Harvesting robot with storage trolley interface

Abstract

A harvesting robot comprises a storage trolley (2) having a horizontal first shelf (8) for empty crates (10a) and a horizontal second shelf (12) for filled creates (10b). A robot trolley (4) having a harvesting arm (34) and a traction engine (28) is located at the front of the robot. An interface section (6) connects the robot trolley (4) and the storage trolley (2). The interface section (6) contains a pulling mechanism (40) adapted to pull empty crates (10a) from the first shelf (8) and a pushing mechanism (48) adapted to push filled crates (10b) onto the second shelf (12). This design allows to use conventional storage trolleys (2) in a harvesting robot. Further, the interface section (6) is equipped to automatically and efficiently unstacking empty crates (10a) and stacking filled crates (10b).

Description

[0001] Harvesting robot with storage trolley interface

[0002] Technical Field

[0003] The invention relates to a harvesting robot as well as to a method for operating such a harvesting robot.

[0004] This type of robot allows an automatic or semi-automatic harvesting system that can be used in modern farming.

[0005] Background Art

[0006] WO 2022 / 234573 Al describes a harvesting robot having a storage trolley, a robot trolley, and an interface section, the latter for retrieving empty crates from the storage trolley and for feeding filled crates to the storage trolley. For this purpose, the storage trolley has inclined shelves to feed the empty crates to the interface section and to convey the filled crates away from the interface section.

[0007] Disclosure of the Invention

[0008] The problem to be solved by the present invention is to provide a harvesting robot of this type as well as a method for operating it that are well-adapted to fit into conventional farming practice.

[0009] This problem is solved by the independent claims.

[0010] Accordingly, the harvesting robot comprises at least the following elements:

[0011] - A storage trolley: The storage trolley has a horizontal first shelf for empty crates and a horizontal second shelf for filled crates. It provides empty crates that are to be filled and receives the filled crates.

[0012] - A robot trolley having a harvesting arm and a traction engine: The robot trolley is adapted to move through a farming site using its traction engine, and it can harvest fruits or vegetables using the harvesting arm. - An interface section connecting the robot trolley and the storage trolley: The interface section has a pulling mechanism adapted to pull empty crates from the first shelf of the storage trolley and a pushing mechanism adapted to push filled crates onto the second shelf of the storage trolley.

[0013] This design is based on the understanding that, in contrast to the prior art, the interface section should and can be equipped to interoperate with a trolley having horizontal shelves. This allows the robot to use conventional harvesting trolleys for storing the empty crates. These harvesting trolleys have been used for conventional (manual) harvesting, and they are, per-se, not equipped to cooperate with a robot system. However, by providing the interface section with a pulling mechanism and a pushing mechanism as mentioned, the harvesting robot can use storage trolleys with non-automated, horizontal trays.

[0014] Advantageously, the pulling mechanism comprises a retainer that is movable along the shelf and a haulage mechanism adapted to pull the retainer towards the interface section. This allows the user to place the retainer against a crate or stack of crates on the first shelf, whereafter the haulage mechanism can be operated to pull the retainer and the crate or stack of crates towards the interface section.

[0015] The haulage mechanism advantageously comprises a drum, a drum drive connected to the drum, and a rope member extending between the drum and the retainer. When the drum drive rotates the drum, the rope member is wound to move the retainer.

[0016] By definition (see below), the storage trolley is arranged at the back side of the interface section and the harvesting arm is located at the front side of the interface section. The robot may further comprise a filling location located at the front side of the interface section, i.e., at a place that can be accessed by the harvesting arm. In that case, the interface section may be adapted to position an empty crate at the filling location and to retrieve a full crate from the filling location, and the harvesting arm is adapted to fill the crate at the filling location. Hence, the crate can be brought to a place where the harvesting arm can access it easily.

[0017] The interface section may further comprise the following elements:

[0018] - A stack holder. - A vertical guide. This may comprise one or more, advantageously at least two, vertical guide rails or guide bars.

[0019] - A transport frame displaceably mounted to the vertical guide. The transport frame can therefore be displaced vertically along the vertical guide.

[0020] - A lift drive operatively connected to the transport frame. The lift drive is adapted to vertically move the transport frame.

[0021] The stack holder may be adapted to hold a stack of crates. Further, the stack holder and the transport frame may be adapted to transfer the bottommost crate of the stack in the stack holder from the stack holder to the transport frame.

