Apparatus for locating and manipulating agricultural products

• US 4,843,561 A
• Filed: 05/01/1985
• Issued: 06/27/1989
• Est. Priority Date: 05/01/1985
• Status: Expired due to Term

• Current Assignee: Sun Controls Design Incorporated Grand Haven MI
• Original Assignee: Sun Controls Design Incorporated
• Inventors: Larson, Bernard R.
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/729,409
• Time in Patent Office: 1,518 Days
• Field of Search: 364/551, 364/513, 364/559, 364/456, 364/478, 250/202, 356/51, 356/376, 382/25, 382/28, 382/62, 382/65, 901/1, 901/9, 901/46, 901/47, 56/10.2, 56/327 R, 56/327 A, 56/328 R, 358/96, 358/101, 358/107, 358/113, 209/577, 209/587, 209/582
• US Class Current: 700/213
• CPC Class Codes: A01D 46/24 Devices for picking apples or like fruit A01D46/28 and A01D46/005 takes precedence
• CPC Class Codes: A01D 46/30 Robotic devices for individually picking crops
• CPC Class Codes: B07C 5/10 measured by light-responsive means sorting according to colour B07C5/342
• CPC Class Codes: B07C 5/342 according to optical properties, e.g. colour according to radiation transmittivity B07C5/3416
• CPC Class Codes: B07C 5/36 Sorting apparatus characterised by the means used for distribution sorting according to destination B07C3/003, B07C3/02
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 9/04 by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type

Abstract

Apparatus for locating and manipulating agricultural products such as fruits and vegetables that emit or reflect distinctive radiation in a predetermined non-visible frequency range comprises a detection means for detecting and producing digitized images of the products based upon the non-visible radiation in the predetermined frequency range received from a given viewing area. A product locator mechanism receives the digitized images as input, compares the characteristics of the digitized input with a predetermined digitized definition of products to be selected, and generates an output signal usable for directing an output device relative to the produces. The product locator compares discrete peripheral coordinate points on the infrared and visual images with points on a mathematical curve conforming with the product outline as one means to indicate the presence of a product. A separate central processing unit controls a motion control device for picking the fruits or vegetables located.

Claims

1. Apparatus for manipulating agricultural products such as fruits and vegetables, wherein the products emit or reflect distinctive radiation characteristics in the infrared spectrum comprising:

visual radiation detection means for detecting and generating a digitized visible image signal based on visual radiation, which is about 100 to 1000 nanometers, received from a given viewing area;

infrared detection means for detecting and generating a digitized infrared image signal based on infrared radiation in the range of about 1000 to 2000 nanometers received from a given viewing area; and

analyzer means for analyzing the digitized image signals and comparing selected characteristics of the signals with known stored characteristics that are distinctive of the products in the respective visual and infrared frequency ranges, the analyzer means generating a control signal capable of operating a digitized manipulating device whenever a predetermined number of characteristics are indicative of the presence of a product in the viewing area.

2. Apparatus according to claim 1 wherein the analyzer means compares the shape of the respective infrared and visible images with known shape characteristics of the product by comparing discrete coordinate points on a curve representative of the outer periphery of the product with coordinate points on the outside periphery of the product image.

3. Apparatus according to claim 2 wherein the analyzer means also compares the total area at a set energy level of the infrared image with a known total area of a set energy level representative of the product and generates a control signal representative of the presence of a product when any two of the three comparisons indicate the presence of a product.

4. Apparatus for locating agricultural products such as fruits or vegetables or the like that emit or reflect distinctive radiation characteristics in a non-visible frequency range comprising:

detection means for dectecting and producing digitized images of the products based on non-visible radiation in a predetermined frequency range received from a given viewing area, the radiation being in a frequency range that includes the frequency range of the distinctive radiation characteristics for the products to be located in relation to surrounding vegetation, the predetermined frequency range being about 1000 to 2000 nanometers; and

product locator means for receiving the digitized images as input, extracting a stored digitized definition of the products to be selected, comparing characteristics of the digitized input with the stored digitized definition of products to be selected, indentifying the products conforming to the definition, and generating an output signal usable for directing an output device relative to the products.

5. Apparatus according to claim 4 wherein the product locator compares points on the outer periphery of the image detected with discrete coordinate points on a mathematical curve representative of the product and also compares the total area of a set energy level detected with a predetermined total area of a set energy level representative of a product and generates a product recognition signal when at least one of the two criteria is satisfied.

