Method and machine for harvesting fruit and vegetable products

Abstract

Machine (1) for harvesting fruit and vegetable products (100) from fruit trees comprising: a structure (2) extending along a first reference axis (A); a harvesting assembly (5) located on the structure (2) and configured to harvest the fruit and vegetable products (100). The harvesting assembly (5) comprises a frame (8) extending along a second reference axis (B) transversal to the first reference axis (A) and at least two harvesting equipments (14) to harvest two fruit and vegetable products (100, 110) located adjacent to each other on the fruit tree, that are located on the frame (8) one spaced alongside to the other transversally to said second reference axis (B), are carried in a sliding manner by the support frame (8), in order to be able to slide along said support frame (8) parallel to said second reference axis (B) one independently from the other, and comprise each an articulated harvesting arm (17) to harvest one of said two adjacent fruit and vegetable products (100, 110).

Description

[0001] "METHOD AND MACHINE FOR HARVESTING FRUIT AND VEGETABLE PRODUCTS"

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Application No . 102024000001188 filed on January 23 , 2024 , the entire disclosure of which is incorporated herein by reference .

[0004] Technical Field

[0005] The present invention relates to a method and to a machine for harvesting fruit and vegetable products .

[0006] In more detail , the present invention has an advantageous , but not exclusive , application in a method and in an automatic machine for harvesting fruit from fruit trees . This is a use to which the description that follows will refer explicitly, but without thus losing its general nature .

[0007] Prior Art

[0008] As is known, the harvesting of fruit and vegetable products from fruit trees , such as apples , pears and / or similar, is traditionally performed by hand, with all the limits this entails .

[0009] In fact , since this is purely seasonal work, manual harvesting of these fruit and vegetable products requires the presence of a large number of operators for a very limited period of time and, frequently, the producers of these fruit and vegetable products encounter considerable di f ficulties in hiring personnel to perform this task .

[0010] In order to overcome this and other drawbacks linked to the working conditions in the fields and to the cost of labour, over recent years automatic machines for the harvesting of fruit from fruit trees have been developed .

[0011] In general , these machines comprise at least : a supporting structure movable on the ground by means of a plurality of wheels or tracks ; a support frame that rises cantilevered from the supporting structure ; one or more movable robotic arms fixed onto the support frame aligned and spaced one above the other ; a plurality of gripping members , each of which is positioned on the distal end of a corresponding movable robotic arm and adapted to grasp the fruit to be harvested; cameras , which are configured to acquire images of the portion of space where the fruit to be harvested is located; and an electronic control unit , which controls operation of the movable robotic arms and the gripping members based on the images acquired by the cameras .

[0012] The movable robotic arms described above , in particular, are configured each to harvest fruit and vegetable products at di f ferent heights of the fruit tree .

[0013] For example , document CN113752249 A describes an automatic machine for grape harvesting provided with two independent robotic harvesting arms , each of which is adapted to harvest a respective bunch of grapes independently from the other .

[0014] Similar automatic machines for the harvesting of fruit and vegetable products are also described in documents US 11202409 Bl , AU2018234552 Al and WO2022113137 Al .

[0015] However, it often occurs that the fruit and vegetable products , such as apples , pears and / or similar, grow in groups of two or more fruits at the same point of a branch, in a very close position to each other . In particular, it often occurs that the stalks of two or more fruits originate at the same point of the branch, and the relative fruits therefore grow in close contact with each other .

[0016] In addition, it can happen that the stalks of the fruit and vegetable products originate at di f ferent points of the same branch, or even at di f ferent branches , but the relative fruits nonetheless grow arranged in contact with each other .

[0017] Unfortunately, during harvesting of these fruit and vegetable products , the automatic machines described above are able to grab only one piece of fruit at a time and therefore only pick one piece of fruit at a time .

[0018] Consequently, in the case of two fruit and vegetable products in close contact with each other, the automatic machines described above often cause the fruit immediately adj acent to the one j ust picked to fall to the ground, with the evident problems that thi s causes . A fruit that has fallen to the ground is not , in fact , recovered and represents a loss of production .

[0019] In general , the need is felt to provide on the market a machine for harvesting fruit and vegetable products that is able to harvest rapidly and ef ficiently also fruit that has grown in groups of two or more fruits , avoiding accidental falling to the ground of the fruit .

[0020] In addition, the need is felt to provide on the market a machine for harvesting fruit and vegetable products that is able to increase the ef ficiency and rapidity of harvesting fruit from fruit trees .

[0021] Summary of the Invention

[0022] An obj ect of the present invention is to provide a method and a machine for harvesting fruit and vegetable products that are at least partially free from the problems described here above and, at the same time , are simple and economical to manufacture .

[0023] According to the present invention, a method and a machine for harvesting fruit and vegetable products are provided, according to what is claimed in the relative independent claims and preferably, but not necessarily, in any one of the claims directly or independently dependent upon the independent claims . The claims describe preferred embodiments of the present invention and form an integral part of this description .

