RELATED APPLICATIONS

[0001] This application claims convention priority from Australian Provisional Patent Application No. 2022901547, the contents of which are incorporated herein in their entirety by reference thereto.

FIELD

[0002] This invention relates to a produce picking device and method.

BACKGROUND

[0003] Due to an increasing cost and decreasing availability of picking labor, such as the picking of fruit from fruit trees, the development of devices to assist with the picking of produce has become an increasingly contested field. In a commercial setting produce -bearing plants may be grown in a variety of patterns, typically supported and/or restricted by a trellis. This results in an access problem, since some produce may be positioned some distance away from the position of the produce picking device. When attempting to access the position of the produce, the produce picking device may damage the produce-bearing plant, which is undesirable. Additionally, leaves, branches, or other portions of the produce-bearing tree may obscure the produce to be picked, which results in difficulty viewing the produce, and in difficulty obtaining a good grip between the produce picking device and the produce to be picked.

[0004] Some of these problems were addressed in the earlier disclosure WO 2018/146618 Al by this same Applicant, the contents of which are incorporated herein in their entirety by reference thereto. However, developments to further address these issues would be desirable.

SUMMARY

[0005] It is an object of the present invention to at least substantially address one or more of the above discussed problems, or at least provide a useful alternative to the above-mentioned produce picking devices.

[0006] The present disclosure provides a produce picking device for picking a pickable object, the produce picking device including: a drivable platform; an elevated frame mounted to the drivable platform; a picking arm mounted to the elevated frame, the picking arm having a primary limb, the primary limb having a proximal hinged joint with a hinged joint axis that connects the primary limb to the elevated frame and a distal joint at an opposite end of the picking arm, the primary limb having a limb hinge dividing the primary limb into a proximal portion and a distal portion, the proximal and the distal portion forming a primary angle about a limb hinge axis of the limb hinge, wherein the limb hinge axis is substantially parallel to the hinged joint axis; an arm motor to drive the first and second primary limbs between a retracted position, wherein the primary angle is acute, and an extended position, wherein the primary angle is larger than in the retracted position; and an end effector mounted to the distal joint of the picking arm, the end effector having a distal end for engaging the pickable object and a first hinge joint having a first end effector hinge axis that is perpendicular to the limb hinge axis.

[0007] Preferably, the picking arm has a first primary limb and a second primary limb, wherein the distal joint connects the primary limbs to each other, and wherein the limb hinge axes of the primary limbs are substantially parallel

[0008] Preferably, the produce picking device further includes a tilt base to mount the picking arm to the elevated frame, the tilt base being moveable between a horizontal position, wherein the picking arm extends substantially horizontally from the elevated frame, and a tilted position, wherein the picking arm extends at a tilt angle from the elevated frame.

[0009] Preferably, the end effector has a second hinge joint having a second end effector hinge axis that is perpendicular to both the limb hinge axis and the first end effector hinge axis.

[0010] Preferably, the end effector is drivable about the first and second end effector hinge axes by a respective first and second end effector motor, wherein the produce picking device further includes a controller to control the first and second end effector motors, wherein the controller is adapted to estimate the vertical load applied to the distal joint based on a first and second motor current drawn by the first and second end effector motors when driving the end effector about the first and second end effector hinge axes.

[0011] Preferably, a distance between the first and second hinge joints of the end effector is smaller than a distance between either hinge joint and the distal end of the end effector. [0012] Preferably, the produce picking device further includes an end effector mounted to the distal joint of the picking arm, the end effector including a suction cup that is exposable to a vacuum such that the pickable object is retained against a distal opening of the suction cup, wherein the suction cup is endlessly rotatable about an end effector axis to pick the pickable object.

[0013] Preferably, the end effector includes a rotatable air coupling that is connectable to a pneumatic system, the air coupling being in fluid communication with a proximal opening of the suction cup to allow the suction cup to endlessly rotate about the end effector axis while maintaining a suction force on the object, while an air coupling pressure is lower than an ambient pressure.

[0014] Preferably, the pneumatic system includes: a compressor to provide a compressed air flow; a venturi device that is connected at one end to the compressor, and at another end to the environment, such that the compressed air flow moves at high velocity through the venturi device into the environment; a first end effector line that connects the air coupling to the venturi device, so that the compressed air flow moving at high velocity through the venturi device causes the air coupling pressure to be lower than the ambient pressure; and a first shut-off valve located in the first end effector line between the venturi device and the air coupling, such that, when the first shut-off valve is closed and the object closes the distal opening of the suction cup, the air coupling pressure is held substantially constant.

[0015] Preferably, the pneumatic system further includes: a second end effector line that connects the air coupling to the compressor; and a second shut-off valve located in the second end effector line between the compressor and the air coupling, such that, when the second shut off valve is open the compressed air flow moves through the air coupling and out the distal opening of the suction cup.

[0016] Preferably, the pneumatic system further includes a third shut-off valve located between the compressor and the venturi device, such that when the third shut-off valve is closed and the second shut-off valve is open, substantially all of the compressed air flow moves through the air coupling and out the distal opening of the suction cup. [0017] Preferably, the produce picking device further includes a controller to control the first shutoff valve, and wherein the pneumatic system further includes a pressure sensor between the first shut-off valve and the air coupling, the pressure sensor being adapted to provide a pressure signal indicative of the air coupling pressure to the controller, and wherein the controller is configured to close the first shut-off valve when the pressure signal indicates that the object has sealed the distal opening of the suction cup.

