A crop harvester

Abstract

A crop harvester has a longitudinal arm ending at a distal open tip. The arm includes an internal through going lumen and cables that extend along the arm outside of the lumen for controlling bending of the arm along its longitudinal extension.

Description

A CROP HARVESTERTECHNICAL FIELD

[0001] Embodiments of the invention relate to a crop harvester, in particular a robotic crop harvester.BACKGROUND

[0002] Harvesting crops can be particularly challenging, especially for tree-grown produce like fruit, which requires maneuvering through intricate branch structures to access them. Robotic systems designed for such tasks are typically engineered with high adaptability, incorporating enhanced flexibility, dexterity, and stiffness control.

[0003] Various robotic designs have been developed to achieve this level of adaptability, as demonstrated in the following studies:

[0004] Huang, Q., Wang, P., Wang, Y, Xia, X., & Li, S. (2022). Kinematic Analysis of Bionic Elephant Trunk Robot Based on Flexible Series-Parallel Structure. Biomimetics, 7(4), 228.

[0005] Yang, J., Pena Pitarch, E., Potratz, J., Beck, S., & Abdel-Malek, K. (2006). Synthesis and Analysis of a Flexible Elephant Trunk Robot. Advanced Robotics, 20(6), 631-659.

[0006] These studies explore biomimetic robots, sometimes referred to as tentacle robots, modeled after an elephant’s trunk, designed to exhibit flexibility, dexterity, and stiffness control. These robots achieve continuous bending along their structure through mechanisms such as tendon-like actuation or flexible rods with up to six degrees of freedom (6-DOF). Additionally, they are designed todynamically adjust stiffness, enabling them to perform tasks requiring both strength and flexibility, particularly in confined spaces.SUMMARY

[0007] The following embodiments and aspects thereof are described and illustrated in conjunction with systems, tools and methods which are meant to be exemplary and illustrative, not limiting in scope.

[0008] The present disclosure relates to a crop harvesting apparatus featuring a flexible, elongated arm designed for efficient crop collection. The arm extends longitudinally and terminates in an open-ended distal tip. It incorporates an internal conduit that allows for the passage of harvested crops, while externally routed control cables facilitate the bending and maneuverability of the arm.

[0009] In one embodiment, the arm comprises an inner and an outer structural layer, with the inner layer defining the conduit and the outer layer encasing it. The control cables are positioned in the intermediate space between these layers. To enhance structural integrity and operational efficiency, guide links are strategically placed along the length of the arm, each containing multiple openings through which the control cables are threaded. Additionally, control links are included at intervals, where selected cables are anchored to restrict further movement, ensuring precise articulation of the arm.

[0010] The harvesting system may be mounted on a base and is optionally designed for mobility along one or more guide tracks positioned parallel to the ground. In some implementations, the conduit extends through the base, allowing for seamless crop transfer. The base may house multiple winch or reel motors, each responsible for winding or unwinding its corresponding control cable, thereby regulating the arm's positioning and flexibility.[Oil] The disclosed invention also encompasses a method for automated crop harvesting. This involves deploying a harvester with an internal conduit, maneuvering the arm to collect crops, and directing them through the conduit for further processing. Control cables, routed externally to the conduit, adjust the arm’scurvature as needed. The arm’s layered construction, cable-guiding elements, and flexible articulation contribute to improved harvesting accuracy and adaptability in agricultural settings.

[0012] This system enhances harvesting efficiency by offering improved control, reduced mechanical complexity, and an optimized crop collection process suitable for various farming environments.

[0013] In addition to the exemplary aspects and embodiments described above, further aspects and embodiments will become apparent by reference to the figures and by study of the following detailed descriptions.BRIEF DESCRIPTION OF THE FIGURES

[0014] Exemplary embodiments are illustrated in referenced figures. It is intended that the embodiments and figures disclosed herein are to be considered illustrative, rather than restrictive. The invention, however, both as to organization and method of operation, together with objects, features, and advantages thereof, may best be understood by reference to the following detailed description when read with the accompanying figures, in which:

[0015] Fig. 1 schematically shows two crop harvesters located in an alley between tree rows in accordance with an embodiment of the present invention;

[0016] Fig. 2 schematically shows an embodiment of a crop harvester generally similar to those in Fig. 1, fitted at its base to a guide rail, here optionally placed upon a harvest crate, with an additional harvest crate being seen alongside for collecting harvested produce;

[0017] Fig. 3A schematically shows an enlarged view of the harvester’s base along with the guide rail to which it is attached;

[0018] Fig. 3B shows the view seen in Fig. 3A with an outer housing of the base being removed revealing its interior;

[0019] Fig. 4A provides a schematic representation of a proximal lower portion of the crop harvester's arm, extending up to a transverse plane IV that intersects the arm, as also indicated by same plane IV in Fig. 2;

[0020] Fig. 4B shows the view seen in Fig. 4A with an outer tube of the arm being removed revealing cables normally concealed by the outer tube;