[0024] Brief Description of the Drawings

[0025] Several embodiments of the invention will be described below for a better understanding of it , by way of non-limiting example and with reference to the attached figures , wherein :

[0026] - Figure 1 is a perspective view of a possible embodiment of the machine for harvesting fruit and vegetable products obtained in accordance with the present invention, with parts in crosssection and parts removed for clarity;

[0027] - Figure 2 is a front view of the machine in Figure 1 , with parts removed for clarity;

[0028] - Figures 3 and 4 are two perspective views of a portion of the machine shown in Figure 1 in two di f ferent operating positions , with parts removed for clarity and in a di f ferent operating position; and

[0029] - Figure 5 is a schematic view of fruit and vegetable products that are particularly suited to being harvested by the machine shown in Figure 1 .

[0030] Embodiments of the Invention

[0031] With reference to the appended figures , the number 1 denotes , in its entirety, a machine for harvesting fruit and vegetable products , which is advantageously structured automatically to harvest / pick fruit and vegetable products 100 from fruit trees and / or similar plants .

[0032] In more detail , the machine 1 is particularly suited to harvesting fruit and vegetable products , for example apples , pears and / or other similar hanging fruit and vegetable products grown on a respective tree in groups of two or more , in a position close to each other .

[0033] In even more detail , the machine 1 is particularly suited to harvesting fruit and vegetable products whose stalks originate at the same point of a branch of the fruit tree and are positioned one adj acent / attached to the other .

[0034] With reference to the example shown in Figure 5 , in the present description the term "double fruits" or "adj acent fruits" 110 will be used to indicate two fruit and vegetable products 100 to be harvested positioned one adj acent to and resting on the other, in particular whose stalks 101 originate at points adj acent to each other or at the same point of a branch 102 of the fruit tree .

[0035] In other words , in particular, said adj acent fruits 110 are arranged one in contact with the other .

[0036] For example , the adj acent fruits 110 could be arranged one alongside the other at the same vertical height or could be arranged one vertically staggered above the other .

[0037] With reference to Figures 1 and 2 , the machine 1 comprises , in the first place , a supporting platform or lower frame 2 , which extends along a reference axis A.

[0038] In use , the reference axis A i s preferably parallel to the ground, i . e . it is preferably hori zontal .

[0039] In addition, the machine 1 preferably, but not in a limiting manner, comprises ground support means 3 configured to allow movement of the supporting structure 2 on the ground .

[0040] The ground support means 3 preferably comprise wheels or tracks , which are carried rotating by the supporting structure 2 and are preferably arranged on opposite sides of the vertical centreline of the supporting structure 2 .

[0041] The machine 1 is also preferably, but not in a limiting manner, of the sel f-propelled type . In more detail , the machine 1 preferably compri ses motorised means (not shown) , in particular one or more electric motors , which are mechanically coupled to the ground support means 3 and are adapted to drag the latter in rotation to allow the movement of the machine 1 on the ground .

[0042] With reference to the example shown in Figure 1 , furthermore , the machine 1 also comprises at least one harvesting station or assembly 5 , which is preferably positioned on the supporting structure 2 and is configured to harvest / pick, automatically, the fruit and vegetable products 100 to be harvested .

[0043] In addition, the harvesting assembly 5 is also advantageously configured to deposit / convey the fruit and vegetable products 100 picked preferably towards a container 200 , such as for example a crate , a bin and / or other similar container, in a known way .

[0044] Preferably, the container 200 is intended to be positioned on the supporting structure 2 , advantageously, but not in a limiting manner, adj acent to , or at , the harvesting assembly 5 .

[0045] In other words , the machine 1 preferably comprises a deposit / storage seat 6 , which is configured to be arranged adj acent to , or at , the harvesting assembly 5 and is adapted to house the container 200 .

[0046] Preferably, the deposit seat 6 is positioned on the supporting structure 2 , adj acent to the harvesting assembly 5 .

[0047] Preferably, the harvesting assembly 5 is configured to deposit / convey the picked fruit and vegetable products 100 towards the deposit seat 6 and / or towards the container 200 housed therein .

[0048] With reference to the example shown in Figures 1 to 4 , in particular, the harvesting assembly 5 comprises a support frame 8 or portion of frame , which is preferably positioned on the supporting structure 2 and extends along a reference axis B .

[0049] In more detail , the support frame 8 preferably, but not in a limiting manner, rises cantilevered from the supporting structure 2 along the reference axis B .

[0050] According to a non-limiting example of an embodiment of the invention (not shown) , the machine 1 comprises a plurality of harvesting assemblies 5 arranged alongside each other along the reference axis A . The number of harvesting assemblies 5 can be changed as a function, for example , of the potential with which it is intended to perform the harvest .

[0051] Preferably, the reference axis B is transversal to the reference axis A and / or the advancement plane of the machine 1 , i . e . is transversal to the ground .

[0052] In particular, the reference axis B is preferably orthogonal to the advancement plane of the machine 1 and / or to the ground, i . e . it is vertical .

[0053] The support frame 8 also preferably has a rigid and sel f- supporting structure , and is advantageously made of a metal material .

