Fruit Harvester Sensor System for Rigid Object Detection
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Solution Overview
Problem
Automated fruit harvesters face damage and wear due to forceful contact with rigid standing objects like metal or metal-reinforced posts during operation, leading to noise and vibration issues.
Innovation Solution
Incorporating sensors to detect upstanding rigid objects before contact, allowing the harvesting apparatus to adjust its movement by reducing or altering the forceful interactions, such as disengaging the drive or changing the oscillation pattern, to minimize damage to both the apparatus and the objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the shaker members are operated with high force to effectively detach fruit from vines, then the harvesting efficiency and fruit detachment rate are improved, but the wear and damage to both the shaker members and rigid posts increase significantly
Solution Approach 1:
The system performs preliminary detection of rigid posts using sensors (metal detectors, capacitive sensors, or optical sensors) before the shaker members contact them. Upon detecting a post, the control system pre-adjusts the shaker operation by reducing amplitude, frequency, or disengaging the drive mechanism, preventing high-force contact before it occurs. This preliminary action resolves the contradiction by maintaining high-force shaking for effective fruit detachment during normal operation while preventing damage when posts are detected.
Solution Approach 2:
The shaker members are designed with variable operational parameters (amplitude, frequency, power) that can be dynamically adjusted based on real-time detection. The system transitions between different operational states: normal high-force shaking for fruit detachment, reduced-force mode when posts are detected, and disengaged mode to prevent damage. This dynamic adaptability allows the system to optimize fruit detachment efficiency while minimizing wear and damage to both shaker members and rigid posts.
2Productivity
If the shaker members exert strong forces against rigid posts to maintain consistent harvesting operation, then the harvesting continuity is maintained, but excessive noise and vibration are generated that transmit to the operator platform
Solution Approach 1:
The sensor system detects rigid posts in advance before the shaker members contact them. The control system receives the detection signal and pre-adjusts the shaker operation by reducing power, amplitude, or frequency, or disengages the drive mechanism. This preliminary adjustment prevents high-force contact with posts, thereby eliminating the source of excessive noise and vibration while maintaining harvesting continuity through automated detection and response.
Solution Approach 2:
The system implements a feedback control loop where sensors continuously monitor the harvesting path for rigid posts, and the control system adjusts shaker operation based on this feedback. When a post is detected, the feedback signal triggers immediate adjustment of shaker parameters (reducing amplitude, frequency, or disengagement), which eliminates the harmful noise and vibration generated by forceful contact with posts while maintaining overall harvesting continuity.
3Productivity
If the shaker members are made more rigid to effectively transmit shaking forces to the vines, then the fruit detachment efficiency is improved, but the damage to shaker members from contact with rigid posts increases
Solution Approach 1:
The sensor system (metal detectors, capacitive sensors, or optical sensors) detects rigid posts in advance before the shaker members contact them. Upon detection, the control system pre-adjusts the shaker operation by reducing amplitude, frequency, or disengaging the drive mechanism. This preliminary action allows the shaker members to maintain their rigid construction for effective fruit detachment while preventing damage through automated reduction of contact forces when posts are detected.
Solution Approach 2:
The control system acts as an intermediary between the sensor detection and the shaker operation. When rigid posts are detected by sensors, the control system mediates by adjusting shaker parameters (reducing amplitude, frequency, or disengagement) before contact occurs. This intermediary control allows the shaker members to maintain their rigid structure for effective fruit detachment while preventing damage through automated modulation of contact forces.
Data Source
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AI summary
The harvester incorporates a system and method for detecting rigid standing objects such as reinforced posts in the harvester's path and responsively reducing forces (F) exerted by harvesting apparatus (24) of the harvester against the object. The harvesting apparatus including at least one member (40) movable in contact with the plants (22) by a drive (38) for exerting forces (F) for detaching the fruit. At least one sensor (78) is disposed and operable for sensing a rigid object (70) in advance of being contacted by the member or members. In response, the movements of the member or members will be reduced or altered at an appropriate time and duration for reducing forces (F) exerted against the object while protecting harvest yield.