Description:TECHNICAL FIELD
[0001] The present disclosure relates, in general, to agricultural operations, and more specifically, to a robotic apparatus for ascending tree trunks and collecting tree-borne produce.

BACKGROUND
[0002] Traditional methods of coconut collecting rely heavily on manual labor, requiring trained individuals to climb tall, narrow, and often uneven tree trunks to collect coconuts. These methods pose significant safety risks due to the height of the trees and the need for physical exertion. Furthermore, the scarcity of skilled climbers and the time-consuming nature of the manual process hinder productivity and drive up operational costs in agricultural settings. As a result, the demand for automated or mechanical alternatives has grown substantially.
[0003] Existing mechanical solutions for tree ascending and collecting tree-borne produce primarily address general applications and often lack the specificity required for coconut trees, which have unique challenges due to their smooth, tapered trunks and varying diameters. Most current systems are unable to adjust seamlessly to these variations, resulting in instability, inefficient operations, or limited compatibility across different tree types. Additionally, the incorporation of collecting mechanisms in these systems is often inadequate, requiring separate tools or manual interventions, which negates the advantages of automation.
[0004] Therefore, it is desired to overcome the drawbacks, shortcomings, and limitations associated with existing solutions, and develop a cost-effective robotic apparatus specifically designed for tree ascending and coconut collecting.

OBJECTS OF THE PRESENT DISCLOSURE
[0005] An object of the present disclosure provides an apparatus for ascending cylindrical surfaces with superior traction, ensuring secure operation across various textures.
[0006] Another object of the present disclosure provides an apparatus that uses revolute joint links to allow dynamic adaptation to the contours of cylindrical surfaces, improving stability and performance.
[0007] Another object of the present disclosure provides an apparatus with a spur gear mechanism for synchronized wheel movement, ensuring balanced traction on surfaces of different diameters.
[0008] Another object of the present disclosure provides an apparatus equipped with a harvester retrofitted with a half-circular track motion mechanism, enabling the expansion of the collecting area without repositioning the apparatus.
[0009] Yet another object of the present disclosure provides an apparatus with a hub motor integrated into each pair of wheels to deliver precise torque and positional stability during ascending operations.

SUMMARY
[0010] The present disclosure relates, in general, to agricultural operations, and more specifically, relates to a robotic apparatus for ascending tree trunks and collecting tree-borne produce. The main objective of the present disclosure is to overcome the drawbacks, limitations, and shortcomings of the existing system and solution, by providing a specialized robotic apparatus for tree ascending and collecting tree-borne produce, where the apparatus includes an ascending mechanism configured to ascend tree trunks with stable traction and a retrofittable harvester operable for efficient collecting. Specifically, the apparatus is designed for coconut tree ascending and collecting, offering adaptability to varying tree trunk diameters, ease of docking and undocking, and enhanced safety and operational efficiency in agricultural applications.
[0011] The present disclosure provides a robotic apparatus for ascending a cylindrical surface may include a drive mechanism configured on a main frame of the apparatus, the drive mechanism including a set of wheels, the set of wheels being organized into at least two pairs of wheels, each pair of wheels having a dual frustum configuration, the dual frustum configuration being defined by two truncated cones joined at smaller ends, with a rubber surface configured to provide superior traction on the cylindrical surface. A set of hub motors may be coupled to a corresponding wheel of the set of wheels, each hub motor being configured to facilitate ascent and descent along the cylindrical surface. A revolute joint link may pivotally couple each pair of wheels to a base structure, the revolute joint link being configured to allow each pair of wheels to dynamically adapt to the contour of the cylindrical surface, wherein the base structure defines a rectangular plate that anchors the revolute joint link at the corners of the rectangular plate. A spur gear may be coupled to each pair of wheels, the spur gear being configured to ensure synchronized movement of each pair of wheels to enable balanced traction on the cylindrical surface of varying diameters. A gas spring may be coupled to the revolute joint link, the gas spring being configured to apply a consistent outward force that presses each pair of wheels securely against the cylindrical surface to enhance grip. A track motion mechanism having a semi-circular rail may be accommodated on the base structure, configured to retrofit a harvester, the harvester being mounted on a carriage movably coupled to the semi-circular rail, wherein the harvester may include an end effector configured to secure a cutting tool at a distal end, the cutting tool being positioned to engage tree-borne produce. A ratchet belt may be operatively coupled to the apparatus, the ratchet belt being configured to dock the apparatus securely to the cylindrical surface by applying compressive force and release the ratchet belt upon completion of the collecting operation, facilitating a smooth undocking process.
[0012] Various objects, features, aspects, and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent like components.

BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The following drawings form part of the present specification and are included to further illustrate aspects of the present disclosure. The disclosure may be better understood by reference to the drawings in combination with the detailed description of the specific embodiments presented herein.
[0014] FIG. 1A illustrates an exemplary front view of robotic apparatus, in accordance with an embodiment of the present disclosure.
[0015] FIG. 1B illustrates an exemplary back view of robotic apparatus, in accordance with an embodiment of the present disclosure.
[0016] FIG. 1C illustrates an exemplary functional component of robotic apparatus, in accordance with an embodiment of the present disclosure.
[0017] FIG. 2A illustrates an exemplary view of a body of the apparatus, in accordance with an embodiment of the present disclosure.
[0018] FIG. 2B illustrates an exemplary view of robotic apparatus, in accordance with an embodiment of the present disclosure.
[0019] FIG. 2C illustrates an exemplary view of wheel links, in accordance with an embodiment of the present disclosure.
