Patent Description:
Harvesting is known to be a labor-intensive operation, involving a large number of workers, working simultaneously in the field to harvest produce, moving along with a tractor and trailer to gather the harvested fruits and vegetables. This work, shown in exemplary <FIG>, can be physically hard, and is often performed under intense sunlight. Adding the fact that the work is mostly seasonal makes it hard to hire staff and provide interesting working conditions.

As a result, many systems for automating harvesting of produce were developed in order to reduce the required workforce. For example, automated systems have been described which can pick oranges in trees, and other systems have similarly been developed for other types of produce. Patent documents <CIT> and <CIT> describe such agricultural systems.

Patent document <CIT> discloses an autonomous agricultural work machine comprising interchangeably tools and a vision system to assess and control the operation of the robot. Patent document <CIT> discloses a harvesting system comprising a robotic picking system. The robotic picking system comprises a manipulator and a pair of cameras. One of the cameras is an infrared camera while the second camera is vision camera, thereby improving the accuracy and preventing misinterpretation of the image data.

According to an aspect of the invention, there is provided a system for performing an agricultural task in accordance with claim <NUM>, the system being installed on a vehicle or trailer and comprising:.

wherein the accessory is interchangeable in the accessory socket depending on the agricultural task.

According to an embodiment, the platform comprising the socket is a lateral extension which extends laterally from the vehicle or trailer.

According to an embodiment, there is further provided, opposing said lateral extension, a second lateral extension which extends laterally from the vehicle or trailer on another side thereof.

According to an embodiment, the plurality of accessories all have a portion thereof which fits with the socket for interchangeable installation therein.

According to an embodiment, the plurality of accessories comprises a plurality of different robotic arms.

According to the invention, the vision system comprises a color camera and the collected data of the environment comprise spectral data on vegetal objects undergoing the agricultural tasks.

According to the invention, the vision system comprises at least two cameras positioned side-by-side and the collected data of the environment comprises tridimensional data on vegetal objects undergoing the agricultural tasks.

According to an embodiment, there is further provided a conveyor extending between the accessory socket and the vehicle or trailer for receiving vegetal objects and translating the vegetal objects toward the vehicle or trailer.

According to an embodiment, there is further provided, at an end of the conveyor on the vehicle or trailer, a box filling stage comprising a robotic arm for picking the vegetal objects from the conveyor and placing the vegetal objects in a box.

According to an embodiment, there is further provided a pallet mounting stage comprising a box handling arm for displacing a completed box from the box filing stage onto the pallet mounting stage, the pallet mounting stage comprising a stage for placing the completed box and a wrap applicator, the wrap applicator performing a relative revolution movement around said stage for wrapping the completed box onto a pallet.

According to an embodiment, there is further provided a pallet conveyor for evacuating the pallet from the pallet mounting stage.

According to an embodiment, there is further provided a storage trailer receiving the pallet evacuated from the pallet conveyor, the storage trailer comprising an entry at a front thereof and having sides thereof being closed.

According to an embodiment, the storage trailer is refrigerated and is removably attached as an additional trailer from the vehicle or trailer.

According to an aspect of the invention, there is provided a method for performing an agricultural task in accordance with claim <NUM>, with a system installed on a vehicle or trailer and further comprising a socket for receiving an accessory among a plurality of accessories, the method comprising the steps of:.

According to the invention, collecting data of the environment about the accessory comprises using a color camera to collect spectral data on vegetal objects undergoing the agricultural tasks.

According to the invention, collecting data of the environment about the accessory comprises using at least two cameras positioned side-by-side to collect tridimensional data on vegetal objects undergoing the agricultural tasks.

According to an embodiment, there is further provided the step of picking up vegetal objects by the accessories, dropping the vegetal objects onto a conveyor, and conveying the vegetal objects toward the vehicle or trailer.

According to an embodiment, there is further provided the step of picking the vegetal object from the conveyor and placing the vegetal object in a box using a robotic arm.

According to an embodiment, there is further provided the step of using a box handling arm for displacing a completed box onto a stage and automatically spinning said stage while applying a wrap applicator therearound, the wrap applicator further being translated vertically simultaneously for wrapping the completed box onto a pallet.

According to an embodiment, there is further provided the step of evacuating the pallet into a storage trailer from a front thereof using a pallet conveyor, further comprising refrigerating the storage trailer while sides thereof are closed.

