WO2023017195A1 - Intelligent cutting machine for plants with a tree-like structure - Google Patents

Intelligent cutting machine for plants with a tree-like structure Download PDF

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Publication number
WO2023017195A1
WO2023017195A1 PCT/ES2021/070610 ES2021070610W WO2023017195A1 WO 2023017195 A1 WO2023017195 A1 WO 2023017195A1 ES 2021070610 W ES2021070610 W ES 2021070610W WO 2023017195 A1 WO2023017195 A1 WO 2023017195A1
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WO
WIPO (PCT)
Prior art keywords
vegetables
cutting machine
support plate
intelligent
treated
Prior art date
Application number
PCT/ES2021/070610
Other languages
Spanish (es)
French (fr)
Inventor
Ricardo Ezequiel Comin Escartin
Original Assignee
Componosollertia, S.A.L.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Componosollertia, S.A.L. filed Critical Componosollertia, S.A.L.
Priority to ES202390128A priority Critical patent/ES2966723A2/en
Priority to PCT/ES2021/070610 priority patent/WO2023017195A1/en
Priority to MX2023011149A priority patent/MX2023011149A/en
Publication of WO2023017195A1 publication Critical patent/WO2023017195A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
    • A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
    • A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
    • A23N15/003—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs for trimming cauliflowers, broccoli or cabbages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
    • B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
    • B26D1/45—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a cutting member the movement of which is not covered by any preceding group
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/005—Computer numerical control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/02—Means for moving the cutting member into its operative position for cutting
    • B26D5/06—Means for moving the cutting member into its operative position for cutting by electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/08—Means for actuating the cutting member to effect the cut
    • B26D5/086—Electric, magnetic, piezoelectric, electro-magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D2210/00—Machines or methods used for cutting special materials
    • B26D2210/02—Machines or methods used for cutting special materials for cutting food products, e.g. food slicers

Definitions

  • the present invention is characterized by the special configuration and functionality of each and every one of the elements that are part of the object of the invention in such a way that an intelligent cutting machine is achieved in which cutting is carried out in the most convenient place. previously defined by a series of parameters.
  • the present invention is circumscribed within the field of vegetable treatment machines.
  • the object of the present invention is an intelligent cutting machine for vegetables with a tree structure such as broccoli and cauliflower that allows precise positioning of the cutting head with respect to the vegetable depending on the size and dimensions of the vegetable.
  • the machine includes:
  • a support plate for the vegetables to be treated where the plate is provided with a forward movement.
  • An artificial vision camera placed above the support plate in a first position so that it is able to differentiate the type of vegetable to be treated, for example, if it is broccoli or cauliflower, also capture the dimensions of the vegetable to be treated, providing an electrical signal proportional to the size of the vegetable.
  • - Processing means preferably a PLC, which is connected to the artificial vision camera.
  • a servomotor that receives the indications from the PCL, a robotic arm being connected to said servomotor.
  • a pneumomechanical cutting system arranged at the end of the robotic arm and comprising a tilting blade actuated by means of a series of actuation cylinders, leaving the cutting system positioned above the support plate in a third position after the second position of the support plate.
  • the artificial vision camera is an intelligent camera provided with self-contained software, so it does not need another entity such as a computer to function, which has the means to carry out a "machine learning" process.
  • the application to detect the type of vegetable for example, if it is broccoli or cauliflower, it is done using machine learning.
  • the camera we use has data recognition and analysis software with learning that from photographic models the machine is taught that it is broccoli and that it is cauliflower, the processor looks for in those patterns recognizable models within the different products once it has enough patterns the hysteresis that is given to each product is parameterized, how many The more photos the machine is shown, the greater the precision.
  • the PLC can have a screen on which to project the processed photograph of the vegetable to be treated in order to be able to view it, showing the product photo along with certain overprinted information, such as a circle that circumscribes the product and a text with the numeric value of the size. Other possible information that could be included would be the date, time, position coordinates of the product, etc.
  • the PLC can have an algorithm that determines the type of product to be treated, where said algorithm is based on controlling the color of the pixels that allows establishing a range of values to define which range is broccoli and From there, the surrounding pixels are analyzed to form a region, and from that region the diameter of the product to be processed is defined.
  • the machine object of the invention comprises a support plate (1) that advances in one direction (2) and that is positioned in different positions, the machine having an artificial vision camera (3) that it remains on a first position of the support plate (1), said camera being connected to processing means, which in the embodiment shown is a PLC (4).
  • the PLC (4) is connected to a servomotor (4) that drives or acts on a robotic arm (9) that at its end has a pneumomechanical cutting system (7) that is arranged on a third position that can reach the support plate (1).
  • the pneumomechanical cutting system (7) comprises a tilting blade (8) actuated by a series of drive cylinders (10) that allow the positioning and tilting of the tilting blade (9).
  • the artificial vision camera (3) is an intelligent camera provided with self-contained software, so it does not need another entity such as a computer to function, which has the means to carry out a "machine learning” process to be able to differentiate one vegetable from another, for example, cauliflower from broccoli.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Food Science & Technology (AREA)
  • Polymers & Plastics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Cultivation Of Plants (AREA)

