Agricultural product trimming device

Abstract

TITLE: Device for trimming a product, in particular a fruit or a vegetable. The invention relates to a device for trimming an agricultural product, such as a fruit or a vegetable, comprising a feed conveyor (10) containing a conveyor belt (101) extending along a longitudinal plane configured to move, in a direction of movement, the product to be trimmed towards a viewing zone in which a specific area of ​​the periphery of the agricultural product is visible by first vision means (40) communicating with a manipulator robot (50) comprising at least one movable arm (51) equipped with clamping means (52) for, in particular, grasping the product to move it to a trimming position located in a trimming zone in which the longitudinal axis around which the core extends is substantially aligned with a trimming axis. Abstract figure: [Fig 1].

Description

Title of the invention: Device for trimming an agricultural product Scope of the invention

[0001] The field of the invention is that of devices for trimming agricultural products such as fruits and vegetables. Prior art and its drawbacks

[0002] By core removal, in the context of the present invention, we mean an action of removing a core.

[0003] For the purposes of this invention, agricultural product means any type of fruit and vegetable which contains an edible part.

[0004] Generally, in a vegetable such as sauerkraut cabbage, cauliflower, Romanesco cabbage or broccoli, the inflorescence is generally considered to be the edible part of the vegetable, and is called a head or head, formed of florets.

[0005] Similarly, in a fruit such as an apple or a pear, the carpel is generally considered to be the edible part of the fruit.

[0006] Most vegetables and fruits then contain an edible part and a non-edible part, or at least a less edible part, which is mostly contained in a core and which is sometimes called the heart.

[0007] Unlike the core, it is mainly the inflorescences and carpels that are of interest because of their proven edibility without necessarily having to modify the product.

[0008] In order to facilitate the exploitation of agricultural products by manufacturers of frozen meals in particular, the core is then eliminated from agricultural products during their trimming, as are the leaves which, for their part, are eliminated by defoliation.

[0009] Indeed, manufacturers of frozen meals in particular wish to be able to have very large quantities of trimmed agricultural products to be cooked in large volumes.

[0010] However, given in particular the fragility of these agricultural products, their trimming is often carried out by hand to avoid, as far as possible, damaging them and taking the risk that they may then become unfit for sale, or even for consumption.

[0011] However, such human intervention has the disadvantage of being costly, tedious, and time-consuming. This results in a relatively slow trimming rate, which prevents meeting the requirements imposed by manufacturers for implementing a high trimming rate.

[0012] To overcome these drawbacks, various types of clipping devices are known in the prior art.

[0013] However, a drawback of these trimming devices lies in the fact that their use results in significant removal of edible parts of agricultural products, due in particular to their imprecise trimming. Indeed, in some cases, this imprecision involves the removal of part of the edible portion located around the periphery of the core, which is generally completely removed when the agricultural product to be trimmed is clearly identified. Nevertheless, it sometimes happens that the trimming is only partial, meaning that inedible parts of the core remain in the trimmed agricultural product. These inedible parts then end up in packaged products, for example, frozen meals, which leads to non-conformities and complaints.

[0014] Furthermore, another drawback lies in the fact that prior art devices are generally adapted to the coring of a clearly identified type of agricultural product, defined in particular by its dimensions. However, depending on the type of agricultural product identified, the cork varies in diameter, length, and shape. As a result, the aforementioned coring inaccuracies are amplified when the type of agricultural product to be cored varies.

[0015] This results in significant losses in trimming yield.

[0016] The devices of the prior art do not allow to be used continuously and in an automated manner in order to follow a high rate of trimming in accordance with industrial expectations.

[0017] There is therefore a need to provide a trimming device which makes it possible to minimize, or even eliminate, human intervention during the trimming of these agricultural products while ensuring satisfactory trimming, i.e. by removing the entire core and minimizing the removal of edible parts of the agricultural products. Objectives of the invention

[0018] The present invention provides a trimming device that allows agricultural products to be trimmed with high precision so as to increase trimming efficiency while meeting industrial production rates, i.e., having a sufficiently high production capacity of trimmed agricultural products. Description of the invention

[0019] To this end, the invention relates to a device for coring an agricultural product, such as a fruit or vegetable, delimited by a perimeter defining a volume within which a core extends over a specific length from a specific zone of the perimeter. The device comprises a feed conveyor containing a conveyor belt extending along a longitudinal plane configured to move, in a direction of travel, the product to be cored towards a viewing zone. a conveyor being configured to maintain the product in a rest position in which the core is substantially oriented transversely to the longitudinal plane of the conveyor belt and in which the specific area of ​​the periphery is visible by first means covering at least partially the viewing area, the first means of vision being configured to acquire at least first data representative of the location of the product relative to the conveyor belt, second data representative of the location of the specific area of ​​the periphery from which the core of the product extends, and third data representative of the volume of the product, a unit for determining a control instruction, from at least the first and second data, communicating with a manipulator robot comprising at least one movable arm equipped with clamping means for, in a product grasping position,to grasp the product according to the control instruction, in a direction transverse to the longitudinal axis around which the core extends, by automated control means configured to move in translation and rotation, when the clamping means are in the gripping position, the mobile arm to a trimming position located in a trimming zone in which the longitudinal axis around which the core extends is substantially aligned with a trimming axis, by second vision means communicating with a data processing unit connected to the automated control means, the second vision means covering at least partially the trimming zone and being configured to visualize the trimming axis and adjust, via the processing unit, the position of the mobile arm of the manipulator robot in order to align the axis around which the core extends with the trimming axis,The trimming device further includes means for trimming the product configured to remove the core over the specific length of the core along the trimming axis from the perimeter area from which the core extends.

[0020] Such a trimming device allows the agricultural product to be positioned in a precise and controlled position in order to trim it with great precision, that is to say to remove the entire core while minimizing the removal of edible parts, and this is suitable for all types of agricultural products.

[0021] The trimming device according to the invention is also economical, in particular because it requires very little manual intervention.

[0022] Such a trimming device also results in very little loss or alteration of the edible parts of agricultural products.

[0023] The trimming device according to the invention is suitable for all types of agricultural products.

[0024] The device according to the invention is preferably of robust mechanical structure, allowing for prolonged and intensive use, with wear parts being inexpensive.