According to an embodiment, collecting data of the environment about the accessory comprises determining whether a vegetal object is According to an embodiment, collecting data of the environment about the accessory comprises recording the data along with a geolocation of the vegetal object, the method further comprising predicting a future status of the vegetal object based on the recorded data.

According to an embodiment, determining whether the vegetal object is ready to be picked up or not comprises estimating a weight, a volume or a quality grade of the vegetal object.

According to an embodiment, there is further provided the step of picking the vegetal object by the accessory and dropping the vegetal object onto the system.

According to an embodiment, there is further provided the step of providing a plurality of available boxes and continuously or periodically recording existing contents of the plurality of boxes.

According to an embodiment, there is further provided the step of using a sorting camera for sorting the vegetal object dropped onto the system, and using a robotic arm distinct from the accessory, picking up the vegetal object and dropping the vegetal object in a box, among the plurality of available boxes, to performing a sorting which corresponds to the weight, the volume or the quality grade as estimated, wherein the sorting is made repeatedly in view of the recorded existing contents of the plurality of boxes.

According to an embodiment, providing the socket comprises providing at least two sockets for receiving simultaneously at least two different types of accessories among a plurality of accessories, each type of accessories dedicated to a different type of vegetal object.

According to an embodiment, there is further provided the step of using a sorting camera for sorting the vegetal object dropped onto the system, and using a robotic arm distinct from the accessory, picking up the vegetal object and dropping the vegetal object in a box, among the plurality of available boxes, to perform a sorting which corresponds to the type of vegetal object.

According to an embodiment, collecting data of the environment about the accessory comprises using a preliminary camera for spotting a presence of a vegetal object and a fine camera system for aiding in the step of determining the instruction for performing the agricultural task by collecting data with a finer precision that the preliminary camera to determine precise movements of the accessory.

As will be realized, the subject matter disclosed and claimed is capable of modifications in various respects, all without departing from the scope of the claims. Accordingly, the drawings and the description are to be regarded as illustrative in nature, and not as restrictive and the full scope of the subject matter is set forth in the claims.

It was found that the systems described in the prior art as automated systems for harvesting produce lack versatility. Systems are not adaptable to be used for a great variety of fruits or vegetables. They are normally intended to pick a specific type of fruit or vegetable.

As shown in <FIG> and <FIG>, there is described a system <NUM> for harvesting produce which is multifunctional as it can be adapted to perform a variety of agricultural tasks in a field, including an adaptable system for selectively and interchangeably mounting a selection of apparatuses among a variety thereof, which ensures versatility of the system <NUM> in terms of the types of plants, fruits or vegetables (or more generally, vegetal objects) which can be harvested, and also in terms of associated non-picking tasks that can be performed simultaneously by the same system, such as making measurements with sensors at the local level, i.e., in-situ, right above the plant.

The system <NUM> is a system working in cooperation with a vehicle <NUM>, such as a tractor, or on a portion of a vehicle or a trailer <NUM> being a part of the vehicle <NUM> or being attached thereto. In other words, the system <NUM> can be mounted on a trailer hooked on the vehicle <NUM>, or a trailer integrated to the vehicle <NUM>, and the trailer <NUM> should include both types of trailers (separate from the vehicle <NUM> or forming a part thereof). In most cases, the system would be mounted on a dedicated, custom trailer <NUM> (either permanently integrated to the vehicle or attached thereto in a removable fashion), acting as a support for other equipment discussed herein below.

The system <NUM> comprises lateral extensions <NUM> which extend laterally and horizontally away from the trailer <NUM>. While there can be only one lateral extension <NUM>, drawings show that the lateral extensions <NUM> are provided as a pair on both lateral sides of the trailer <NUM>, as shown in <FIG>. The lateral extension <NUM> acts as an arm which has a length to extend laterally away from the vehicle from said length, thereby covering a plurality of rows in the field. When the vehicle moves forward, the extension of the lateral extension <NUM> implies that a surface of the field will be covered as the vehicle is displaced. Providing two lateral extensions <NUM> implies that a larger surface will be covered, but providing a single lateral extension <NUM> may make the system <NUM> easier to handle in the field, especially if the vehicle makes frequent turns and if there are trees, buildings or other obstacles nearby.