[0020] FIG. 2D illustrates an exemplary view of ratchet belts used for docking, in accordance with an embodiment of the present disclosure.
[0021] FIG. 2E illustrates an exemplary view of a brake module of the robotic apparatus, in accordance with an embodiment of the present disclosure.
[0022] FIG. 2F illustrates an exemplary view of a driving module of the robotic apparatus, in accordance with an embodiment of the present disclosure.
[0023] FIG. 2G illustrates an exemplary view of a track motion mechanism of the robotic apparatus, in accordance with an embodiment of the present disclosure.
[0024] FIG. 2H illustrates an exemplary view of a carriage of the robotic apparatus, in accordance with an embodiment of the present disclosure.
[0025] FIG. 2I illustrates an exemplary view of a harvester mounted on the carriage, in accordance with an embodiment of the present disclosure.
[0026] FIG. 2J illustrates an exemplary view of a cutter, in accordance with an embodiment of the present disclosure.
[0027] FIG. 3A illustrates an exemplary view of a circuit box enclosure of robotic apparatus, in accordance with an embodiment of the present disclosure.
[0028] FIG. 3B illustrates exemplary functional components of the circuit box, in accordance with an embodiment of the present disclosure.
DETAILED DESCRIPTION
[0029] The following is a detailed description of embodiments of the disclosure depicted in the accompanying drawings. The embodiments are in such detail as to clearly communicate the disclosure. If the specification states a component or feature “may”, “can”, “could”, or “might” be included or have a characteristic, that particular component or feature is not required to be included or have the characteristic.
[0030] As used in the description herein and throughout the claims that follow, the meaning of “a,” “an,” and “the” includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.
[0031] The proposed apparatus disclosed in the present disclosure overcomes the drawbacks, shortcomings, and limitations associated with the conventional machine by providing a specialized robotic apparatus for tree ascending and collecting tree-borne produce, where the apparatus includes an ascending mechanism configured to ascend tree trunks with stable traction and a retrofittable harvester operable for efficient collecting.
[0032] The robotic apparatus for ascending a tree trunk includes a drive mechanism, with wheels each featuring a dual frustum shape and a rubber tire surface, providing optimal traction and grip on tree trunks, and a revolute joint link pivotally coupling each wheel to a base structure, allowing the wheels to dynamically adapt to the tree trunk's contour during operation. The base structure includes a sturdy rectangular plate that anchors the wheel links at its corners and houses a gas spring mechanism, applying consistent outward force to securely press the wheels against the tree trunk, enhancing grip and adaptability.
[0033] The apparatus further includes a manual ratchet belt mechanism for docking and undocking the apparatus to the tree trunk, with an open-back design that simplifies the process, enabling easy entry and exit. Additionally, the base structure includes a half-circular track motion mechanism that retrofits a harvester, extending the workspace around the tree and enabling the harvester to cover a broader collecting area without repositioning the apparatus. The harvester includes a cutting tool, such as a chainsaw or cutter, for precise coconut collecting. Furthermore, each wheel is powered by a hub motor, providing precise torque and control for ascending and positional stability, eliminating the need for complex transmission components, and enhancing reliability while reducing maintenance. The present disclosure can be described in enabling detail in the following examples, which may represent more than one embodiment of the present disclosure.
[0034] The advantages achieved by the apparatus of the present disclosure are clear from the embodiments provided herein. The apparatus enhances operational efficiency by streamlining the process of ascending tree trunks and collecting tree-borne produce, reducing both time and labor requirements. Additionally, the apparatus ensures safety by minimizing human involvement in tree ascending, thereby reducing the risk of accidents during operation. The apparatus is highly adaptable, accommodating various tree sizes and surface conditions, which improves performance across diverse environments. Featuring expandability, the apparatus includes a retrofittable harvester that adds modularity, enabling it to be customized for a wide range of agricultural and industrial applications. Specifically designed for coconut collecting, the apparatus is optimized for trees of varying diameters and surface textures, ensuring versatility in plantation settings. The apparatus is also suitable for pruning and maintenance tasks in tall trees, offering a versatile solution for high-reach cutting and trimming. Furthermore, it can be adapted for other agricultural or industrial applications requiring ascending and cutting tools, making it a multi-functional and adaptable tool. The description of terms and features related to the present disclosure shall be clear from the embodiments that are illustrated and described; however, the invention is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions, and equivalents of the embodiments are possible within the scope of the present disclosure. Additionally, the invention can include other embodiments that are within the scope of the claims but are not described in detail with respect to the following description.
[0035] FIG. 1A illustrates an exemplary front view of robotic apparatus, in accordance with an embodiment of the present disclosure.
[0036] Referring to FIG. 1A, robotic apparatus 100 (also referred to as apparatus 100, herein) for ascending a cylindrical surface and collecting produce. The apparatus 100 can include a drive mechanism 102, a set of wheels 104, a revolute joint link 106, a spur gear 108, a gas spring 110, a base structure 112, a track motion mechanism 114, a hub motor 118, a brake module 120, a main frame 200, a harvester 230, a carriage 216, an end effector 232, a cutting tool 234, a ratchet belt 236 and a circuit box 300.
[0037] In an embodiment, the present disclosure, as presented in one example, includes the cylindrical surface 116 that may include the trunk of a coconut tree, providing a stable surface for apparatus 100 to climb. Alternatively, the apparatus 100 can be adapted to climb other types of cylindrical surfaces, such as the trunks of various tree species, utility poles, or similar structures, making it versatile for a range of agricultural, industrial, and maintenance applications. Further, the apparatus 100 is configured to harvest produce with precision, utilizing the cutting tool 234 (as depicted in FIG. 2J) that can identify, cut, and retrieve agricultural products, such as fruits, nuts, or other crops, with minimal human intervention.
