A preemptive fruit thinning method and system

Abstract

The present invention provides systems and methods for preemptive fruit thinning of a plant, comprising determining which flowers on the plant are intended to be pollinated, and pollinating said determined flowers.

Description

[0001] A PREEMPTIVE FRUIT THINNING METHOD AND SYSTEM

[0002] FIELD OF THE INVENTION

[0003]

[0001] The present invention relates in general to the management of tree fruits. In particular, the invention relates to preemptive fruit thinning in orchards and plantations.

[0004] BACKGROUND OF THE INVENTION

[0005]

[0002] Fruit trees grown in suitable environmental conditions and being properly handled commonly grow dense flourishing. Following pollination, the dense flowers yield more fruits than the tree can structurally support. Furthermore, the excessive number of fruits consumes significant energy from the tree, resulting in multiple underdeveloped and relatively small mature fruits. Typically, fruit trees produce more flowers than can be pollinated and develop into fruit. This can lead to a large number of small, undeveloped fruits, which can be unsightly and reduce the tree’s yield.

[0006]

[0003] For many years, the practice of fruit thinning was performed by removing excess fruits at their early development stage, i.e., after pollination. The thinning of fruits reduces the loading on the tree branches and balances the number of fruits on the tree with respect to the overall leaf surface, i.e., through which the plant generates a crucial amount of its energy. The thinning further leads to the production of larger and better-quality mature fruits.

[0007]

[0004] Unfortunately, thinning of premature fruits is performed after the plant has already consumed a significant amount of energy during the early development of numerous fruits. Furthermore, premature fruits’ thinning involves multiple manual operations, and cannot be precisely planned and managed since various parameters, such as ambient temperature levels and nutrients levels in the ground, affect the timing and pace of the early fruits’ development. Moreover, a significant amount of manual work for the removal of fruits is required when performed in an agricultural field of numerous plants, which also involves labor and disposal of the thinned fruits. SUMMARY

[0008]

[0005] In a first aspect, the present invention provides a preemptive fruit thinning method of a plant, comprising the steps of: (a) determining flowers on said plant intended to be pollinated; (b) optionally applying a pollen barrier to all flowers not intended to be pollinated to prevent pollination thereof; and (c) pollinating said determined flowers.

[0009]

[0006] In a second aspect, the present invention provides a preemptive selective fruit thinning system, comprising: (a) a controller for controlling the operations of the preemptive fruit thinning system, said controller comprises a processor, and a readable memory media suitable for executing commands of a computer program suitable to manage the operations of said preemptive fruit thinning system; (b) a sensing module adapted with one or more sensors for detecting the presence of flowers and predetermined parameters associated with the detected flowers, and for submitting the same to said controller; (c) optionally, a pollen barrier module; and (d) a pollinator module for pollinating predetermined flowers, wherein said controller is configured to operate near a plant, to receive data from said sensing module, and to operate said pollinator module for pollinating predetermined flowers.

[0010] BRIEF DESCRIPTION OF DRAWINGS

[0011]

[0007] For a better understanding of various embodiments of the invention and to show how the same may be carried into effect, reference will now be made, by way of example, to the accompanying drawings, in which:

[0012]

[0008] Figs. 1A-1B show block diagrams of proposed preemptive fruit thinning methods according to certain embodiments of the invention.

[0013]

[0009] Figs. 2A-2B illustrate exemplary system block diagrams of preemptive fruit thinning systems of the invention.

[0014] DETAILED DESCRIPTION

[0015]

[0010] The present invention relates to a preemptive fruit thinning method and system. Contrary to known methods, in which pollinated flowers at different maturation stages are removed from a plant / tree, the proposed preemptive fruit thinning of the invention is performed by predetermining the plant’s flowers to be pollinated and enabling the selective pollination of only such flowers. In such way, a desired quantity of fruits will develop at a predetermined deployment over the plant’s branches, thus enabling a balanced growth of fruits while keeping the plant’s structural health.