Abstract

The machine comprises a support plate (1) for the plants to be treated, processing means, and a servomotor which is connected to a robotic arm (9) and has, at the end thereof, a pneumatic-mechanical cutting system (7) arranged at the end of the robotic arm (9) and comprising a tilting blade (8) actuated by means of a series of drive cylinders (10). The machine allows the size and properties of the trunk of tree-like plants to be identified and thus a precise cut to be carried out by adjusting the cutting position to the desired location according to parameterisable criteria, all of which is carried out automatically.

Description

MÁQUINA DE CORTE INTELIGENTE PARA VEGETALES DE ESTRUCTURA ARBORESCENTE INTELLIGENT CUTTING MACHINE FOR TREE STRUCTURE VEGETABLES
DESCRIPCIÓN DESCRIPTION
OBJETO DE LA INVENCIÓN OBJECT OF THE INVENTION
Es objeto de la presente invención, tal y como el título de la invención establece una máquina de corte inteligente para vegetales de estructura arborescente que permite como el propio título de la invención establece realizar un corte inteligente, es decir, ajustado a las dimensiones del vegetal a partir de los datos obtenidos por una cámara de visión artificial. It is the object of the present invention, as the title of the invention establishes an intelligent cutting machine for vegetables with a tree structure that allows, as the title of the invention establishes, to carry out an intelligent cut, that is, one adjusted to the dimensions of the vegetable. from the data obtained by an artificial vision camera.
Caracteriza a la presente invención la especial configuración y funcionalidad de todos y cada uno de los elementos que forman parte del objeto de la invención de manera que se consigue una máquina de corte inteligente en la que se lleva a cabo el corte por el lugar más conveniente previamente definido mediante una serie de parámetros. The present invention is characterized by the special configuration and functionality of each and every one of the elements that are part of the object of the invention in such a way that an intelligent cutting machine is achieved in which cutting is carried out in the most convenient place. previously defined by a series of parameters.
Por lo tanto, la presente invención se circunscribe dentro del ámbito de las máquinas de tratamiento de vegetales. Therefore, the present invention is circumscribed within the field of vegetable treatment machines.
ANTECEDENTES DE LA INVENCIÓN BACKGROUND OF THE INVENTION
En el estado de la técnica son conocidos los siguientes documentos de patentes relativos al tratamiento de vegetales: The following patent documents relating to the treatment of plants are known in the state of the art:
ES200503190 máquina para troceado y extracción del tronco de vegetales con estructura arborescente y método de troceado y extracción del tronco con dicha maquina. - ES200302714 método adaptativo de corte de vegetales con estructura arborescente y maquina que lleva a cabo dicho corte. ES200503190 machine for chopping and extraction of the trunk of vegetables with arborescent structure and method of chopping and extraction of the trunk with said machine. - ES200302714 adaptive method of cutting vegetables with arborescent structure and machine that carries out said cutting.
- ES200602298 mejoras introducidas en la patente principal n 200503190 maquina para troceado y extracción del tronco de vegetales con estructura arborescente y método de troceado y extracción del tronco de dicha maquina. - ES200602298 improvements introduced in the main patent n 200503190 machine for chopping and extracting the trunk of vegetables with arborescent structure and method for chopping and extracting the trunk of said machine.
Si bien dichas patentes buscan realizar el corte del tronco de vegetales arborescentes, tales como coliflor y brócoli , de la manera más automatizada posible, es posible mejorar la precisión en el corte, además de otros parámetros a partir del empleo tecnológico de nuevos desarrollos empleados de forma combinada. Although these patents seek to cut the trunk of arborescent vegetables, such as cauliflower and broccoli, in the most automated way possible, it is possible to improve the cutting precision, in addition to other parameters from the technological use of new developments used by combined form.
