Removal of a main sucker from a greenhouse plant

Abstract

In the field of removing a main sucker from a greenhouse plant, a method is provided which comprises the use of a device with a detection system and a gripper. The detection system is used to capture an image of a part of the greenhouse plant and to detect at least a main sucker and a path of a main branch on which the main sucker is situated in the image. Subsequently, the gripper is controlled in order to engage with a detected main sucker. Then, the main sucker is initially deflected downwards with respect to the path of the main branch, until the main sucker becomes partly detached from the main branch, and it is subsequently moved upwards along the path of the main branch until the main sucker becomes completely detached from the main branch.

Description

[0001] Removal of a main sucker from a greenhouse plant

[0002] The invention generally relates to the removal of a main sucker from a greenhouse plant. In this context, examples of a greenhouse plant are a tomato plant and a cucumber plant. The present description relates mainly to the context of a tomato plant, which does not mean that the invention is limited to this context.

[0003] The growth of suckers on tomato plants is a known phenomenon which is generally deemed to be undesirable in tomato plant cultivation. Suckers are new shoots of a tomato plant which develop to form a new branch with leaves, flowers and tomatoes if no intervention takes place. The growth and development of suckers requires energy and nutrients, and consequently has an effect on the size of the tomatoes on the main branches on which the suckers are situated. When suckers are left on the tomato plant, tomatoes of a smaller size are obtained than when the suckers are removed from the tomato plant. In addition, a tomato plant from which the suckers have not been removed grows into a warren of branches and leaves, as a result of which it is less simple to arrange the tomato plant on a supporting structure. If many leaves are present on the top side of the tomato plant, an additional effect occurs which results in the tomatoes remaining smaller, namely shading in the lower-lying portion of the tomato plant.

[0004] A sucker may occur at various locations on the tomato plant. When a tomato plant grows, this usually takes place in the form of in each case three leaves and then a bunch. In the leaf axil of each of the two first leaves, a small sucker then develops, while a large sucker develops in the leaf axil of the third leaf. This large sucker is referred to as a main sucker and is thus situated in the leaf axil below the bunch and in addition to a sucker also comprises leaves and / or a side branch from a main branch of the tomato plant. Furthermore, there are the normal stem suckers, that is to say the small suckers which grow in the other leaf axils. Suckers grow quickly and do not take long to become as thick and long as the branch from which they grow. When cultivating tomatoes, it is therefore important to check the tomato plants very regularly for suckers and to remove any suckers found.

[0005] The removal of suckers is preferably carried out by breaking off the latter from the tomato plant at as early a stage as possible. Removing suckers is a labour- intensive manual process, the costs of which form a considerable part of the total costs of the cultivation of tomatoes. It is an object of the invention to offer the option to switch from carrying out the removal of suckers from tomato plants by hand to doing it by machine. To this end, the invention provides a method and a device for use with the method, wherein the invention is in particular aimed at removing a main sucker from a greenhouse plant.

[0006] In particular, the method according to the invention is aimed at removing a main sucker from a greenhouse plant by means of a device with a detection system and a gripper, and to this end comprises the following:

[0007] - capturing an image of a part of the greenhouse plant using the detection system and detecting at least a main sucker and a path of a main branch on which the main sucker is situated in the image,

[0008] - controlling the gripper to engage with a detected main sucker, and

[0009] - deflecting the main sucker initially downwards with respect to the path of the main branch by means of the gripper until the main sucker becomes partly detached from the main branch, and subsequently move the main sucker upwards along the path of the main branch until the main sucker becomes completely detached from the main branch.

[0010] Consequently, the device according to the invention may be defined as a device with a detection system and a gripper for use with the method, wherein the device furthermore comprises a control system which is connected to the detection system and the gripper, and which is configured for:

[0011] - controlling the detection system to capture an image of a part of the greenhouse plant and detecting, in the image, at least a main sucker and a path of a main branch on which the main sucker is situated,

[0012] - controlling the gripper to engage with a detected main sucker, and

[0013] - deflecting the main sucker initially downwards with respect to the path of the main branch by means of the gripper until the main sucker becomes partly detached from the main branch, and subsequently move the main sucker upwards along the path of the main branch until the main sucker becomes completely detached from the main branch.

