Claims:WE CLAIM:
1. An apparatus to facilitate tree climbing (10), comprising:
a circular collar (20) positioned around the tree, wherein diameter of the circular collar (20) is mechanically adjusted by a clamping mechanism (120);
a (40) mechanically coupled to inner surface of the circular collar (20), and configured to enable gripping on the tree;
a roller (50) mechanically coupled to each end of the plurality of arms (40), and configured to enable vertical movement;
a suspension arm (80) mechanically coupled to the circular collar (20), and configured to extend one or more cutting device (100), wherein the one or more cutting device (100) is mechanically coupled to top end of the suspension arm (80), wherein the suspension arm (80) is retrofitted with a plurality of motors (90) on a plurality of joints to provide movement;
an image capturing device (140) mechanically coupled to one or more cutting device (100), and configured to provide image during the operation of the one or more cutting device (100);
a controller (130) mechanically coupled to the circular collar (20), comprising:
an input module (170) operable by one or more processor, and configured to receive input from one or more handheld device;
a speed control module (180) operable by one or more processor, and operatively coupled to the input module (170), wherein the speed control module (180) is configured to control speed of the circular collar (20) during the vertical movement;
an analysis module (190) operable by one or more processor, and operatively coupled to the speed control module (180), wherein the analysis module (190) is configured to analysis the required extension of the suspension arm (80) by an analysis technique;
a cutter module (200) operable by one or more processor, and operatively coupled to the input module (170), wherein the cutter module (200) is configured to operate the one or more cutting device (100).
2. The apparatus (10) as claimed in claim 1, wherein the clamping mechanism (120) uses fabricated bolts to vary the diameter.
3. The apparatus (10) as claimed in claim 1, wherein a light source is mechanically coupled to the image capturing device (140), and configured to provide light during operation of the one or more cutting device (100).
4. The apparatus (10) as claimed in claim 1, wherein the plurality of motors (90) on the plurality of joints is controlled by the controller (130), wherein the input module (170) in association with the analysis module (190) controls the plurality of motors (90).
5. The apparatus (10) as claimed in claim 1, wherein a battery unit (160) mechanically coupled to one side base of the circular collar (20), and configured to provide electrical energy for the roller (50) movement, extension of the suspension arm (80) and operation of the one or more cutting device (100).
6. A method for facilitating tree climbing (250), comprising:
receiving, by an input module, input from one or more handheld device (260);
monitoring, by a speed control module, speed of the circular collar during vertical movement (270);
analysing, by an analysis module, required extension of suspension arm by an analysis technique (280); and
controlling, by a cutter module, the one or more cutting device during extension of the suspension arm (290).

