Saffron collecting device

Abstract

The present invention describes a saffron collecting device (1) comprising—a sensor unit (2) arranged for identifying pistils of saffron flowers; —a pick unit (3) arranged for removal of the pistils or part thereof from the saffron flowers when the sensor unit (2) has identified the location of the pistils; and —a collector unit (4) arranged for collecting the pistils or part thereof in a collecting space (5).

Claims

1. A saffron collecting device comprising a sensor unit arranged for identifying pistils of saffron flowers; a pick unit arranged for removal of the pistils or part thereof from the saffron flowers when the sensor unit has identified the location of the pistils; and a collector unit arranged for collecting the pistils or part thereof in a collecting space.

2. The saffron collecting device according to claim 1, wherein the sensor unit is a camera, IR sensor or radar sensor, preferably a camera.

3. The saffron collecting device according to claim 1, wherein the saffron collecting device comprises at least two sensor units.

4. The saffron collecting device according to claim 1, wherein the saffron collecting device comprises at least one sensor unit for flower detection, and at least one sensor unit for detection of pistil(s) within the saffron flower.

5. The saffron collecting device according to claim 1, wherein the pick unit is a suction unit.

6. The saffron collecting device according to claim 5, wherein the saffron collecting device also comprises a clip unit arranged to press the suction unit together.

7. The saffron collecting device according to claim 1, wherein the pick unit and the sensor unit are integrated in a 3D unit.

8. The saffron collecting device according to claim 1, wherein the sensor unit is a camera unit programmed to identify the pistils based on color.

9. The saffron collecting device according to claim 1, wherein the saffron collecting device operates by means of a processor unit.

10. The saffron collecting device according to claim 9, wherein the processor unit is a cartesian product or a delta servo product.

11. The saffron collecting device according to claim 1, wherein the saffron collecting device is arranged in connection to a feeding belt intended for saffron flowers.

12. The saffron collecting device according to claim 1, wherein the saffron collecting device comprises an automatic propulsion unit and thus is a saffron harvesting and collecting robotic device.

13. The saffron collecting device according to claim 12, wherein the saffron harvesting and collecting robotic device comprises propulsion belts.

14. The saffron collecting device according to claim 12, wherein the saffron harvesting and collecting robotic device is arranged with an open space for the sensor unit and collector unit to be able to detect and pick pistils in growing saffron flowers.

15. A method for identifying and collecting pistils of saffron flowers, wherein a saffron collecting device according to claim 1 performs the following operations: locating a pistil of a saffron flower by means of the sensor unit; directing a pick unit to the pistil; removing the pistil from the saffron flower by means of the pick unit; and directing the pick unit to drop or send the pistil for collecting the pistil in the collector unit.

16. The method according to claim 15, wherein the pick unit is a suction unit and wherein an open end part of the suction unit encloses at least part of the pistil, a clip unit is arranged to then squeeze together said end part of the suction unit to fixate the suction unit around the pistil in a tight way, the suction unit is then directed upwards to loosen or pull the pistil up from the saffron flower and finally the clip unit releases and a negative air pressure allows the suction unit to suck the pistil into the collecting unit for collecting the same in the collecting space.

17. A weed removing device comprising: a sensor unit arranged for identifying weed around low growing plants; and a pressing unit arranged for pressing the weed into the ground when the sensor unit has identified the location of the weed.

18. The weed removing device according to claim 17, wherein the sensor unit is a camera sensor and is arranged to identify the weed based on color.

Description

DETAILED DESCRIPTION OF THE DRAWINGS

[0047] In FIG. 1 there is shown one embodiment of the present invention. In this case the saffron collecting device 1 is in the form of a mobile version, such as a robotic self-transporting saffron collecting device 1. The saffron collecting device 1 comprises a sensor unit 2, which suitably comprises one or more camera units. Moreover, the saffron collecting device 1 also comprises a pick unit arranged for removal of the pistils or part thereof from the saffron flowers when the sensor unit 2 has identified the location of the pistils. In this case the sensor unit 2 and the pick unit 3 are integrated in one and the same 3D unit. Moreover, in this case the pick unit 3 is in the form of a suction unit which enables to suck up the pistils of the saffron flowers. A collector unit 4 is arranged for collecting the pistils or part thereof in a collecting space 5. This may be a box which comprises a bag being connected to the suction unit, similar to the concept of a vacuum cleaner. Furthermore, according to this embodiment, the saffron collecting device 1 comprises an automatic propulsion unit 7, i.e. the device 1 is a saffron harvesting and collecting robotic device, with propulsion belts 8 in this case. Furthermore, the saffron harvesting and collecting robotic device 1 is arranged with an open space 9 for the camera unit and collector unit to be able to detect and pick pistils in growing saffron flowers in an effective way.

[0048] In FIG. 2 there is shown a similar embodiment as in FIG. 1, however in this case the device 1 also comprises a clip unit 10. This clip unit 10 is part of the 3D unit with sensor unit and pick unit, i.e. suction unit. The clip is arranged to enable to squeeze the suction unit so that an enclosed pistil may be pulled up and loosened from a saffron flower.

[0049] In FIG. 3 there is shown another embodiment of the present invention. In this case, the device 1 is a fixed device. Therefore, the saffron collecting device 1 is arranged in connection to a feeding belt 6 intended for saffron flowers. Otherwise, also in this case the saffron collecting device 1 comprises a sensor unit 2, which suitably comprises one or more camera units. Moreover, the saffron collecting device 1 also comprises a pick unit arranged for removal of the pistils or part thereof from the saffron flowers when the sensor unit 2 has identified the location of the pistils. Also in this case the sensor unit 2 and the pick unit 3 are integrated in one and the same 3D unit. Moreover, also in this case the pick unit 3 is in the form of a suction unit which enables to suck up the pistils of the saffron flowers and collect the pistils in a collector unit 4 connected to a collecting space 5.