Robotic unit for harvasting a fruit with a stem

Abstract

A robotic arm that includes a mechanical cutting unit, a mechanical unit cutting manipulator, a vacuum unit that is configured to move the fruit, by applying vacuum, towards the robot arm, a cutting region manipulator that is configured to move the mechanical unit cutting manipulator and the mechanical cutting unit towards the fruit following a formation of vacuum on the fruit and to position the fruit within a cutting region. The mechanical cutting unit is configured to mechanically cut, under a control of the mechanical unit cutting manipulator, the stem following the positioning of the fruit within the cutting region.

Description

ROBOTIC UNIT FOR HARVASTING A FRUIT WITH A STEM CROSS REFERENCE

[0001] This application claims priority from US provisional patent serial number 62 / 483,967 filing date 8 February 2023, which is incorporated herein in its entirety.

[0002] This application is a continuation in part of US patent application 18 / 063,071 filing date December 7, 2022 which is a continuation in part of US patent application 17 / 645,309 filed on December 20,2021, which is a continuation of US patent application 17 / 081,921 filing date October 27, 2020 now US patent 11206764 - all being incorporated herein in their entirety.BACKGROUND

[0003] Fruit harvesting is a complex task that requires to approach the fruit that is connected to a stem, and cut the stem in an accurate manner and with minimal damage to the fruit.

[0004] Most fruits are harvested in a manual manner - which is highly inefficient.

[0005] There is a growing need to provide a robotic arm that may cut the stem in an accurate manner and with minimal damage to the fruit.SUMMARY

[0006] There may be provided systems, and methods as illustrated in the specification.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The embodiments of the disclosure will be understood and appreciated more fully from the following detailed description, taken in conjunction with the drawings in which:

[0008] FIGs. 1A-1C illustrate examples of a robotic unit;

[0009] FIGs. 2A-2B, and 3 illustrate examples of parts of a vacuum unit of the robotic unit;

[0010] FIGs. 4, 5A and 5B illustrate examples of parts of a mechanical cutting unit and of a vacuum unit of the robotic unit;

[0011] FIGs. 6A-6H illustrate examples of stages in a harvesting of a fruit;

[0012] FIG. 7 illustrates examples of vacuum sensing and amending a position of the vacuum unit in relation to the fruit;

[0013] FIG. 8 illustrates examples of positions of the vacuum unit in relation to the fruit;

[0014] FIG. 9 illustrates an example of a vacuum only harvesting of a fruit;

[0015] FIG. 10 illustrates an example of a method for harvesting the fruit;

[0016] FIG. 11 illustrates an example of a method for harvesting the fruit;

[0017] FIG. 12 illustrates and example of parts of the robotic unit;

[0018] FIGs. 13A-13D illustrate different positions of the stem cutting elements and related parts of the robotic arm during different phases of a harvesting of a fruit;

[0019] FIGs. 14A-14B illustrate different positions of the robotic arm;

[0020] FIG. 15 illustrates an example of a method; and

[0021] FIG. 16 illustrates an example of parts of the robotic arm.DESCRIPTION OF EXAMPLE EMBODIMENTS

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Because the illustrated embodiments of the present invention may for the most part, be implemented using electronic components and circuits known to those skilled in the art, details will not be explained in any greater extent than that considered necessary as illustrated above, for the understanding and appreciation of the underlying concepts of the present invention and in order not to obfuscate or distract from the teachings of the present invention.

[0026] Any reference in the specification to a method should be applied mutatis mutandis to a device or system capable of executing the method.

[0027] Any reference in the specification to a system or device should be applied mutatis mutandis to a method that may be executed by the system.

[0028] Any combination of any module or unit listed in any of the figures, any part of the specification and / or any claims may be provided.

[0029] It should be noted that while various example illustrate stem cutting elements that move to each other by a movement that includes a vertical movement component - that the movement may include a horizontal movement component and / or be along any angle. For example - blades of the stem cutting elements may be horizontal, vertical or oriented in any angle when cutting the stem.

[0030] There may be provided a robotic unit that is configured to utilize at least a vacuum unit for moving a fruit having a stem to a cutting region. A mechanical cutting unit cuts the stem when the fruit is located in the cutting region.

[0031] The combination of the vacuum unit and the mechanical cutting unit may be highly effective. The combination does not damage the fruit - especially in cases where using only vacuum may damage the fruit - as the fruit is succeed and the step may be improperly detached from the fruit.

[0032] The fruit may be located in the cutting region solely by the vacuum unit - or by a combination of the vacuum unit and the mechanical cutting unit.

[0033] The vacuum unit may be used to remove the fruit from an initially location of the fruit in which the stem is hard to access - especially when there are multiple fruits that are adjacent from each other.

[0034] It should be noted that the robotic unit may use only its vacuum unit - especially in cases where the fruit can be successfully harvested using only vacuum.

[0035] Figures 1 A, IB, 1C, 2 A, 2B, 3, 4, 5 A and 5B illustrate examples of a robotic unit and / or of parts of the robotic unit. Figures 6A-6H illustrates stages of harvesting a fruit with a stem.