[0025] Advantageously, the invention comprises the following features, taken alone or in combination: - the trimming device further includes a preliminary viewing area located upstream of the viewing area, in which a preliminary viewing module configured to view the product is placed; - the trimming device further includes a gripping robot configured to grasp the product and impart a rotation to it by a rotational movement substantially equal to 180°C around an axis of rotation inscribed in a plane substantially parallel to the longitudinal plane along which the conveyor belt extends; this makes it possible to guarantee the visualization, by the first means of vision, of the specific area of ​​the periphery from which the core extends, regardless of the initial position of the product on the conveyor belt and in particular when said specific area is not initially visible by the first means of vision because it is against the conveyor belt; - the contact surface of the conveyor belt with the product is fitted with studs implanted substantially perpendicular to the longitudinal plane of the conveyor belt; this makes it possible to form a kind of mat on which the products are deposited so as to improve their retention in the rest position in order to facilitate the acquisition of the first and second data by the first vision module and then the grasping of the products by the manipulator robot; - the processing unit is configured to adjust the position of the manipulator robot's mobile arm to ensure an angle of inclination between the longitudinal axis around which the core extends and the core-cutting axis of between 3° and 7°, this allows for automatic correction of alignment deviations without human intervention; - the clipping means include a drilling means configured to move along the clipping axis; this allows the product to be clipped efficiently; - the second means of vision are mounted on the manipulator robot; this allows viewing of the sauerkraut cabbage grasped during its manipulation by the manipulator robot.

[0026] The invention also relates to a method for trimming an agricultural product, such as a fruit or vegetable, delimited by a perimeter defining a volume in which a core extends over a specific length from a specific area of ​​the perimeter containing a core, the method being implemented by the trimming device described above, and comprising the following steps: a. Positioning of the product to be trimmed on the conveyor belt of the infeed conveyor, the product to be trimmed being held in the rest position, b. movement of the product to be trimmed towards the viewing area by setting the conveyor belt in motion, c. acquisition, in the viewing area, of at least the first data representing the location of the product relative to the conveyor belt, the second data representing the location of the specific area of ​​the perimeter from which the core of the product extends, and the third data representing the volume of the product, d. generation of a product core model from at least the second and third data points so as to estimate at least the specific length of the product core, e. Determining the command instruction from at least the first and second data points, followed by sending the command instruction to the manipulator robot, f. product grasping by the manipulator robot followed by the movement of the grasped product from the viewing area to the trimming area in which the product is in the trimming position in which the longitudinal axis around which the generated core model extends is substantially aligned with the trimming axis, g. adjusting the product's trimming position relative to the trimming axis so that the angle of inclination between the determined longitudinal axis around which the generated trimming pattern extends and the trimming axis is approximately equal to a predetermined value, h. trimming of the product to remove the core over the entire specific length of the core from the specific area of ​​the perimeter from which the core extends.

[0027] Such a method for trimming is advantageously implemented at an industrial rate during which human intervention is not necessary.

[0028] In one embodiment, the method further comprises a step prior to step a) of repositioning, during which the product is grasped by the robotic gripper and then manipulated to impart a rotational movement of substantially 180° in order to position it in the rest position in which the specific area of ​​the periphery from which the core extends is visible by the first vision means implemented subsequently. This allows each of the agricultural products on the conveyor belt to be positioned so that their core can be visualized by the first vision means. Brief description of the figures

[0029] Other features and advantages of the invention will now become apparent in greater detail in the following description of illustrative and non-limiting embodiments, with reference to the accompanying figures which represent:

[0030] [Fig-1]: [Fig.1] presents a schematic view of a trimming device according to a example of an embodiment of the invention;

[0031] [Fig.2]: [Fig.2] presents a schematic view of an example of a gripping robot included in the trimming device illustrated in [Fig.1];

[0032] [Fig.3]: [Fig.3] presents a schematic view of an example of first vision means included in the clipping device illustrated in [Fig.1];

[0033] [Fig. 4]: [Fig. 4] presents a schematic view of an example of a manipulator robot included in the trimming device illustrated in [Fig. 1]. Detailed description

[0034] Unless otherwise specified, the same element appearing on different figures has a unique reference.

[0035] The invention relates to a device for trimming an agricultural product containing a core.

[0036] For example, examples of agricultural products containing a core include vegetable plants or fruits such as cabbages, apples, pears, broccoli, etc.

[0037] For the sake of simplicity, the following text will only refer to the trimming of sauerkraut cabbage to make it into florets, it being understood that the trimming device according to the invention can be used for any other type of agricultural product provided that the trimming device is sized accordingly. In particular, the invention can be used for other vegetables with a similar structure to sauerkraut cabbage, such as cruciferous vegetables like Romanesco broccoli or broccoli.

[0038] As illustrated in [Fig.1], the sauerkraut cabbage A preferably has a ball shape, which gives it a compact appearance, delimited by a perimeter defining a volume which contains the core.

[0039] In the figures, the sauerkraut cabbages A are then symbolized by a substantially spherical ball.

[0040] The core of sauerkraut cabbage A extends over a specific length from a specific area on its periphery. This specific area is recognizable by any human, or by any known means of visualization, among the rest of its periphery. For example, in the case of sauerkraut cabbage A, this specific area contains the beginning of the core.

[0041] In the following text, for the sake of simplicity, it is considered that the volume of the sauerkraut cabbage A comprises an upper zone covering the specific area from from which extends the core, and a lower zone, substantially opposite to the upper zone, containing the head of the sauerkraut cabbage A.

[0042] As indicated below, the clipping device according to an embodiment of the invention includes in particular at least one feed conveyor 10, a pre-vision module 20, a gripping robot 30, first vision means 40, a manipulator robot 50, second vision means (not illustrated in the figures) and a clipping device (not illustrated in the figures).

[0043] In particular, the infeed conveyor 10 allows sauerkraut cabbages A to be moved continuously or discontinuously. For example, the infeed conveyor 10 allows the sauerkraut cabbages A to be moved to a preliminary viewing area, then from the preliminary viewing area to a sauerkraut cabbage gripping area by the gripping robot 30, then to a viewing area, and then to a sauerkraut cabbage handling area by the manipulator robot 50.

[0044] It should be noted that in an alternative embodiment not shown, it is possible to have several feed conveyors configured to carry out the movements.

[0045] In particular, the infeed conveyor 10 contains a conveyor belt 101 extending along a longitudinal plane. The conveyor belt 101 is an endless belt driven by suitable drive means in a direction of travel, preferably translational, following a direction of infeed, for example horizontally in the direction of travel imposed by the conveyor belt 101. In Figures 1 and 3, the direction of infeed is directed to the left.

[0046] The conveyor belt 101 contains a contact surface configured to receive the sauerkraut cabbages A after an operator, or any device, has allowed them to be placed on it during a step a) of positioning the sauerkraut cabbages A to be trimmed on the conveyor belt 101 of the feed conveyor 10.

[0047] This contact surface is provided with means for stabilizing sauerkraut cabbages A relative to the conveyor belt 101 during its movement, so that the sauerkraut cabbages A to be trimmed are held in a resting position. For example, as can be seen in [Fig. 3], the stabilizing means may comprise pins 102 arranged in a circle configured to accommodate one sauerkraut cabbage A at a time, this pin arrangement being well known.