[0022] Such transfer capability may, e.g., be implemented as follows:

[0023] - The stack holder comprises first movable support elements on opposite sides of the stack holder. These first movable support elements can be used to engage a crate in the stack of crates. They are movable between a first position where they are positioned to engage a crate in the stack and a second position where they are positioned to allow crates of the stack to move vertically past them.

[0024] - The transport frame comprises second movable support elements on opposite sides of the transport frame. These second movable support elements can also be used to engage a crate in the stack of crates. They are also movable between a first position where they are positioned to engage a crate in the stack and a second position where they are positioned to allow crates of the stack to move vertically past them.

[0025] The first and second movable support elements can be used to selectively hold crates. And since the transport frame is movable vertically, it can be used to lift and / or lower the stack in respect to the first movable support elements.

[0026] As to the pushing mechanism, it may be implemented by comprising the following elements:

[0027] - A rail member that extends horizontally backwards to overlap with part of the length of the storage trolley.

[0028] - A pusher member mounted in horizontally displaceable manner on the rail member between a first position within the interface section and a second position within the storage trolley. The pusher member is adapted and structured to push one or more crates backwards from the interface section onto the storage trolley. Advantageously, the pusher member is located somewhat higher than the second shelf. In particular, the vertical distance between the pusher member and the second shelf is in the range between 1 cm and 5 cm.

[0029] - A pusher drive operatively connected to the pusher member. The pusher drive is adapted to move the pusher member back and forth along the rail member between the first and second position.

[0030] This design allows to push a crate or a stack of crates from within the interface section onto the storage trolley

[0031] The invention also relates to a method for operating such a robot. Said method comprises at least the following steps: pulling a stack of empty crates from the first shelf into the interface section, filling the empty crates sequentially by means of the harvesting arm, and pushing the filled crates from the interface section to the second shelf.

[0032] Brief Description of the Drawings

[0033] The invention will be better understood and objects other than those set forth above will become apparent when consideration is given to the following detailed description thereof. Such description makes reference to the annexed drawings, wherein:

[0034] Fig. 1 shows an embodiment of a harvesting robot,

[0035] Fig. 2 illustrates the pulling mechanism,

[0036] Fig. 3 shows the stack holder, transport frame, and vertical guide,

[0037] Fig. 4 shows the stack holder with part of the pulling mechanism,

[0038] Fig. 5 shows the drum and the drum drive,

[0039] Fig. 6 shows the stack holder from below,

[0040] Fig. 7 shows the transport frame from below (with the stack holder not shown),

[0041] Fig. 8 shows the harvesting arm and the filling location before the crate is unfolded, Fig. 9 shows the harvesting arm, the filling location, an unfolded crate, and the crate platform,

[0042] Fig. 10 shows the crate platform and the coupling,

[0043] Fig. 11 shows the crate platform in its operating position,

[0044] Fig. 12 shows the crate platform in its service position, and

[0045] Fig. 13, parts A - F, illustrate four steps when (A) transferring a stack of crate into the interface section, (B) and (C) depositing the stack on the support elements of the stack holder, (D) - (F) transferring the bottommost crate to the transport frame.

[0046] Modes for Carrying Out the Invention

[0047] Definitions

[0048] By definition, the storage trolley is located "behind" the robot trolley. Hence, terms such as "forward" and "in front of" define the direction from the storage trolley to the robot trolley, and terms such as "backwards" and "behind" define the direction from the robot trolley to the storage trolley.

[0049] In the following, the term "fruits" designates the objects being harvested. The term includes classical fruits and berries but also vegetables or other plant parts that are to be harvested or removed from the plant. The plant parts can also be parts that were removed from the plants in a pruning process, blossom removal, or a clearing process, i.e., they need not be edible.

[0050] Overview

[0051] Fig. 1 shows an overview of an embodiment of a harvesting robot. The device comprises a storage trolley 2, a robot trolly 4, and an interface section 6 connecting robot trolley 4 to storage trolley 2. Robot trolley 4 is located at the front of the robot, and storage trolley 2 at its rear, with interface section 6 located between them.

[0052] Storage trolley 2 has a first shelf 8 for storing empty crates 10a and a second shelf 12 for storing full crates 10b. In the normal operating position of the robot, both shelves 8, 12 extend horizontally as known from conventional storage trolleys in this field.

[0053] In the shown embodiment, the empty crates 10a are folded while the full crates 10b are unfolded, but the harvesting robot can also handle crates that are unfolded also in their empty state.