[0054] In more detail , the support frame 8 preferably comprises at least one rectilinear upright 9 which extends parallel to the reference axis B .

[0055] With reference to the example shown in Figures 1 to 4 , the rectilinear upright 9 preferably has a substantially plate-like structure and / or preferably has a substantially rectangular elongated shape . In addition, the vertical upright 9 is preferably, but not in a limiting manner, arranged with its face / larger surface 9a parallel to the reference axis A and to the reference axis B .

[0056] In other words , the upright 9 is preferably arranged with its face / larger surface 9a parallel to the vertical centreline plane of the supporting structure 2 .

[0057] In addition, the upright 9 is preferably arranged adj acent to a side of the supporting structure 2 parallel to the reference axis A.

[0058] With reference to the example shown in Figures 1 to 4 , furthermore , the support frame 8 preferably also comprises a gantry 11 , which supports the vertical upright 9 .

[0059] In more detail , the support frame 8 preferably comprises a plurality of vertical supporting elements and a plurality of transversal supporting elements , which are rigidly connected to each other and / or to the vertical upright 9 .

[0060] The hori zontal and / or vertical supporting elements , in particular, can comprise metal section bars .

[0061] With reference to Figures 1 to 4 , in the example shown, the harvesting assembly 5 further comprises at least two or more harvesting equipments 14 configured so as to be able to harvest / pick the fruit and vegetable products 100 .

[0062] Preferably, but not in a limiting manner, the harvesting equipments 14 are also configured to convey the fruit and vegetable products 100 harvested towards the deposit seat 6 , preferably towards the container 200 housed therein .

[0063] In addition, the harvesting equipments 14 are carried by the support frame 8 . In more detail , the harvesting equipments 14 are configured to be movably carried by the support frame 8 , so as to be able to translate along the reference axis B, preferably remaining substantially parallel to themselves .

[0064] In even more detail , the harvesting equipments 14 are preferably configured so as to be mounted in a slidable manner on the upright 9 of the support frame 8 .

[0065] With reference to the preferred embodiment of the invention shown in Figures 1 to 4 , the harvesting assembly 5 comprises at least two adj acent harvesting equipments 14 , which are positioned on the support frame 8 one spaced alongs ide the other transversally to the reference axis B .

[0066] The two harvesting equipments 14 , in particular, are carried in a movable manner by the support frame 8 , so as to be able to translate along the reference axis B, one independently from the other .

[0067] In other words , the two harvesting equipments 14 are mounted in a slidable manner on the frame 8 and are able to translate along the frame 8 one independently from the other .

[0068] In more detail , the two harvesting equipments 14 are carried in a slidable manner by the support frame 8 so as to be able to slide one parallel to the other respectively along two parallel axes and spaced from each other and parallel to the reference axis B .

[0069] According to a possible embodiment , the harvesting assembly 5 can comprise a plurality of harvesting equipments 14 , which are spaced from each other along the support frame 8 parallel to the reference axis B and are spaced in pairs one alongside the other transversally to the reference axis B . Clearly, the harvesting assembly 5 could also be provided with an uneven number of harvesting equipments 14 spaced in pairs one alongside the other transversal ly to the reference axis B, wherein at least one harvesting equipment 14 might not be provided with a corresponding other harvesting equipment 14 arranged alongside .

[0070] With reference to the example shown in Figures 1 to 4 , each of the two harvesting equipments 14 preferably comprise at least one articulated or robotic harvesting arm 17 , which is configured to harvest a relative fruit and vegetable product 100 .

[0071] Preferably, each articulated harvesting arm 17 is carried movably with respect to the supporting structure 2 .

[0072] In more detail , each articulated harvesting arm 17 is preferably carried movably by the support frame 8 .

[0073] Preferably, each articulated harvesting arm 17 is carried in a sliding manner by the support frame 8 , so as to be able to slide with respect to said support frame 8 along the reference axis B .

[0074] With reference to the example shown in Figures 1 to 4 , in particular, each harvesting equipment 14 preferably, but not in a limiting manner, comprises a slide 16 , which i s carried in a sliding manner by the support frame 8 , in particular by the upright 9 , and in turn supports the articulated harvesting arm 17 .

[0075] In more detail , preferably the slides 16 are separate and distinct from each other, and each is vertically movable with respect to an adj acent slide 16 . Preferably, but not in a limiting manner, each articulated harvesting arm 17 is carried in a movable manner, in particular in a rotatable manner, by the slide 16 .

[0076] With reference to the example shown in Figures 1 to 4 , each slide 16 is pre ferably mechanically connected in a sliding manner on the support frame 8 , with the pos sibility of translating along the frame 8 itsel f in a preferably parallel direction to the reference axis B .

[0077] In particular, the support frame 8 preferably comprises a plurality of sl iding guides 20 advantageously linear, or rectilinear, which are integral with the upright 9 and extend one alongside the other, parallel to each other and parallel to the reference axis B .

[0078] Preferably, a first slide 16 is carried in a sliding manner by a first pair of guides 20 , and a second slide 16 is carried in a sliding manner by a second pair of guides 20 .

