[001] The present invention is related to a system, to an apparatus and the respective method to sever in between coconut layers without the direct intervention of a human operator in the said equipment.

[002] More specifically, the present invention is related to the agribusiness, farming, harvesting and fruit processing industry fields, and more in particular to paring, or to the coconut Testa removal, while maximizing the yield of both, the Endosperm and the said removed Testa.

State of the Art

[003] As widely known in the art, the removal of the outer layer of a fruit, particularly the coconut is a laborious process generally with high losses of Endosperm, and as result lowers the yield of the operation. Besides that, as a manual operation, the worker has to deal with the coconut as well as the cutting tool (normally some kind of knife) during the process, what not uncommonly can bring some sort of wound to the worker, as the knife may accidentally move away from the fruit, thus hurting him.

[004] Particularly as shown by the pictures la and lb, a partially parted coconut can be seen so that the many layers that together make up the coconut are displayed. Regarding the coconut morphology, the Pericarp (20) is made up of the first three outer layers: Exocarp (21), Mesocarp (22) and Endocarp (23) also known as Shell. The Endosperm (24) also known as Kernel is made up of the two inner layers: Solid Endosperm (26) and Liquid Endosperm (25). The said Liquid Endosperm is also popularly known as the Coconut Water, the Solid Endosperm is also known as Coconut Meat and the Mesocarp as Husk and also as Fibrous Husk. Furthermore, the seed (27), that when sprout will grow up as the future plant, is contained inside the Solid Endosperm (26) layer.

[005] The Testa (29), Brown Testa or Seed Coat divides the Pericarp (20) from the Endosperm (24). In practical terms, the Testa (29) presents itself almost as thin as a film, brown in color, and very soft, coating the Solid Endosperm (26), it normally can be removed trough some scraping processes or even trough cleansing by the means of water and conventional soap. [006] The traditional coconut processing starts with some preliminary tasks, most times that includes the removal of the Liquid Endosperm (25) and the mechanical removal of the layers of the Pericarp (20). As the processing sequence goes on, the resulting structure called Copra, that is the Solid Endosperm (26) coated by the Testa (29) will be then divided into two hemispherical halves, which by its turn will then be processed individually, one half at time, or even in smaller slices so that the Testa (29) can be manually removed.

[007] Some devices might even help accomplishing these tasks in an easier way, but normally do not represent further improvement, as then still have to made through manual labor. The Pericarp (20) might be removed by chopping the said fruit in smaller pieces and then using knifes and other sharp and dangerous tools to remove it out, or trough abrasive process in some fully manual, risky operations. Must be pointed that the Pericarp is mechanically resistant and very tough to be removed without the use of tools. By its turn the Testa, as afore mentioned, is a thin and mechanically delicate layer that defines the transition between de Pericarp and the Endosperm, with a subtle change in density, what brings difficulties to automated processes regarding its removal. The coconut commercial growth however, values not only the Endosperm, but the removed Pericarp as well as the Testa, so that a precise separation process with minimal losses is required. It's important to point that the industry has special and specific uses to the Mesocarp as well as the Endocarp after the removal, Testa included.

[008] The state of the art teaches some devices intended to promote the removal of the hardest part of the coconut (Pericarp) from de nuclear structure of the coconut, that is, the coconut dehusking. In a special manner, the document US1475459 refers to a device that fixes half of a coconut around its axel and while it spins, lateral wear mechanisms promote the Pericarp removal. By other hand, the documents US4708056 and CN 104013076 describe devices based upon rollers with sharp and parallel spikes to dehusk the coconut. Finally, the documents CN203618730 and CN203814540 show dehusking apparatus that first firmly hold the coconut for later dehusk. [009] Furthermore, the document GB 1393265 teaches some procedures for removing the Testa that wraps the Copra. Particularly Copras are deposited inside a barrel to proceed to a mechanical removal of the Testa due the physical contact between the inner side of the barrel and the outer Copra surface.

[0010] Importantly, the document BRPI0004077 teaches an apparatus intended to remove the brown Testa, or just Testa with use of scrapping brushes associated with a suction system.

