System and method for controlled automated harvesting

Abstract

A system and method for controlling automated harvesting is disclosed. The method comprises: receiving an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a harvesting location of a peduncle to be cut associated with said single fruit or said fruit cluster; receiving from a first sensor a signal indicative of a characteristic associated with said peduncle in the harvesting location, said characteristic comprises the number of peduncles; and if the peduncle is a single peduncle in the harvesting location, initiating an incision of the peduncle, wherein the harvesting applicator comprises a motor and at least one cutting component.

Description

SYSTEM AND METHOD FOR CONTROLLED AUTOMATED HARVESTINGCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 435,282, filed on December 26, 2022, the content of which is incorporated herein by reference in its entirety.FIELD OF THE INVENTION

[0002] The present invention relates generally to automatic harvesting. More specifically, the present invention relates to systems and methods for controlling automatic harvesting.BACKGROUND OF THE INVENTION

[0003] Modem farming requires automation in order to save costs and manpower and increase efficiency.

[0004] In recent years, artificial-intelligent (Al) based harvesting systems are becoming increasingly popular among farmers and landowners.

[0005] Automatic harvesting / picking of fruits is tricky, as the robot performing the work needs to carefully pick each fruit or bunch without damaging the fruits. The currently used automatic harvesting robots lack the ability to finally distinguish between peduncles based on the amount of torque required for cutting the peduncle or stalk and will try to cut any peduncle or stalk when given an incision instruction. The result may be damage to the harvesting applicator (e.g., the cutter), incision of the wrong or stalk, damage to the fruit, and the like.

[0006] Accordingly, there is a need for a controlled automatic harvesting system that has the ability to pause the batch incision if a measured incision resistance torque is higher than a threshold torque.SUMMARY OF THE INVENTION

[0007] Some aspects of the invention may be directed to a method for controlling automated harvesting, comprising: receiving an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a harvesting location of a peduncle to be cut associated with said single fruit or said fruit cluster; receiving from a first sensor a signal indicative of a characteristic associated with said peduncle in the harvesting location, saidcharacteristic comprises the number of peduncles; and if the peduncle is a single peduncle in the harvesting location, initiating an incision of the peduncle, wherein the harvesting applicator comprises a motor and at least one cutting component.

[0008] In some embodiments, said characteristic comprises a location of the peduncle and if the peduncle is located inside an incision area of the harvesting applicator, initiating the incision of the peduncle candidate. In some embodiments, said characteristic comprises a size of the peduncle and if the peduncle size is within a size range, initiating the incision of the peduncle candidate.

[0009] In some embodiments, the first sensor is selected from a light detection and ranging (LIDAR) sensor, an optical camera, a depth camera, a laser-based sensor, and a capacitance sensor. In some embodiments, the incision area is an area defined by the at least one cutting component. In some embodiments, the least one cutting component includes two sheers and wherein the incision area is an area between the two sheers.

[0010] In some embodiments, the at least one cutting component is selected from, a rotating blade and a snare.

[0011] In some embodiments, the method may further include receiving from a second sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pausing the incision if the measured incision resistance value is higher than a threshold value.

[0012] In some embodiments, the value indicative of an incision resistance is a relative location of the at least one cutting component. In some embodiments, the second sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor. In some embodiments, the motor is controlled to provide a constant torque.

[0013] In some embodiments, the value indicative of an incision resistance is a reaction torque. In some embodiments, the second sensor is a torque sensor selected from: a rotary torque gauge, a reaction torque gauge, a magnetostrictive transducer and a proximity torque sensor. In some embodiments, the motor of the applicator is controlled to provide a desired relative location of the at least one cutting component. In some embodiments, the value indicative of an incision resistance is a reaction torque. In some embodiments, the motor is controlled to provide a constant torque.

[0014] Some additional aspects of the invention may be directed to another method for controlling automated harvesting, comprising: receiving an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a location of a peduncle to be cut; controlling a robotic manipulator connected to a harvesting applicator to incision the peduncle: by moving the harvesting applicator to the harvesting location; and initiating an incision; receiving from a sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pausing the incision if the measured incision resistance value is higher than a threshold value, wherein the harvesting applicator comprises a motor and at least one cutting component.