[0018] Preferably, the controller is configured to open the first shut-off valve if the pressure signal is below a predetermined threshold while the object is held by the distal opening of the suction cup.

[0019] Preferably, the pneumatic system further includes a third shut-off valve located between the compressor and the venturi device, wherein the controller is configured to shut the third shut-off valve when the second shut-off valve is closed to reduce compressed air flow requirement, and wherein the controller is configured to open the third shut-off valve prior to opening the second shut-off valve when the pressure signal is below a predetermined threshold while the object is held by the distal opening of the suction cup.

[0020] Preferably, the produce picking device further includes an end effector mounted to the distal joint of the picking arm, the end effector having a distal end, wherein the end effector includes one or more gripping fingers attached to the distal end, the gripping finger having two or more segments that are hingedly connected, the gripping finger having an actuation line connected to a tip of the gripping finger, such that tension on the actuation line causes a movement of the gripping finger, wherein the gripping finger is attached to the end effector by a finger hinge, so that when tension is placed on the actuation line and pickable object is adjacent the gripping finger resisting movement of the gripping finger about the finger hinge, the gripping finger curls about the pickable object, and when tension is placed on the actuation line and movement of the gripping finger about the finger hinge is unimpeded, the gripping finger hinges about the finger hinge to a streamlined position.

[0021] Preferably, the gripping finger includes: a first and second segment connected by a first connector portion; a third segment connected to the second segment by a second connector portion, wherein the stiffness of the second connector portion is different to the stiffness of the first connection portion, such that, when tension is applied to the actuation line, the order of movement between the first, second, and third segment is predeterminable.

[0022] Preferably, the stiffness of the first and second connector portions is determined by a material thickness.

[0023] Preferably, the gripping finger further includes a pad extending outwardly and inwardly from the gripping finger, the pad being compliant when abutting the pickable object to improve a grip between the gripping finger and the pickable object.

[0024] The present disclosure also provides a produce picking device for picking a pickable object, the produce picking device including: a drivable platform; an elevated frame mounted to the drivable platform; a plurality of picking arms mounted to the elevated frame; an arm motor to drive each picking arm between a retracted position and an extended position, wherein at least two of the plurality of picking arms are mounted to the elevated frame at different elevations to each other, wherein at least two of the plurality of picking arms are mounted to the elevated frame a distance apart along a driving direction of the drivable platform, wherein the drivable platform includes: a first set of wheels, and a second set of wheels, located distally from each other along the driving direction, and wherein the first and second set of wheels are independently steerable and/or driveable such that the driveable platform is moveable in the driving direction with an orientation of the elevated frame being at an angle to the driving direction.

[0025] The present disclosure also provides a method of using the produce picking device of this disclosure to pick a pickable object from a trellis-grown tree, the trellis-grown plant extending over a vertical length at an angle to a vertical direction, wherein the produce picking device is driven such that the elevated frame extends at an angle to a driving direction, such that a distance between the elevated frame and the trellis-grown plant is substantially constant across the vertical length of the trellis-grown plant.

BRIEF DESCRIPTION OF THE DRAWING [0026] Preferred embodiments of the present invention will now be described by way of example, with reference to the accompanying drawings, wherein:

[0027] FIG. 1 is an isometric view of a produce picking device according to a preferred embodiment of the present disclosure.

[0028] FIG. 2 is a detailed isometric view of a picking arm in the home position of the produce picking device of FIG. 1.

[0029] FIG. 3 is a detailed top plan view of the picking arm of FIG. 2 in the home position.

[0030] FIG. 4 is a detailed top plan view of the picking arm of FIG. 2 in the retracted position.

[0031] FIG. 5 is a detailed isometric view of the picking arm of FIG. 2 in the retracted position.

[0032] FIG. 6 is a detailed left side view of the picking arm of FIG. 2 in the retracted position.

[0033] FIG. 7 is a detailed isometric view of the picking arm of FIG. 2 in the extended position.

[0034] FIG. 8 is a detailed top plan view of the picking arm of FIG. 2 in the extended position.

[0035] FIG. 9 is a detailed left side view of the picking arm of FIG. 2 in the extended position at a tilt angle.

[0036] FIG. 10 is a detailed isometric view of the distal joint of the picking arm of FIG. 2 at a tilt angle.

[0037] FIG. 11 is a detailed isometric view of the end effector of the produce picking device of FIG. 1.

[0038] FIG. 12 is a detailed isometric section view of the end effector of FIG. 11.

[0039] FIG. 13 is a schematic pneumatic diagram of the picking arm of FIG. 2.

[0040] FIG. 14 is a detailed isometric view of a gripping finger used with the picking arm of FIG.

2. [0041] FIG. 15 is a detailed side view of the gripping finger of FIG. 14.

[0042] FIG. 16 is a rear elevation view of the produce picking device of FIG. 1 in use with a trellis- grown plant.

[0043] FIG. 17 is a top plan view of the use of the produce picking device of FIG. 16.