The lateral extensions <NUM> each act as a platform which comprise accessory sockets <NUM>, onto which accessories <NUM> are installed, as shown in <FIG>. The accessories <NUM> are removable from the sockets <NUM> to be interchanged if or when needed. For example, one of the possible accessories <NUM> should include robotic picking hands which are manipulated in an automated manner according to particular instructions (discussed further below). The accessory sockets <NUM> are each used as a mechanical connector for mechanically installing and supporting an accessory <NUM>, and the mechanical connector should fit a plurality of different accessories <NUM>, by having a particular shape, while each of the accessories <NUM> has a complementary shape. The accessories <NUM> do not necessarily need to have the same exact shape, but should all comprise a portion which, in a way or another, complements the shape of the socket <NUM> to fit therein. Optionally, a mechanical adapter, or coupler, can be provided as an additional device in-between for mechanically coupling an accessory <NUM> to the socket <NUM> if the shape does not fit.

The lateral extensions <NUM> extend long enough to cover a substantial length on a field, i.e., a plurality of rows, as mentioned above and as shown in <FIG>. The height of the lateral extensions <NUM> should be adapted to the length of the accessories <NUM> and to the height of the vegetation in the field, e.g., about <NUM> meter high.

Each one of the lateral extensions <NUM> (or the single one) forms a platform which includes a conveyor <NUM>. The conveyor <NUM> is used to receive produce picked by the accessories <NUM> and displace the received produce to the trailer <NUM> where they are treated. The accessories <NUM> should be able to reach the produce to handle when being installed in the accessory sockets <NUM> on the lateral extensions <NUM>. Therefore, at least one of the accessories <NUM> and the lateral extensions <NUM> should be adjustable in height. This can be performed by ensuring the accessory <NUM> is long and articulatable, and/or by having the lateral extensions <NUM> at an adjustable height using a height adjusting mechanism of any suitable type (hydraulic cylinders, electric motor, engine, jack, etc.).

According to an embodiment, a stabilizing wheel <NUM> can be added under the distal end of a lateral extension <NUM> (or close thereto) to support a part of the weight thereof and improve height stability of the lateral extension <NUM>. The stabilizing wheel <NUM> may be connected or cooperate with to the height adjusting mechanism mentioned above, if there is provided such a mechanism. For example, if the mechanical connection of the lateral extension <NUM> with the trailer acts as the height adjusting mechanism (e.g., actuator, chain, engine of some sort, etc.), then the stabilizing wheel <NUM> should have a height that changes accordingly, either by using a spring or by providing a similar mechanism within the stabilizing wheel <NUM> driven by instructions that ensure coherent movement. Alternatively, the stabilizing wheel <NUM> may act as the height adjusting mechanism, while the mechanical connection of the lateral extension <NUM> with the trailer undergoes a passive translation by being free to translate upwardly.

As mentioned above, the accessories <NUM> can be interchanged on the accessory sockets <NUM> depending on the task to be performed. The accessories <NUM> can be either wired to a connector on the socket <NUM>, or have a wireless connection, for communication with a computer <NUM>. Moreover, the accessories <NUM> can be either wired to an electrical connector on the socket <NUM>, or have a battery, for receiving the power required to perform the tasks.

Preferably, the socket <NUM> comprises an electrical contact connected to a power source within the vehicle (or within the trailer, or within the lateral extension <NUM>). Accordingly, the accessories <NUM>, in the portion thereof to be fitted into the socket <NUM>, should comprise a cooperating electrical contact to receive electrical power from the electrical contact of the socket <NUM>. The electrical power is then converted within each accessory to perform the desired task, typically a mechanical movement, or a measurement.

In an alternative or complementary embodiment, the socket <NUM> comprises a source of mechanical energy, such as a rotating gear within the socket <NUM> which is fed with power from elsewhere in the vehicle and individually controlled in the socket <NUM>. In this case, the accessories <NUM>, in the portion thereof to be fitted into the socket <NUM>, should comprise a cooperating gear to receive the mechanical power from the socket <NUM>, converted using other gears or adapters to drive the mechanical parts of the accessories <NUM>.

Accessories <NUM> can be fixed on the lateral extension <NUM>. In another embodiment, a rail can be provided and the sockets can move on the rail to reach a desired position. This particular embodiment is useful to adapt to a defective apparatus, or in the case of a very expensive apparatus being used for which there is only one apparatus, which therefore needs to be translated to perform its task alone on the lateral extension <NUM>. The rail can be manual, such that the socket <NUM> comprising an accessory <NUM> can be moved to a desired location and fixed there. Otherwise, the rail can be powered and the sockets <NUM> can be translated in an automated manner.