[0021] Figs. 5A and 5B respectively show closer views of a guide link and a control link located along the arm section nest seen e.g. in Fig. 4B;

[0022] Fig. 6 schematically shows front view of the control link seen in Fig. 5B;

[0023] Fig. 7 schematically shows a perspective view of the control link seen in Figs. 5B and 6, however here in isolation from other portions of the arm;

[0024] Fig. 8 schematically shows a distal tip region of the crop harvester of Fig. 1;

[0025] Fig. 9 schematically depicts two crop harvesters, according to another embodiment, positioned in an alley between tree rows. Each harvester includes a spool from which its arm can be either coiled or uncoiled;

[0026] Fig. 10 schematically shows the crop harvesters of Fig. 9 each being associated with a harvest crate for collecting produce being harvested;

[0027] Fig. 11A schematically shows the arm of a harvester, such as in Figs. 9 and 10, in a relative uncoiled state where the arm extends laterally outward from the spool;

[0028] Fig. 11B schematically shows the arm of the harvester in a relative coiled state;

[0029] Fig. 11C schematically shows a lateral view of the harvester in the state depicted in Fig. 11B;

[0030] Fig. 11D is an enlarged section of Fig. 11C;

[0031] Fig. 12A schematically shows the crop harvester's arm extending along a straight line;

[0032] Fig. 12B schematically shows the crop harvester's arm of Fig. 12A with an outer tube of the arm being removed revealing elements normally concealed by the outer tube;

[0033] Fig. 13A schematically shows a distal tip region of the crop harvester of Figs. 9 to 12;

[0034] Fig. 13B shows an image captured by a camera located on the distal tip region;

[0035] Figs. 14 to 16 schematically depict crop harvesters, according to further embodiments of the present invention; and

[0036] Fig. 17 schematically shows a cross-sectional view of a control link according to certain embodiments of the invention when viewed in plane N, as indicated in Figs. 12B and 15.

[0037] It will be appreciated that for simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity. Further, where considered appropriate, reference numerals may be repeated within the figures to indicate like elements.DETAILED DESCRIPTION

[0038] Attention is first drawn to Fig. 1 schematically showing two crop harvesters 10 located in an alley between tree rows, in accordance with an embodiment of the present invention. In this example, the crop harvesters 10 are optionally seen harvesting crops from opposing rows on opposing sides of the alley.

[0039] The crop harvesters 10 are positioned along guide rails 12, which enable them to move toward or away from the trees being harvested. Additionally, harvest crates 14 are integrated with the crop harvesters 10 to collect the harvested produce. In this example, the harvesters 10 and crates 14 function as a combined assembly or system mounted on wheels. This setup allows them to be transported by a vehicle to an optimal harvesting location, such as within the tree alley.

[0040] Attention is also directed to Fig. 2, which schematically illustrates an embodiment of a crop harvester 10, generally resembling those shown in Fig. 1. The harvester includes a base 101, which is mounted on guide rails 12, optionally positioned in this example on a harvest crate. Additionally, another harvest crate 14 is placed alongside the harvester 10 to collect harvested produce. The produce isdirected through an outlet chute 102, which, in this example, channels the harvested produce from the base 101 into the harvest crate 14.

[0041] The crop harvester also features an arm 103, which extends along a longitudinal axis L at least initially in this example generally upwards from the base 101 towards an axial distal tip 104. The arm may be designed with enhanced flexibility, dexterity, and stiffness control, so that it can exhibit continuous bending along its axial extension L.

[0042] The harvesting process begins at the tip 104, where crops are picked from the tree. As illustrated in Fig. 8, one embodiment of tip 104 includes a receiving cup 1401. This receiving cup has a concave, cup-like structure designed to catch crops as they are picked, ensuring smooth transfer towards an entry point of an internal lumen 5, which extends through the arm.

[0043] In this example, tip 104 also features a cutting mechanism 1402, which is designed to efficiently sever crops from the tree. Additionally, a camera 1403 may be incorporated into the tip to assist in identifying and selecting crops for harvesting, as well as possibly helping guide the arm’s tip to an optimal harvesting position.

[0044] The tip’s receiving cup 1401, cutting mechanism 1402, and camera 1403 may be interconnected to rotate together around axis L as the arm navigates towards crops to be harvested. This rotation can be facilitated by a component such as a bearing (not shown) positioned between these rotatable elements at the tip and a distal section of the arm. By suitably designing the weight distribution of the rotatable elements at the tip, the tip’s cup-like structure may be urged via gravitation to be generally positioned beneath the crop to be harvested, while the cutting mechanism and camera remain generally above such crop.

[0045] From tip 104, the harvested crops travel through an internal lumen 5 within the arm, moving down towards the base 101, and are then directed through the outlet chute 102 into the harvest crate 14.

[0046] Attention is drawn to Fig. 3 A showing an enlarged view of the harvester’s base 101, with Fig. 3B showing the interior the base after its outer housing 1011 has been removed.