[0014] It follows from the above that the invention provides for the use of a device with a detection system and a gripper, wherein the gripper is controlled to engage with a main sucker, and subsequently to bring about a specific movement of the main sucker. The movement of the main sucker comprises two stages: a first stage in which the main sucker is deflected downwards with respect to the path of the main branch until the main sucker becomes partly detached from the main branch, and a second stage in which the main sucker is moved upwards along the path of the main branch until the main sucker becomes completely detached from the main branch. In this way, the desired removal of a main sucker from a greenhouse plant is brought about by means of the device.

[0015] It is an understanding of the invention that if a main sucker were to be broken off from the main branch solely by means of deflection with respect to the path of the main branch, formation of the wound on the main branch would be accompanied by beard formation. This would result in a relatively large wound. By bringing about the movement of the main sucker in two stages, this undesirable effect is avoided. Partly breaking off the main sucker in the first stage may be carried out to such a degree that the attachment of the main sucker to the main branch is sufficiently weakened to make it possible to achieve complete separation of the main sucker on account of another movement in the second stage. This other movement then takes place more or less in the direction in which the main branch extends, upwards along the main branch. In the first stage, the gripper containing the main sucker is moved in such a way that the main sucker snaps off the main branch. In this case, usually a few fibres still remain attached to the main branch on the underside of the main sucker. Since the fibres are situated on the outside of the main branch, these do not break off when the main sucker is being deflected, but instead they are folded. In the second stage, the gripper pulls the main sucker upwards, as a result of which the fibres still break under tension while the fibres are prevented from coming loose across a relatively large area on the main branch.

[0016] In a practical development of the method according to the invention, the action of controlling the gripper to engage with the main sucker comprises the following: positioning the gripper at the main sucker in order to surround the latter at least partly with the gripper, and changing a configuration of the gripper from an open configuration to a more closed configuration. In this case, the gripper may be brought from the open configuration to a more closed configuration at a gradually decreasing speed. On the one hand, the action of enclosing the main sucker by means of the gripper is then performed as quickly as possible and, on the other hand, the main sucker is prevented from being cut off by the gripper. In the context of the invention, the object is to prevent the main sucker from being cut off, so that the main sucker is removed from the main branch in its entirety without the risk of portions of the main sucker remaining behind on the main branch and starting to rot.

[0017] In one possible embodiment of the device according to the invention, the gripper is arranged in the device so as to be rotatable and the device comprises a drive mechanism in order to rotate the gripper. The gripper can then be aligned with respect to the main sucker by means of a rotating movement prior to engaging with the main sucker. In general, the rotatable arrangement of the gripper offers a good opportunity of advantageously positioning the gripper with respect to both the main sucker and the direct surroundings thereof which are formed by adjoining and neighbouring parts of the greenhouse plant in any situation.

[0018] Alignment of the gripper with respect to the main sucker may be achieved in various ways. Thus, use may be made of an input from the detection system about the path of the main branch. It may be advantageous anyway if the gripper is controlled to perform a movement after it has been aligned with respect to the main sucker, as a result of which the gripper comes to lie against the main branch and pushes it aside over a limited distance. This aids in placing the gripper as closely as possible to the main branch and makes it possible to break off the main sucker from the main branch in an efficient way by removing it completely.

[0019] The aforementioned possible rotatable arrangement of the gripper according to the invention not only offers possibilities for aligning the gripper, but also possibilities for executing the movement of the gripper in order to detach the main sucker. In this context, it is a real possibility for the gripper to be controlled at least once to perform a rotating movement for the purpose of moving the main sucker with respect to the path of the main branch.

[0020] Controlling the gripper in order to engage with the main sucker may not only include enclosing the main sucker, but also exerting a clamping force on the main sucker as the result to be achieved. In particular, the gripper may be controlled to cause the clamping force to increase at a gradually decreasing speed from zero to a final value. This makes it possible to find the correct balance between achieving a sufficient degree of clamping of the main sucker in the gripper and preventing a cutting action of the gripper which would cut off the main sucker from the branch instead of breaking it off. The final value of the clamping force may optionally be adjustable, for example on the basis of a perceived thickness of the main sucker.

[0021] The device according to the invention may also be configured for use with a method for removing a stem sucker from a greenhouse plant. The device may then be used either for removing a main sucker or for removing a stem sucker. In such a case, the detection system is also configured to detect at least a stem sucker and a path of a main branch on which the stem sucker is situated in an image of a portion of the greenhouse plant, and the control system is also configured to determine a choice for the movement of the gripper on the basis of the input of the detection system and control the gripper for the purpose of removing a stem sucker in order to deflect the stem sucker downwards with respect to the path of the main branch until the stem sucker becomes completely detached from the main branch.

