 107 cannot travel higher than a top end 120 of the axis 103, and the second robotic arm 108 cannot travel lower than the base 102 or the stabilizing means 115. In between these minimum and maximum heights, the first and second robotic arms 107, 108 are movable freely along the axis 103.
  • the vehicle system 100 furthermore comprises an automatic energycharging device 114 for charging the power supply means of the first and second autonomous unmanned vehicles 101 , 112.
  • the vehicle system 100 comprises a guide system 111 consisting of guides, which run through the greenhouse and which guide the autonomous unmanned vehicles 101 , 112 or the autonomous unmanned vehicle unit 117 when moving through the greenhouse. This may be, for example, the heating pipes in a greenhouse, a strip inserted into the floor of a greenhouse, or a rail system provided in the greenhouse, vineyard or any other agricultural environment where the vehicle system may be used.
  • Figure 3 shows the vehicle system of Fig. 1 in extended mode, where the extendable frame 122 is in a raised position, such that the processing means 102 is raised with respect to the ground floor 300.
  • the power supply means in the collection container 109 of the second autonomous unmanned vehicle 112 provide power to the processing device 102 on the first autonomous unmanned vehicle 101.
  • the second autonomous unmanned vehicle 112 is provided with storage means 110 as well. In the event the storage means 110 of the first autonomous unmanned vehicle 101 are full or otherwise unavailable to store picked fruits, the fruits can be stored on the second autonomous unmanned vehicle 112. LIST OF PARTS

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de véhicule pour le traitement d'une plante botanique, le système comprenant un dispositif de traitement comportant des moyens de traitement pour le traitement de la plante botanique et comprenant une base comportant des moyens d'entraînement comprenant des roues, et un axe s'étendant dans un sens perpendiculaire à partir de la base, les moyens de traitement comprenant un robot pour exécuter au moins une action de traitement sur la plante botanique et une unité de commande pour commander le robot, le robot comprenant au moins deux bras robotisés disposés sur l'axe, un premier bras robotisé étant monté mobile sur l'axe et un second bras robotisé étant monté mobile sur l'axe, entre le premier bras robotisé et la base, les premier et second bras robotisés étant mobiles indépendamment dans le sens de la hauteur le long de l'axe entre la base et une extrémité supérieure de l'axe, le second bras robotisé présentant une hauteur maximale définie par le premier bras robotisé, et le premier bras robotisé présentant une hauteur minimale définie par le second bras robotisé.
EP23833208.4A 2022-12-19 2023-12-13 Système de véhicule pour le traitement d'une plante botanique Pending EP4637321A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2033750A NL2033750B1 (en) 2022-12-19 2022-12-19 Vehicle system for the processing of a botanical plant
PCT/IB2023/062597 WO2024134370A1 (fr) 2022-12-19 2023-12-13 Système de véhicule pour le traitement d'une plante botanique

Publications (1)

Publication Number Publication Date
EP4637321A1 true EP4637321A1 (fr) 2025-10-29

Family

ID=85685393

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23833208.4A Pending EP4637321A1 (fr) 2022-12-19 2023-12-13 Système de véhicule pour le traitement d'une plante botanique

Country Status (3)

Country Link
EP (1) EP4637321A1 (fr)
NL (1) NL2033750B1 (fr)
WO (1) WO2024134370A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011017061A1 (fr) * 2009-07-25 2011-02-10 Intelligent Farm Machines, Llc Appareils, systèmes et procédés de cueillette automatisée de récoltes
EP3426015A4 (fr) * 2016-03-07 2019-12-04 Queensland University Of Technology Appareil de récolte robotisé
GB2582808A (en) * 2019-04-04 2020-10-07 Univ Plymouth Robotic handling of picked fruit or vegetables
FR3110812B1 (fr) * 2020-06-02 2023-01-06 Exel Ind Procédé automatisé de sélection et de récolte de fruits et équipement mécanique mettant en œuvre le procédé
NL2028263B1 (nl) * 2021-05-20 2022-12-06 Lanvi Patent B V Voertuigsysteem voor het verwerken van een product
CN115349355A (zh) * 2022-09-06 2022-11-18 深兰科技（上海）有限公司 采摘剪、水果采摘机器人及方法

Also Published As

Publication number Publication date
NL2033750B1 (en) 2024-06-25
WO2024134370A1 (fr) 2024-06-27

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