[0044] FIG. 18 is a perspective view of the produce picking device according to a second embodiment of the present disclosure.

[0045] FIG. 19 is a side view of the produce picking device of FIG. 18.

[0046] FIG. 20 is a detailed view of a produce distributor of the produce picking device of FIG. 18.

[0047] FIG. 21 is a detailed view of a picking arm of the produce picking device of FIG. 18.

[0048] FIG. 22 is a detailed view of the picking arm of FIG. 21.

[0049] FIG. 23 is a detailed view of the picking arm of FIG. 21.

DETAILED DESCRIPTION

[0050] As shown in FIG. 1, a produce picking device 100 for picking a pickable object 10 (shown in FIG. 16) according to a preferred embodiment of the invention includes a drivable platform 110. The drivable platform 110 is preferably embodied as a rigid body 112 having one or more bogies 114 mounted to it such that the bogies 114 are pivotable relative to the body 112. Each bogie 114 may include one or more wheels 116 to allow body 112 to move in the direction of the bogie 114. The bogies 114 may be independently rotatable, to allow for four-wheel steering. One or more of the wheels 116 on one or more of the bogies 114 may be driven to propel the drivable platform 110. The produce picking device 100 includes a controller 500 for driving the driven wheels 116 of the bogie 114.

[0051] The produce picking device 100 further includes an elevated frame 120 mounted to the drivable platform 110. The elevated frame 120 preferably includes an upright 122 to provide vertical elongation for the elevated frame 120. Extending from the upright 122 to the drivable platform 110 is a beam 124 for supporting equipment mounted to the elevated frame 120. Preferably, the elevated frame 120 includes a produce collection device 600 mounted to the upright 122 to collect produce picked by the produce picking device 100.

[0052] The produce picking device 100 also includes a picking arm 200 mounted to the elevated frame. Shown in more detail in FIG. 2, the picking arm 200 includes a base 202 that is mounted to the elevated frame 120 using fasteners (not shown). A tilt base 260 is hingedly attached to the base 202, and a tilt motor 264 is mounted to the base 202 and engaged with the tilt base 260 such that the tilt motor 264 causes the tilt base 260 to be moveable between a horizontal position, shown in FIG. 2, and a tilted position, shown in FIG. 9. In the horizontal position, the picking arm 200 extends substantially horizontally from the elevated frame 120, while in the tilted position, the picking arm 200 extends at an angle 262 from the elevated frame 120.

[0053] As shown in FIG. 2, the picking arm 200 includes a first arm motor 240 extending upwardly from the tilt base 260 and a second arm motor 242 extending upwardly from the tilt base 260, distanced from the first arm motor 240. Each arm motor 240, 242 is pivotally drivable about a hinged joint axis (223) that is substantially vertical. The picking arm 200 includes a first primary limb 210 extending radially from the first arm motor 240. The first primary limb 210 has a proximal hinged joint 212 that connects the first primary limb 210 to the tilt base 260, and thereby the elevated frame 120, such that the first primary limb 210 is pivotable relative to the tilt base 260 when driven by the first arm motor 240. The first primary limb 210 further includes a limb hinge 226 that divides the first primary limb 210 into a proximal portion 227 and a distal portion 228. The proximal portion 227 and the distal portion 228 forming a primary angle 230 about a limb hinge axis 232 of the limb hinge 226.

[0054] The picking arm 200 includes a second primary limb 220 extending radially from the second arm motor 242. The second primary limb 220 has a proximal hinged joint 222 that connects the second primary limb 220 to the tilt base 260, and thereby the elevated frame 120, such that the second primary limb 220 is pivotable relative to the tilt base 260 when driven by the second arm motor 242. The second primary limb 220 also includes a limb hinge 226 that divides the second primary limb 220 into a proximal portion 227 and a distal portion 228. The proximal portion 227 and the distal portion 228 forming a primary angle 230 about a limb hinge axis 232 of the limb hinge 226.

[0055] The first and second primary limbs 210, 220 further each include a distal joint 224 that connects the primary limbs 210, 220 to each other. Preferably, the distal joint 224 includes a distal end plate 225 including a distal hinged joint 221 for each primary limb 210, 220. Thus, a rotational movement of the arm motors 240, 242 is converted to a translational movement of the distal hinged joint 224. The arm motors 240, 242 are able to drive the first and second primary limbs 210, 220 between a retracted position, shown in FIG. 4, and an extended position, shown in FIG. 8. In the retracted position, the primary angle 230 is acute, and in the extended position the primary angle 230 is larger than in the retracted position. As shown in FIG. 3, the picking arm 200 further includes an anchor arm 270 which is pivotally attached, at a proximal end 272, to the tilt base 260 a distance from both arm motors 240, 242. At a distal end 274, the anchor arm 270 is attached to a pivot plate 276 having a triangular shape, with the anchor arm 270 pivotally attached to one vertex of the pivot plate 276 and the proximal portion 227 of the first primary limb 210 being pivotally attached to the second vertex of the pivot plate 276. A second anchor arm 278 extends from a pivotal connection with the third vertex of the pivot plate 276 to a pivotal connection with the distal end plate 225, to fix the orientation of the distal end plate 225 relative to the tilt base 260 regardless of the positions of the arm motors 240, 242.