[0047] As seen in Fig. 3B that base includes a plurality of winch or cable reel motors 7 distributed upon a support 3 about a proximal lower end of the harvester’s arm 103. Each motor 7 is adapted to wind or unwind on its pulley 717 an associated cable 9 that extends upwards along the arm 103.

[0048] Attention is drawn to Figs. 4A that provides a schematic representation of a proximal lower portion of the crop harvester's arm 103, extending generally upwards to a transverse plane IV that intersects the arm, as also indicated by plane IV seen in Fig. 1. Fig. 4B shows the view seen in Fig. 4A with an outer tube 1031 of the arm being removed cables 9 otherwise concealed by outer tube 1031.

[0049] As seen in Fig. 4A, the arm also includes an inner tube 1032 and the cables 9, which extend up from the base pass in between the inner and outer tubes 1031, 1032. The inner tube 1032 can also be seen enclosing and defining the internal lumen 5 within and along the arm 103 through which harvested crops travel towards the base 101 and from there outwards via the outer chute 102 towards the harvest crate 14.

[0050] Attention is drawn to Figs. 5A and 5B respectively showing closer views of a guide link 20 and a control link 22 located along the arm section best seen in Fig. 4B. Such guide and control links 20, 22 as seen in Fig. 1 are located along the axial extension of the arm, with possibly one or more guide links 20 being located in between axially adjacent control links 22.

[0051] As shown in Fig. 5A, the guide link 20 is generally ring-shaped, featuring multiple apertures 4 along its periphery. When placed along the arm, the ring-shaped guide link is aligned around the arm’s axis L, with the apertures 4 extending axially through it.

[0052] Guide links 20 can be positioned along the arm, allowing the cables 9 extending up from the base to pass through the apertures 4. This arrangementassists in ensuring that the cables 9 substantially follow the curvature of the arm, while being positioned between its outer and inner tubes 1031, 1032.

[0053] As shown in Figs. 5B and 6, the control link 22 has a shape generally similar to the guide link 20, featuring a generally ring-shaped structure with multiple apertures 4 along its periphery. Unlike a guide link 20, where all cables arriving from the proximal side pass through the apertures and continue onwards towards the guide link’s distal side, a control link 22 has some cables 9 from the proximal side that are fixed at anchors 6 within specific given apertures 4 instead of passing and extending onwards through these given apertures.

[0054] Preferably, the cables 9 arriving from the proximal side and fixed at anchors 6 along the control link 22 are symmetrically distributed around its periphery. In this example, each control link 22 has three cables 9 anchored, spaced one from the other by about 120 degrees around the control link’s periphery.

[0055] By anchoring in this example three cables arriving from the proximal side to a control link 22, the orientation of each control link 20 can be controlled by the respective winch or cable reel motors 7 connected to these cables, in order to control the continuous bending of arm along its axial extension L.

[0056] As seen in Fig. 7, the control link 22 can be formed with peripheral receiving slots 221 at both its axial sides, which are suitable to receive tube sections forming the outer and inner tubes of the arm.

[0057] The arm’s outer and inner tubes 1301, 1302 (either when formed from sections or if in continuous form), in a non-binding example may be formed from spiral wind helix pipes that are a type of reinforced flexible ducting designed to maintain structural integrity while offering a high degree of flexibility.

[0058] In another embodiment, repeated bending while maintaining structural integrity may be achieved by forming the inner and optionally also the outer tubes from rubber hose sections reinforced with steel-wire braid or steel-wire cord. This configuration provides high flexibility together with enhanced robustness.

[0059] Such hoses used primarily for the arm section's inner tube, generally include an inner elastomeric tube with one or more high-tensile steel-wirereinforcement layers, and an outer rubber cover. This construction can be advantageous in withstanding repeated bending without kinking or collapsing.

[0060] In view of these properties, steel-reinforced rubber hoses / tubes may be employed in the present disclosure to form bendable robotic arms for harvesting produce from trees. Their reinforced structure maintains an open internal lumen during bending, enabling the passage of harvested produce and the operation of cable-based actuation systems. As a result, such hoses offer a functional combination of flexibility, strength, and internal protection, making them well-suited for integration into articulated agricultural harvesting arms of the present disclosure.

[0061] Attention is drawn to Figs. 9 and 10 schematically showing two crop harvesters 510 in accordance with another embodiment of the present invention. In Fig. 9 the harvesters can be seen located in an alley between tree rows for harvesting crops from opposing rows on opposing sides of the alley.

[0062] In this example, imaginary planes labeled P are positioned along the opposing lateral sides of the alley. These planes define the depth into each row of trees that the harvesters may extend towards, so that each tree may be substantially fully harvested when approached from both sides.

