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    • 专利摘要:
    Linear installation for leaflessness of vegetable plants such as lettuce with stem/stem removal of said vegetables, including said installation (1), an alignment module (2) to align and move the plants to defoliate (PL) in a first sense of advance (SA1); a second endless conveyor belt (3) with receiving cups (30) for depositing and placing the plant to be defoliated (PL) with the lower part of the trunk/stem (T) generally directed upwards, moving the receiving cups in a second direction of advance (SA2) which is a continuation of the first direction of advancement; a first artificial vision booth (4) with means (40) for acquiring images of the respective plant to be defoliated deposited on a respective receiving cup; means for data processing (5), which uses images acquired by means of image acquisition (40) of the plants to be defoliated; at least one robot (6) adapted to capture a respective plant to be defoliated (PL) from a respective receiving cup (30) and adapted to move the captured plant to a cutting position (POC); at least one cutting device (7) for cutting a lower portion of a respective plant to be defoliated; a third endless conveyor belt (8) for depositing and moving the plant to defoliate already cut inferiorly (PLCI) in a third direction of advance (SA3) parallel to the second direction of advance (SA2); a second artificial vision cabin (9) comprising second image acquisition means (90), to be used by the processing means (5) to calculate a respective diameter (DTC) of the trunk/stem (T) of each plant a defoliation already cut inferiorly deposited in said third conveyor belt (8); at least one die-cutting module (10) for cutting the stem/stem (T) of each respective plant to be defoliated already cut deposited in the third endless conveyor belt (8); an extraction system (11) connected to that of punching (10) to evacuate a respective cut/stem (T) cut; and a fourth conveyor belt (12) for the output of cut leaves running under and along the second (3) and third (8) conveyors for the collection of cut/detached leaves of the plants to defoliate/plants to defoliate already cut. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2652320A1
    申请号:ES201731154
    申请日:2017-09-27
    公开日:2018-02-01
    发明作者:Francisco Ismael CANDELA RIQUELME；María José MORENO JIMENEZ
    申请人:Eds Robotics S L；Eds Robotics SL；
    IPC主号:
    专利说明:

    Title
    5 Linear installation for defoliation of vegetable type plants such as lettuce withremoval of the trunk / stem of these plants.
    Scope and prior art
    The present invention relates to the automated processing of vegetable-type plants such as lettuce and the like in order to defoliate them and eliminate all of their trunk / central stem to obtain as a product resulting from said process only the cut leaves.
    15 Document ES 2238149 discloses a machine for cutting fruit and vegetable products with two cars arranged at right angles with reciprocating movements and both have a support for a product, such as a watermelon, a cabbage, a lettuce or similar bulky products They are sold packaged by rooms. Two linear saws are provided each associated with a car; and the product to be cut is centered
    20 under a guiding light of its center, and the first car travels to the angle; at the angle there is a transfer based on the collection by a receiving device that delivers it to the other car, on whose return the second cut occurs.
    By means of document ES 2237330, a device for lettuce packaging is known
    25 or similar products, preferably lettuce or lettuce buds, by means of this device the lettuce is subjected to a process of selection of sizes or sizes, to the cut of the peduncle or stem and elimination of the external leaves, not usable, and finally to make a positioning of lettuce / bud in a container or tray. The device includes a first charging station and has weighing means on a belt
    30 transport, a data reading is carried out by means of an artificial vision system, the lettuce being then, taken by a robot that introduces it into a cutting station where the lettuce trunk is removed and the external leaves are released after depositing it in a feed hopper of a dump cylinder. By means of two conveyor belts arranged in “V”, the buds move towards a second robotic station equipped with
    35 another artificial vision system and whose robot collects the product and places it in a container or


    tray. Waste products or waste (leaves, logs or stems, etc.) fall into a collection gutter.
    In this device as explained above it is intended to "clean" a
    5 lettuce to finally provide a bud; here the trunk / stem is cut transversely and the first artificial vision means provide data to transmit to the robots and transport the lettuces to a cutting station. The second station has an additional artificial vision system that is used to place the already clean bud or lettuce in a container.
    10 The technical problem posed lies in obtaining the loose and devoid leaves to the greatest extent possible from its trunk to the central stem and the prior art devices are not applicable for resolution so that the technical need to provide an installation persists that allows the stripping of a vegetable type plant such as
    15 a lettuce with removal of its trunk / central stem.
    Object of the invention
    Starting from the state of the art described above, the invention aims at
    20 the development of an installation of the type indicated in a principle that allows to solve the technical problem posed, that is to say, to provide the greatest amount of cut leaves and with the least possible residue of its trunk / stem.
    The invention is based on the idea that in a vegetable type lettuce that most of the
    25 trunk / stem is in its lower part or what is the same most of the leaves are in the upper part of the plant, so that in a first phase the upper part of the plant is cut and at a later stage, with the plant already cut remove the trunk / stem from it.
    30 For a better understanding of the following, it should be understood that, as used herein, the term "defoliating plant" has already been cut inferiorly means that the defoliating plant is cut by its upper part directed downwards as long as it is placed in the installation.
    This objective is achieved through an installation with the characteristics indicated in the
    Main claim 1. Other features and advantages of the invention will result from the dependent claims.