[0015] In some embodiments, the at least one cutting component is selected from a sheer, a rotating blade and a snare. In some embodiments, wherein the value indicative of an incision resistance is a relative location of the at least one cutting component. In some embodiments, the sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor. In some embodiments, the motor is controlled to provide a constant torque.

[0016] In some embodiments, the value indicative of an incision resistance is a reaction torque. In some embodiments, the sensor is a torque sensor selected from: a rotary torque gauge, a reaction torque gauge, a magnetostrictive transducer and a proximity torque sensor. In some embodiments, the motor of the applicator is controlled to provide a desired relative location of the at least one cutting component.

[0017] In some embodiments, the value indicative of an incision resistance is a reaction torque. In some embodiments, the motor is controlled to provide a constant torque.

[0018] Some additional aspects of the invention may be directed to a system for automatic harvesting, comprising: a robotic manipulator connected to a harvesting applicator, wherein the harvesting applicator comprises a motor and at least one cutting component; a first sensor configured to generate a signal indicative of characteristic associated with a peduncle; and a controller configured to: receive an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a harvesting location of said peduncle to be cut; receive from said first sensor said characteristic and wherein said characteristic comprises the number of peduncles; and if the peduncle is a single peduncle in the harvesting location, initiate an incision of the peduncle.

[0019] In some embodiments, the at least one cutting component is selected from a sheer, a rotating blade, and a snare. In some embodiments, the first sensor is selected from a light detection and ranging (LIDAR) sensor, an optical camera, a depth camera, a laser-based sensor, and a capacitance sensor.

[0020] In some embodiments, the characteristic comprises a location of the peduncle and wherein the controller is further configured to initiate the incision of the peduncle is further if the peduncle is inside an incision area of the harvesting applicator. In some embodiments, the characteristic comprises a size of the peduncle, wherein the controller is further configured to determine, from the received signal, the peduncle size and wherein initiating the incision of the peduncle is further if the peduncle size is within a size range.

[0021] In some embodiments, the system may further include a second sensor configured to measure a value indicative of an incision resistance applied on the applicator by a peduncle during an incision and wherein the controller is configured to: receive from the sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pause the incision if the measured incision resistance value is higher than a threshold value. In some embodiments, the second sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor.

[0022] Some additional aspects of the invention are directed to another system for controlled automated harvesting, comprising: a robotic manipulator connected to a harvesting applicator, wherein the harvesting applicator comprises a motor and at least one cutting component; a sensor configured to measure a value indicative of an incision resistance applied on the applicator by a peduncle during an incision; and a controller configured to: receive an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a location of a peduncle to be cut; control the robotic manipulator connected to the harvesting applicator to cut the peduncle: by moving the harvesting applicator to the harvesting location; and initiating an incision; receive from the sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pause the incision if the measured incision resistance value is higher than a threshold value.

[0023] In some embodiments, the at least one cutting component is selected from a sheer, a rotating blade and a snare. In some embodiments, the value indicative of an incision resistance is a relative location of the at least one cutting component. In some embodiments, the sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor. In some embodiments, the motor is controlled to provide a constant torque.

[0024] In some embodiments, the value indicative of an incision resistance is a reaction torque. In some embodiments, the sensor is a torque sensor selected from: a rotary torque gauge, a reaction torque gauge, a magnetostrictive transducer and a proximity torque sensor. In some embodiments, the motor of the applicator is controlled to provide a desired relative location of the at least one cutting component. In some embodiments, the value indicative of an incision resistance is a reaction torque. In some embodiments, the motor is controlled to provide a constant torque.BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The subject matter regarded as the invention is particularly pointed out and distinctly claimed in the concluding portion of the specification. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying drawings in which:

[0026] Fig. 1A is a block diagram of a system for controlling automated harvesting according to some embodiments of the invention;

[0027] Fig. IB is an illustration of a portion of a robotic manipulator connected to a harvesting applicator during an incision of a peduncle according to some embodiments of the invention;

[0028] Figs. 1C and ID are illustrations of a portion of a robotic manipulator connected to a harvesting applicator and a detection angle of an optical sensor included in the system according to some embodiments of the invention;