The accessories <NUM> should receive instructions from the computer <NUM> to be operated in an automated manner. They should also collect data and send the collected data to the computer <NUM>, either directly (wirelessly, e.g., using Bluetooth™ technology, WiFi™ technology, etc.), or indirectly by being distributed to or through the sockets toward the central computer <NUM> using wire cables or wireless technology from the sockets <NUM> or any other intermediate device. Preferably, the computer <NUM> is in-situ, for example on the trailer <NUM>.

Other sensors <NUM> can be provided on the lateral extensions or elsewhere on the trailer to send data to the computer <NUM>. Examples of such sensors <NUM> can include a temperature sensor, a humidity sensor, a chemical sensor for measuring soil contents in phosphate and various nitrogen compounds, etc. These types of sensors are mentioned herein because they have utility in agronomy.

According to the invention, there is provided a vision system <NUM> which is used to view the produce to be harvested or identified in the field. An example of a viewing task is shown in <FIG>, which is a picture showing an item to be grabbed (i.e., a mature vegetable), other items to be identified, but not ready to be grabbed yet, and other elements such as leaves, stems and soil. The vision system <NUM> should transmit images to the computer <NUM> for proper identification of all these elements. The vision system <NUM> may acquire and transmit optical data in the wavelength spectrum which is suitable for the task.

The vision system <NUM> is in communication (either wired or wireless as in the other examples mentioned above) and can be provided as a plurality of devices installed on a bottom portion of the lateral extension(s) <NUM>, and/or on the accessories <NUM> or the accessory sockets <NUM>.

In accordance with the invention, the vision system <NUM> includes two types of camera, <NUM>) a three-dimensional camera system (which by itself comprises at least two cameras having their own, distinct viewpoints distant from a predetermined distance in order to determine a three-dimensional localization of objects and shape in the environment); and <NUM>) a color camera, which specializes in getting wavelength information from the light received on the sensor to determine color with high precision.

The 3D camera system is useful to understand the exact location and shape of objects in the environment. The information is extracted by having the computer <NUM> analyze received images and determine, using computer vision algorithms, the 3D arrangements of elements in the images. In practice, in a field, this would include determining that an object is an item to be harvested (either immediately or later), its location, its extension in space (i.e., its shape), and further identifying obstacles therearound, such as leaves.

The color camera is useful to contribute in the identification of the item to be harvested, e.g., identifying that it is a fruit or vegetable, identifying what it is (i.e., the fruit or vegetables species or variety) and determining a level of maturity of the fruit or vegetable. This can be helpful to identify if a fruit or vegetable is ripe or corresponds to what is being harvested.

In particular, some wavelengths bands may be more useful than others for viewing particularities of some plants and not for other plants; or some wavelengths bands may be more useful to detect stages of plant growth while others are more adapted to detect illnesses. Therefore, the vision system <NUM> may include cameras having a very broad band of wavelengths being monitored, or it includes cameras which have different complementary (or overlapping) bands of wavelengths. Typically, the range of visible wavelengths should be covered, and infrared is also useful for a variety of tasks.

In addition to the vision system <NUM>, a geolocation system can be used advantageously. The geolocation system can be, for example, a GPS system which determines with a high accuracy the location of the system <NUM> in the field. Since the position of each accessory <NUM> on the system <NUM> is known, the exact location of a given item to be later harvested can be recorded and the system therefore remembers that such an item is found in the field at a precise location. The geolocation system can be included in the sensors <NUM>, or elsewhere, such as within the accessories <NUM>, within the sockets <NUM>, within the computer <NUM>, or elsewhere in the system <NUM>. Geolocation systems other than a GPS system can be used, for example a radio system using fixed references in the field, with their own geolocation, with the radio system that monitors the exact distance of the system from these fixed references.

According to an embodiment, lights can be provided on the lateral extensions and/or on the apparatus or by the apparatus socket. Lights can ensure that darker areas in the field, for example in the shadow of the leaves, are sufficiently lit such that the color and shapes can be properly identified, as described above.

An advantage of using lights in combination with the vision system <NUM> include the ability to perform night harvesting. Since the system is automated, the presence of light at the level of the apparatuses is sufficient to allow night harvesting. At night, produce are not subject to intense sunlight, which can damage their skin, so picking them up at night does not make them subject to this intense sunlight. Moreover, at night, fruits and vegetables have higher water content than during the day, which makes them heavier. Therefore, less items are necessary to fill a box above a predetermined weight threshold. Furthermore, they can have a more appealing look for a consumer.

As mentioned above, each of the accessory sockets <NUM> can advantageously receive one apparatus selected among a plurality of accessories <NUM>, each to be used for a specific task or group of tasks.

