Abstract:
The harvester incorporates a system and method for detecting rigid standing objects such as reinforced posts in the harvester&#39;s path and responsively reducing forces exerted by harvesting apparatus of the harvester against the object. The harvesting apparatus including at least one member movable in contact with the plants by a drive for exerting forces for detaching the fruit. At least one sensor is disposed and operable for sensing a rigid object 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 exerted against the object while protecting harvest yield.

Description:
TECHNICAL FIELD 
     The present invention relates to a harvester for fruits such as grapes, berries and the like, and more particularly, to a system and method for detecting rigid standing objects, such as metal or metal reinforced posts and the like, in the path of harvesting apparatus of the harvester, and adapting or altering the operation of the harvesting apparatus for passage about the standing object in a manner to reduce or minimize forces exerted thereagainst, and thus potential wear and/or damage, noise, and the like, which would be otherwise caused by forceable contact with the object. 
     BACKGROUND ART 
     It is well known to harvest fruit, such as, but not limited to, grapes, and berries such as blackcurrants, gooseberries or raspberries, olives and coffee beans, using an automatic harvester, which can be self-propelled or tractor driven. Reference in regard to modern self-propelled harvesting machines, Mérant U.S. Pat. No. 6,854,254, issued Feb. 15, 2005 to CNH France S.A., and entitled Harvesting Device With Disengageable Shaker Members For A Fruit Harvesting Machine. 
     Fruit harvesters, particularly for grapes, such as the harvester disclosed in the above-identified Mérant patent, typically utilize harvesting apparatus configured to exert forces against the vines bearing the fruit, in this example, by shaking them using a generally horizontal sinusoidal or pseudo-sinusoidal movement of a selected amplitude and frequency selected for detaching the fruit or the bunches of the fruit. This forceable movement is typically communicated to the whole of the vine by movable shaker members disposed to operate either on the stocks or the stems of the vines or on the vegetation, i.e. on the fruit-bearing area of the vine, depending on the type and number of shaker members used. As an example, the percentage of the bunches of grapes and/or individual grapes that are detached from the vine is typically a function of the number and amplitude of the oscillations to which a given bunch of grapes is subjected. The more vigorously a given bunch of grapes is shaken, and the greater the number of times it is shaken, the greater the chance of the bunch or its individual grapes being detached from the vine. The number and the amplitude of the oscillations to which a given bunch of grapes is subjected depend on various parameters for which suitable values can be selected, in particular the amplitude and the frequency of the output of the drive mechanism associated with the shaker members, the length of the active area of said shaker members, their stiffness or flexibility, and the rate at which the machine moves forward, and on other factors that are imposed by the vine itself, in particular how it is trained, its shape and the resistance that it has to the movement of the shaker members. As exemplified by the Mérant patent, the shaker members can be compiled in assemblies supported in face-to-face relation on opposite sides of a straddling frame defining an elongate passage therethrough. 
     In operation, the straddling frame is driven in straddling relation along a row of trees, vines or other plants carrying the fruit to be harvested, which pass through the passage. As this occurs, the shaker assemblies are oscillated by their drive mechanism in a cooperative manner, with sufficient forcefulness to correspondingly flex while in contact with the plants, to detach the grapes, berries, or other fruit. The detached fruit then falls into baskets of conveyors below the shaker assemblies. 
     A problem that has been encountered when harvesting fruits using an automated harvester such as described above, is that in many instances the rows of fruit plants include upstanding rigid, unyielding objects which are likewise contacted by the shaker members of the harvesting apparatus. Such rigid upstanding objects can include, for instance, reinforced concrete and metal posts. In particular, vines bearing grapes are often supported on trellises or wires supported by upstanding posts, poles or pipes of hard, unyielding material such as reinforced concrete containing metal wires and/or bars, at spaced intervals along the rows. The forces generated by such shaking or vibratory contact with such rigid unyielding objects, in combination with the effects of a rough surface texture thereof, e.g., weathered concrete, pitted metal, and the shape, of the objects, e.g., angular such as rectangular or octagonal, over time, results in damage to, and/or excessive wear of, the harvesting apparatus, particularly the shaker members, as well as possible damage to the rigid objects. Such contacts can also result in undesirable noise, and vibration which can be transmitted to the operator platform or cabin of the harvester. 