[0054] In the shown embodiment, the empty crates 10a as well as the full crates 10b arranged in stacks. For example, Fig. 1 shows three stacks 14 of empty crates 10a and one stack 16 of full crates 10b.

[0055] Advantageously, first shelf 8, i.e., the shelf holding the empty crates 10a, is located vertically above the second shelf 12, i.e., the shelf holding the full crates 10b.

[0056] Storage trolley 2 further comprises a chassis 18 with wheels 20 as well as a frame 22 for holding first shelf 8 above second shelf 12.

[0057] Storage trolley 2 may be passive in the sense that it has no own drive for moving forward. During harvesting, it is pulled by robot trolley 4 as robot trolley 4 drives through an alley between plants and picks fruits.

[0058] Robot trolley 4 comprises a chassis 24 with wheels 26 and a traction engine 28 for driving it forward.

[0059] A lifting platform 30 is mounded to chassis 24 and vertically displaceable thereto, e.g., by means of a scissor lift 32. It is used to accessing fruits at various heights.

[0060] Lifting platform 30 carries a harvesting arm 34 equipped with a camera and control unit 36 and adapted to pick fruits. The specifics of such harvesting arms are known to the skilled person, see e.g., CN108768064A, US4496279A, and US4806066A.

[0061] Harvesting arm 34 is programmed to place fruits into a crate at a filling location 37, which is also located on lifting platform 30.

[0062] Interface section 6 serves to feed empty crates 10a from storage trolley 2 to harvesting arm 34 and to transfer full crates 10b back to storage trolley 2.

[0063] Interface section 6 is advantageously fixedly (i.e. non-pivotally) mounted to robot trolley 4, and its weight may be supported by robot trolley 4, which makes it easier to maintain a defined position between these two units. It has a stack holder 38 and a pulling mechanism 40 adapted to pull a stack 14 of crates from first shelf 8 into stack holder 38. It further has a vertical guide 42, a transport frame 44 displaceably mounted to vertical guide 42, and a lift drive 45 (Fig. 3) operatively connected to transport frame 44 for displacing it along vertical guide 42.

[0064] Further, interface section 6 has a pushing mechanism 48 for pushing crates from interface section 6 onto second shelf 12.

[0065] These components are described in more detail in the following sections, which follow the "flow" of the crates from first shelf 8 to second shelf 12.

[0066] Transferring empty crates to the interface section

[0067] Examples of how to transfer empty crates 10a from first shelf 8 to interface section 6 are shown in Figs. 1 - 6.

[0068] As mentioned, interface section 6 comprises a pulling mechanism 40 adapted to pull a stack 14 of crates from first shelf 8 into stack holder 38.

[0069] In the shown embodiment, and as best seen in Figs. 2 - 5, pulling mechanism 40 comprises a retainer 46 movable along first shelf 8 and a haulage mechanism 48 - 52 adapted to pull retainer 46 towards interface section 6.

[0070] Retainer 46 is slidably arranged on first shelf 8.

[0071] Retainer 46 is advantageously an element having a base plate 46a and an arm 46b extending transversally, in particular perpendicularly, to base plate 46a. In this case, base plate 46a can be placed (by the operator as they attach a storage trolley to the robot) between the most rearward stack 14 of empty crates 10a and first shelf 8 with arm 46b extending upwards to engage the stack when retainer 46 is pulled towards interface section 6.

[0072] In the shown embodiment, retainer 46 is a profile element having L- shaped cross-section.

[0073] Haulage mechanism 48 - 52 comprises, in the shown embodiment, a rope member 48, a drum 50 (Figs. 4, 5), and a drum drive 52. Rope member 48 can be wound onto drum 50 by operating drum drive 52. Retainer 46 is connected to drum 50 by means of rope 48, such that operating drum drive 52 and winding rope member 48 onto drum 50 pulls the empty crates 10a towards interface section 6.

[0074] In this context, the term "rope member" describes a classical rope but also any other flexible, elongate element that can be wound onto a drum for pulling retainer 46 towards interface section 6, such as a belt or chain.

[0075] Interface section 6, in particular stack holder 38, further comprises a drum table 54 (Fig. 4) located at a level with (i.e., at the same level as) first shelf 8. An opening 56 is arranged in drum table 54 and drum 50 is embedded in this opening in the sense that drum 50 does not project over drum table 54. This allows to access drum 50 but, when a stack 14 of empty crates 10a is pulled onto stack holder 38, drum 50 is out of its way.