    According to the invention, an installation is provided which includes: an alignment module comprising a hopper from which plants to be defoliated are discharged and at least a first endless alignment belt to collect the plants to be defoliated discharged from the hopper, moving them and aligning them in a first direction of advance of said first endless alignment belt; -a second endless conveyor belt with a plurality of receiving cups for depositing and placement of the plant to be defoliated with the lower part of the trunk / stem generally directed upwards, that is with the upper part of the plant directed downwards, the cups moving receivers in a second direction of advance which is parallel to said first direction of advance; -a first artificial vision booth through which said second conveyor belt runs comprising first means for acquiring images of the respective plant to be defoliated deposited on a respective receiving bowl, -a means for data processing, adapted to use the images acquired by means of image acquisition and from said images determine position parameters of the respective plant to be defoliated within the respective receiving bowl of the second conveyor belt; -at least a robot with a collection arm, adapted to capture a respective plant to defoliate from a respective receiving bowl of the second conveyor belt, using said position parameters of the respective plant to defolish and also adapted to transfer the respective plant captures to a cutting position; - at least one cutting device for cutting a downwardly directed portion of a respective leafless plant captured by a respective collection arm operatively located in said cutting position; -a third endless conveyor belt to deposit the plant to defolder already cut inferiorly by means of the capture arm of the at least one, first robot, including said plant to defolder already cut inferiorly an essential part of its trunk / stem and said trunk placed / essentially vertical oriented stalk, and to move said plant to defolder already cut inferiorly in a third direction of advance that is parallel to the second direction of advance of the second conveyor belt; - a second artificial vision cabin through which the third endless conveyor belt that comprises second image acquisition means runs, said images being used by said processing means to calculate a respective trunk / stem diameter of each respective deforestation plant already cut inferiorly deposited on said third conveyor belt;


    - at least one die module with two or more die devices of different die diameters for cutting the stem / stem of each respective plant to be defoliated and cut inferiorly deposited on the third endless conveyor belt, said at least one module being adapted of die cutting to move the die devices transversely to the third direction of advance of said third conveyor belt by positioning said die devices above a respective plant to be cut off undercut and to select one of said cylindrical die devices whose die diameter is adjusted more to the diameter of the piece / stem of the respective plant, calculated by the processing means from the images captured by said second image acquisition means of the second artificial vision cabin and said at least one being also adapted, die cutting module to drive a respect ivo die device to carry out the stamping of the trunk / stem of the respective plant to be cut off; - a pneumatically operated extraction system that is connected to each cylindrical die device of the at least one die cutting module to evacuate a respective cut stem / stem; and -a fourth conveyor belt for the exit of cut leaves that runs below and along the second and third conveyor belts for the collection of the cut / detached leaves of the plants to be defoliated / plants to be defoliated and cut.
    According to an additional feature and in order to achieve a better ordering of the plants to cut the at least one, first alignment belt of the alignment module is constituted by three sections of alignment tape that are mutually and successively displaced vertically .
    According to an additional feature of the invention for a correct positioning of the plant to be cut the second endless conveyor belt consists of a plurality of pairs of receiving cups, the receiving cups of each pair being arranged contiguously transversely to the second direction of advance of said second conveyer belt.
    According to another additional feature of the invention, it is convenient that the first image acquisition means of the first viewing cabin consist of a first group of cameras, with at least three cameras arranged forming respective first pairs of stereoscopic vision and a second group of cameras with at least three cameras arranged forming respective second pairs of stereoscopic vision,


    where the first group of cameras is focused to capture images of a respective plant to defoliate deposited in a respective receiving bowl of each pair of cups while the second group of cameras is focused to capture images of a respective plant to defoliate deposited in the other receiving bowl of the pair of receiving cups.
    According to another additional feature of the invention, an advantage is provided when the position parameters of the plant to be stripped on the corresponding receiving bowl, obtained by the processing means from the images acquired / captured by the first image acquisition means, they include: -a horizontal orientation angle that forms the body of the plant to defoliate with respect to the direction of advance of the second conveyor belt; - a vertical orientation angle formed with respect to the vertical by a line that joins the upper part of the trunk / stem of the plant to be defolled and a measured center of said plant to be defolled; and -the coordinates of the measured center of the plant to defoliate with respect to an origin of coordinates located in the center of the respective receiving bowl.
    According to another additional feature of the invention, it is advantageous in that it refers to the most efficient operation of the installation when at least three robots are provided each with a collection arm adapted to capture a respective plant to defoliate from a respective receiving bowl of the plant. second conveyor belt, using said position parameters of the respective plant to defoliate and move the respective capture plant to a respective cutting position, where said three robots are communicated with each other for coordinated operation during the capture of the respective plant to defoliate, the transfer of the respective captured plant to a respective cutting position and the deposit of the plant already cut inferiorly on the third endless conveyor belt.
    According to an additional feature of the invention it is advantageous that each collection arm has a capture clamp consisting of pressed claws actuated for closing / opening by means of respective pneumatic / hydraulic actuating cylinder mounted on the collection arm and where the number and configuration of the claws are chosen according to the types of plants to defoliate.


    According to another additional feature, it is advantageous to have three cutting devices each operatively arranged in a respective cutting position and each of whose cutting devices consists of a pair of rotating discs arranged rotating occupying an essentially perpendicular plane with the vertical one, that is to say essentially perpendicular to the trunk / stem of the plant and said cutting discs being displaced vertically in a distance that can be adjusted.
    According to another additional feature of the invention, it is advantageous that the robots are adapted to deposit the plant to be deflated and cut inferiorly alternately on a right part and on a left part of said second endless conveyor belt seen in the third direction of advance. of said third tape.
    Also according to another additional feature of the invention it is advantageous when the second image acquisition means consist of at least two cameras respectively focused to capture images of the plants already cut by their lower part deposited in each of the right parts and left of the third conveyor belt.
    Still in accordance with another additional feature of the invention, two die modules are advantageously provided with at least two die device of different diameter / gauge, one of the die modules being operatively arranged on the right side of the second conveyor belt , while the other die-cutting module is operatively arranged on the left side of said third conveyor belt to punch the trunk / stem of the respective plant already cut inferiorly placed to the right and left in the third direction of advance of the third conveyor belt.
    According to a further feature of the invention, it is an advantage when each die module is formed by: a bridge that extends transversely over said second conveyor belt; -a guide mounted on said bridge; - a carriage supporting the at least two die devices, whose carriage is adapted to move on said guide and where each die device is adapted to be operated separately in a vertical die movement by means of a respective first hydraulic / pneumatic cylinder;