[0029] Fig. IE is a block diagram, depicting a computing device which may be included in a system for controlling automated harvesting according to some embodiments of the invention;

[0030] Fig. 2A is a flowchart of a method of controlling automated harvesting according to some embodiments of the invention;

[0031] Fig. 2B is a flowchart of another method of controlling automated harvesting according to some embodiments of the invention;

[0032] Fig. 3A is an illustration of an angle between blades which is a nonlimiting example for a value indicative of an incision resistance applied on the applicator by the peduncle during the incision according to some embodiments of the invention; and

[0033] Fig. 3B is a table showing threshold values for angles between blades and the corresponding torque for two different tomato varieties according to some embodiments of the invention.

[0034] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated among the figures to indicate corresponding or analogous elements.DETAILED DESCRIPTION OF THE PRESENT INVENTION

[0035] One skilled in the art will realize the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The foregoing embodiments are therefore to be considered in all respects illustrative rather than limiting of the invention described herein. Scope of the invention is thus indicated by the appended claims, rather than by the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

[0036] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, and components have not been described in detail so as not to obscure the present invention. Some features or elements described with respect to one embodiment may be combined with features or elements described with respect to other embodiments. For the sake of clarity, discussion of same or similar features or elements may not be repeated.

[0037] Although embodiments of the invention are not limited in this regard, discussions utilizing terms such as, for example, “processing,” “computing,” “calculating,” “determining,” “establishing”, “analyzing”, “checking”, or the like, may refer to operation(s) and / or process(es) of a computer, a computing platform, a computing system, or other electronic computing device, that manipulates and / or transforms data represented as physical (e.g., electronic) quantities within the computer’s registers and / or memories into other data similarly represented as physical quantities within the computer’s registers and / or memories or other information non-transitory storage medium that may store instructions to perform operations and / or processes.

[0038] Although embodiments of the invention are not limited in this regard, the terms “plurality” and “a plurality” as used herein may include, for example, “multiple” or “two or more”. The terms “plurality” or “a plurality” may be used throughout the specification to describe two or more components, devices, elements, units, parameters, or the like. The term “set” when used herein may include one or more items.

[0039] Unless explicitly stated, the method embodiments described herein are not constrained to a particular order or sequence. Additionally, some of the described method embodiments or elements thereof can occur or be performed simultaneously, at the same point in time, or concurrently.

[0040] Embodiments of the present invention disclose a method and a system for controlling the automated harvesting of a single fruit or a fruit cluster of fruits, such as tomatoes, grapes, peppers, cucumbers, and the like. In some embodiments, harvesting may include cutting a peduncle (also known as, stalk) associated with the single fruit or the fruit cluster. In some embodiments, the system may pause or stop the harvesting / incision each time a resistance torque higher than a threshold value is applied on the peduncle, therefore, miscutting and damage to the fruits are avoided. In some embodiments, the system may initiate the harvesting only after a single peduncle is identified in a harvesting location, and / or the size of the peduncle is inside an incision range.

[0041] As used herein, harvesting location is an estimated location of a peduncle associated with a single fruit or a fruit cluster. For example, the harvesting location may be an absolute location of the peduncle (e.g., coordinates), a relative location of the peduncle with respect to a reference point on a harvesting system, and the like. In some embodiments, the harvesting location may be determined from at least two images of the single fruit or thefruit cluster. The images may be received from one or more cameras associated with the automatic harvesting system (e.g., a robotic harvesting system), harvesting the single fruit or fruit cluster. In some embodiments, the one or more cameras may be attached to the automatic harvesting system or elsewhere in a greenhouse or field at which the automatic harvesting system is operated.

[0042] Reference is now made to Fig. 1A which is a block diagram of an automatic harvesting system according to some embodiments of the invention. An automatic harvesting system 100 may include, a robotic manipulator 30 connected to a harvesting applicator 35. A nonlimiting example of robotic manipulator 30 connected to a harvesting applicator 35 is illustrated in Fig. IB. In some embodiments, harvesting applicator 35 may include a motor 33 and at least one cutting component 37. In some embodiments, the at least one cutting component is selected from a sheer (e.g., a blade as illustrated in Fig. 1B,1C and ID), a rotating blade, a snare, and the like. As used herein, a cutting component may be any element that can cut a peduncle by applying a controlled torque on the peduncle. The cutting component may be a pair of sheers, as illustrated, a rotating blade configured to rotate and cut the peduncle, a snare configured to wrap around the peduncle and cut the peduncle and the like. Each one of the cutting components may be activated by a motor.