[0022] The invention covers various possibilities for the design of the gripper. According to one of the possibilities, the gripper comprises two gripping arms, wherein at least one of the gripping arms is movable in order to vary the dimensions of a space between the gripping arms. A gripper having a variable space between the gripping arms makes it possible, for example, for the gripper to be brought into an open configuration with a relatively large space between the gripping arms for the purpose of engaging with a main sucker or a stem sucker. As soon as the main sucker or stem sucker is then situated in the space, the gripper, if applicable, can easily be moved along the sucker in the direction of the main branch. In any case, the space can be reduced until both gripping arms are in contact with the main sucker or stem sucker in order to thus achieve complete engagement of the gripper with the main sucker or stem sucker.

[0023] A first feasible possibility for the gripper with gripping arms is for the gripping arms to be hingable with respect to each other. The gripping arms can then be moved away from each other or moved towards each other about a hinge pin. A second feasible possibility for the gripper with gripping arms is for the one gripping arm to be arranged so as to be retractable or extendable with respect to the other gripping arm, and to be able to hook behind a sucker. The gripper may then furthermore comprise a movable bearing element on which the one gripping arm is arranged.

[0024] In the context of the invention, an embodiment of the gripper is conceivable in which the gripper comprises three finger-shaped gripping elements, in an arrangement in which one finger-shaped gripping element is situated on the one gripping arm, opposite the two other finger-shaped gripping elements on the other gripping arm. The gripper can then be controlled to securely clamp around a main sucker or stem sucker by means of two finger-shaped gripping elements on one side of the main sucker or stem sucker and one finger-shaped gripping element on another side of the main sucker or stem sucker. When the main sucker or stem sucker is securely clamped in this way, the main sucker or stem sucker is forced into a slight garland shape locally, resulting in a form-fitting effect which readily produces a strong clamping arrangement while a clamping force may be lower with respect to a situation in which only two finger-shaped gripping elements are present, one on each gripping arm.

[0025] In a practical embodiment, the device according to the invention comprises a functional head in which the gripper and at least a part of the detection system are arranged. Such a functional head may be attached to, for example, an arm, which arm may in turn be attached to, for example, an autonomous vehicle. The control system may then be configured to adjust the position of the functional head by manipulating the arm.

[0026] The detection system may be designed in any desired suitable way and may, for example, comprise a stereovision camera. As is known per se, such a camera is usable to simulate the human visual observation and is therefore suitable for obtaining a three-dimensional image with depth. It is practical if the detection system furthermore comprises a suitable processor for processing input from the camera.

[0027] In general, prior to the gripper engaging with a main sucker or stem sucker, the gripper can be positioned in any desired suitable manner relative to the main sucker or stem sucker by controlling the former by means of the control system, wherein the control system may function on the basis of visual input and / or force-related input.

[0028] The invention will be explained below by means of the figures which are generally diagrammatic in nature and relate to a non-limiting exemplary embodiment of a device for removing a main sucker or a stem sucker from a tomato plant, wherein identical reference numerals denote identical or similar components, and wherein:

[0029] Figure 1 diagrammatically shows a functional head of the device, in which a gripper and a camera are situated,

[0030] Figures 2 and 3 illustrate a use of the device for removing a main sucker from the tomato plant,

[0031] Figures 4 and 5 illustrate the use of the device for removing a stem sucker from the tomato plant, and

[0032] Figure 6 shows a diagram of the device, which represents a control system of the device and components of the device with which the control system interacts during operation of the device.

[0033] Figure 1 shows a perspective view of a functional head 101 of an exemplary embodiment of a device 100 according to the invention. This device 100 may be used for different purposes, including the removal of suckers from tomato plants. In particular, the device 100 may be used for:

[0034] - removing a main sucker 1 which comprises a branch 2 from a main branch 3 of a tomato plant, as is illustrated in Figures 2 and 3, and

[0035] - removing a stem sucker 4, as is illustrated in Figures 4 and 5.

[0036] Where appropriate, the term “plant portion to be removed” will be used below to refer to parts of a tomato plant which are removed from the tomato plant by using the device 100 according to the invention. With a view to the above, this term covers at least a main sucker 1 and also a stem sucker 4.