    - drive means for moving the carriage along the guide, said drive means including a servomotor, a pair of pulleys and a toothed belt; - each die device, is mounted on a die-holder plate actuated by said respective hydraulic / pneumatic cylinder and comprises a die cylinder and clamping means to hold the plant to be deflated and cut inferiorly, while the die device descends to make the corresponding cut of its trunk / stem; and counting the fastening means of: -a support ring fixed to the die-holder plate; -a radial legs that extend radially downward and outward from the support ring; and -a vertically movable clamping plate by means of respective hydraulic / pneumatic cylinders, operatively mounted on said radial legs.
    Also in accordance with a further feature of the invention, it is advantageous that the system for extracting the stamped stem / stem consists of a respective pipe to connect to a respective die cylinder and a suction element that applies a negative pressure to the respective pipe to drag the respective trunk / stamped stem.
    Even in accordance with another additional feature of the invention, it is an advantageous configuration when a support structure with stairs, doors and support platforms for mounting the second conveyor belt, the first viewing cabin, the at least one robot, is provided. the at least one cutting device, the second conveyor belt, the second artificial vision booth, the at least one die cutting module, the extraction system and the fourth conveyor belt for the exit of the sheets.
    It is yet another object of the invention, according to the independent process claim, a process for defoliation of vegetable type plants such as lettuce with removal of the trunk / stem of said vegetables carried out by means of the installation according to the invention comprising the following stages: -supply and align forming, at least one row, a plurality of plants to defoliate by moving them according to a first direction of advancement; - deposit a respective plant to defoliate on a second endless conveyor belt and place said plant to defoliate with the lower part of the trunk / stem generally directed upwards, that is to say with the upper part of the plant to defoliate directed downwards,


    - move a respective plant to defoliate in a second direction of advance of said second conveyor belt through a first artificial vision cabin to acquire images of a respective plant to defoliate, -process the acquired images of a respective plant to defolish to calculate position parameters of the respective plant to defoliate (PL) on the second conveyor belt; -capturing a respective plant to defoliate from the second conveyor belt, using the aforementioned position parameters of the respective plant to defoliate; -translate the respective plant to defoliate captured to a cutting position; -cut the respective plant captured by its lower part to obtain a plant to defolder already cut inferiorly; - depositing the respective plant to defolder already cut inferiorly, but which still includes an essential part of its trunk / stem, on a third endless conveyor belt with its essentially vertical oriented trunk / stem; - move a respective plant to defolder already cut inferiorly in the third direction of advance of said second conveyor belt through second artificial vision cabin to acquire images of said plant already cut; -processing the images of said plant to defolder already cut to calculate a respective diameter of the trunk / stem of each respective plant already cut inferiorly; -shift a respective die module transversely to the third direction of advance of the third conveyor belt, -select between at least two die cylinders of different diameter of the die device of the die device, the one whose die diameter fits more to the diameter of the piece / stem of the respective plant calculated from the processing of the images captured from the plants to be defolled and cut inferiorly placed on the third endless conveyor belt; - stamping of the trunk / stem of each respective plant to be cut and already cut deposited on the third endless conveyor belt, with the die cutting cylinder of the selected die device and holding the respective plant already cut inferiorly while the respective die cutting cylinder descends; - remove the cut stem / stem from the respective die cutting cylinder used by pneumatic suction; -collection of the cut / detached leaves of the plants to be cut / plants already cut along its route through the second and third conveyor belts.
    Brief description of the drawings


    Other features and advantages of the invention will result more clearly from the description that follows made with the help of the attached drawings, referring to an example of non-limiting execution and in which:
    5 Figure 1 is a top plan view of a linear plant for leaflessing of vegetable type plants such as lettuce with removal of the trunk / stem of said vegetables.
    Figure 2 shows a perspective detail of the plant alignment module of the installation of Figure 1.
    Figure 3 shows a rear elevation view of the installation of Figure 1.
    Figure 4 is a perspective view showing the second conveyor belt.
    Figure 5A shows a top plan view illustrating a detail of the image acquisition means of the first vision camera,
    Figures 5B to 5D illustrate respective schematics of the operation of the image acquisition means of Figure 5A.
    Figures 6A to 6C show respective perspective details of the robots and the cutting devices of the plants to be defolled.
    25 Figure 7A illustrates a first embodiment of a capture clamp to catch the plant to defoliate.
    Figure 7B shows a second embodiment of a capture clip to catch the plant to defoliate.
    Figure 8 illustrates a perspective detail of the cutting device of the installation of Figure 1.
    Figure 9 shows a perspective view of the third conveyor belt of the installation 35 according to Figure 1.


