Improvements in and relating to packaging

Abstract

An agricultural product loading apparatus comprising: a robotic positioning device having an end effector, wherein the robotic positioning device provides at least three degrees of freedom to move the end effector in three axial (x, y and z) directions or a combination of at least two of these directions relative to agricultural products to be packaged, wherein the end effector is adapted to individually pick up agricultural products; a sensor to determine the size of each of a plurality of agricultural products presented to the robotic positioning device and end effector; and a controller configured to receive one or more outputs from the sensor and: determine, based on the one or more outputs from the sensor, a selection of agricultural products to be picked from the plurality of agricultural products to achieve an acceptable stacking height of the agricultural products within a package; and cause the robotic positioning device and end effector to move and pick the selection of agricultural products and place them directly within the package.

Description

[0001] Apply

[0002] This application is based on the provisional specification filed with New Zealand Patent Application No. 770536, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to an apparatus for packaging articles in tubes, and more particularly to an apparatus for filling tubes with agricultural products such as fruits or other perishable / food items. Background Technology

[0004] Traditionally, apples and other fruits are packaged in boxes. To minimize damage to the fruit, it is usually supported on trays inside the box to keep it separate from adjacent fruits. A single box may contain one or more layers of fruit, each layer supported by a tray.

[0005] The applicant described a novel method of packaging fruit (apples) by filling tubes instead of trays in boxes. Each tube typically holds two or more fruits, such as five apples.

[0006] The tube can be cylindrical or have other cross-sectional shapes, such as square, triangular, or other shapes. The internal dimensions of the tube are proportionate to the external dimensions of the fruit, so that when full, the tube can accommodate a single row or column of fruit.

[0007] For example, in a cylindrical tube, the inner diameter of the tube is preferably slightly larger than the maximum expected diameter of the fruit. The expected maximum diameter of the fruit can be based on the known fruit size distribution of a particular species and / or type of fruit.

[0008] Filling the tube with fruit introduces inefficiency during the filling process. Because physical impacts between the fruits can damage (scratch) during filling, each fruit must not fall into the tube.

[0009] Moreover, unlike filling fruit into a box, each piece of fruit must be added individually to the tube one at a time. Therefore, this form of packaging / filling process is time-consuming, labor-intensive, and adds additional costs to the filling process.

[0010] Another problem with filling tubes with fruit is that natural variations in fruit size can cause changes in the amount of empty headspace at the top of the tube. Ideally, the amount of empty headspace inside the tube should be kept to a minimum to prevent the fruit from rolling or moving too much within the tube.

[0011] For example, fruit packaged in tubes that are too long (i.e., tubes with too much empty top space) may move significantly inside the tube during transport and collide with adjacent fruit, resulting in damage.

[0012] When several smaller fruits are packed together in a tube, the top space at the top of the tube may be too large, making the tube appear empty, and there may be too much room for the fruits to move around, thus damaging them.

[0013] Conversely, the required amount of fruit may be too large to fit into the tube, necessitating emptying the tube to restart the filling process.

[0014] To manage the amount of empty top space within the tube, tubes with variable lengths can be provided, such as tubes with two opposing sections that extend / slide together to change the tube length. Tubes comprising multiple sections may add additional cost and / or complexity to fruit packaging.

[0015] All references (including any patents or patent applications cited in this specification) are incorporated herein by reference. No reference is acknowledged to constitute prior art. The discussion of the references represents the claims of the authors of those references, and the applicant reserves the right to challenge the accuracy and relevance of the cited documents. It will be clearly understood that although numerous prior art publications are referenced herein, this reference does not constitute an acknowledgment that any of these publications constitutes part of the general knowledge in the art, in New Zealand, or in any other country. Summary of the Invention

[0016] The purpose of this invention is to solve one or more of the aforementioned problems, or at least to provide the public with a useful alternative.

[0017] According to one aspect of the present invention, an agricultural product filling device is provided, the agricultural product filling device comprising:

[0018] Robot positioning equipment with end effector

[0019] The robot positioning device provides at least three degrees of freedom to move the end effector relative to the agricultural product to be packaged in three axial directions (x, y, and z) or in a combination of at least two of these axial directions.

[0020] The end effector is suitable for picking up agricultural products individually;

[0021] Sensors, the sensors being used to determine the size of each of a plurality of produce items presented to the robot positioning device and the end effector; and

[0022] A controller, configured to receive one or more outputs from the sensor, and:

[0023] Based on the outputs from the sensors, a selection of produce items to be picked up from the plurality of produce items is determined to achieve an acceptable stacking height of produce items within the packaging.

[0024] The robot positioning device and end effector are moved to pick up the selected agricultural products and place them inside the packaging.

[0025] In some implementations, the acceptable stacking height is defined by a target stacking height and / or an acceptable stacking height range, wherein the acceptable stacking height range ranges from a minimum acceptable stacking height to a maximum acceptable stacking height.

[0026] In some implementations, once packaged, each produce item takes a position within the package, and the acceptable stacking height range and / or target stacking height are defined for the produce item at each position within the package.

[0027] In some implementations, the controller is configured to:

[0028] (i) Based on the outputs from the sensors, determine the size (height) of each agricultural product in the current subset of the plurality of agricultural products, and determine from the current subset the selection of agricultural products to be picked up by the robot positioning device with an end effector.

[0029] In some embodiments, the apparatus includes a conveyor to transport the plurality of agricultural products to the robot positioning device, and the current subset of agricultural products is a row of agricultural products spaced apart across the conveyor.

[0030] In some implementations, the controller is configured to track the row of produce as it is conveyed along the conveyor.

[0031] In some implementations, the controller is configured to determine the size of each agricultural product in more than one row of agricultural products and to track the more than one row of agricultural products as they are conveyed along the conveyor.

[0032] In some implementations, the controller is configured to:

[0033] (ii) Evaluate the height of the produce items in the current subset to determine if there exists one or more selections from the current subset consisting of one or more produce items to achieve a stacking height within an acceptable stacking height range; and

[0034] (iii) If there exists a single selection consisting of one or more agricultural products within the acceptable stacking height range, the controller is configured to cause the robot positioning device and the end effector to pick up the single selection consisting of one or more agricultural products.

[0035] In some implementation methods:

[0036] (iii)(b) If no selection of agricultural products exists within the acceptable stacking height range; and

[0037] (iii)(b)(i) If the stack height of the agricultural products in the current subset is greater than the maximum acceptable stack height, the controller is configured to ignore the largest agricultural product from the current subset; or

[0038] (iii)(b)(ii) If the stack height of the agricultural products in the current subset is less than the minimum acceptable stack height, the controller is configured to ignore the smallest agricultural product from the current subset, and

[0039] (iii)(c) If there is more than one agricultural product remaining in the current subset, the controller is configured to return to step (ii).

[0040] In some implementations, in steps (iii) and (c), the controller is configured to:

[0041] If there is only one agricultural product remaining in the current subset, that is, the last agricultural product in the current subset, and

[0042] (iii)(c)(i) If the last agricultural product in the current subset is within the acceptable stacking height range, then the controller is configured to:

[0043] The robot positioning device and end effector pick up the last agricultural product in the current subset.

