Separating device for separating agricultural products

Abstract

Separating device (1) for separating agricultural products (99), the device comprising a transporter (2) for transporting the products along a path (p) of transportation, extending from an entry section (21) of the transporter, where the products enter the transporter, towards an exit section (22) thereof, where the products are removed from the transporter, a detector (3) configured to detect a position signal (31) representative for positions, of the products on the transporter, further comprising a controller (4), configured to control the transporter based on the position signal and comprising a recognition module (41), configured to recognize the position of the products on the transporter on the basis of the position signal, a prediction module (42), configured to determine a predicted exit position, of the products at the exit section, based on the recognized product position and transportation information and a control module (43) configured to control the transporter (2), based on the predicted exit position of the products at the exit section, to transport the products from the entry section towards, a separated target position at the exit section.

Description

[0001] Title: Separating device for separating agricultural products

[0002] Field of the invention

[0003] The present invention relates to a separating device for separating agricultural products, and a product processing device.

[0004] Background of the invention

[0005] Separating devices are known in practice, for example for separating agricultural, e.g. horticultural, produce that is delivered in a crate and needs to be separated for further processing, e.g. for grading and packaging. A crate containing the products, such as fruit or vegetable products, is commonly emptied above a conveyor belt to load the products thereon.

[0006] After depositing the products on the conveyor belt, products are commonly lying against each other, stacked on top of each other, and / or partially entangled with each other. As result, further automatic or individual processing can be difficult such that the products need to be spaced apart with respect to each other. For example, it has been found that for further manipulation and / or grading of the products, it is advantageous if the products would be arranged separately from each other on the conveyor belt. Alternatively, it may be advantageous that products are arranged separately in a specific pattern, such as a line or group, and or in a specific position.

[0007] It is common to provide a combination of multiple conveyor belts in series at various speeds and / or manipulators, such as a knocking-, vibration- or impact mechanisms in order to induce movement of the products on the conveyor belts with respect to each other. However, it has been found that, although the manipulators may be selectively switched on and / or off based on sensor input, the manipulation may still not be sufficiently selective and using common systems the position of a relatively large amount of products is changed, even products that were already positioned correctly on the conveyor.

[0008] Further, the results of the manipulation may vary, e.g. with product type, product batch, and environmental circumstances, such that it may be necessary to provide a relatively large length of conveyor belts and / or relatively large amount of manipulators and / or to repeat the manipulation multiple times until the desired result is obtained. As a result, the time and / or space required for arranging the products towards, e.g. in, a desired spacing and / or orientation is uncertain and cannot always precisely be determined beforehand, such that separating devices are usually designed on the basis of a worst-case scenario, such that it can take a relatively long time and / or space before the products are arranged having a desired spacing and / or orientation. Object of the invention

[0009] It is therefore an object of the present invention to provide a separating device that at least partially overcomes the disadvantages of the prior art, or to provide an alternative separating device, for example a separating device that allows to provide separated products that are arranged in a more predictable position, that requires a relatively low amount of manipulations and / or that enquires a relatively small space and / or amount of time to provide products in a separated position.

[0010] Description of the invention

[0011] The invention provides a separating device for separating agricultural, e.g. horticultural, products according to claim 1. The separating device comprises a transporter for transporting the products along a path of transportation, extending from an entry section of the transporter, where the products enter the transporter, towards an exit section thereof, where the products are removed from the transporter.

[0012] The entry section may comprise an infeed device arranged to feed products, e.g. in a relatively disordered manner, such as by rolling, dumping, throwing products on the transporter. The entry section may for example comprise a product container emptying device. The transporter may be configured to transport products that are deposited thereon, e.g. deposited in an uncontrolled fashion, for example by emptying a container above the transporter, for example agricultural products from a crate. The infeed of products may be such that products have a varying entry position, e.g. such that products are oriented relatively random on the transporter at the entry section, for example lying against each other, stacked on top of each other, and / or entangled with each other. The transporter may comprise one or multiple transporters, in series and / or in parallel. The path of transportation may also be referred to as transportation path and may extend along the one or multiple transporters between the entry section and the exit section.

[0013] The transporter, between the entry section and the exit section, may comprise at least a first adjustment module, e.g. a vibratory module, a beater, and / or a pusher, and a second adjustment module, wherein the first adjustment module and the second adjustment module are each configured to adjust a position of the products on the transporter while the products are transported between the entry section and the exit section. The first and / or second adjustment module may be configured to adjust an orientation and / or position of the products on the transporter, e.g. in a direction transverse to the transportation path. The first and / or second adjustment module may for example comprise a vibratory conveyor, a beater, blowoff device, push-off device and / or a brush. Two adjustment modules are provided. As such, at least two modules of the transporter may be controllable in a direction along and / or transverse to the path of transportation. The adjustment modules may be positioned at a distance between each other and / or at mutually different positions along the transportation path. The adjustment modules may be controllable independently from each other. More than two adjustment modules may be provided.

[0014] The separating device comprises a detector configured to detect a position signal representative for positions of the products on the transporter, e.g. at the entry section. The detector may be located at or near the entry section, e.g. arranged further along the path of transportation. The separating device comprises a controller, configured to control the transporter based on the position signal. The detector may comprise an optical sensor, e.g. comprising a laser device, light sensor and / or camera, acoustic sensor, e.g. a radar, lidar and / or sonar, mass sensor, e.g. a strain gauge, inductive and / or magnetic sensor, and / or another type of sensor. The detector may be configured to detect a position change of the products, e.g. the detector may be configured to detect the position of the products in at least two locations, and / or the detector may be configured to detect the position of the products along a portion of the path of transportation.