     Thus, what is sought is some manner of overcoming one or more of the problems and/or shortcomings set forth above. 
     SUMMARY OF THE INVENTION 
     According to the invention, what is disclosed is a harvester for fruits such as grapes, berries and the like, incorporating a system and method for detecting standing rigid, unyielding or potentially damaging objects, particularly metal or metal reinforced posts, poles, and the like, in the path of harvesting apparatus of the harvester, and adapting the operation of the harvesting apparatus for passage about the standing objects, in a manner for overcoming one or more of the problems and shortcomings set forth above, namely, reducing forces exerted thereagainst for minimizing potential wear and/or damage, noise, and the like. 
     According to a preferred aspect of the invention, the exemplary harvester includes a straddling frame or gantry supporting harvesting apparatus including at least one movable member such as, but not limited to, a shaker member or assembly, disposed beside and defining a passage extending through the frame configured for successively receiving a row of fruit bearing plants. The harvester includes at least one drive connected in driving relation to the at least one movable member, and automatically operable for moving the member in a forceable, e.g., shaking, manner for exerting forces against objects located in the passage, e.g., fruit plants, for detaching the fruit, most preferably, so as to fall, for collection by collecting apparatus of the harvester. 
     The harvester additionally includes at least one sensor or detector, which operates to sense any upstanding rigid object, e.g., a metal or metal reinforced post, entering, or about to enter, the passage. This can be as the object is still located outwardly of an inlet opening in connection with the passage, or as it is located in the inlet opening or an initial portion or region of the passage, but preferably before being contacted in a significantly forceful, e.g., shaking, manner by the harvesting apparatus. 
     In operation, responsive to the sensing of entry of a rigid upstanding object into the passage, the movements of the at least one movable member will preferably be reduced or altered when the object is within the passage adjacent to a predetermined portion of the movable member which would otherwise exert a potentially damaging force against the object, so as to substantially reduce or minimize damage to the movable member or members. This can also reduce or minimize damage to the rigid object and reduce the noise and vibration transmitted to the operator platform or cabin of the harvester. Such reductions or alterations of the movements can comprise, for instance, altering the connection of the drive to the movable member or members to allow contact with the object to push the member or members sidewardly outwardly relative to the passage, away from a center region thereof, or operating the drive in a manner for reducing the forces, such as reversing the drive, idling the drive, or other suitable action. As an example, a clutch can be used for connecting a motive device, e.g., a fluid or electric motor, belt, chain, or other drive, to the at least one member, and the clutch can be temporarily slipped or disengaged for the appropriate time such that the member can be compliantly or passively moved past the object. As another example, a fluid motor, if used, can be destroked at the appropriate time to provide the compliance. If the movements are oscillations, the oscillations can be stopped, partially reversed, or the amplitude and/or or frequency thereof can be reduced or altered to achieve the desired force reducing effect, e.g., passage about the object in a minimally forceful manner. This also can be achieved, for instance, by the temporary slipping or disengaging of the drive from the member or members, or appropriately controlling the drive, e.g., slowing speed, such that the movable members are positioned for exerting minimum or near minimum forces against the object during passage thereabout. As an alternative, one or more of the movable member or members can be positively moved or retracted away from the object while in proximity thereto, for reducing the forceable contact therewith. 
     According to another preferred aspect of the invention, the at least one member of the harvesting apparatus, e.g., shaker assembly, can be located on both opposite sides of the passage, and during normal operation can be oscillated in a phased relation generally horizontally. Then, responsive to the sensing of entry of an upstanding rigid object, the oscillations or flexures of the member or members can be reduced, at an appropriate time during the movement thereof about the object. 
     According to another preferred aspect of the invention, the member or members can comprise a flexible rod or rods, which are alternatingly flexed and relaxed, e.g., by the oscillating movements. In one embodiment of the invention, the reductions or relaxations will occur only when a region of maximum flexure of the rods will occur in close proximity to the rigid object, so as to minimize any effect on harvest yield. 