[0036] Table 1 provides mapping between units and / or parts of units, reference numbers used in the figures and where a component belongs to. The fruit is denoted 101 and the stem is denoted 102.

[0037] There is provided a robotic unit 10 for harvesting a fruit having a stem, the robot unit includes (a) a vacuum unit (VU) 20 that is configured to move the fruit, by applying vacuum, towards a cutting region; and (b) a mechanical cutting unit (MCU) 30 that is configured to mechanically cut the stem following a positioning of the fruit into the cutting region.

[0038] The robotic unit may include a mechanical cutting unit (MCU) manipulator 40 that is configured to direct the cutting region towards the fruit following an formation of vacuum with the fruit.

[0039] The MCU manipulator is configured to direct the cutting region towards the fruit following an formation of vacuum with the fruit and an initial pull of the fruit by vacuum.

[0040] The VU 20 is configured to move a fruit having a stem, by applying vacuum, into the cutting region.

[0041] The VU and / or the MCU may participates in moving the fruit into the cutting region.

[0042] The VU may include VSH 21, and VSH manipulator 22 that is configured to move the VSH, wherein the VSH 21 includes a VSH interface 23 for interfacing with the fruit.

[0043] The VSH manipulator is configured to move the VSH 21 to a fruit contact position while the fruit is positioned outside the cutting region, and to move the VSH to a fruit cutting position in which the fruit is placed within the cutting region.

[0044] The VSH interface 23 may be elastic.

[0045] The VSH manipulator 22 may be configured to move the VSH interface 21 from a (i) first position in which the VSH interface is located within the cutting region, to (ii) a second position in which the VSH interface is located outside the cutting region.

[0046] The robotic unit may include one or more vacuum sensors (for example vacuum sensor 70 and / or two or more of vacuum sensors 70-1, 70-2, 70-3 or 70-4 - that are configured to sense vacuum values at one or more regions of the fruit.

[0047] The robotic unit may include a controller 90 that is configured to control at least one parameter of the harvesting of the fruit based on outputs from the one or more vacuum sensors. The at least one parameter may include the location of the robotic unit and / or the orientation of the robotic unit and / or the spatial relationshipbetween the robotic unit and the fruit and / or the manner in which the VU and / or MCU and / or, CU manipulator will be used to the harvesting.

[0048] There may be multiple vacuum sensors and that sense vacuum at multiple regions of the fruit - there may be any number of vacuum sensors and / or any number of regions - see for example three regions and four regions in figure 7.

[0049] The robotic unit may include a fruit support element 75 configured to support the fruit following the cutting of the stem. The fruit may be provided from the fruit support element 75 to a fruit collector 77.

[0050] The mechanical cutting unit may include one or more stem cutting elements and one or more stem cutting elements manipulators that are configured to move the one or more stem cutting elements during a cutting of the stem.

[0051] For example - the one or more stem cutting elements may include first stem cutting element 31 a second stem cutting element 25.

[0052] The first stem cutting element may include blade 32 (figure 5 illustrates a blade that includes multiple spaced apart segments while figure 6A illustrates a single blade segment), and blade support element 33. Second stem cutting element 35 may include cutting surface 38 (which counters the blade during the cutting of the stem) and a cutting surface support element 37.

[0053] The one or more manipulators are configured to rotate the first stem cutting element and the second stem cutting element during a cutting of the stem. For example- see figures 6A-6H that include clockwise rotation of first stem cutting element and counterclockwise rotation of the second stem cutting element.

[0054] The one or more manipulators may be configured to rotate the first stem cutting element about a first axis (denoted 151 in figure 5) and to rotate the second stem cutting element about a second axis (denoted 152 in figure 5) that is concentric to the first axis.

[0055] The one or more manipulators are configured to rotate the second stem cutting element about a second axis to a stem supporting position, and then rotate the first stem cutting element to cut the stem. Figure 6D illustrate the first and second stem cutting elements just before the cutting (the second stem cutting element is at the stem supporting position), while figure 6D illustrates the completion of the cutting of the stem.

[0056] The robotic unit may include a controller 80 that is configured to determine an angle of rotation of the second step cutting element to be positioned in the stem supporting position, wherein the angle of rotation is selected out of anallowable range of angles of rotation. The angle of rotation is selected so that the second step cutting element (when positioned in the stem supporting position) supports the lower part of the stem. Before the cutting the stem may be oriented at any angle and the robotic unit itself may be oriented at any angle. Figure 8 illustrates a few examples of the angular relationship between the VSH and the fruit.

[0057] The robotic unit may include one or more motors, gears, axels, first chains, second chains, first sprockets and second sprockets. The one or more motors (for example motors 53 and 54) are configured to rotate the gears (for example 55 and 56). The gears are configured to rotate the axels (for example 51 and 52) that rotate the first sprockets (for example 61, 62, 61’ and 62’). The first sprockets are configured to rotate the chains (for example 57, 58, 59 and 60). The chains are configured to rotate the second sprockets (for example sprockets 63 and 63’ - each may be a double sprocket), wherein the second sprockets (63 and 63’) are configured to rotate the first stem cutting element and the second stem cutting element.