[0015] The position of the products on the transporter, e.g. the entry position, the exit position or the target separated position, may be defined in absolute and / or in relative terms, e.g. for the respective products with respect to the exit section and / or with respect to each other. The position of the products may comprise a location, a speed, an orientation and / or other variables representative for the position. The detector may be configured to provide the position signal accordingly. The position signal may comprise an absolute and / or relative location, speed and / or orientation.

[0016] The controller comprises a recognition module, configured to recognize a position of the products on the transporter. The position may be the entry position of the products after entering the transporter at the entry section, and / or another position of the products further along the path of transportation. The recognition module may be configured to recognize the product position on the basis of the position signal. The recognized product position may comprise a location of the respective products in a direction along the path of transportation and / or in a direction transverse to the path, e.g. a width direction and / or a height direction. The recognition module may be configured to identify individual products from a group of products lying against each other, stacked on top of each other and / or entangled with each other. The recognized product position may comprise an orientation and / or a location of the products with respect to each other and / or with respect to the transporter, e.g. the entry section.

[0017] The recognition module may be configured to determine a location, orientation, speed and / or product properties, such as a size, of the products on the transporter, for example by determining an outer contour of the products, and / or to determine distances between products. The recognition module may be configured to recognize the entry position of the products at the entry section. The recognition module may be configured to determine product properties, such as product type, size, colour and / or other product properties of one or multiple of the products. The recognition module may be configured to determine a quantity of the products, such as a number, distribution and / or a speed of the products along the path of transportation.

[0018] The controller further comprises a prediction module, configured to determine, based on the recognized product position and transportation information, a predicted exit position of the products at the exit section. The transportation information may be representative for properties of the transporter, such as an average or assumed transporter speed, and / or for predicted effects of control actions on the position of products. The transportation information may be predetermined, e.g. via machine learning, and / or may be provided manually. Additionally and / or alternatively, the information may be determined on the basis of a signal, such as the position signal or a signal representative for a transportation speed and / or capacity of the transporter. The predicted exit position may be determined for a majority, e.g. substantially all products identified by the recognition module. In particular, the transportation information may be representative for effects of controlling the transporter on the predicted exit position, e.g. such that the exit position can be predicted.

[0019] The controller comprises a control module configured to control the transporter, e.g. the first adjustment module and / or the second adjustment module thereof, based on the predicted exit position, to transport the products from the entry section towards a separated position at the exit section. The controller may e.g. be configured to activate, deactivate, accelerate and / or decelerate the transporter, e.g. the first adjustment module and / or the second adjustment module, on the basis of the predicted exit position. The exit position and / or the separated position may be representative for position information similar to or different from the position information represented in the recognized product position. The exit position and / or the separated position may e.g. comprise an orientation and / or a location and / or a speed of the products with respect to each other and / or with respect to the exit section. The separated position may be regarded as a target position and may be defined as a target and be provided manually to the controller and / or via communication means, e.g. the separated position target may be provided by a processing device that further processes separated products at the exit section. The separated target position may be defined in terms of precise values, as a single value, as a range, e.g. having a minimum and / or maximum value, and / or in another way.

[0020] By having a prediction of the exit position of the products, control of the transporter, e.g. of the two adjustment modules thereof, may now be performed using a predicted future situation, rather than a present, momentary situation. As such, it is no longer to determine whether a control action, such as activation of a manipulator, had the desired effect of arranging the products in a separated position. Further, by having a prediction of the exit position, the control action can be adapted to the detected product positions at the entry section, and unnecessary control may be reduced, e.g. when the predicted position is already a separated position. As a result, the separating device allows for a larger number of the products to be arranged in a separated position that may be more predictable, that is achieved in a shorter transporter length, in a shorter time duration and / or using less control actions compared to the prior art.

[0021] A single adjustment module may be provided. In an embodiment, multiple adjustment modules are provided. It has been found that by having multiple adjustment modules, positions adjustments by the first adjustment module may be refined by the second adjustment module. Therewith, relatively large portion of the products may arrive at the exit section in the desired separated target position. The adjustment module may be formed by a section of the transporter, e.g. wherein the transporter is a vibratory conveyor. Additionally and / or alternatively, the adjustment module may be arranged alongside a longitudinal transporter, e.g. along a conveyor belt. For example, an adjustment module may be arranged underneath or above the conveyor belt.

[0022] In an embodiment, the transportation information is representative of an influence on the exit position of the products resulting from control actions by the control module upon controlling the first adjustment module and / or the second adjustment module. The transportation information may for example comprise a length, time and / or a transportation speed of the transporter. The prediction module may be configured to determine the predicted exit position for a respective product on the basis of extrapolation of the length, time and / or transportation speed.

[0023] Additionally and / or alternatively, the transportation information may comprise a machine-learned neural network, e.g. learned on the basis of position signals.

[0024] In an embodiment, the control actions comprise an activation, deactivation, speed variation and / or intensity variation of the transporter, e.g. of the first adjustment module and / or the second adjustment module. For example, a vibration frequency or vibration mode of a vibratory conveyor may be controlled. By adjusting the speed of the transporter or a section or module thereof, control may be performed relatively precisely.

[0025] The prediction module may be configured to determine the predicted exit position of products at the entry section. In an embodiment, the first adjustment module is arranged, along the path of transportation, between the entry section and the second adjustment module, wherein the prediction module is configured to determine the predicted exit position of products at the entry section and / or at the first adjustment module.