[0048] Thus, either the sauerkraut cabbages A are placed directly against the stabilizing means, or they are placed on the conveyor belt 101 and then roll conventionally along it before stabilizing in a random position. Generally, in this random position, their core is usually turned, or oriented, either downwards when the beginning of the core is substantially to the side of or against the conveyor belt 101, or turned, or oriented, upwards when the beginning of the The core is located opposite the conveyor belt 101. In other words, when the sauerkraut cabbage A is in its resting position, it is generally either in the resting position in which its upper area is substantially in contact with the conveyor belt 101, with the core then facing downwards, or in which its lower area is opposite the conveyor belt 101, with the core then facing upwards.

[0049] In particular, the core is turned upwards when the area of ​​the periphery from which the core extends, i.e. in our case the beginning of the core, is observable, for example, by an optical device, while the latter is positioned above the sauerkraut cabbage A which is itself located on the contact surface of the conveyor belt 101.

[0050] In an embodiment not shown in the figures, the contact surface of the conveyor belt 101 comprises a plurality of studs or rods that form a kind of mat with which the sauerkraut cabbages A are likely to come into contact. This ensures the stabilization of the sauerkraut cabbages A after they have rolled along the conveyor belt 101.

[0051] In one embodiment, the pins or rods are not elastically deformable.

[0052] In another embodiment, the spikes or stems are elastically deformable. Thus, when the sauerkraut cabbage A comes into contact with this type of mat, the deformable spikes or stems deform and move apart from each other and / or flatten, creating a preferred location, a recess, or a niche for the sauerkraut cabbage A. The deformable spikes or stems located around the area where the spikes / stems have been deformed, and which are themselves only slightly or not at all deformed, thus form a sort of peripheral edge that generally prevents any further movement of the sauerkraut cabbage A thus positioned / nestled.

[0053] It should be noted that the density of the spikes or stems on the contact surface of the conveyor belt 101 can vary depending on the average size of the sauerkraut cabbages A and their average mass. For example, this density can vary from 50 to 200 spikes or stems per m2 of base surface.

[0054] Preferably, the spikes are made of a flexible material that deforms elastically in transverse bending. However, there is nothing preventing the spikes from being elastically deformable in longitudinal compression. The spikes may be made of a polymer material, in particular PVC, that also meets the regulatory requirements for its contact with foodstuffs.

[0055] For example, the pins or rods, whether elastically deformable or not, are defined by a length between 2 and 10 mm, preferably between 2 and 3 mm. This length is sufficient to prevent the sauerkraut cabbage A from rolling too much before stabilizing in its resting position.

[0056] In an alternative embodiment (not shown in the figures), the contact surface of the conveyor belt 101 is provided, rather than studs, with several holes or recesses for receiving the sauerkraut cabbages A. Preferably, these receiving holes or recesses are arranged one behind the other on the conveyor belt 101 along the direction of travel of the infeed conveyor 10. The conveyor belt 101, for example, has one or more series of receiving holes or recesses aligned in the direction of travel of the infeed conveyor 10. Each sauerkraut cabbage A is then placed directly into, or rolled into, a receiving hole or recess with its core facing either downwards or upwards.When the core is turned downwards, the upper area of ​​the sauerkraut cabbage A is then substantially in contact with the conveyor belt 101, and when the core is turned upwards, it is the lower area of ​​the sauerkraut cabbage A that is then substantially in contact with the conveyor belt 101.

[0057] Thus, the sauerkraut cabbages A can be deposited loosely on the contact surface of the conveyor belt 101, whereupon each cabbage A rolls until separated from the others in a potentially random position, i.e., without overlapping. During such a step a) of positioning the sauerkraut cabbages A to be trimmed on the conveyor belt 101 of the infeed conveyor 10, neither the position nor the orientation of the upper and lower areas of the sauerkraut cabbages A on the contact surface of the conveyor belt 101 is predetermined. However, the position of the sauerkraut cabbages A and the orientation of their upper and lower areas can be determined. It should be noted, however, that from a statistical point of view, sauerkraut cabbages A tend to position themselves and stabilize in the resting position in which the core is turned upwards.

[0058] Furthermore, after the positioning step a) has been completed, each of the sauerkraut cabbages A placed on the conveyor belt 101 follows one another according to its direction of movement.

[0059] In particular, when the conveyor belt 101 is fitted with spikes or rods, the set of sauerkraut cabbages A then arranged on it forms a random overall pattern which is then stable during the drive of the conveyor belt 101 in particular.

[0060] On the other hand, when the conveyor belt 101 is provided with holes or alveoli or with studs forming a circle as shown in [Fig.3], the set of sauerkraut cabbages A then arranged on it forms a predetermined overall pattern which is then stable during the drive of the conveyor belt 101 in particular.

[0061] It should be noted that the contact surface of the conveyor belt 101 can take other forms depending on the agricultural products to be trimmed.

[0062] Next, the sauerkraut cabbages A, now stabilized in their resting position, move via the infeed conveyor 10 until they reach, preferably one by one, the preliminary viewing area. During this movement, the resting position of the sauerkraut cabbages A remains the same over time, at least until they reach the preliminary viewing area.

[0063] The feed conveyor 10 is then able to supply the preliminary viewing area.

[0064] Preferably, the speed of the feed conveyor 10 is adapted so that the sauerkraut cabbages A are kept immobile on the conveyor belt 101 which moves at an optimized speed to guarantee a predefined processing rate, for example, one that is high enough for the trimming device to be implemented on an industrial scale.

[0065] Advantageously, the useful length of the feed conveyor 10 is also adapted to advantageously allow good immobilization of the sauerkraut cabbages A bouncing or rolling on the conveyor belt 101.

[0066] This preliminary viewing area is at least partially covered by the preliminary viewing module 20 as can be seen in [Fig.1], it being understood that the latter is described here only by way of example.

[0067] Preferably, the plane of the entire optical lines of the pre-vision module 20 is substantially perpendicular to the plane in which the direction of movement of the conveyor belt 101 is contained, i.e. to the direction of movement of the sauerkraut cabbages A.

[0068] Furthermore, it should be noted that the speed of the feed conveyor 10 is adapted to guarantee sufficient acquisition time for the pre-vision module 20, the acquisition time being a function in particular of the resolution of the pre-vision module 20 as well as its angle of view.

[0069] The pre-vision module 20 according to this embodiment is an optical module which, in particular, includes a camera for this purpose. Preferably, the camera is configured to acquire one or more images of at least a part of the pre-vision area, preferably of only the sauerkraut cabbage A located there.

[0070] Advantageously, the pre-vision module 20 is located substantially perpendicular to the longitudinal plane of the conveyor belt 101 and above its contact surface. Thus, it is possible for it to view each of the portions of the sauerkraut cabbages A that are opposite the portions in contact with the conveyor belt 101 of the infeed conveyor 10. In this way, the pre-vision module 20 is configured to take images substantially from above of the sauerkraut cabbages A brought into the pre-vision zone, that is to say, to focus on the upper parts of the cabbages while the lower parts of the latter are in contact with the conveyor belt 101.