[0058] The following mechanical elements participate in the rotation of the first stem cutting element 31 - motor 53, gear 55, axel 51, first sprockets 61 and 61’, chains 57 and 59, and outer segments 63-1 (see figure 5B) and 63’- 1 of second sprockets 63 and 63’.

[0059] The following mechanical elements participate in the rotation of the second stem cutting element 35 - motor 54, gear 56, axel 52, first sprockets 62 and 62’, chains 58 and 60, and inner segments 63-2 (see figure 5B) and 62’ -1 of second sprockets 63 and 63’.

[0060] The chains, the first sprockets and second sprockets may be positioned on both sides of an internal region 191 of the robotic unit (for example in , the internal region partially overlaps the cutting region 192 of figure 6D) - for example within first hosing 71 and second housing 72.

[0061] The robotic unit may include one or more cameras (for example first camera 141 and second camera 142 (of figure 5A) - for sensing at least the fruit and its surroundings. There may be more than two cameras, a single camera or any other sensor for assisting in the harvesting. Sensed information from any sensor may be fed to the controller and assist the controller to control the harvesting. Images from any of the cameras may be processed to determine whether the fruit is located in the cutting region and / or whether the fruit is aligned with the VSH, and the like.

[0062] Figure 5B illustrate the first sprockets, the second sprockets and the chains from both sides of the MCU - when separated from each other and when assembled to the MCU.

[0063] Figure 6A-6H illustrate various phases of the harvesting process:• Figure 6 A - Initial approach to the fruit 101 with the step 102.• Figure 6B - The VSH manipulator moves the VSH away from the MCU- to contact the fruit 101.• Figure 6C - The MCU attracts the fruit towards the cutting area while moving backwards - towards the MCU.• Figure 6D - the fruit is located within the cutting region and the first and second cutting elements move towards each other - and the second stem cutting element supports the stem from below.• Figure 6E- first and second cutting elements complete the cut.• Figure 6F - the fruit is provided to the fruit support element 75.• Figure 6G - the and the first and second cutting elements move to an upward position.• Figure 6H - the and the fruit is pushed by the VSH towards a collector 77 that may store one or more multiple fruits.

[0064] It should be noted that the after the fruit is located within the cutting region and the first and second cutting elements move towards each other (see for example figure 6D) and the blades are partially close to each other (for example distant by 0.5, 1, 2 centimeters and the lime) - the vacuum unit may stop the vacuum and the stem may move away from the VSH- thereby reducing the stem residue that will be left after the cutting - move the cutting point closer to the interface between the fruit and the stem.

[0065] It should be noted that the after the fruit is located within the cutting region and the first and second cutting elements move towards each other (see for example figure 6D) the VSH may move forwards to press the fruit against the first and second stem cutting element immediately after the cut.

[0066] The robotic unit may include a frame or a base that may be movable, mobile or static.

[0067] Figure 7 illustrates examples of vacuum sensing and amending a position of the vacuum unit in relation to the fruit.

[0068] A single sampling of the vacuum inside the vacuum unit (for example within the static vacuum tube 27 is illustrated by a single vacuum sensor 70. Independently sensing the vacuum within three or four segments of the vacuum units are also shown in figure 7. See, for example three segments 27-1, 27-2 and 27-3 and three vacuum sensors 70-1, 70-2 and 70-3. See, for example four segments 27-1, 27-2, l- and 27-4, and four vacuum sensors 70-1, 70-2, 70-3, and 70-4.

[0069] Figure 7 illustrates an misalignment between the fruit 101 and the VSH manipulator 22, and an alignment between the fruit 101 and the VSH manipulator 22. Alignment may be obtained when at least a predefined vacuum force is applied on the fruit - for example when an entirety or at least a predefined majority of the VSH manipulator area applied vacuum on the fruit.

[0070] The vacuum sensing may be performed by sensing vacuum within different spaces formed within the movable

[0071] Figure 12 illustrate a VSH interface and a mechanical separator 79 position in proximity to VSH interface 23 and virtually separates at least a segment of the rotating vacuum tube 28 to three vacuum tube segments 28-1, 28-2 and 28-3, whereas three vacuum conduits 129-1, 129-2 and a third vacuum conduit (not shown) allow vacuum sensors (not shown) to sense the vacuum within each one of three vacuum tube segments 28-1, 28-2 and 28-3.

[0072] Figure 9 illustrates an example of a vacuum only harvesting of a fruit. For simplicity of explanation MCU was not shown - as it does not participate in the example provided in figure 9.

[0073] Figure 9 illustrates the following stages:• Initial approach of the VSH 21 towards the fruit 101 with the stem.• Applying vacuum, by the VSH 21 on the fruit while rotating the fruit. The applying vacuum may be executed while rotating the fruit and / or applying any linear movement (for example backwards or forwards) of the VSH.• After disconnecting - moving the VSH towards the fruit support element 75 and / or the fruit collector 77.

[0074] Figure 10 illustrates an example of method 300 for harvesting a fruit having a stem.

[0075] Method 300 may be executed by any of the robotic units mentioned above.

[0076] Method 300 may start by step 310 of moving the fruit towards a cutting region, by applying vacuum by a vacuum unit of a robotic unit.