[0026] As such, the separating device may predict the product position at the exit section at a relatively early stage. By predicting relatively far ahead, control may be performed relatively precisely. Therewith, the efficiency of the separating device may be improved. In particular, a relatively large portion of the products may arrive at the exit section in the desired separated target position.

[0027] In an embodiment, the control module is configured to determine a predetermined target rate of products arriving at the exit section. The control module may be configured to control the first adjustment module and the second adjustment module based on the predicted exit position such that the rate of products arriving at the exit section approaches the predetermined target rate. In particular by having multiple adjustment modules, a relatively large portion of the products may arrive in the desired separated target position at the predetermined target rate. The predetermined target rate may be a minimum and / or maximum value, a range, etc. The predetermined target rate may be provided manually and / or externally, for example on the basis of a capacity of a processing device.

[0028] In an embodiment, the separating device comprises a feedback module, configured to provide a feedback position signal by comparing the predicted exit position and an actual exit position of the transported product at the exit section and to machine-learn the prediction module based on the feedback position signal. For example, the transportation information may be machine-learned. Environmental factors, type of products and the specific configuration of the separating device may influence the effect of control actions on the actual exit position. By providing feedback, the prediction of the prediction module may be made taking into account the specific situation of the separating device, such that future predictions can be made even more precise.

[0029] The feedback module may provide the feedback position signal in further dependence of the transportation information, product properties, such as product type, size, colour and / or other product properties of one or multiple of the products, and / or environmental information. As such, the feedback position signal may take into account respective influences to further enhance predictions.

[0030] In an embodiment, the separating device comprises multiple of the transporters, arranged at least partially in series and / or in parallel, for example completely in series and / or in parallel. The controller may be configured to control the transporters such that products from the respective transporters are transported towards separated target positions with respect to each other. The multiple transporters may each be configured to transport to the same exit section, e.g. such that their respective transportation paths joint at least at the exit section. The multiple of the transporters may be individually controllable by the controller, such that the controller may take control actions that differ from one of the transporters to another one.

[0031] For example, the controller may be configured to activate, deactivate, accelerate and / or deaccelerate multiple of the transporters such that products from each of the transporters are arranged in the separated position at the exit section.

[0032] Each of the transporters may be configured to transport the products at a respective transportation speed, wherein the controller may be configured to control the respective transportation speeds of the transporters.

[0033] The predetermined pattern at the exit section may comprise multiple products arranged in rows. Each row may comprise multiple products. The rows may be spaced in a direction transverse to the transportation path. As such, a desirable pattern may be achieved that does not comprise a single row along the transportation path, but multiple, e.g. parallel, rows that each extend along the direction of the transportation path.

[0034] By having multiple transporters, transport capacity is increased and control may be performed finer such that a larger portion of the products is arranged in the separated position, e.g. at a predetermined distance between the products at the exit section, more efficiently.

[0035] In an embodiment, the detector comprises multiple detectors. This way, the detection be performed on the basis of multiple locations along the path of transportation and / or a transporter having relatively large dimensions transverse to the path of transportation may be provided. Each detector may provide a detection signal representative for positions of the products along a section of the path of transportation. The recognition module may be configured to recognize the position on the basis of one or multiple detectors.

[0036] In a further embodiment, each detector is associated with a respective one or multiple of the transporters, wherein the recognition module is configured to recognize a respective product position of one of the products from the position signal associated with a respective detector, e.g. at the respective one or multiple transporters associated with the respective detector, and wherein the prediction module is configured to determine a predicted exit position for the respective one or multiple products. In this embodiment, the prediction module may be configured to predict the exit position for each of the conveyors separately. In particular, by having multiple transporters in parallel each transporting towards the same exit section, wherein a prediction is performed for each of the transporters, distribution of products over the width of the exit section, may be controlled relatively precisely. The controller may be configured to control the parallel transporters such that the products are arranged towards predetermined distances and / or towards a predetermined pattern at the exit section.

[0037] In a further or alternative embodiment, the multiple detectors are spaced along the transportation path. A first one of the detectors and / or a second one of the detectors may be associated with a respective one or multiple of the transporters. The recognition module may be configured to recognize a respective entry position of one or multiple of the products at the respective one or multiple transporters from the position signal associated with the first one of the detectors.

[0038] The first one of the detectors may be positioned closer to the entry section and the second one of the detectors may be positioned closer towards the exit section. The feedback module may be configured to provide the feedback position signal in dependence of the position signal of the second one of the detectors. It has been found that this way, prediction reliability of the device may be improved. For example, machine-learning may be performed via the second one of the detectors while separating products on the basis of the first one of the detectors.

[0039] In an embodiment, the controller is configured to control the transporters to arrange the products towards, e.g. in, a predetermined separated position at the exit section. For example, each of the products may be arranged in a predetermined orientation and / or distance with respect to other products. Especially when separated products are processed further, a uniform position of each of the products promotes efficient further processing.

[0040] In an embodiment, the recognized product position and / or the predicted exit position is 2-dimensional or 3-dimensional, for example defined in a direction along the path of transportation and in a direction transverse thereto. The respective position comprises at least 2 of a location of the respective products in a direction along the path of transportation and / or in a direction transverse to the path, e.g. a width direction and / or a height direction. As such, in contrast with prior art, the separation device may advantageously enable predictions of a position of the product in a direction perpendicular to the path of transportation.

[0041] In an embodiment, the transporter comprises a longitudinal transporter configured to transport products substantially parallel to the path of transportation the controller is configured to control the longitudinal transporter. The longitudinal transporter may for example comprise a conveyor belt or a vibratory conveyor.