[0071] However, in an example of an embodiment not shown, the pre-vision module 20 is placed on a vertical wall while being able to observe the upper part of each of the sauerkraut cabbages A, that is to say the part which is viewable by the pre-vision module 20.

[0072] Furthermore, the camera is, in particular, connected to image processing means capable of analyzing the acquired images to determine certain characteristics of these sauerkraut cabbages A.

[0073] In particular, the image processing means make it possible to recognize the sauerkraut cabbages A, specifically to determine their perimeter and / or center, to locate each one on the conveyor belt 101, and also to identify the beginnings of their core when possible, that is, when the core is not located on the side, i.e., near or against, the conveyor belt 101. It is in this configuration that the beginnings of the cores are detectable. It is thus possible to determine whether the core of the sauerkraut cabbages A brought into the preliminary viewing area is facing upwards or downwards. In particular, when the beginnings of the cores are detectable, the upper area of ​​the sauerkraut cabbage A is then viewable by the preliminary vision module 20, the core being considered as being substantially facing upwards.However, the preliminary vision module 20, which recognizes a sauerkraut cabbage A without detecting its core, means that the upper area of ​​the sauerkraut cabbage A is essentially against the contact surface of the conveyor belt 101. In this case, its core is then facing downwards. It is therefore advantageous to turn this sauerkraut cabbage A so that its core is facing upwards, rather than downwards, so that it is visible.

[0074] According to one embodiment, the image processing means are programmed to automatically locate the sauerkraut cabbages A and / or detect the beginning of the cores. This is preferably carried out without human intervention, for example using an industrial PC or any other automated system or microcomputer known per se.

[0075] Advantageously, the image processing means associate location coordinates with the peripheries and / or centers of the sauerkraut cabbages A brought into the prior viewing area, in particular those for which the beginning of the cores is not detectable.

[0076] It should be noted, in particular, that the core's primer is detectable by the prevision vision module 20 when the core is facing upwards, since this primer has a color or light intensity (for example, color level or (gray level in the image taken) different from the rest of the sauerkraut cabbage A and its surroundings. For example, this starting point may appear as a roughly circular brown spot compared to the white rest of the sauerkraut cabbage A.

[0077] When the beginning of a particular sauerkraut cabbage is not detected, a preliminary repositioning step is carried out before the manipulator robot 50 grasps the sauerkraut cabbage in question.

[0078] Preferably, during this preliminary repositioning step, in the gripping zone of the gripper robot 30, which may overlap with the preliminary viewing zone, be entirely separate from it, or be downstream of it in the direction of movement of the conveyor belt 101, the sauerkraut cabbage A is grasped by the gripper robot 30.

[0079] It should be noted that the drive of the conveyor belt 101 may cease, slow down, or be modified during this preliminary repositioning step.

[0080] According to the embodiment illustrated in [Fig. 1], the preliminary viewing area is located upstream of the gripping area of ​​the gripping robot 30 in the direction of movement of the conveyor belt 101.

[0081] The grasping robot 30 is preferably a multi-articulated system for manipulating individual sauerkraut cabbages A with at least two degrees of freedom.

[0082] Preferably, the pre-vision module 20 is attached to the gripper robot 30 by means of a computer unit to which both the pre-vision module 20 and the gripper robot 30 are connected. In this way, the location coordinates of the periphery and / or center of the sauerkraut cabbage A, located within the pre-vision zone, are, for example, recorded in a storage element to which the computer unit is connected. This allows the gripper robot 30 to grasp the located sauerkraut cabbage A, with its core facing downwards, in a specific orientation.

[0083] In this way, the sauerkraut cabbage A, with its core facing downwards, is held in a gripping position by the robotic gripper 30, and then lifted from the conveyor 10 by the robotic gripper 30 for manipulation and rotation by a rotational movement of substantially 180° about a horizontal axis of rotation and about its initial position. In particular, the axis of rotation of this movement lies in a plane parallel to the longitudinal plane along which the conveyor belt 101 extends. Preferably, the axis of rotation is also substantially perpendicular to the axis defined by the direction of travel of the conveyor belt 101. Finally, after this rotation, the sauerkraut cabbage A is repositioned on the conveyor belt 101 in a new resting position in which its core is indeed facing upwards.

[0084] To do this, the gripping robot 30 includes a mobile arm configured to move in vertical translation along a direction substantially transverse to the longitudinal plane along which the conveyor belt 101 extends, in particular to lift the sauerkraut cabbage A relative to the conveyor belt 101. This mobile arm includes a first end fixed directly or indirectly to a base, and a second end equipped with a clamping system 301 for the perimeter P of the sauerkraut cabbage A.

[0085] As illustrated in [Fig. 2], the clamping system 301 comprises a frame 302 which is here made of steel sheets, the whole being dimensioned according to the sauerkraut cabbages A to be handled. The frame 302 is preferably oblong in shape.

[0086] Two clamping flanges, 3011 and 3012, are fixed substantially perpendicularly to the frame 302. At least one of these two flanges, 3011 and 3012, is fixed to the frame 302 by means of a sliding joint, while the other is stationary relative to the frame 302. This allows the flange, 3011 or 3012, fixed by the sliding joint, to move in translation, preferably in a straight line, relative to the other flange, 3011 or 3012, in order to move closer to or further away from it. This translational movement is, for example, actuated by a motor or by any appropriately sized cylinder.

[0087] According to one variant, the two flanges, 3011 and 3012, are fixed to the chassis 302 by means of a sliding connection.

[0088] Each clamping flange, 3011 and 3012, includes a finger 3111 and 3112, preferably oblong in shape. The fingers 3111 and 3112 are attached to the flanges, 3011 and 3012, by means of a pivot joint. At least one area of ​​the fingers includes a contact element 3113 and 3114, for example made of polymer, intended to be in contact with the sauerkraut cabbages A to be handled.

[0089] Preferably, the pivot joint is provided substantially in the middle of each finger 3111 and 3112 and the contact element 3113 and 3114 is fixed on one of the ends of the fingers 3111 and 3112.

[0090] These fingers 3111 and 3112 are also configured to achieve a rotational movement of at least substantially equal to 180° of the sauerkraut cabbage A clamped between the flanges, 3011 and 3012, and in contact with the contact elements 3113 and 3114. This rotation is, for example, operated by a motor or by any means dimensioned accordingly.

[0091] In this way, the clamping system 301 makes it possible to apply a straight clamping, i.e., a vise-like clamping, against two sides of the perimeter of the sauerkraut cabbage A in a direction transverse to the specific length along which its core is substantially extended, and also a rotation of the sauerkraut cabbage A with respect to the straight clamping direction. In particular, these sides are opposite each other. and extend transversely to the longitudinal plane along which the conveyor belt 101 extends.

