Removal of a plant from a greenhouse plant

Abstract

In the field of removing a plant portion (1, 4) from a greenhouse plant, a method is provided which comprises the use of a device (100) with a detection system (20) and a gripper (10). The detection system (20) is used to capture an image of a portion of the greenhouse plant and to detect at least a plant portion (1, 4) to be removed and a course of a main branch on which the plant portion (1, 4) is situated in the image. Subsequently, the gripper (10) is controlled in order to engage with a detected plant portion (1, 4) to be removed at the location of a connecting region with which the plant portion (1, 4) is joined to the main branch (3), wherein the gripper (10) is first positioned near the plant portion (1, 4) and is subsequently moved along the plant portion (1, 4) in the direction of the connecting region of the plant portion (1, 4).

Description

[0001] Removal of a plant portion from a greenhouse plant

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

[0003] A practical example of a plant portion that is deliberately removed from a tomato plant in tomato cultivation is a so-called sucker. The growth of suckers on tomato plants is a well-known phenomenon that is generally considered undesirable. Suckers are new shoots of a tomato plant that, if left untouched, develop into a new branch with leaves, flowers and tomatoes. Growth and development of suckers require energy and nutrients, and consequently influence the size of the tomatoes on the main branches where the suckers are located. When suckers are left on the tomato plant, smaller sized tomatoes are obtained compared to when the suckers are removed from the tomato plant. In addition, a tomato plant from which the suckers are not removed develops into a tangle of branches and leaves, making it more difficult to arrange the tomato plant on a supporting structure. When there is a lot of leaf at the top of the tomato plant, an additional effect occurs that keeps tomatoes smaller, namely shading of the lower-lying portion of the tomato plant.

[0004] A sucker can occur at various locations on the tomato plant. As a tomato plant grows, it usually follows a regular pattern of three leaves and then a bunch. In the leaf axil of each of the two first leaves then a small sucker forms, while in the leaf axil of the third leaf, a large sucker forms. 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. In tomato cultivation, it is therefore important to very regularly inspect the tomato plants for suckers and to remove any suckers found.

[0005] Removing suckers is preferably carried out by breaking them off from the tomato plant at the earliest possible stage. Removing suckers is a labour-intensive manual process, the costs of which form a significant portion of the total costs associated with tomato cultivation. It is an object of the invention to provide a way to transition from manual to mechanical removal of suckers from tomato plants. To this end, the invention provides a method and a device for use with the method, with the invention specifically aimed at ensuring that a plant portion to be removed is broken off the respective main branch completely.

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

[0007] - using the detection system to capture an image of a portion of the greenhouse plant and detecting in the image at least one plant portion to be removed and a course of a main branch to which the plant portion is connected,

[0008] - controlling the gripper to engage with a detected plant portion to be removed at a connecting region where the plant portion connects to the main branch, and

[0009] - using the gripper to detach the plant portion from the main branch by performing a displacement movement of the plant portion with the gripper, wherein:

[0010] - the gripper, prior to engaging with the plant portion to be removed, is positioned at the plant portion and is subsequently moved along the plant portion in the direction of the connecting region of the plant portion.

[0011] 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 further comprises a control system which is connected to the detection system and the gripper, and which is configured to:

[0012] - control the detection system to capture an image of a portion of the greenhouse plant and detect, in the image, at least one plant portion to be removed and a course of a main branch on which the plant portion is situated,

[0013] - control the gripper to engage with a detected plant portion to be removed at a connecting region with which the plant portion connects to the main branch,

[0014] - detach the plant portion from the main branch by performing a displacement movement of the plant portion with the gripper, and

[0015] - position the gripper at the plant portion prior to engaging with the plant portion to be removed and subsequently move it along the plant portion in the direction of the connecting region of the plant portion.

[0016] 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 plant portion to be removed, so that the plant portion can then be detached from the main branch using the gripper, namely by bringing about a displacement movement of the plant portion using the gripper. If the plant portion to be removed is a main sucker, it is advantageous if the displacement movement is a compound movement in which the main sucker is first deflected downward relative to the course of the main branch until the main sucker partially detaches from the main branch, and then moved upward along the course of the main branch until the main sucker completely detaches from the main branch. This minimizes damage to the main branch. If the plant portion to be removed is a stem sucker, a single displacement movement may suffice, specifically a movement in which the stem sucker is deflected downward relative to the course of the main branch until the stem sucker completely detaches from the main branch.

[0017] In general, when the gripper has fully engaged with a plant portion to be removed and is moved to remove the plant portion from the greenhouse plant, the gripper may be controlled in any desired suitable manner, based on, for example, visual input and / or force-related input. The device may optionally be configured to be used selectively for removing both a main sucker and a stem sucker, as desired. In such a case, the control system is also configured to determine a selection for the movement of the gripper based on input from the detection system.