[0063] In one aspect of the invention, a method is proposed for dividing the three-dimensional volume of a tree T within a tree row into smaller, bounded subvolumes 55 (referred to as "boxes"), to support robotic harvesting operations. An example of this is illustrated in Fig. 9, where an array of eight such sub-volumes 55 is shown being defined on a portion of the first tree T in the left tree row.

[0064] Each sub-volume 55 defines by its boundaries, accessibility status based on robotic reachability analysis, and possibly produce-related metadata derived from sensor input.

[0065] A path planning system utilizing this method may guide harvesters to collect crops from designated, accessible sub-volumes, and, when necessary, withdraw the harvester from certain regions of the tree to reposition it in a more optimal location for accessing additional sub-volumes. A camera (not shown)position on or adjacent the harvesters may assist in defining the sub-volume 55 and possibly produce-related metadata.

[0066] Each harvester 510 of this embodiment as seen includes a spool 512 from which its arm 5103 can be either coiled or uncoiled by rotating the spool about a central pivot. Such central pivot is defined by a rotational axis R passing through a geometric center of the spool (that is perpendicular to the spool's side faces 515 -see indicated in Fig. 11C). Each harvester can also be seen being associated with a harvest crate 14 for collecting produce being picked.

[0067] Fig. 11A schematically illustrates the arm 5103 in a relatively uncoiled configuration, wherein it extends laterally outward from the spool 512, in this example horizontally sideways. Fig. 11B schematically illustrates the arm in a relatively coiled configuration, in which most of the arm is wound along a coiling peripheral recess 513 of the spool 512. Notably, the spool may be rotated to locate substantially most of the arm's extension along its periphery.

[0068] In Figs. 11A and 11B, two adjacent arm segments, SI and S2, are shown. As illustrated, transitioning from Fig. 11B to Fig. 11A involves extending the arm laterally by rotating the spool counterclockwise while gradually bending segment S2 upward using the cables 9 controlling, inter alia, this segment. This motion results in segment S2 aligning in this example as a straight extension of SI, allowing the arm to smoothly linearly advance sideways towards a tree to be harvested. A motion generally similar to the one shown in these figures, which involves rotation of the spool and bending of arm segments by cables, may occur e.g. when approaching towards, or retreating from, a sub-volume 55 to be harvested.

[0069] In e.g. Figs. 9 and 10 the harvesters are shown with their spools 512 being oriented generally upright with respect to the ground face (i.e. with their rotational axes R generally parallel to the ground face). However, it is noted that harvesters in accordance with the present disclosure may be used with their spools 512 being oriented in various orientations relative to the ground face, such as generally horizontally to the ground face (or the like).

[0070] Reference is made to Figs. 14 and 15, which illustrate examples of harvesters 510 according to the present disclosure. In these embodiments, the spools 512 are oriented generally horizontally relative to the ground face, meaning their rotational axes R extend generally upright with respect to the ground.

[0071] In both figures, each harvester 510 is supported by a base 101. In Fig. 14, the base 101 includes wheels, enabling the harvester to be moved, for example, along an alleyway between rows of trees to be harvested.

[0072] In Fig. 15, the base 101 is configured to receive and support a crate 14 positioned beneath the harvester’s spool 512, and is further configured to be lifted and maneuvered — such as through an alley of trees to be harvested — by a forklift or a similar lifting device.

[0073] With particular reference to Fig. 15, the control links 22 extending along the length of the arm 5103 may be configured as structural elements serving a dual function, namely also operating as controllable discharge gates 77a and 77b.

[0074] These dual-purpose structural elements 77 / 22 formed along the arm may be structurally identical, and the suffixes ‘a’ and ‘b’ are used solely to indicate their respective positions along the arm, with increasing distance from the spool.

[0075] As illustrated, the harvester’s spool 512 may be equipped with outlet ports 99a and 99b, each positioned so as to generally lie beneath its corresponding discharge gate 77a or 77b — formed in the structural elements along the arm — when the arm 5103 is wound onto the spool 512. In Fig. 16, the harvester’s arm is shown being slightly rewound onto the spool to position discharge gate 77a generally above outlet port 99a, allowing harvested produce to be released toward crate 14.

[0076] Reference is made to the enlarged view of Fig. 15A, which provides a closer depiction of one of the controllable discharge gates. It is noted that anchors 6, configured to receive cables 9 such as the unconfined cables discussed below (with both anchors 6 and cables 9 not shown in this view), may be located on the distal side of the discharge gate.

[0077] As shown in Fig. 15A, the discharge gate includes a flap 771 that can be actuated to open, allowing produce — such as freshly harvested fruit — to exit from the arm’s internal lumen.

[0078] Optionally, flap 771 may be opened only after first positioning the harvester so that the section of the arm containing the discharge gate to be actuated is wound onto the harvester’s spool 512, thereby locating the discharge gate 77 above its corresponding associated outlet port 99.

[0079] In this state, produce discharged through the discharge gate 77 can then be directed through the associated outlet port 99, for example toward a crate 14 intended to receive the produce.