     According to another preferred aspect of the invention, for detecting upstanding rigid objects partially or entirely of metal, such as metal posts, and metal reinforced concrete posts, the sensor can include a metal detector or detectors. Alternatively, or additionally, sonic, e.g., ultrasonic, imaging, or radar type sensors, operable for discerning upstanding rigid objects such as posts and the like, from trunks, branches, vines, and other portions of the plants from which the fruit is being harvested, can be used. Additionally, to facilitate sensing of non-metallic standing objects by a metal detector, metal elements can be attached to the objects at an appropriate location or locations. For instance a metallic tape, sheet, or marker could be used. As a preferred location or locations for the sensor or sensors, they can be advantageously positioned adjacent to an inlet opening in connection with the passage. The sensor or sensors can also be configured and located, e.g., at a lower position, to minimize false detections of higher located trellis and guy wires, and other non-problematic metallic objects. Additionally, the sensor or sensors can be in known relation to a predetermined portion or aspect of the at least one member which exerts the greatest forces, e.g., region of greatest flexure of the rod or rods, such that the time that an upstanding rigid object will be in position to be most forcibly contacted thereby can be determined, and the movements thereof reduced or altered to reduce the forces exerted against the object, as the member or members passes it. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The invention will now be described further, by way of example, with reference to the accompanying drawings, in that: 
         FIG. 1  is a side view, partly cut away, showing a fruit harvester equipped with harvesting apparatus incorporating a system and method of the invention for detecting and handling upstanding rigid objects, shown in an operating mode moving along a trellis supporting a row of grape plants, supported by spaced posts; 
         FIG. 2  is an enlarged side view of the harvester of  FIG. 1 ; 
         FIG. 3  is a simplified schematic representation of aspects of the system of the invention, showing entry of a sensed upstanding rigid object into a passage through harvesting apparatus of the harvester; 
         FIG. 4  is another simplified schematic representation of aspects of the system of the invention, showing the harvesting apparatus configured in a mode for passage about the rigid object while reducing forces exerted thereagainst; and 
         FIG. 5  is a high level flow diagram showing steps of one embodiment of a method of the invention. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Referring now to the drawings, in  FIGS. 1 and 2 , a representative fruit harvester  10 , as more particularly described and illustrated in Mérant U.S. Pat. No. 6,854,254, hereby incorporated herein in its entirety by reference, is shown. Generally, harvester  10  has a gantry type straddling frame  12  supported by fore and aft wheels  14  and  16 , for movement over a surface, such as the ground. Harvester  10  is illustrated as a self-propelled machine, having an engine which provides motive power to wheels  14  and/or  16 , for example, via pressurized fluid delivery to fluid motors (not shown) in connection with the wheels. Harvester  10  includes an operator cabin  18 , and can also be configured for raising and lowering frame  12  relative to wheels  14  and  16 , via articulating legs  20 , or other suitable structure connecting frame  12  to wheels  14  and  16 , such that frame  12  can stay level during movement over laterally sloped surfaces, and for adjusting the height of straddling frame  12  above the ground. 
     Straddling frame  12  is of well known construction, and is configured for straddling at least one row of crops, for example, a row of grape vines, or several rows of vines, represented in  FIG. 1  by vines  22 , for example, or two or three rows of vines if harvester  10  is used in close-planted vineyards. Straddling frame  12  carries or supports harvesting apparatus  24  configured and automatically operable for detaching grapes or bunches of grapes from the vines  22 , as is known in the art. 
     Referring also to  FIGS. 3 and 4 , harvesting apparatus  24  includes two shaker assemblies  26  disposed on opposite sides, respectively, of a passage  28  through frame  12 , defining a path between assemblies  26  and through frame  12 , as denoted by a centerline  30 . Shaker assemblies  26  are configured and operable, as will be explained, for exerting forces, denoted generally by arrow F in  FIG. 3 , against the fruit of plants such as vines  22  ( FIG. 1 ), located in passage  28 , so as to detach the fruit and cause it to fall from the vines. In the instance of grapes, the grapes can be detached by this forceable movement in bunches and/or individually. The detached fruit will fall into receptacles of a conveyor  32  ( FIGS. 1 and 2 ) of known construction and operation disposed adjacent to the bottom of the respective shaker assemblies  26  beside passage  28 , and be carried to a hopper or hoppers  34  disposed on a rear portion of harvester  10 . 