[0079] In other words , preferably the f irst slide 16 cooperates in a sliding manner with the first pair of guides 20 and the second slide 16 cooperates in a sliding manner with the second pair of guides 20 .

[0080] In addition, the machine 1 preferably also comprises at least one pair of actuating devices 21 , preferably electrically driven, each of which is preferably operatively interposed between the support frame 8 and a corresponding harvesting equipment 14 and is configured to move , on command, the corresponding harvesting equipment 14 along the support frame 8 , advantageously maintaining the corresponding articulated harvesting arm 17 parallel to itsel f .

[0081] In more detail , each actuating device 21 is preferably interposed between the support frame 8 and a corresponding slide 16 . Preferably, but not in a limiting manner, the first actuating device 21 comprises an electro-mechanic drive mechanism to control the movement of the articulated harvesting arm 17 along the reference axis B .

[0082] Alternatively, the first actuating device 21 could comprise a rack and pinion mechanism, a chain mechanism and / or similar ones .

[0083] With reference to the example shown in Figures 1 , 2 and 3 , each articulated harvesting arm 17 preferably comprises a three degrees of freedom robotic arm .

[0084] Each articulated harvesting arm 17 , therefore preferably, but not in a limiting manner, has four degrees of freedom, in particular one given by the translation of the robotic arm with respect to the support frame 8 and three given by the same robotic arm .

[0085] Preferably, each articulated harvesting arm 17 extends cantilevered from the relative slide 16 so as to remain on a transversal plane to the reference axis B, in particular orthogonal to the reference axis B ( i . e . substantially hori zontal ) .

[0086] In addition, the proximal end of each articulated harvesting arm 17 is preferably carried in a rotating manner by the respective slide 16 , so as to be able to rotate / swing around a first rotation axis Ri preferably parallel to the reference axis B .

[0087] With reference to Figures 1 , 3 and 4 , in the example shown, in particular, each articulated harvesting arm 17 preferably comprises a plurality of portions reciprocally carried in a rotating manner around respective rotation axes parallel to the reference axis B and a plurality of actuators , preferably electrically driven, each of which is adapted to rotate a respective portion with respect to its hinge point .

[0088] In more detail , each articulated harvesting arm 17 preferably comprises : a first portion 17a, which is connected in a rotating manner to the relative slide 16 , so as to be able to rotate around the first rotation axis Ri ; a second portion 17b, which is connected in a rotating manner to the first portion 17a, so as to be able to rotate around a second rotation axis R2 parallel to the first rotation axis Ri ; and a third portion 17c, which is connected in a rotating manner to the second portion 17b, so as to be able to rotate around a third rotation axis R3 parallel to the first rotation axis Ri and / or to the second rotation axis R2 .

[0089] In addition, each articulated harvesting arm 17 preferably comprises an actuating device , preferably electro-mechanically operated, which is configured to operate / move the same articulated harvesting arm 17 .

[0090] In more detail , the actuating device of the articulated harvesting arm 17 is preferably configured to rotate the first portion 17a, the second portion 17b and the third portion 17c around the respective hinge points , i . e . respectively around the rotation axes Ri, R2and R3 .

[0091] The actuating device of each articulated harvesting arm 17 , in particular, preferably comprises a first actuator 18 , which is preferably carried by the slide 16 and is configured to rotate the first portion 17a with respect to the support frame 8 around the rotation axis Ri .

[0092] In other words , the first actuator 18 is preferably interposed between the slide 16 and the first portion 17a of the relative articulated harvesting arm 17 . The actuating device of each articulated harvesting arm 17 , furthermore , preferably also comprises a second actuator 19 configured to rotate the second portion 17b with respect to the first portion 17a around the rotation axis R2 .

[0093] Preferably, but not in a limiting manner, the second actuator 19 is also carried by the relative slide 16 and is mechanically connected to the second portion 17b by means of a return rod (not shown) , which extends preferably parallel to the first portion 17a and is connected to the second portion 17b in an eccentric position with respect to the second rotation axis R2 , so as to rotate the second portion 17b around the same rotation axis R2 . Preferably, the return rod of each articulated harvesting arm 17 is positioned externally and parallel to the first portion 17a .

[0094] In addition, the actuating device of each articulated harvesting arm 17 preferably also comprises a third actuator 22 , which is operatively interposed between the second portion 17b and the third portion 17c and is configured to rotate the third portion 17c with respect to the second portion 17b .

[0095] In use , by operating the actuators of the actuating device of each articulated harvesting arm 17 , it is possible to extract and retract said arm with respect to the support frame 8 , preferably in a direction transversal , in particular orthogonal , to the reference axis B .

[0096] In particular, each articulated harvesting arm 17 i s movable on a plane transversal , in particular orthogonal , to the reference axis B .

[0097] With reference to the example shown in Figures 1 to 4 , furthermore , each of the two harvesting equipments 14 also comprises a gripping device 24 , which is preferably configured to be carried by the relative harvesting arm 17 , in particular by the distal end of the articulated harvesting arm 17 , and is configured to grip / grab a fruit and vegetable product 100 to be harvested, in a known way and therefore not described further .