[0080] Reference is again made to the harvester embodiment of Figs. 9 to 12, which features an upright-oriented spool and, in this optional example, is shown without any discharge gates along its arm. It is noted, however, that the technical features that will be described for this embodiment are equally applicable to the embodiments of Figs. 14-16, where the harvester’s spool is arranged horizontally.

[0081] As seen in Figs. 11 A and 11B, the harvester's spool 512 has an exit port or chute 514 that opens out of one of the side faces 515 of the spool. The exit port 514 is typically located where a proximal end 517 (see indicated e.g. in Fig. 12A and 12B) of the harvester's arm is fixed to the spool at or adjacent its peripheral recess 513.

[0082] Produce picked by the harvester at its distal tip 104 and conveyed through the internal lumen 5 of the arm may, upon reaching the arm’s proximal end 517, be directed to exit the harvester via its exit port 514, from which it is transferred towards a harvest crate 14 associated with the harvester.

[0083] The clockwise change in position of the exit port 514 between Figs. 11 A and 11B illustrates the peripheral path along which the arm 5103 was additionally coiled around the spool. In the illustrated example, this angular extension is generally less than 360 degrees around the spool's periphery. In certain embodiments, the remaining angular region 333 around the spool may serve as a location for distributing winch or cable reel motors 7 of the harvester.

[0084] Attention is drawn to Fig. 11C for a closer view of this angular region 333, where the winch or cable reel motors 7 can be seen. Each motor 7 is adapted to wind or unwind an associated flexible cable 9 that extends away from the motor within a rigid conduit 97 that in Fig. 11C conceals the cable 9 therein so it is hidden. In the present disclosure, the rigidity of conduits primarily refers to their stiffness along the axial direction.

[0085] The flexible cable 9 accordingly runs inside a rigid conduit 97 (somewhat similar to a bicycle brake mechanism) and when a motor's pulley 717(hidden behind a plate 7 of the pulley's housing H) - applies a pulling force to a cable 9, an equal and opposite reaction force is exerted on a proximal end Pe of the conduit 97, which is anchored in this example to the pulley's housing H.

[0086] These paired forces are transmitted to a distal end De of the conduit 97 from which the cable 9 located therein extends unconfined by the rigid conduit 97 distally onwards along a specific arm segment to be fixed at an anchor 6 to a control link 22 located at a distal side of said specific arm segment. The distal end De of the conduit 97 is defined by its interaction with a control link 22 positioned at a proximal side of a section of the robotic arm 5103 where actuation is intended to occur via the unconfined cable 9 that previously extended through the conduit 97. See enlarged sections of Fig. 12B showing such unconfined cables 9 extending distally onwards from distal ends De of conduits 97 where they interact with a control link 22 at a proximal side of a targeted arm segment to be actuated - towards a control link 22 at a distal side of said arm segment where they are anchored to said distal control link 22 at anchors 6.

[0087] Such unconfined cables 9 may then be used to actuate (e.g., bend) the targeted arm segment. Because the forces are confined within the cable-conduit pair and applied only to the targeted segment, other segments remain substantially unaffected, enabling independent control of each segment. This design ensures precise and substantially isolated actuation across the multi-segment robotic arms of the present disclosure. See e.g. Fig. 2 showing examples of such isolated actuationacross a multi-segment robotic arm of the present disclosure, where bending and / or curving of the robotic arm can be applied differently to different arm segments.

[0088] Reference is made to Fig. 17, which presents a cross-sectional view of a control link 22 according to certain embodiments of the invention. This cross-section may correspond to the appearance of a control link when viewed in plane N, as indicated in the embodiments of Figs. 12B and 15, taken through a control link used with either an upright-oriented (Fig. 12B) or a horizontally oriented (Fig. 15) spool of a harvester.

[0089] In an aspect of the present invention, design considerations of various crop-harvester embodiments disclosed herein may take into account the effects exerted on the harvester’s arms — such as gravitational force — which the harvester may preferably counteract while being maneuvered to harvest produce.

[0090] With attention directed to Fig. 17, such design considerations relating to anchors 6 in a control link will be discussed. In Fig. 17, the locations of the anchors 6 formed in the control link are illustrated, together with the downward-pointing double-lined arrow representing the direction of the gravitational force G acting on the control link 22. The dashed-dotted central line CL denotes the upright direction relative to the ground surface.

[0091] The central line CL in embodiments where the spool is generally horizontal - is generally parallel to the spool's rotational axis R (see, e.g., Fig. 15), and in embodiments where the spool is generally vertical - is generally vertical to the spool's rotational axis R (see, e.g., Fig. 12B together with 11C that shows both axis R and gravitational force G of this embodiment).

[0092] As shown in this example, the two anchors 6 located opposite the direction of the gravitational force G are angularly spaced by an angle ‘a,’ which is smaller than the angle ‘0’ by which each of these anchors is angularly spaced from the lower anchor 6. By way of a non-limiting example, angle ‘a’ may be approximately 90°, whereas angle ‘0’ may be approximately 135°.