[0037] The functional head 101 is for example arranged at an end of an arm which is extendable and movable with respect to a carrier. The carrier may then form part of an autonomous vehicle. In the functional head 101 , various components of the device 100 are arranged, among which:

[0038] - a gripper 10 which is configured to engage with a plant portion 1 , 4 to be removed, which comprises two gripping arms 11 , 12 and can be moved into various configurations, from completely open to completely closed, and which is arranged so as to be movable in the functional head 101 in order to be able to perform movements which are aimed at breaking off the respective main branch 3 from the plant portion 1 , 4 to be removed, and

[0039] - a camera 21 which is arranged in the functional head 101 in order to capture an image of a part of the tomato plant, and which is a stereovision camera in the illustrated example.

[0040] In Figure 1 , the following three axes of rotation are indicated by means of dashed lines:

[0041] - a first axis of rotation R1 for opening and closing the gripper 10, which axis of rotation is defined by a first driven axle 31 on which a first gripping arm 11 of the gripper 10 is arranged,

[0042] - a second axis of rotation R2 for tilting the gripper 10, which axis of rotation is defined by a second driven axle 32 on which an assembly 102 comprising the gripper 10 and the camera 21 is arranged, and

[0043] - a third axis of rotation R3 for tilting the gripper 10 in another direction, which axis of rotation is defined by a non-driven axle 33 which allows a rotating movement of the gripper 10 with respect to a part of the assembly 102 with the camera 21 .

[0044] At one end of the first gripping arm 11 of the gripper 10, there is a finger- shaped gripping element 13, and at the end of the second gripping arm 12 of the gripper 10, there are two finger-shaped elements 14, 15. By means of the one finger-shaped gripping element 13 on the one side and the two finger-shaped elements 14, 15 on the other side, the gripper 10 can easily securely engage with a plant portion 1 , 4 to be removed. This does not alter the fact that a different design of the gripper 10 is possible, for example a design in which each or both gripping arms 11 , 12 has a single finger- shaped element. In order to further support the engagement of the gripper 10 with a plant portion 1 , 4 to be removed, the gripper 10 may be provided with a suitable inner lining at the location of the finger-shaped gripping elements 13; 14, 15.

[0045] In the following, steps for removing a plant portion 1 , 4 from a tomato plant are described with reference to Figures 2-5.

[0046] In the first instance, the functional head 101 is moved to a part of the tomato plant and the camera 21 captures an image of the part of the tomato plant. In order to control both the camera 21 and movements of the functional head 101 as a whole and movements of components of the functional head 101 , the device 100 according to the invention comprises a control system 30. Other functions of the control system 30 are controlling a detection system 20 of which the camera 21 forms part in order to detect a plant portion 1 , 4 to be removed in the obtained image, and also a path of a main branch

[0047] 3 on which the plant portion 1 , 4 to be removed is situated, and controlling the gripper 10 in order to engage with a detected plant portion 1 , 4 to be removed. Figure 6 diagrammatically shows the interaction between the control system 30 and various components of the device 100 according to the invention, wherein in particular the gripper 10, the detection system 20 including the camera 21 , a drive mechanism M1 for moving the functional head 101 in its entirety, a drive mechanism M2 for rotating the first driven axle 31 , and a drive mechanism M3 for rotating the second driven axle 32 are illustrated.

[0048] When the detection system 20 detects a plant portion 1 , 4 to be removed in the obtained image, for example by using an image recognition technique, then the gripper 10 is positioned at the plant portion 1 , 4 to be removed in order to be able to engage with the latter. To this end, the gripper 10 is first aligned with the plant portion 1 ,

[0049] 4 to be removed by tilting the gripper 10 about the axis of rotation R2 until the gripper 10 is positioned in such a way with respect to the plant portion 1 , 4 to be removed that the gripping arms 11 , 12 are able, from an open configuration of the gripper 10, to securely clamp the plant portion 1 , 4 to be removed between them when they are moved towards each other. For the purpose of alignment, a suitable reference, such as the path of the main sucker 1 or the stem sucker 4, respectively, or the path of the main branch 3 may be used. In addition, it is important that the gripper 10 engages with the plant portion 1 , 4 to be removed as closely as possible to the main branch 3, at the location of a connecting region 5 of the plant portion 1 , 4, because this makes it possible to break off the entire plant portion 1 , 4 from the main branch 3 without a rest remaining behind on the main branch 3. The functional head 101 is therefore controlled to move the gripper 10 along the plant portion 1 , 4 to be removed until it is clear from the visual input from the camera 21 and / or feedback about control forces that the gripper 10 lies against the main branch 3. The movement may optionally also be continued slightly in order to thus push aside the main branch 3 for a limited distance. A sensor 40 which may be used to provide the feedback about control forces is illustrated in Figure 6 by way of example.