[0092] In particular, the clamping system 301 is configured to be in an open position and in a closed position, i.e., clamping or gripping. In the open position, the fingers 3111 and 3112 are sufficiently separated to allow a sauerkraut cabbage A to be placed between them.

[0093] Preferably, the gripping robot 30 brings the clamping system 301 into this open position from the top of the sauerkraut cabbage A, due to the connection of the gripping robot 30 with the computer unit itself connected to the storage means in which the location coordinates of the perimeter and / or center of the sauerkraut cabbage A are recorded due to its passage through the prior viewing zone.

[0094] Then, the gripping robot 30 is automatically controlled by the computer unit to move the clamping system 301 into a position for gripping the sauerkraut cabbage A in which the sauerkraut cabbage A is grasped, following the relative coming together of the two fingers 3111 and 3112.

[0095] After the gripping robot 30 grasps the sauerkraut cabbage A, the control unit optionally commands the movable arm to apply an upward translational movement to the cabbage so that it moves at least slightly away from the conveyor belt 101. Then, the control unit commands the two fingers 3111 and 3112 to rotate them approximately 180° so that the core of the grasped sauerkraut cabbage A is now facing upwards. Then, the movable arm of the gripping robot 30 applies a downward vertical translational movement to reposition the sauerkraut cabbage A on the conveyor belt 101, the sauerkraut cabbage A now being in the resting position in which the beginning of the core is visible because it is located in the upper part of the cabbage opposite the area in contact with the conveyor belt 101.

[0096] It should also be noted that this clamping system 301 around the sauerkraut cabbage A allows it to adapt to various types and sizes of sauerkraut cabbage A. The clamping system 301 is adjusted to exert a prescribed clamping force around the sauerkraut cabbage A, so as not to damage it.

[0097] It should be noted that, when repositioning the sauerkraut cabbage A on the conveyor belt 101, the elastically deformable studs undergo elastic deformation again to stabilize / lock themselves.

[0098] Thus, all the sauerkraut cabbages A to be trimmed which move during a step b) of movement towards the viewing area by setting in motion the conveyor belt 101 from the preliminary viewing area to the viewing area, are in a rest position in which the core is turned upwards, that is- that is substantially directed transversely to the longitudinal plane of the conveyor belt 101 and in which the beginning of the core of each of these sauerkraut cabbages A is visible by first vision means 40 covering at least partially the viewing area.

[0099] The first vision means 40 are at least configured to accurately detect the location of the core's starting point, and also to precisely determine the outline of the sauerkraut cabbage A. This makes it possible to create a three-dimensional representation of its core, a representation which, depending on the requirements, is recorded in a storage unit. This representation can be viewed by an operator.

[0100] Preferably, the first vision means 40 comprise an optical system, for example infrared, consisting of one or more optical modules 413.

[0101] Preferably, the optical system contains three optical modules 413.

[0102] Preferably, the optical modules 413 are identical and interchangeable.

[0103] Preferably, each optical module 413 is oriented in different directions so as to cover a continuous field of view. In particular, each optical module 413 has a field of view in the horizontal plane of between 120° and 360°. The juxtaposition of the three optical modules 413 makes it possible to obtain a peripheral field of view of 360°, without any blind spots.

[0104] Advantageously, the fields of vision in the horizontal plane of two adjacent optical modules 413 partially overlap. Preferably, each point of the peripheral field of vision of the system is covered by at least two optical modules 413.

[0105] Preferably, each optical module 413 comprises at least one video camera. The use of cameras ensures a compromise between limited cost and high performance in order to obtain optimal spatial resolution. Advantageously, the number of cameras is determined based on the resolution of each camera and the optics that define the angular aperture of each camera. Preferably, the viewing axis of a video camera is directed, or rotated, downwards and is offset by less than 30° to 45° from the vertical axis so that each viewing axis converges on the cabbage A located in the viewing area, in particular located at the center of the triangle formed by the three optical modules 413.

[0106] Preferably, each optical module 413 includes an electronic processing device connected to each of the video cameras of the optical system and adapted to be connected to a management system, in particular a centralized one. Thus, each optical module 413 makes it possible to process the data from each camera locally before transmitting it, which makes it possible to accelerate the detection of the location of the primer of the The core of the sauerkraut cabbage was placed in the viewing area, and also to precisely determine its perimeter.

[0107] Preferably, the video cameras are ultra-high-definition cameras (commercial designation 4K) in order to benefit from optimal resolution. This is particularly useful for detecting the beginning of a core, which may be small.

[0108] Advantageously, the processing devices allow the selection of the ultra-high definition data that must be transmitted, which allows real-time detection with inexpensive processing devices with limited resources.

[0109] Preferably, as illustrated in [Fig.3], the optical system comprises a support base 41 on which the three optical modules 413 are mounted.

[0110] Preferably, the support base 41 comprises a substantially vertical mounting rod 411 to which three radial arms 412 are attached, supporting one or more optical modules 413. The optical modules 413 are positioned at the ends of the arms 412 so as to allow peripheral viewing, as will be described later. Preferably, in use, the optical modules 413 extend in the same horizontal plane, the orientation of the support being advantageously irrelevant.

[0111] In this example, the support base 41 is in the form of a flattened, triangular piece adapted to be fixed horizontally, for example, to a bracket by means of the substantially vertical fixing rod 411. The support base 41 is preferably made of metal to provide high mechanical strength, but other materials may also be suitable.

[0112] Each branch 412 has a length of between 50 cm and 150 cm, preferably between 70 cm and 100 cm. It should also be noted that the greater the spacing between two optical modules 413, the more accurately the three-dimensional position of the core can be estimated by stereoscopy. This is particularly advantageous for detection in noisy environments (presence of other objects in video images). Furthermore, such a length allows for a compact optical system, enabling quick and convenient transport and installation.

[0113] With reference to [Fig. 3], the arms 412 are angularly separated in a horizontal plane of use by an angle between 80° and 160° so as to separate the optical modules 413 from each other and improve the estimation of the three-dimensional position by stereoscopy. Preferably, the arms 412 are separated by a 120° angle. This allows you to view the sauerkraut cabbage A in 360° and to visualize it in its entirety.

[0114] Advantageously, the images obtained by the aforementioned optical modules 413 are configured to be used to acquire different data, preferably falling into at least three categories, which can then be used to represent the core in three dimensions after generating a representative core model. Thus, in this process, an acquisition step (c) is performed in the viewing area, acquiring first, second, and third data.

[0115] The initial data represents the location of the sauerkraut cabbage A on the conveyor belt 101. Using this initial data, the manipulator robot 50 can subsequently pick up the sauerkraut cabbage A, as will be described later in this description. The manipulator robot 50 then comprises a movable arm 51 whose range of motion allows it to pick up the sauerkraut cabbage A.

[0116] The second set of data represents the location of the stump start from which the stump of the product extends. Using this second set of data allows us to estimate the orientation of the stump, in particular to estimate the axis around which the stump extends within the sauerkraut cabbage A.