[0077] Step 310 may be followed by step 320 of mechanically cutting the stem, by a mechanical cutting unit of the robotic unit, following a positioning of the fruit in the cutting region.

[0078] Figure 11 illustrates an example of method 301 for harvesting a fruit having a stem.

[0079] Method 301 may be executed by any of the robotic units mentioned above.

[0080] Method 301 may start by step 311 of determining whether to perform a vacuum only harvesting or to perform a vacuum and mechanical harvesting. The determining may be made by an operator of the robotic unit, or may be made in any other manner. For example based on previous cutting attempt of other fruits - for example other fruits of the same tree, other fruits from the same type as the current fruit to be harvested, other fruits of the same farmer, and the like.

[0081] The determining may be based, at least in part, on the capability to harvest the fruit without damaging the fruit or the tree.

[0082] The determining may also be based on the status of the MCU- for example - whether the MCU is faulty and vacuum only harvesting can be executed.

[0083] When determining to perform a vacuum only harvesting then step 311 may be followed by step 321 of performing vacuum only harvesting.

[0084] When determining to perform vacuum and mechanical harvesting - then jumping to step 310 of moving the fruit towards a cutting region, by applying vacuum by a vacuum unit of a robotic unit. Step 310 may be followed by step 320 of mechanically cutting the stem, by a mechanical cutting unit of the robotic unit, following a positioning of the fruit in the cutting region.

[0085] Improved robotic unit

[0086] According to an embodiment there is provided an improved robotic unit and method.

[0087] According to an embodiment, the robotic unit includes one or more robotic arms and may also include a supports and movement system for supporting and moving the one or robotic arms from one location to the other - for example - from one tree or plant to another.

[0088] Figures 13A-13D illustrate different positions of the stem cutting elements and related parts of the robotic arm during different phases of harvesting of afruit. The movement of the majority of the robotic arm towards the fruit (already in contact with the vacuum unit) while vacuum is maintained reduces the pulling movement required by the vacuum unit - and increases the chances of maintaining the fruit intact by the vacuum unit - and also reduces the vacuum level required to be maintained by the vacuum unit.

[0089] Figures 14A-14B illustrate different positions of the robotic arm.

[0090] According to an embodiment, the robotic unit includes one or more components and / or units of any of the mentioned above robotic unit.

[0091] According to an embodiment - the robotic unit of figures 13A-14B differs from the robotic unit of previous figures by the inclusion of one or more shields, by having a different mechanical unit cutting manipulator, a different mechanical cutting unit and by moving at least a majority of the robotic arm during the fruit harvesting process.

[0092] These changes attribute to a safer and much more effective (by tens of percents) harvesting process having a much higher (by tens of percents) success rate and a much higher (by tens of percents) throughput than previous harvesting processes.

[0093] According to an embodiment, the improved robotic unit uses a combination of vacuum and movement of multiple parts of a robotic arm to position the fruit within a cutting region. The vacuum is used to separate the fruit from other fruits and the movement of the multiple parts toward the fruit reduces the complexity of using only vacuum to position the fruit in the cutting region.

[0094] According to an embodiment, the robotic unit include one or more shields (see, for example shield 801 of figure 13A) that shield the fruit from stem cutting elements while they are spaced apart from each other by at least a defined distance - thereby reducing the chances of cutting the fruit without necessary damage.

[0095] According to an embodiment, the robotic unit includes a simple and robust mechanical unit cutting manipulator for controlling the movement of the mechanical cutting unit. For example - converting a controlled linear movement (see figure 13A - the linear movement of balls crew coupling 809 is converted using cranks 805a, 805c and 805d (and another cranks that is not shown) to a rotational movement of the stem cutting elements reduces the number of mechanical elements while keeping the accuracy of movement. The linear movement is introduced by motor (denoted 812 in figure 13 A) that rotates via motor coupling 813 a screw that meshes with the balls screw coupling 809.

[0096] According to an embodiment, there is provided a robotic unit for harvesting a fruit having a stem, the robot unit includes a robotic arm that includes a mechanical cutting unit (includes, for example, first and second stem cutting elements), a mechanical unit cutting manipulator (includes, for example manipulator motor 812, motor coupling 813, balls screw coupling 809, cranks, crank actuator that in turn includes base 807, base holder 808, spring 814, and stopper), a vacuum unit (that includes, for example, a suction cap of vacuum suction head (VHS)) that is configured to move the fruit, by applying vacuum, towards the robot arm, a cutting region manipulator (such as rotating motor 825 that rotates a screw 824 on which an arm ball screw 826 linearly moves mechanical interface 827) that moves multiple components 828 of the robotic arm - including the vacuum unit (see, for example vacuum motor 823, static vacuum tube 822) the mechanical unit cutting manipulator (see, for example the manipulator motor 821), and the mechanical cutting unit - towards the fruit following a formation of vacuum on the fruit and to position the fruit within a cutting region. The mechanical cutting unit is configured to mechanically cut, under a control of the mechanical unit cutting manipulator, the stem following the positioning of the fruit within the cutting region.

[0097] According to an embodiment, the mechanical cutting unit includes one or more stem cutting elements; and the mechanical unit cutting manipulator includes one or more stem cutting elements manipulators that are configured to rotationally move the one or more stem cutting elements during a cutting of the stem.