[0018] According to the invention, the gripper is positioned at the plant portion prior to engaging with the plant portion to be removed and is subsequently moved along the plant portion in the direction of the connecting region of the plant portion. Therefore, the invention utilizes the course of the plant portion to achieve an optimal position with the gripper before engaging with the plant portion. This optimal position is a position as close as possible to the main branch. According to an insight of the invention, the gripper’s engagement with the plant portion at this position is a key factor in ensuring that the plant portion is completely removed from the main branch without the risk of a stump remaining behind on the main branch and starting to rot.

[0019] Within the scope of the invention, the moment the gripper reaches the optimal position can be determined in various ways. One possible method involves equipping the device with a sensor configured to detect a force required to move the gripper, and comprises monitoring this force with the sensor as the gripper moves along the plant portion to be removed and stopping the gripper’s movement along the plant portion when the force increases above a force threshold. Once the gripper touches the main branch, continuing the gripper’s movement will require significantly more force, and it is precisely this fact that is utilized. Another possible way to determine when the optimal gripper position is reached involves monitoring the gripper’s movement along the plant portion to be removed using the detection system and stopping this movement based on information from the detection system that is representative of the gripper reaching the connecting region. This utilizes the functionality of the detection system, which is already present in the device for detecting a plant portion to be removed and a main branch.

[0020] In a practical implementation of the method according to the invention, to engage the gripper with the plant portion to be removed, the gripper is positioned to at least partially surround the plant portion, and a configuration of the gripper is changed from an open configuration to a more closed configuration. This may involve moving the gripper from the open configuration to the more closed configuration at a gradually decreasing speed. On the one hand, the operation of enclosing the plant portion to be removed with the gripper is then performed as quickly as possible, on the other hand, the plant portion is then prevented from being cut through by the gripper. Preventing the plant portion from being cut through is a second important factor in preventing a stump from remaining behind on the main branch.

[0021] In one possible embodiment of the device according to the invention, the gripper is rotatably mounted in the device, and the device comprises a drive mechanism for rotating the gripper. The gripper can then be aligned with respect to the plant portion by a rotational movement prior to engaging with the plant portion to be removed. Generally, the rotatable arrangement of the gripper offers a good opportunity to position the gripper favourably in any situation, both with respect to the plant portion to be removed and the immediate surroundings thereof, which consist of adjacent and nearby parts of the greenhouse plant.

[0022] Aligning the gripper relative to the plant portion to be removed may be accomplished in various ways. For example, input from the detection system regarding the course of the main branch can be used. In any case, it may be advantageous to control the gripper, after alignment with the plant portion to be removed, to perform a movement that brings the gripper to lie against the main branch and push it aside over a limited distance. This aids in the desired positioning of the gripper as close as possible to the main branch.

[0023] Controlling the gripper to engage with the plant portion to be removed may not only result in it enclosing the plant portion, but also in exerting a clamping force on the plant portion. In particular, the gripper may be controlled to increase the clamping force at a gradually decreasing speed from zero to a final value. This allows for a balance between achieving a sufficient degree of clamping of the plant portion in the gripper and preventing a cutting action of the gripper, which would cut off the plant portion from the branch instead of breaking it off. The final clamping force value may optionally be adjustable, for example, based on a perceived thickness of the plant portion. 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 to vary the size of a space between the gripping arms. A gripper having a variable space between the gripping arms enables, for example, the gripper to be brought into an open configuration with a relatively large space between the gripping arms for engaging with a main sucker or a stem sucker. Once the plant portion to be removed is situated within the space, the gripper can easily be moved along the plant portion in the direction of the main branch. In any case, the space can be reduced until both gripping arms are in contact with the plant portion to be removed, thus fully engaging the gripper with the plant portion.

[0024] 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 axis. 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 relative to the other gripping arm, and to be able to hook behind a plant portion to be removed. The gripper may then further comprise a movable support element on which the one gripping arm is arranged.

[0025] Within the scope 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 plant portion to be removed, using two finger-shaped gripping elements on one side of the plant portion and one finger-shaped gripping element on another side of the plant portion. When the plant portion is securely clamped in this way, the plant portion is locally forced into a slight garland shape, creating a form-fitting effect that easily results in a firm 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.

[0026] 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.

[0027] 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 further comprises a suitable processor for processing input from the camera.

[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] In the present text, the term “plant portion to be removed” is used 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, including:

[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 portion 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 portion of the tomato plant and the camera 21 captures an image of the portion of the tomato plant. In order to control both the camera 21 and the 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 course of a main branch 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.

[0047] 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 , 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 course of the main sucker 1 or the stem sucker 4, respectively, or the course 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 driving 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 the driving forces is illustrated in Figure 6 by way of example.

[0048] As soon as the gripper 10 has been brought into 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 driving force on the first driven axle 31.

[0049] 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 course 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 course 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.

[0050] 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.

[0051] 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.