     As is known in the art, and explained in detail in U.S. Pat. No. 6,854,254, to generate the oscillating movements, each of the two shaker assemblies  26  includes an oscillating vertical plate  36  which, in operation, oscillates about a vertical axis of a vertical shaft  44  of the assembly to which it is affixed, under control of a drive  38 . A plurality of shaker members  40  are, in turn, adjustably connected to each vertical plate  36 , so as to be individually positionable at vertical positions therealong as most advantageous for the harvesting operation, as illustrated by arrow A in  FIG. 2  and the positions of member  40  as shown in  FIG. 1 . 
     Here, each shaker member  40  preferably consists of a rod having a small cross section compared to its length and made from a flexible material such as a glass fiber-reinforced polyester resin or a polyamide, for example. For a grape harvesting application such as illustrated, rods having a circular section of approximately 30 mm diameter and a length of approximately 1.8 m, made from a polyamide, can be used. As is known in the art, each shaker member  40  can be solid or hollow (tubular), or it can have a composite structure with a core having the required flexibility characteristics covered with a wear resistant material different from the material of the core. In a relaxed or substantially unflexed state, each member  40  is substantially rectilinear. When each member is mounted in the harvesting apparatus  24 , it extends horizontally lengthwise and curves or flexes into an arcuate shape, the convex side of which is oriented toward centerline  30 , and the degree of flexure of which is controllable or settable. The front end of each member  40  is detachably coupled to one of the two oscillating vertical plates  36 , and the rear end of each member  40  is connected to frame  12  or structure of the shaker assembly  26  by suitable structure, here, a link  42 , such that oscillations of the respective plates  36  will result in alternating forceful flexure (top member  40  in  FIG. 3 ) for exerting force F, and relaxation (bottom member  40 ). 
     Shaft  44  of each shaker assembly  26  is preferably supported so as to be rotatable about a longitudinal vertical axis therethrough which, as noted above, coincides with the vertical axis of oscillation of the oscillating vertical plate  36 . Plate  36  and shaft  44  of each assembly  26  are connected for joint movement, such that back and forth rotation of shaft  44  about its vertical axis will effect the oscillating movement of plate  36 . To accomplish this, each shaft  44  is rigidly fixed to a radial drive arm  46  of drive  38  so as to be rotatable in a back and forth manner thereby, as denoted by arrows B in  FIG. 3 . Drive  38  includes a crank arm  48  having one end pivotally connected to drive arm  46 , and an opposite end rotatably connected by a pin to a cam  50  of the drive. The two cams  50  are joined for joint, timed rotation by a cross shaft  52  of the drive, such that plates  36  on the opposite sides of passage  28  will be oscillated in a phased relation, which here is preferably of about 180 degrees, by the rotation of cams  50 , as illustrated by the different positions of members  40  in  FIG. 3  (upper member  40  at about its greatest extent of flexure, lower member  40  at about its minimum extent of flexure or relaxed state). The timed, phased relationship of plates  36  results in alternating timed, forced flexure and relaxation of shaker members  40  on the opposite sides of passage  28 , in a manner such that as shaker members  40  on one side of passage  28  are at about their maximum state of flexure so as to project their greatest extent toward centerline  30 , shaker members  40  on the other side are at about their maximum state of relaxation so as to be at their greatest distance from the centerline. 
     To drive shaker members  40  in the above manner, drive  38  includes a sprocket or pulley  54  fixed to cross shaft  52 , and which is connected by a transmission chain or belt  56  to another sprocket or pulley  58 , connected in rotatably driven relation to a motive device  60  of drive  38 , which can be, for example a hydraulic motor, electric motor, or a driveline to the engine of the harvester  10 . A clutch  62  is shown disposed between motive device  60  and pulley  58 , and is conventionally constructed and operable so as to be controllably operable in an engaged state for connecting device  60  in rotatably driving relation to pulley  58 , and in a disengaged state for disconnecting device  60  and pulley  58 . Clutch  62  can additionally optionally be operable in a partially engaged state to allow slipping between device  60  and pulley  58 , if desired or required for a particular application. 