[0098] According to an embodiment, the robotic unit further includes one or more shields that are configured to shield the fruit from the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by a defined distance, and expose the fruit to the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance from each other - see for example figures 13A-13B- where the stopper 817 prevents the shield from following the stem cutting elements when close enough to the stem.

[0099] According to an embodiment the robotic unit includes one or more shield control elements configured to control a movement of the one or more shields in relation to the one or more stem cutting elements.

[0100] According to an embodiment, the one or more shield control elements include one or more attachment elements for attaching the one or more shields to the one or more stem cutting elements while the one or more stem cutting elements move but are spaced apart by the defined distance.

[0101] According to an embodiment, the one or more attachment elements include one or more springs (see for example spring 814 - whereas another spring is located at an opposite side and is not shown).

[0102] According to an embodiment, the one or more attachment elements include one or more shields perturbations - such as an interior perturbation that contacts the bottom of the step cutting elements surrounded by the shield).

[0103] According to an embodiment, the one or more shield control elements include one or more stoppers from stopping the one or more shields from following the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance.

[0104] According to an embodiment, the one or more stem cutting elements include a first stem cutting element and a second stem cutting element, wherein the first stem cutting element includes a first blade and a first blade support element, wherein the second stem cutting element includes a second blade and a second blade support element.

[0105] According to an embodiment, the one or more stem cutting elements manipulators includes a first crank, a second crank and a crank actuator that is configured to change a distance between each one of the first crank and the second crank and a reference part (for example motor 812 of the crank actuator, base plate806, or an axis of rotation of the stem cutting elements), thereby rotating the first and second blade support elements.

[0106] According to an embodiment, the robotic unit further includes a base having a base plate 81.6, and the crank actuator includes a crank manipulator plate807. A proximal part of the first stem cutting element and proximal part of the second stem cutting element are rotatably coupled to the crank manipulator plate 807.

[0107] According to an embodiment, the crank manipulator plate 807 is spaced apart from base plate 806. A distal part of the first stem cutting element and a distal part of the second stem cutting element are rotatably coupled to the crank manipulator plate 807.

[0108] According to an embodiment, the one or more stem cutting elements manipulators are configured to rotate the first and second blade support elements regardless a location of a vacuum suction head (VHS) of the vacuum unit.

[0109] According to an embodiment, a vacuum tube 811 of the vacuum unit passes through an opening formed within a crank actuator of the one or more stem cutting elements manipulators.

[0110] According to an embodiment the robotic unit includes a first shield 801 and a second shield (not shown), wherein the first shield surrounds the first stem cutting element and the second shield surrounds the second stem cutting element.

[0111] According to an embodiment, the vacuum unit includes a vacuum suction head (VSH), and a VSH manipulator that is configured to move the VSH, wherein the VSH includes a VSH interface for interfacing with the fruit.

[0112] According to an embodiment, the VSH interface is elastic.

[0113] According to an embodiment, the VSH manipulator is configured to move the VSH interface from a (i) first position in which the VSH interface is located within the cutting region, to (ii) a second position in which the VSH interface is located outside the cutting region.

[0114] According to an embodiment the robotic unit includes one or more vacuum sensors that are configured to sense vacuum values at one or more regions of the fruit.

[0115] According to an embodiment the robotic unit includes a controller that is configured to control at least one parameter of the harvesting of the fruit based on outputs from the one or more vacuum sensors.

[0116] Figure 15 illustrates an example of a method 500 for harvesting a fruit having a stem, the method includes:

[0117] Step 510 of moving the fruit towards a robot arm, by a vacuum unit of the robotic arm, by applying vacuum.

[0118] Step 520 of moving, by a cutting region manipulator, a mechanical unit cutting manipulator and a mechanical cutting unit towards the fruit following a formation of vacuum on the fruit to position the fruit within a cutting region.According to an embodiment the entire robotic arm or at least half of the components of the robotic arm are moved towards the fruit.

[0119] Step 530 of mechanical cutting, by the mechanical cutting unit and under a control of the mechanical unit cutting manipulator, the stem following the positioning of the fruit within the cutting region.

[0120] According to an embodiment, the mechanical cutting unit includes one or more stem cutting elements; and wherein the mechanical unit cutting manipulator includes one or more stem cutting elements manipulators, wherein the method further includes rotationally moving the one or more stem cutting elements during a cutting of the stem.

[0121] According to an embodiment the method includes shielding, by one or more shields, the fruit from the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by a defined distance, and exposing the fruit to the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance from each other. For example - in figure 13 A the shield lags behind the stem cutting element - while in figures 13A-13D the shield follows the stem cutting elements.

[0122] It should be noted that there is may provide a shield per each stem cutting element - or a shieled per only some of the stem cutting elements. While figures 13A-13D illustrate only one shield - there may be provide more than one shield.

[0123] According to an embodiment, the method includes controlling, by one or more shield control elements, a movement of the one or more shields in relation to the one or more stem cutting elements.

[0124] According to an embodiment, the method includes attaching, by one or more attachment elements, the one or more shields to the one or more stem cutting elements while the one or more stem cutting elements move but are spaced apart by the defined distance.