[0076] As shown in Figs. 2, 3, and 4, interface section further comprises a stopper mechanism 55 having a stopper drive 55a and a stopper member 55b (see Fig. 4). Stopper member 55b can be actuated by stopper drive 55a between a first position where it allows the passage of empty crates from first shelf 8 to interface section 6 and a second position where it blocks the passage of empty crates between first shelf 8 and interface section 6. Stopper mechanism 55 can be used to prevent undesired movements of empty crates, e.g., when the robot accelerates or decelerates.

[0077] When operating the robot and the robot needs to be made ready to fill a new set of empty crates, the operator manually places retainer 46 behind the rearmost stack 14 of empty crates 10a on the first shelf 8. Thereupon, during its harvesting run (see below), interface section 6 will pull the stacks 14 towards it as needed.

[0078] Advantageously, drum 50 is easily removable from its location in drum table 54, together with rope 48 and retainer 46. This allows to provide several sets of retainer, rope and drum, which may, for example, be attributed to individual trolleys. This allows to prepare a trolley, e.g., at a packing site, by placing a retainer 46 and a rope 48 on its first shelf, with the stacks of empty crates on top of them, and drum 50 e.g., dangling from one end. When the trolley is attached to interface section 6, drum 50 merely has to be mounted at its location in drum table 54.

[0079] Therefore, advantageously, the invention also relates to a method where the pulling mechanism 40 comprises a retainer 46 movable along the first shelf and a haulage mechanism 48 - 52 for pulling the retainer 46 towards the interface section, wherein at least part of the haulage mechanism is detachable from the interface section, wherein the method comprises the steps of providing several retainers 46 and several detachable parts of the haulage mechanism, preparing a trolley with empty crates and a retainer and a detachable part, and, subsequently, connecting the detachable part to the interface section 6.

[0080] Handling the stack of empty crates in the interface section

[0081] As mentioned, pulling mechanism 40 is adapted to pull stacks 14 of empty crates into stack holder 38. This section describes the handling of such stacks in interface section 6 in more detail and is best understood with reference to Figs. 3, 4, 6, and 13.

[0082] The primary function of stack holder 38 as shown in Fig. 4 is to hold a stack 14 of empty crates 10a (Figs. 1 and 3 show stack holder 38 holding such a stack). For this purpose, stack holder 38 comprises first movable support elements 58 as shown in Figs. 3, 4, 6. They are "movable" in the sense that they can be moved between a first position where they are positioned to engage a crate in the stack (as shown in Fig. 3 as well as in Fig. 13 parts B, C, E, F) and a second position (shown in Fig. 13 in dotted lines in part D) where they are positioned to allow crates of the stack to move vertically past them.

[0083] Advantageously (see, e.g., Fig. 6), the first movable support elements 58 are formed by a plurality of horizontally aligned plates that can be moved within a horizontal plane to be slid into and from small vertical gaps between the empty crates 10a in a stack 14 of crates. For example, the plates can be rotated eccentrically about vertical axes for moving them between their first and second positions.

[0084] The first movable support elements 58 are arranged at opposite sides of stack holder 38 on order to stably engage a crate from two opposite sides. Advantageously, and as shown, the first movable support elements 58 are arranged at forward side 60a and backward side 60b of stack holder 38, see Fig. 6, even though they may also be arranged on its left and right lateral sides).

[0085] In addition to stack holder 38, interface section 6 comprises the transport frame 44 (Fig. 7) that interacts with stack holder 38 for manipulating the empty crates 10a in a stack 14 held by stack holder 38. As mentioned, transport frame 44 can be moved vertically, in respect to stack holder 38, along the vertical guide(s) 42.

[0086] Transport frame 44 has a set of second movable support elements 66 arranged on opposite sides thereof, advantageously (when viewing in a backward- forward-direction of the robot) on the left and right sides 68a, 68b of transport frame 44 (see Fig. 7), even though they may, e.g., also be arranged on the forward and backward sides of transport frame 44. They are movable between a first position (Fig. 13, parts A, B, D, E, F) where they are positioned to engage a crate in the stack and a second position (Fig. 13, part C) where they are positioned to allow crates of the stack to move vertically past them.

[0087] In addition, transport frame 44 has a set of third movable support elements 70 arranged on opposite sides thereof, advantageously also on the left and right sides 68a, 68b (see Fig. 7), even though they may, e.g., also be arranged on the forward and backward sides of transport frame 44. They are movable between a first position (Fig. 13, parts A, B) where they are positioned to engage a crate in the stack and a second position (Fig. 13, parts C - F) where they are positioned to allow crates of the stack to move vertically past them.