[0011] In all solutions provided by the art, the Testa removal just is not good enough, no matter whether we consider it under the quality of the removed Testa nor the Solid Endosperm; else it is not taken into practical account the operations control. These subjects must be solved in simple, cheap and practical manner.

Present Invention Objectives

[0012] The present invention first objective is to provide an automated system capable to identify and remove the Testa from a previously processed Demicopra where the processes to identify its boundaries as well as its removal don't require any direct human intervention.

[0013] As the present invention second objective is to provide the capability to identify the Demicopra or hemisphere outline thus allowing to define precisely the Testa position regarding the Demicopra, so that cutting or abrasion tools can be used for the Testa precise and controlled removal.

[0014] As complementary objectives of the present invention are an apparatus capable of identify and remove, the controlled Testa removal and a method to control it in an automated way.

Summary

[0015] These and other objectives can be obtained from an Autonomous Nut Paring System, specifically one intended for the coconut Copra removal, or more specifically a Demicopra proceeding takes a coconut after it had had the Pericarp as well as the Liquid Endosperm removed, then divided radially into two hemispherical halves alike. Comprises: A Demicopra upholder fashioned out of a hollow cone capable of bearing the Demicopra in a fix and stable manner, being said hollow conical upholder and said Demicopra both able to spin around it's common axis; a photometric system intended to map the outline of the Demicopra, comprising an optical camera and backlight, being said optical camera placed in line and radially opposed regarding said backlight, so that the system's camera is able to intercept the light originating from the backlight and passing through the coconut in such a way that is able to map the Demicopra external shape; the paring tool has a moving unit comprising a tool box able to hold and move a paring tool, driven by a tool's motor, through a Demicopra tangent plan; a processor inside a protective case equipped with a control panel, memory, controller and I/O, and capable turn around the Demicopra so that the Demicopra outline can be mapped by defining points using a coordinate system then memorize it in said memory; also being able to control the paring process through the Demicopra coated with the Testa in order to sequentially remove by the use of the paring tool, strips of the Demicopra containing the Testa.

[0016] Particularly said tool box moving unit comprises orthogonal arms, each comprising a bridge able to slid along the other arm extension in accordance with its appropriate motor, and in such manner that the horizontal bridge upholds the horizontal arm and the vertical bridge bears the tool box.

[0017] Furthermore, the moving the tool box comprises positioning the paring tool to be in physical contact with the Demicopra spinning surface, so that it can remove a strip of copra material composed of the testa as well as some controlled solid endosperm residue by removing a controlled outer thickness of the Demicopra.

[0018] The invention additionally comprises an autonomous nut paring apparatus, comprising a framework intended to hold together the following components: a protective case comprising: processor, memory, controller device and I/O, destined to send and receive data, power supply, among others, from the inside of the said protective case to the outside; a Demicopra bearing comprising a hollow, or partially hollow, cone with a top opening connecting the upper external surroundings to a vacuum pump sealed placed under the conical upholder, being said assembly capable of spinning by the means of a spin motor; a photometric system defines the Demicopra outline by the means of an optical camera and backlight, said optical camera stands in-line and in radial opposition regarding said backlight so that is able to optically see the Demicopra; and a paring tool moving unit having a tool box capable of bearing and move the paring tool, having the motion controlled by the means of the tool motor, by a plan tangent to the Demicopra; Else, the demicopra upholder stands in a "L" shaped arm so that it can keep the relative positioning of said demicopra upholder with the paring tool moving unit.

[0019] In a more specific way, said paring tool includes a motor and a knob mechanically connected so that the rotation from the motor is transferred to the paring tool. By its turn, sand one vertical) orthogonally placed and connected to a horizontal bridge stiffly connected to the upper vertical arm edge, providing sliding motion. Furthermore, said horizontal bridge is connected to an axle spindle spinning by the means of a horizontal motor, being said vertical bridge coupled to the vertical arm axle spindle, where the rotation is generated by the means of a vertical motor.

[0020] Finally, the present invention objectives include an autonomous nut paring method comprising both steps: activating an optical camera and its corresponding backlight having said nut in between, spinning, so that the position of its delimiting points, pertaining to a coordinate system, can be store in memory, all controlled by the means of a motion control of a tool box so that the paring tool removes consecutive and adjacent strips from the external coating of the nut.