[0098] With reference to Figures 1 to 4 , the machine 1 further comprises detection means 30 , which are configured to detect / identi f y the fruit and vegetable products 100 to be harvested .

[0099] For example , the detection means 30 can comprise an image acquisition system 32 , i . e . a viewing system, in particular one or more cameras , which is configured to acquire images of a work area which is preferably adj acent to the machine 1 itsel f , so as to identi f y / display the fruit and vegetable products 100 to be harvested, in particular the adj acent fruits 110 to be harvested .

[0100] As an alternative or in addition, the detection means 30 can comprise radio detection and / or remote detection systems , such as , for example , a LIDAR system and / or similar ones , which are configured to identi fy the fruit and vegetable products 100 to be harvested, in particular the adj acent fruits 110 to be harvested .

[0101] According to a possible embodiment , the detection means 30 are positioned on the supporting structure 2 .

[0102] As an alternative , the detection means 30 could also be positioned on the support frame 8 .

[0103] With reference to the example shown in Figures 1 , 2 and 3 , the detection means 30 are preferably, but not in a limiting manner, positioned on the harvesting equipment 14 .

[0104] In particular, the detection means 30 are preferably carried by the slide 16 of the harvesting equipments 14 , so as to be able to move solidly constrained to the same slide 16 . In use , the detection means 30 are configured to cyclically acquire data / images relating to the fruit and vegetable product or products 100 to be harvested, for example data indicative of the position of the fruit and vegetable product or products 100 to be harvested with respect to the machine 1 .

[0105] The machine 1 , in addition, also comprises an electronic control unit or panel 35 , which is operatively connected at least to the harvesting equipments 14 and to the detection means 30 and comprises processing means that are configured to control the operation at least of the harvesting equipments 14 based on the data provided by the detection means 30 .

[0106] In more detail , the electronic control unit 35 i s preferably operatively connected to the actuating device 21 and / or to the actuating device of each harvesting equipment 14 and is configured to selectively control their operation based on the data / images provided by the detection means 30 .

[0107] In more detail , the electronic control unit 35 is programmed / conf igured so as to guide the two harvesting equipments 14 to grasp a pair of fruit and vegetable products 100 in contact with each other, i . e . adj acent fruits 110 .

[0108] Preferably, but not in a limiting manner, the electronic control unit 35 is programmed / conf igured to guide the harvesting equipments 14 to grasp substantially simultaneously the adj acent fruits 110 .

[0109] In addition, once both the adj acent fruits 110 have been grasped, the electronic control unit 35 is preferably programmed / conf igured to guide the harvesting equipments 14 to harvest / pick / detach said adj acent fruits 110 .

[0110] In more detail , the electronic control unit 35 i s preferably programmed / conf igured to guide the harvesting equipments 14 to move and to cause the detachment of said adj acent fruits 110 .

[0111] According to a non-limiting example , once the adj acent fruits 110 have been grasped, the electronic control unit 35 is programmed / conf igured to retract the articulated harvesting arms 17 to harvest / pick / detach said adj acent fruits 110 .

[0112] As an alternative or in addition, once both adj acent fruits 110 have been grasped, the electronic control unit 35 is programmed / conf igured to guide the harvesting equipments 14 to harvest / pick / detach only a first fruit and vegetable product 100 of the two adj acent fruits 110 .

[0113] During said picking, any accidental detachment of the stem 101 of the second fruit and vegetable product 100 of the two adj acent fruits 110 previously grasped would nonetheless not cause it to fall to the ground, as it would be retained by the second articulated harvesting arm 17 .

[0114] According to a possible embodiment of the invention, the electronic control unit 35 is programmed / conf igured to control the harvesting equipments 14 so as to be able to reach and harvest / pick / detach the adj acent fruits 110 without the two harvesting equipments 14 , and in particular the two articulated harvesting arms 17 and / or their gripping devices 24 , colliding with each other, i . e . in a manner that the work spaces of the two harvesting equipments 14 do not overlap .

[0115] In particular, the term work space means the space momentarily occupied by each harvesting equipment 14 during harvesting of the fruit and vegetable products 100 .

[0116] In more detail , the electronic control unit 35 can be programmed / conf igured to control the two harvesting equipments 14 so as to be able to reach the adj acent fruits 110 with two harvesting / approach directions distinct from each other, preferably transversal to each other, i . e . not parallel .

[0117] In even more detail , the electronic control unit 35 can be programmed / conf igured to control the two harvesting equipments 14 so as to be able to reach the adj acent fruits 110 with two harvesting directions that are slanted to each other .

[0118] Preferably, the harvesting direction corresponds with the traj ectory travelled by the gripping device 24 during harvesting of the relative fruit and vegetable product 100 . In other words , the harvesting direction preferably corresponds with the direction assumed by the third portion 17c and / or by the harvesting device 24 during harvesting of the relative fruit and vegetable product 100 .

[0119] Preferably, the harvesting directions lie on orthogonal planes to the reference axis B .