[0038] The present disclosure relates to robotic apparatus 100 for ascending the cylindrical surface 116. The apparatus 100 includes the drive mechanism 102 configured on a main frame 200 (as illustrated in FIG. 2A and explained in detail below) of the apparatus 100, with the set of wheels 104 organized into at least two pairs of wheels. Each pair of wheels has a dual frustum configuration, defined by two truncated cones joined at their smaller ends, and a rubber surface configured to provide superior traction on the cylindrical surface.
[0039] In an exemplary embodiment, the drive mechanism 102 can be a four-wheel drive mechanism, wherein the climber 100 (also referred to as apparatus 100, herein) includes four wheels, each having a dual frustum shape with the rubber tire surface. This unique wheel structure provides optimal traction and grip on tree trunks, ensuring secure ascending on textured surfaces, and thereby enhancing stability and performance during operation on a variety of tree types and surfaces.
[0040] The set of hub motors 118 as depicted in FIG. 1C may be coupled to a corresponding wheel of the set of wheels 104, each hub motor 118 being configured to facilitate ascent and descent along the cylindrical surface 116. The set of hub motors 118 may be coupled to the brake module 120 (as depicted in FIG. 1C) having an electromagnetic brake mechanism to maintain the apparatus stationary during harvesting operations, where the brake module 120 may include an adjustable brake rope 210 (as depicted in FIG. 2E) configured to encircle the cylindrical surface 116, the adjustable brake rope 210 having a threaded adjustment rod 212 (as depicted in FIG. 2E) configured to enable precise diameter adjustments based on the girth of the cylindrical surface 116.
[0041] The revolute joint link 106 pivotally couples each pair of wheels 104 to the base structure 112, which includes a sturdy rectangular plate that anchors the revolute joint link 106 at the corners of the rectangular plate, enabling each pair of wheels 104 to dynamically adapt to the contour of the cylindrical surface 116. Each wheel is attached to the base structure 112 via the revolute joint link 106. This revolute joint link 106 enables the wheels 104 to adapt dynamically to the contour of the tree trunk during operation, allowing for improved manoeuvrability and stability as the climber navigates uneven or varying surface textures. This dynamic adaptation ensures optimal contact and traction with the tree trunk, enhancing the efficiency and effectiveness of the ascending mechanism.
[0042] The base structure 112 may include mounting points configured to accommodate the brake module 120, the gas spring 110, and the track motion mechanism 114, where the base structure 112 may be coupled to frame extensions 202 (as depicted in FIG. 2A) configured to support the track motion mechanism 114 and the carriage 216 to enable easy assembly and disassembly of peripheral components.
[0043] Each pair of wheels 104 is symmetrically arranged into an upper pair and a lower pair, each pair of wheels 104 being connected by the spur gear 108, enabling symmetric adjustment of the revolute joint link 106 to adapt to cylindrical surface 116 of varying diameters. The spur gear 108 is coupled to each pair of wheels 104 to ensure synchronized movement, thereby enabling balanced traction on cylindrical surfaces of varying diameters.
[0044] The gas spring 110 may be coupled to the revolute joint link 106, applying a consistent outward force that presses each pair of wheels 104 securely against the cylindrical surface 116 to enhance grip. The apparatus 100 includes a sturdy rectangular plate that forms the base structure 112, anchoring the wheel links at its corners. The base structure 112 also accommodates the gas spring 110, which is configured to apply a consistent outward force to ensure secure engagement of the wheels with the tree trunk. Additionally, the base structure 112 serves as a mounting point for other components, providing structural support and stability for the overall apparatus during operation.
[0045] In an embodiment, the track motion mechanism 114 having a semi-circular rail 214 (as depicted in FIG. 2G) may be accommodated on the base structure 112, configured to retrofit the harvester 230 (as depicted in FIG. 2I), the harvester 230 being mounted on a carriage 216 (as depicted in FIG. 2I) movably coupled to the semi-circular rail 214, where the harvester 230 may include the end effector 232 configured to secure the cutting tool 234 (as depicted in FIG. 2J) at a distal end, the cutting tool 234 being positioned to engage tree-borne produce.
[0046] The end effector 232 may be configured to receive control inputs from a human-robot interface, where the end effector 232 may include an integrated camera configured to capture visual data and transmit the visual data to the human-robot interface for real-time visual feedback. The end effector 232 may include a blade guard configured to partially enclose the cutting tool 234 to prevent accidental contact, while an emergency stop element may be operable to immediately halt cutting operations of the tree-borne produce upon detecting a safety trigger, where the tree-borne produce may be a coconut. The cutting tool 234 may be selected from a chainsaw, a cutter, and any combination thereof.
[0047] Further, the ratchet belt 236 (as depicted in FIG. 2D) is operatively coupled to the apparatus 100 to dock the apparatus 100 securely to the cylindrical surface116 by applying compressive force and is released upon completion of the collecting operation, facilitating a smooth undocking process. The ratchet belt 236 includes an open-back configuration that simplifies the docking and undocking mechanism, allowing the apparatus 100 to enter and exit the cylindrical surface 116. The ratchet belt 236 of the docking and undocking mechanism may also be manual, to securely compress the apparatus 100 against the cylindrical surface for stable operation.