[0056] The limb hinge axis 232 is substantially vertical, and, as shown in FIG. 1, the produce picking device 100 may include a plurality of picking arms 200. In the preferred embodiment, each picking arm 200 is mounted to the elevated frame 120 at different elevations on the frame 120.

[0057] Referring back to FIG. 2, the produce picking device 100 further includes an end effector 300 mounted to the distal joint 224 of the picking arm 200. As shown in FIG. 10, the end effector 300 includes a distal end 310 for engaging the pickable object 10 and a first hinge joint 320 having a first end effector hinge axis 322 that is perpendicular to the limb hinge axis 232. Preferably, the first hinge joint 320 is mounted to the distal end plate 225, to allow movement of the end effector about the first end effector hinge axis 322 relative to the distal end plate 225.

[0058] Remaining with FIG. 2, the end effector 300 also has a second hinge joint 330 with a second end effector hinge axis 332 that is perpendicular to both the limb hinge axis 232 and the first end effector hinge axis 322. Preferably, the second hinge joint 330 is mounted directly to the first hinge joint 320, to allow movement of the end effector 300 in at least two degrees of freedom relative to the distal end plate 225. Thus, a distance between the hinge joints 320, 330 is smaller than a distance between either hinge joint 320, 330 and the distal end 310 of the end effector 300.

[0059] The end effector 300 is drivable about the first and second end effector axes 322, 332 by a respective first and second end effector motor 324, 334. The controller 500 may be configured to control the first and second end effector motors 324, 334. Further, the controller 500 may be configured to estimate a vertical load 250 applied to the distal joint 224 based on a first and second motor current drawn by the first and second end effector motors 324, 334. The first and second motor current may be particularly well correlated to the vertical load 250 when driving the end effector about the first and second effector hinge axes 322, 332, as the energy required to accelerate the first and second end effector motors 324, 334 is indicative of the vertical load 250 applied to the end effector 300.

[0060] Moving now to FIG. 11, which shows that the end effector 300 includes a suction cup 340 that is exposable to a vacuum such that the pickable object 10 may be retained against a distal opening 342 of the suction cup. In this embodiment, the suction cup 340 is endlessly rotatable about an end effector axis 344, thereby twisting and weakening the connection between the pickable object 10 and its origin, until the pickable object 10 is picked. In addition, or instead of, the action of rotating the suction cup 340 about the end effector axis 344, the first and second end effector motors 324, 334, and/or the arm motors 240, 242 may be actuated to cause a force on the pickable object 10 in the direction of the end effector axis 344 and/or perpendicular to the end effector axis 344, depending on a property of the pickable object 10, to pick the pickable object 10.

[0061] As shown in FIG. 12, the end effector 300 includes a rotatable air coupling 350 that is connectable to a pneumatic system 400. The air coupling 350 is in fluid communication with a proximal opening 341 of the suction cup 340 to allow the suction cup 340 to endlessly rotate about the end effector axis 344 while maintaining a suction force on the pickable object 10, while an air coupling pressure is lower than an ambient pressure. To this end, the end effector 300 includes a suction cup gear 352 having a central opening 354 through which a pneumatic connector 356 extends to connect to the proximal opening 341 of the suction cup. The suction cup gear 352 is driven by a suction cup motor 358 with a corresponding suction cup drive gear 360 that engages the suction cup gear 352. The pneumatic connector 356 is connected, for example using a short length of pneumatic line, to a pneumatic swivel coupling 362. The pneumatic swivel coupling 362 is mounted to the end effector 300, such that a rotation of the suction cup gear 352 results in rotation of the pneumatic connector 356, and the pneumatic line leading to the pneumatic swivel coupling 362, but no rotation occurs beyond the pneumatic swivel coupling 362 towards the pneumatic system 400. The pneumatic connector 356 extends from the suction cup gear 352 through the rotatable air coupling 350 to then attach to the suction cup 340. The pneumatic connector 356 is retained, at one location, by the suction cup gear 352, and at another location by a bearing 357. The bearing 357 is installed in the end effector 300, so that forces transverse and/or in the direction of the end effector axis 344 applied to the pneumatic connector 356 are preferentially transmitted to the end effector 300, rather than to the pneumatic swivel coupling 362. The pneumatic connector 356 includes a spacer 359 to space the bearing 357 from the suction cup gear 352.

[0062] Moving to FIG. 13, the pneumatic system 400 includes a compressor 410 to provide a compressed air flow. The pneumatic system further includes a venturi device 420 that is connected at an inlet end 422 to the compressor 410, and at an outlet end 424 to the environment, such that the compressed air flow moves at high velocity through the venturi device 420 into the environment. The pneumatic system 400 further includes a first end effector line 430 that connects the air coupling 350, specifically the pneumatic swivel coupling 362, to a draft end 426 of the venturi device 420. Thereby, the compressed air flow moving at high velocity through the venturi device causes the air coupling pressure to be lower than the ambient pressure. The pneumatic system 400 further includes a first shut-off valve 432 located in the first end effector line 430 between the venturi device 420 and the air coupling 350. Thus, when the first shut-off valve 432 is closed and the object 10 closes the distal opening 342 of the suction cup 340, the air coupling pressure is held substantially constant. Preferably, this action is performed while the air coupling pressure is below atmospheric so that a vacuum pressure is held at the suction cup 340.