[0044] In some implementations, in steps (iii) and (c), the controller is configured to:

[0045] (iii)(c)(ii) If the last agricultural product in the current subset is outside the acceptable stacking height range, the controller is configured to:

[0046] (iii)(c)(ii)(a) Based on the outputs from the sensors, determine the size (height) of each produce item in one or more subsequent subsets to determine whether any produce item in the one or more subsequent subsets achieves a stacking height within the acceptable stacking height range together with the last produce item, and

[0047] (iii)(c)(ii)(a)(i) If there is an agricultural product in the one or more subsequent subsets that achieves a stacking height within the acceptable stacking height range together with the last agricultural product, then the controller is configured to:

[0048] The robot positioning device and end effector pick up the last agricultural product in the current subset, and

[0049] (iii)(c)(ii)(a)(ii) If no agricultural product in the one or more subsequent subsets achieves a stack height within the acceptable stack height range together with the last agricultural product, the controller is configured to:

[0050] Set the next subset of the plurality of agricultural products as the current subset and return to step (i).

[0051] In some implementations, after step (ii), if there exists more than one selection consisting of one or more agricultural products in the current subset to achieve a stacking height within the acceptable stacking height range, the controller is configured to:

[0052] (iv) Determine whether the selection of one or more agricultural products achieves a stack height that is closest to or equal to the target stack height, and

[0053] (iv)(a) If there exists only one selection consisting of one or more agricultural products that achieves a stack height closest to or equal to the target stack height, the controller is configured to cause the robot positioning device and the end effector to pick up the selection; and

[0054] (iv)(b) If there exists more than one selection consisting of one or more agricultural products that achieves a stack height that is closest to or equal to the target stack height, the controller is configured to cause the robot positioning device and the end effector to pick up the selection with the largest or smallest agricultural product.

[0055] In some implementations, the stack height of the selection consisting of one or more agricultural products is equal to the target stack height plus or minus a threshold.

[0056] In some embodiments, after the controller causes the robot positioning device to pick up the selection consisting of one or more agricultural products, the controller is further configured to:

[0057] (v) Determine whether the package is full, and

[0058] (v)(a) If the package is not filled, the controller is configured to set the next subset of the plurality of agricultural products as the current subset and return to step (i) to continue filling the package.

[0059] In some embodiments, the end effector is adapted to hold the package and place the agricultural product in the package as the end effector picks up the agricultural product, and wherein in step (v):

[0060] (v)(b) If the package is full, the current filling operation is completed, and the controller is configured to cause the robot positioning device to move the end effector to the release area and release the full package from the end effector.

[0061] In some implementations, the controller is configured to:

[0062] (v)(c) The robot positioning device moves the end effector to the packaging dispenser to receive empty packages in the end effector, and

[0063] Set the next subset of the plurality of agricultural products as the current subset and return to step (i) to begin filling the empty package.

[0064] In some embodiments, the end effector is adapted to hold the packaging and place the agricultural product in the packaging as the end effector picks up the agricultural product, and the end effector includes:

[0065] At least one actuable moving element is located on the end effector so as to be adjacent to the open end of the tube held by the end effector; wherein the actuable moving element is configured to operate between the following positions:

[0066] An extension position that extends at least partially above the open end of the tube held by the end effector, to at least partially block the open end of the tube; and

[0067] The retracted position allows the open end of the container to be substantially unobstructed, enabling agricultural products to be received in the tube; and

[0068] In order to pick up agricultural products, the controller is configured to perform the following operations when the actuated element is in the retracted position and when an empty tube is about to be filled:

[0069] A) Control the robot positioning device at least in:

[0070] -In the x and y directions; or

[0071] -In the combined direction of the x and y directions;

[0072] Position the end effector so that it is vertically above a first agricultural product of the selection consisting of one or more agricultural products; and move the end effector vertically downward to receive the first agricultural product into the tube within the end effector.

[0073] B) Actuating the actuable movable element from the retracted position to the extended position to retain the first agricultural product in the packaging, and

[0074] C) Move the end effector vertically upwards using the robot positioning device to pick up the agricultural product.

[0075] In some implementations, the controller is also programmed to:

[0076] D) Move the end effector of the robot positioning device in the x and y directions to vertically position the end effector above another agricultural product in the selection consisting of one or more agricultural products, and move the end effector vertically downward to position the first agricultural product adjacent to or in contact with the other agricultural product;

[0077] E) Actuate the actuable movable element from the extended position to the retracted position;

[0078] F) Control the robot positioning device to continue moving the end effector vertically downward to receive the other agricultural product in the package within the end effector;

[0079] G) Actuate the actuable movable element from the retracted position to the extended position to retain the first agricultural product and the other agricultural product in the packaging, and

[0080] H) Move the end effector vertically upwards using the robot positioning device, and

[0081] F) Repeat steps D to H until the robot positioning device and end effector have picked up the selection consisting of one or more agricultural products.

[0082] In some embodiments, the apparatus includes a conveyor to convey the plurality of agricultural products to the robot positioning device having an end effector, and the subset of agricultural products is a row of agricultural products spaced apart across the conveyor, and wherein, in order to position the end effector vertically above the agricultural products, the controller is configured to:

[0083] The robot positioning device moves the end effector vertically above the agricultural product and moves it in the conveying direction at the speed of the conveyor, so that the end effector remains vertically above the agricultural product.

[0084] In some embodiments, the end effector is adapted to hold the packaging and place the agricultural product in the packaging as the end effector picks up the agricultural product.

[0085] In some embodiments, the device includes a segmentation unit for separating the agricultural products and presenting the segmented agricultural products to the reach of the robot positioning device.

[0086] In some implementations, the segmentation unit separates the agricultural products in a two-dimensional array.

[0087] According to another aspect of the present invention, a method for directly packaging agricultural products into a tubular container is provided, the method comprising the following steps:

[0088] a) At a given point in time, sense the size and shape data of agricultural products located on a conveyor at discrete, immutable data point locations on the conveyor;

[0089] b) Evaluate the size and shape data of the agricultural products on the conveyor as determined in step a) to identify whether there are one or more items on the conveyor that are suitable for being within the internal dimensions of the tube and for the tubular container to achieve an acceptable height range from minimum to maximum stacking height.

[0090] In some embodiments, the method further includes the following steps:

[0091] c) Use the data point locations of the agricultural products identified in step a) to:

[0092] i) a mobile robot positioning device to maintain positioning directly above the selected agricultural product; and ii) an end effector that manipulates the tubular container to receive and retain the agricultural product therein.

[0093] In some embodiments, the method further includes the following steps:

[0094] d) Repeat steps a) to c) as needed until the tubular container is filled with the desired quantity of agricultural products. According to another aspect of the invention, a method for packaging articles is provided, the method comprising the following steps:

[0095] -a) Using a robotic positioning device to manipulate an end effector on the robotic positioning device to pick up the discrete agricultural products from a conveyor after sensing the size and shape of the discrete agricultural products, and to deliver the discrete agricultural products directly into tubular packaging.