[0043] In some embodiments, robotic manipulator 30 may include one or more robotic arms connected to a movable platform included in system 100 (not illustrated) configured to move robotic manipulator 30 from one peduncle 50 to the other. In some embodiments, the one or more robotic arms may be any suitable robotic arms configured to move harvesting applicator 35 to a harvesting location, as illustrated in Fig. IB. For example, the one or more robotic arms of robotic manipulator 30 may have at least 5 degrees of freedom.

[0044] In some embodiments, system 100 may further include a sensor 20 configured to measure a value indicative of an incision resistance applied on the applicator by a peduncle 50 during an incision, as illustrated in Fig. IB. A sensor 20 may be a location sensor configured to measure the relative location of the at least one cutting component, for example, relative to another cutting component, relative to the motor, relative to the robotic manipulator and the like. For example, sensor 20 may measure the relative angle a between the sheers, as illustrated and discussed with respect to Fig. 3A herein below. In yet another example, sensor 20 may measure the angular location around the rotating axis of a rotatingblade with respect to a reference point on harvesting applicator 35. In yet another example, sensor 20 may measure the distance between two arms holding the snare.

[0045] Some nonlimiting examples for location sensors may include: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), a step integration sensor and the like.

[0046] In some embodiments, sensor 20 may be a torque sensor configured to directly measure a torque applied on the applicator by the peduncle during the incision. Some nonlimiting examples for a torque sensor may include a rotary torque gauge, a reaction torque gauge, a magnetostrictive transducer, a proximity torque sensor and the like.

[0047] In some embodiments, system 100 may further include a sensor 40 (illustrated in Figs. IB and 1C) configured to generate a signal indicative of characteristics associated with a peduncle.

[0048] As used herein, characteristics associated with the peduncle may include, a location of the peduncle, a number of peduncles in the same location, the size (e.g., the thickness, diameter, etc.) of the peduncle, and the like. In some embodiments, sensor 40 may be configured to send to computing device 10 one or more characteristics associated with the peduncle. Alternatively, sensor 40 may be configured to send raw data (e.g., an image, a scan, etc.) to computing device 10 and computing device 10 may be configured to calculate and determine the characteristics from the raw data.

[0049] In some embodiments, sensor 40 may be selected from a light detection and ranging (LIDAR) sensor, an optical camera, a depth camera, a laser-based sensor, a capacitance sensor, and the like. In some embodiments, system 100 may further include a computing device 10 comprising a controller 2, as illustrated and discussed with respect to Fig. IE.

[0050] Reference is now made to Figs. 1C and ID which are illustrations of a portion of a robotic manipulator 35 connected to harvesting applicator 30 and a detection area 45 of sensor 40 included in system 100 according to some embodiments of the invention. In some embodiments, sensor 40 may be mounted on harvesting applicator 30 at a location that allows sensor 40 to detect the characteristics of at least one peduncle candidate. In some embodiments, sensor 40 may have a detection area 45 (e.g., field of view (FOV)) at which the at least one peduncle can be detected. Accordingly, the ability of sensor 40 to detect the presence of the at least one peduncle may be limited to detection area 45.

[0051] In some embodiments, a decision to initiate an incision of the peduncle may be taken only if the location of the peduncle is inside an incision area 39 of the harvesting applicator. In some embodiments, incision area 39 is determined based on the geometry of cutting tool 37. For example, if cutting tool 37 includes two sheers (as illustrated) incision area 39 is defined as the area between two sheers 37.

[0052] Reference is now made to Fig. IE, which is a block diagram depicting a computing device, which may be included within an embodiment of a system for controlling automated harvesting, according to some embodiments.

[0053] Computing device 10 may include a processor or controller 2 that may be, for example, a central processing unit (CPU) processor, a chip or any suitable computing or computational device, an operating system t)3, a memory 4, executable code 5, a storage system 6, input devices 7 and output devices 8. Processor 2 (or one or more controllers or processors, possibly across multiple units or devices) may be configured to carry out methods described herein, and / or to execute or act as the various modules, units, etc. More than one computing device 1 may be included in, and one or more computing devices 1 may act as the components of, a system according to embodiments of the invention.