[0117] The third data points represent the volume of sauerkraut cabbage A. It should be noted that by using these third data points, it is possible, in particular, to estimate the position of the center of gravity of sauerkraut cabbage A. Using these third data points also allows for estimating the shape of the core, in particular its dimensions, especially its diameter. Furthermore, using these third data points allows for adjusting the direction of the estimated axis around which the core extends within sauerkraut cabbage A.

[0118] Using the first and second data, it is also possible to determine the coordinates of a characteristic point of the core, for example its center. For example, this characteristic point is a function of two intersecting or perpendicular axes XI and X2 defining a plane, the characteristic point representing the core in two dimensions.

[0119] Also, using the second and third data, it is possible to determine a specific length of the core extending from the characteristic point at the start of the core. The specific length is along an X3 axis that coincides with the estimated axis around which the core extends, this X3 axis passing through the plane defined by the XI and X2 axes and passing through the characteristic point. This allows us to estimate the depth of the core inside the sauerkraut cabbage A.

[0120] It should be noted that the depth of the core in sauerkraut cabbage A, in other words the specific length of the core, is a value which is generally known in advance and is between 70 and 180 mm.

[0121] Advantageously, a step d) is then carried out of generating a core model of the sauerkraut cabbage A from at least the second and third data points. This also makes it possible to accurately estimate, and to represent in three dimensions, the core extending inside the sauerkraut cabbage A located in the viewing area.

[0122] Preferably, the core model is corrected using artificial intelligence which, from a neural network and a database of images taken by the optical modules 413, is configured to correct, where necessary, the generated core model so that it reproduces as closely as possible the real core which is, in particular, a function of the volume of the sauerkraut cabbage A, the geometry of its perimeter and the appearance of the beginning of its core.

[0123] In particular, the analysis of the second and third data makes it possible to estimate, in addition to its depth, the importance of the core, that is to say very schematically its diameter so as to be able to subsequently remove it with precision while minimizing the quantity of edible parts which will also be removed and by considering its estimated specific length.

[0124] As indicated above, the generated core model is then saved in the storage unit.

[0125] Furthermore, the combined use of the first data, the coordinates in XI, X2, X3 of the characteristic point of the core, and the value of the diameter of the core estimated then using the first vision means 40 also allows to calculate the position of the core estimated relative to the manipulator robot 50, in particular relative to clamping means 52 connected to its mobile arm 51.

[0126] Preferably, from the various data acquired above, a computer determines the relative movement that the mobile arm 51 of the manipulator robot 50 must adopt in order to be able to grasp, or squeeze, the sauerkraut cabbage A and also to manipulate it while ensuring that the beginning of the core remains accessible and visible.

[0127] In this configuration, the computer is connected to a control instruction determination unit which is itself connected to the manipulator robot 50 so as to control its movements, in particular those of the mobile arm 51 and the clamping means 52.

[0128] In this way, a step e) of determining the control instruction from various acquired data, followed by sending the control instruction to the manipulator robot 50, is carried out. This allows, in particular, the computer to calculate The trajectory that the mobile arm 51 must adopt relative to the sauerkraut cabbage A to be correctly gripped ensures the automatic guidance of the mobile arm 51. This also allows the computer to calculate the position of the clamping means 52 at which their activation must take place to grip the sauerkraut cabbage A. This trajectory and position are calculated based in particular on the first representative data mentioned above, i.e. the location of the sauerkraut cabbage A on the conveyor belt 101. Preferably, this trajectory and position are also calculated based on the second and third representative data so that the sauerkraut cabbage A is gripped by the clamping means 52 in a direction transverse to the longitudinal axis around which the generated core model extends.

[0129] In particular, as illustrated in [Fig.4], this manipulator robot 50 is a multi-articulated robot, preferably with at least six axes, whose wrist 511 is extended by clamping means 52 configured to grasp the sauerkraut cabbage A located on the conveyor belt 101.

[0130] The manipulator robot 50 includes a frame 512 holding the articulated mobile arm 51 at the end of which are the clamping means 52. This allows the mobile arm 51 to move the clamping means 52 by the combination of six classic elementary movements characteristic of six-axis robots of the prior art.

[0131] Preferably, the clamping means 52 comprise a clamp 520 having two movable arms 521 and 522 attached to a frame 523 by a sliding joint to apply clamping force to a portion of the circumference of the sauerkraut cabbage A. These movable arms 521 and 522 are configured to move closer together in order to grasp the sauerkraut cabbage A in a closed position of the clamp 520, or to move apart in order to release it in an open position of the clamp 520. The movements of the movable arms 521 and 522 are, for example, actuated by a motor or by any appropriately sized cylinder. The direction of movement of these movable arms 521 and 522 is preferably substantially rectilinear.

[0132] According to one embodiment, only one arm is mobile in translation to start moving while the other arm is fixed.

[0133] Each of its movable translational arms 521 and 522 is provided with a contact element 532 and 533 configured to be in contact with the sauerkraut cabbages A to be handled. For example, these contact elements 532 and 533 are cylindrical in shape.

[0134] It should be noted that the clamping means 52 and the contact elements 532 and 533 are adapted to various types and sizes of sauerkraut cabbage A. It should be noted that the clamping means 52 are adjusted to exert a prescribed clamping force around the sauerkraut cabbage A, so as not to damage it.

[0135] Furthermore, the movable arm 51 is conventionally configured to pivot the clamping means 52, in particular the chassis 523, by an angle i around a first axis, by an angle j around a second axis passing through the wrist 511 and by an angle k around a third axis passing through the wrist 511 and intersecting the second axis of the wrist 511.

[0136] Advantageously, the contact elements 532 and 533 are fixed to the translationally movable arms 521 and 522 of the clamp 520 by a pivot joint along a fourth axis of rotation substantially parallel to the direction of movement of the translationally movable arms 521 and 522. In this way, it is possible to apply an additional rotational movement to the sauerkraut cabbage A held between the two contact elements 532 and 533 in order to precisely and quickly adjust the position of the sauerkraut cabbage A then gripped relative to this fourth axis of rotation.

[0137] It should be noted that, at each of its joints and rotations, including those around the fourth axis of rotation, the manipulator robot 50 includes a rotary motor to which a position encoder is associated. The various rotary motors and their associated position encoders are connected, via wired or wireless communication, to the control instruction determination unit, which is itself connected to the computer.

[0138] Thus, once the clamping means 52 are correctly positioned on the sauerkraut cabbage A, that is, substantially in a direction transverse to the longitudinal axis around which the generated core model extends, the clamping means 52 close after receiving a closing command issued by the instruction determination unit. Thus, during a step f), the manipulator robot 50 grasps the sauerkraut cabbage A via its clamping means 52 after their activation, preferably after the relative proximity of the translationally moving arms 521 and 522.