[0048] In addition, the apparatus 100 may include circuit box 300 (as depicted in FIG. 3A and explained in detail below) that is accommodated within a protective enclosure mounted on the main frame 200, the protective enclosure being configured to shield the circuit box 300 from environmental factors pertaining to dust, moisture, mechanical vibrations, and any combination thereof.
[0049] In an exemplary implementation of an embodiment, apparatus 100 is capable of efficiently ascending the trunks of mature coconut trees in coconut plantations. The apparatus 100 utilizes its four-wheel drive mechanism 102, with each wheel 104 featuring the dual frustum shape and the rubber tire surface, providing optimal traction on the tree trunk. The revolute joint links 106 enable each wheel to dynamically adjust to the contour of the tree, allowing for secure attachment as the apparatus ascends. As it climbs, the gas spring 110 ensures consistent outward force, pressing the wheels 104 firmly against the tree trunk, while the synchronized movement of the wheels, facilitated by the spur gear 108, ensures balanced traction across the varying diameters of the trunk. The integrated harvester 230, mounted on the track mechanism 114, expands the collecting area around the tree without the need to reposition the apparatus 100. The cutting tool, equipped with precision cutting capabilities, allows for efficient coconut cutting and collecting with minimal human intervention, demonstrating the practical utility of collecting across various agricultural applications.
[0050] FIG. 1B illustrates an exemplary back view of robotic apparatus, in accordance with an embodiment of the present disclosure. The apparatus 100 includes the four-wheel drive mechanism 102 with wheels featuring the dual frustum shape and the rubber tire surface, designed to provide optimal traction on the tree trunk. Each wheel 104 is pivotally attached to the base structure 112 via revolute joint links 106, allowing the wheels to dynamically adjust to the contours of the tree as it climbs. The gas spring 110 is incorporated between the rectangular base plate and the revolute joint link 106, ensuring consistent outward force, and pressing the wheels securely against the tree trunk for enhanced grip.
[0051] The base structure 112 also incorporates the half-circular track motion mechanism 114, enabling the retrofitting of the harvester 230. The harvester 230, equipped with the cutting tool 234, extends the workspace around the cylindrical surface and is capable of collecting produce such as coconuts with precision. The apparatus 100 operates seamlessly by using synchronized movement of the wheels via spur gears 108 and the ratchet belt 236 docking mechanism for secure attachment to the tree trunk. This configuration facilitates efficient, automated collecting operations with minimal human intervention across various agricultural and industrial applications.
[0052] FIG. 1C illustrates an exemplary functional component of robotic apparatus, in accordance with an embodiment of the present disclosure. The apparatus 100 may be configured to enable ascent and descent along the tree trunk. The main frame 200 (also interchangeably referred to as body 200) is provided, serving as a structural backbone for supporting all integrated components. The brake module 120 is operatively coupled to the climber 100, ensuring stability during ascending and harvesting operations. The drive mechanism 102 (also interchangeably referred to as driving module 102, herein) is configured to power the motion of the climber 100 along the tree trunk. The circuit box 300 is provided to house and protect electrical and electronic components. The track motion mechanism 114 is configured to facilitate lateral motion around the tree trunk, thereby expanding the operational workspace of the harvester 230. The carriage 216 is movably mounted on the track motion mechanism 114, enabling displacement of the harvester 230 along a semi-circular trajectory. The harvester 230 may be operatively integrated, including a six-degree-of-freedom (6 DoF) manipulator and the precision cutting tool 234 for efficient harvesting operations.
[0053] The climber further incorporates an open-back design, simplifying the docking and undocking procedure by allowing the apparatus 100 to easily enter and exit the tree trunk. This design enhances the efficiency of both the docking and undocking processes, contributing to the overall ease of use and operational efficiency of the climber.
[0054] Each wheel 104 of the apparatus 100 is powered by the hub motor 118, providing precise torque and control for ascending and ensuring positional stability. This direct-drive system eliminates the need for complex transmission components, thereby enhancing the overall reliability of the apparatus and reducing maintenance requirements. The integration of hub motors 118 in each wheel enables more efficient power delivery and greater control, contributing to the smooth and stable operation of the climber.
[0055] Thus, the present disclosure overcomes the drawbacks, shortcomings, and limitations associated with existing solutions, and provides the apparatus 100 that enhances operational efficiency by streamlining the process of ascending and collecting, reducing both time and labor requirements. Additionally, the apparatus ensures safety by minimizing human involvement in tree ascending, thereby reducing the risk of accidents during operation. The apparatus is highly adaptable, accommodating various tree sizes and surface conditions, which improves performance across diverse environments. Featuring expandability, the apparatus includes a retrofittable harvester that adds modularity, enabling it to be customized for a wide range of agricultural and industrial applications. Specifically designed for coconut collecting, the apparatus is optimized for trees of varying diameters and surface textures, ensuring versatility in plantation settings. The apparatus is also suitable for pruning and maintenance tasks in tall trees, offering a versatile solution for high-reach cutting and trimming. Furthermore, it can be adapted for other agricultural or industrial applications requiring ascending and cutting tools, making it a multi-functional and adaptable tool.
[0056] FIG. 2A illustrates an exemplary view of body 200 of the apparatus, in accordance with an embodiment of the present disclosure. The apparatus 100 includes the body or main frame 200, where the body 200 serves as the primary support structure configured to securely mount and integrate mechanical, electrical, and operational components to ensure seamless functionality. The body 200 is further designed to be lightweight while possessing sufficient robustness to withstand mechanical stresses and dynamic loads encountered during ascending, harvesting, and lateral movements.