[0096] In some implementations, the method includes the following steps:

[0097] -b) Repeat step a) to pick up one or more additional agricultural products until the tubular package is full. According to another aspect of the invention, a method for packaging articles is provided, the method comprising the following steps:

[0098] -a) Using a controller to manipulate a robot positioning device and an end effector on the robot positioning device to select one or more agricultural products to be placed in a container based on an assessment of the individual dimensions, or individual dimensions and shapes, or individual dimensions, shapes and orientations, and collective dimensions, collective dimensions and shapes, or collective dimensions, shapes and orientations of the selected agricultural products, so as to ensure the final result that the agricultural products co-assembled in the container are within a target stacking height.

[0099] In some embodiments, the method includes an additional step in which an assessment of collective size, collective size and shape, or collective size, shape and orientation is used to determine the order in which agricultural products are filled into the tubes.

[0100] According to another aspect of the present invention, an end effector for a robot positioning device is provided, the end effector comprising:

[0101] - A frame, wherein the frame is capable of receiving and holding a tubular container;

[0102] - The end effector includes an actuable element that is movable between an extended position and a retracted position;

[0103] The end effector is operated to open from the extended position (if not already open) to the retracted position to receive or retain new agricultural products therein;

[0104] Specifically, the vibration mechanism of both the end effector and the tubular container therein is actuated at the same time, just before, or just after the operation of the end effector moving to the retracted position; or at or before the end effector begins to move downward to receive new agricultural products.

[0105] According to another aspect of the invention, a sensor system for tube packaging operations is provided, the sensor system being configured to:

[0106] a) Having at least one sensor that tracks and records multiple measurements over a period of time, the multiple measurements including: width; length; and orientation information; for a single agricultural product on a conveyor;

[0107] b) Calculate the minimum and maximum width / height dimensions of the items to help determine the stacking height of the tubes within acceptable tolerance limits.

[0108] In some embodiments, the sensor system for tube packaging operations is further configured to:

[0109] c) Identify abnormal fruits that are incompatible with the packaging constraints of the tube, so that they can be removed from the conveyor and / or ignored by the robot positioning device.

[0110] Throughout this specification, the word “comprising” or its variations (including) shall be understood to imply that the said element, integer or step, or group of elements, integers or steps is included, and not to exclude any other element, integer or step, or group of integers, whole or steps.

[0111] Other aspects and advantages of the invention will become apparent from the following description, which is given by way of example only.

[0112] definition

[0113] In the following text, the term "robot" should be understood to mean a manipulator / manipulator or industrial robot having one or more joints, particularly capable of translational and / or rotational movement, thereby giving one or more end effectors of the robot different positions (spatial positions or locations). Translational and / or rotational movement can include movement along one or more guideways on which robot parts / arms (links) are guided. Even such guideways may form joints in the sense of a kinematic chain, describing the possibilities of robot movement. As used herein, the term "robot" can be understood to mean devices including Cartesian robots / gantry robots, SCARA robots / horizontal articulated robots, cylindrical robots / cylindrical coordinate robots, spherical robots / spherical coordinate robots, and articulated robots. Generally, the term "robot" or "robot positioning device" as used herein can be understood to mean a device configured to move with at least three degrees of freedom (including three translational degrees of freedom), or a device configured to move with at least three translational degrees of freedom and at least one rotational degree of freedom.

[0114] The term "soft" as used in this article refers to a material's ability to yield to physical pressure.

[0115] As used in this article, the term "elasticity" refers to the ability of a material to return to its original shape after being deformed by an applied force.

[0116] As used herein, the term "tube" refers to any elongated container having a base, one or more sidewalls, and an open top and a hollow interior. Therefore, the terms "tube" and "tubular" are used interchangeably and encompass elongated containers with varying cross-sections, including circular, rectangular, triangular, pentagonal, hexagonal, and to name just a few possible cross-sectional profiles. Attached Figure Description

[0117] Other aspects of the invention will become apparent from the following description, which is given by way of example only and with reference to the accompanying drawings, in which:

[0118] Figure 1 A filling device for placing agricultural products into tubular packages is shown. The filling line shown is particularly suitable for filling apples;

[0119] Figure 2 It shows Figure 1 The segmentation unit of the agricultural product filling device is used to segment or separate agricultural products into 2-D arrays;

[0120] Figure 3 It shows Figure 1As part of an agricultural product filling device, the agricultural product filling device includes a robotic positioning device with an end effector for picking up agricultural products for filling into tubular packages;

[0121] Figure 4 It shows Figure 1 As part of an agricultural product filling device, the agricultural product filling device includes a robotic positioning device with an end effector, wherein the tracking area of ​​the robotic positioning device is identified;

[0122] Figure 5 An end effector is shown, which is configured to hold a tubular container in an inverted orientation and pick up agricultural products to fill the tubular container held by the end effector;

[0123] Figure 6 It is to keep the tubular packaging already filled with apples. Figure 5 A cross-sectional view of the end effector;

[0124] Figure 7 It is a cross-sectional view of a tubular package containing five apples;

[0125] Figures 8 to 10 It is shown by Figures 1 to 4 The flowchart shows the filling operation performed by the agricultural product filling device.

[0126] Figure 11 An actuator comprising a vibration mechanism is shown according to a preferred embodiment of the invention.

[0127] Figure 12 It shows in Figures 5 to 7 A perspective view of a preferred actuable element used on an end effector. Detailed Implementation

[0128] Figures 1 to 4 A filling device or system 100 for filling agricultural products, such as fruits, into tubular packages is shown. Preferably, the fruit is an apple.

[0129] Agricultural product filling device or system (referred to herein as filling device) 100 includes at least one robotic positioning device 3 having an end effector 1 (see reference) for placing agricultural products into tubular packaging. Figure 3 and Figure 4 The embodiment shown has three robot positioning devices 3, each carrying an end effector 1. However, there may be one, two, three or more robot positioning devices 3 with end effectors 1.

[0130] The apparatus 100 shown includes a segmentation unit 101 configured to segment (separate) agricultural products to be delivered to a robot positioning device 3 having an end effector 1.

[0131] The dividing unit 101 separates agricultural products to separate them in at least one row or one row.

[0132] In the illustrated embodiment, the segmentation unit 101 separates the agricultural products into six channels C via the row separator 103 to separate the agricultural products in two dimensions, that is, in a two-dimensional array.

[0133] Once in channel C, the produce encounters a wall section that stops the leading produce in the channel from moving forward on an elevation section having a top surface on which the fruit lies at a downward sloping angle downstream. The elevation section spans the base of channel C and operates to raise the leading produce adjacent to the wall, delivering it via its sloping top surface to a downward sloping section C1 having a gate G at its end. This lifting operation is timed to occur just after the gate G has opened, releasing the produce into retainer 108.

[0134] Preferably, the slope is made of Teflon with a high-friction surface to help slow the descent of agricultural products.

[0135] As described above, the release of agricultural products from the downstream end of channel C is controlled by gate G (which is opened and closed by actuator A), allowing the agricultural products in channel C to be released into retainer 108 at timed intervals. This will be further described below.

[0136] Then, the agricultural products are spaced apart in the x and y directions.

[0137] The segmentation unit 101 includes a conveyor 109 to transport the segmented agricultural products to the robot positioning device 3 or the reach envelope of each robot positioning device 3.

[0138] The conveyor 109 can be described as a segmented conveyor 109 because it supports each agricultural product in a manner sufficiently spaced from adjacent agricultural products, allowing the robot positioning device 3 and the end effector 1 to pick up individual agricultural products without touching adjacent agricultural products.