[0139] Preferably, the position of the clamping means 52 of the manipulator robot 50 on the periphery of the sauerkraut cabbage A to be grasped within the manipulation zone of the manipulator robot 50 is controlled based on calculations by the computer, which preferably uses artificial intelligence. Preferably, this grasping step is performed using a neural network and a database of images taken by the optical modules 413. For example, each image is associated with a particular position of the sauerkraut cabbage A to be grasped.

[0140] Preferably, once grasped, the cabbage stalk is opposite the frame 523 of the clamping means 52.

[0141] Then, according to the calculations obtained by the computer, possibly associated with artificial intelligence, the manipulator robot 50 manipulates the sauerkraut cabbage A then seized and moves it from the manipulation zone of the manipulator robot 50, to the trimming zone 60, applying pivots, rotations and translations to the cabbage.

[0142] During this manipulation, the beginning of the core remains opposite the chassis 523.

[0143] Conventionally, this manipulation from the handling zone of the manipulator robot 50 to the trimming zone 60 is controlled by automated control means configured to move the movable arm 51 in translation and rotation to the trimming zone and, preferably, to place the sauerkraut cabbage A in contact with a stabilizing means 602 comprising a substantially horizontal flat support 601 located in the trimming zone. The stabilizing means 602 is configured to hold the sauerkraut cabbage A stationary once it has been placed. Stabilizing means 602 are known and can be of all types and shapes configured to hold the sauerkraut cabbage A stationary during its subsequent trimming.

[0144] Advantageously, to view the position of the sauerkraut cabbage A in the trimming zone 60, second vision means 700 are partly fixed on the manipulator robot 50 and configured to view the sauerkraut cabbage A grasped by the gripper 520.

[0145] Preferably, these second vision means 700 are configured to identify the position of the sauerkraut cabbage A in the trimming zone 60.

[0146] Preferably, the second viewing means 700 are arranged so as to view the beginning of the core of the sauerkraut cabbage A grasped by the clamp 520.

[0147] Preferably, the second vision means 700 are partly connected to the storage unit in which is stored the core model which was previously generated by the first vision means 40 and which corresponds to the sauerkraut cabbage A seized by the manipulator robot 50.

[0148] In this way, the entered sauerkraut cabbage A is identified by the core model that was previously generated. This makes it possible to associate the entered sauerkraut cabbage A with its core model, and in particular to estimate the position of the longitudinal axis of the generated core model relative to the actual orientation of the entered sauerkraut cabbage.

[0149] To achieve this, the second vision means 700 preferably include an optical system capable of taking images.

[0150] According to one feature of the invention, the optical system includes a camera. This camera is configured to acquire data defining the volume of the captured sauerkraut cabbage and the position of the beginning of its core. Based on this data and the generated core model, which the second vision means 700 have access to, the longitudinal axis around which the generated core model extends is identified.

[0151] This identification is preferably carried out using a computing unit with which the second vision means 700 communicate.

[0152] To facilitate viewing and ensure precise identification of the longitudinal axis of the generated core model, the optical system is preferably at least partially fixed against the frame 523, for example between the translationally movable arms 521 and 522. This allows the principal axis of the viewing angle of the optical system to be perpendicular to the axis of movement of the translationally movable arms 521 and 522. In this way, the start of the captured sauerkraut cabbage A can be covered by the viewing angle of the optical system, and therefore viewed by it.

[0153] Preferably, the control of the position of the sauerkraut cabbage A grasped by the gripper 520 by the second vision means 700 is carried out in real time.

[0154] In this way, the manipulator robot 50 is able to precisely deposit the sauerkraut cabbage A on the flat support 601 by controlling the orientation of its core on the basis of the orientation of the longitudinal axis of the core model which has been generated previously.

[0155] In one embodiment, the trimming zone 60 contains trimming means (not shown in the figures) positioned above the flat support 601 so as to trim sauerkraut cabbages A placed in the trimming zone 60, which is, in particular, in contact with a stabilizing means 602. In this configuration, the sauerkraut cabbages A placed in the trimming zone have their cores oriented, preferably, upwards so that their tips are directly accessible by these trimming means. The trimming means are defined, in particular, by a predefined and known trimming axis.

[0156] It is then necessary to place the sauerkraut cabbage A in contact with one of the stabilization means 602 so that the trimming axis can be aligned with, or parallel to, the axis around which the generated core model corresponding to the sauerkraut cabbage actually placed against the stabilization means 602 extends.

[0157] Preferably, these second vision means 700 are connected to the control instruction determination unit so as to modify the position of the sauerkraut cabbage A according to the orientation of the trimming axis before placing it against the stabilization means 602.

[0158] These second vision means 700 also communicate with the processing unit connected to the automated control means, which have access to the coordinates of the trimming axis, so as to modify the position of the sauerkraut cabbage A based, in particular, on the data from the second vision means 700. In this way, the manipulator robot 50 adjusts the position of the mobile arm 51 of the manipulator robot 50 according to the positioning of the trimming axis and the orientation of the longitudinal axis of the generated core model, this adjustment then being viewed by the second vision means 700. The control means are then preferably connected to the computer and, preferably, to the determination unit of a command instruction in order to make the trimming axis coincide with the longitudinal axis of the core model generated in the trimming zone.

[0159] To modify the orientation of the captured sauerkraut cabbage A, before being placed in contact with the stabilization means 602, the contact elements 532 and 533 of the translationally moving arms 521 and 522 apply a rotation to the captured sauerkraut cabbage A to further adjust the orientation of the longitudinal axis around which the generated core model extends with respect to the core axis.

[0160] This rotation is actuated by the contact elements 532 and 533 on the basis of the images obtained by the optical system of the second vision means 700. To do this, the control means for the rotation of the contact elements 532 and 533 are controlled by the computer and are subject to the second vision means 700.

[0161] This allows for a step (g) of adjusting the trimming position of the sauerkraut cabbage A relative to the trimming axis. In this way, the angle of inclination between the longitudinal axis around which the generated core model extends and the trimming axis is corrected so that it is approximately equal to a predetermined value.

[0162] Advantageously, the processing unit is configured to adjust the position of the mobile arm 51 of the manipulator robot 50 in order to guarantee an angle of inclination between the longitudinal axis around which the generated core model extends and the core-cutting axis of between 3° and 7°.

[0163] It should be noted that the trimming axis is preferably fixed. Thus, only the orientation of the captured sauerkraut cabbage A is modified to adjust the aforementioned angle of inclination.

[0164] Preferably, the position of the sauerkraut cabbage A in the trimming zone is controlled based on calculations by the computer, which may use artificial intelligence, and the processing unit, which identifies the longitudinal axis around which the generated core model extends. Preferably, this adjustment step is performed using a neural network and a database of images taken by the optical system of the second vision system. For example, each image is associated with a particular position of the sauerkraut cabbage A, specifically of the generated core model, before it is trimmed.