[0016] [Oil] The present invention provides many benefits over known fruit thinning methods: first, it is more precise as it allows selective removal of specific flowers selected according to predefined parameters; second, it is more efficient as it does not require actual removal of flowers or fruits; third, it results with the production of larger, more flavorful fruits; and forth, it improves plant’s resources distribution by avoiding directing nutrients and water to pollinated flowers that are later to be thinned. Finally, the present method can increase the yield since male trees that produce pollen are no longer required, and such male trees can be replaced (in the orchard) by productive female trees.

[0017]

[0012] Accordingly, in a first aspect, the present invention provides a preemptive fruit thinning method of a plant, comprising the steps of: (a) determining flowers on said plant intended to be pollinated; and (b) pollinating said determined flowers.

[0018]

[0013] In specific embodiments thereof, the method further comprises a preliminary step of identifying all or at least about 90% of the flowers on each plant in the orchard / plantation.

[0014] In certain embodiments of the method according to any of the embodiments above, the first step is to identify the number of flowers on each plant / tree, and then determine the number of flowers to be pollinated, as well as which flowers should be pollinated. In specific embodiments, the determination of which flowers should be pollinated is based in data received from sensors identifying various parameters of the flowers, such as size, color, health, condition, form, etc. In specific embodiments, the sensor is a visual sensor, such as a camera,

[0015] In further or alternative embodiments, the method according to any of the embodiments above further comprises a step of applying a pollen barrier to all flowers not intended to be pollinated to prevent pollination thereof. This step should be carried out before the pollination step.

[0019]

[0016] In specific embodiments, the present invention provides a preemptive fruit thinning method of a plant, comprising the steps of: (a) determining flowers on said plant intended to be pollinated; (b) automatically applying a pollen barrier to all flowers not intended to be pollinated using at least one autonomous UAV; and (c) pollinating the determined flowers using the same or different autonomous UAV.

[0020]

[0017] In specific embodiments, the present invention provides a preemptive fruit thinning method of a plant, comprising the steps of: (a) identifying at least 90% of flowers on said plant; (b) determining flowers on said plant intended to be pollinated; (c) automatically applying a pollen barrier to all flowers not intended to be pollinated using at least one autonomous UAV; and (d) pollinating the determined flowers using the same or different autonomous UAV.

[0021]

[0018] In certain embodiments, the method according to any of the embodiments above is completely autonomous. In further or additional embodiments, the method is carried out in a single action or activation of the platform or system used for the preemptive fruit thinning method.

[0022]

[0019] In certain embodiments, the pollen barrier is a physical barrier, such as a non-permeable barrier or a semi-permeable barrier that does not allow passage of pollens therethrough. In alternative embodiments, the pollen barrier is a chemical barrier. In alternative embodiments, the pollen barrier is a combination of both a physical barrier and a chemical barrier.

[0023]

[0020] The pollen barrier is designed to prevent the pollination of specific selected flowers, which eventually results in their autonomous removal from the plant / tree.

[0024]

[0021] In certain embodiments of the method according to any of the embodiments above, the step of applying a pollen barrier is performed: (i) individually on flowers that are not intended to be pollinated; or (ii) automatically using at least one robotic designated tool comprising one or more robotic arms. In specific embodiments thereof, the robotic designated tool is an unmanned aerial vehicle (UAV).

[0025]

[0022] In certain embodiments of the method according to any of the embodiments above, the step of pollinating the determined flowers is performed either manually or automatically by utilizing at least one designated pollinating tool. In specific embodiments, when the pollination is carried out automatically by a pollinating tool, the tool is an unmanned aerial vehicle (UAV). In further specific embodiments, the pollinating tool comprises one or more robotic arms.

[0026]

[0023] In certain embodiments of the method according to any of the embodiments above, the same UAV is responsible for both applying the pollen barrier and pollinating the determined flowers. In certain embodiments, the same component in the UAV, e.g., a robotic arm, is used for both functions. In alternative embodiments, the UAV comprises at least two separate and optionally distinct robotic arms, each designed to carry out one of the functions, e.g., on for applying the barrier, and another for pollinating.