[0120] In other words , the electronic control unit 35 can be programmed / conf igured to control the two harvesting equipments 14 so that each of them can reach a relative fruit and vegetable product 100 of the adj acent fruits 110 by being arranged spaced / staggered with respect to the other, so as to avoid collisions between the two harvesting equipments 14 .

[0121] A technical ef fect correlated to the harvesting of adj acent fruits 110 with two harvesting directions distinct from each other is linked to the possibility of grasping adj acent fruits 110 independently of the relative position of the two fruit and vegetable products 100 without the two harvesting equipments 14 and their gripping devices 24 colliding one with the other .

[0122] In addition, a further technical ef fect correlated to the harvesting of adj acent fruits 110 with two harvesting directions distinct from each other is linked to the possibility of simultaneously harvesting adj acent fruits 110 when the two fruit and vegetable products 100 are arranged one behind the other with respect to the machine 1 .

[0123] In addition, the electronic control unit 35 can be programmed / conf igured to control the position of each of the two harvesting equipments 14 along the reference axis B independently from the other harvesting equipment 14 , for example by controlling the two relative actuating devices 21 one independently from the other .

[0124] A technical e f fect correlated to the pos sibility of independently controlling the position of each of the two harvesting equipments 14 along the reference axis B is linked to the fact of being able to grasp independently fruit and vegetable products 100 positioned at di f ferent heights on the fruit tree , thus increasing the yields / potential of the machine 1 .

[0125] In addition, the independence of the position of the two harvesting equipments 14 along the reference axis B allows adj acent fruits 110 to be harvested even when the two relative fruit and vegetable products 100 are positioned at di f ferent heights to each other, as in the example shown in Figure 5 .

[0126] The electronic control unit 35 can also be operatively connected to the motorised means 3 to control the movement of the machine 1 on the ground .

[0127] Operation of the machine 1 according to the present invention is as follows .

[0128] In a first step, the detection means 30 acquire images / data of the fruit and vegetable products 100 to be harvested at the machine 1 . Based on said images / data, the electronic control unit 35 determines the position of the fruit and vegetable products 100 to be harvested .

[0129] In more detail , the electronic control unit 35 preferably determines , between the fruit and vegetable products 100 to be harvested, the presence and the position of adj acent fruits 110 .

[0130] In a second step , the electronic control unit 35 controls the harvesting equipments 14 to grasp the adj acent fruits 110 .

[0131] In more detail , the electronic control unit 35 controls the harvesting equipments 14 so that each harvesting equipment 14 can reach and grasp a fruit and vegetable product 100 of the adj acent fruits 110 without colliding with the other harvesting equipment 14 .

[0132] Preferably, the electronic control unit 35 also controls the harvesting equipments 14 so that each harvesting equipment 14 can reach a fruit and vegetable product 100 of the adj acent fruits 110 assuming a di f ferent harvesting direction to the other harvesting equipment 14 .

[0133] Lastly, in a third step, the electronic control unit 35 controls the operation of each harvesting equipment 14 to harvest / pick the adj acent fruits 110 and then convey said adj acent fruits 110 j ust harvested towards the seat 6 and / or the container 200 housed therein .

[0134] In light of what is written above , the present invention also relates to a method of operation of the machine 1 .

[0135] In particular, the method comprises , in sequence , the following steps : a ) detect / identi f y two adj acent fruit and vegetable products 100 to be harvested, i . e . the adj acent fruits 110 ; b ) control the two harvesting equipments 14 so as to be able to reach the two fruit and vegetable products 100 detected in step a) ; c ) control the two harvesting equipments 14 so as to be able to grasp the two fruit and vegetable products 100 ; and d) control at least one of the two harvesting equipments 14 to pick at least a first of the two adj acent fruits and vegetable products 100 grasped in step c ) . e )

[0136] Preferably, step b ) of the method comprises controlling two harvesting equipments 14 in order to reach the two fruit and vegetable products 100 identi fied in step a ) with two harvesting directions di f ferent to each other .

[0137] In more detail , step b ) of the method comprises controlling two harvesting equipments 14 in order to reach the two fruit and vegetable products 100 identi fied in step a ) with two harvesting directions transversal and / or slanted to each other .

[0138] Preferably, step b ) of the method preferably comprises controlling the actuators 18 , 19 and 22 of each of the two harvesting equipments 14 in order to reach the relative fruit and vegetable products 100 with two di f ferent harvesting directions and / or without the work areas of each harvesting equipment 14 overlapping with each other .

[0139] In addition, step b ) of the method preferably comprises controlling the position of the two harvesting equipments 14 along the reference axis B one independently from the other .

[0140] In particular, step b ) of the method can comprise positioning the two harvesting equipments 14 at di f ferent points / heights to each other along the reference axis B, for example as a function of the relative position between the two fruit and vegetable products 100 of the adj acent fruits 110 . Preferably, but not in a limiting manner, step c ) comprises controlling the two harvesting equipments 14 to grasp the two adj acent fruit and vegetable products 100 substantially simultaneously .

[0141] In addition, step c ) of the method preferably comprises controlling the gripping device 24 of each harvesting equipment 14 in order to grasp / grab the relative fruit and vegetable product 100 .