[0054] Operating system 3 may be or may include any code segment (e.g., one similar to executable code 5 described herein) designed and / or configured to perform tasks involving coordination, scheduling, arbitration, supervising, controlling or otherwise managing operation of computing device 1, for example, scheduling execution of software programs or tasks or enabling software programs or other modules or units to communicate. Operating system 3 may be a commercial operating system. It will be noted that an operating system 3 may be an optional component, e.g., in some embodiments, a system may include a computing device that does not require or include an operating system 3.

[0055] Memory 4 may be or may include, for example, a Random Access Memory (RAM), a read only memory (ROM), a Dynamic RAM (DRAM), a Synchronous DRAM (SDRAM), a double data rate (DDR) memory chip, a Flash memory, a volatile memory, a nonvolatile memory, a cache memory, a buffer, a short term memory unit, a long term memory unit, or other suitable memory units or storage units. Memory 4 may be or may include a plurality of possibly different memory units. Memory 4 may be a computer or processor non-transitory readable medium, or a computer non-transitory storage medium, e.g., a RAM. In one embodiment, a non-transitory storage medium such as memory 4, a hard disk drive,another storage device, etc. may store instructions or code which when executed by a processor may cause the processor to carry out methods as described herein.

[0056] Executable code 5 may be any executable code, e.g., an application, a program, a process, task or script. Executable code 5 may be executed by processor or controller 2 possibly under control of operating system 3. For example, executable code 5 may be an application that may methods for controlling automated harvesting as further described herein. Although, for the sake of clarity, a single item of executable code 5 is shown in Fig. IE, a system according to some embodiments of the invention may include a plurality of executable code segments similar to executable code 5 that may be loaded into memory 4 and cause processor 2 to carry out methods described herein.

[0057] Storage system 6 may be or may include, for example, a flash memory as known in the art, a memory that is internal to, or embedded in, a micro controller or chip as known in the art, a hard disk drive, a CD-Recordable (CD-R) drive, a Blu-ray disk (BD), a universal serial bus (USB) device or other suitable removable and / or fixed storage unit. Data associating resistance forces or torques to various value indicative of an incision resistance may be stored in storage system 6 and may be loaded from storage system 6 into memory 4 where it may be processed by processor or controller 2. In some embodiments, some of the components shown in Fig. IE may be omitted. For example, memory 4 may be a nonvolatile memory having the storage capacity of storage system 6. Accordingly, although shown as a separate component, storage system 6 may be embedded or included in memory 4.

[0058] Input devices 7 may be or may include any suitable input devices, components or systems, e.g., a detachable keyboard or keypad, a mouse and the like. Output devices 8 may include one or more (possibly detachable) displays or monitors, speakers and / or any other suitable output devices. Any applicable input / output (RO) devices may be connected to Computing device 10 as shown by blocks 7 and 8. For example, a wired or wireless network interface card (NIC), a universal serial bus (USB) device or external hard drive may be included in input devices 7 and / or output devices 8. It will be recognized that any suitable number of input devices 7 and output device 8 may be operatively connected to Computing device 1 as shown by blocks 7 and 8.

[0059] A system according to some embodiments of the invention may include components such as, but not limited to, a plurality of central processing units (CPU) or any other suitablemulti-purpose or specific processors or controllers (e.g., similar to element 2), a plurality of input units, a plurality of output units, a plurality of memory units, and a plurality of storage units.

[0060] Reference is now made to Fig. 2 A which is a flowchart of a method for controlling automated harvesting according to some embodiments of the invention. The method of Fig. 2A may be performed by system 100. In some embodiments, steps of the method may be executed by controller 2 of computing device 10 or by any other suitable controller.