[0027]

[0024] In certain embodiments of the method according to any of the embodiments above, the pollinating tool is mobile on a platform selected from: a land vehicle and an airborne vehicle. In specific embodiments thereof, the platforms are either remotely controlled or autonomous.

[0025] In certain embodiments of the method according to any of the embodiments above, the final step of pollinating desired selected flowers can be done either manually or automatically using a dedicated pollination tool, such as an unmanned aerial vehicle (UAV). The applying of the pollen onto the flowers can be carried out using any suitable mechanism, such as a brush, a paintbrush, or an electric pollinator.

[0028]

[0026] In addition, to prevent natural pollination, e.g., by bees, the growers can seal the orchard, e.g., by closing nets surrounding the trees / orchard, thereby preventing bees from reaching the flowers and pollinating thereof. Alternatively, or in addition, the growers can remove flowers from male trees, or even the entire male trees from the orchard.

[0029]

[0027] In a second aspect, the present invention provides a preemptive selective fruit thinning system, comprising: (a) a controller for controlling the operations of the preemptive fruit thinning system, said controller comprises a processor, and a readable memory media suitable for executing commands of a computer program suitable to manage the operations of said preemptive fruit thinning system; (b) a sensing module adapted with one or more sensors for detecting the presence of flowers and predetermined parameters associated with the detected flowers, and for submitting the same to said controller; and (c) a pollinator module for pollinating predetermined flowers, wherein said controller is configured to operate near a plant, to receive data from said sensing module, and to operate said pollinator module for pollinating predetermined flowers.

[0030]

[0028] In specific embodiments, the above system further comprises a pollen barrier module, wherein said controller is further configured to operate said pollen barrier module for placing a pollination barrier on predetermined flowers and preventing pollination thereof.

[0031]

[0029] In specific embodiments, the above system further comprises a pollen reservoir, from which pollen is taken to pollinate the flowers, and optionally also a pollination-barrier reservoir, from which the barrier is taken for placing the barrier on the flowers. In alternative embodiments, the system does not include such reservoirs, but is associated with external such reservoirs.

[0032]

[0030] In certain embodiments of the system according to any of the embodiments above, the one or more sensors of the sensing module are configured to detect flowers and predetermined parameters thereof within a predetermined target region.

[0031] In certain embodiments of the system according to any of the embodiments above, the controller’s operation of the pollen barrier module and the pollinator module is: (i) guided by a person; or (ii) is autonomous.

[0033]

[0032] In certain embodiments, the system according to any of the embodiments above is mobile on platforms selected from: a land vehicle and an airborne vehicle (e.g. unmanned autonomous vehicle (UAV)).

[0034]

[0033] In a specific embodiments, the present invention provides a preemptive selective fruit thinning system, comprising: (a) a controller for controlling the operations of the preemptive fruit thinning system, said controller comprises a processor, and a readable memory media suitable for executing commands of a computer program suitable to manage the operations of said preemptive fruit thinning system; (b) a sensing module adapted with one or more sensors for detecting the presence of flowers and predetermined parameters associated with the detected flowers, and for submitting the same to said controller; (c) a pollen barrier module; and (d) a pollinator module for pollinating predetermined flowers, wherein said controller is configured to operate near a plant, to receive data from said sensing module, and to operate said pollen barrier module and said pollinator module for pollinating predetermined flowers.

[0035]

[0034] Figs. 1A and IB are block diagrams that illustrate two exemplary preemptive fruit thinning processes (100) according to certain embodiments of the present invention. The process (100) begins with identifying and determining selected flowers to be pollinated (step 1). This can be performed by inspecting the tree and identifying flowers that are well formed, have vivid color, are large, or any other feature that indicates that the flower is in good health and would most likely yield good fruit.