[0063] Remaining with FIG. 13, the pneumatic system 400 further includes a second end effector line 440 that connects the air coupling 350 to the compressor 410, and a second shut-off valve 442 located in the second end effector line 440. Thus, when the second shut-off valve is open, the compressed air flow from the compressor 410 moves through the air coupling 350 and out of the distal opening 342 of the suction cup 340. Thus, using the first end effector line 430 and the second end effector line 440, the direction of air flow through the distal opening 342, and/or the pressure difference across the distal opening 342, is reversible. When the air coupling pressure is to be held substantially constant, as discussed above, and a second shut-off valve 442 is used, the second shutoff valve 442 must also be closed. Further, the second shut-off valve 442 must be closed while the first shut-off valve 432 is open, to avoid the high pressure air flow from the compressor 410 reaching the suction cup 340.

[0064] The pneumatic system 400 further includes a pressure sensor 450 located between the first shut-off valve and the air coupling 350. The pressure sensor 450 being adapted to provide a pressure signal indicative of the air coupling pressure to the controller 500. The controller 500 being configured to close the first shut-off valve 432 when the pressure signal indicates that the object 10 has sealed the distal opening 342 of the suction cup 340. The pressure signal may be indicative of the object 10 having sealed the distal opening 342, for example, by indicating a pressure wave, or a substantial decrease, or a substantial increase, in air coupling pressure. The controller 500 may further be configured to open the first shut-off valve 432 if the pressure signal indicates that the air coupling pressure is above or below a threshold while the object 10 is held by the distal opening 342 of the suction cup 340.

[0065] Still remaining with FIG. 13, the pneumatic system 400 further includes a third shut-off valve 452 located between the compressor 410 and the venturi device 420. The controller 500 is configured to shut the third shut-off valve 452, preferably before the first shut-off valve 432 is closed, and when the second shut-off valve 442 is closed, to reduce a usage of the compressor 410 when there is no requirement for a compressed air flow through the venturi device 420. For the holding of air coupling pressure at the suction cup 340 described above, if a third shut-off valve 452 is used it is preferably closed when the second shut-off valve 442 is opened to maximise the high pressure air flow through the second shut-off valve 442. The controller 500 is further configured to open the third shut-off valve 452 prior to opening the first shut-off valve 432 when the pressure signal indicates that the air coupling pressure is not above or below the threshold while the object 10 is held by the distal opening 342 of the suction cup 340 to ensure that the venturi device 420 is operational when the first shut-off valve 432 is opened. This arrangement is particularly advantageous when using multiple picking arms 200 with a single compressor 410, as the compressed air flow generated by the compressor 410 may be directed to the venturi device 420 of the picking arm 200 requiring a reduction in air coupling pressure, which means a lower-powered compressor 410 may be used, compared to a scenario where all venturi devices 420 must be operated at all times.

[0066] Moving now to FIG. 14, which shows that the end effector 300 may further include one or more gripping fingers 370 attached to distal end 310. Each gripping finger 370 has two or more segments 372 that are hingedly connected to each other. The gripping finger 370 may be embodied as a unitary part where the segments 372 are connected by a living hinge reduced thickness portion. The gripping finger 370 includes an actuation line (not shown) connected to a tip 376 of the gripping finger 370. If more than one gripping finger 370 is used, the actuation line for each gripping finger 370 may connect to a central actuation line. Thus, tension on the actuation line causes movement of the gripping finger 370, and in particular a hinging movement of the segments 372 relative to each other. As shown in FIG. 14, the gripping finger 370 is attached to the end effector 300 by a finger hinge 378, so that when tension is placed on the actuation line the behaviour of the gripping finger 370 depends on whether the object 10 is adjacent to the gripping finger 370. If the object 10 is adjacent to the gripping finger 370 and resisting movement of the gripping finger 370, the gripping finger curls about the pickable object 10. If no object 10 is present, the movement of the gripping finger is unimpeded, and a resistance of the hinged connection between the segments 372 is higher than a resistance of the finger hinge 378, the gripping finger 370 hinges about the finger hinge 378 to a streamlined position without hinged movement of the segments 372. As shown in FIG. 14, the gripping finger 370 further includes a bias member 379, such as a spring or living hinge, to bias the gripping finger 370 to the open position shown in FIG. 14, so that the gripping finger 370 returns to the open position when tension is released from the actuation line, regardless of the orientation of the end effector 300. To this end, it is preferably that the bias member 379 has an actuation force that overcomes the force of gravity on the gripping fingers 370.

[0067] Remaining with FIG. 14, each gripping finger 370 further includes one or more pads 390 extending outwardly and inwardly from the gripping finger 370. The pad 390 is configured, by material thickness and stiffness, to be compliant when abutting the pickable object to improve a grip between the gripping finger 370 and the pickable object 10, for example to help prevent rotation of the object 10 relative to the gripping finger 370. Preferably, each segment 372 has a sectioned quadrilateral pyramid-shaped, with a respective pad 390 extending from the sectioned surface of each segment 372. Each pad 390 preferably includes a pair of rounded wings 392 extending perpendicular to a major direction of extension of the finger, or perpendicular to the direction of tension being applied by the actuation line.