    Figure 10A illustrates a perspective view of the second artificial vision camera showing the corresponding image acquisition means.
    Figure 10B an operation scheme of the image acquisition means of the5 figure 10A.
    Figures 11A and 11B show respective block diagrams of the image processing means of the images acquired by the image acquisition means of the installation according to the invention.
    Figures 12A to 12D, and 13 illustrate respective views of the stamping and extraction systems of the stem / stem of the plants to be defolled.
    Figure 14 shows a perspective view of a fourth endless conveyor belt for 15 collected from the cut / detached leaves of the plant to defoliate,
    Figure 15 schematically illustrates a perspective view of a support structure of an installation according to Figure 1.
    20 Detailed description of a preferred embodiment
    As illustrated in the figures, the plant stripping plant designated in general with the numerical reference (1), consists of an alignment module (2) to align and move the plants to defollow (PL) in a first direction of advance (SA1); a second endless conveyor belt (3) with receiving cups (30) for depositing and placing the plant to be defolled (PL) with the lower part of the trunk / stem (T) generally directed upwards, the receiving cups moving in a second direction of advance (SA2) which is a continuation of the first direction of advancement; a first artificial vision cabin (4) with means (40) for acquiring images of the respective leafless plant deposited 30 on a respective receiving bowl; means for data processing (5), which use images acquired by first means of acquiring images (40) of the plants to defoliate to calculate position parameters of the respective plant to defoliate located in a respective bowl (30) of said second conveyor belt (3); at least one robot (6) adapted to capture a respective plant to defoliate (PL) from a respective receiving bowl (30) and also adapted to move the captured plant to a cutting position (POC); at least one cutting device (7) for


    cut a lower portion of a respective leafless plant to be captured; a third endless conveyor belt (8) for depositing and moving the plant to defolder already cut inferiorly (PLCI) in a third direction of advance (SA3) that is parallel to the second direction of advance (SA2); a second artificial vision cabin (9) comprising second image acquisition means (90), to be used by said processing means (5) to calculate a respective diameter (DTC) of the trunk / stem (T) of each plant to defolder already cut inferiorly deposited on said third conveyor belt (8); at least one die-cutting module (10) for cutting the trunk / stem (T) of each respective plant to be cut and already deposited deposited in the third endless conveyor belt (8); an extraction system (11) connected to the die cut (10) to evacuate a respective cut stem / stem (T); and a fourth conveyor belt (12) for the exit of cut sheets that runs below and along the second (3) and the third (8) conveyor belts for the collection of the cut / detached leaves of the plants to defoliate. defoliate plants already cut.
    As can be seen especially clearly in Figure 2, the alignment module comprises a hopper (20) from which plants to be defolled (PL) are discharged onto the first alignment tape (21) and which according to the invention is constituted by three sections of alignment tape (210, 211, 212) mutually and successively displaced vertically.
    As can be seen in Figure 4, the second endless conveyor belt is preferably
    (3) consists of a plurality of pairs of receiving cups (30-30), the receiving cups (30) of each pair being arranged adjacent transversely to the second direction of travel (SA2) of said second conveyor belt.
    As can be seen through figures 1, 3, 5A and 5B, said second conveyor belt (30) runs through the first artificial vision cabin (4) whose first means (40) of image acquisition, allow the acquisition of images of the respective plant to defoliate (PL) deposited on a respective receiving bowl (30).
    As can be seen through Figures 5 A and 5B, these first image acquisition means (40), consist of a first group of cameras (41), with at least three cameras (410, 411, 412) arranged forming respective first pairs of stereoscopic vision (410-411; 411-412; 412-410) and a second group of cameras (42) with at least three cameras (420, 421, 422) arranged forming respective second vision pairs


    stereoscopic (420-421; 421-422; 422-420). As can be seen more clearly in the scheme of Figure 5B, the first group of cameras (41) is focused to capture images of a respective leafless plant (PL) deposited in a respective receiving bowl (30) of each pair of cups (30 -30); while the second group of cameras is focused to capture images of a respective plant to defoliate deposited the other receiving bowl (30) of the pair of receiving cups (30-30).
    Referring now to Figures 5C, 5D and 11, there are provided processing means (5), for example a personal computer, which process the images acquired by said first acquisition means (40) in order to determine parameters of position (PaPo) of the respective plant to defoliate (PL) inside the respective receiving bowl (30) of the second conveyor belt (3). According to the invention, these position parameters (PaPo), include, at least, a horizontal orientation angle (a) that forms the body of the plant to defoliate (PL) with respect to the direction of advance (SA2) of the second belt conveyor (2); a vertical orientation angle (b) formed with respect to the vertical by a line (LCT) that joins the upper part of the trunk / stem (T) of the plant to defoliate (PL) and a measured center (CM) of said plant to defoliate ; and the coordinates (x, y, z) of the measured center (CM) of the plant to defoliate with respect to an origin of coordinates located in the center of the respective receiving bowl (30).
    It should be understood that the value 0 ° of a is in the forward direction and the values of 180 ° and -180 ° pointing backwards. The value of a has certain limitations at some angles, to prevent points of singularities, which would cause the robot to stop.
    The angle b of vertical inclination, with 0 ° pointing up. These values are limited to 45 ° since you do not want to compromise the integrity of the claws of the robots. The angles and the coordinates are not definitive since the shape of the lettuce could force to recalculate both the robot's point of attack (coordinates of the center of the lettuce) and the angle of attack (real angle of the trunk).
    As can be seen in greater detail through figures 6A to 6C, three robots (6-6-6) and three cutting devices (7-7-7) are provided, each robot having pick-up arms
    (60) with a capture clamp (600) to capture a respective plant to defoliate (PL) and to move said captured plant to a cutting position (POC) in which one of