[0088] The third movable support elements 70 are arranged higher in transport frame 44 than the second movable support elements 66.

[0089] In the shown embodiment, the second and third movable support elements 66, 70 are formed by support plates than can be pivoted about a horizontal axis extending parallel to the respective sides 68a, 68b of transport frame 44.

[0090] Transport frame 44 has a number of functions. One of them is to safely transfer a stack 14 of empty crates 10a arriving at interface section 6 onto the first movable support elements 58 of stack holder 38. This is illustrated in Fig. 13, parts A and B. In Fig. 13, parts A and B, the vertical level of first shelf 8 is illustrated as a line 62 in parts A, B. As can be seen, the first movable support elements 58 are located at a level below first shelf 8.

[0091] Before or when a stack 14 arrives in stack holder 38, transport frame 44 is vertically moved upwards to bring the third support elements 70 to level 62 of first shelf 8, and the third support elements 70 are brought into their first position, as shown in part A of Fig 13. Hence, they can receive the incoming stack 14.

[0092] For this reason, advantageously, at least the third support elements 70 are advantageously arranged on the left and right sides 68a, 68b, i.e., along the sides of transport frame 44 that extend parallel to the backward-forward-direction of the robot.

[0093] Once stack 14 is centered over stack holder 38, transport frame 44 is lowered as shown in part B of Fig. 13 to deposit the stack on the first support elements 58, with the first support elements 58 being in their first position.

[0094] Now, stack 14 rests safely in stack holder 38.

[0095] Hence, in other words and advantageously, transport frame 44 comprises third movable support elements 70 on opposite sides 68a, 68b of the transport frame 44. The third movable support elements 70 are arranged above the second movable support elements 66. The transport frame 44 is vertically movable, by means of lift drive 45, to a position where the third movable support elements 70 are at the level 62 of first shelf 8.

[0096] During harvesting, stack holder 38 and transport frame 44 are adapted to transfer a bottommost empty crate of stack 14 in the stack holder 38 from stack holder 38 to transport frame 44. The steps to do so are illustrated in parts C - F of Fig. 13.

[0097] First, transport frame is moved upwards, with the third support elements 70 in their second position such that the third movable support elements 70 to not engage any of the crates. The second movable support elements 66 are brought into their first position to engage the bottommost crate of stack 14, and the first movable support elements 58 are brought to their second position to release the bottommost crate (part D of Fig. 3), with the dotted lines indicating that the first movable support elements 58 are in their second position. Now, transport frame 44 can be lowered by the height of one crate whereupon the first movable support elements 58 are brought back into their first position again, thereby being inserted into the gap between the bottommost two crates and engaging the second crate from the bottom of stack 14 (part E).

[0098] Next, transport frame 44 can be lowered further (part F) to take away the bottommost crate while the rest of stack 14 remains in stack holder 44, held by the first support elements 48.

[0099] Feeding crates to / from the filling location

[0100] Once transport frame 44 has picked up an empty crate as shown in Fig. 13, part F, it moves it forward and lowers it to the level of filling location 37 of robot trolley 4 (Fig. 9). Filling location 37 is located at the front side of interface section 6, and interface section 6 is adapted to position the empty crate at filling location 37.

[0101] To do so, transport frame 44 may comprise, as best shown in Figs. 7 and 9, at least the following elements:

[0102] - A carriage 44a mounted in vertically displaceable manner to the vertical guide(s) 42. Carriage 44a is the part of transport frame 44 that can be moved up and down.

[0103] - A sledge 44b mounted in horizontally displaceable manner to carriage 44a. In may, e.g., comprise wheels running on tracks of carriage 44a, or vice versa.

[0104] - A sledge drive 44c (Fig. 7) operatively connected to sledge 44b to horizontally displace sledge 44b in respect to carriage 44a.

[0105] In the present embodiment, sledge 44b and its drive 44c can be used to move sledge 44b to filling location 37.

[0106] Alternatively or in addition thereto, sledge 44b may (also) be used for moving crates to / from support trolley 2, but in the shown embodiments, this function is implemented by other parts of interface section 6 as explained in other sections of this description.

[0107] At least the second support elements 66 are mounted to sledge 44b such that they the crate can remain there as the sledge is moved to filling location 37. Once the crate arrives at filling location 37, and if it is a folded crate as shown in Fig. 8, it needs to be opened.