[0068] Moving now to FIG. 15, each gripping finger 370 includes a first segment 380 and a second segment 382, connected by a first connector portion 386. Each gripping finger further includes a third segment 384 connected to the second segment 382 by a second connector portion 388. In this embodiment, the connector portions 386, 388 are compliant living hinges, however in other embodiments these could be any kind of hinged connection, with a resistance to hinged movement, for example by using a torsion spring and a pin. In the preferred embodiment the stiffness, or resistance to hinged movement, of the second connector portion 388 is different to the stiffness, or resistance to hinged movement, of the first connector portion 386. In this way, when tension is applied to the actuation line, the order of movement between the first, second, and third segments 380, 382, 384 is predeterminable by selecting the relative stiffnesses of the connector portions 388, 386. This allows the selection of a curling shape of the gripping finger 370 to match the object 10 being picked. In the preferred embodiment, the stiffness is selected by selecting a material thickness of the connector portions 386, 388. [0069] Use of the produce picking device 100 will now be discussed.

[0070] As shown in FIG. 16, the produce picking device 100 may be driven adjacent to a trellis grown plant 20 in order to pick the pickable object 10. The trellis-grown plant 20 extends over a vertical length 22, and typically at an angle 24 to the vertical direction. As shown in FIG. 17, in one preferred embodiment, the produce picking device 100 is driven at an angle 32 to a driving direction 30, such that the elevated frame 120 also extends at the angle 32 to the driving direction 30. In this way, a distance between the elevated frame 120 and the trellis-grown plant 20 is substantially constant across the vertical length 22 of the trellis-grown plant 20, as seen in FIG. 16. This allows a constant ease of access of the picking arms 200 mounted at various elevations on the elevated frame 120 into the plant 20.

[0071] During transit, or when otherwise not in use, the picking arm 200 is kept in the home position shown in FIG. 2. To ready the picking arm 200 for picking the pickable object 10, the controller 500 operates the arm motors 240, 242 to move the picking arm into the retracted position shown in FIG. 4. To pick the pickable object 10, the controller 500 operates the arm motors 240, 242 to move the picking arm 200 into the extended position shown in FIG. 7. The person skilled in the art will understand that FIG. 7 is one of a variety of extended positions that is possible using various positions of the arm motors 240, 242. The arm motors 240, 242 are operable by the controller 500 to move the end effector 300 to a large variety of coordinates in the plane defined by the first and second primary limbs 210, 220, including coordinates more proximate or more distal to the tilt base 260, as well as coordinates that are horizontally displaced from the position shown in FIG. 7. The orientation of the end effector 300 is maintained by the anchor arm 270 at these plurality of coordinates.

[0072] In order to approach the pickable object 10, the tilt motor 264 may further be operated such that the plane defined by the first and second primary limbs 210, 220 in which the end effector 300 is movable can be displaced vertically, to provide the end effector 300 with a three-dimensional area of operation. During the approach to the pickable object 10, if the gripping fingers 370 are used, tension is placed on the actuation line to move the gripping fingers 370 into the streamlined position, to decrease a cross-sectional profile of the end effector 300 to help avoid interference of the end effector 300 with the plant 20. On occasion, the direct approach to the object 10 may be obstructed. In this scenario, it is possible to use the first and second hinge joints 320, 330 to move the end effector 300 out of the plane defined by the first and second primary limbs 210, 220, by hinging the end effector 300 about the first and second end effector hinge axes, that are perpendicular to each other and he in the plane defined by the first and second primary limbs 210, 220.

[0073] Once the approach to the object 10 is complete, the tension on the actuation line is released, to allow the gripping fingers 370 to return to return to an open rest position shown in FIG. 14. The object 10 may be obstructed, for example by leaves. While either the suction cup 340, or the gripping fingers 370 may be used to pick the pickable object 10, that is this disclosure contemplates embodiments that use either or a combination of the gripping fingers 370 and suction cup 340, if the suction cup 340 is used, prior to making the final approach to the object 10, the pneumatic system 400 may be operated by the controller 500 to direct the compressed air flow from the compressor 410 out of distal opening 342 of the suction cup 340 to displace the obstruction from the object 10. During final approach, the pneumatic system 400 is then operated by the controller 500 to cause the air coupling pressure to be lower than ambient, such that the object 10 is urged against the distal opening 342 of the suction cup 340. The air coupling pressure experiences a detectable change at this instance, that is detected by the pressure sensor 450. In response, the controller 500 operates the pneumatic system to isolate the air coupling 350 from the venturi device 420 and maintain the lower than ambient air coupling pressure.

[0074] If gripping fingers 370 are used, tension is now placed on the actuation line causing the gripping fingers 370 to curl around pickable object 10, causing compliant contact between the pads 390 and the object 10, and increase the coupling between the end effector 300 and the pickable object 10. To pick the pickable object 10, the suction cup motor 358 is operated to rotated the suction cup and gripping fingers 370 about the end effector axis 344 to pick the object 10 from the plant 20. The object 10 is then removed from the plant 20 by movement of the picking arm 200 back to the retracted position, and subsequent operation of the pneumatic system 400 to return the air coupling pressure to ambient, for example by opening the first shut-off valve 432 such that the first end effector line connects to the outlet end 424 of the venturi device 420, without the compressed air flow being provided by the compressor 410. The object 10 then drops to a conveying device (not shown) that conveys the object 10 to the produce collection device 600.

