Fruit Harvesting Angle Control for Damage-Free Separation
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Solution Overview
Problem
Existing harvesting technologies cause damage to fruits, such as tomatoes, by separating them at the calyx rather than the intended separation layer, leading to reduced commercial value and instability in harvesting due to variations in fruit size and formation.
Innovation Solution
A harvesting method using a harvesting apparatus with a pull-in mechanism and harvesting mechanism that includes steps of detecting fruit size and inclination, adjusting the harvesting mechanism's angle and positional relationship, pulling the fruit from the branch at the separation layer, and cutting it from the plant, while minimizing contact with the fruit to prevent damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If vacuum suction is used to separate fruit from branch, then harvesting can be automated, but damage such as suction marks is caused on the fruit surface
Solution Approach 1:
The patent extracts the harmful vacuum suction action from the harvesting process and replaces it with a mechanical cutting approach. The harvesting mechanism uses a cutting element that physically severs the connection between fruit and branch without applying suction to the fruit surface, thereby eliminating suction marks while maintaining automation.
Solution Approach 2:
The patent replaces the pneumatic vacuum suction system with a mechanical cutting system. Instead of using vacuum pressure to separate fruit, the invention employs a controlled mechanical cutting element that slices or severs the fruit-branch connection, eliminating the harmful suction effect while achieving the same harvesting function.
2Device complexity
If fixed harvesting mechanism is used, then device complexity is reduced, but harvesting stability deteriorates due to variations in fruit size and formation
Solution Approach 1:
The patent introduces dynamic adjustability to the harvesting mechanism, allowing the cutting element's position and orientation to be modified based on detected fruit characteristics. This enables the system to adapt to variations in fruit size, shape, and growth orientation while maintaining a relatively simple overall device structure through controlled flexibility rather than complex rigid design.
Solution Approach 2:
The patent incorporates detection means that sense fruit characteristics such as size and orientation, and feeds this information back to control the harvesting mechanism's positioning. This feedback loop enables the system to automatically adjust to different fruit variations, ensuring stable and reliable harvesting across diverse fruit types without requiring overly complex predetermined configurations.
Data Source
AI summary
A harvesting method using a harvesting apparatus is provided. The harvesting apparatus includes a harvesting mechanism for harvesting a harvesting target that grows on a plant. The method includes: determining a vertical inclination, which is an inclination with respect to a vertical direction, of the harvesting target from an acquired image of the harvesting target; adjusting an angle of the harvesting mechanism with respect to the vertical inclination; bringing the harvesting mechanism closer to the harvesting target; and separating the harvesting target from the plant by the harvesting mechanism.