Por lo tanto, es objeto de la presente invención desarrollar una máquina para el tratamiento de vegetales de estructura arborescente, particularmente coliflor y brócoli, que permiten un posicionamiento preciso del corte del cabezal, desarrollando una máquina como la que a continuación se describe y queda recogida en su esencialidad en la reivindicación primera. Therefore, it is the object of the present invention to develop a machine for the treatment of vegetables with arborescent structure, particularly cauliflower and broccoli, which allow precise positioning of the head cut, developing a machine like the one described below and which is collected. in its essentiality in the first claim.
DESCRIPCIÓN DE LA INVENCIÓN DESCRIPTION OF THE INVENTION
Es objeto de la presente invención una máquina de corte inteligente para vegetales de estructura arborescente tales como brócoli y coliflor que permite un posicionamiento preciso del cabezal de corte respecto del vegetal dependiendo del tamaño y dimensiones del vegetal. The object of the present invention is an intelligent cutting machine for vegetables with a tree structure such as broccoli and cauliflower that allows precise positioning of the cutting head with respect to the vegetable depending on the size and dimensions of the vegetable.
Para lograr dichos fines la máquina comprende: To achieve these purposes, the machine includes:
- Un plato de soporte de los vegetales objeto de tratamiento, donde el plato está dotado de un movimiento de avance. - A support plate for the vegetables to be treated, where the plate is provided with a forward movement.
- Una cámara de visión artificial, colocada por encima del plato de soporte en una primera posición de manera que es capaz de diferenciar el tipo de vegetal a tratar, por ejemplo, si es brócoli o coliflor, también captar las dimensiones del vegetal a tratar, proporcionando una señal eléctrica proporcional al tamaño del vegetal. - An artificial vision camera, placed above the support plate in a first position so that it is able to differentiate the type of vegetable to be treated, for example, if it is broccoli or cauliflower, also capture the dimensions of the vegetable to be treated, providing an electrical signal proportional to the size of the vegetable.
- Unos medios de procesamiento, preferiblemente un PLC, que está conectado con la cámara de visión artificial. - Processing means, preferably a PLC, which is connected to the artificial vision camera.
- Un servomotor que recibe las indicaciones del PCL, estando conectado a dicho servomotor un brazo robotizado. - A servomotor that receives the indications from the PCL, a robotic arm being connected to said servomotor.
- Un sistema de corte neumomecánico dispuesto en el extremo del brazo robotizado y que comprende una cuchilla basculante actuada por medio de una serie de cilindros de accionamiento, quedando el sistema de corte posicionado por encima del plato de soporte en una tercera posición a continuación de la segunda posición del plato de soporte. - A pneumomechanical cutting system arranged at the end of the robotic arm and comprising a tilting blade actuated by means of a series of actuation cylinders, leaving the cutting system positioned above the support plate in a third position after the second position of the support plate.
La cámara de visión artificial es una cámara inteligente provista de un software autocontenido por lo que no necesita de otra entidad como por ejemplo un ordenador para funcionar que cuenta con medios para llevar a cabo un proceso de “machine learning”. The artificial vision camera is an intelligent camera provided with self-contained software, so it does not need another entity such as a computer to function, which has the means to carry out a "machine learning" process.