     It will typically be desired to operate shaker members  40  of harvesting apparatus  24  at a speed which corresponds to the speed of movement of harvester  10  in relation to the plants being harvested, with the objective of exerting sufficient forces F against the plants being harvested, e.g., vines  22  in  FIG. 1 , for effectively detaching and collecting the fruit with efficiency, yet minimal damage. To accomplish this, the speed of operation of motive device  60  will typically be controlled as a function of the speed of movement of the harvester. Referring more particularly to  FIG. 3 , this can be accomplished in any suitable desired manner, such as, but not limited to, using a processor based controller  64 , in connection with a speed device  66 , which can be for instance, a conventional element of the drivetrain operable for sensing or determining a speed of movement thereof, e.g., one or more of wheels  14 ,  16 , or a driveshaft (not shown), or a conventional device operable for determining the speed of harvester  10  relative to the ground, and outputting signals representative thereof to controller  64 . This can be, for instance, in a closed loop system wherein harvesting apparatus  24  is controlled as a function of one or more parameters, e.g., ground speed of harvester  10 . Motive device  60 , clutch  58  and speed device  66  can be connected to controller  64  by suitable conductive paths  68 , such as wires of a wiring harness of harvester  10 , for receiving power and/or command signals therefrom, and outputting signals thereto. 
     As noted above, and as illustrated in  FIG. 1 , particularly when harvesting grapes, upstanding rigid or essentially non-yielding objects may be dispersed along the path of movement of harvester  10 , in this instance, posts  70 , which support wires  72  that carry vines  22 , so as to be necessarily straddled by frame  12  and harvesting apparatus  24 , during the movement, and such that posts  70  may be forcibly contacted by shaker members  40 . Some posts  70  are potentially damaging to shaker members  40 , e.g., have abrasive weathered, pitted, and/or damaged surfaces, rough and/or damaged edges, etc., which can roughen, scratch or otherwise damage and wear the surfaces of members  40 , which if so damaged, can also damage vines  22  and fruit carried thereby, which is obviously undesirable in most instances. Harvesting apparatus  24  can also damage the rigid objects. Damage to shaker members  40  has been found to be particularly problematic when the rigid objects are reinforced concrete posts, that is, those containing metal reinforcing wires or rods, and when shaker members  40  are repeated forcibly reciprocatingly moved or oscillated thereagainst. 
     Referring in particular to  FIGS. 3 and 4 , and also to  FIG. 5 , to overcome or significantly reduce the above problem, elements of harvester  10  are incorporated into a system  72  configured and operable according to a preferred method  74  of the invention, for detecting rigid upstanding objects, such as, but not limited to, posts  70 , and reducing the forces exerted by harvesting apparatus  24 , particularly, shaker members  40 , thereagainst, while preferably minimizing any resultant disruption of the harvesting operation or reduction in yield. System  72  preferably utilizes at least one detector or sensor  78  configured and operable for sensing any upstanding rigid object, e.g., a post  70 , entering, or about to enter, passage  28 . This can be as the object is still located outwardly of an inlet opening  76  in connection with passage  28 , or as it is located in inlet opening  76  or an initial portion or region of passage  28 , but preferably before being contacted in a significantly forceful, e.g., shaking, manner by elements of harvesting apparatus  24 , and particularly shaker member or members  40 . Here, two sensors  78  are utilized, which will be supported in a suitable manner on harvester  10 , such as on leading portions of frame  12  on opposite sides of inlet opening  76 , which leading portions can include, for instance, upstanding sheets or plates  80  supported on a forward region of frame  12  and which taper convergingly toward centerline  30 , which plates  80  are provided for guiding and gradually sidewardly or laterally compressing plants entering passage  28  as they are straddled by frame  12 , in the well known manner. Alternatively, suitable support brackets (not shown) can be mounted on harvester  10  to support a sensor or sensors  78  at a suitable forward location for providing the desired sensing capability. 
     As examples of suitable sensors  78 , sensors or metal detectors capable of sensing or detecting proximity of metal objects have been found to be good for applications wherein the rigid objects comprise metal, such as metal posts or metal reinforced posts. And, non-metallic standing objects can have metal applied thereto, e.g., foil, sheet, nails, or the like, so as to be distinguishable from other objects, such as the trunks of vines or other plants being harvested. 
     Here, it should be noted that other manners of sensing and distinguishing certain upstanding objects from trunks of plants to be harvested, can be devised, such as by using sonic sensors, imaging devices, or combinations or arrays of sensors, in combination with programming methods to determine the timing of responsive operation of harvesting apparatus  24 , and/or drive  38 . 