    The cutting devices (7-7-7) cut a lower portion of a respective plant to be taken off.
    Referring again to figure 11, the robots (6) are fed through the flow arrows of the figure, for example Ethernet IP lines, with the position parameters (PaPo) calculated by the processing means (5) from the images captured in the first viewing cabin (4).
    The three robots (6) can be configured in the second direction of advance (SA2) in the following way: the first robot (6), which absorbs the highest production, places the plant to be defoliated and cut inferiorly (PLCI) in the nearest area of the third transport belt (8); the second robot (6), which collects the product that the first robots has not taken (6), places the plant to be defoliated and cut inferiorly (PLCI) in the area furthest from the third conveyor belt (8); and the third robot (6), which will collect a respective plant to defoliate that has not been collected by the first or second robots, will leave the plant to defolder already cut inferiorly in the place where there is a hole, this will be determined by internal management of the robots (6) as it is known by technicians (trigger system). Robots that can be adjusted to the characteristics of the installation are commercially available under the name Fanuc Arc Mate 100iC / 10.
    As can be seen from Figures 7A and 7B, each capture clamp (600) of the pick-up arms (60) consists of pressing claws (601) actuated for closing / opening by means of the respective pneumatic / hydraulic cylinder (602). mounted on the collection arm where the number and configuration of the clamping jaws (601) are chosen according to the types of plants to be defolled (PL). For example, the claws according to figure 7A are especially suitable for capturing radicchio type lettuces are designed adapting to the shape and hardness of the product, while those shown in figure 7B, it turns out to be more suitable for iceberg type lettuces with less hardness . With this design, when closing the clamp, it adapts perfectly to the shape of the lettuce.
    With reference to Figure 8, each cutting device (7) consists of a pair of cutting discs (70, 70) arranged rotating occupying an essentially perpendicular plane with the vertical, that is to say essentially perpendicular to the trunk / stem (T) of the plant (PL) and said cutting discs being displaced vertically in a distance (d) that can be adjusted.


    As can be seen through Figure 9, the third conveyor belt (8) is provided consisting of a right part (80) and a left part (81), seen in the third direction of advance of (SA3), to deposit the defoliating plants already cut inferiorly (PLCI). As explained above, the robots (6) are adapted to deposit the plant to defolder already cut inferiorly (PLCI) alternately on a right part (80) and on a left part (81) of said third endless conveyor belt ( 8).
    Referring now to Figures 10A and 10B, it can be seen that in the second artificial vision booth (9), at least two cameras (900, 901) are provided that constitute the second image acquisition means (90), respectively focused to capture images of the plants already cut by its lower part (PLCI) deposited in each of the right and left parts (80, 81) of the third conveyor belt (8). As shown in Figure 11B, the images captured by said cameras are used, as described above to calculate, by means of processing (5) a trunk / stem diameter (DTC) of the trunk / stem (T) of the plants already cut inferiorly (PLCI), deposited on the third conveyor belt (8).
    As shown in greater detail in Figures 12A to 12C, it can be seen that two die modules (10, 10) are each provided with at least two die devices (100, 100) of different diameter / gauge, one of which is the die cutting modules operatively arranged on the right side of the second conveyor belt, while the other die cutting module is operatively disposed on the left part of said third conveyor belt (8) to punch the trunk / stem (T) of the respective plant already cut inferiorly (PLCI) placed to the right (80) and left (81) in the third direction of advance (SA3) of the third conveyor belt (8). The die devices (100) of each module (10) have die-cutting cylinders (1001) of different die-cut diameters (DTR) for cutting the trunk / stem (T) of each respective plant to be defoliated and cut inferiorly deposited in the third endless conveyor belt (8).
    As will be described later, each die module is adapted to move the die devices transversely to the third direction of travel (SA3) of said third conveyor belt, positioning said die devices above a respective plant to be cut off (PCLI). ) and to select one of said die-cutting cylinders (10001), whose die-cutting diameter (DTR) more closely matches the diameter (DTC) of the stub / stem (T) of the respective plant (PCLI), calculated by the processing means (4) from the images captured by the aforementioned means of


    acquisition of images (90) of the second artificial vision booth (9) and said at least one die cutting module (10) also being adapted to drive a respective die device (100) to carry out the stamping of the trunk / stem of the respective plant to defolder cut inferiorly.
    As can be seen in greater detail in Figure 12B, each die module (10) is formed by a bridge (101) extending transversely above said second conveyor belt (8); a guide (102) mounted on said bridge; a car
    (103) bearing the at least two die devices, (100, 100) whose carriage is adapted to move on said guide and where each die device (100) is adapted to be operated separately in a vertical die movement by means of a respective first hydraulic / pneumatic cylinder (104). It can be seen that additionally, drive means (105) are provided to move the carriage (103) along the guide (102), said drive means including a servomotor (1050), a pair of pulleys (1051) and a belt toothed (1052); and each die device (100) being mounted, on a die-holder plate (1000) actuated by said respective hydraulic / pneumatic cylinder (104) and comprises a die cylinder (1001) and clamping means (1002) to hold the plant to defolder already cut inferiorly (PLCI) and while the die device descends to make the corresponding cut of its trunk / stem (T).
    As can be seen in greater detail in Figure 12C, the fastening means (1002) consist of a support ring (10020) fixed to the die-holder plate (1000); radial legs (10021) extending radially downwards and outwards from the support ring (10020); and a clamping plate (10022) vertically movable by respective hydraulic / pneumatic cylinders (10023), operatively mounted on said radial legs (10021).
    As shown in the detail of Figure 13, the extraction system (11) of the stamped stem / stem consists of a respective pipe (110) for connecting to a respective die cutting cylinder (1001) and a suction element (111) that apply a negative pressure to the respective pipe in order to drag the respective trunk / stamped stem.
    As shown in Figure 15 for mounting the installation (1), a support structure (13) with stairs (130), doors (131) and platforms of 16 is provided.