[0165] Finally, once the longitudinal axis around which the core of the generated model extends and the trimming axis are substantially aligned, or parallel, as described above, the manipulator robot 50, preferably, detaches itself from the sauerkraut cabbage. Then, a trimming step h) of the sauerkraut cabbage A is performed to remove the core along the entire specific length of the generated core model.

[0166] In one embodiment prior to trimming, the sauerkraut cabbage A placed against the stabilizing means 602 can be moved, for example via a conveyor, until it reaches the level of the means of clipping, in particular at the level of its clipping axis.

[0167] In another embodiment, the trimming means are placed at the level of a sauerkraut cabbage reception area in the trimming area 60 so that the trimming axis can be directly aligned with the axis of the generated core model.

[0168] Moreover, the clipping means employed here are those conventionally used. In particular, they include a drill that is known per se and adapted for clipping agricultural products along the clearly defined clipping axis.

[0169] Preferably, the trimming means are connected to the storage unit in which the core model generated by the first vision means is stored. This allows the trimming means to know the specific length of the generated core model.

[0170] For example, the drill is a hole saw with a drill bit diameter of 10 cm or less, preferably 8 cm or less. In this way, it is possible to remove the entire core, and also to minimize the edible part that is removed at the same time and which is located at the periphery of the core.

[0171] Advantageously, the diameter is approximately less than or equal to 6 cm insofar as, with the aid of the device according to the invention, it is possible to place precisely the trimming axis in relation to the axis around which the generated core pattern extends, ideally making them coincide.

[0172] Preferably, during trimming, the robot no longer holds the sauerkraut cabbage A which is placed on spikes as indicated above.

[0173] The trimming process begins, and the hole saw descends until it is in contact with the sauerkraut cabbage A to be trimmed. Using its probing function, the hole saw detects the sauerkraut cabbage A. The trimming depth is calculated based on the detection of the sauerkraut cabbage A.

[0174] To do this, the drill is operated by suitable drive means configured to lower the drill in a straight line towards the sauerkraut cabbage A, then trim it along its trimming axis, before raising it again once the specific length of the generated core pattern has been reached.

[0175] In this way, such trimming makes it possible to trim the sauerkraut cabbage A with great precision, that is to say along the average axis around which the core extends, to the right depth, without removing too much material while guaranteeing the complete removal of the core, and without the sauerkraut cabbage A being pierced through and through.

Claims

1. Demands A device for trimming an agricultural product, such as a fruit or vegetable, delimited by a perimeter defining a volume in which a core extends over a specific length from a specific area of ​​the perimeter, the device comprising a feed conveyor (10) containing a conveyor belt (101) extending along a longitudinal plane configured to move, in a direction of movement, the product to be trimmed towards a viewing area, the conveyor belt (101) being configured to maintain the product in a rest position in which the core is substantially directed transversely to the longitudinal plane of the conveyor belt (101) and in which the specific area of ​​the perimeter is visible by first viewing means (40) covering at least partially the viewing area,the first vision means (40) being configured to acquire at least first data representative of the location of the product relative to the conveyor belt (101), second data representative of the location of the specific area of ​​the periphery from which the core of the product extends, and third data representative of the volume of the product, a unit for determining a control instruction, from at least the first and second data, communicating with a manipulator robot (50) comprising at least one movable arm (51) equipped with clamping means (52) for, in a product gripping position, grasping the product according to the control instruction, in a direction transverse to the longitudinal axis around which the core extends, automated control means configured to move in translation and rotation, when the clamping means (52) are in the gripping position,the movable arm (51) to a trimming position located in a trimming zone in which the longitudinal axis around which the core extends is substantially aligned with a trimming axis, second vision means communicating with a data processing unit connected to the automated control means, the second vision means covering at least partially the trimming zone and being configured to visualize the trimming axis and adjust, via the processing unit, the position of the movable arm (51) of the manipulator robot, (50) in order to align the axis around which the core extends with the trimming axis, the trimming device further comprising means for trimming the product configured to remove the core over the specific length of the core along the trimming axis from the area of ​​the periphery from which the core extends.

2. A trimming device according to claim 1, further comprising a pre-viewing zone located upstream of the viewing zone, in which a pre-viewing module (20) configured to view the product is placed.

3. A trimming device according to any one of claims 1 or 2, further comprising a gripping robot (30) configured to grasp the product and impart a rotation to it by a rotational movement substantially equal to 180°C about an axis of rotation inscribed in a plane substantially parallel to the longitudinal plane along which the conveyor belt (101) extends.

4. A trimming device according to any one of claims 1 to 3, wherein the contact surface of the conveyor belt (101) with the product is provided with spikes implanted substantially perpendicular to the longitudinal plane of the conveyor belt (101).

5. A trimming device according to any one of claims 1 to 4, wherein the processing unit is configured to adjust the position of the movable arm (51) of the manipulator robot (50) in order to guarantee an angle of inclination between the longitudinal axis around which the core extends and the trimming axis of between 3° and 7°.

6. A nibbling device according to any one of claims 1 to 5, wherein the nibbling means comprise a drilling means configured to move along the nibbling axis.

7. A clipping device according to any one of claims 1 to 6, wherein the second vision means are mounted on the manipulator robot (50).

8. A method for trimming an agricultural product, such as a fruit or vegetable, delimited by a perimeter defining a volume in which a core extends over a specific length from a specific area of ​​the perimeter containing a core, the method being implemented by the trimming device according to any one of the preceding claims and comprising the following steps: a. positioning of the product to be trimmed on the conveyor belt (101) of the infeed conveyor (10), the product to be trimmed being held in the rest position, b. movement of the product to be trimmed towards the viewing area by setting in motion the conveyor belt (101), c. acquisition, in the viewing area, of at least the first data representing the location of the product relative to the conveyor belt (101), the second data representing the location of the specific area of ​​the perimeter from which the core of the product extends, and the third data representing the volume of the product, d. generation of a product core model from at least the second and third data points so as to estimate at least the specific length of the product core, e. determination of the command instruction from at least the first and second data followed by sending the command instruction to the manipulator robot (50), f. product grasping by the manipulator robot (50) followed by the movement of the grasped product from the viewing area to the trimming area in which the product is in the trimming position in which the longitudinal axis around which the generated core model extends is substantially aligned with the trimming axis, g. adjusting the product's trimming position relative to the trimming axis so that the angle of inclination between the determined longitudinal axis around which the generated trimming pattern extends and the trimming axis is approximately equal to a predetermined value, h. trimming of the product to remove the core over the entire specific length of the core from the specific area of ​​the perimeter from which the core extends.

9. A method according to claim 8, further comprising a step prior to step a) of repositioning during which the product is grasped by the gripping robot (30), then manipulated to impart a rotation to it by a rotational movement substantially equal to 180°C in order to position it in the rest position in which the specific area of ​​the periphery from which the core extends is visible by the first vision means (40) implemented subsequently.