According to an embodiment, each accessory can be used with a selection of produce to be harvested. The accessories can resemble the typical accessory which would normally be operated manually by a person harvesting the produce in the field. For example, if a field comprising asparaguses is being harvested, the apparatus sockets <NUM> should be equipped with accessories adapted to the harvest of asparaguses, comprising for example a cutter or scissors to cut a base of the asparagus, and a hand comprising a minimum number of fingers (or an annular prehension member) to grip the asparagus being cut and then displace the cut asparagus toward the conveyor <NUM>, onto which it is released. The accessory <NUM> is then instructed to deploy back toward the field for detecting and harvesting a next occurrence of asparagus in the field.

In order to ensure that each apparatus is adapted to perform a specific task, which also needs to be consistent with how the information collected by the vision system <NUM> is analyzed and with eventual instructions to the sorting robot arm <NUM> (described further below in relation with the sorting of harvested produce in the vehicle), the computer <NUM> should have a program to implement all operations and instruct all peripherals accordingly. According to an embodiment, the computer <NUM> has a software product installed thereon which is adapted to receive additional software programs to be installed as add-ons. These add-ons can be downloaded on the computer <NUM> to enable it to perform new tasks in combination with new or existing accessories. Doing so allows the system to be usable with only a subset of the accessories and their corresponding operating software. Individual programs, designed for specific tasks, can be added, corrected or improved individually.

Now referring to <FIG>, according to an embodiment, the trailer <NUM> comprises a box filling stage <NUM> which is located at a location in the trailer which corresponds to the reception area of the conveyor <NUM> of the lateral extension <NUM>. If there are two lateral extensions <NUM>, they are normally provided on each side by that reception area such that the box filling stage <NUM> is located between the proximal ends of both lateral extensions <NUM>. The box filling stage <NUM> comprises a surface area <NUM> adapted to receive at least one box, or preferably a plurality of boxes, to receive the produce delivered by the conveyors at their proximal end at the reception area on the trailer <NUM>.

According to an embodiment, the box filling stage <NUM> comprises a weight measurement apparatus <NUM> which measures in real time (i.e., continuously, or periodically) the weight of the at least one box on the surface area <NUM>. The weight measurement apparatus <NUM> can communicate with the computer <NUM> to send the acquired data for processing by the computer <NUM>. The weight measurement apparatus <NUM> can be provided for each spot which receives a box on the surface area <NUM>, to weigh each box independently or individually, or for the whole surface area <NUM>, in which case the weight measurement apparatus <NUM> measures the weight of all boxes and their contents together. Since the produce is added individually into the boxes, the computer <NUM> can monitor the individual weight of each box and its own contents by simply measuring the total weight and recording the box in which each item is added or which box is removed from the box filling stage <NUM>.

According to an embodiment, there is provided a sorting robot arm <NUM> which is adapted to grab the produce received from a conveyor <NUM>, displace it and release it in a box, preferably an appropriate one of the plurality of boxes.

The sorting robot arm <NUM> comprises a sorting camera <NUM> which monitors the incoming produce in terms or identity and properties of the produce and location in space. The sorting robot arm <NUM> can communicate with the computer <NUM> to send the acquired data for processing by the computer <NUM>. The computer <NUM> can then send back instructions to the sorting robot arm <NUM> to act on the produce.

In a simple embodiment, sorting robot arm <NUM> can be instructed to move its distal end to grab the item arriving at the trailer <NUM>; the instructions should include some prediction of the trajectories of both the item and the sorting arm <NUM> such that they can meet and the item be grabbed. The sorting arm <NUM> is then instructed to move itself and the item such that the item is displaced above a box or within the box (the lower the better to avoid damaging the produce) and the item is then released inside the box. The weight measurement apparatus <NUM> measures the weight of the box, and when detected to reach or exceed a predetermined threshold, the box is released or displaced, for example to a pallet mounting stage <NUM> as described below, and is replaced by a new, empty box.

In a more sophisticated embodiment, there are provided a plurality of boxes simultaneously on the stage, and the sorting robot arm <NUM> can be instructed, based on the produce being grabbed and analyzed by the sorting camera <NUM>, to release the produce in a specific one of the plurality of boxes. For example, the sorting camera <NUM>, in combination with the computer <NUM> with which it communicates, can determine a quality of the produce being handled, based on visible properties such as size (volume), color or shape, and instruct the sorting arm to release the produce in one of the boxes corresponding to its quality grade. The same can apply in a case where the system <NUM> is used in a field with a variety of different types of produce, in which case the produce being handled will be classified in the box corresponding to its own identity.