[0057] The apparatus 100 includes the rectangular base plate 112 (also interchangeably referred to as base structure 112 herein), where the rectangular base plate 112 forms the core framework of the apparatus 100 and includes multiple precision-engineered mounting points configured to accommodate various subsystems, including the brake module 120, the gas springs 110, and the track motion mechanism 114 (also interchangeably referred to as semi-circular track 114, herein). The rectangular base plate 112 further incorporates wiring channels and conduits to protect electrical connections and includes cutouts or reinforcements to minimize weight while maintaining structural integrity.
[0058] The apparatus 100 includes frame extension 202, where the frame extensions 202 are configured to support the semi-circular track 114 and the carriage 216 and include integrated slots and fixtures for facilitating easy assembly and disassembly of peripheral components. The rectangular base plate 112 and frame extensions 202 are fabricated from aluminium alloy, carbon fiber composite and any combination thereof, ensuring an optimal balance between strength and weight.
[0059] FIG. 2B illustrates an exemplary view of robotic apparatus, in accordance with an embodiment of the present disclosure. The apparatus 100 enables smooth ascent and descent along the tree trunk while maintaining stability and grip during operation. The apparatus 100 may be configured to adapt to varying tree trunk diameters and surface irregularities through a combination of high-traction wheels, an adjustable linkage mechanism, and a gas spring mechanism. The apparatus 100 may include hub motors 118, each coupled to a hub motor shaft 206 and a rubber tyre 204, where the hub motors 118 are configured to drive the rubber tyres 204 for facilitating movement along the cylindrical surface 116.
[0060] The apparatus 100 includes the set of wheels 104 defining dual frustum-shaped wheels, where each wheel 104 is covered with a high-grip rubber material to provide optimal traction. The rubber surface is securely bonded to an aluminium wheel core using industrial-grade adhesives, where the bonding ensures structural integrity and prevents detachment of the rubber surface during operation.
[0061] In an exemplary embodiment, each wheel 104 is integrated with an outrunner-type brushless DC (BLDC) hub motor configured to enable independent torque control. The hub motors 118 are further configured to provide high efficiency, low power consumption, and enhanced durability for operation in tropical environments. The apparatus 100 includes wheel links 106 operatively connected to the hub motor shaft 206 to provide structural support and ensure controlled movement.
[0062] The gas spring mechanism includes the gas springs 110 and a gas spring mount 208, which may be configured to exert continuous pressure on the wheel links 106, ensuring consistent contact between the rubber tyres 204 and the cylindrical surface 116. The gas spring mechanism with the gas spring 110 provides continuous pressure to ensure consistent contact with the tree trunk, thereby enhancing operational efficiency and reliability.
[0063] The gas spring mechanism configured to provide continuous pressure to the wheels 104, ensuring consistent contact with the tree trunk and compensating for surface irregularities. The gas springs 110 are mounted on reinforced brackets, where the reinforced brackets are structured to withstand repeated compression and release cycles during operation. The gas spring mechanism is further configured to ensure even force distribution across the apparatus 100, thereby reducing wear and tear on individual components and enhancing operational durability.
[0064] FIG. 2C illustrates an exemplary view of wheel links, in accordance with an embodiment of the present disclosure. The apparatus 100 includes adjustable linkages 106 (also interchangeably referred to as revolute joint link 106, herein) configured to connect the wheels 104, where the adjustable linkages 106 enable adaptation to tree diameters ranging from approximately 250 mm to about 290 mm. The apparatus 100 further includes spur gears 108 operatively coupled to the adjustable linkages 106, where the spur gears 108 synchronize the motion of the linkages to ensure uniform adjustment and consistent grip across all wheels.
[0065] FIG. 2D illustrates an exemplary view of ratchet belts used for docking, in accordance with an embodiment of the present disclosure. The apparatus 100 includes a secure attachment mechanism including ratchet belts 236 and quick-lock buckles, wherein the ratchet belts 236 and quick-lock buckles are configured to enable secure attachment to the tree trunk. The secure attachment mechanism further includes contact surfaces coated with anti-slip materials, where the anti-slip materials provide additional stability during operation. The secure attachment mechanism further includes a quick-release mechanism configured to facilitate rapid detachment in case of emergencies. Additionally, the secure attachment mechanism includes adjustable straps configured to accommodate different trunk sizes and shapes.
[0066] FIG. 2E illustrates an exemplary view of the brake module of the apparatus, in accordance with an embodiment of the present disclosure. The brake module 120 may be configured to ensure that the apparatus 100 remains stationary during ascending and harvesting operations, even on uneven or irregular tree surfaces, thereby preventing slippage and providing positional stability to enhance safety and efficiency. The brake module 120 includes the electromagnetic brake mechanism, where the electromagnetic brake mechanism is integrated with each hub motor 118 in the wheels 104, configured to engage automatically to hold the apparatus 100 stationary when ascending or harvesting operations are paused, and configured to operate with a low response time, ensuring immediate braking when required.
[0067] The brake module 120 further includes the adjustable brake rope 210, where the adjustable brake rope 210 is configured to encircle the tree trunk and connect to the brake module 120, and includes the threaded adjustment rod 212 for enabling precise diameter adjustments based on the tree’s girth. The adjustable brake rope 210 is constructed from high-strength, wear-resistant materials, such as braided steel with protective coatings, ensuring durability and reliability during operation.