[0125] According to an embodiment, the one or more attachment elements include one or more springs.

[0126] According to an embodiment, the one or more attachment elements include one or more shields perturbations.

[0127] According to an embodiment, the method includes stopping, by one or more stoppers, the one or more shields from following the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance.

[0128] According to an embodiment, the one or more stem cutting elements include a first stem cutting element and a second stem cutting element, wherein the first stem cutting element includes a first blade and a first blade support element, wherein the second stem cutting element includes a second blade and a second blade support element.

[0129] According to an embodiment, the one or more stem cutting elements manipulators include a first crank, a second crank and a crank actuator, wherein the method further includes changing by the crank actuator, a distance between each oneof the first crank and the second crank and a crank actuator, thereby rotating the first and second blade support elements.

[0130] According to an embodiment, the robotic arm further includes a base, wherein a proximal part of the first stem cutting element and proximal part of the second stem cutting element are rotatably coupled to the base.

[0131] According to an embodiment, the crank actuator includes a crank manipulator plate that is spaced apart from a base plate of the base, wherein a distal part of the first stem cutting element and a distal part of the second stem cutting element are rotatably coupled to the crank manipulator plate.

[0132] According to an embodiment, the method includes rotating, by one or more stem cutting elements manipulators, the first and second blade support elements regardless a location of a vacuum suction head (VHS) of the vacuum unit.

[0133] According to an embodiment, a vacuum tube of the vacuum unit passes through an opening formed within a crank actuator of the one or more stem cutting elements manipulators.

[0134] According to an embodiment, the vacuum unit includes a first shield and a second shield, wherein the first shield surrounds the first stem cutting element and the second shield surrounds the second stem cutting element.

[0135] According to an embodiment, the vacuum unit includes a vacuum suction head (VSH), and a VSH manipulator, wherein the method further includes moving the VSH by the VSH manipulator, wherein the VSH includes a VSH interface for interfacing with the fruit.

[0136] According to an embodiment, the VSH interface is elastic.

[0137] According to an embodiment, the moving of the VSH includes moving the VSH interface from a (i) first position in which the VSH interface is located within the cutting region, to (ii) a second position in which the VSH interface is located outside the cutting region.

[0138] According to an embodiment the method includes sensing, by one or more vacuum sensors, vacuum values at one or more regions of the fruit.

[0139] According to an embodiment the method includes controlling, by a controller, at least one parameter of the harvesting of the fruit based on outputs from the one or more vacuum sensors.

[0140] There may be provided a robotic unit that is configured to utilize at least a vacuum unit for moving a fruit having a stem to a cutting region. A mechanical cutting unit cuts the stem when the fruit is located in the cutting region.

[0141] The combination of the vacuum unit and the mechanical cutting unit may be highly effective. The combination does not damage the fruit - especially in cases where using only vacuum may damage the fruit - as the fruit is succeed and the step may be improperly detached from the fruit.

[0142] The fruit may be located in the cutting region solely by the vacuum unit - or by a combination of the vacuum unit and the mechanical cutting unit.

[0143] The vacuum unit may be used to remove the fruit from an initially location of the fruit in which the stem is hard to access - especially when there are multiple fruits that are adjacent from each other.

[0144] It should be noted that the robotic unit may use only its vacuum unit - especially in cases where the fruit can be successfully harvested using only vacuum.

[0145] Figure 16 illustrates an example of parts of the robotic unit. The parts include a mechanical cutting unit that includes a first stem cutting element 631 and a second stem cutting element 632 that rotate towards each other along a vertical axis - or a substantially vertical axis (for example oriented at an angle between 70 to 120 degrees.

[0146] The stem cutting elements may be oriented at any angle - for example may be vertical - for example have a vertical longitudinal axis.

[0147] The axis of rotation may be oriented at any angle.

[0148] The robotic unit may include any element illustrated in US patent application 18 / 063,071 which is incorporated herein by reference. The robotic unit illustrates in US patent application 18 / 063,071 may be modified to include the robotic arm illustrated in this patent application. The same is applicable to any method illustrated in US patent application 18 / 063,071.

[0149] The robotic unit may include any element illustrated in US patent application 17 / 081,921 which is incorporated herein by reference. The robotic unit illustrates in US patent application 17 / 081,921 may be modified to include the robotic arm illustrated in this patent application. The same is applicable to any method illustrated in US patent application 17 / 081,921.

[0150] While the foregoing written description of the invention enables one of ordinary skill to make and use what is considered presently to be the best mode thereof, those of ordinary skill will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples herein. The invention should therefore not be limited by the above describedembodiment, method, and examples, but by all embodiments and methods within the scope and spirit of the invention as claimed.

[0151] Any reference to “comprising” should be applied “mutatis mutandis to “consisting” and should be applied mutatis mutandis to “consisting essentially of’.

[0152] In the foregoing specification, the invention has been described with reference to specific examples of embodiments of the invention. It will, however, be evident that various modifications and changes may be made therein without departing from the broader spirit and scope of the invention as set forth in the appended claims.