En una forma de realización preferente pero no limitativa, para la aplicación de detección del tipo de vegetal, por ejemplo, si es brócoli o coliflor se hace mediante el machine Learning, La cámara que utilizamos tiene un software de reconocimiento y análisis de datos con aprendizaje que a partir de modelos fotográficos se enseña a la máquina que es brócoli y que es coliflor, el procesador busca en esos patrones modelos reconocibles dentro de los diferentes productos una vez que tiene suficientes patrones se parametriza la histéresis que se da a cada producto, cuantas mas fotos se enseña a la maquina mayor es la precisión. In a preferred but non-limiting embodiment, for the application to detect the type of vegetable, for example, if it is broccoli or cauliflower, it is done using machine learning. The camera we use has data recognition and analysis software with learning that from photographic models the machine is taught that it is broccoli and that it is cauliflower, the processor looks for in those patterns recognizable models within the different products once it has enough patterns the hysteresis that is given to each product is parameterized, how many The more photos the machine is shown, the greater the precision.
En una realización complementaria el PLC pueden contar con una pantalla en la que proyectar la fotografía procesada del vegetal a tratar con objeto de poder ser visualizado, mostrándose la foto del producto junto con una determinada información sobreimpresa, como un círculo que circunscribe al producto y un texto con el valor numérico del tamaño. Otra posible información que se podría incluir sería la fecha hora, coordenadas de posición del producto, etc. El PLC puede disponer en una realización complementaria de un algoritmo que determina el tipo de producto que se va a tratar, donde dicho algoritmo está basado en el control del color de los pixeles que permite establecer un rango de valores para definir que rango es brócoli y a partir de ahí se analizan los pixeles de alrededor formado una región, y a partir de esa región se define el diámetro del producto a procesar. In a complementary embodiment, the PLC can have a screen on which to project the processed photograph of the vegetable to be treated in order to be able to view it, showing the product photo along with certain overprinted information, such as a circle that circumscribes the product and a text with the numeric value of the size. Other possible information that could be included would be the date, time, position coordinates of the product, etc. In a complementary embodiment, the PLC can have an algorithm that determines the type of product to be treated, where said algorithm is based on controlling the color of the pixels that allows establishing a range of values to define which range is broccoli and From there, the surrounding pixels are analyzed to form a region, and from that region the diameter of the product to be processed is defined.
Salvo que se indique lo contrario, todos los elementos técnicos y científicos usados en la presente memoria poseen el significado que habitualmente entiende un experto normal en la técnica a la que pertenece esta invención. En la práctica de la presente invención se pueden usar procedimientos y materiales similares o equivalentes a los descritos en la memoria. Unless otherwise indicated, all technical and scientific elements used herein have the meaning that is usually understood by a normal person skilled in the art to which this invention pertains. Similar or equivalent procedures and materials to those described herein may be used in the practice of the present invention.
A lo largo de la descripción y de las reivindicaciones la palabra “comprende” y sus variantes no pretenden excluir otras características técnicas, aditivos, componentes o pasos. Para los expertos en la materia, otros objetos, ventajas y características de la invención se desprenderán en parte de la descripción y en parte de la práctica de la invención. Throughout the description and claims, the word "comprises" and its variants are not intended to exclude other technical characteristics, additives, components or steps. For those skilled in the art, other objects, advantages, and features of the invention will emerge in part from the description and in part from the practice of the invention.
EXPLICACIÓN DE LAS FIGURAS EXPLANATION OF THE FIGURES
Para complementar la descripción que se está realizando y con objeto de ayudar a una mejor comprensión de las características de la invención, de acuerdo con un ejemplo preferente de realización práctica de la misma, se acompaña como parte integrante de dicha descripción, un juego de dibujos en donde con carácter ilustrativo y no limitativo, se ha representado lo siguiente. To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of its practical embodiment, a set of drawings is attached as an integral part of said description. where with an illustrative and non-limiting nature, the following has been represented.