[0042] In an embodiment, the transporter further comprises a transverse transporter configured to transport products substantially transverse to the path of transportation, wherein the controller is configured to control the longitudinal transporter and the transverse transporter. The transverse transporter may be configured to transport products over the longitudinal conveyor, e.g. in a width direction thereof and / or in a height direction vertically transverse to the conveyor. The transverse transporter may be any actuator that causes the products to be moved in the respective width and / or height direction. The transverse transporter may for example comprise a vibratory conveyor, a beater, blow-off device, push- off device and / or a brush.

[0043] The transverse transporter may comprise the first adjustment module and / or the second adjustment module.

[0044] The transportation information may comprise information representative for effects of controlling the transverse transporter and / or the longitudinal transporter.

[0045] In an embodiment, the detector comprises a first detector at or nearby the entry section and at least one intermediate detector located further away from the entry section and configured to detect a position signal representative for positions of the products on the transporter further along the path of transportation, wherein the recognition module is configured to recognize an entry position of the products at or nearby the entry section and an intermediate position of the products away from the entry section, wherein the prediction module is configured to predicted the exit position in further dependence of the intermediate position.

[0046] By detecting an intermediate position, the exit position may be predicted more precisely. For example, a speed of the products may be determined and / or the prediction may be compensated for deviations in an expected product movement represented in the transportation information.

[0047] The prediction module may be configured to predict the intermediate position on the basis of the position signal of the first detector and the transportation information, and to predict the exit position on the basis of a deviation between the intermediate position determined with the intermediate detector, the transportation information and the position signal. This way, by having an intermediate position, the predicted exit position may be adjusted in dependence of differences between a predicted intermedia position and an actual intermedia position.

[0048] In an embodiment, the detector and / or the intermediate detector comprises an optical camera, configured to capture images of products on the transporter wherein the recognition module is configured to recognise the products in the image of the products on the transporter. The optical camera may comprise a CMOS and / or CCD. The optical camera may be arranged such that substantially the full width of the conveyor at the entry section is captured in the image.

[0049] According to another aspect, the invention relates to a product processing device, comprising: a separating device according to any of the embodiments disclosed herein; a feeding device configured to deposit products on the entry section; and a processing device configured to further process separated products at the exit section. The invention may be especially advantageous when enabling the product processing to function more effectively, in addition to the advantages of the embodiments as described for the embodiments of the separating device and thereby provide a synergetic effect.

[0050] The separated position may be predetermined in dependence of requirements of the product processing device, e.g. a minimum product distance, a product orientation, a product capacity and / or a product quantity, e.g. a quantity over time, at the exit section.

[0051] The product processing device may for example be a packer, a grader, a washer and / or another further processing device. The product processing device may comprise a pick-up device, e.g. a robot having a gripper or suction cup, configured to grip separated products. Instead of a product processing device, product processing may be performed manually.

[0052] In an embodiment, the feeding device is configured to deposit unseparated products, e.g. produce, in bulk on the entry section, and wherein the processing device comprises a pick-up device configured to pick up products from the exit section. It has been found that the separating device is especially efficient as it allows unseparated products to be handled by a pick-up device such that products can be handled in a relatively compact area. A length of the transporter along the transportation path between the feeding device land the pick-up device may be less than 10 meters, for example less than 5 meters, e.g. less than 2 meters.

[0053] In an embodiment, the transporter comprises a grading section, further comprising a grading device at the grading section and configured to detect a grading signal representative for a condition of the products at the grading section, and wherein the processing device is configured to process separated products based on the grading signal. The grader may be configured to detect product properties, such as product type, size, and / or colour.

[0054] The grading section may be arranged upstream from the exit section along the transportation path, i.e. towards the entry section. This way, the grading signal is already available when the products arrive at the exit section, and as the products are in a separated position, the products may subsequently be processed relatively fast, e.g. immediately.

[0055] According to another aspect, the invention relates to an agricultural product packaging machine comprising the product processing device and / or the separating device according to any of the embodiments disclosed herein, in particular according to the appended claims, and the agricultural product packaging machine may be provided in the embodiments as described herein for the product processing device and / or the separating device and thereby provide similar advantages.

[0056] According to another aspect, the invention relates to the use of a separating device according to any embodiments disclosed herein and / or a product processing device according to any of the embodiments disclosed herein for separating entangled products transported by the transporter, such as conical peppers. It has been found that the separating device is especially advantageous as it allows for separating entangled products. The skilled person may understand that any type of products having a tendency to get entangled with each other, e.g. chicken wings, may be advantageously separated using the separation device.

[0057] Brief description of drawings

[0058] Further characteristics of the invention will be explained below, with reference to embodiments, which are displayed in the appended drawings, in which:

[0059] Figure 1 schematically depicts a separating device according to an embodiment of the invention;

[0060] Figure 2A schematically depicts a separating device according to another embodiment, seen from above;

[0061] Figure 2B schematically depicts the separating device of Fig. 2A, seen form the side; Figure 2C schematically depicts the separating device of Fig. 2A, when horticultural products are provided;

[0062] Figure 2D schematically depicts the separating device of Fig. 2C;

[0063] Figures 3A-3F schematically depict products in a separated position at the exit section of a separating device according to an embodiment; Figure 4A schematically depicts a control flow of a separating device according to an embodiment;

[0064] Figure 4B schematically depicts a control flow according to another embodiment; and Figure 4C schematically depicts a control flow according to another embodiment.

[0065] Throughout the figures, the same reference numerals are used to refer to corresponding components or to components that have a corresponding function.