In another embodiment, the computer <NUM> receiving data from the sorting camera <NUM> and the weight measurement apparatus <NUM> can determine how much weight of produce still needs to be released in each box to reach its threshold, and determine which box should be the one receiving a current item being handled to optimize the weight of each box and avoid exceeding the nominal weight of the box. For example, if boxes are sold at a price corresponding to nominal weight of <NUM> pounds per box, it is expected that each box weighs at least <NUM> pounds; in a field being harvested in typical conditions, workers would simply put produce in the box until it is filled, knowing the nominal weight has been exceeded. This can result in boxes containing more fruit or vegetable than expected, and the result is that produce are given away as a bonus to the acquirer. Using the current system <NUM>, each item being handled can be weighed prior to release, and the weight of each box is known. If one box has a weight of <NUM> pounds and another one has a weight of <NUM> pounds, and if the produce being handled has a measured weight of <NUM> pound, the system <NUM> will attribute the produce to the box for which the weight excess will be minimized (e.g., the one weighing <NUM> pounds), and weight for a lighter item to be put in the first box which is already closer to its target threshold, thus optimizing the number of boxes that meet the contractual conditions of a nominal weight. The sorting arm <NUM> can have its own weight measurement apparatus or implement other weighing technique in order to evaluate the weight of an item being handled.

According to an embodiment, the box filling stage <NUM> comprises a box mounting apparatus , which comprises an arm (such as the sorting robot arm <NUM>, as shown, or any suitable robotized or automated arm other than the sorting robot arm <NUM> shown in <FIG>) for picking a new folded box, open it using fingers, and displace it to its appropriate spot on the surface area <NUM> where it can receive incoming produce while being continuously or periodically monitored for its contents (such as being weighed).

Still referring to <FIG>, according to an embodiment, the trailer <NUM> comprises a pallet mounting stage <NUM> which is located on another area in the trailer <NUM>, for example, just behind the area on which the box filling stage <NUM> is located. As shown in these figures, some room can be made for additional empty pallets to be used when a given pallet is completed and pushed back for storing.

According to an embodiment, the pallet mounting stage <NUM> comprises a pallet receiving surface <NUM>, which can take the form of a rotating stage having a surface on which a pallet is provided. A support <NUM>, such as a vertically-extending pole, can be provided close to this pallet receiving surface <NUM>, and supports a box handling arm <NUM>. The box handling arm <NUM> is responsible for grabbing the completed box on the box filling stage <NUM>, as instructed by the computer <NUM> with which it communicates, and displaces this box onto the pallet or onto boxes already packed thereon, thus contributing in completing the pallet with boxes.

According to an embodiment, once the pallet is complete, i.e., its height reaches a threshold, or when a row is complete, the pallet receiving surface <NUM> is rotated (i.e., it can spin around its own central axis using a dedicated mechanism or motor), while a wrap applicator is applied onto the box row(s) of the completed pallet. The wrap applicator <NUM> can be installed on the support <NUM>, and is a device which applies a layer of plastic wrapping sheet (or any other equivalent thereof) onto the row(s) of boxes. Normally, the wrapping applicator <NUM> would be located at a bottom of the pallet and start the application of the layer of plastic wrapping sheet while the whole pallet is being spun (by spinning the pallet receiving surface <NUM>, resulting in a relative revolution of the wrap applicator <NUM> around the pallet being wrapped); the wrapping applicator <NUM> slowly moves upwardly at the same time (i.e., simultaneous vertical translation) up to the last row at the top of the completed pallet, in which case the whole completed pallet is wrapped and secured.

According to an embodiment, there is further provided a storage trailer <NUM>. The storage trailer <NUM> should be adapted to receive pallets or boxes for storage during the operation of the system. For example, the storage trailer <NUM> can be removably attached at the rear end of the trailer <NUM>.

According to an exemplary embodiment, a chain conveyor <NUM> can be provided on a floor surface of the trailer <NUM> to displace pallets or boxes from the pallet mounting stage <NUM> (or from the box filling stage <NUM> if there are no pallets involved) toward the rear end of the trailer <NUM>. Similarly, a chain conveyor <NUM> can be provided on a floor surface of the storage trailer <NUM> to displace pallets or boxes from a front end toward the rear end thereof, preferably from a rear location of the pallet mounting stage <NUM>. Both chain conveyors (<NUM>, <NUM>) should be aligned and approximately at the same height such that pallets or boxes can be displaced substantially seamlessly from one to the other. Since a vehicle (including trailers) are usually about twice as large as a pellet, there are provided two chain conveyors inside each trailer, both extending parallel to each other and substantially spaced apart, such that each one can lead to one row (right or left) in the storage trailer <NUM>. The pallets being sequentially brought thereinto should be distributed to the left or right to avoid misbalancing the storage trailer <NUM>.