[0108] Opening can be implemented using harvesting arm 34 and / or separate actuators.

[0109] Hence, advantageously, the crates in the stack of empty crates are folded, and the method of operating the robot comprises the step of automatically unfolding the crates before filling.

[0110] Once that the crate is open, it can be filled, by means of harvesting arm 34, with fruits being harvested.

[0111] Once full, transport frame 44 moves the crate back to interface section 6.

[0112] Interface section 6 has a crate platform 72 (Fig. 9) for receiving one or more filled crates. Advantageously, crate platform 72 is located at the level of second shelf 12.

[0113] As shown in Figs. 1 and 9, interface section 6 is advantageously adapted to form a stack 16 of filled crates 10b on crate platform 72.

[0114] Therefore, once a crate has been filled at filling location 37, carriage 44a is raised (if necessary) to bring the filled crate to a level above the stack 16 on crate platform 72. Sledge 44b is then retracted to position the freshly filled crate vertically above crate platform 72, whereupon carriage 44a is lowered to deposit the crate.

[0115] Note regarding the location of the movable support elements: As mentioned, in each set of the movable support elements, the movable support elements are arranged on opposite sides 60a, 60b and 68a, 68b of stack holder 38 and transport frame 44, respectively. Since they have to be moved vertically past each other, as shown in Fig. 13, the "opposite sides" 60a, 60b of stack holder 38 with the first movable support elements 58 are advantageously arranged at right angles to the opposite sides 68a, 68b of transport frame 44 with the second movable support elements (66). Transferring filled crates to the storage trolley

[0116] In a final step, the filled crate(s) 10b on crate platform 72 need to be moved to second shelf 12 of storage trolley 2.

[0117] To do so, and as mentioned, interface section 6 comprises a pushing mechanism 48 to push the crate(s) onto second shelf 12.

[0118] As best seen in Figs. 9 - 11, pushing mechanism 48 may comprise a rail member 74 that extends horizontally backwards from interface section 6 to overlap with part of the length of storage trolley 2. A pusher member 76 (Figs. 10, 11) is mounted, by means of a runner 76a, to rail member 74. A pusher drive 78 is provided to move runner 76a and therefore pusher member 76 back and forth along rail member 74.

[0119] Pusher member 76 can be displaced, by means of pusher drive 78, between a first position and a second position:

[0120] - In the first position, pusher member 76 is located within interface section 6 (as shown in Figs. 10, 11). In particular, it is located over or in front of (forward from) crate platform 72.

[0121] - In the second position, pusher member 76 is located within storage trolley 2.

[0122] Before placing a first filled crate 10b on crate platform 72, pusher member 76 is brought into its first position. Then, one or more filled crates 10b can be deposited on crate platform 72, such that pusher member is located forward from them.

[0123] To push the filled crate(s) 10b from crate platform 72 to second platform 12, pusher drive 78 is operated to move pusher member 76 to its second position. Then, pusher member 76 can be moved back to its first position, ready for the next stack to be formed at crate platform 72.

[0124] As further shown in Figs. 9 - 11, crate platform 72 and / or second shelf 12 may be equipped with rollers 80a, 80b, to make it easier to move the filled crates along the forward-backward direction of the robot.

[0125] As shown in Figs. 10 and 11, interface section 6 may comprise a gate mechanism 82 located between crate platform 72 and second shelf 12 and a gate actuator 84 to move gate mechanism 82 from a first position (shown in Figs. 10, 11) and a second position (not shown). In the first position, it blocks any movement of crates between second shelf 12 and the gate platform 72. In the second position, it allows movement of crates from crate platform 72 to the second shelf 12.

[0126] Such a gate mechanism 82 prevents crates from inadvertently leaving crate platform 72 or entering it as the robot accelerates or decelerates.

[0127] Coupling

[0128] In operation, a farming site advantageously operates, during harvesting, several storage trolleys 2 for holding empty and filled crates. They are, e.g., used for moving the filled crates from the harvesting location to a shipping terminal and / or to move empty crates from a delivery terminal to the harvesting location.

[0129] For a harvesting run, one storage trolley 2 filled with empty crates 10a on first shelf 8 is coupled to interface section 6. Rope 48 is unwound and retainer 46 is positioned behind the hindmost stack 14 of empty crates 10a.

[0130] Then, the robot harvests fruit and fills the crates as described above, placing the filled crates onto second shelf 12. Once this is done, storage trolley 2 is uncoupled from interface section 6 and replaced with a next storage trolley 2 filled with empty crates 10a.