[0036]

[0035] Optionally, as illustrated in Fig. IB, to ensure the pollination of only those flowers selected in step 1, a pollen barrier is applied to the rest of the flowers on the plant (step 2 in Fig. IB), thus preventing their undesired pollination, resulting in their shed from the plant.

[0037]

[0036] According to an embodiment of the present invention, the pollen barrier is in the form of a physical barrier, individually applied onto each flower (i.e., which is not intended to be pollinated), such as a piece of tape, or is a chemical barrier (e.g., such as a solution of water and sugar).

[0038]

[0037] According to another embodiment of the present invention, the pollen barrier is in the form of a non-permeable / semi -permeable barrier such as a net, encompassing each individual plant, or a group of plants. In such a way, the encompassed plant(s) are inaccessible to pests and other natural pollination agents (e.g., bees). In such cases, the pollination action (further explained in step 3 hereinafter) preferably occurs as early as possible to ensure no unintended pollination of flowers.

[0039]

[0038] Furthermore, growers may avoid growing male plants (i.e., of which flowers carry pollen) within the encompassed area(s) of the field / orchard, and solely grow productive female plants therein, using pre-collected pollen to pollinate the predetermined flowers of the encompassed plants. As such, the overall yield can be increased in the encompassed area(s).

[0040]

[0039] Of course, when the proposed method is applied to bisexual plants, individually applied pollen barriers may be preferred.

[0041]

[0040] Finally, the predetermined flowers are pollinated (step 3 of Figs. 1A and IB). The pollination of a balanced number of flowers results in the production of fully developed fruits. This is performed by any common pollination tools, or manually, e.g., after applying the barrier to the desired flowers.

[0042]

[0041] Figs. 2A and 2B illustrate exemplary system block diagrams of preemptive fruit thinning systems that are designed to apply the methods of the invention according to certain embodiments of the present invention. The system (200), may comprise a mobile platform that may use a land vehicle or an airborne vehicle for efficient mobilization between target plants. As illustrated, the system comprises a sensing module designed to identify the flowers of a plant, a pollination module, and a controller, designed to receive data from the sensing module and optionally from an operator, and subsequently control the operation of the pollinator. As illustrated in Fig. 2B, the system may also include a pollen barrier module designed to apply the pollen barrier on selected flowers.

[0043]

[0042] Non-limiting examples of sensing devices utilized in the sensing module are cameras designed to identify flowers and optionally their color and vitality, and IR sensors and / or UV sensors designed to identify flowers’ color and vitality.

[0044]

[0043] The pollinator and the pollen barrier module can be the same or different unit, and can be, e.g., a robotic arm or any other suitable mechanism that can place a barrier on a flower (for instance, if the barrier is a chemical substance, the mechanism can be a sprayer, and if the barrier is a physical element, the mechanism can be an arm with a dedicated end unit suitable for placing the barrier on the flower without damaging the flower). When a single unit is used for both placing the barrier and pollinating the flower, the system may be activated in a single flow action in which first all selected flowers are coated or covered with the barrier, and subsequently, the rest of the flowers are pollinated. Alternatively, one unit is used solely for placing the barrier, and another, separate unit is used for the pollination step. In such a case, the two units can be on the same platform (such as a UAV) or on separate platforms operating independently from one another.

[0045]

[0044] Non-limiting examples of pollination mechanisms are powder dispensers, brushes, sprayers, or any other mechanism that can dispense pollens onto flowers.

Claims

CLAIMS1. A preemptive fruit thinning method of a plant, comprising the steps of: a) determining flowers on said plant intended to be pollinated; and b) pollinating said determined flowers.

2. The method of claim 1, further comprising a preliminary step of identifying all or almost all of the flowers on a plant.

3. The method of claim 1 or 2, further comprising a step of applying a pollen barrier to all flowers not intended to be pollinated to prevent pollination thereof.