According to an embodiment, the storage trailer <NUM> can comprise lateral walls <NUM> (or side walls). The lateral walls <NUM>, shown on one side of the storage trailer <NUM> in <FIG>, are normally absent from any storage trailer used in the industry, since boxes or pallets are normally manually loaded laterally, i.e., from the sides, which must be left completely open. With the proposed form of loading using the chain conveyors (<NUM>, <NUM>), such manual loading can be avoided. Lateral walls <NUM> can therefore be added, along with a rear door, and the front opening, though which the chain conveyors (<NUM>, <NUM>) operate, can be advantageously provided with rubber curtains. These additions to the trailer, currently inapplicable in a field trailer during typical harvesting operations, can be used to refrigerate the storage trailer <NUM>. A refrigeration assembly can thus be added to the storage trailer <NUM> to perform this task. Together, the walls, insulation and refrigeration assembly can maintain a lower temperature of the completed pallets while the trailer (in this case, the storage trailer <NUM>) is still in the field, during the harvesting process. Back doors for the storage trailer <NUM> can allow back unloading onto an unloading deck.

The system <NUM> described above can advantageously be powered by the power take-off (PTO) <NUM> of the vehicle (e.g., tractor), coupled with an electric generator <NUM> which feeds electric power to the conveyors, apparatuses, computer, box filling stage, pallet mounting stage, sockets and accessories, etc. Mechanical parts such as the conveyor <NUM> can also be powered by a mechanical coupling with the PTO.

According to an exemplary embodiment, the computer <NUM> may communicate with the vehicle's onboard system or with specific contacts in the vehicle to adjust the vehicle's speed in the field based on the current workload, or a near-future estimation thereof.

According to an embodiment, the vision system <NUM> comprises different sets of cameras as described above, e.g., a three-dimensional camera and a color camera. According to a more specific embodiment, one of the camera types can be located on a bottom portion of the lateral extensions <NUM> and act as a preliminary spotter for the produce. The other type of camera can be located on the accessories <NUM> and have a finer degree of vision. For example, if the preliminary camera system does not identify anything to come, the accessory <NUM> can stay in standby, thus saving energy and computer processing power. It can be awakened if this preliminary camera system spots an interesting object, or if a location is reached in which an almost ripe fruit or vegetable was spotted in the previous days (thus requiring recording the status of previously spotted fruit and vegetable, and anticipating an updated status thereof for the present day). In this case, the fine camera system on the accessories <NUM> will wake up from standby mode to detect more precise properties of an upcoming item.

As mentioned above, sensors <NUM> are integrated into the system <NUM>. Advantageously, these sensors <NUM> can implement a "Supervisory Control And Data Acquisition" (SCADA). Data are transmitted to the computer <NUM> which can itself be connected to the internet for uploading data to a remote server. The computer <NUM> can also query data from remote servers, such as weather data.

As described above, the accessories <NUM> can be adapted to dispense pesticide to the plants in a very localized manner, i.e., at the plant level. By collecting weather forecast information, the computer <NUM> can instruct the system <NUM> to avoid dispensing a pesticide (or dispense less of it) if rain is forecasted in the near future (in which case it would simply be drained away by rainwater).

According to an embodiment, the accessories <NUM> selected to be installed into the sockets <NUM> can be different from one socket to the other, or the system <NUM> can be operated repeatedly by changing the apparatuses between each iteration. Operating the system <NUM> in this way allows harvesting a field in which the produce are diverse and variable from plant to plant, as in a home garden. More precisely, such fields do not exist or a large scale at this time due to a too great complexity for maintaining or harvesting. As can be understood from the description above, the system <NUM> is able to identify each item at an individual level in the field, and therefore, the system <NUM> may be used in a field comprising a variety of different types of produce within the same row. This would have to include rows in the field, and further avoids the need for crop rotation, while reducing risks of insect issues or epidemics.

The system <NUM> may further be used to plant the plants in the field in any desired pattern. In fact, it can be used for a variety of tasks in addition to harvesting.