[0139] The segmented transmitter 109 includes a continuous transmission loop or belt 110 carrying multiple holders 108.

[0140] Holders 108 are spaced apart along conveyor belt 110 in the conveying direction (y direction).

[0141] In the illustrated embodiment, the segmented conveyor includes retainers 108 that are spaced apart along the conveyor belt 110 in the conveying direction and orthogonal to the conveying direction across the conveyor belt (x-direction), thus being spaced apart in two dimensions to present agricultural products to the robot positioning device and end effector in a two-dimensional array.

[0142] Each holder 108 holds a single agricultural product and indicates its position on the conveyor (or in a two-dimensional array).

[0143] In some embodiments, one or more people can place produce onto the holder 108 of the conveyor 109. However, in the illustrated embodiment, the dividing unit 101 includes a feed conveyor 102 and a plurality of row dividers 103.

[0144] A feed conveyor may include one or more conveying devices (such as a conveyor belt) to move agricultural products in the conveying direction.

[0145] Feed conveyor 102 toward row separator 103 ( Figure 2 The agricultural products are conveyed to separate them into at least one column or at least one row of agricultural products (and preferably multiple adjacent columns of agricultural products) to correspond to the number of holders 108 spaced apart across the divider conveyor 109.

[0146] The agricultural products continue to be conveyed along the columns defined by the row separators 103 on the feed conveyor 102 toward the separation device 104.

[0147] The separating device is configured to separate agricultural products in the longitudinal or conveying direction (such that each agricultural product is received on the holder 108 of the separating conveyor).

[0148] Once each produce item has been placed on the holder 108, it is separated from the other produce items and ready to be picked up by a robotic positioning device with an end effector.

[0149] An exemplary segmentation unit 101 comprising a feed conveyor 102, a row divider 103, a separation device 104, and a segmentation conveyor 109 having a retainer 108 is described in pending patent application NZ763219, the entire contents of which are incorporated herein by reference.

[0150] The robot positioning device 3 may include an articulated robot arm or other devices capable of moving the end effector in three-dimensional space.

[0151] The robot positioning device 3 provides at least three degrees of freedom of movement, making it suitable for moving the end effector in the x, y, and z translational directions to position the end effector in three-dimensional space. In the most preferred embodiment, the robot positioning device 3 provides at least four degrees of freedom of movement, making it suitable for moving the end effector in the x, y, and z translational directions, and includes at least one rotational direction (e.g., rolling) to allow the end effector to rotate about a horizontal axis to be inverted.

[0152] For example, rotation about a horizontal axis can invert the tube so that it has an upside-down orientation (the open tip of the tube is roughly facing down), or reorient the tube so that the open tip is now roughly vertical and facing the ground.

[0153] The x-direction can be horizontal (e.g., across the transmitter), the y-direction can be horizontal and orthogonal to the x-direction (e.g., the direction of transmission of the transmitter), and the z-direction is vertical.

[0154] refer to Figure 5 and Figure 6 In a preferred embodiment, the end effector 1 is adapted to hold the top-open tubular container 2 in an inverted orientation, wherein the open top of the container faces downward.

[0155] The end effector 1 has two actuable moving elements 7 adjacent to the open end of the tube 2 held by the end effector 1.

[0156] The actuable movable element 7 is configured to operate between an extended position and a retracted position, the extended position extending at least partially over the open end of the tube 2 held by the end effector 1 to at least partially block the open end of the tube, and the retracted position allowing the open end 2 of the container to be substantially unblocked so that agricultural products can be received in the tube.

[0157] The end effector preferably also includes a holding arrangement 10 configured to clamp the tubular container to hold the tubular container within the end effector 1.

[0158] A preferred end effector is described in pending patent application NZ763219, the entire contents of which are incorporated herein by reference.

[0159] However, other end effector arrangements can be used, for example, to pick up agricultural products and place them in pipes not carried by end effectors.

[0160] Figure 12An actuable movable element 7 is shown, which has an apple stop portion 7a that holds an apple in the tube when the actuable movable element is in the extended position. The actuable movable element 7 has a hole 7b for connecting the actuable movable element 7 to an actuator (not shown). In use, there is a pair of opposing actuable movable elements 7, each connected to its own actuator. The actuable movable element 7 may be made of blue polyurethane or a similar material.

[0161] Loading operation

[0162] At the start of the filling operation, tubular container 2 (reference) Figures 5 to 7 The end effector 1 is received within a frame 5 of its end effector 1, which is generally cylindrical in shape. For example, the robot positioning device 3 can move the end effector 1 to the pipe distributor 120 (e.g., Figure 4 (As shown), to receive the tube 2 into the frame 5 from the upper or lower end of the tube dispenser 120. Alternatively, a person can insert or place the tubular container into the frame 5 of the end effector 1.

[0163] A controller (e.g., a PLC) is provided to control the movement of the robot positioning device 3 and the actuation of the end effector 1. The controller can be inside or outside the robot positioning device (i.e., away from the robot positioning device).

[0164] The robot positioning device is controlled to first move the end effector 1—carrying the tubular container 2 in an inverted position—to be vertically positioned above the selected agricultural product on the holder 108 on the conveyor 102. The robot positioning device can move in a vector-oriented manner in three axial directions (x, y, and z) or at least two of these axial directions.

[0165] Then, the robot positioning device is controlled so that the end effector 1 is always vertically positioned above the agricultural products on the conveyor, and thus the end effector 1 moves in the conveying direction (direction y) at the same speed as the conveyor.

[0166] With the open end of the tubular container 2 positioned directly above the agricultural product, the robot positioning device 3 causes the end effector 1 to move vertically downwards above the agricultural product, while the opposing pair of actuated moving elements 7 are both in a retracted position to receive the agricultural product into the tubular package 2 held by the end effector 1. The actuated moving elements 7 are both driven by actuators 9.

[0167] Once received in the tubular package 2, the actuable element is actuated to move from the retracted position to the extended position to hold the produce in the container 2, and the robot positioning device 3 lifts the end effector from the holder 108 and thus lifts the produce.

[0168] If the next item to be packaged is adjacent to an item that has just been held / retained in the container, the robot positioning device continues to move in the conveying direction at the speed of the conveyor 109, and then moves laterally (i.e., in the x direction).

[0169] Once the produce is received in the end effector 1 and lifted from the holder 108, the robot positioning device 3 can then be controlled to move and accelerate as needed to position the end effector 1 on the next or another produce to be packaged, and move vertically downward and then upward (i.e., in the z-direction) while moving in the conveying direction. Once aligned with the next item that has been selected for packaging, the above operation is repeated to pick up the produce.

[0170] In order to pick up another agricultural product, the robot positioning device moves the end effector 1 vertically downward, so that the first or previous agricultural product already received in the tube is adjacent to or in contact with the other agricultural product.

[0171] The actuable movable element 7 is actuated to move to the retracted position, and the end effector moves downward to receive additional agricultural products in the tube.

[0172] Once the produce is received in the tubular package 2, the actuating element is actuated to move from the retracted position to the extended position to retain the first or previous produce and the additional produce in the tube.

