Granted Patent B2

US 12,745,708 · App. 18/289,276 · Granted Sep 29, 2026

Inventors: Adi Nir (Sarid, IL); Mor Baum (Tzippori, IL); Anton Avstreih (Beit Alpha, IL); Adi Cohen (Afula, IL); Dor Lavi (Beit Zaid, IL)

Assignee: METOMOTION LTD.

A01D46/30A01D46/20

Abstract

Claims (72)

1 . An autonomous system for automatic picking and boxing of fruits, comprising:

a movable picking unit, comprising:

a first movable platform;

one or more robotic arms connected to the movable platform; and

a fruit conveyor,

wherein the first movable platform further comprises:

a platform;

at least four wheels; and

a steering and driving unit, comprising:

a chassis:

two wheels pivotally connected to the chassis;

at least one driving motor coupled to at least one wheel;

a rotating joint pivotally connecting the chassis to the platform;

a rotating motor coupled to the rotating joint and configured to rotate the steering and driving unit with respect to the platform; and

a securing element for securing the steering and driving unit to the platform at any rotation position,

wherein each robotic arm is configured to pick at least one fruit at a time and place the at least one picked fruit on the fruit conveyor; and

a movable boxing unit, comprising:

a second movable platform;

a containers' gripper;

a containers' lift; and

a container's conveyor,

wherein the container's conveyor is configured to receive a container from the containers' gripper and convey the container to a fruit receiving position, at which the container receives fruits from the fruit conveyor, and

wherein each one of the at least four wheels and the two wheels pivotally connected to the chassis is configured to travel on both a trail and a rail.

2 . The system of claim 1 , wherein the movable picking unit and the movable boxing unit are connected via a connector such that a fruit placed on the fruit conveyor will fall into a container positioned at the fruit receiving position.

3 . The system of claim 1 , wherein the first movable platform and the second movable platform are the same movable platform, and the container's conveyor and the fruit conveyor are assembled on the moveable platform such that a fruit placed on the fruit conveyor will fall into a container positioned at the fruit receiving position.

4 . The system of claim 1 , wherein the containers' gripper and the containers' lift are held inside an open frame.

5 . The system of claim 3 , wherein the movable boxing unit further comprises an empty container entrance shelf located at an upper portion of an open frame.

6 . The system of claim 1 , further comprising a controller configured to control at least one of: the first movable platform, the second movable platform, the one or more robotic arms, the fruit conveyor, the container's conveyor and the containers' lift.

7 . The system of claim 5 , further comprising one or more cameras for capturing one or more images of fruits on plant and wherein the controller is configured to:

receive images of fruits;

determine one or more fruits to be picked; and

control the one or more robotic arms to pick the one or more fruits.

8 . The system of claim 1 , having a maximum length of 200 cm and a maximum height of 200 cm.

9 . The system of claim 1 , wherein the first movable platform and the second movable platform are configured to travel on at least one of: rails and trails.

10 . The system of claim 9 , wherein the first movable platform and the second movable platform comprise at least one of: railway wheels and wheels.

11 . A system for picking fruits comprising:

a first movable platform;

one or more robotic arms connected to the first movable platform; and

a fruit conveyor, wherein each robotic arm is configured to pick at least one fruit at a time and place the at least one picked fruit on the fruit conveyor,

and wherein the first movable platform comprises:

a platform;

at least four wheels; and

a steering and driving unit, comprising:

a chassis;

two wheels pivotally connected to the chassis;

at least one driving motor coupled to at least one wheel;

a rotating joint pivotally connecting the chassis to the platform;

a rotating motor coupled to the rotating joint and configured to rotate the steering and driving unit with respect to the platform; and

a securing element for securing the steering and driving unit to the platform at any rotation position, and

wherein the steering and driving unit are symmetrically located at a middle bottom part of the platform.

12 . The system of claim 11 , wherein each one of the at least four wheels and the two wheels pivotally connected to the chassis is configured to travel on both a trail and a rail.

13 . The system of claim 12 , wherein each wheel includes a first wheel configured to travel on a trail and a second wheel configured to travel on a rail.

14 . The system of claim 11 , further comprising a controller configured to

a) drive the system to travel along a trail;

b) drive the system to travel along a railway; and

c) change a driving direction of the system at a zero turning radius.

15 . The system of claim 14 , wherein the controller is configured to control at least one of: control the steering and driving unit to control at least one of: the at least one driving motor, the rotating motor and the securing element.

16 . A system for picking fruits comprising:

a first movable platform;

one or more robotic arms connected to the first movable platform; and

a fruit conveyor, wherein each robotic arm is configured to pick at least one fruit at a time and place the at least one picked fruit on the fruit conveyor,

and wherein the first movable platform comprises:

a platform;

at least four wheels; and

a steering and driving unit, comprising:

a chassis;

two wheels pivotally connected to the chassis;

at least one driving motor coupled to at least one wheel;

a rotating joint pivotally connecting the chassis to the platform;

a rotating motor coupled to the rotating joint and configured to rotate the steering and driving unit with respect to the platform; and

a securing element for securing the steering and driving unit to the platform at any rotation position, and

wherein each one of the at least four wheels and the two wheels pivotally connected to the chassis is configured to travel on both a trail and a rail.

Assignments (2)

Continuity (2)

References Cited (17)