[0142] Step d) of the method, on the other hand, preferably comprises controlling at least the first harvesting equipment 14 in order to pull of f / detach the relative fruit and vegetable product 100 from the tree or plant to which it is attached .

[0143] In other words , step d) of the method preferably comprises controlling at least the first harvesting equipment 14 in order to move it and determine the detachment of the relative fruit and vegetable product 100 from the tree or plant to which it is attached .

[0144] Step d) also comprises controlling the first of the two harvesting equipments 14 in order to pick / harvest the first fruit and vegetable product 100 only after both fruit and vegetable products 100 of the adj acent fruits 110 have been grasped by the relative harvesting equipments 14 .

[0145] In addition, the method of operation of the machine 1 preferably also comprises the step of conveying the fruit and vegetable products 100 harvested towards the seat 6 and / or the container 200 housed therein .

[0146] All of what is described above in relation to the machine 1 or to the method is also to be considered as valid respectively for the method or the machine 1 . In other words , the functional features and configurations of the control unit 35 can be considered as possible steps of the method and vice versa .

[0147] In accordance with a further aspect of the present invention, a computer program is provided comprising instructions that , when the program is executed by the electronic control unit 35 (by means of said processing means ) , cause the control unit 35 to execute the method previously described .

[0148] The advantages associated with the machine 1 and its method of operation according to the present invention are considerable .

[0149] In particular, the machine 1 is able to harvest adj acent fruits 110 in an automated way, avoiding the risk of accidentally causing the fruit and vegetable products 100 to fall during harvesting and at the same time increasing the rapidity and ef ficiency of the harvest .

[0150] In more detail , the machine 1 is able to harvest adj acent fruits 110 by reaching the two adj acent fruit and vegetable products 100 by means of two harvesting equipments 14 with two di f ferent harvesting directions , in order that the relative gripping devices 24 can simultaneously reach the two fruit and vegetable products 100 to be harvested avoiding collisions between the two harvesting equipments 14 .

[0151] In addition, the independent movement of the two harvesting equipments 14 along the reference axis B allows the fruit and vegetable products 100 positioned at di f ferent heights on the fruit tree to be picked automatically, such as for example adj acent fruits 110 when the individual fruit and vegetable products 100 are one in contact with the other at di f ferent heights to each other .

[0152] In conclusion, it is clear that changes and variants can be made to the machine 1 and the method for harvesting fruit and vegetable products according to the present invention without thus deviating from the scope of protection as defined by the claims .

[0153] For example , according to an embodiment variant not shown, the support frame 8 could comprise two vertical uprights , which extend one paral lel to and alongside the other parallel to the reference axis B . Each of the two harvesting equipments 14 could be carried sliding from a corresponding vertical upright .

[0154] In addition, the machine 1 could be without ground support means 3 and could be intended to be positioned on a vehicle moving on the ground, such as a flatbed of a motor vehicle , or a trailer towed by a motor vehicle .

[0155] As an alternative , the machine 1 could be without ground support means 3 and the supporting structure 2 could be configured to be supported movably, raised from the ground, by cables stretched alongside the fruit trees . In other words , the machine 1 could be suspended movably on the cables stretched alongside the fruit trees .

[0156] With reference to a further embodiment variant of the present invention, not shown, the deposit seat 6 could be positioned on a trailer, a truck or a movable frame , which is advantageously configured to house the container 200 , is separate and distinct from the machine 1 , and is configured to be selectively attached to the machine 1 , in particular to the supporting structure 2 , in order to be able to move , in use , together with the machine 1 .

[0157] As an alternative or in addition, the articulated harvesting arm 17 could also comprise at least one telescopically extendible portion .

[0158] Furthermore , the support frame 8 , or rather the rectilinear upright 9 , could also comprise at least one telescopically extendible portion .

[0159] In addition, according to an embodiment variant not shown, the supporting structure 2 and / or the support frame 8 could be shaped so that the travel of the slide 16 extends as far as to be arranged skimming the ground, so as to allow the harvesting equipment 14 also to harvest fruit and vegetable products 100 positioned low down, for example at around ground height . For example , the support frame could be fixed cantilevered on a side of the supporting structure 2 , and could extend downwards until it is arranged skimming the ground .

[0160] In conclusion, the number of harvesting assemblies 5 of the machine 1 and / or the number of harvesting equipments 14 for each harvesting assembly 5 could vary with respect to what is described above and / or shown in the accompanying figures .