[0131] Hence, it should be possible to couple and decouple a storage trolley 2 to / from the rest of the robot easily.

[0132] For this purpose, a first coupling member 86a is arranged on interface section 6 and a second coupling member 86b is arranged on storage trolley 2 (see Figs. 10, 12). Together, the two coupling members 86a, 86b form a coupling 86 that can be operated quickly.

[0133] At coupling 86, storage trolley 2 is pivotal, relative to interface section 6, about a vertical pivot axis 88.

[0134] In order to have a short path between interface section 6 and storage trolley 2 and to keep the robot short, crate platform 72 is advantageously located, in its operating position, vertically above coupling 86 as shown in Figs. 10, 11.

[0135] On the other hand, coupling 86 should be accessible easily in order to quickly release and engage coupling 86. Therefore, advantageously and as shown in Figs. 10 - 12, crate platform 72 is pivotal about a horizontal axis 90 between its operating position (as shown in Figs. 10, 11) and a servicing position (shown in Fig. 12). In the operating position, as mentioned, crate platform 72 is located vertically above coupling 86. In the service position, crate platform 72 is not located vertically above coupling 90 but e.g., and as shown in Fig. 12, forward from coupling 86.

[0136] Notes

[0137] As mentioned, interface section 6 of the present robot contains a pulling mechanism 40 that pulls empty crates from the first shelf and a pushing mechanism 48 that pushes filled crates onto the second shelf. Hence, the forces for moving the crates are generated by interface section 6, which allows the robot to cooperate with conventional storage trolleys 2 instead of using dedicated trolleys for robot harvesters.

[0138] Instead of using a rope and drum assembly for the pulling mechanism 40, a design with a rail member similar to the one of pushing mechanism 48 may be used as well.

[0139] The present robot can also be used for maintenance of the plants. In that case, depending on the task at hand, storage trolley 2 may or may not be used. For tasks where storage trolley 2 is not required, it can be decoupled from the robot. For example, the robot can also be used for pruning, blossom removal, or clearing the plants as mentioned above, or it can perform other maintenance work, such as attaching the plants to a posts or wires / ropes to make them grow in a desired direction.

[0140] The robot can be used at any type of farming sites, such as open-air farms, greenhouses, etc.

[0141] While there are shown and described presently preferred embodiments of the invention, it is to be distinctly understood that the invention is not limited thereto but may be otherwise variously embodied and practiced within the scope of the following claims.

Claims

Claims1. A harvesting robot comprising a storage trolley (2) having a horizontal first shelf (8) for empty crates and a horizontal second shelf (12) for filled crates, a robot trolley (4) having a harvesting arm (34) and a traction engine (28), an interface section (6) connecting the robot trolley (4) and the storage trolley (2), wherein the interface section (6) comprises:• a pulling mechanism (40) adapted to pull empty crates from the first shelf (8) and• a pushing mechanism (48) adapted to push filled crates onto the second shelf (12).

2. The harvesting robot of claim 1 wherein the pulling mechanism (40) comprises a retainer (46) movable along the first shelf (8), a haulage mechanism (48 - 52) adapted to pull the retainer (46) towards the interface section (6).

3. The robot of claim 2 wherein the haulage mechanism (48 - 52) comprises a drum (50), a drum drive (52) connected to the drum (50), and a rope member (48) connecting the drum and the retainer (46).

4. The robot of claim 3 wherein the interface section (6) comprises a drum table (54) at a level with the first shelf (8), wherein an opening (56) is arranged in the drum table (54) and the drum (50) is embedded in said opening (56).

5. The robot of any of the preceding claimswherein the storage trolley (2) is arranged at a back side of the interface section (6) and the harvesting arm (34) is located at a front side of the interface section (6), wherein the robot further comprises a filling location (37) located at the front side of the interface section (6), wherein the interface section (6) is adapted to position an empty crate at the filling location (37) and to retrieve a full crate from the filling location(37), and wherein the harvesting arm (34) is adapted to fill the crate at the filling location (37).

6. The robot of claim 5 adapted to automatically unfold a folded crate at the filling location (37).

7. The robot of any of the preceding claims wherein the interface section (6) comprises a stack holder (38), a vertical guide (42), a transport frame (44) displaceably mounted to the vertical guide (42), a lift drive (45) operatively connected to the transport frame (44).