[0153] Those skilled in the art will recognize that the boundaries between logic blocks are merely illustrative and that alternative embodiments may merge logic blocks or circuit elements or impose an alternate decomposition of functionality upon various logic blocks or circuit elements. Thus, it is to be understood that the architectures depicted herein are merely exemplary, and that in fact many other architectures may be implemented which achieve the same functionality.

[0154] Any arrangement of components to achieve the same functionality is effectively "associated" such that the desired functionality is achieved. Hence, any two components herein combined to achieve a particular functionality may be seen as "associated with" each other such that the desired functionality is achieved, irrespective of architectures or intermedial components. Likewise, any two components so associated can also be viewed as being "operably connected," or "operably coupled," to each other to achieve the desired functionality.

[0155] Furthermore, those skilled in the art will recognize that boundaries between the above described operations merely illustrative. The multiple operations may be combined into a single operation, a single operation may be distributed in additional operations and operations may be executed at least partially overlapping in time. Moreover, alternative embodiments may include multiple instances of a particular operation, and the order of operations may be altered in various other embodiments.

[0156] Also for example, in one embodiment, the illustrated examples may be implemented as circuitry located on a single integrated circuit or within a same device. Alternatively, the examples may be implemented as any number of separate integrated circuits or separate devices interconnected with each other in a suitable manner.

[0157] However, other modifications, variations and alternatives are also possible. The specifications and drawings are, accordingly, to be regarded in an illustrative rather than in a restrictive sense.

[0158] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other elements or steps then those listed in a claim. Furthermore, the terms “a” or “an,” as used herein, are defined as one or more than one. Also, the use of introductory phrases such as “at least one” and “one or more” in the claims should not be construed to imply that the introduction of another claim element by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim element to inventions containing only one such element, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an." The same holds true for the use of definite articles. Unless stated otherwise, terms such as “first" and “second” are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to advantage.

[0159] While certain features of the invention have been illustrated and described herein, many modifications, substitutions, changes, and equivalents will now occur to those of ordinary skill 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.

[0160] It is appreciated that various features of the embodiments of the disclosure which are, for clarity, described in the contexts of separate embodiments may also be provided in combination in a single embodiment. Conversely, various features of the embodiments of the disclosure which are, for brevity, described in the context of a single embodiment may also be provided separately or in any suitable subcombination.

[0161] It will be appreciated by persons skilled in the art that the embodiments of the disclosure are not limited by what has been particularly shown and described hereinabove. Rather the scope of the embodiments of the disclosure is defined by the appended claims and equivalents thereof.

Claims

WE CLAIM1. A robotic unit for harvesting a fruit having a stem, the robot unit comprises: a robotic arm that comprises: a mechanical cutting unit; a mechanical unit cutting manipulator; a vacuum unit that is configured to move the fruit, by applying vacuum, towards the robot arm; a cutting region manipulator that is configured to move the mechanical unit cutting manipulator and the mechanical cutting unit towards the fruit following a formation of vacuum on the fruit and to position the fruit within a cutting region; and wherein the mechanical cutting unit is configured to mechanically cut, under a control of the mechanical unit cutting manipulator, the stem following the positioning of the fruit within the cutting region.

2. The robotic unit according to claim 1, wherein the mechanical cutting unit comprises one or more stem cutting elements; and wherein the mechanical unit cutting manipulator comprises one or more stem cutting elements manipulators that are configured to rotationally move the one or more stem cutting elements during a cutting of the stem.

3. The robotic unit according to claim 2, further comprising one or more shields that are configured to shield the fruit from the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by a defined distance, and expose the fruit to the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance from each other.

4. The robotic unit according to claim 3, comprising one or more shield control elements configured to control a movement of the one or more shields in relation to the one or more stem cutting elements.

5. The robotic unit according to claim 4, wherein the one or more shield control elements comprise one or more attachment elements for attaching the one or more shields to the one or more stem cutting elements while the one or more stem cutting elements move but are spaced apart by the defined distance.

6. The robotic unit according to claim 5, wherein the one or more attachment elements comprise one or more springs.

7. The robotic unit according to claim 5, wherein the one or more attachment elements comprises one or more shields perturbations.

8. The robotic unit according to claim 4, wherein the one or more shield control elements comprise one or more stoppers from stopping the one or more shields from following the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance.

9. The robotic unit according to claim 2, wherein the one or more stem cutting elements comprises a first stem cutting element and a second stem cutting element, wherein the first stem cutting element comprises a first blade and a first blade support element, wherein the second stem cutting element comprises a second blade and a second blade support element.

10. The robotic unit according to claim 9, wherein the one or more stem cutting elements manipulators comprise a first crank, a second crank and a crank actuator that is configured to change a distance between each one of the first crank and the second crank and a crank actuator, thereby rotating the first and second blade support elements.

11. The robotic unit according to claim 10, further comprising a base, wherein a proximal part of the first stem cutting element and proximal part of the second stem cutting element are rotatably coupled to the base.

12. The robotic unit according to claim 11, wherein the crank actuator comprises a crank manipulator plate that is spaced apart from a base plate of the base, wherein a distal part of the first stem cutting element and a distal part of the second stem cutting element are rotatably coupled to the crank manipulator plate.