[0068] FIG. 2F illustrates an exemplary view of driving module of the apparatus, in accordance with an embodiment of the present disclosure. The driving module 102 (also interchangeably referred to as drive mechanism 102, herein) is configured to provide the propulsion required for ascending and descending the tree trunk, ensuring smooth and controlled motion to maintain stability and adaptability to varying tree diameters and surface conditions. In an exemplary embodiment, the driving module 102 includes four independent outrunner-type Brushless DC (BLDC) hub motor 118, where each hub motor 118 is integrated into a respective wheel 104 to enable precise torque control. The hub motors 118 are characterized by high starting torque, facilitating initial acceleration, and are tuned for controlled, gradual movement along the tree trunk.
[0069] Each hub motor 118 is optimized for energy-efficient operation, ensuring minimal heat generation. The hub motors 118 are directly connected to the wheels, 104 enabling efficient power transmission without requiring additional gearing, thereby reducing mechanical complexity and power losses.
[0070] The control system interface is configured to synchronize the motion of all four hub motors 118 through a system master control (SMC) software, ensuring coordinated propulsion and stability during operation. The control system interface utilizes a real-time data feedback mechanism from encoders to enable precise speed and position control of the motors. The interface further supports wired or wireless communication with the control module, facilitating seamless data exchange and remote operation capabilities.
[0071] The wheel integration module includes dual-frustum-shaped wheels 104 where each wheel 104 is provided with a high-traction rubber surface configured to maintain optimal grip on tree trunks. Each wheel 104 is directly coupled to the motor shaft using fasteners, ensuring secure attachment and efficient torque transmission. The rotation mechanism of the wheels 104 is configured to enable bi-directional movement, facilitating seamless switching between ascending and descending modes for enhanced manoeuvrability.
[0072] FIG. 2G illustrates an exemplary view of track motion mechanism of the robotic apparatus, in accordance with an embodiment of the present disclosure. The track motion mechanism 114 is configured to facilitate lateral motion of the harvester 230 around the tree trunk, enabling a wider operational range without requiring repositioning of the climber, thereby enhancing efficiency during harvesting operations by providing a seamless semi-circular movement.
[0073] The track motion mechanism 114 includes the semi-circular rail 214, where the semi-circular rail 214 is composed of a lightweight, corrosion-resistant aluminium alloy and is precision-machined to ensure smooth movement of the carriage 216. The semi-circular rail 214 is mounted securely on the climber’s rectangular base plate using a mounting element 218 that includes reinforced brackets with anti-vibration mounts and adjustable mounting points, configured to align the track parallel to the tree trunk. The radius of the track is designed to provide a 180-degree workspace around the tree, while the width is optimized to support the weight of the harvester and its components.
[0074] FIG. 2H illustrates an exemplary view of carriage of the robotic apparatus, in accordance with an embodiment of the present disclosure. The carriage 216 is configured to facilitate smooth and precise movement along the semi-circular track, ensuring efficient positioning of the harvester 230. The carriage 216 includes the drive mechanism, where the drive mechanism includes a motorized rack-and-pinion mechanism configured to provide controlled linear motion of the carriage 216. The drive mechanism is further integrated with limit switches, preventing overtravel and ensuring operational safety. The carriage 216 further includes a load-handling assembly, where the load-handling assembly includes ball bearings 220 and linear guide wheels 222, configured to minimize friction and enhance stability during operation. The carriage 216 is further designed to support the combined weight of a 6 Degrees of Freedom (DoF) manipulator, the cutter, and an additional payload, ensuring structural integrity and reliable performance under dynamic loads.
[0075] The carriage 216 includes a motorized drive assembly configured to facilitate controlled movement along the track motion mechanism 114. The drive assembly includes a motor 228 operably coupled to a gearbox 226, where the gearbox 226 is configured to modulate torque and speed for precise motion control. The carriage 216 further includes a pinion sprocket 224 engaged with a corresponding rack mechanism, ensuring smooth and efficient power transmission. To enhance structural stability and motion precision, the carriage 216 incorporates ball bearings 220 and linear guide wheels 222, wherein the ball bearings 220 reduce rotational friction, and the linear guide wheels 222 facilitate low-resistance movement along the track. The components are strategically mounted to provide optimal load distribution, ensuring reliable performance under varying operational conditions.
[0076] The apparatus 100 includes weatherproof construction, configured to withstand exposure to rain, heat, and environmental factors, and is provided with an anti-corrosion coating to ensure long-term reliability. Additionally, the track motion mechanism 114 is designed for ease of maintenance, where track segments can be replaced individually in case of wear or damage, and carriage rollers and drive systems are configured to be accessible for lubrication and cleaning, ensuring prolonged operational efficiency.
[0077] FIG. 2I illustrates an exemplary view of the 6DoF harvester mounted on the carriage, in accordance with an embodiment of the present disclosure. The harvester 230 e.g., 6DoF harvester includes the semi-circular track 214, the carriage 216, and the end effector 232. The semi-circular track 214 is configured to provide guided movement along a predefined path. The carriage 216 is operatively coupled to the semi-circular track 214 and is configured to traverse along the track for positioning the harvester 230.
[0078] The 6-DoF harvester 230 is mounted on the carriage 216 and includes multiple articulated joints to facilitate multi-directional movement. The end effector 232 is coupled to the distal end of the harvester 230 and is configured to perform harvesting operations with precision. The integration of the semi-circular track 214, carriage 216, and articulated harvester enables efficient and adaptable harvesting across varying spatial orientations.