[0075] If the pressure sensor 450 detects that the air coupling pressure drops below a threshold indicating that the object 10 may not be urged against the distal opening 342 sufficiently, the controller 500 may operate the pneumatic system to decrease the air coupling pressure. In some instances, the use of the gripping fingers 370 may replace the need for decreasing air coupling pressure after the gripping fingers 370 have engaged the object 10. [0076] Advantages of the produce picking device 100 will now be discussed.

[0077] Due to the limb hinge axis 232 being substantially vertical, the picking arm 200 is substantially rigid in response to the vertical load 250 applied to the distal joint 224. This arrangement also allows the calculation of the vertical load 250 by the controller 500 using the first and second end effector motor currents. Further, since both primary limbs 210, 220 are oriented with their hinge axes 232 being substantially vertical, parallel, and/or in the same direction, the cross-sectional profile of the picking arm 200 is reduced, helping to prevent interference between the picking arm 200 and the plant 20. The use of the tilt base 260 allows the otherwise two- dimensional picking arm 200 to be operated in a three-dimensional space to reach pickable objects 10, while maintaining the small cross sectional area of the two primary limbs 210, 220, compared to, for example, a delta robot design where the limb hinge axes are not parallel. In particular, the arrangement allows the approach to the pickable object 10 to be performed at a variety of vertical angles with the same small cross-sectional area.

[0078] The use of a plurality of picking arms 200 allows the picking of pickable objects 10 at a variety of locations simultaneously, increasing picking speed. In particular, having references to FIG. 16, the arrangement allows the picking of objects 10 from the trellis-grown plant 20 grown at the angle 24. In combination with the hinge axes 232 being parallel, the use of a plurality of picking arms 200 allows the selection of a picking arm 200 with the best approach path using the small cross sectional area to minimize the collisions of the approach path with intervening objects, such as leaves, twigs, etc. toward the pickable object 10. This is, in particular, achieved by locating the plurality of picking arms 200 at different vertical heights on the elevated frame 120, so that if a lower picking arm 200 cannot pick the object 10 from below, an upper picking arm 200 may be able to pick the object 10 from above. Further, the use of the tilt base 260 for each picking arm 200 reduces the complexity of the elevated frame 120, as only a small portion of the picking device 100 requires vertical movement at any time. Yet further, the vertical distribution of the picking arms 200 along the elevated frame 120 means that a smaller amount of vertical movement is required, as other picking arms 200 may be able to reach the object 10 more efficiently if a larger vertical movement would otherwise be required.

[0079] The end effector 300 including the first hinge joint 320 allows movement of the end effector 300 outside of the plane of movement of the primary limbs 210, 220, allowing the circumnavigation of obstacles to the pickable object 10. The addition of the second hinge joint 330, further increases the flexibility of the end effector 300 in navigating the plant 20. Locating the two hinge joints 320, 330 closely together allows for an easier collision calculation for the path of the end effector 300. The estimation of the vertical load 250 by the controller 500, allows the collection of data related to the pickable object that is commercially and technically valuable, such as the weight of the picked object 10.

[0080] The endless rotation of the suction cup 340 about the end effector axis 344 allows the endless rotation of the pickable object 10 relative to the plant 20, until the pickable object 10 is picked. The use of the rotatable air coupling 350 prevents undue wear on the components and lines of the pneumatic system 400 while the suction cup 340 rotates.

[0081] The use of the first shut-off valve 432 allows maintenance of the lower than ambient air coupling pressure, without the need for continuous compressed air flow from the compressor 410. The use of the second shut-off valve 442 allows the reversal of the air flow through the distal opening 342 of the suction cup 340 to dislodge obstructions in the path to the object 10. The use of the third shut-off valve 352 allows the disconnection between the compressor 410 and the venturi device 420, such that the compressed air flow from the compressor 410 may be directed to other venturi devices 420.

[0082] The use of the gripping fingers 370 improves the coupling between the object 10 and the end effector 300, to avoid slippage of the object 10 when the suction cup 340 is rotated, or to help avoid the object 10 being dropped from the suction cup 340 after being picked. The use of the finger hinge 378 allows the gripping fingers 370 to be moved to a streamlined position to avoid interference between the gripping fingers 370 and the plant 20 during the approach to the object 10. The use of different stiffnesses in the connector portions 386, 388 between the finger segments 380, 382, 384 allows the design of the shape the gripping finger 370 curls into, such that the shape may be congruent with the prospective pickable object 10. The variation of stiffness by selecting a material thickness is a cost-effective method of achieving this result. The use of the pads 390 further improves coupling between the object 10 and the end effector 300 by increasing the contact patch between the gripping finger 370 and the object 10.

[0083] FIG. 18 shows a second embodiment of the produce picking device 100, that is substantially similar to the first embodiment shown in FIGS. 1 to 17. Thus, only salient differences between the embodiments will be discussed in detail, with the understanding that the remaining features and functions remain as explained above in relation to FIGS. 1 to 17. The skilled person would understand that any of these features may be combined or permuted with the features shown in FIGS. 1 to 17.