13. The robotic unit according to claim 9, wherein the one or more stem cutting elements manipulators are configured to rotate the first and second blade support elements regardless a location of a vacuum suction head (VHS) of the vacuum unit.

14. The robotic unit according to claim 13, wherein a vacuum tube of the vacuum unit passes through an opening formed within a crank actuator of the one or more stem cutting elements manipulators.

15. The robotic unit according to claim 9, further comprising a first shield and a second shield, wherein the first shield surrounds the first stem cutting element and the second shield surrounds the second stem cutting element.

16. The robotic unit according to claim 1, wherein the vacuum unit comprises a vacuum suction head (VSH), and a VSH manipulator that is configured to move the VSH, wherein the VSH comprises a VSH interface for interfacing with the fruit.

17. The robotic unit according to claim 16, wherein the VSH interface is elastic.

18. The robotic unit according to claim 16, wherein the VSH manipulator is configured to move the VSH interface from a (i) first position in which the VSH interface is located within the cutting region, to (ii) a second position in which the VSH interface is located outside the cutting region.

19. The robotic unit according to claim 1, comprising one or more vacuum sensors that are configured to sense vacuum values at one or more regions of the fruit.

20. The robotic unit according to claim 19, comprising a controller that is configured to control at least one parameter of the harvesting of the fruit based on outputs from the one or more vacuum sensors.

21. A method for harvesting a fruit having a stem, the method comprises: moving the fruit towards a robot arm, by a vacuum unit of the robotic arm, by applying vacuum; moving, by a cutting region manipulator, a mechanical unit cutting manipulator and a mechanical cutting unit towards the fruit following a formation of vacuum on the fruit to position the fruit within a cutting region; and mechanical cutting, by the mechanical cutting unit and under a control of the mechanical unit cutting manipulator, the stem following the positioning of the fruit within the cutting region.

22. The method according to claim 21, wherein the mechanical cutting unit comprises one or more stem cutting elements; and wherein the mechanical unit cutting manipulator comprises one or more stem cutting elements manipulators, wherein the method further comprises rotationally moving the one or more stem cutting elements during a cutting of the stem.

23. The method according to claim 22, comprising shielding, by one or more shields, the fruit from the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by a defined distance, and exposing the fruit to the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance from each other.

24. The method according to claim 23, comprising controlling, by one or more shield control elements, a movement of the one or more shields in relation to the one or more stem cutting elements.

25. The method according to claim 24, comprising attaching, by one or more attachment elements, the one or more shields to the one or more stem cutting elementswhile the one or more stem cutting elements move but are spaced apart by the defined distance.

26. The method according to claim 25, wherein the one or more attachment elements comprise one or more springs.

27. The method according to claim 25, wherein the one or more attachment elements comprise one or more shields perturbations.

28. The method according to claim 24, comprising stopping, by one or more stoppers, the one or more shields from following the one or more stem cutting elements while the one or more stem cutting elements are spaced apart by less than the defined distance.

29. The method according to claim 22, wherein the one or more stem cutting elements comprises a first stem cutting element and a second stem cutting element, wherein the first stem cutting element comprises a first blade and a first blade support element, wherein the second stem cutting element comprises a second blade and a second blade support element.

30. The method according to claim 29, wherein the one or more stem cutting elements manipulators comprise a first crank, a second crank and a crank actuator, wherein the method further comprising changing by the crank actuator, a distance between each one of the first crank and the second crank and a crank actuator, thereby rotating the first and second blade support elements.

31. The method according to claim 30, wherein the robotic arm further comprises a base, wherein a proximal part of the first stem cutting element and proximal part of the second stem cutting element are rotatably coupled to the base.

32. The method according to claim 31, wherein the crank actuator comprises a crank manipulator plate that is spaced apart from a base plate of the base, wherein a distal part of the first stem cutting element and a distal part of the second stem cutting element are rotatably coupled to the crank manipulator plate.

33. The method according to claim 29, further comprising rotating, by one or more stem cutting elements manipulators, the first and second blade support elements regardless a location of a vacuum suction head (VHS) of the vacuum unit.

34. The method according to claim 33, wherein a vacuum tube of the vacuum unit passes through an opening formed within a crank actuator of the one or more stem cutting elements manipulators.

35. The method according to claim 29, further comprising a first shield and a second shield, wherein the first shield surrounds the first stem cutting element and the second shield surrounds the second stem cutting element.

36. The method according to claim 31, wherein the vacuum unit comprises a vacuum suction head (VSH), and a VSH manipulator, wherein the method further comprises moving the VSH by the VSH manipulator, wherein the VSH comprises a VSH interface for interfacing with the fruit.

37. The method according to claim 36, wherein the VSH interface is elastic.

38. The method according to claim 36, wherein the moving of the VSH comprises moving the VSH interface from a (i) first position in which the VSH interface is located within the cutting region, to (ii) a second position in which the VSH interface is located outside the cutting region.

39. The method according to claim 21, comprising sensing, by one or more vacuum sensors, vacuum values at one or more regions of the fruit.

40. The method according to claim 39, comprising controlling, by a controller, at least one parameter of the harvesting of the fruit based on outputs from the one or more vacuum sensors.

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