[0079] The 6DoF harvester 230 (also interchangeably referred to as 6 DoF manipulator 230, herein) is configured to provide dexterity and precision for navigating the tree canopy and accessing coconuts, where the manipulator includes six rotational joints, each actuated by brushless DC motors to facilitate multi-axis movement. The joint angles are optimized to enable extended reach for harvesting coconuts without repositioning the climber, while ensuring unhindered motion within the workspace, minimizing interference with tree branches or the semi-circular track. The manipulator structure includes lightweight aluminium alloy or carbon fiber arms, providing an optimal balance of strength and weight efficiency, while the joints incorporate precision bearings to ensure smooth articulation and long-term durability.
[0080] The manipulator 230 further includes a positioning mechanism incorporating high-resolution encoders at each joint to provide real-time position feedback, enabling accurate trajectory control through onboard kinematic calculations. The control interface includes a human-robot interface (HRI), configured for operator control via a joystick or touchscreen interface, where an integrated camera mounted on the end-effector 232 provides visual feedback to the operator. The manipulator 230 is designed with modular joints to facilitate ease of maintenance and replacement, while the motor housings are sealed to protect against dust and moisture, ensuring reliable operation in outdoor environments.
[0081] FIG. 2J illustrates an exemplary view of cutting tool, in accordance with an embodiment of the present disclosure. The cutting tool e.g., cutter 234 is configured to facilitate the detachment of coconuts from the tree with efficient operation, ensuring clean cuts while prioritizing safety. The cutter 234 includes a high-torque circular saw blade or a compact chainsaw, where the cutting tool is mounted on the end-effector 232 of the 6 DoF manipulator, ensuring optimal positioning to maintain efficient cutting angles while minimizing strain on the harvester.
[0082] The cutter 234 is integrated with safety features, including the blade guard to prevent accidental injuries and the emergency stop element/function to immediately halt operation when necessary. The control mechanism enables activation via the Human-Robot Interface (HRI), where the cutting motion is synchronized with manipulator positioning to achieve precise targeting. The cutter 234 further incorporates camera guidance, utilizing an end-effector-mounted camera to provide visual confirmation of cutting points, while image processing algorithms assist in identifying coconuts and their stems for accurate cutting. The cutter 234 is constructed with a hardened steel blade featuring an anti-corrosion coating to ensure durability in outdoor environments, while the modular design facilitates easy blade replacement and cleaning, ensuring long-term operational reliability.
[0083] FIG. 3A illustrates an exemplary view of the circuit box enclosure of robotic apparatus, in accordance with an embodiment of the present disclosure. The circuit box 300 includes a weather-resistant enclosure configured to protect electrical components and ensure reliability in various environmental conditions. The circuit box 300 may be formed from durable materials, including at least one of polycarbonate, stainless steel and any combination thereof, and includes a gasket seal to prevent dust and moisture ingress. The circuit box 300 may be mounted on vibration-dampening supports to enhance stability during operation.
[0084] FIG. 3B illustrates exemplary functional components of circuit box, in accordance with an embodiment of the present disclosure. The circuit box 300 includes the weather-resistant enclosure housing multiple electronic components for control and power management. The circuit box 300 includes a direct current (DC) switch 302 configured to control the power supply to the apparatus. A Jetson nano mini-PC 304 may be positioned within the enclosure to facilitate processing and control operations. A printed circuit board (PCB) mounting plate 306 is provided to securely hold circuit boards and electronic components. A universal serial bus (USB) hub 308 may be integrated into the apparatus 100 to enable communication between multiple peripherals. The circuit box 300 further includes terminal blocks 310 configured to facilitate secure electrical connections.
[0085] A connectors hub 312 is provided for interfacing various components of the apparatus 100. The apparatus 100 further includes motor drivers 314 configured to regulate the motor operation and ensure efficient power distribution. Cable ducts 316 are incorporated to manage and organize wiring, thereby reducing interference and improving safety. Buck converters 318 are included to regulate voltage levels for different components, ensuring stable power delivery. The enclosure 300 is mounted on vibration-dampening supports to enhance stability and minimize operational disturbances.
[0086] The apparatus 100 includes a power distribution unit (PDU) 320 configured to manage power delivery to motors, sensors, and controllers, whereas the PDU 320 includes fuses and circuit breakers for protection. The apparatus 100 further includes motor controllers 322 configured to regulate BLDC hub motors with encoder feedback and overload protection. Communication modules 324 are provided to facilitate both wireless and wired interfaces for remote operation and diagnostics. A sensor interface 326 is configured to process data from cameras, ultrasonic sensors, and proximity sensors for control operations. The apparatus 100 incorporates a cooling unit 328 including heat sinks and fans to prevent overheating. Status indicators 330, including light emitting diode (LED) lights and diagnostic displays, are provided for real-time monitoring of system performance. The apparatus 100 further includes an emergency stop relay 332 configured to enable immediate power disconnection for safety and maintenance.
[0087] The apparatus 100 combines robust design and advanced automation to streamline coconut harvesting. Its efficient climber ensures secure ascent and descent, supported by a reliable brake module for stability. The driving module delivers precise motion, while the track and carriage system provides extensive operational reach. The harvester, featuring a 6 DoF manipulator and precision cutter, enables accurate targeting and efficient coconut removal with minimal effort. The durable circuit box protects essential components, ensuring reliability in challenging environments. The modular and ergonomic design enhances safety, productivity, and ease of use, making it a transformative tool in agricultural automation and setting new standards for efficiency and sustainability.
[0088] It will be apparent to those skilled in the art that the apparatus 100 of the disclosure may be provided using some or all of the mentioned features and components without departing from the scope of the present disclosure. While various embodiments of the present disclosure have been illustrated and described herein, it will be clear that the disclosure is not limited to these embodiments only. Numerous modifications, changes, variations, substitutions, and equivalents will be apparent to those skilled in the art, without departing from the spirit and scope of the disclosure, as described in the claims.