    support (132) for mounting the second conveyor belt (3) the first cab ofvision (4), the at least one robot (6), the at least one cutting device (7), the second beltconveyor (8), the second artificial vision cabin (9), the at least one modulepunching (10), the extraction system (11) and the fourth conveyor belt (12) outputof the leaves.
    As explained above the additional objective according to the invention is aProcedure comprises the following stages:-supply and align forming at least one row, a plurality of plants to defoliate(PL) moving them according to a first direction of advance (SA1);- deposit a respective plant to defoliate (PL) on a second conveyor beltauger (3) and place said plant to defoliate with the lower part of the trunk / stem (T)generally directed upwards, that is to say with the upper part of the plant directed towardsdown,-shift a respective plant to defoliate (PL) in a second direction of advance (SA2)of said second conveyor belt (3) through a first artificial vision cabin
    (3) for acquisition of images of said respective plant to defoliate,-process the acquired images of a respective plant to defoliate to calculateposition parameters (PaPo) of the respective plant to defoliate (PL) on thesecond conveyor belt (3);-capturing a respective plant to defoliate (PL) from the second conveyor belt (3),using the above position parameters (PaPo) of the respective plant to do sodefoliate (PL);-translate the respective defoliated plant captured to a cutting position (POC);-cut the respective plant to be captured from its bottom to obtain a plant todefolder already cut inferiorly (PLCI);-Deposit the respective plant to defolder already cut inferiorly (PLCI), but that includesstill an essential part of its trunk / stem (T), on a third endless conveyor belt
    (8) with its trunk / stem (T) oriented essentially vertically;-shift a respective plant to defolder already cut inferiorly (PLCI) in the thirddirection of travel (SA3) of said second conveyor belt (8) through secondartificial vision booth (90) to acquire images of said already cut plant (PLCI);-process the images of said plant to defolder already cut (PLC) to calculate arespective diameter (DTC) of the trunk / stem (T) of each respective plant already cut (PLCI);-shift a respective die module (10) transversely to the third direction offeed (SA3) of the third conveyor belt (8);


    - selection of at least two cylindrical die cutters (1001) with different die cut diameters (DTR), the one whose die cut diameter best fits the diameter (DTC) of the cutter / stalk (T) of the respective plant calculated from the processing of the images captured of the plants to defolder already cut (PLCI) placed on the third
    5 endless conveyor belt (8); -cutting of the trunk / stalk (T) of each respective plant to be defolled and cut deposited on the third endless conveyor belt (8), with the die cutting cylinder (1001) of the respective die device (100) selected and holding the respective plant already cut inferiorly while the respective die cutting cylinder descends;
    10 - remove the cut stem / stem from the die cut cylinder (1001) used; -collection of the cut / detached leaves of the plants to be cut / plants already cut along its route through the second and third conveyor belts.
    It will be appreciated by those skilled in the art that changes could be made to the embodiment
    15 described above without departing from its broad inventive concept. It is understood, therefore, that this invention is not limited to the particular embodiment described, but is intended to cover the modifications within the scope of the present invention as defined in the present description.

    权利要求:
    Claims (16)
    [1]
    1. Linear installation for defoliation of vegetable-type plants such as lettuce with removal of the trunk / stem of said plants, including said installation (1): - an alignment module (2) comprising a hopper (20) from which deforestation plants (PL) and at least a first endless alignment belt (21) are discharged to collect the defoliating plants (PL) discharged from the hopper, moving them and aligning them in a first direction of advance (SA1) of said first alignment belt endless; -a second endless conveyor belt (3) with a plurality of receiving cups (30) for deposit and placement of the plant to be defolled (PL) with the lower part of the trunk / stem
    (T) generally directed upwards, that is to say with the upper part of the plant directed downwards, the receiving cups moving in a second direction of advance (SA2) that follows the first direction of advancement; -a first artificial vision booth (4) through which said second conveyor belt comprising first means (40) for acquiring images of the respective plant to be defolled deposited on a respective receiving bowl runs, -a means for processing data (5), adapted to use the images acquired by the first image acquisition means (40) and from said images determine position parameters (PaPo) of the respective plant to be defolled (PL) within the respective bowl receiver (30) of the second conveyor belt (3); -at least one robot (6) with a collection arm (60), adapted to capture a respective plant to defoliate (PL) from a respective receiving bowl (30) of the second conveyor belt (3), using said parameters position (PaPo) of the respective plant to defoliate (PL) and also adapted to move the respective capture plant to a cutting position (POC); - at least one cutting device (7) for cutting a downwardly directed portion of a respective leafless plant captured by a respective collection arm (60) operatively located in the said cutting position (POC), to provide a plant to defolder already cut inferiorly (PLCI); -a third endless conveyor belt (8) to deposit the plant to defolder already cut inferiorly (PLCI) by means of the capture arm (60) of the at least one, first robot (6), including said plant to defolder already cut inferiorly an essential part of its trunk / stem (T) and placed said essentially vertical oriented trunk / stem, and to move said plant to defolder already cut inferiorly in a third direction of advance (SA3) that is parallel to the second direction of advance (SA2 ) of the second conveyor belt;

