Modular Vineyard Robotic Platform for Narrow Row Grape Collection
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Solution Overview
Problem
Existing agricultural machinery, such as straddling systems and fruit-picking robots, are unsuitable for narrow vine rows and uneven terrains, making grape bunch collection laborious and time-consuming, and unable to meet Champagne specifications for whole bunch collection.
Innovation Solution
A modular robotic platform with four wheels, a hollow chassis, and protruding masts, allowing for simultaneous access to both sides of narrow vine rows, equipped with removable platforms for containers or robotic arms, enabling autonomous grape bunch collection and storage, adaptable to various functional loads and terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If straddling systems with storage containers are used, then grape collection can be automated, but the systems become bulky and unsuitable for narrow vine rows
Solution Approach 1:
The system is divided into separate functional modules: a mobile robotic platform for navigation and a removable platform module for grape collection. This segmentation allows each component to be optimized independently, with the robotic platform being compact for narrow rows and the collection platform being attachable only when needed, thus reducing overall bulkiness while maintaining automation capability.
Solution Approach 2:
The collection platform is designed to be removable and reconfigurable, allowing the system to dynamically adapt its configuration. The platform can be attached to the robotic vehicle when grape collection is required and removed when not needed, enabling the system to transition between different operational states and avoid the permanent bulkiness of integrated systems.
2Extent of automation
If traditional fruit-picking robots with carts are used, then fruit collection can be automated, but they are unsuitable for uneven terrains with slopes
Solution Approach 1:
The robotic platform incorporates autonomous navigation capabilities with sensors and processors that enable it to independently perceive its environment, detect slopes and obstacles, and adjust its movement accordingly. This self-service capability allows the system to automatically adapt to uneven terrains without requiring external intervention or specialized hardware for each terrain type.
Solution Approach 2:
The system uses sensors to detect terrain parameters such as slope angle and surface conditions, and dynamically adjusts operational parameters including wheel speed, steering angle, and platform orientation. This real-time parameter adjustment enables the robotic platform to maintain stability and functionality across varying terrain conditions while performing automated grape collection.
3Manufacturing precision
If manual grape collection is performed, then whole bunch collection is possible, but it is time-consuming and laborious
Solution Approach 1:
The system replaces manual mechanical operations with automated robotic mechanisms. A robotic arm equipped with a gripper automatically performs the tasks of reaching vines, grasping grape bunches, and transferring them to collection containers, eliminating the need for manual labor while maintaining the ability to collect whole bunches with the same care and precision as manual workers.
Solution Approach 2:
The robotic arm acts as an intermediary between the vine and the collection container. It performs the intermediate task of transferring grape bunches from the vine to the container, bridging the gap between harvest and storage. This intermediary mechanism enables continuous operation without manual intervention while preserving the integrity of whole bunches through controlled gripping and transfer motions.
4Extent of automation
If robotic arms are used for grape picking, then automation is achieved, but access to vines on both sides of narrow rows is limited
Solution Approach 1:
The system extends its reach in the transverse dimension by positioning collection platforms on both sides of the robotic vehicle. This dimensional extension allows the automated system to simultaneously access vines on both sides of narrow rows, overcoming the limitation of single-sided access while maintaining automation through coordinated operation of multiple robotic arms or platforms.
Data Source
AI summary
The invention aims at a mobile robotic platform comprising four wheels, a hollow chassis defining a chamber, at least one platform, placed above the chassis, with said platform defining at least two receiving areas, at least two masts connected to the chassis, the first mast protruding from the side of the chassis and the second mast protruding from the opposite side; the first mast extending into one of said receiving areas of said platform and the second mast extending into the other of said receiving areas of said platform; said platform being configured to receive on these receiving areas functional loads secured to said platform.