[0061] In step 210, the controller may receive an instruction to harvest one of, a single fruit or a fruit peduncle, wherein the instruction comprises a location of a peduncle to be cut, associated with the single fruit or the fruit peduncle. For example, controller 2 may receive an instruction to harvest the tomatoes on peduncle 50, illustrated in Fig. IB. The instructions may include an harvesting location which may be one of, an absolute location of peduncle 50 (e.g., coordinates), a relative location of peduncle 50 with respect to a reference point on the movable platform carrying robotic manipulator 30, a relative location of peduncle 50 with respect to robotic manipulator 30 and the like. In some embodiments, the location may be determined from images of a plant comprising peduncle 50 taken by one or more cameras located on the movable platform, or by any other known method.

[0062] In step 220, the controller may control the robotic manipulator connected to the harvesting applicator to cut the peduncle. In some embodiments, controller 2 may control harvesting applicator 35 to cut the peduncle 5 by moving harvesting applicator 35 to the harvesting location (Step 222) and initiating an incision (Step 224), as illustrated in Fig. IB.

[0063] In step 230, the controller may receive from the sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision. For example, controller 2 may receive from sensor 20 the value indicative of the incision resistance applied on applicator 35 by peduncle 50 during the incision.

[0064] In some embodiments, controller 2 may control motor 33 to provide a constant incision torque to at least one cutting component 37 of applicator 35. Controller 2 may monitor the current provided to the motor, thus closing a control loop such that a substantially constant incision torque is applied by at least one cutting component on peduncle 50. In such case, the value indicative of the incision resistance is a relative location of the at least one cutting component. For example, the value may be the angle a between the sheers, as illustrated Fig. 3A. In yet another example, the value may be the angularlocation around the rotating axis of a rotating blade with respect to a reference point on harvesting applicator 35. In yet another example, the value may be the distance between two arms holding the snare.

[0065] In some embodiments, controller 2 may control motor 33 to provide a desired relative location of the at least one cutting component, for example, a substantially constant angle a between the sheers, a substantially constant angular location around the rotating axis of a rotating blade, a substantially constant distance between two arms holding the snare and the like. In some embodiments, controller 2 may receive the desired relative location from a location sensor or from motor 33. In such case the measured value indicative of an incision resistance is a reaction torque. Therefore, sensor 20 may measure the direct a reaction torque applied by peduncle 50 on cutting component 37.

[0066] In some embodiments, if the measured incision resistance value is higher than a threshold value, the controller may pause the incision (step 240). In some embodiments, the threshold value may be dependent on one of: the type of fruit / plant / peduncle, the type of cutting component 37, the type and power of motor 33, and any combination thereof.

[0067] A nonlimiting example for such threshold values is given in the table of Fig. 3B which summarizes threshold values for the angle a between the sheers and the corresponding torque for two types of tomatoes, Sun stream and Radiance, for the same harvesting system. As one can see a higher angle and lower torque are the threshold values for the Sun stream tomatoes in compression of the Primus tomatoes.

[0068] In some embodiments, if the measured incision resistance value is lower than a threshold value, the controller may allow the incision (step 244). Steps 210-230 may be repeated throughout the harvesting, checking for every new peduncle 50 if the incision can be performed without causing any damage to the fruits and / or the harvesting applicator.

[0069] Reference is now made to Fig. 2B which is a flowchart of another method for controlling automated harvesting according to some embodiments of the invention. The method of Fig. 2B may be performed by system 100. In some embodiments, steps of the method may be executed by controller 2 of computing device 10 or by any other suitable controller.

[0070] Step 210 of the method of Fig. 2B may be substantially the same as step 210 of the method of Fig. 2 A discussed herein above.

[0071] In step 225, controller 2 may receive from sensor 40 a signal indicative of characteristics associated with the peduncle in the harvesting location. In some embodiments, the characteristics may include a number of peduncles. Based on the received signal controller 2 may determine how many peduncles are present in the harvesting location. If more than one (e.g., 2, 3, 4, etc.) peduncle is detected in the harvesting location, step 240-NO, controller 2 may pause the harvesting in step 266. Following the pausing of the harvesting, the controller may repeat step 210, to receive a new harvesting location.

[0072] In step 260, controller 2 may initiate an incision of the peduncle if the peduncle is the only peduncle in the harvesting location. In some embodiments, controller 2 may first verify that the peduncle is the only peduncle in the harvesting location, step 240- YES.