[0066] Detailed description of embodiments

[0067] Figure 1 schematically depicts a separating device 1 according to an embodiment of the invention. The separating device 1 comprises a transporter for 2 transporting the products along a path of transportation p, extending from an entry section 21 of the transporter, where the products enter the transporter 21, towards an exit section 22 thereof, where the products are removed from the transporter 2.

[0068] The entry section 21 comprises an infeed device arranged to feed products, i.e. a product container emptying device. The transporter 2 is configured to transport products that are deposited thereon in an uncontrolled fashion by emptying a container above the transporter such that products have a varying entry position and are oriented relatively random on the transporter at the entry section, as depicted in Fig. 2C.

[0069] In the embodiment of Fig. 1, the transporter comprises one transporter 2, and in Fig. 2A multiple transporters 2, 2’, 2”’ in series and in parallel. The path of transportation extends along the one or multiple transporters between the entry section 21 and the exit section 22. The transporter, between the entry section 21 and the exit section 22, comprises at least a first adjustment module 23, e.g. a vibratory module, a beater, and / or a pusher, and may additionally comprise a second adjustment module, for example arranged underneath the conveyor belt section between the entry section 21 and the exit section 22 having an adjustable speed. The first adjustment module 23 and the second adjustment module, if present, are each configured to adjust a position of the products on the transporter while the products are transported between the entry section 21 and the exit section 22. The first and second adjustment module are configured to adjust an orientation and / or position of the products on the transporter. The first and / or second adjustment module may for example comprise a vibratory conveyor, a beater, blow-off device, push-off device and / or a brush. The adjustment modules of the transporter are controllable in a direction along and / or transverse to the path of transportation, e.g. in Fib. 2B, at least five adjustment modules 2’, 2”, 2”’, 23 are provided. The adjustment modules may be positioned at a distance between each other and / or at mutually different positions along the transportation path. The adjustment modules may be controllable independently from each other and are each configured to adjust a position and / or orientation of the products on the transporter 2.

[0070] The separating device comprises a detector 3 configured to detect a position signal 31 representative for positions of the products 99 on the transporter 2 e.g. at the entry section. The detector 3 of Fig. 1 is located at or near the entry section 21. The separating device 1 comprises a controller 4, configured to control the transporter 2 based on the position signal 31. The detector 3 is configured to detect the position of the products 99 along a portion of the path of transportation p, and comprises an optical sensor, e.g. comprising a laser device, light sensor and / or camera, but may additionally or alternatively comprise an acoustic sensor, e.g. a radar, lidar and / or sonar, mass sensor, e.g. a strain gauge, inductive and / or magnetic sensor, and / or another type of sensor. The position signal comprises an absolute and / or relative location, speed and / or orientation.

[0071] The controller 4 comprises a recognition module 41 , configured to recognize a position RP of the products on the transporter 2 on the basis of the position signal, wherein the position comprises an orientation and a location of the respective products in a direction along the path of transportation p and in a direction transverse to the path, e.g. a width direction and / or a height direction. The position in Fig. 1 is the entry position of the products after entering the transporter at the entry section 21 , but may in other embodiments be another position of the products further along the path of transportation p. The recognition module 41 is configured to identify individual products from a group of products lying against each other, stacked on top of each other and / or entangled with each other and may additionally and / or alternatively be configured to determine a speed and / or product properties, such as a size, of the products on the transporter. The recognition module 41 may for each product determine the position, e.g. the orientation, and a movement, such as a translation TO and / or rotation RO movement, as depicted in Fig. 2D.

[0072] The controller 4 further comprises a prediction module 42, configured to determine, based on the recognized product position RP and transportation information Tl, a predicted exit position PEX of the products at the exit section. The transportation information Tl comprises information representative for effects of control actions of the transporter 2 on predicted exit positions PEX.

[0073] The transportation information is predetermined, e.g. provided via machine learning or manually, and / or determined on the basis of a signal, e.g. a signal representative for a transportation speed and / or capacity of the transporter, and is representative for properties of the transporter 2, such as an average or assumed transporter speed, and / or for predicted effects of control actions on the position of products, in particular on the predicted exit position thereof. Thus, the transportation information is representative of an influence on the exit position of the products resulting from control actions by the control module upon controlling the first adjustment module and / or the second adjustment module. The control actions comprise an activation, deactivation, speed variation and / or intensity variation of the first adjustment module and / or the second adjustment module.

[0074] The prediction module 42 may for each product, in dependence the position thereof, e.g. the orientation, translation TO and rotation RO movements, and speeds vp, vp’, vp”, vz, vz’, vz”, vy of the transporter 2 predict an exit position. The controller 4 comprises a control module 43 configured to control the transporter, e.g. to activate, deactivate, accelerate and / or decelerate, based on the predicted exit position, to transport the products from the entry section 21 towards a separated position at the exit section 22. The separated position may be regarded as target position and be provided manually to the controller 4 and / or via communication means, and e.g. comprise an orientation and / or a location and / or a speed of the products with respect to each other and / or with respect to the exit section 22, defined in terms of precise values, a minimum and / or maximum value, and / or in another way. The control module 43 may for each product, in dependence the position thereof, e.g. the orientation, translation TO and rotation RO movements, speeds vp, vp’, vp”, vz, vz’, vz”, vy of the transporter 2, and the predicted exit position PEX, determine predictive effects of control actions on the products, e.g. a translation T1 , T2 or rotation R1 , R2 thereof, and control the transporter 2 based on the predicted effects. In particular, the controller 4 may perform a control action if the predicted effects of that control action is arranging the product or the majority of products 99 closer towards the target separated position SP, and not perform the control action if the predicted effect is arranging the product or the majority of products further away from the target separated position SP. An example of a control scheme is shown in Figs 4A.