[0021] More specifically, the step of activating the optical camera comprises taking a series of snapshots, each one corresponding to a specific nut angular position, by the means of contrasting light against the nut outline, defining spatial coordinates, and store said coordinates in memory; on the other hand, controlling the motion means requires recalling the memory the stored coordinates and set the tool box position so that the paring tool removes from the nuts outer bound a predefined thickness.

Brief Description of the Drawings

[0022] The object of the present invention may be better understood in the light of the detailed description as follows, relative to preferential ways of embodiment of the invention, which is made jointly with the attached drawings, wherein:

Figure 1 is a schematic view of a coconut partially severed showing all that layers thereof;

Figure 2 is an illustrated view of a partially severed coconut, where the Testa is enhanced;

Figure 3 is a perspective schematic view of the of the apparatus assets intended for the Testa removal according to the present invention;

Figure 4 is a schematic view of the bearing of a half hemispheric Copra, by the means of a conical upholder;

Figure 5 shows the mapped points of a Copra external arch in accordance with an embodiment of the present invention;

Figure 6 shows a perspective view of the bearing mill and motion framework related to the Demicopra and the Testa paring tool;

Figure 7 is a schematic top view illustrating the relative positioning between the camera and the backlight system; and

Figure 8 is a chart showing the apparatus logical process.

Detailed Description of the Preferred Embodiments

[0023] As it may concern to the present invention the terminology Demicopra (30) refers to each one of two hemispherical halves of the central structure of the coconut (made up by the Solid Endosperm coated by the Testa), which are obtained from a radial section in a coconut after the Pericarp removal by any one of the means above described.

[0024] Figure 3 shows an apparatus (1) made to identify and remove the Testa from an already processed Demicopra (30). Particularly, said apparatus comprises a power box (18) intended to keep all power supply circuitry of said apparatus, as non-limiting example? Power transformers, circuit-breakers, power surge protecting devices and others. The apparatus (1) still has a protective case (13) where devices, logical circuits and control panel are installed, which will be described in further details as follows, as well as the control panel (17), presented in the protective case (13) external surface where commands may be input through the use of a keyboard (17a), as well as the display of updated status information by the means of a display (17b). The amount of power needed by the electronic devices inside the protective case (13) is intending to show simpler diagrams. Furthermore, not only the power supply and the protective case (13) as well as all other devices that constitute the apparatus (1) is common from ground and knowledge to any technician in the machines field.

[0025] The apparatus (1) comprises yet a mill (31) which, by itself comprises a paring or cutting tool moving part (2), as well as the Demicopra (30) upholder which must spin as well as the photometric system intended to realize the Demicopra structure (30). Clearly the mill (31) by itself must have a respective support framework (not shown) which can be made as stand-alone equipment as well as integrated into a production line, that can, for example, begins with the Pericarp (20) removal and finishes with the coconut grinding. No matter the case, said framework can not only bear the mill (31) but also the protective case (13) with the control panel (17) as well as the power box (18), being these configurations just a matter of project definition, and actually will not relate to the features and the operation of the said apparatus (1), as the present invention states.

[0026] As illustrated by figure 7, the paring or cutting tool moving part (2) comprises a horizontal arm (32), a vertical arm (33) both connected to the horizontal bridge (34). Said bridge (34) and connection between both arms are so that all the relative movements between each other are allowed. Particularly, said horizontal bridge (34) is tightly connected to the upper end of the vertical arm (33), allowing sliding motion along the horizontal arm (32). To act so, one end of the horizontal arm (32) receives a horizontal engine (3) which, by the means of the horizontal bridge (34) is free to realize its movement through all the length of the horizontal arm (32). As it is well known, the said movement of the bridge (34) by means of the engine (3) can be accomplished through the use of a spindle (320 whereas the horizontal bridge (34) is interlocked, or as an alternative embodiment by the means of a toothed belt drive (not shown). So, the rotation of the horizontal engine (3) will cause the spindle (340 which, by it turn, causes the shift of the horizontal bridge (34) over the horizontal arm (32).