[0073] In some embodiments, the characteristics may include a location of the peduncle, and controller 2 may further determine based on the characteristics if the single peduncle is inside incision area 39 of harvesting applicator 40. Controller 2 may initiate the incision only if the peduncle is inside incision area 39 of harvesting applicator 40, step 245-YES.

[0074] In some embodiments, if the peduncle is outside incision area 39 of harvesting applicator 40, step 245-NO, controller 2 may repeat step 210 in order to refine the location of harvesting applicator 30 such that the location may be inside incision area 39.

[0075] In some embodiments, the characteristics may further include a size of the peduncle, for example, the diameter of the peduncle, the thickness of the peduncle, and the like. In some embodiments, controller 2 may determine from the received signal the peduncle’ s size, in step 250. In some embodiments, controller 2 may initiate the incision of the peduncle, in step 260, only if the peduncle size is within a size range. In some embodiments, the size range may be dependent on the type of fruit to be harvested, the time (e.g., season) of harvesting, and the like. In a nonlimiting example, the size range is between 4 to 10 mm. If the peduncle size is outside the range, controller 2 may pause the harvesting in step 236 and further repeat step 210 to receive a new harvesting location.

[0076] In some embodiments, the method of Fig. 2B may further include step 230, of the method of Fig. 2A discussed above, and the decision to pause the incision may also be made if the measured incision resistance value is higher than a threshold value, as discussed herein above.

[0077] Accordingly, a system and a method for controlled automated harvesting according to embodiments of the invention may allow pausing or stopping the harvesting prior to damaging the fruits and / or the harvesting applicator.

[0078] Unless explicitly stated, the method embodiments described herein are not constrained to a particular order or sequence. Furthermore, all formulas described herein are intended as examples only and other or different formulas may be used. Additionally, some of the described method embodiments or elements thereof may occur or be performed at the same point in time.

[0079] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents may occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

[0080] Various embodiments have been presented. Each of these embodiments may of course include features from other embodiments presented, and embodiments not specifically described may include various features described herein.

Claims

CLAIMS1. A method for controlling automated harvesting, comprising: receiving an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a harvesting location of a peduncle to be cut associated with said single fruit or said fruit cluster; receiving from a first sensor a signal indicative of a characteristic associated with said peduncle in the harvesting location, said characteristic comprises the number of peduncles; and if the peduncle is a single peduncle in the harvesting location, initiating an incision of the peduncle.

2. The method of claim 1, wherein the harvesting applicator comprises a motor and at least one cutting component.

3. The method of claim 1 or claim 2, wherein said characteristic comprises a location of the peduncle and if the peduncle is located inside an incision area of the harvesting applicator, initiating the incision of the peduncle candidate.

4. The method of claim 3, wherein said characteristic comprises a size of the peduncle and if the peduncle size is within a size range, initiating the incision of the peduncle candidate.

5. The method according to any one of claims 1 to 4, further comprising: receiving from a second sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pausing the incision if the measured incision resistance value is higher than a threshold value.

6. The method according to any one of claims 1 to 5, wherein the first sensor is selected from a light detection and ranging (LIDAR) sensor, an optical camera, a depth camera, a laser-based sensor, and a capacitance sensor.

7. The method according to any one of claims 1 to 6, wherein the incision area is an area defined by the at least one cutting component.

8. The method of claim 7, wherein the least one cutting component includes two sheers and wherein the incision area is an area between the two sheers.

9. The method according to any one of claims 1 to 8, wherein the at least one cutting component is selected from, a rotating blade and a snare.

10. The method according to any one of claims 5 to 9, wherein the value indicative of an incision resistance is a relative location of the at least one cutting component.

11. The method of claim 10, wherein the second sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor.

12. The method of claim 10 or claim 11, wherein the motor is controlled to provide a constant torque.

13. The method of claims 5 to 12, wherein the value indicative of an incision resistance is a reaction torque.

14. The method of claim 13, wherein the second sensor is a torque sensor selected from: a rotary torque gauge, a reaction torque gauge, a magnetostrictive transducer and a proximity torque sensor.

15. The method of claims 13 or 14, wherein the motor of the applicator is controlled to provide a desired relative location of the at least one cutting component.