[0052] The invention may be summarized as follows. A method is provided in the field of removing a plant portion 1 , 4 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 is used to capture an image of a portion of the greenhouse plant and to detect at least a plant portion 1 , 4 to be removed and a course of a main branch 3 on which the plant portion 1 , 4 is situated in the image. Subsequently, the gripper 10 is controlled to engage with a detected plant portion 1 , 4 to be removed at the location of a connecting region 5 with which the plant portion 1 , 4 is joined to the main branch 3, wherein the gripper 10 is first positioned near the plant portion 1 , 4 and is subsequently moved along the plant portion 1 , 4 in the direction of the connecting region 5 of the plant portion 1 , 4. Then, the plant portion 1 , 4 is detached from the main branch 3 by means of the gripper 10 by bringing about a displacement movement of the plant portion 1 , 4 using the gripper 10.

Claims

CLAIMS1. Method for removing a plant portion (1 , 4) from a greenhouse plant by means of a device (100) comprising a detection system (20) and a gripper (10), the method comprising:- using the detection system (20) to capture an image of a portion of the greenhouse plant and detecting in the image at least one plant portion (1 , 4) to be removed and a course of a main branch (3) to which the plant portion (1 , 4) is connected,- controlling the gripper (10) to engage with a detected plant portion (1 , 4) to be removed at a connecting region (5) where the plant portion (1 , 4) connects to the main branch (3), and- using the gripper (10) to detach the plant portion (1 , 4) from the main branch (3) by performing a displacement movement of the plant portion (1 , 4) with the gripper (10), wherein:- the gripper (10), prior to engaging with the plant portion (1 , 4) to be removed, is positioned at the plant portion (1 , 4) and is subsequently moved along the plant portion (1 , 4) in the direction of the connecting region (5) of the plant portion (1 , 4).

2. Method according to Claim 1 , wherein the device (100) comprises a sensor (40) configured to detect a force required to move the gripper (10), and wherein this force is monitored using the sensor (40) when the gripper (10) is moved along the plant portion (1 , 4) to be removed and the movement of the gripper (10) along the plant portion (1 , 4) is stopped when the force increases above a force threshold.

3. Method according to Claim 1 , wherein the movement of the gripper (10) along the plant portion (1 , 4) to be removed is monitored using the detection system (20) and is stopped based on information from the detection system (20) that is representative of the gripper (10) reaching the connecting region (5).

4. Method according to one of Claims 1-3, wherein, for the purpose of engaging the gripper (10) on the plant portion (1 , 4) to be removed, the gripper (10) is positioned to at least partially surround the plant portion (1 , 4), and a configuration of the gripper (10) is changed from an open configuration to a more closed configuration.

5. Method according to Claim 4, wherein the gripper (10) is brought from the open configuration to the more closed configuration at a gradually decreasing speed.

6. Method according to one of Claims 1-5, wherein the gripper (10) is rotatably mounted in the device (100) and the device (100) comprises a drive mechanism (M3) for rotating the gripper (10), and wherein the gripper (10) is aligned with respect to the plantportion (1 , 4) by a rotational movement prior to engaging with the plant portion (1 , 4) to be removed.

7. Method according to Claim 6, wherein the alignment of the gripper (10) with respect to the plant portion (1, 4) to be removed takes place based on input from the detection system (20) along the course of the main branch (3).

8. Method according to Claim 6 or 7, wherein the gripper (10), after alignment with the plant portion (1 , 4) to be removed, is controlled to perform a movement that causes the gripper (10) to come to lie against the main branch (3) and pushes it aside a limited distance.

9. Method according to one of Claims 1-8, wherein the gripper (10) is controlled to exert a clamping force on the plant portion (1 , 4) to be removed.

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

11. Device (100) with a detection system (20) and a gripper (10) for use with the method according to one of Claims 1-10, wherein the device (100) further comprises a control system (30) which is connected to the detection system (20) and the gripper (10), and which is configured to:- control the detection system (20) to capture an image of a portion of the greenhouse plant and detect, in the image, at least one plant portion (1 , 4) to be removed and a course of a main branch (3) on which the plant portion (1 , 4) is situated,- control the gripper (10) to engage with a detected plant portion (1 , 4) to be removed at a connecting region (5) with which the plant portion (1 , 4) connects to the main branch (3),- detach the plant portion (1 , 4) from the main branch (3) by performing a displacement movement of the plant portion (1 , 4) with the gripper (10), and- position the gripper (10) at the plant portion (1 , 4) prior to engaging with the plant portion (1 , 4) to be removed and subsequently move it along the plant portion (1 , 4) in the direction of the connecting region (5) of the plant portion (1 , 4).

12. Device (100) according to Claim 11 , wherein the gripper (10) comprises two gripping arms (11 , 12), and wherein at least one of the gripping arms (11 , 12) is movable to vary the size 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 one gripping arm (11), opposite the two remaining finger-shaped gripping elements (14, 15) on the other gripping arm (12).

14. Device (100) according to one of Claims 11-13, 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 11-14, wherein the detection system (20) comprises a stereovision camera (21).

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