     Responsive to the sensing of entry of a rigid upstanding object, e.g., a post  70 , into passage  28 , system  72  of the invention will preferably reduce or alter the movements of the at least one movable member, e.g., shaker members  40 , when the object is at a location within passage  28  adjacent to a predetermined portion of the movable members, here, which is preferably a medial portion thereof subject to maximum flexure and exertion of force F, denoted in  FIG. 3  as a region of maximum flexure  82 , to substantially reduce occurrence of exertion of potentially damaging forces against the object, and thus substantially reduce or minimize the potential for damage to the movable member or members (e.g., shaker members  40 ), and the hard object (post  70 ). Such reductions or alterations of the movements can comprise, for instance, altering the connection of drive  38  to shaker members  40 , e.g., disengaging or slipping of clutch  62 , to allow shaker members  40  on opposite sides of passage  28  to move to semi-flexed states, such as illustrated in  FIG. 4 , sufficiently spaced apart to allow passage of a rigid object such as a post  70  therebetween, with minimal contact therewith, and without the normal forceable contact, as would otherwise occur without the disengagement or slippage of the clutch. With disengagement of clutch  62 , momentum of shaker members  40  can be dissipated, such that contact with the rigid object can push the shaker members away from the center of the passage, for passage therebetween. Alternatively, drive  38  can be operated, such as reversing or increasing speed, idling, e.g., destroking fluid motor, or the like, to allow shaker members  40  to compliantly move to a position such as shown in  FIG. 4 , at the appropriate time for passage about the sensed object, with minimal forces exerted thereagainst, minimal interruption or reduction of harvest yields, and minimal crop damage. As still another alternative, sides of straddling frame  12  and/or harvesting apparatus  24  can be constructed so as to be capable of temporarily spreading apart, to allow freer passage of a rigid object such as a post therethrough. 
     Here, it should be noted that the distance from sensor or sensors  78  to region of maximum flexure  82  will be known, and thus the time for passage of a hard object to and through region  82  can be determined by controller  64 , such that control of drive  38  in the above described manner for reducing forces exerted against the hard object will be executed at the appropriate time. The positions of shaker members  40  in their oscillating motions can also be sensed or determined, such as by use of a suitable position sensor, switch, counter, or the like. 
     Referring more particularly to  FIG. 5 , steps of preferred method  74  of the invention are illustrated. As the shaker members  40  are operating, as denoted at block  84 , signals from sensors  78  are monitored by controller  64 , as denoted by block  86 . If no standing hard structure or object is detected, as denoted at block  88 , controller  64  will loop though the steps of blocks  84 - 88 . If, at block  88 , a standing hard object is detected, controller  64  will determine a time for passage of region  82  thereabout, as denoted at block  90 . Controller  64  will then monitor the state of flexure of the shaker members, as denoted at block  92 . If it is determined that the shaker members will not be, or are not, flexed too much at the time of passage, controller will return to block  84 . If the shaker members will be, or are, more than desirably flexed during passage about the hard object, the members will be relaxed, in the above described manner, e.g., clutch  62  slipped or disengaged, to allow passage about the hard object with minimal force applied thereagainst, as denoted by block  94 . Then, when the time for passage about the hard object has expired, as denoted by the loop through blocks  94  and  96 , the shaker members will return to normal operation (block  84 ). 
     Here, it should be noted that the location of a standing hard object, such as, but not limited to a post  70 , or the pending time until it will be straddled by shaker members, can be determined as a function of the distance between the sensor or sensors  78  and the leading portion of the shaker members, and signal changes resulting from the sensor or sensors moving toward then away from the sensed object, which determination can be performed by controller  64 . 
     It will be understood that changes in the details, materials, steps and arrangements of parts that have been described and illustrated to explain the nature of the invention will occur to and may be made by those skilled in the art upon reading of this disclosure within the principles and scope of the invention. The foregoing description illustrates the preferred embodiment of the invention; however, concepts, as based upon the description, may be employed in other embodiments without departing from the scope of the invention. Accordingly, the following claims are intended to protect the invention broadly as well as in the specific form shown.