[0173] The robot positioning device 3 lifts the end effector and thus the agricultural product, while still moving in the conveying direction at the speed of the conveyor 109.

[0174] As the end effector 1 and therefore the packaging 2 move vertically downwards above the next produce, each next produce further displaces the previous produce into the container 2.

[0175] The robot positioning device 3, equipped with end effector 1, continues to pick up additional agricultural products until the tubular container is filled.

[0176] Preferably, the robot positioning device 3 with an end effector continues to use the end effector to pick up agricultural products until the tubular container 2 has received a predetermined number of agricultural products.

[0177] Once the tubular container is filled, the robot positioning device allows the end effector 1 to rotate between inverted and upright orientations. The robot positioning device 3 then moves the end effector 1 to the release area 121 (reference). Figure 3 and Figure 4 ), to release the tubular container 2 from the end effector 1.

[0178] Then, the robot positioning device 3 lifts the end effector 1 away from the tubular container 2. In the illustrated embodiment, the release area 121 is actuated to move the filled package onto the exit conveyor 122 for transport from the filling device 100.

[0179] Figure 7 The image shows a full tubular container or package containing five apples.

[0180] The tubular package has a closed end and an open end. A cap or lid (not shown) can be fitted to the open end of the tubular package to close the package and complete the filling operation.

[0181] During the filling operation, produce may not be packaged before reaching the end of the dividing conveyor 109. Any produce reaching the end of the conveyor may be collected and returned to the feed conveyor 102 for further dividing and filling. Produces may be collected (e.g., by a person) in containers and returned to the feed conveyor.

[0182] The agricultural product filling device 100 includes a sensor arrangement 111 to sense or detect each agricultural product in the segmented agricultural products on the segmented conveyor.

[0183] The device 100 includes a controller with memory that communicates with the sensor arrangement 111. The controller is configured to store in the memory data points of the position of each agricultural product associated with a corresponding holder 108 holding the agricultural product.

[0184] In a preferred embodiment, the segmentation unit 101 presents agricultural products in a two-dimensional array, and the controller stores data points for each location in the two-dimensional array in a memory.

[0185] Each position can be represented by x and y coordinates.

[0186] As the conveyor moves the segmented agricultural products in the conveying direction, the controller tracks the position of each agricultural product.

[0187] The robot positioning device 3 moves the end effector 1 to the holder to collect agricultural products based on data points of agricultural products associated with the holder.

[0188] The sensor arrangement 111 includes sensors for detecting the size of each agricultural product.

[0189] For example, the sensor may include a distance measurement sensor 112 (reference). Figure 3 The distance between sensor 112 and each agricultural product is determined, and the height measurement result of each agricultural product can be determined based on this distance.

[0190] Preferably, sensor 112 detects the height of each agricultural product in a row of agricultural products on the conveyor one row at a time.

[0191] An exemplary sensor is a time-of-flight sensor, such as one derived from an IFM. TM The sensor provided is model number O3D302.

[0192] The height of each agricultural product is communicated to the controller. As the row is conveyed in the conveying direction of the filling device, the controller tracks the position of the row on the conveyor.

[0193] When produce is divided and held across the conveyor by the conveyor holder 108 at known intervals, the controller is configured to track the position of each produce in the row by tracking the position of the row as it moves along the conveyor.

[0194] The controller determines which produce item in each row should be picked up by the robot positioning device 3 and the end effector 1 to ensure that the tubular packaging holds the correct number of produce items in a single container and achieves the desired stacking height of produce items in the container.

[0195] Preferably, the controller selects each agricultural product to ensure that once the tubular container contains the desired quantity of agricultural products, the amount of empty top space within the tubular container will be within the desired or acceptable range.

[0196] This selection process helps ensure that produce inside the container does not roll or move excessively during transport, thus preventing damage.

[0197] -Agricultural products; and / or

[0198] - The desired orientation of the produce within container 2, such as presenting the reddish (red) side of the produce (e.g., an apple) or other desired characteristics of the produce through the transparent sidewalls of the container.

[0199] It should be understood that the dimensions measured by the sensor can be either height or width. For example, if the produce is substantially spherical in nature, or has a relatively symmetrical shape in terms of the x, y, and z axes, the width can be used to assess the stacking height.

[0200] Now for reference Figures 8 to 10 This describes a preferred method or sequence of steps implemented by a filling device for determining which produce item to pick up within a single container to achieve a desired produce stacking height. While stacking apples in a tube is provided as an example, this method or sequence of steps can be used to package other types of produce.

[0201] This method involves filling produce according to a desired or acceptable stacking height. The desired or acceptable stacking height is defined by an acceptable minimum stacking height, a target stacking height, and an acceptable maximum stacking height. When the tube is filled (i.e., once each packaged produce is located at or within the tube), minimum, target, and maximum stacking heights are defined for each produce, and each location within the tube has a minimum, target, and maximum stacking height. For example, for a tube containing 5 apples, the following example minimum, target, and maximum stacking heights (in millimeters) are provided, taking into account the acceptable top space after the tube is filled with 5 apples:

[0202]

[0203] In this specific embodiment, the tubular package may have a length of approximately 260 mm, such that the length of the top space at the end of the tube is at most 20 mm.

[0204] As described above, the controller receives one or more outputs from sensor 112 indicating the size (i.e., height) of each apple in the row. (Reference) Figure 8 At step 201, the controller determines the height measurement of each apple in the current row on the conveyor based on one or more outputs from sensor 112. This row is a subset of produce from a plurality of produce presented to the robot positioning device. The controller tracks this current row as it moves along the conveyor.

[0205] Figure 4 A tracking window 113 is shown, in which the controller tracks one or more rows as rows (or subsets of produce) move along the conveyor.

[0206] At step 202, the controller evaluates the height of the apples in the current row to determine whether one or more selected apples in the row are eligible for a stack height within an acceptable range from minimum to maximum stack height.

[0207] If there is no more than one (or one) selector in the apple selection set that achieves the stack height within the acceptable stack height range, then at step 203, the controller assesses whether there exists a single selection set consisting of one or more apples that achieves the acceptable stack height range.

[0208] If there exists a selection of one or more apples to achieve an acceptable stacking height range, then at step 204, the controller causes the robot positioning device and the end effector to pick up one or more apples to achieve a stacking height within the acceptable stacking height range.

[0209] At step 208, the controller evaluates the apples added to the tube to determine if the tube is full. If the tube is full, the filling operation is complete, and the controller causes the robot positioning device to move the end effector to release area 120 and release the full tube from the end effector.

[0210] The controller enables a robot positioning device with an end effector to pick up a new empty tube and begin a new loading operation.

[0211] If the tube is not full, at step 209, the controller "rejects" the current row because the controller has completed its evaluation of the current row and selects the next row on the conveyor as the current row for evaluation. The controller then returns to the beginning of the method to repeat the method, thereby continuing to fill the tube within the desired stacking limits.

[0212] At step 203, if no apple selection set achieves an acceptable stacking height, then at step 205, if the stacking height is greater than the maximum stacking height, the controller "removes" or "knocks out" (i.e., the controller ignores) the largest apple from the controller's evaluation of the current row of apples; or, if the stacking height is less than the minimum stacking height, the controller "removes" or "knocks out" (i.e., the controller ignores) the smallest apple from the controller's evaluation of the current row of apples.