4. The method of claim 3, wherein said pollen barrier is a physical barrier.

5. The method of claim 4, wherein said physical pollen barrier is a non-permeable barrier or a semi-permeable barrier.

6. The method of claim 3, wherein said pollen barrier is a chemical barrier.

7. The method of claim 3, wherein the step of applying the pollen barrier is performed individually on flowers that are not intended to be pollinated.

8. The method of claim 3, wherein the step of applying the pollen barrier is performed automatically using at least one robotic designated tool comprising one or more robotic arms.

9. The method of claim 8, wherein said robotic designated tool is an unmanned aerial vehicle (UAV).

10. The method of claim 1, wherein the step of pollinating the determined flowers is performed manually.

11. The method of claim 1, wherein the step of pollinating the determined flowers is performed automatically by utilizing at least one designated pollinating tool.

12. The method of claim 11, wherein said pollinating tool is an unmanned aerial vehicle (UAV).

13. The method of claim 9 or 12, wherein the same UAV is responsible for both applying the pollen barrier and pollinating the determined flowers.

14. The method of any one of claims 11-13, wherein the pollinating tool comprises one or more robotic arms.

15. The method of claim 11, wherein the pollinating tool is mobile on a platform selected from: a land vehicle and an airborne vehicle.

16. The method of claim 15, wherein the platforms are remotely controlled.

17. The method of claim 15, wherein the platforms are autonomous.

18. A preemptive fruit thinning method of a plant, comprising the steps of: a) determining flowers on said plant intended to be pollinated; b) automatically applying a pollen barrier to all flowers not intended to be pollinated using at least one autonomous UAV; and c) pollinating the determined flowers using the same or different autonomous UAV.

19. A preemptive fruit thinning method of a plant, comprising the steps of: a) Identifying at least 90% of flowers on said plant; b) determining flowers on said plant intended to be pollinated; c) automatically applying a pollen barrier to all flowers not intended to be pollinated using at least one autonomous UAV; and d) pollinating the determined flowers using the same or different autonomous UAV.

20. The method of claim 18 or 19, wherein the method is completely autonomous.

21. The method of claim 20, which is carried out in a single action.

22. A preemptive selective fruit thinning system, comprising: a) a controller for controlling the operations of the preemptive fruit thinning system, said controller comprises a processor, and a readable memory media suitable for executing commands of a computer program suitable to manage the operations of said preemptive fruit thinning system;b) a sensing module adapted with one or more sensors for detecting the presence of flowers and predetermined parameters associated with the detected flowers, and for submitting the same to said controller; and c) a pollinator module for pollinating predetermined flowers, wherein said controller is configured to operate near a plant, to receive data from said sensing module, and to operate said pollinator module for pollinating predetermined flowers.

23. The system of claim 22, further comprising a pollen barrier module, wherein said controller is further configured to operate said pollen barrier module for placing a pollination barrier on predetermined flowers and preventing pollination thereof.

24. The system of claim 22 or 23, further comprising a pollen reservoir and optionally a pollination-barrier reservoir.

25. The system of any one of claims 22-24, wherein said one or more sensors of the sensing module are configured to detect flowers and predetermined parameters thereof within a predetermined target region.

26. The system of any one of claims 22-24, wherein the controller’s operation is guided by a person.

27. The system of any one of claims 22-24, wherein the controller’s operation is autonomous.

28. The system of any one of claims 22-24, wherein said system is mobile on platforms selected from: a land vehicle and an airborne vehicle.

29. A preemptive selective fruit thinning system, comprising: a) a controller for controlling the operations of the preemptive fruit thinning system, said controller comprises a processor, and a readable memory media suitable for executing commands of a computer program suitable to manage the operations of said preemptive fruit thinning system; b) a sensing module adapted with one or more sensors for detecting the presence of flowers and predetermined parameters associated with the detected flowers, and for submitting the same to said controller; c) a pollen barrier module; and d) a pollinator module for pollinating predetermined flowers,wherein said controller is configured to operate near a plant, to receive data from said sensing module, and to operate said pollen barrier module and said pollinator module for pollinating predetermined flowers.

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