[0027] In the same way, the vertical arm (33) connects to a vertical motor (4) placed in its upper edge, a vertical bridge (35), capable of moving through the extension of said vertical arm (33), as well as to its own spindle (330, which is set in spin by the means of the vertical bridge (35).

[0028] Due the need of controlling motors (3, 4) becomes clear to all experts in the field that the terminology "motor" is used as it sounds, which must be coupled to a gear box or then, it will be used another kind of motors, ones that allows fine spin control like step motors and suchlike.

[0029] At the least, said vertical bridge (35) bears a pitch motor (7), transversally arranged regarding the vertical bridge (35), and coupled to the projecting edge of its axle (not shown) of a tool box (36) capable of bearing the paring device (2). More specifically, said paring device (2) receives a knob (37) bore to the tool box (36) with an arbor or equivalent, capable of hosting the paring tool (38). The spin of said paring tool (38) is produced by the tool motor (5), assembled purposely with the intention of reducing the weight bore by the vertical bridge (35). A small structure is set in the apparatus (1), conveying the spin to the knob (37) and so forth to the paring tool (38) by the means of a flexible shaft (6). Optionally, as a matter of the mechanical toughness of the paring device (2) moving tool, as well as the specific weight of said motor (5), the motor (5) and the knob (37) may be a single piece, bore by the tool box (36).

[0030] As the results of the proposed framework the knob (37) and more specifically the paring tool (38) may move along the directions taken by said arms (32, 33) in both senses, for each possibility by the means of the use of the motors (4, 3). Besides, said knob (37) may spin in a parallel plan to the one determined by the arms (32, 33) by the means of the pitch engine (7).

[0031] As previously mentioned, the apparatus (1) yet comprises a holding unit for the Demicopra (43), which can be better understood by the means of figures 3 and 4. More specifically said unit comprises a hollow conical upholder (8), preferable crafted using a ductile material, hermetically disposed atop of the vacuum pump (9) frame (see figure 3). Such frame is bore so that free spin is allowed by the means of an "L" arm bore in said apparatus (1) framework (not shown). Besides that, said L" arm (39) bears the horizontal arm (32), set in said "L" arm (39) from its edges, in order to bind in its position, said Demicopra (30) upholder as well as the paring device (2) moving tool.

[0032] Furthermore, the assembly composed by the hollow conical upholder (8) and the vacuum pump (9) is coupled to a spin motor (10) which has its casing fixed in the "L" arm (39), said assembly (8, 9) being bore by the drive axle. So that, the engagement of the spin motor (10) will cause a spin in the hollow conical upholder (8) and so the Demicopra (30) unto this. More specifically, said hollow conical upholder (8), hollow as it says, or at least partially hollow, has a top opening (40) allowing the communication of the fluids with the vacuum pump (9). So, when engaged, the vacuum pump (9) lowers the pressure inside the Demicopra (30) by the means of the top opening (40), partially enwraps the hollow conical upholder (8) as it is positioned mouth down over the hollow conical upholder (8) (see figure 4). So, the lower pressure kept inside the Demicopra (30) temporally attaches it (that is, while the vacuum pump (9) keeps operating) to the hollow conical upholder (8). As a consequence, any spin caused by the means of the spin motor (10) will be transferred to the Demicopra (30) as well.

[0033] Finally, said apparatus (1) yet comprises a photometric system, meant to define the outline and size of the Demicopra (30). More specifically, said photometric system comprises (see figures 8 and 7) an optical camera (11) and backlight (15), said optical camera (11) being inline and radially opposed regarding said backlight (15) so that the Demicopra (30) will be intercepted. In order to accomplish such, a frame (not shown) destined to bear the optical camera (11) as well as the backlight (15) is provided, without any particular feature such a frame is common place for those skilled in the art.

[0034] The surprising discover that such disposition of the Demicopra (30) related to the optical camera (11) and backlight (15) substantially enhances the view of the Demicopra (30) outline, thus allowing a greater improvement in the automated task of the Testa (29) removal from up the Solid Endosperm (26).