[0050] As soon as the gripper 10 has been brought to the correct position with respect to the plant portion 1 , 4 to be removed, the engagement of the gripper 10 with the connecting region 5 of the plant portion 1 , 4 to be removed is brought about by adjusting the first driven axle 31 in such a way that the finger-shaped gripping elements 13 of the first gripping arm 11 move in a direction towards the finger-shaped gripping elements 14, 15 of the second gripping arm 12. This movement is stopped in time, namely when a maximum clamping force on the plant portion 1 , 4 to be removed has been achieved, in order to prevent the gripper 10 from pinching the plant portion 1 , 4 to be removed so hard that it is cut from the main branch 3. Determining when the correct clamping force has been reached on the plant portion 1 , 4 to be removed may then be carried out, for example, on the basis of feedback about a control force on the first driven axle 31 .

[0051] Figure 2 shows a situation where the gripper 10 is engaged with the connecting region 5 of a main sucker 1 . Figure 4 shows a situation where the gripper 10 is engaged with the connecting region 5 of a stem sucker 4. When the gripper 10 is completely engaged with the connecting region 5 of the plant portion 1 , 4 to be removed, the gripper 10 is set in motion in order to detach the plant portion 1 , 4 to be removed from the main branch 3. The movement of the gripper 10 will now be described for the main sucker 1 first. As is illustrated in Figure 3, the gripper 10 is tilted about the second axis of rotation R2 first in such a way that the main sucker 1 is deflected downwards with respect to the path of the main branch 3 until the main sucker 1 becomes partly detached from the main branch 3 and is only attached to the latter by means of a number of fibres. Then, the gripper 10 is moved in such a way that the main sucker 1 is moved upwards along the path of the main branch 3 until the fibres break and the main sucker 1 is completely detached from the main branch 3. The start of this movement from the situation where the main sucker 1 is deflected downwards is indicated in Figure 3 by means of an arrow. In order to prevent the non-driven axle 33 from co-rotating, a stop plate 34 is used which limits the rotation of the non-driven axle 33 when the gripper 10 is rotated over more than 90 degrees about the second axis of rotation R2 with respect to a neutral position, as shown in Figures 1 and 2.

[0052] Figure 5 illustrates that, in the case of the stem sucker 4, the gripper 10 containing the stem sucker 4 is moved away from the main branch 3 and slightly downwards. The functional head 101 is controlled in such a way that it moves with respect to the main branch 3, and the gripper 10 rotates about the third axis of rotation R3. Using a sufficient degree of rotation and pulling force, the stem sucker 4 will eventually become detached from the main branch 3. The stem sucker 4 is thus snapped off the main branch 3 in a single movement by means of the gripper 10, whereas the main sucker 1 is subjected to a two-stage movement by the gripper 10. This is done in particular in order to minimize damage to the main branch 3. The control system 30 selects the appropriate movement on the basis of an input from the detection system 20.

[0053] It will be clear to a person skilled in the art that the scope of the invention is not limited to the examples described above, but that various changes and modifications are possible without departing from the scope of the invention as defined in the attached claims.

[0054] The invention may be summarized as follows. A method is provided in the field of removing a main sucker 1 from a greenhouse plant which comprises the use of a device 100 with a detection system 20 and a gripper 10. The detection system 20 may comprise a camera 21 and is used to capture an image of a part of the greenhouse plant and to detect at least a main sucker 1 and a path of a main branch 3 on which the main sucker 1 is situated in the image. Subsequently, the gripper 10 is controlled to engage with a detected main sucker 1 . The main sucker 1 is then initially deflected downwards with respect to the path of the main branch 3 by means of the gripper 10 until the main sucker 1 becomes partly detached from the main branch 3 and it is subsequently moved upwards along the path of the main branch 3 until the main sucker 1 becomes completely detached from the main branch 3.