[0075] The prediction module is configured to determine the predicted exit position of products at the entry section. As shown in Fig. 2B, the first adjustment module 23 is arranged, along the path of transportation, between the entry section 21 and the second adjustment module, for example 2” or 2’. The prediction module is configured to determine the predicted exit position of products at the entry section 21 and / or at the first adjustment module 23.

[0076] The control module is configured to determine a predetermined target rate of products arriving at the exit section in the desired separated target position SP. The control module is configured to control the first adjustment module 23 and the second adjustment module 2”, 2’ based on the predicted exit position such that the rate of products arriving at the exit section 22 approaches the predetermined target rate.

[0077] The separating device 1 comprises a feedback module 44, configured to provide a feedback position signal by comparing the predicted exit position and an actual exit position AEX of the transported product at the exit section and to machine-learn the prediction module 43, e.g. the transportation information, based on the feedback position signal, in further dependence of the transportation information, product properties, such as product type, size, colour and / or other product properties of one or multiple of the products, and / or environmental information.

[0078] In the embodiment of Fig. 2A, wherein the controller 4 is not shown, the separating device 1 comprises multiple of the transporters 2 in series, i.e. a conveyor belt 2 located at the exit section 22, and then towards the entry section 21 , four parallel vibratory conveyors 2’, another row of four parallel vibratory conveyors 2’, a row of two wider parallel vibratory conveyors 2”, and a conveyor 2”’ comprising a selective beating and / or knocking device 23. The controller 4 is configured to control the transporters 2 individually, e.g. to selectively activate, deactivate, accelerate and / or deaccelerate each transporter 2, 2’, 2”, 2”’ individually, and therewith altering transportation, e.g. a transport speed vp, vp’, vp” along the path of transportation, a vertical speed vz, vz’, vz” and / or a transverse speed vy of eacy conveyor individually, as depicted in Fig. 2C, such that products from the respective transporters are transported to the same exit section 22 and towards separated target positions with respect to each other.

[0079] In this embodiment, the detector 3 comprises multiple detectors 3, 3’, 3” arranged on multiple locations along the path of transportation p and the recognition module 41 is configured to recognize the position of products on the basis of the multiple detectors 3, 3’, 3”. Each detector 3, 3’, 3” is associated with a respective one or multiple of the transporters 2 and the recognition module 41 is configured to recognize a respective product position of one of the products 99 from the position signal associated with a respective detector, e.g. at the respective one or multiple transporters associated with the respective detector. The prediction module is configured to determine a predicted exit position for the respective one or multiple products for each of the conveyors 2, 2’, 2”, 2”’ separately.

[0080] The controller 4 may be configured to control the parallel transporters such that the products are arranged towards, e.g. in, a predetermined separated position at the exit section 22, e.g. at predetermined distances with respect to each other, in a predetermined orientation and / or towards a predetermined pattern at the exit section, as depicted in Figs. 3A-3F. Although Figs. 3A-3F depict predicted exit positions and / or separated target positions that are 2-dimensional, in other embodiments, the predicted exit positions and / or separated target positions may be 3-dimensional, e.g. when multiple layers of transporters 2 are provided.

[0081] As shown in Fig. 2A, the transporter 2 comprises a longitudinal transporter, i.e. conveyor belts 2, 2” and vibratory conveyors 2’, 2”, and a transverse transporter, i.e. vibratory conveyors 2, 2” and beater 23 of conveyor 2”’, configured to transport products substantially transverse to the path of transportation, and the controller is configured to control the longitudinal transporter and the transverse transporter. Each of the transporters 2, 2’, 2” may be configured to transport the products at a respective transportation speed, wherein the controller 4 is configured to control the respective transportation speeds of the transporters 2, 2’, 2”.

[0082] The predetermined pattern at the exit section 22 may comprise multiple products arranged in rows, as shown in Figs. 3B-3F. Each row may comprise multiple products. The rows may be spaced in a direction transverse to the transportation path. As such, a desirable pattern may be achieved that instead of a single row along the transportation path comprises multiple, e.g. parallel, rows that each extend parallel to the direction of the transportation path.

[0083] The detector 3 comprises a first detector 3’ at or nearby the entry section 21 and at least one intermediate detector 3” located further away from the entry section 21 and configured to detect a position signal representative for positions of the products on the transporter further along the path of transportation p. The recognition module 41 is configured to recognize an entry position EN of the products at or nearby the entry section 21 and an intermediate position IN of the products away from the entry section, and the prediction module 42 is configured to predicted the exit position PEX in further dependence of the intermediate position IN, as shown in Fig. 4C. The detector 3, e.g. the first detector 3’ and / or the intermediate detector 3” comprises an optical camera, configured to capture images of products on the transporter wherein the recognition module 41 is configured to recognise the products in the image of the products on the transporter.

[0084] The multiple detectors 3, 3’, 3” are spaced along the transportation path p. A first one of the detectors and / or a second one of the detectors may be associated with a respective one or multiple of the transporters. The recognition module 41 is configured to recognize a respective entry position of one or multiple of the products at the respective one or multiple transporters from the position signal associated with the first one of the detectors.

[0085] The first one of the detectors 3, 3’, 3” positioned closer to the entry section and the second one of the detectors may be positioned closer towards the exit section. The feedback module 44 configured to provide the feedback position signal in dependence of the position signal of the second one of the detectors 3’, 3’, 3”. It has been found that this way, prediction reliability of the device may be improved. Machine-learning may be performed via the second one of the detectors while separating products on the basis of the first one of the detectors.