    - a second artificial vision cabin (9) through which the third endless conveyor belt (8) comprising second image acquisition means (90), said images being used by said processing means (5) to calculate a respective diameter (DTC) of the trunk / stem (T) of each respective plant to be defoliated already cut inferiorly (PLCI) deposited on said third conveyor belt (8); -at least one die module (10) with two or more die devices (100) of different die diameters / sizes (DTR) for cutting the trunk / stem (T) of each respective plant to be defolled already cut deposited in the third endless conveyor belt (8), said at least one die module being adapted to move the die devices transversely to the third direction of travel (SA3) of said third conveyor belt by positioning said die devices above a respective plant to be cut off undercut (PCLI) and to select one of said die devices (100) whose die diameter (DTR) more closely matches the diameter (DTC) of the piece / stem (T) of the respective plant (PCLI), calculated by the processing means (4) from the images captured by said image acquisition means (90) of the second artificial vision booth (9) and said adaptation being also adapted, to the a unit, die cutting module to drive a respective die device
    (100) to carry out the stamping of the trunk / stem of the respective plant to be cut off inferiorly; - a pneumatically operated extraction system (11) that is connected to each die device (100) of the at least one die cutting module (10) to evacuate a respective cut stem / stem (T); -a fourth conveyor belt (12) for the exit of cut sheets that runs below and along the second (3) and the third (8) conveyor belts for the collection of the cut / detached leaves of the plants to defoliate / defoliate plants already cut.
    [2]
    2. Installation according to claim 1, characterized in that the at least one first alignment tape (21) of the alignment module (2) consists of at least three sections of the alignment tape (210, 211, 212) mutually and successively displaced in vertical sense
    [3]
    3. Installation according to at least one of the preceding claims, characterized in that the second endless conveyor belt (3) consists of a plurality of pairs of receiving cups (30-30), the receiving cups (30) of each pair being arranged transversely adjacent to the second direction of advance (SA2) of said second conveyor belt.

    [4]
    Four. Installation according to at least one of the preceding claims, characterized in that the image acquisition means (40) the first artificial vision cabin (4), consist of a first group of cameras (41), with at least three cameras (410, 411, 412) arranged forming respective first pairs of stereoscopic vision (410-411; 411-412; 412-410) and a second group of cameras (42) with at least three cameras (420, 421, 422) arranged forming respective second pairs of stereoscopic vision (420-421; 421-422; 422-420), where the first group of cameras (41) is focused to capture images of a respective plant to defoliate deposited in a respective receiving bowl (30) of each pair of cups (30-30), while the second group of cameras is focused to capture images of a respective plant to defoliate deposited the other receiving bowl (30) of the pair of receiving cups (3030).
    [5]
    5. Installation according to at least one of the preceding claims characterized in that the position parameters (PaPo) of the plant to be defolled (PL) on the corresponding receiving bowl (30), obtained by the processing means (5) from the Images acquired / captured by the first image acquisition means (40), include: - a horizontal orientation angle (a) that forms the body of the plant to defoliate (PL) with respect to the direction of advance (SA2) of the second conveyor belt (2); -a vertical orientation angle (b) formed with respect to the vertical by a line (LCT) that joins the upper part of the trunk / stem (T) of the plant to be defolled (PL) and a measured center (CM) of said plant a defoliate and -the coordinates (x, y, z) of the measured center (CM) of the plant to defoliate with respect to an origin of coordinates located in the center of the respective receiving bowl (30).
    [6]
    6. Installation according to at least one of the preceding claims, characterized in that at least three robots (6, 6, 6) each are provided with a collection arm (60, 60, 60) adapted to capture a respective plant to defoliate ( PL) from a respective receiving bowl (30) of the second conveyor belt (3), using said position parameters (PaPo) of the respective plant to defoliate (PL) and move the respective capture plant to a respective cutting position (POC), where said three robots are communicated with each other for coordinated operation during the capture of the respective plant to defoliate (PL), the transfer of the respective captured plant to a respective cutting position (POC) and the deposit of the plant already cut inferiorly on the third endless conveyor belt (8).

    [7]
    7. Installation according to at least one of the preceding claims characterized in that each collection arm (60) consists of a capture clamp (600) consisting of pressing claws (601) actuated for closing / opening by means of respective pneumatic / hydraulic cylinder (602) drive mounted on the pickup arm where the number and configuration of the clamping jaws (601) are chosen according to the types of plants to be defoliated (PL).
    [8]
    8. Installation according to at least one of the preceding claims characterized in that three cutting devices (7) are provided each operatively arranged in a respective cutting position (POC) and each of whose cutting devices (7) consists of a pair of cutting discs (70, 70) rotatably arranged occupying an essentially perpendicular plane with the vertical one, that is to say essentially perpendicular to the trunk / stem (T) of the plant (PL) and said cutting discs being displaced vertically at a distance (d) That can be adjusted.
    [9]
    9. Installation according to at least one of the preceding claims characterized in that the robots (6) are adapted to deposit the plant to defolder already cut inferiorly (PLCI) alternately on a right part (80) and on a left part (81) of said second endless conveyor belt (8) seen in the third direction of advance (SA3) of said third belt.
    [10]
    10. Installation according to at least one of the preceding claims characterized in that the second image acquisition means (90) consist of at least two cameras (900, 901) respectively focused to capture images of the plants already cut by their lower part ( PLCI) deposited in each of the right and left parts (80, 81) of the third conveyor belt (8).
    [11]
    eleven. Installation according to at least one of the preceding claims characterized in that two die modules (10, 10) are provided each with at least two die device (100, 100) of different diameter / gauge, one of the modules being of die-cutting operatively arranged on the right side of the second conveyor belt, while the other die-cutting module is operatively disposed on the left part of said third conveyor belt (8) to punch the trunk / stem (T) of the respective plant already bottom cut (PLCI) placed to the right
    (80) and left (81) in the third direction of advance (SA3) of the third conveyor belt (8).