[0035] Furthermore, the apparatus (1) still foresees a fender (14) bore by the support frame, intended to collect the removed Testa, in such a way that it is rerouted to some eventual workstation so that benefits can be made with its use. Particularly, in one of the embodiments, said fender (14) moves between a high position to a paring leftovers collect position as well as a retracted position, or a lowered position, so that it won't interfere in the Demicopra (30) loading and unloading procedures. As such, a load / unload motor (16) (see figure 3), is responsible lifting and lowering said fender (14), which runs in a fender (14) rail or a line shaft.

[0036] As above stated, the protecting box (13) confines all the apparatus (1) logical command structure and circuitry. More specifically, said protective case (13) includes a processor (50), memory (51) besides the said control devices (12) and a control panel (17). Besides that, the I/O (52) is responsible for gathering the functional data and sending of the operational commands to drive all the apparatus (1) motors as well as for controlling the said photometric system, among many others.

[0037] More specifically, said processor (50) is responsible for the execution of the stored routines stored in said memory (51), which are yet to be detailed, storing the data then received. The control panel (17) comprises a keyboard (17a) which allows the input on commands and instructions, as well as a display (17b) so that the working conditions and status can be seen, acts as the user's interface, so that monitoring the operation is possible, as well as information regarding mishaps, system fails, and etc.

[0038] By its turn, said controller device (12) acts as a specific interface to the photometric system, that is, send the commands that are needed to control the optical camera (11), receives data concerning the images collected by the said optical camera (11) as well as the backlight (15) during the images capture.

[0039] Besides that, the I/O (52) is linked to the power box (18) so that it can act in the many motors and actuators which are integrant part of the apparatus (1), in the basis and when it is, and as it is needed, that is, under supervision of the processor (50).

[0040] The operation of the apparatus (1) starts when its powered on and the worker commands the equipment start procedure, for that, by the means of a local command carried out by the control panel (17) as well as by the means of an ΓΤ integrated system communicating by electronic means, through cable or wireless, synchronous or asynchronous, as for example, but not limited to, RS- 232, RS-422, RS-485, USB, Bluetooth®, ZigBee®, protocols family IEEE802.1, IEEE 802.3, and etc.

[0041] As the initial procedure the system will make sure that the casing is closed, granting no access to human operator whatsoever, so that safety is kept by removing the human body parts, as well as any strange part, away of the operation. At any given moment, the mere act of opening the apparatus will immediately halt all operations, ensuring the protection of the worker, operation and equipment. In one of the preferred embodiments the system will keep stored in memory the status before its opening, so that, when it is closed the operation will resume exactly from where it stopped, without further delays.

[0042] In the sequence a Demicopra (30) is fed, that is, inserted on the Demicopra upholder unity, that is, atop of the hollow conical upholder (8). Besides that, the vacuum pump (9) is engaged so that the Demicopra (30) will hold on the hollow conical upholder (8). When such condition is detected, or informed, to the system, the processor (50) engages the controller device (12) so that the outline of the Demicopra (30) can be mapped. In a special manner, such procedure happens by the activation of the backlight (15), as well as the activation of the optical camera (11), and yet, at the same time, the motor (10) starts spinning, in a way that a full turn, that is 2n radians, of the Demicopra, in a way that all the Demicopra (30) surface is actually mapped. Particularly, in a first preferred embodiment, as shown by the means of figure 5, simple pair of values, represented in the form of polar coordinates, (θ _η , r _n ) where θ _η is the angle between the measurement base and the arc at issue and r _n is the distance from the origin. Additionally, a third coordinate is added up, p _n which represents the rotation angle from the said Demicopra (30) regarding the system's origin, that is, the coordinate which gives the Demicopra (30) rotation regarding its original position. In such way, the memory (51) stores an aggregate of points, in space, which indicates the outline of the Demicopra (30). To be perceived that the cut or paring (next step) will be made regarding these very points in their extent defined by the extension of the paring tool (38), which can assume many dimensions.