[0213] At step 206, the controller determines whether there is more than one apple remaining in the row to choose from.

[0214] If there is more than one apple remaining in the queue for evaluation, the controller returns to step 202.

[0215] At step 202, the controller re-evaluates the remaining apples in the row for selection.

[0216] For example, if the controller has already removed an apple from the row and the tube currently holds zero apples, the acceptable stacking height range is 190mm to 210mm. Additionally, if there are no more than one (or one) selectable apples in the apple selection set that achieve the stacking height within the range, the controller repeats steps 203, 205, and 206 until the stacking height of the remaining apples in the row is within the acceptable range and the controller moves to step 204, or until only one apple remains in the row for evaluation, at which point the controller moves to step 207.

[0217] At step 207, if the last apple remaining in the current row for evaluation is within the acceptable stacking height range, then at step 204, the controller causes the robot positioning device and end effector to pick up the apple.

[0218] At step 208, if the tube is full, the filling operation is complete; otherwise, at step 209, the controller selects the next row on the conveyor as the current row for evaluation, and the controller returns to the beginning of the method to repeat the method, thereby continuing to fill the tube within acceptable stacking limits.

[0219] At step 207, if the last apple remaining for evaluation in the current row is outside the stacking limit, then refer to... Figure 9 At step 301, the controller determines the height measurement of each apple in the next three rows on the conveyor based on one or more outputs from sensor 112, and at step 302, evaluates the height of the apples in the next three rows to determine if there are any apples in the next three rows that would bring the stack height back to an acceptable range. If there are apples in the next three rows that would bring the stack height back to the acceptable range, then at step 303, the controller causes the robot positioning device and end effector to pick up the last apple from the current row.

[0220] After moving from step 208 to step 209, the controller selects the next row on the conveyor as the current row for evaluation, and the controller returns to the beginning of the method to repeat the method, thereby continuing to fill the tube within acceptable stacking limits.

[0221] While in the described implementation, at step 207, the controller evaluates the height of the apples in the next three rows to attempt and position the apples so that the stack height is back within range, those skilled in the art will understand that in some implementations, the controller may evaluate only the next row, or the next two rows, or the next three rows, or more than three rows, to attempt and position the apples so that the stack height is back within range. The evaluation of the next three rows is provided only as an example.

[0222] At step 202, if the controller determines that there is more than one selector from the current row of apples in a selection set consisting of one or more apples to achieve an acceptable stacking height, then refer to... Figure 10 At step 401, the controller evaluates the produce in the current row and determines which selection of one or more produce in the current row is closest to or equal to the target stack height.

[0223] At step 402, the controller determines whether there exists more than one selection of apples that is closest to or equal to the target stack height.

[0224] For example, the controller can determine a stack height that is close to or equal to the target stack height, or determine whether the measured stack height is equal to the target stack height plus or minus a threshold.

[0225] The threshold can be produce-specific and / or adjustable, for example, expressed as a percentage of the stack height limit. If there is only one selection consisting of one or more apples that is closest to or equal to the target, then at step 403, the controller causes the robot positioning device with the end effector to pick up the selection of produce with the stack height closest to or equal to the target stack height.

[0226] At step 402, if there are more than one selection of produce items whose stack height is closest to or equal to the target stack height, the controller instructs the robot positioning device to pick up the produce items from the selection that includes the largest outlier. This largest outlier is the largest or smallest produce item in the selection of produce items with stack heights within the acceptable stack height range. The controller can determine an outlier score for each produce item. The outlier score can be based on the difference between the actual size (height) and the nominal size (height) of the produce item.

[0227] Outlier score can be the square of the difference between the actual size (height) and the nominal size (height) of an agricultural product.

[0228] Additionally, referring to the above embodiments, the nominal size of the agricultural product is 50mm. For an agricultural product size of 55mm, the outlier score is 25.

[0229] In cases where the agricultural product filling device 100 includes more than one robotic positioning device with an end effector, the step of picking up the selection of agricultural products with the largest outlier is useful because removing the agricultural products with the largest outlier from the agricultural products to be filled increases the likelihood that the next robotic positioning device with the end effector will successfully fill the tube within the desired stacking height range.

[0230] As described above, once the controller has caused the robot positioning device with the end effector to pick up the selected set of apples to achieve the stacking height target or range, at step 208, the controller determines whether the tube has been filled.

[0231] If the tube is full, the filling operation is complete, and the controller causes the robot positioning device to move the end effector to release area 120 and release the full tube from the end effector. The controller can then cause the robot positioning device with the end effector to pick up a new empty tube and begin a new filling operation. The controller then sets the next row on the conveyor as the current row for evaluation and repeats the method used to fill new tubes.

[0232] If the tube is not full, at step 209, the controller "rejects" the current row because the controller has completed its evaluation of the current row and selects the next row on the conveyor as the current row for evaluation. The controller then returns to the beginning of the method to repeat the method, thereby continuing to fill the tube within the acceptable stacking height range.

[0233] Figure 11 This is a cross-sectional view of the preferred "outlier" end effector 1A, which can handle 90% of the fruit to be packaged in the tube, excluding the upper and lower limit outliers of 10% from the general fruit population to be packaged.

[0234] The end effector 1 has a frame 5, which is attached to the outlier receiver section 1100 via a pair of collars 1101a, 1101b and a flexible joint 1102. The flexible joint may be made of thermoplastic or other suitable material.

[0235] The outlier receiver section 1100 has a vibration motor and a housing 1103 that vibrates the outlier receiver section 1100 when it receives new agricultural products to be received and retained in a tube (not shown).

[0236] Another feature of the end effector 1A is the hook 1104, which helps to properly position the tube into the end effector 1A.

[0237] Example 1: Outlier Fruits

[0238] The inventors have discovered that the uniformity of apple size and / or shape varies across different growing seasons; for example, abnormal apples can be long, short, leaf-shaped, or penguin-shaped. These differences in size and shape from the average size / shape of apples can make it difficult to automatically package apples directly into containers using the robotic positioning device of this invention.

[0239] In some cases, shape, size (diameter), and / or skin adhesion can cause jamming problems when placing apples into tubes.

[0240] The inventors have been able to overcome 90% of these problems by utilizing a vibration mechanism on the end effector that operates to vibrate the tube during the tube filling process.

[0241] Figure 11 An end effector 1 is shown, which includes a motor M that rotates an eccentric mass to vibrate a tube 2. The motor M is attached to the frame of the end effector 1 via collars C1 and C2.

[0242] The sensor system, in the form of two Sick Inspector PIM60 smart 2D cameras (camera system), is also used to assess extreme abnormal fruits that will not be fitted into tube 2. Each camera simultaneously views the three passages L of the transmitter 109 upstream of the robot positioning device 3.

[0243] The camera system can measure the apple diameter along four diagonals across three apple locations, with a standard deviation of 0.27 mm from the actual diameter.

[0244] Approximately 95% of the measurements were 0.54 mm smaller than the actual diameter. Apple orientation using the calyx / flower stem position was identified as within 20 degrees in the vertical direction.