[0093] Positioning the anchors 6 in this non-uniform angular arrangement around the periphery of the control link 22 can be advantageous. In particular,arranging two anchors 6 at the upper region of the control link and one anchor 6 at the center lower region — thus forming a generally ‘V-shaped’ distribution, as suggested by the dotted gray lines — results in slightly greater upward-directed vector forces generated by the cables 9 attached to the anchors 6.

[0094] These upward forces help counteract the downward gravitational force G acting on the control link. Consequently, the bending of the arm section approaching this control link from the proximal side can be more effectively controlled through a better-balanced distribution of forces.

[0095] Additional design considerations that account for the effects exerted on the harvester’s arms by gravitational forces may include design choices relating to the winch or reel motors used in various embodiments, as well as design choices associated with the arm-segment sections (see, for example, arm segments S 1 and S2 in Figs. 11A and 11B).

[0096] In principle, the arm segments that are more proximal — for example, closer to the harvester's spool (such as section S2 in Figs. 11A and B) — bear a greater load, as they support both their own weight and the forces exerted by the arm segment(s) positioned more distally (e.g. section S2). As a result, the above-discussed positioning of anchors 6 along a control links periphery - may be particularly advantageous for control links situated at more proximal locations along the arm. Nevertheless, such positioning of anchors 6 as seen in Fig. 17 can be implemented along a few control links and possibly all control links extending along the arm.

[0097] As it relates to the winch or reel motors, the gear ratio of motors controlling cables that extend to more proximal control links may be selected to be larger than the corresponding gear ratios of motors positioned more distally along the arm, thereby enabling the proximal motors to exert greater torque on the cables they actuate, while motors associated with more distal control links may be optimized to provide faster actuation.

[0098] In a non-limiting example, a motor operating at 3000 RPM and controlling cables 9 that extend to a relatively proximal control link 22 (e.g., nearerto the spool) may be configured with a gear ratio of e.g. 250: 1 — meaning the motor shaft completes 250 rotations for each single rotation of the output pulley (see, e.g., motor 7 and pulley 717 in Fig. 3 B). In contrast, a similar motor operating at 3000 RPM and controlling cables 9 that extend to a more distal control link 22 may be configured with a smaller gear ratio of e.g. 80: 1, such that the motor shaft rotates 80 times for each rotation of the corresponding output pulley.

[0099] It should be noted that, as an alternative to or in combination with the gear-ratio solution described above, certain embodiments may employ different types of motors — each designed to deliver varying power levels — to control the respective arm segments of the harvester arm

[0100] With respect to design choices associated with the arm-segment sections (see again e.g. arm segments SI and S2 indicated in Figs. 11A and 11B), such arm segments positioned more proximally may be configured to exhibit greater stiffness or flexural rigidity - than those located more distally. For example, arm segments incorporating tube-like structures that define the internal lumen of the arm may be engineered to have such increased rigidity, flexural rigidity (or the like) when situated in more proximal regions along the arm.

[0101] In embodiments where such arm segments are fabricated from wire -reinforced materials, the stiffness may be enhanced by increasing the quantity of reinforcing wire or the number of wire braids (e.g., steel braids), and / or by increasing the amount of surrounding material (e.g., rubber) used in the segment. It is noted that the abovementioned design considerations relating to the arm segments are, inter alia, useful in withstanding compression forces applied by cables 9 on the arm sections.

[0102] Attention is now directed back to Fig. 11 C. In an example where three cables 9 arriving from a proximal side to be anchored at anchors 6 to a control link 22, are designed to control bending and / or curving of a targeted arm segment extending distally from said proximal control link - in figure 11C it can be seen how the motors 7 and their respective cables / conduits, may be grouped at the spool's angular region 333 to accommodate this functionality. In this example adjacentmotors 7 are seen being divided into three groups Gl. G2, G3 each being designed to respectively control a specific arm segment.

[0103] Attention is drawn to Fig. 13A showing an axial distal tip 104 of the harvester 510. Tip 104 includes a receiving cup 1401 that may be designed to have a concave, cup-like structure suitable for catching crops as they are picked, ensuring smooth transfer towards an entry point of an internal lumen 5, which extends through the arm.

[0104] In this example, tip 104 also features a cutting mechanism 1402, which is designed to efficiently sever crops from the tree. Additionally, a camera module 1403 may be incorporated into the tip to assist in identifying and selecting crops for harvesting, as well as possibly helping guide the arm’s tip to an optimal harvesting position.

[0105] The tip’s receiving cup 1401, cutting mechanism 1402, and camera module 1403 may be interconnected to rotate together around axis L as the arm navigates towards crops to be harvested. This rotation can be facilitated by a motorized component M positioned between these rotatable elements at the tip and a distal section of the arm.