Claims

CLAIMS1.- Method for harvesting fruit and vegetable products (100) from a fruit tree by means of a machine (1) for harvesting fruit and vegetable products, said machine (1) comprising at least two harvesting equipments (14) , which are configured at least to harvest two fruit and vegetable products (100, 110) located adjacent to each other on the fruit tree, are located one spaced alongside the other transversally to a reference axis (B) , and are carried movably so as to be able to translate along said reference axis (B) independently one from the other, the method of operation comprising, in sequence, at least the following steps: a detect / identif y the two adjacent fruit and vegetable products (100, 110) to be harvested; control the two harvesting equipments (14) in order to reach the two fruit and vegetable products (100, 110) detected in step a) ; c control the two harvesting equipments (14) in order to grasp the two fruit and vegetable products (100, 110) ; and control at least one of the two harvesting equipments (14) to pick at least a first of the two adjacent fruits and vegetable products (100) grasped in step c) , wherein said step d) comprises controlling at least one of the two harvesting equipments (14) to pick at least a first of the two adjacent fruit and vegetable products (100) grasped in step c) only after both of the two harvesting equipments (14) have grasped the two adjacent fruit and vegetable products (100, 110) to be harvested.2.- The method according to claim 1, wherein said step b) comprises controlling the two harvesting equipments (14) in order to reach the two fruit and vegetable products (100, 110) identified in step a) with two harvesting directions different to each other.3.- The method according to claim 1 or 2, wherein said step b)comprises controlling the position of the two harvesting equipments (14) along said reference axis (B) one independently from the other .4.- Method according to claim 1, 2 or 3, wherein said step c) comprises controlling the two harvesting equipments (14) to grasp the two adjacent fruit and vegetable products (100) substantially simultaneously.5.- Machine (1) for harvesting fruit and vegetable products (100) from a fruit tree; said machine (1) comprising:• a supporting structure (2) , which extends along a first reference axis (A) ;• at least one harvesting assembly (5) , which is located on said supporting structure (2) and is configured to harvest the fruits and vegetable products (100) ; wherein said harvesting assembly (5) comprises:• a support frame (8) , which extends along a second reference axis (B) transversal to said first reference axis (A) ;• at least two harvesting equipments (14) , which are configured at least to harvest two fruit and vegetable products (100, 110) located adjacent to each other on the fruit tree, are located on the support frame (8) one spaced alongside to the other transversally to said second reference axis (B) , are carried in a movable manner by said support frame (8) , so as to translate along the second reference axis (B) one independently from the other, and comprise each at least one articulated harvesting arm (17) , each of which is configured to harvest one of said two adjacent fruit and vegetable products (100, 110) ,• detection means (30) , which are configured to detect / identif y said two adjacent fruit and vegetable products (100, 110) to be harvested; and• an electronic control unit (35) , which is operatively connected to said two harvesting equipments (14) and to said detection means (30) and comprises processing means, which areconfigured to control the operation of said two harvesting equipments (14) based on data provided by said detection means (30) and to perform the method according to any one of the preceding claims.6.- Machine according to claim 5, wherein the two harvesting equipments (14) are carried in a sliding manner by the support frame (8) , in order to be able to slide along said support frame (8) parallel to said second reference axis (B) one independently from the other .7.- Machine according to claim 5 or 6, wherein said harvesting assembly (5) comprises at least a pair of actuating devices (21) , each of which is operatively interposed between said support frame (8) and a corresponding harvesting equipment (14) , and is configured to move, on command, the corresponding harvesting equipment (14) along said support frame (8) .8.- Machine according to claim 5, 6 or 7, wherein each articulated harvesting arm (17) comprises a plurality of portions (17a, 17b, 17c) reciprocally rotatably carried about respective rotation axes (Ri, R2, R3) parallel to the second reference axis (B) and a plurality of actuators (18, 19, 22) , each of which is configured to rotate a respective portion (17a, 17b, 17c) with respect to a hinge point thereof.9.- Machine according to any one of the claims 5 to 8, wherein each harvesting equipment (14) comprises a gripping device (24) , which is carried by a corresponding articulated harvesting arm (17) and is configured to grasp / grab a fruit or vegetable product (100) .10.- Machine according to any one of claims 5 to 9, wherein said electronic control unit (35) is configured to control said two harvesting equipments (14) so as to be able to grasp and then pick said two adjacent fruit and vegetable products (100, 110) .11.- Machine according to any one of claims 5 to 10, wherein said electronic control unit (35) is configured to control said two harvesting equipments (14) so as to be able to reach said two adjacent fruit and vegetable products (100, 110) and the two harvesting equipments (14) occupy separate working spaces.12.- Machine according to any one of claims 5 to 11, wherein said electronic control unit (35) is configured to control said two harvesting equipments (14) so as to be able to reach said two adjacent fruit and vegetable products (100, 110) along two harvesting directions different to each other.13.- Machine according to any one of claims 5 to 12, wherein said electronic control unit (35) is configured to guide the two harvesting equipments (14) so as to be able to grasp substantially simultaneously said two adjacent fruit and vegetable products (100, 110) to be harvested.14.- Machine according to claim 13, wherein said electronic control unit (35) is configured to guide the two harvesting equipments (14) to pick at least a first of the two adjacent fruit and vegetable products (100) grasped previously only after both of the two harvesting equipments (14) have grasped the two adjacent fruit and vegetable products (100, 110) to be harvested .15.- Computer program comprising instructions that, when the program is executed by an electronic control unit (35) , in particular of the machine according to any one of claims 5 to 14, cause the control unit (35) to execute the method according to any one of claims 1 to 4.

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