[0245] This camera system can detect abnormal fruit exceeding a tolerance of + / - 0.5 mm. Using the equatorial diameter data generated by this vision system and an existing time-of-flight system, the elongation curve of each apple can be created. The automated packaging machine can then decide whether to reject it or add it to its tube pickup assembly.

[0246] Therefore, the sensor system of the present invention can perform multiple measurements on agricultural products over a period of time to determine whether they can be fitted into the tube. If the fruit cannot be fitted into the tube, it will be identified. The sensor system can also assist in programming the robot positioning device 3 to pick up the smallest fruit, causing it to form a stack first in the tube, while the largest fruit in the stack enters the tube last.

[0247] This method helps to reduce pauses caused by jamming during the loading process.

[0248] In some implementations, extremely abnormal fruit can be picked up by an additional downstream robotic positioning device, which has a tube of an appropriate excessive or insufficient diameter for receiving extremely abnormal produce.

[0249] Alternatively or elsewhere, one or more additional downstream robotic devices may be present for picking up rejected agricultural products that will not be fitted into the tube.

[0250] The present invention may also be broadly considered to include the components, elements and features mentioned or indicated in the specification of this application, which are present individually or collectively, or in any or all combinations of two or more of the said components, elements or features.

[0251] Various aspects of the invention have been described by way of example only, and it should be understood that modifications and additions may be made thereto without departing from the scope defined in the appended claims.

Claims

1. An agricultural product filling device, the agricultural product filling device comprising: Robot positioning equipment with end effector The robot positioning device provides at least three degrees of freedom to move the end effector relative to the agricultural product to be packaged in three axial directions (x, y, and z) or in a combination of at least two of these axial directions. The end effector is adapted to individually pick up agricultural products into a final package in the form of a tube by receiving them; Sensors, the sensors being used to determine the size of each of a plurality of produce items presented to the robot positioning device and the end effector; and A controller, configured to receive one or more outputs from the sensor, and: Based on the outputs from the sensors, a selection of produce items to be picked up from the plurality of produce items is determined to achieve an acceptable stacking height of produce items within the packaging. The robot positioning device and end effector are moved to pick up the selected agricultural products and place them directly inside the tube.

2. The apparatus according to claim 1, wherein, The acceptable stacking height is defined by a target stacking height and / or an acceptable stacking height range, wherein the acceptable stacking height range ranges from a minimum acceptable stacking height to a maximum acceptable stacking height.

3. The apparatus according to claim 2, wherein, Once packaged, each produce item occupies a position within the package, and the acceptable stacking height range and / or target stacking height are defined for the produce item at each position within the package.

4. The apparatus according to claim 1, wherein, The controller is configured to: (i) Based on the outputs from the sensors, determine the height dimension of each agricultural product in a current subset of the plurality of agricultural products, and determine from the current subset a selection of agricultural products to be picked up by the robot positioning device with an end effector.

5. The apparatus according to claim 4, wherein, The device includes a conveyor to transport the plurality of agricultural products to the robot positioning device, and the current subset of agricultural products is a row of agricultural products spaced apart across the conveyor.

6. The apparatus according to claim 5, wherein, The controller is configured to track the row of agricultural products as they are conveyed along the conveyor.

7. The apparatus according to claim 5 or 6, wherein, The controller is configured to determine the size of each agricultural product in more than one row of agricultural products and to track the more than one row of agricultural products as they are conveyed along the conveyor.

8. The apparatus according to claim 4, wherein, The controller is configured to: (ii) Evaluate the height of the produce in the current subset to determine whether there is one or more selections from the current subset consisting of one or more produce items to achieve a stacking height within an acceptable stacking height range; as well as (iii) If a single selection of one or more agricultural products exists within the acceptable stacking height range, the controller is configured to cause the robot positioning device and the end effector to pick up the single selection of one or more agricultural products.

9. The apparatus according to claim 8, wherein, The controller is configured to: (iii) (b) If there is no selection of agricultural products within the acceptable stacking height range; as well as (iii)(b)(i) If the stack height of the agricultural products in the current subset is greater than the maximum acceptable stack height, the controller is configured to ignore the largest agricultural product from the current subset; or (iii)(b)(ii) If the stack height of the agricultural products in the current subset is less than the minimum acceptable stack height, the controller is configured to ignore the smallest agricultural product from the current subset, and (iii) (c) If there is more than one agricultural product remaining in the current subset, the controller is configured to return to step (ii).

10. The apparatus according to claim 9, wherein, In steps (iii) and (c), the controller is configured to: If there is only one agricultural product remaining in the current subset, that is, the last agricultural product in the current subset, and (iii)(c)(i) If the last agricultural product in the current subset is within the acceptable stacking height range, the controller is configured to: The robot positioning device and end effector pick up the last agricultural product in the current subset.

11. The apparatus according to claim 10, wherein, In steps (iii) and (c), the controller is configured to: (iii)(c)(ii) If the last agricultural product in the current subset is outside the acceptable stacking height range, the controller is configured to: (iii)(c)(ii)(a) Based on the outputs from the sensor, determine the height dimension of each produce item in one or more subsequent subsets to determine whether there exists a produce item in the one or more subsequent subsets that, together with the last produce item, achieves a stacking height within the acceptable stacking height range, and (iii)(c)(ii)(a)(i) If there is an agricultural product in the one or more subsequent subsets that achieves a stack height within the acceptable stack height range together with the last agricultural product, then the controller is configured to: The robot positioning device and end effector pick up the last agricultural product in the current subset, and (iii)(c)(ii)(a)(ii) If no agricultural product in the one or more subsequent subsets achieves a stack height within the acceptable stack height range together with the last agricultural product, the controller is configured to: Set the next subset of the plurality of agricultural products as the current subset and return to step (i).

12. The apparatus according to any one of claims 8 to 11, wherein, After step (ii), if there exists more than one selection consisting of one or more agricultural products in the current subset to achieve a stacking height within the acceptable stacking height range, then the controller is configured to: (iv) Determine whether the selection of one or more agricultural products achieves a stack height that is closest to or equal to the target stack height, and (iv)(a) If there exists only one selection consisting of one or more agricultural products that achieves a stack height that is closest to or equal to the target stack height, the controller is configured to cause the robot positioning device and the end effector to pick up the selection; as well as (iv)(b) If there exists more than one selection consisting of one or more agricultural products that achieves a stack height that is closest to or equal to the target stack height, the controller is configured to cause the robot positioning device and the end effector to pick up the selection with the largest or smallest agricultural product.

13. The apparatus according to claim 12, wherein, If the stack height of a selection consisting of one or more agricultural products is equal to the target stack height plus or minus a threshold, then the stack height of the selection is equal to the target stack height.

14. The apparatus according to any one of claims 8 to 11, wherein, After the controller causes the robot positioning device to pick up the selection consisting of one or more agricultural products, the controller is further configured to: (v) Determine whether the package is full, and (v)(a) If the package is not filled, the controller is configured to set the next subset of the plurality of agricultural products as the current subset and return to step (i) to continue filling the package.

15. The apparatus according to claim 14, wherein, The end effector is adapted to hold the package and place the agricultural product in the package as the end effector picks up the agricultural product, and wherein in step (v): (v)(b) If the package is full, the current filling operation is completed, and the controller is configured to cause the robot positioning device to move the end effector to the release area and release the full package from the end effector.