Claims

CLAIMS1 . Method for removing a main sucker (1 ) from a greenhouse plant by means of a device (100) with a detection system (20) and a gripper (10), comprising:- capturing an image of a part of the greenhouse plant using the detection system (20) and detecting at least a main sucker (1 ) and a path of a main branch (3) on which the main sucker (1 ) is situated in the image,- controlling the gripper (10) to engage with a detected main sucker (1 ), and- deflecting the main sucker (1 ) initially downwards with respect to the path of the main branch (3) by means of the gripper (10) until the main sucker (1 ) becomes partly detached from the main branch (3), and subsequently move the main sucker (1 ) upwards along the path of the main branch (3) until the main sucker (1 ) becomes completely detached from the main branch (3).

2. Method according to Claim 1 , wherein controlling the gripper (10) to engage with the main sucker (1 ) comprises: positioning the gripper (10) at the main sucker (1 ) in order to surround the latter at least partly with the gripper (10), and changing a configuration of the gripper (10) from an open configuration to a more closed configuration.

3. Method according to Claim 2, wherein the gripper (10) is brought from the open configuration to the more closed configuration at a gradually decreasing speed.

4. Method according to Claim 2 or 3, wherein the gripper (10) is arranged in the device (100) so as to be rotatable and the device (100) comprises a drive mechanism (M3) to rotate the gripper (10), and wherein the gripper (10) is aligned with respect to the main sucker (1 ) by means of a rotating movement prior to engaging with the main sucker (1 ).

5. Method according to Claim 4, wherein the alignment of the gripper (10) with respect to the main sucker (1 ) takes place on the basis of an input from the detection system (20) about the path of the main branch (3).

6. Method according to Claim 4 or 5, wherein the gripper (10) is controlled to perform a movement after it has been aligned with respect to the main sucker (1 ), as a result of which the gripper (10) comes to lie against the main branch (3) and pushes it aside over a limited distance.

7. Method according to one of Claims 4-6, wherein the gripper (10) is controlled at least once to perform a rotating movement for the purpose of moving the main sucker (1 ) with respect to the path of the main branch (3)8. Method according to one of Claims 2-7, wherein controlling the gripper (10) to engage with the main sucker (1 ) furthermore comprises: controlling the gripper (10) to exert a clamping force on the main sucker (1 ).

9. Method according to Claim 8, wherein the gripper (10) is controlled to increase the clamping force from zero to a final value at a gradually decreasing speed.

10. Device (100) with a detection system (20) and a gripper (10) for use with the method according to one of Claims 1 -9, wherein the device (100) furthermore comprises a control system (30) which is connected to the detection system (20) and the gripper (10), and which is configured for:- controlling the detection system (20) to capture an image of a part of the greenhouse plant and detecting, in the image, at least a main sucker (1 , 4) and a path of a main branch (3) on which the plant portion (1 , 4) is situated,- controlling the gripper (10) to engage with a detected main sucker (1 ), and- deflecting the main sucker (1 ) initially downwards with respect to the path of the main branch (3) by means of the gripper (10) until the main sucker (1 ) becomes partly detached from the main branch (3), and subsequently move the main sucker (1 ) upwards along the path of the main branch (3) until the main sucker (1 ) becomes completely detached from the main branch (3).

11. Device (100) according to Claim 10, likewise for use with a method for removing a stem sucker (4) from a greenhouse plant, wherein the detection system is also configured to detect at least a stem sucker (4) and a path of a main branch (3) on which the stem sucker (4) is situated in an image of a part of the greenhouse plant, and wherein the control system (30) is also configured to determine a choice for the movement of the gripper (10) on the basis of an input of the detection system (20) and to control the gripper (10) in such a way that the stem sucker (4) is deflected downwards with respect to the path of the main branch (3) for the purpose of removing a stem sucker (4) until the stem sucker (4) becomes completely detached from the main branch (3).

12. Device (100) according to Claim 10 or 11 , wherein the gripper (10) comprises two gripping arms (11 , 12), and wherein at least one of the gripping arms (11 , 12) is movable in order to vary the dimensions of a space between the gripping arms (11 , 12).

13. Device (100) according to Claim 12, wherein the gripper (10) comprises three finger-shaped gripping elements (13; 14, 15), in an arrangement in which one finger- shaped gripping element (13) is situated on the one gripping arm (11 ), opposite the two other finger-shaped gripping elements (14, 15) on the other gripping arm (12).

14. Device (100) according to one of Claims 10-13, comprising a functional head (101 ) in which the gripper (10) and at least a part of the detection system (20) are arranged.

15. Device (100) according to one of Claims 10-14, wherein the detection system (20) comprises a stereovision camera (21 ).

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