For example, the system <NUM> can be used for sowing. The box filling stage <NUM> described above can be replaced by a seed container, and the conveyors can be operated in reverse, such that the apparatuses can grab seeds on the conveyor and dispose them onto the field. By using an appropriate accessory, the seeding operation can be a seeding under a film of plastic or fabric, since an appropriate accessory or combination of accessories would at the same time have a tool to temporarily push away the film, plant the seed, and bring the film back over the soil.

Similarly, the system <NUM> can plant small plants in the soil, in which case the seeds are replaced by a small plant. The system <NUM> may advantageously record the exact location where it was planted. If a variety of fruits or vegetables are planted, the system may tag each planting operation to record the exact location and the identity of what is planted there, which would help in easily localizing and identifying produce during harvesting or pesticide application. Thereafter, the system may repeatedly record the status of the previously planted/seeded plant, thereby monitoring the growth thereof and appearance of fruit/vegetable thereon. Afterwards, using such status records similar records from other similar plants, it can anticipate an updated status thereof for the present day based on the past measurements.

As mentioned above, a small quantity of pesticide can be added in-situ to the plant, preferably depending on forecasted or current weather conditions, and also depending on prior pesticide additions to avoid any excess.

According to an embodiment, the color camera mentioned above may collect color information to be analyzed by the computer <NUM> to identify the presence of insects. Pesticides can be dispensed accordingly.

According to an embodiment, insect presence in the field is determined by the computer <NUM> and is sent to a remote server for archiving. The accumulated information can be used to identify insect spreading in a given region and act accordingly, i.e., destroy a crop which would be a source of insect or disease spreading in view of regional winds, which normally drive regional insect migration.

The system <NUM> can also identify unripe fruits or vegetables and predict time of harvest, Since the system <NUM> can be operated every day, the overall harvest production can be estimated for the next days, thus helping the operator to better estimate crop yield for the next days and plan deliveries accordingly.

For example, using color to assess maturity, the system <NUM> can identify which item is ready to be picked up in one day, two days, three days, etc., with an optional uncertainty for those which are ready in more than two days.

Moreover, similar tasks can be performed for specific produce which require flagging prior to harvest. For example, cauliflowers need to be picked up five days after turning white. Typical harvesting involves placing a rubber band around each cauliflower indicating the date at which it will need to be harvested. The current system <NUM> is able to install such an identifier and, more advantageously, can simply record the exact location of the individual item and pick it up after the predefined number of days (e.g., <NUM> days for the cauliflower having turned white) by simply recognizing its very presence on this exact location, without having to use a physical indicator such as a rubber band.

The exact location of a fruit or vegetable can also be correlated with the initial seeding or planting, which can be geolocated, especially if the field is seeded with a variety of produce.

According to an embodiment, the vision system <NUM> can identify exceeding plant stems, especially those that bear no fruit, and cut these stems using an accessory comprising a cutter or scissors, to avoid these stems to grew uselessly and divert plant nutrients and resources from the fruit.

Other operations such as weeding can also be performed, in a similar fashion, i.e., various agricultural tasks can be performed.

Over a significant period of time, the recorded measurements made on the field on a high number of produce and at high frequency (temperature, humidity, soil composition, measured pesticide applications, follow-up of the leaves and produce color, etc.), along with the fact that the produce may have been characterized in terms of weight, shape and color when harvesting, allows the system <NUM> to collect big data which can be used to improve agronomy or simply statistics of crop yields in correlation with various factors.

<FIG> shows a method for performing an agricultural task, the method comprising the steps of:.

Claim 1:
A system for performing an agricultural task, the system being installed on a vehicle or trailer and comprising:
- a platform connecting to the vehicle or trailer and comprising a socket for an accessory;
- a plurality of accessories, wherein one accessory is configured to be selected among the plurality of accessories for installation in the accessory socket;
- a computer for processing data; and
- a vision system which is operatively connected to the computer and which is configured to collect data of the environment about the accessory,
- the computer being configured to use the collected data to determine an instruction for performing the agricultural task and to send the instruction to the accessory installed in the accessory socket to perform the agricultural task,
wherein the accessory is interchangeable in the accessory socket depending on the agricultural task, wherein the vision system comprises a color camera configured to collect data of the environment that comprises spectral data on vegetal objects undergoing the agricultural tasks, and at least two cameras positioned side-by-side, configured to collect data of the environment that comprises tridimensional data on vegetal objects undergoing the agricultural tasks.