[0043] In the sequence, and finished the Demicopra (30) outline mapping, the processor (50) recalls the data related to the points that define the Demicopra (30) outline, and uses it to perform the calculation of the paring device (2) trajectory, so that it will travel all the Demicopra (30) surface while the spin motor proceeds to a controlled rotation. More specifically, as a function of the previous definition of the Demicopra (30) surface outline, the processor (50) places the tool box (36) in such a manner that the paring tool (38) takes the first paring position for the Testa (29). In the next step, the tool motor (5) is engaged, causing the paring tool (38) to spin as well, while the rotation motor (10) grants the hollow conical upholder (8) proceed to as many rotations as it is needed for complete that segment paring. Following this sequence, the paring tool (38) is again positioned so that it can move to the next paring strip (as example, adjacent and above the previous one), so that it can accomplish the removal of a new strip of the Testa.

[0044] As stands clear to anyone versed in the art, positioning the tool box (36) at each removal of a Testa (29) strip from the Demicopra (30) presumes the system works with two previous known values: The Testa (29) thickness and length of the paring tool (38). Regarding to the length of the paring tool (38) such value is given to the processor (50) by the means of the keyboard (17a) or through some integrated system before the Demicopra (30) processing starts. By its turn, the thickness of the Testa (29) is a parameter previously informed to the system, as such thickness will not suffer much variations from coconut to coconut, always being in the few millimeters order.

[0045] Regarding the said paring tool (38), clearly as longer as its length is, longer will be the strips of the removed material. As consequence, the full operation will take less time, but will yield greater losses regarding the Solid Endosperm. By its turn, when a shorter paring tool (38) is used, lesser will be the losses of the material (Solid Endosperm 26), but that fact will bring the need of a larger number of strips will need to be removed, increasing a Demicopra (30) process time. [0046] Finally, must be pointed out that, the positioning of the tool box (36) is made through processor's (50) command combined with movements of the motors (3, 4 and 7), in order to keep the paring tool (38) in the right positioning throughout the hollow conical upholder (8) turn, as well as the Demicopra (30). As an alternative, and as a variation of the previous process of the invention, besides the system keeping the hollow conical upholder (8) in a fixed position regarding the moving unit of the paring device (2), said paring device (2) can be set in a fixed position and the whole spatial movement can be done can be made through a specific bear of the hollow conical upholder (8) without any chance in the final result.

[0047] Finally, the present invention yet comprises a Testa (29) paring method from the Solid Endosperm (26). In that manner, such a method comprises defining the Demicopra (30) outline from the spatial mapping and, in the following, guide a paring device (2) in a way that it will remove the adjacent strips of the outlined shape previously defined.

[0048] Specially, the present invention further comprises an autonomous nut paring method nut, comprising the steps of: activating an optical camera (11) and a corresponding backlight (15), said nut interposed between said optical camera ( 11) and said backlight (15), said nut spinning, so that the position of its delimiting points, pertaining to a coordinate system, can be store in memory (51), control the motion means of a tool (36) box so that the paring tool (38) removes consecutive and adjacent strips from the external coating of the nut.

[0049] More specifically, said step of activating the optical camera (11) and said backlight (15) comprises taking a series of snapshots, each one corresponding to a nut angular position, by the means of light contrast of the nut outline define spatial coordinates, being said coordinates stored in memory (51) controlled by the means of the processor (50), the nut outline by the spatial coordinates system, said coordinates stored in the memory (51).

[0050] Finally, the step of issue the commands for the positioning of the tool box (36) is made by the processor's (50) retrieving the stored coordinates from the memory (51) and issuing commands combined with movements of the motors (3, 4 and 7), to set the position of tool box (36) in order to keep the paring tool (38) removes a predetermined strip from the outer surface of the nut.

[0051] As result of the above, the present invention presents itself as highly efficient and flexible, yet allowing that a commitment regarding the operation speed and amount of the lost Solid Endosperm (25) (losses). Furthermore, the system is fully automatic and autonomous, so that it is fit to be added to a production line, that could proceed its adoption or even being used stand-alone. Adding to that the fact that the human interaction is limited to the feeding of the operational parameters, that is, during the critical procedure of the paring of the Demicopra (30) there will absolute no human interaction, thus the risks and others consequences derived from that.