6. Apparatus according to claim 5 wherein the apparatus further comprises visible radiation detection means for detecting and generating a digitized visible image in the range of about 100 to 1000 nanometers from the viewing area, the product locator comparing points on the periphery of the detected visible image with predetermined coordinate points on a mathematical curve representative of the product, the product locator generating a product recognition signal when at least two of the three product identification criteria are satisfied.

7. Apparatus for locating agricultural products such as fruits or vegetables or the like that emit or reflect distinctive radiation characteristics in a non-visible frequency range comprising:

detection means for detecting and producing digitized images of the products based on non-visible radiation in a predetermined frequency range received from a given viewing area, the radiation being in a frequency range that includes the frequency range of the distinctive radiation characteristics for the products to be located in relation to surrounding vegetation, the detection means comprising an imaging device having a lens, the lens being positioned behind a flat protective glass element, the glass element being cleaned by an iris-type lens wiper positioned adjacent the outer surface of the glass element, the lens wiper including a plurality of radially spaced leaves that open and close over the glass element, a plurality of the leaves having a flexible resilient wiper blade fixed in the side adjacent the glass element and positioned so as to wipe the glass element when the wiper is opened and closed; and

product locator means for receiving the digitized images as input, extracting a stored digitized definition of the products to be selected, comparing characteristics of the digitized input with the stored digitized definition of products to be selected, identifying the products conforming to the definition, and generating an output signal usable for directing an output device relative to the products.

8. Apparatus according to claim 7 wherein the apparatus further includes sprayer means positioned adjacent the outer surface of the glass element for spraying a cleaning liquid on the glass element.

9. Apparatus according to claim 8 wherein the wiper and sprayer are actuated by a control mechanism, the control mechanism increasing the sensitivity of the imaging device periodically such that the imaging device focuses on the glass element, the control mechanism detecting dirt or debris on the outer surface of the glass element and initiating a spraying and wiping action when a predetermined amount of dirt is detected.

10. Apparatus for locating agricultural products such as fruits or vegetables or the like that emit or reflect distinctive radiation characteristics in a non-visible frequency range comprising:

detection means for detecting and producing digitized images of the products based on non-visible radiation in a predetermined frequency range received from a given viewing area, the radiation being in a frequency range that includes the frequency range of the distinctive radiation characteristics for the products to be located in relation to surrounding vegetation;

product locator means for receiving the digitized images as input, extracting a stored digitized definition of the products to be selected, comparing characteristics of the digitized input with the stored digitized definition of products to be selected, identifying the products conforming to the definition, and generating an output signal usable for directing an output device relative to the products; and

picking means for picking products located in response to the output signal, the picking means including a central processing unit for directing movement of a motor driven gripper mechanism to the location detected by the product locator and manipulating the product with the gripper mechanism, the product locator means comprising its own central processing unit for comparing detected images with know product characteristics and generating a position indicating signal for products that are located.

11. Apparatus according to claim 10 wherein the apparatus is mounted on a motor driven vehicle and the detection means and picking means are constructed to pick predetermined vegetables or fruits as the vehicle is moved over a crop in a field, the detection means being directed to a given viewing area in the field and the picking means being constructed and controlled so as to extend downwardly and pick located products with the gripper mechanism and deposit the products in the vehicle for storage.

12. Apparatus according to claim 11 wherein the picking means comprises:

a vertically movable shaft mounted adjacent the detector means in the vehicle, the shaft being motor driven to extend and retreact a lower end downwardly and upwardly;

a vertically pivoting base mounted on the lower end of the shaft;

motor driven means for pivoting the base;

the gripper mechanism being attached to the base and including means for opening and closing the gripper mechanism;

collecting means positioned behind the gripper mechanism for receiving products after being picked by the gripper mechanism and pivoted rearwardly and released; and

control means for extending the shaft downwardly to the product, closing the gripper mechanism on the product, pivoting the gripper mechanism rearwardly, and depositing the product on the collecting means.

13. Apparatus according to claim 12 and further comprising motor driven rotation drive means for rotating the gripper mechanism with respect to the base to properly position the gripper mechanism to pick up irregularly shaped products.

14. Apparatus according to claim 12 and further comprising a plurality of picking means mounted apart on a transverse beam and being movable along the beam.