16. The apparatus according to claim 15, wherein, The controller is configured to: (v) (c) The robot positioning device moves the end effector to the packaging dispenser to receive empty packages in the end effector, and Set the next subset of the plurality of agricultural products as the current subset and return to step (i) to begin filling the empty package.

17. The apparatus according to any one of claims 4 to 6, 8 to 11, wherein, The end effector is adapted to hold the packaging and place the agricultural product in the packaging as the end effector picks up the agricultural product, and the end effector includes: At least one actuable moving element is located on the end effector so as to be adjacent to the open end of the tube held by the end effector; wherein the actuable moving element is configured to operate between the following positions: - An extension position that extends at least partially above the open end of the tube held by the end effector, to at least partially block the open end of the tube; and - The retracted position allows the open end of the tube to be substantially unobstructed, enabling agricultural products to be received in the tube; and In order to pick up agricultural products, the controller is configured to perform the following operations when the actuable movable element is in the retracted position and when an empty tube is about to be filled: A) Control the robot positioning device at least in: - in the x and y directions; or - In the combined direction of the x and y directions; Position the end effector so that it is vertically above a first agricultural product of the selection consisting of one or more agricultural products; and move the end effector vertically downward to receive the first agricultural product into the tube within the end effector. B) Actuating the actuable movable element from the retracted position to the extended position to retain the first agricultural product in the packaging, and C) Move the end effector vertically upwards using the robot positioning device to pick up the agricultural product.

18. The apparatus according to claim 17, wherein, The controller is also programmed to: D) Move the end effector of the robot positioning device in the x and y directions to position the end effector vertically above another agricultural product in the selection consisting of one or more agricultural products, and move the end effector vertically downward to position the first agricultural product adjacent to or in contact with the other agricultural product; E) Actuate the operable movable element from the extended position to the retracted position; F) Control the robot positioning device to continue moving the end effector vertically downward to receive the other agricultural product in the package within the end effector; G) Actuating the actuable movable element from the retracted position to the extended position to retain the first agricultural product and the other agricultural product in the packaging, and H) Move the end effector vertically upwards using the robot positioning device, and F) Repeat steps D to H until the robot positioning device and end effector have picked up the selection consisting of one or more agricultural products.

19. The apparatus according to claim 17, wherein, The apparatus includes a conveyor for conveying the plurality of agricultural products to the robot positioning device having an end effector, and the subset of agricultural products is a row of agricultural products spaced apart across the conveyor, and wherein, in order to position the end effector vertically above the agricultural products, the controller is configured to: The robot positioning device moves the end effector vertically above the agricultural product and moves it in the conveying direction at the speed of the conveyor, so that the end effector remains vertically above the agricultural product.

20. The apparatus according to claim 18, wherein, The apparatus includes a conveyor for conveying the plurality of agricultural products to the robot positioning device having an end effector, and the subset of agricultural products is a row of agricultural products spaced apart across the conveyor, and wherein, in order to position the end effector vertically above the agricultural products, the controller is configured to: The robot positioning device moves the end effector vertically above the agricultural product and moves it in the conveying direction at the speed of the conveyor, so that the end effector remains vertically above the agricultural product.

21. The apparatus according to any one of claims 1 to 6, 8 to 11, wherein, The end effector is adapted to hold the packaging and place the agricultural product in the packaging as the end effector picks up the agricultural product.

22. The apparatus according to any one of claims 1 to 6, 8 to 11, wherein, The device includes a segmentation unit for separating the agricultural products and presenting the segmented agricultural products to the reach of the robot positioning device.

23. The apparatus according to claim 22, wherein, The segmentation unit separates the agricultural products into a two-dimensional array.

24. The agricultural product filling device according to claim 1, wherein the end effector comprises: - A frame capable of receiving and holding a tubular container therein; - The end effector includes an actuable element that is movable between an extended position and a retracted position; The end effector is configured to open from the extended position to the retracted position without being opened, so as to receive or hold new agricultural products therein; Specifically, the vibration mechanism of both the end effector and the tubular container therein is actuated at the same time, just before, or just after the operation of the end effector moving to the retracted position; or at or before the end effector begins to move downward to receive new agricultural products.

25. A method for directly packaging agricultural products into a tubular container using the agricultural product filling device of claim 1, the method comprising the following steps: a) At a given point in time, sense the size and shape data of agricultural products located on a conveyor, the agricultural products being located at discrete, immutable data point locations on the conveyor; b) Evaluate the size and shape data of the agricultural products on the conveyor as determined in step a) to identify whether there are one or more items on the conveyor that are suitable for being within the internal dimensions of the tubular container and that achieve a stacking height within an acceptable range from minimum to maximum stacking height for the tubular container.

26. The method for directly packaging agricultural products into a tubular container according to claim 25, the method further comprising the following steps: c) Use the data point locations of the agricultural products identified in step a) to: i) A mobile robot positioning device to maintain its position directly above the selected agricultural product; and ii) Manipulate the end effector so that the tubular container can receive and retain the agricultural products therein.

27. The method for directly packaging agricultural products into a tubular container according to claim 26, the method further comprising the following steps: d) Repeat steps a) to c) as needed until the tubular container is filled with the desired amount of produce.

28. A method for packaging articles using the agricultural product filling device of claim 1, the method comprising the following steps: a) Using a robot positioning device to manipulate an end effector on the robot positioning device to pick up the discrete agricultural products from a conveyor via an end effector holding a tubular container after sensing the size and shape of the discrete agricultural products, thereby delivering the discrete agricultural products directly into the tubular container by picking up the discrete agricultural products to ensure a suitable stacking height within the tubular container.

29. The method for packaging articles according to claim 28, the method comprising the following steps: b) Repeat step a) to pick up one or more additional produce items until the tubular container is full.

30. A method for packaging articles using the agricultural product filling device of claim 1, the method comprising the following steps: a) Using a controller to manipulate a robot positioning device and an end effector with a tube on the robot positioning device to select one or more agricultural products on a conveyor for direct placement within the tube based on an assessment of the individual dimensions, or individual dimensions and shapes, or individual dimensions, shapes and orientations, and collective dimensions, collective dimensions and shapes, or collective dimensions, shapes and orientations of the selected agricultural products, so as to ensure the final result that the agricultural products co-assembled within the tube are within a target stacking height.

31. The method of packaging articles according to claim 30, wherein, An assessment of collective size, collective size and shape, or collective size, shape and orientation, is used to determine the order in which agricultural products are filled into the tubes.

32. A sensor system for tube packaging operations using the agricultural product filling device of claim 1, said sensor system being configured to: a) Having at least one sensor, said at least one sensor tracking and recording multiple measurement results over a period of time, said multiple measurement results including: width; length; And orientation information; For individual agricultural products on the conveyor; b) Calculate the minimum and maximum width / height dimensions for each produce item to determine the stacking height of the tubes within acceptable error limits, wherein the tubes are the final packaging of the produce item.

33. The sensor system according to claim 32 for tube packaging operations using the agricultural product filling device according to claim 1, wherein the sensor system is further configured to: c) Identify abnormal agricultural products that are incompatible with the packaging constraints of the tube, so that they can be removed from the conveyor and / or ignored by the robot positioning device.

Images