[0086] The separating device may advantageously be used in combination with a product processing device, e.g. a packer, a grader, a washer and / or another further processing device, which may comprise a pick-up device, e.g. a robot having a gripper or suction cup, configured to grip separated products. The separated position may be predetermined in dependence of requirements of the product processing device, e.g. a minimum product distance, a product orientation, a product capacity and / or a product quantity, e.g. a quantity over time, at the exit section. A length of the transporter along the transportation path between the feeding device land the pick-up device may be less than 10 meters, for example less than 5 meters, e.g. less than 2 meters.

[0087] The transporter 2 may comprise a grading section having a grading device at the grading section and configured to detect a grading signal representative for a condition of the products at the grading section, e.g. product properties, such as product type, size, and / or colour, wherein the processing device is configured to process separated products 99 based on the grading signal.

[0088] In use, the separating device may advantageously be used for separating entangled agricultural products transported by the transporter, such as conical peppers, for example in a agricultural product packaging device having an end effector that grips the products from the end section.

[0089] CLAUSES

[0090] E1. Separating device (1) for separating agricultural products (99), the device comprising: a transporter (2) for transporting the products along a path (p) of transportation, extending from an entry section (21) of the transporter, where the products enter the transporter, towards an exit section (22) thereof, where the products are removed from the transporter, a detector (3) configured to detect a position signal (31) representative for positions, e.g. locations and orientations, of the products on the transporter, e.g. at or near the entry section, and a controller (4), configured to control the transporter based on the position signal, characterized in that the controller comprises: a recognition module (41), configured to recognize the position of the products on the transporter on the basis of the position signal, a prediction module (42), configured to determine, based on the recognized product position and transportation information, a predicted exit position of the products at the exit section, and a control module (43) configured to control the transporter (2), based on the predicted exit position, to transport the products from the entry section towards, e.g. in, a separated position at the exit section.

[0091] E2. Separating device according to embodiment E1, further comprising a feedback module (44), configured to provide a feedback position signal by comparing the predicted exit position and an actual exit position of the transported products at the exit section and to machine-learn the prediction module (42) based on the feedback position signal.

[0092] E3. Separating device according to embodiment E1 or E2, comprising multiple of the transporters (2, 2’, 2”, 2”’), arranged in series and / or in parallel, wherein the controller (4) is configured to control the transporters such that products (99) from the respective transporters are transported towards separated positions with respect to each other.

[0093] E4. Separating device according to any of the preceding embodiments, wherein multiple of the transporters (2, 2’, 2”, 2”’) are arranged in parallel to each other, wherein the controller (4) is configured to control the parallel transporters such that the products are arranged towards predetermined distances and / or towards a predetermined pattern at the exit section (22). E5. Separating device according to embodiment E3 or E4, wherein the detector (3) comprises multiple detectors, each detector associated with a respective one or multiple of the transporters, wherein the recognition module (41) is configured to recognize a respective entry position of one or multiple of the products at the respective one or multiple transporters from the position signal associated with a respective detector, and wherein the prediction module (42) is configured to determine a predicted exit position for the respective one or multiple products.

[0094] E6. Separating device according to any of the embodiments E2-E5, wherein the controller (4) is configured to control the transporters (2, 2’, 2”, 2”’) to arrange the products towards, e.g. in, a predetermined separated position at the exit section.

[0095] E7. Separating device according to any of the preceding embodiments, wherein the recognized product position and / or the predicted exit position is 2-dimensional or 3- dimensional.

[0096] E8. Separating device according to any of the preceding embodiments, wherein the transporter (2) comprises a longitudinal transporter configured to transport products substantially parallel to the path of transportation the controller (4) is configured to control the longitudinal transporter.

[0097] E9. Separating device according to the preceding embodiment, wherein the transporter (2) further comprises a transverse transporter (23) configured to transport products substantially transverse to the path of transportation, wherein the controller (4) is configured to control the longitudinal transporter and the transverse transporter.

[0098] E10. Separating device according to any of the preceding embodiments, wherein the detector (3, 3’, 3”) comprises a first detector (3’) at or nearby the entry section and at least one intermediate detector (3”) located further away from the entry section and configured to detect a position signal representative for positions of the products on the transporter further along the path of transportation, wherein the recognition module (41) is configured to recognize the product position of the products at or nearby the entry section and an intermediate position of the products further away from the entry section, wherein the prediction module (42) is configured to predict the exit position in further dependence of the intermediate position. E11. Separating device according to any of the preceding embodiments, wherein the detector (3) comprises an optical camera, configured to capture images of products wherein the recognition module (41) is configured to recognise the products in the image of the entry section.

[0099] E12. Product processing device, comprising: a separating device (1) according to any of the preceding embodiments; a feeding device configured to deposit products on the entry section (21); and a processing device configured to further process separated products at the exit section (22).

[0100] E13. Product processing device according to the preceding embodiment, wherein the feeding device is configured to deposit unseparated products, e.g. produce, in bulk on the entry section (21), and wherein the processing device comprises a pick-up device, e.g. a robot gripper, configured to pick up products from the exit section (22).

[0101] E14. Product processing device according to embodiment E12 or E13, wherein the transporter comprises a grading section, upstream from the exit section (22) along the transportation path, further comprising a grading device at the grading section and configured to detect a grading signal representative for a condition of the products at the grading section, and wherein the processing device is configured to process separated products based on the grading signal.

[0102] E15. Use of a separating device (1) according to any of the E1-E11 and / or a product processing device according to any of the embodiments E12-E14 for separating products transported by the transporter (2) that have a tendency to be entangled, such as conical peppers.