[0084] As shown in FIGS. 18 and 19, the produce collection device 600 may include a first conveyor 602 connected to the elevated frame 120 and ascending along the elevated frame 120 such that each picking arm 200 may deposit a pickable object 10, once picked, onto the first conveyor 602. The first conveyor 602 ascends the elevated frame 120, where the fruit is deposited onto a lateral chute 604 that extends from the first conveyor 602 towards a centerline of the drivable platform 110, to deposit the pickable object 10 on a produce distributor 606. Preferably, the lateral chute 604 includes an arrestor chute 608 extending in a direction opposite the lateral chute 604, with both chutes 604, 608 extending downwardly, such that the pickable object 10 is moved along the chutes 604, 608 by the force of gravity, and the arrestor chute 608 absorbs kinetic energy gained by the object travelling down the lateral chute 604, in order to decrease the energy with which the object 10 is deposited on the produce distributor 606.

[0085] As shown in more detail in FIG. 20, the produce distributor 606 includes a central axis 610 about which are arranged a plurality of radial arms 612. A plurality of flaps 614 extends between the radial arms 612. Preferably, the radial arms 612 are coated in an impact absorbing material, such as a polymeric foam, to avoid damage to the pickable object 10 if it is deposited on the arm 612, rather than the flap 614. Each flap 614 is attached to a leading radial arm 612a and a trailing radial arm 612b. The connection between the leading radial arm 612a and the flap 614 is substantially along an entire length of their interface, while the connection between the trailing radial arm 612b and the flap 614 is only made at one or more locations, so that a gap 616 exists between the trailing radial arm 612b and the flap 614. Preferably, the location of the connection between the trailing radial arm 612b and the flap 614 is at a distal end of the radial arm 612b. The produce distributor 606 is rotatable about the central axis 610 by a motor 618. Thus, when the pickable object 10 is deposited on the produce distributor 606, the pickable object 10 gradually moves along the flap 614, aided by rotation of the distributor 606, and is deposited in a suitable location when moving through the gap 616. The gap 616 only opens when there is a space below the flap 614 for the object 10 to be deposited. In this way, an even fill of the container (not shown) in which objects 10 are deposited is promoted.

[0086] Moving now to FIGS. 21 to 23, the picking arm 200 may include a camera 280 mounted to the base 202. The picking arm 200 may also include a second camera 282 mounted to the base 202. The picking arm 200 may also include a third camera 284 mounted to the distal portion 218. As shown in FIG. 22, the tilt base 260 may include limit stops 286 mounted at respective angular distances 288 along an axis 290 used by the tilt motor 264 to rotate the tilt base 260 to the angle 262, to limit the motion of the tilt base 260. Preferably, the limit stops 286 include a contact switch (not shown) that stop motion of the tilt motor 264 when either contact switch is actuated.

[0087] As shown in FIG. 23, the first arm motor 240 and second arm motor 242 include limit stops 292 mounted at respective angular distances 294 about the respective proximal hinged joint 222 to limit the motion of the arm motors 240, 242. Preferably, the limit stops 292 include a contact switch (not shown) that stop motion of the respective motor 240, 242 when either contact switch is actuated.

[0088] It should, of course, be noted that the independently operating sets of features described herein are applicable without necessarily also embodying the remaining features described in the aforementioned two embodiments, their collocation in these embodiments being merely for the sake of brevity. For example, an non-exhaustively, the pneumatic system 400, the gripping finger 370, the suction cup 340, could be applied in other produce picking devices 100, without requiring any of the other features disclosed herein. Naturally, such application of this disclosure is also encompassed in the teaching of this specification.

[0089] Integers:

10 pickable object 220 second primary limb

20 trellis-grown plant 221 distal hinged joint

22 vertical length 222 proximal hinged j oint

24 angle 224 distal joint

26 vertical direction 225 distal end plate

30 driving direction 226 limb hinge

32 angle 227 proximal portion

34 distance frame-trellis 228 distal portion

100 produce picking device 230 primary angle

110 drivable platform 232 limb hinge axis

112 rigid body 240 first arm motor

114 bogie 242 second arm motor

116 wheel 250 vertical load

120 elevated frame 260 tilt base

200 picking arm 262 angle

202 base 264 tilt motor

210 first primary limb 270 anchor arm

212 proximal hinged j oint 272 first end

216 limb hinge 274 second end

217 proximal portion 276 pivot plate

218 distal portion 278 second anchor arm end effector 376 tip of gripping finger distal end 378 finger hinge first hinge joint 379 bias member first end effector hinge axis 380 first segment first end effector motor 382 second segment second hinge joint 384 third segment second end effector hinge axis 386 first connector portion second end effector motor 388 second connector portion suction cup 390 pad proximal opening 400 pneumatic system distal opening 410 compressor end effector axis 420 venturi device rotatable air coupling 422 inlet end suction cup gear 424 outlet end central opening 426 draft end pneumatic connector 430 first end effector line bearing 432 first shut-off valve suction cup motor 440 second end effector line spacer 442 second shut-off valve suction cup drive gear 450 pressure sensor pneumatic swivel coupling 452 third shut-off valve gripping finger 500 controller segment 600 produce collection device actuation line