[0106] From tip 104, the harvested crops / produce travel through an internal lumen 5 within the arm, moving down towards the arm's proximal end 517 and are then directed through exit port 514 into a harvest crate 14.

[0107] In one possible example, camera module 1403 may be a depth camera, such as a short-range stereo depth camera designed for high-precision close-range applications. One optional example of such a depth camera may be the Intel® RealSense™ Depth Module D401.

[0108] In Fig. 13B an image taken from a camera of the camera module reveals that the camera module may be positioned to include at least a portion of the cutting mechanism 1402 - to assist in guiding tip to a suitable position for harvesting crops / produce that can also be seen in this image.

[0109] Possibly the camera module 1403 may include additional cameras pointing to other directions, such as to a relative rear direction in order to assist indetecting crops located behind the tip 104 (e.g. for discovering more crops behind the tip that only become visual once the tip penetrates the tree canopy) and / or for safe retrieval of the arm from within a tree (e.g. to limit likelihood of engaging branches of the tree when retreating).

[0110] In principle, in at least certain embodiments, the harvester's motion utilizes visual servoing. That is, the harvester described in the present disclosure may in certain cases rely on visual input from its camera module to control its movements in real time, enabling dynamic interaction with its environment based on what it perceives.

[0111] In the description and claims of the present application, each of the verbs, “comprise” “include” and “have”, and conjugates thereof, are used to indicate that the object or objects of the verb are not necessarily a complete listing of members, components, elements or parts of the subject or subjects of the verb.

[0112] Further more, while the present application or technology has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and non-restrictive; the technology is thus not limited to the disclosed embodiments. Variations to the disclosed embodiments can be understood and effected by those skilled in the art and practicing the claimed technology, from a study of the drawings, the technology, and the appended claims.

[0113] In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures can not be used to advantage.

[0114] The present technology is also understood to encompass the exact terms, features, numerical values or ranges etc., if in here such terms, features, numerical values or ranges etc. are referred to in connection with terms such as “about, ca., substantially, generally, at least” etc. In other words, “about 3” shall also comprise

Claims

“3” or “substantially perpendicular” shall also comprise “perpendicular”. Any reference signs in the claims should not be considered as limiting the scope.[0115] Although the present embodiments have been described to a certain degree of particularity, it should be understood that various alterations and modifications could be made without departing from the scope of the invention as hereinafter claimed.CLAIMS:

1. A crop harvester comprising a longitudinal arm ending at a distal open tip, the arm comprising an internal through going lumen and cables extending along the arm outside of the lumen for controlling bending of the arm along its longitudinal extension.

2. The crop harvester of claim 1, wherein the arm comprises inner and outer layers, the inner layer surrounding and defining the internal lumen and the outer layer surrounding the inner layer, wherein the cables extend between the inner and outer layers.

3. The crop harvester of claim 1, further comprising distinct tubelike structures along the arm that define the arm's lumen.

4. The crop harvester of claim 3, wherein a tubelike structure located in a relative proximal location along the arm is configured to be more flexural rigid or stiff than a tubelike structure located in a more distal location along the arm.

5. The crop harvester of claim 4, wherein the tubelike structures comprise wire reinforcement.

6. The crop harvester of claim 5, wherein increased flexural rigidity or stiffness is accomplished by increasing the quantity of reinforcing wire or the number of wire braids.

7. The crop harvester of claim 5, wherein increased flexural rigidity or stiffness is accomplished by increasing the amount of surrounding material in the tubelike structure.

8. The crop harvester of claim 7, wherein the tubelike structure is made of rubber and is reinforced with steel wire, wherein the steel wire reinforcement optionally being configured as a braid.

9. The crop harvester of claim 1, further comprising guide links located along the arm, each guide link comprises a plurality of apertures and all cables arriving at a given guide link from its proximal side pass through apertures within the given guide link to extend distally onwards along the arm.

10. The crop harvester of claim 1, further comprising control links located along the arm, each control link comprises a plurality of apertures and some cables arriving at a given control link from its proximal side are fixed to the given control link.

11. The crop harvester of claim 10, wherein the cables fixed to the given control link are at anchored positions along the circumference of the given link at angular intervals that are substantially equal to one another.

12. The crop harvester of claim 10, wherein the cables fixed to the given control link are at anchored positions along the circumference of the given link at angular intervals that are not all equal to one another.

13. The crop harvester of claim 12, wherein two of the anchors are positioned in an upper region of the control link, opposite the direction of gravitational force (G), and a third anchor is positioned in a lower region generally aligned with the direction of gravitational force (G), thereby possibly forming a generally V-shaped distribution of anchors around the periphery of the control link.

14. The crop harvester of claim 12, wherein the two upper anchors are angularly spaced from each other by an angle a, and each upper anchor is angularly spaced from the lower anchor by an angle 0, with a being smaller than 0.

15. The crop harvester of claim 14, wherein a is approximately 90° and 0 is approximately 135°, such that cable-generated forces applied at the anchors produce a resultant upward-directed vector component that at least partially counteracts the gravitational force (G) on the control link and improves control over bending of an arm section controlled by the given control link.