    [12]
    12. Installation according to at least one of the preceding claims characterized in that each die module (10) is formed by: - a bridge (101) extending transversely over said second conveyor belt (8); - a guide (102) mounted on said bridge; - a carriage (103) bearing the at least two die devices, (100, 100) whose carriage is adapted to move on said guide and where each die device (100) is adapted to be operated separately in a vertical movement of die cut by a respective first hydraulic / pneumatic cylinder (104); - a drive means (105) for moving the carriage (103) along the guide (102), said drive means including a servomotor (1050) a pair of pulleys (1051) and a toothed belt (1052); and - each die device (100), is mounted on a die holder plate (1000) actuated by said respective hydraulic / pneumatic cylinder (104) and comprises a die cylinder (1001) and clamping means (1002) for hold the plant to defolder already cut inferiorly (PLCI), while the die device descends to make the corresponding cut of its trunk / stem (T).
    [13]
    13. Installation according to claim 13, characterized in that the fastening means (1002) consist of: - a support ring (10020) fixed to the die-holder plate (1000); -a radial legs (10021) extending radially downwards and outwards from the support ring (10020); and -a clamping plate (10022) movable vertically by means of respective hydraulic / pneumatic cylinders (10023), operatively mounted on said radial legs (10021).
    [14]
    14. Installation according to at least one of the preceding claims characterized in that the extraction system (11) of the stamped stem / stem consists of a respective pipe (110) for connecting to a respective die device (10) and a suction element ( 111) which applies a negative pressure to the respective pipe in order to drag the respective stamped stem / stem.
    [15]
    fifteen. Installation according to at least one of the preceding claims characterized in that a support structure (13) with stairs (130), doors (131) and support platforms (132) for mounting the second belt is provided

    conveyor (3) the first viewing booth (4), the at least one robot (6), the at least one cutting device (7), the second conveyor belt (8), the second artificial viewing booth (9) , the at least one die-cutting module (10), the extraction system (11) and the fourth conveyor belt (12) for the exit of the sheets.
    [16]
    16. Procedure for defoliation of cates vegetable plants such as lettuce withremoval of the trunk / stalk of these vegetables carried out through the installationaccording to the preceding claims 1 to 16, characterized in that it comprises the followingstages:-supply and align forming, at least one row, a plurality of plants to defoliate (PL)moving them according to a first direction of advance (SA1);- deposit a respective plant to defoliate (PL) on a second conveyor beltauger (3) and place said plant to defoliate with the lower part of the trunk / stem (T)generally directed upwards, that is to say with the upper part of the plant directed towardsdown,-shift a respective plant to defoliate (PL) in a second direction of advance (SA2)of said second conveyor belt (3) through a first artificial vision cabin
    (3) for image acquisition of a respective plant to defoliate,-process the acquired images of a respective plant to defoliate to calculateposition parameters (PaPo) of the respective plant to defoliate (PL) on thesecond conveyor belt (3);-capturing a respective plant to defoliate (PL) from the second conveyor belt (3),using the above position parameters (PaPo) of the respective plant to do sodefoliate (PL);-translate the respective defoliated plant captured to a cutting position (POC);-cut the respective plant to be captured from its bottom to obtain a plant todefolder already cut inferiorly (PLCI);-Deposit the respective plant to defolder already cut inferiorly (PLCI), but that includesstill an essential part of its trunk / stem (T), on a third endless conveyor belt
    (8) with its trunk / stem (T) oriented essentially vertically;-shift a respective plant to defolder already cut inferiorly (PLCI) in the thirddirection of travel (SA3) of said second conveyor belt (8) through secondartificial vision booth (90) to acquire images of said already cut plant (PLCI);-process the images of said plant to defolder already cut (PLC) to calculate arespective diameter (DTC) of the trunk / stem (T) of each respective plant already cut (PLCI);

    - move a respective punching device (100) of each die module transversely to the third direction of travel (SA3) of the third conveyor belt (8); -selection of at least two die-cutting dies (1001) with different die-cut diameters (DTR), the one whose die diameter fits most to the
    5 diameter (DTC) of the piece / stem (T) of the respective plant calculated from the processing of the images captured from the plants to be cut and already cut (PLCI) placed on the third endless conveyor belt (8); -cutting of the trunk / stem (T) of each respective plant to be defolled and cut deposited on the third endless conveyor belt (8), with the die-cutting cylinder (1001) device
    10 of die (100) selected and holding the respective plant already cut inferiorly while the respective die cutting cylinder descends; - remove the cut stem / stem from the die cut cylinder (1001) used; -collection of the cut / detached leaves of the plants to be cut / plants already cut along its route through the second and third conveyor belts.
























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    引用文献:
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    ES2320309T3|1999-09-10|2009-05-21|Ploeger Agro B.V.|METHOD AND DEVICE FOR TREATMENT OF VEGETABLES AFTER HARVEST.|
    ES2330149T3|2005-12-26|2009-12-04|Componosollertia, S.A.L.|MACHINE FOR TROCEING AND EXTRACTION OF THE VEGETABLE TRUNK WITH ARBORESCENT STRUCTURE AND METHOD OF TROCEING AND EXTRACTION OF THE TRACH OF SUCH MACHINE.|
    WO2008033741A2|2006-09-11|2008-03-20|Sunkist Growers, Inc.|Method and apparatus for pattern cutting fruit|
    US20110293797A1|2010-05-28|2011-12-01|Dole Fresh Vegetables, Inc.|System for topping and tailing lettuce heads using a camera-guided servo-controlled water knife|
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