ADVANTAGES OF THE PRESENT INVENTION
[0089] The present disclosure provides an apparatus that enhances efficiency by streamlining the process of tree ascending and collecting produce, thus saving time and reducing labor requirements.
[0090] The present disclosure provides an apparatus that ensures safety by minimizing human involvement in tree ascending, thereby reducing the risk of accidents during operation.
[0091] The present disclosure provides an apparatus with adaptability, accommodating various tree sizes and surface conditions for improved performance across diverse environments.
[0092] The present disclosure provides an apparatus featuring expandability, where the retrofittable harvester adds modularity, enabling the apparatus to serve various agricultural and industrial applications.
[0093] The present disclosure provides an apparatus optimized for coconut collecting, specifically designed to handle plantations with trees of varying diameters and surface textures.
[0094] The present disclosure provides an apparatus suited for pruning and maintenance tasks in tall trees, offering a versatile solution for high-reach cutting and trimming.
[0095] The present disclosure provides an apparatus that can be adapted for other agricultural or industrial applications requiring ascending and cutting tools, making it a multi-functional tool.
, Claims:1. A robotic apparatus (100) for ascending a cylindrical surface (116), the apparatus (100) comprising:
a drive mechanism (102) configured on a main frame (200) of the apparatus, the drive mechanism (102) comprising a set of wheels (104), the set of wheels (104) being organized into at least two pairs of wheels, each pair of wheels having a dual frustum configuration, the dual frustum configuration being defined by two truncated cones joined at smaller ends, with a rubber surface configured to provide superior traction on the cylindrical surface (116);
a set of hub motors (118) coupled to a corresponding wheel of the set of wheels (104), each hub motor (118) configured to facilitate ascent and descent along the cylindrical surface (116);
a revolute joint link (106) that pivotally couples each pair of wheels (104) to a base structure (112), the revolute joint link (106) configured to allow each pair of wheels (104) to dynamically adapt to contour of the cylindrical surface (116), wherein the base structure (112) defines a rectangular plate that anchors the revolute joint link (106) at corners of the rectangular plate;
a spur gear (108) coupled to each pair of wheels, the spur gear (108) being configured to ensure synchronized movement of each pair of wheels (104) to enable balanced traction on the cylindrical surface (116) of varying diameters;
a gas spring (110) coupled to the revolute joint link (106), the gas spring (110) configured to apply a consistent outward force that presses each pair of wheels (104) securely against the cylindrical surface (116) to enhance grip;
a track motion mechanism (114) having a semi-circular rail (214) accommodated on the base structure (112), configured to retrofit a harvester (230), the harvester (230) mounted on a carriage (216) movably coupled to the semi-circular rail (214), wherein the harvester comprises:
an end effector (232) configured to secure a cutting tool (234) at a distal end, the cutting tool being positioned to engage tree-borne produce; and
a ratchet belt (236) operatively coupled to the apparatus (100), the ratchet belt (236) configured to:
dock the apparatus (100) securely to the cylindrical surface (116) by applying compressive force; and
release the ratchet belt (236) upon completion of collecting operation, facilitating a smooth undocking process.
2. The apparatus (100) as claimed in claim 1, wherein each pair of wheels (104) is symmetrically arranged into an upper pair and a lower pair, each pair of wheels (104) being connected by the spur gear (108), enabling symmetric adjustment of the revolute joint link (106), which adapts to the cylindrical surface (116) of varying diameters.
3. The apparatus (100) as claimed in claim 1, wherein the cylindrical surface (116) is a tree trunk.
4. The apparatus (100) as claimed in claim 3, wherein the tree trunk is a coconut tree or any other type of tree with a similar structure.
5. The apparatus (100) as claimed in claim 1, wherein the end effector (232) is configured to receive control inputs from a human-robot interface (HRI), wherein the end effector (232) comprises an integrated camera configured to capture visual data and transmit the visual data to the HRI for real-time visual feedback.
6. The apparatus (100) as claimed in claim 5, wherein the end effector (232) comprises a blade guard configured to partially enclose the cutting tool (234) to prevent accidental contact, while an emergency stop element is operable to immediately halt cutting operations of the tree-borne produce upon detecting a safety trigger, wherein the tree-borne produce is a coconut.
7. The apparatus (100) as claimed in claim 6, wherein the cutting tool (234) is selected from a chainsaw, a cutter, and any combination thereof.
8. The apparatus (100) as claimed in claim 1, wherein the set of hub motors (118) coupled to a brake module (120) having an electromagnetic brake mechanism to maintain the apparatus stationary during harvesting operations, wherein the brake module (120) comprises:
an adjustable brake rope (210) configured to encircle the cylindrical surface (116), the adjustable brake rope (210) has a threaded adjustment rod (212) configured to enable precise diameter adjustments based on girth of the cylindrical surface (116).
9. The apparatus (100) as claimed in claim 1, wherein the base structure (112) comprises mounting points configured to accommodate the brake module (120), the gas spring (110), and the track motion mechanism (114), wherein the base structure (112) coupled to frame extensions (202) configured to support the track motion mechanism (114) and the carriage (216) to enable easy assembly and disassembly of peripheral components.
10. The apparatus as claimed in claim 1, wherein the apparatus (100) comprises a circuit box (300) that is accommodated within a protective enclosure mounted on the main frame (200), the protective enclosure being configured to shield the circuit box from environmental factors pertaining to dust, moisture, mechanical vibrations and any combination thereof.