En la figura 1 , podemos observar una representación esquemática de la máquina objeto de la invención. REALIZACIÓN PREFERENTE DE LA INVENCIÓN In figure 1, we can see a schematic representation of the machine object of the invention. PREFERRED EMBODIMENT OF THE INVENTION
A la vista de las figuras se describe seguidamente un modo de realización preferente de la invención propuesta. In view of the figures, a preferred embodiment of the proposed invention is described below.
En la figura 1 podemos observar que la máquina objeto de la invención comprende un plato de soporte (1) que avanza en una dirección (2) y que es posicionado en diferentes posiciones, contando la máquina con una cámara de visión artificial (3) que queda sobre una primera posición del plato de soporte (1 ), estando dicha cámara conectada con unos medios de procesamiento, que en la realización mostrada es un PLC (4). In figure 1 we can see that the machine object of the invention comprises a support plate (1) that advances in one direction (2) and that is positioned in different positions, the machine having an artificial vision camera (3) that it remains on a first position of the support plate (1), said camera being connected to processing means, which in the embodiment shown is a PLC (4).
El PLC (4) está en conexión con un servomotor (4) que conduce o actúa sobre un brazo robotizado (9) que en su extremo cuenta con un sistema de corte neumomecánico (7) que queda dispuesto sobre una tercera posición que puede alcanzar el plato de soporte (1 ). The PLC (4) is connected to a servomotor (4) that drives or acts on a robotic arm (9) that at its end has a pneumomechanical cutting system (7) that is arranged on a third position that can reach the support plate (1).
El sistema de corte neumomecánico (7) comprende una cuchilla basculante (8) actuadas por una serie de cilindros de accionamiento (10) que permiten el posicionamiento y basculación de la cuchilla basculante (9). The pneumomechanical cutting system (7) comprises a tilting blade (8) actuated by a series of drive cylinders (10) that allow the positioning and tilting of the tilting blade (9).
La cámara de visión artificial (3) es una cámara inteligente provista de un software autocontenido por lo que no necesita de otra entidad como por ejemplo un ordenador para funcionar que cuenta con medios para llevar a cabo un proceso de “machine learning” para poder diferencia un vegetal de otro, por ejemplo, la coliflor del brócoli. The artificial vision camera (3) is an intelligent camera provided with self-contained software, so it does not need another entity such as a computer to function, which has the means to carry out a "machine learning" process to be able to differentiate one vegetable from another, for example, cauliflower from broccoli.
Gracias a los medios empleados, la disposición conjunta de ellos y la funcionalidad de cada uno de ellos se consigue poder identificar el tamaño y propiedades del tronco de vegetales arborescentes y así poder realizar un corte preciso al ajustar la posición de corte por el lugar deseado de acuerdo a unos criterios paramethzables todo ello realizado de forma automática. Descrita suficientemente la naturaleza de la presente invención, así como la manera de ponerla en práctica, se hace constar que, dentro de su esencialidad, podrá ser llevada a la práctica en otras formas de realización que difieran en detalle de la indicada a título de ejemplo, y a las cuales alcanzará igualmente la protección que se recaba, siempre que no altere, cambie o modifique su principio fundamental. Thanks to the means used, the joint arrangement of them and the functionality of each of them, it is possible to identify the size and properties of the trunk of arborescent vegetables and thus be able to make a precise cut by adjusting the cutting position for the desired place of according to paramethzable criteria, all done automatically. Having sufficiently described the nature of the present invention, as well as the manner of putting it into practice, it is stated that, within its essential nature, it may be put into practice in other embodiments that differ in detail from the one indicated by way of example. , and to which the protection that is sought will also reach, as long as it does not alter, change or modify its fundamental principle.