16. The method of claims 5 to 12, wherein the value indicative of an incision resistance is a reaction torque.

17. The method of claim 16, wherein the motor is controlled to provide a constant torque.

18. A method for controlling automated harvesting, comprising: receiving an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a location of a peduncle to be cut, associated with said single fruit or said fruit cluster; controlling a robotic manipulator connected to a harvesting applicator to incision the peduncle: by moving the harvesting applicator to the harvesting location; and initiating an incision;receiving from a sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pausing the incision if the measured incision resistance value is higher than a threshold value, wherein the harvesting applicator comprises a motor and at least one cutting component.

19. The method of claim 18, wherein the at least one cutting component is selected from a sheer, a rotating blade and a snare.

20. The method of claims 18 or 19, wherein the value indicative of an incision resistance is a relative location of the at least one cutting component.

21. The method of claim 20, wherein the sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor.

22. The method of claims 20 or claim 21, wherein the motor is controlled to provide a constant torque.

23. The method of claims 18 or 19, wherein the value indicative of an incision resistance is a reaction torque.

24. The method of claim 23, wherein the sensor is a torque sensor selected from: a rotary torque gauge, a reaction torque gauge, a magnetostrictive transducer and a proximity torque sensor.

25. The method of claims 23 or 24, wherein the motor of the applicator is controlled to provide a desired relative location of the at least one cutting component.

26. The method of claims 18 or 19, wherein the value indicative of an incision resistance is a reaction torque.

27. The method of claim 26, wherein the motor is controlled to provide a constant torque.

28. A system for automatic harvesting, comprising: a robotic manipulator connected to a harvesting applicator, wherein the harvesting applicator comprises a motor and at least one cutting component;a first sensor configured to generate a signal indicative of characteristic associated with a peduncle; and a controller configured to: receive an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a harvesting location of said peduncle to be cut; receive from said first sensor said characteristic and wherein said characteristic comprises the number of peduncles; and if the peduncle is a single peduncle in the harvesting location, initiate an incision of the peduncle.

29. The system of claim 28, wherein the at least one cutting component is selected from a sheer, a rotating blade, and a snare.

30. The system of claim 28 or 29, wherein the first sensor is selected from a light detection and ranging (LIDAR) sensor, an optical camera, a depth camera, a laser-based sensor, and a capacitance sensor.

31. The system according to any one of claims 28 to 30, wherein said characteristic comprises a location of the peduncle and wherein the controller is further configured to initiate the incision of the peduncle is further if the peduncle is inside an incision area of the harvesting applicator.

32. The system of claim 31, wherein said characteristic comprises a size of the peduncle and wherein the controller is further configured to determine, from the received signal, the peduncle size and wherein initiating the incision of the peduncle is further if the peduncle size is within a size range.

33. The system according to any one of claims 28 to 32, further comprising a second sensor configured to measure a value indicative of an incision resistance applied on the applicator by a peduncle during an incision and wherein the controller is configured to: receive from the sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pause the incision if the measured incision resistance value is higher than a threshold value.

34. The system of claim 33, wherein the second sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor.

35. A system for automatic harvesting, comprising: a robotic manipulator connected to a harvesting applicator, wherein the harvesting applicator comprises a motor and at least one cutting component; a sensor configured to measure a value indicative of an incision resistance applied on the applicator by a peduncle during an incision; and a controller configured to: receive an instruction to harvest one of, a single fruit or a fruit cluster, wherein the instruction comprises a location of a peduncle to be cut; control the robotic manipulator connected to the harvesting applicator to cut the peduncle: by moving the harvesting applicator to the harvesting location; and initiating an incision; receive from the sensor a measurement of a value indicative of an incision resistance applied on the applicator by the peduncle during the incision; and pause the incision if the measured incision resistance value is higher than a threshold value.

36. The system of claim 35, wherein the at least one cutting component is selected from a sheer, a rotating blade and a snare.

37. The system of claims 35 or 36, wherein the value indicative of an incision resistance is a relative location of the at least one cutting component.

38. The system of claim 37, wherein the sensor is a location sensor selected from: an optical encoder, a capacitive encoder, a Hall effect sensor, a potentiometer, a resolver, Rotational Variable Differential Transformer (RVDT), and a step integration sensor.

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