8. The robot of claim 7 wherein the stack holder (38) is adapted to hold a stack of crates and the stack holder (38) and the transport frame (44) are adapted to transfer a bottommost crate of the stack in the stack holder (38) from the stack holder(38) to the transport frame (44).

9. The robot of any of the claims 7 or 8 wherein the stack holder (38) comprises first movable support elements (58) on opposite sides (60a, 60b) of the stack holder (38) and the transport frame (44) comprises second movable support elements (66) on opposite sides (68a, 68b) of the transport frame (44).

10. The robot of claim 9 wherein the transport frame (44) further comprises third movable support elements (70) on opposite sides (68a, 68b) of the transport frame (44), wherein the third movable support elements (70) are arranged above the second movable support elements (66), and wherein the transport frame (44) is vertically movable, by means of the lift drive (45), to a position where the third movable support elements (70) are at a level (62) of the first shelf (8).

11. The robot of any of the claims 9 or 10 wherein the opposite sides (60a, 60b) of the stack holder (38) with the first movable support elements (58) are arranged at right angles to the opposite sides (68a, 68b) of the transport frame (44) with the second movable support elements (66).

12. The robot of any of the claims 9 to 11 wherein the first movable support elements (58) are located at the level below the first shelf (8).

13. The robot of any of the claims 9 to 12 wherein the transport frame (44) comprises a carriage (44a) mounted vertically displaceable to the vertical guide (42), a sledge (44b) mounted horizontally displaceable to the carriage (44a), and a sledge drive (44c) operatively connected to the sledge (44b).

14. The robot of the claims 6 and 13 wherein the sledge (44b) is displaceable to access the filling location (37).

15. The robot of any of the preceding claims wherein the pushing mechanism (48) comprises a rail member (74) extending horizontally backwards to overlap with part of a length of the storage trolley (2),a pusher member (76) mounted in horizontally displaceable manner on the rail member (74) between a first position within or in front of the interface section (6) and a second position within the storage trolley (2), a pusher drive (78) operatively connected to the pusher member (76).

16. The robot of claim 15 wherein the interface section (6) comprises a crate platform (72) and wherein, in the first position, the pusher member (76) is located over or in front of the crate platform (72).

17. The robot of claim 16 wherein the interface section (6) is adapted and structured to stack filled crates on the crate platform (72).

18. The robot of any of the claims 16 or 17 wherein the interface section (6) comprises a gate mechanism (82) located between the crate platform (72) and the second shelf (12) and a gate actuator (84) to move the gate mechanism (82) between a first position, where it blocks any movement of crates between the second shelf (12) and the gate platform (72), and a second position, where it allows movement of crates from the crate platform (72) to the second shelf (12).

19. The robot of any of the preceding claims further comprising a coupling (86) between the interface section (6) and the storage trolley (2), wherein the storage trolley (2) is pivotal at said coupling (86) in respect to the interface section (6) about a vertical pivot axis (88).

20. The robot of claim 19 and of any of the claims 16 or 18 wherein the crate platform (72) is, in at least an operating position of the crate platform (72), located vertically above the coupling (86).

21. The robot of claim 20 wherein the crate platform (72) is pivotal about a horizontal axis (90) between the operating position and a servicing position,wherein, in the servicing position, the crate platform (72) is not located vertically above the coupling (86).

22. A method for operating the robot of any of the preceding claims comprising the steps of pulling a stack of empty crates by means of the pulling mechanism (40) from the first shelf (8) into the interface section (6), filling the empty crates sequentially by means of the harvesting arm (34), and pushing the filled crates from the interface section (6) by means of the pushing mechanism (48) to the second shelf (12).

23. The method of claim 22 wherein the crates in the stack of empty crates are folded and wherein said method comprises the step of automatically unfolding the crates before filling.

24. The method of any of the claims 22 or 23 for operating the robot of any of the claims 2 to 4 comprising the step of manually placing the retainer (46) behind a rearmost stack (14) of empty crates (10a) on the first shelf (8).

25. The method of any of the claims 22 to 24 where inthe pulling mechanism (40) comprises a retainer (46) movable along the first shelf and a haulage mechanism (48 - 52) for pulling the retainer (46) towards the interface section, wherein at least part of the haulage mechanism is detachable from the interface section, wherein the method comprises the steps of providing several retainers (46) and several detachable parts of the haulage mechanism, preparing a trolley with empty crates and a retainer (46) and a detachable part, and connecting the detachable part to the interface section (6).

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