Claims

7 REIVINDICACIONES 7 CLAIMS
1.- Máquina de corte inteligente para vegetales de estructura arborescente caracterizada porque comprende: 1.- Intelligent cutting machine for vegetables with arborescent structure characterized in that it comprises:
- Un plato de soporte (1 ) de los vegetales objeto de tratamiento, donde el plato está dotado de un movimiento de avance en una dirección (2). - A support plate (1) for the vegetables to be treated, where the plate is provided with a forward movement in one direction (2).
- Una cámara de visión artificial (3), colocada por encima del plato de soporte en una primera posición de manera que es capaz de diferenciar el tipo de vegetal del que se trata, captar las dimensiones del vegetal a tratar, proporcionando una señal eléctrica proporcional al tamaño del vegetal. - An artificial vision camera (3), placed above the support plate in a first position so that it is capable of differentiating the type of plant in question, capturing the dimensions of the plant to be treated, providing a proportional electrical signal to the size of the vegetable.
- Unos medios de procesamiento, que está conectado con la cámara de visión artificial (3). - Processing means, which is connected to the artificial vision camera (3).
- Un servomotor (6) que recibe las indicaciones de los medios de procesamiento, estando conectado a dicho servomotor un brazo robotizado (9). - A servomotor (6) that receives the indications from the processing means, a robotic arm (9) being connected to said servomotor.
- Un sistema de corte neumomecánico (7) dispuesto en el extremo del brazo robotizado (9) y que comprende una cuchilla basculante (8) actuada por medio de una serie de cilindros de accionamiento (10), quedando el sistema de corte posicionado por encima del plato de soporte en una tercera posición a continuación de la segunda posición del plato de soporte. - A pneumomechanical cutting system (7) arranged at the end of the robotic arm (9) and comprising a tilting blade (8) actuated by means of a series of drive cylinders (10), leaving the cutting system positioned above of the support plate in a third position following the second position of the support plate.
2.- Máquina de corte inteligente para vegetales de estructura arborescente según la reivindicación 1 caracterizada porque la cámara de visión artificial (3) es una cámara inteligente provista de un software autocontenido que cuenta con medios para llevar a cabo un proceso de “machine learning”. 2.- Intelligent cutting machine for arborescent vegetables according to claim 1, characterized in that the artificial vision camera (3) is an intelligent camera provided with self-contained software that has means to carry out a "machine learning" process. .
3.- Máquina de corte inteligente para vegetales de estructura arborescente según la reivindicación 1 ó 2 caracterizada porque los medios de procesamiento es un PLC (4). 8 3. Intelligent cutting machine for vegetables with arborescent structure according to claim 1 or 2, characterized in that the processing means is a PLC (4). 8
4.- Máquina de corte inteligente para vegetales de estructura arborescente según la reivindicación 3 caracterizada porque el PLC (4) cuenta con una pantalla en la que proyectar la fotografía procesada del vegetal a tratar junto con información adicional. 4.- Intelligent cutting machine for vegetables with arborescent structure according to claim 3, characterized in that the PLC (4) has a screen on which to project the processed photograph of the vegetable to be treated together with additional information.
5.- Máquina de corte inteligente para vegetales de estructura arborescente según la reivindicación 4 caracterizada porque el PLC (4) cuenta con un algoritmo que determina el tipo de producto que se va a tratar, donde dicho algoritmo está basado en el control del color de los pixeles que permite establecer un rango de valores para definir el tipo de vegetal. 5.- Intelligent cutting machine for vegetables with arborescent structure according to claim 4, characterized in that the PLC (4) has an algorithm that determines the type of product to be treated, where said algorithm is based on the control of the color of the pixels that allows establishing a range of values to define the type of vegetable.
PCT/ES2021/070610 2021-08-12 2021-08-12 Intelligent cutting machine for plants with a tree-like structure WO2023017195A1 (en)

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PCT/ES2021/070610 WO2023017195A1 (en) 2021-08-12 2021-08-12 Intelligent cutting machine for plants with a tree-like structure
MX2023011149A MX2023011149A (en) 2021-08-12 2021-08-12 Intelligent cutting machine for plants with a tree-like structure.

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Citations (5)

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Publication number Priority date Publication date Assignee Title
WO1997013418A1 (en) * 1995-10-07 1997-04-17 Anthony George Ellis Vegetable core removal apparatus
EP1759600A1 (en) * 2005-08-31 2007-03-07 Bonduelle Société Anonyme Method and apparatus for trimming salads
EP2404511A1 (en) * 2010-07-06 2012-01-11 Mécanique et Chaudronnerie de l'Atlantique Device and method for cutting the core from lettuces
ES2652320A1 (en) * 2017-09-27 2018-02-01 Eds Robotics, S.L. Linear installation for leaf removal of vegetable type plants such as lettuce with elimination of the stem/stem of said plants. (Machine-translation by Google Translate, not legally binding)
WO2019086729A1 (en) * 2017-11-03 2019-05-09 Componosollertia, S.A.L. System for automatically floretting brassicaceae

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997013418A1 (en) * 1995-10-07 1997-04-17 Anthony George Ellis Vegetable core removal apparatus
EP1759600A1 (en) * 2005-08-31 2007-03-07 Bonduelle Société Anonyme Method and apparatus for trimming salads
EP2404511A1 (en) * 2010-07-06 2012-01-11 Mécanique et Chaudronnerie de l'Atlantique Device and method for cutting the core from lettuces
ES2652320A1 (en) * 2017-09-27 2018-02-01 Eds Robotics, S.L. Linear installation for leaf removal of vegetable type plants such as lettuce with elimination of the stem/stem of said plants. (Machine-translation by Google Translate, not legally binding)
WO2019086729A1 (en) * 2017-11-03 2019-05-09 Componosollertia, S.A.L. System for automatically floretting brassicaceae

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