16. The crop harvester of claim 10, wherein at least certain control links are each incorporated into a dual-purpose structural element that further includes a controllable discharge gate configured to discharge produce harvested by the crop harvester from the arm’s lumen.

17. The crop harvester of claim 1, further comprising a plurality of cable reel motors, each being configured to wind or unwind a respective cable extending along the arm.

18. The crop harvester of claim 17, wherein the cable-reel motors are arranged in groups, each group being configured to actuate via their respective cables the bending and / or maneuvering of a different longitudinal section of the arm.

19. The crop harvester of claim 18, wherein a group of cable-reel motors configured to control a more proximally located arm section are provided with a larger gear ratio between motor rotational speed and pulley rotational speed than a gear ratio of another group of cable-reel motors configured to control a more distally located arm section, thereby enabling the proximal motors to exert greater torque upon the cables they actuate.

20. The crop harvester of claim 1, further comprising a rotatable spool and the arm being fixed to the spool at is proximal side.

21. The crop harvester of claim 20, wherein the spool is rotatable about a rotational axis, wherein possibly the rotational axis is generally oriented at any direction relative to a ground face above which the spool is located, such as generally parallel or generally orthogonal to the ground face.

22. The crop harvester of claim 20, further comprising a plurality of cable reel motors arranged on the spool.

23. The crop harvester of claim 22, wherein each cable extending away from a motor at least initially runs / extends inside a rigid conduit that is anchored to the motor at its proximal end, for example to a housing of the motor's pulley.

24. The crop harvester of claim 23, further comprising control links located along the arm, each control link comprises a plurality of apertures and some cables arriving at a given control link from its proximal side are anchored to the given control link.

25. The crop harvester of claim 24, wherein cables anchored to the given control link are unconfined cables that do not run / extend within a rigid conduit, and the rigid conduits of the unconfined cables interact and end at a control link that is proximal to the given control link.

26. A method for harvesting crops comprising the steps of:providing a crop harvester comprising a longitudinal arm and an internal lumen extending through the arm, andurging harvested produce to move through the internal through going lumen.

27. The method of claim 26, wherein the crop harvester further comprises cables extending along the arm outside of the lumen for controlling bending of the arm along its longitudinal extension.

28. A crop harvester comprising a longitudinal arm ending at a distal open tip, the arm being attached to a rotatable spool at its proximal side and the arm being coiled or uncoiled on the spool by rotating the spool in opposing directions.

29. The crop harvester of claim 28, further comprising a plurality of cable reel motors arranged on the spool.

30. The crop harvester of claim 29, wherein each cable extending away from a motor at least initially runs / extends inside a rigid conduit that is anchored to the motor at its proximal end, for example to a housing of the motor.

31. The crop harvester of claim 30, comprising multiple control links positioned along the arm while each pair of adjacent control links defines an arm section, wherein a rigid conduit of a cable configured to control bending of an arm section ends at the more proximal control link defining the arm section while an unconfined cable extending along an arm section ends at the more distal control link defining the arm section.

32. A crop harvester comprising a longitudinal arm that terminates in a distal open tip, the arm having an internal through-going lumen and being attached at its proximal end to a rotatable spool, the arm further comprising a tube-like structure made of a wire-reinforced material that defines and encloses the lumen.

33. The crop harvester of claim 32, wherein the tube-like structure is made of rubber and is reinforced with steel wire, wherein the steel wire reinforcement optionally being configured as a braid.

34. The crop harvester of claim 32, wherein the arm is formed from a plurality of arm sections, each arm section being constructed from the wire -reinforced tube-like structure.

35. The crop harvester of claim 34, further comprising control links located along the arm, each control wherein link being located between adjacent arm sections.

36. A crop harvester comprising:a longitudinal arm extending from a proximal end to a distal open tip;a plurality of cables extending along the arm for controlling bending of the arm along its longitudinal extension;a plurality of rigid conduits, each rigid conduit housing and guiding at least a portion of a respective cable such that the cable is confined within the rigid conduit along a proximal portion of its length; anda plurality of control links positioned along the arm, each control link being configured to receive cables extending from a proximal side of the arm, wherein at least some of the cables anchored to a given control link are unconfined cables that extend towards the given control link without running within a rigid conduit, and whereineach rigid conduit associated with an unconfined cable terminates at a control link that is proximal to the given control link at which the unconfined cable is anchored.

37. A crop harvester comprising:a longitudinal arm extending from a proximal end to a distal open tip, the arm comprising an internal lumen; anda plurality of tubelike structures extending along the arm and defining at least a portion of the internal lumen, whereinthe tubelike structures exhibit differing mechanical properties along the length of the arm such that a tubelike structure located in a more proximal region of the arm is configured to possess greater flexural rigidity or stiffness than a tubelike structure located in a more distal region of the arm.

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