Claims

CLAIMS1. Separating device (1) for separating agricultural products (99), the device comprising:- a transporter (2) for transporting the products along a path (p) of transportation, extending from an entry section (21) of the transporter, where the products enter the transporter, towards an exit section (22) thereof, where the products are removed from the transporter,- a detector (3) configured to detect a position signal (31) representative for positions, e.g. locations and / or orientations, of the products on the transporter, e.g. at or near the entry section, and- a controller (4), configured to control the transporter based on the position signal and comprising a recognition module (41), configured to recognize the position of the products on the transporter on the basis of the position signal, characterized in that the controller further comprises:- a prediction module (42), configured to determine a predicted exit position, e.g. locations and / or orientations, of the products at the exit section, based on:• the recognized product position, and• transportation information; and- a control module (43) configured to control the transporter (2), based on the predicted exit position of the products at the exit section, to transport the products from the entry section towards, e.g. in, a separated target position at the exit section.

2. Separating device (1) according to claim 1, wherein the transporter, between the entry section and the exit section, comprises at least a first adjustment module, e.g. a vibratory module, a beater, and / or a pusher, and a second adjustment module, wherein the first adjustment module and the second adjustment module are each configured to adjust a position of the products on the transporter while the products are transported between the entry section and the exit section, and wherein the control module is configured to control the first adjustment module and the second adjustment module.

3. Separation device (1) according to claim 2, wherein the transportation information is representative of an influence on the exit position of the products resulting from control actions by the control module (43) upon controlling the transporter, e.g. the first adjustment module and / or the second adjustment module, e.g. wherein the control actions comprise an activation, deactivation, speed variation and / or intensity variation ofthe first adjustment module and / or the second adjustment module.

4. Separating device (1) according to any of the preceding claims, wherein the first adjustment module is arranged, along the path of transportation, between the entry section (21) and the second adjustment module, wherein the prediction module (42) is configured to determine the predicted exit position of products at the entry section (21) and / or at the first adjustment module.

5. Separating device (1) according to any of the preceding claims, wherein the control module (43) is configured to determine a predetermined target rate of products arriving at the exit section, and to control the first adjustment module and the second adjustment module based on the predicted exit position such that the rate of products arriving at the exit section approaches the predetermined target rate.

6. Separating device according to any of the preceding claims, further comprising a feedback module (44), configured to provide a feedback position signal by comparing the predicted exit position and an actual exit position of the transported products at the exit section and to machine-learn the transportation information of the prediction module (42) based on the feedback position signal.

7. Separating device according to any of the preceding claims, comprising multiple of the transporters (2, 2’, 2”, 2”’), arranged in series and / or in parallel such that their respective transportation paths join at least at the exit section, wherein each of the transporters is configured to transport the products at a respective transportation speed, wherein the controller (4) is configured to control the respective transportation speeds of the transporters such that products (99) from the respective multiple transporters are transported towards separated target positions with respect to each other.

8. Separating device according to the preceding claim, wherein the multiple of the transporters (2, 2’, 2”, 2”’) are at least partially arranged in parallel to each other, wherein the controller (4) is configured to control the parallel transporters such that the products are arranged towards predetermined distances and / or towards a predetermined pattern at the exit section (22), in product rows that each comprise multiple products and that are spaced in a direction transverse to the transportation path9. Separating device according to any of the preceding claims and claim 6, wherein the detector (3) comprises multiple detectors spaced along the transportation path, wherein a first one of the detectors is associated with a respective one or multiple of the transporters, and wherein the recognition module (41) is configured to recognize a respective entry position of one or multiple of the products at the respective one or multiple transporters from the position signal associated with the first one of the detectors, wherein a second one of the detectors is positioned closer towards the exit section than the first one of the detectors and wherein the feedback module is configured to provide the feedback position signal in dependence of the position signal of the second one of the detectors.

10. Separating device according to any of the preceding claims , wherein the controller (4) is configured to control the transporters (2, 2’, 2”, 2”’) to arrange the products towards, e.g. in, a predetermined separated position at the exit section.

11. Separating device according to any of the preceding claims, wherein the predicted exit position is defined in a direction along the transportation path and in at least one direction transverse thereto, i.e. 2-dimensional or 3-dimensional.

12. Separating device according to any of the preceding claims, wherein the transporter (2) comprises a longitudinal transporter configured to transport products substantially parallel to the path of transportation the controller (4) is configured to control the longitudinal transporter, wherein the transporter (2) further comprises a transverse transporter (23) configured to transport products substantially transverse to the path of transportation, wherein the controller (4) is configured to control the longitudinal transporter and the transverse transporter.

13. Product processing device, comprising: a separating device (1) according to any of the preceding claims; a feeding device configured to deposit products on the entry section (21); and a processing device configured to further process separated products at the exit section (22), wherein for example the feeding device is configured to deposit unseparated products, e.g. produce, in bulk on the entry section (21) and the processing device comprises a pick-up device, e.g. a robot gripper, configured to pick up products from the exit section (22); and / or wherein for example the transporter comprises a grading section, upstream from theexit section (22) along the transportation path, further comprising a grading device at the grading section and configured to detect a grading signal representative for a condition of the products at the grading section, and wherein the processing device is configured to process separated products based on the grading signal.

14. Agricultural product packaging machine comprising the product processing device according to the preceding claim.

15. Use of a separating device (1) according to any of the claims 1-12 and / or a product processing device according to claim 13 for separating and / or processing products transported by the transporter (2) that have a tendency to be entangled, such as conical peppers.

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