Dated this 4th day of November 2019

Signature

Vidya Bhaskar Singh Nandiyal
Patent Agent (IN/PA-2912)
Agent for the Applicant
, Description:FIELD OF INVENTION
[0001] Embodiments of a present disclosure relates to field of robotics, and more particularly to a remote-controlled apparatus for tree climbing.
BACKGROUND
[0002] In the field of arboriculture, recently machine harvesters are being deployed for aiding in the harvest. The facets and capabilities of such machine harvesters are fabricated depending upon the specific tasks envisioned. For specific plants specific machines are to be designed. For example, a pre-designed tree climbing machine will enable easy vertical climbing of trees. Such machines assist or replace human intervention altogether. Use of robotics in harvesting of coconuts will surely provide huge economy boost.
[0003] In conventional approach, a farmer usually climbs the tree to pluck the fruit according to the need. The conventional approach is very dangerous for the farmer and may lead to accident. Most effective way would be to provide a machine to do the related work, and hence replacing the human intervention altogether.
[0004] Moreover, in another approach, a machine is specifically designed to enable a farmer to climb a tree by firmly holding the machine and constantly shifting of gears for vertical movement. Effective approach would be to remove in altogether the human involvement. Moreover, a remote-controlled machine mechanically coupled with a cutting device will reduce the whole operation time.
[0005] Hence, there is a need for an improved apparatus to facilitate tree climbing and a method to operate the same and therefore address the aforementioned issues.
BRIEF DESCRIPTION
[0006] In accordance with one embodiment of the disclosure, an apparatus to facilitate tree climbing is provided. The apparatus includes a circular collar. The circular collar is positioned around the tree. Here, diameter of the circular collar is mechanically adjusted by a clamping mechanism. The apparatus also includes a plurality of arms. The plurality of arms is mechanically coupled to inner surface of the circular collar. The plurality of arms is configured to enable gripping on the tree.
[0007] The apparatus also includes a roller. The roller is mechanically coupled to each end of the plurality of arms. The roller is configured to enable vertical movement. The apparatus also includes a suspension arm. The suspension arm is mechanically coupled to the circular collar. The suspension arm is configured to extend one or more cutting device. Here, the one or more cutting device is mechanically coupled to top end of the suspension arm. The apparatus also includes an image capturing device. The image capturing device is mechanically coupled to one or more cutting device. The image capturing device is configured to provide image during the operation of the one or more cutting device.
[0008] Moreover, the apparatus also includes a controller. The controller is mechanically coupled to the circular collar. The controller includes an input module operable by one or more processor. The input module is configured to receive input from one or more handheld device.
[0009] The controller also includes a speed control module operable by one or more processor. The speed control module is operatively coupled to the input module. The speed control module is configured to control speed of the circular collar during the vertical movement. The controller also includes an analysis module operable by one or more processor. The analysis module is operatively coupled to the speed control module. The analysis module is configured to analysis the required extension of the suspension arm by an analysis technique.
[0010] The controller also includes a cutter module operable by one or more processor. The cutter module is operatively coupled to the input module. The cutter module is configured to operate the one or more cutting device.
[0011] In accordance with one embodiment of the disclosure, a method for facilitating tree climbing is provided. The method includes receiving input from one or more handheld device. The method also includes monitoring speed of the circular collar during vertical movement. The method also includes analysing extension of suspension arm by an analysis technique. The method also includes controlling the one or more cutting device during extension of the suspension arm.
[0012] To further clarify the advantages and features of the present disclosure, a more particular description of the disclosure will follow by reference to specific embodiments thereof, which are illustrated in the appended figures. It is to be appreciated that these figures depict only typical embodiments of the disclosure and are therefore not to be considered limiting in scope. The disclosure will be described and explained with additional specificity and detail with the appended figures.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The disclosure will be described and explained with additional specificity and detail with the accompanying figures in which:
[0014] FIG. 1 is a schematic representation of an apparatus to facilitate tree climbing in accordance with an embodiment of the present disclosure;
[0015] FIG. 2 is a schematic representation of top view representing the apparatus to facilitate tree climbing of FIG. 1 in accordance of an embodiment of the present disclosure;
[0016] FIG. 3 is a schematic representation of perspective view representing the apparatus to facilitate tree climbing of FIG. 1 in accordance of an embodiment of the present disclosure;
[0017] FIG. 4 is a schematic representation of an exemplary embodiment representing the apparatus to facilitate tree climbing of FIG. 1 in accordance of an embodiment of the present disclosure;
[0018] FIG. 5 is a block diagram of a controller in association with the apparatus to facilitate tree climbing in accordance with an embodiment of the present disclosure;
[0019] FIG. 6 is a block diagram of a computer or a server in accordance with an embodiment of the present disclosure; and
[0020] FIG. 7 is a flowchart representing the steps of a method for facilitating tree climbing in accordance with an embodiment of the present disclosure.
[0021] Further, those skilled in the art will appreciate that elements in the figures are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the figures by conventional symbols, and the figures may show only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the figures with details that will be readily apparent to those skilled in the art having the benefit of the description herein.
DETAILED DESCRIPTION
[0022] For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the figures and specific language will be used to describe them. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended. Such alterations and further modifications in the illustrated online platform, and such further applications of the principles of the disclosure as would normally occur to those skilled in the art are to be construed as being within the scope of the present disclosure.
[0023] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process or method that comprises a list of steps does not include only those steps but may include other steps not expressly listed or inherent to such a process or method. Similarly, one or more devices or subsystems or elements or structures or components preceded by "comprises... a" does not, without more constraints, preclude the existence of other devices, subsystems, elements, structures, components, additional devices, additional subsystems, additional elements, additional structures or additional components. Appearances of the phrase "in an embodiment", "in another embodiment" and similar language throughout this specification may, but not necessarily do, all refer to the same embodiment.
[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. The system, methods, and examples provided herein are only illustrative and not intended to be limiting.
[0025] In the following specification and the claims, reference will be made to a number of terms, which shall be defined to have the following meanings. The singular forms “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise.
[0026] Embodiments of the present disclosure relate to an apparatus to facilitate tree climbing is provided. The apparatus includes a circular collar. The circular collar is positioned around the tree. Here, diameter of the circular collar is mechanically adjusted by a clamping mechanism. The apparatus also includes a plurality of arms. The plurality of arms is mechanically coupled to inner surface of the circular collar. The plurality of arms is configured to enable gripping on the tree.
[0027] The apparatus also includes a roller. The roller is mechanically coupled to each end of the plurality of arms. The roller is configured to enable vertical movement. The apparatus also includes a suspension arm. The suspension arm is mechanically coupled to the circular collar. The suspension arm is configured to extend one or more cutting device. Here, the one or more cutting device is mechanically coupled to top end of the suspension arm. The apparatus also includes an image capturing device. The image capturing device is mechanically coupled to one or more cutting device. The image capturing device is configured to provide image during the operation of the one or more cutting device.
[0028] Moreover, the apparatus also includes a controller. The controller is mechanically coupled to the circular collar. The controller includes an input module operable by one or more processor. The input module is configured to receive input from one or more handheld device.
[0029] The controller also includes a speed control module operable by one or more processor. The speed control module is operatively coupled to the input module. The speed control module is configured to control speed of the circular collar during the vertical movement. The controller also includes an analysis module operable by one or more processor. The analysis module is operatively coupled to the speed control module. The analysis module is configured to analysis the required extension of the suspension arm by an analysis technique.
[0030] The controller also includes a cutter module operable by one or more processor. The cutter module is operatively coupled to the input module. The cutter module is configured to operate the one or more cutting device.
[0031] FIG. 1 is a schematic representation of an apparatus to facilitate tree climbing (10) in accordance with an embodiment of the present disclosure. As used herein, the term “apparatus” refers to a technical equipment or a machinery needed for a particular activity or purpose.
[0032] The apparatus (10) includes a circular collar (20). The circular collar (20) is positioned around the tree. As used herein, the term “collar” refers to a connecting band or pipe in machinery. The circular collar (20) is designed in ring like frame (110) to fit around the tree circumference. As used herein, the term “frame” refers to a rigid structure that surrounds something such as any irregular shaped body. As used herein, the term “tree circumference” refers to the enclosing boundary of a curved tree trunk.
[0033] Here, diameter of the circular collar (20) is mechanically adjusted by a clamping mechanism (120). In one embodiment, the clamping mechanism (120) uses fabricated bolts to vary the diameter. In such embodiment, the circular collar (20) is clamped at one specific joint after positioning around the tree. (as shown in FIG. 2)
[0034] In another such embodiment, the clamping mechanism (120) uses Allen bolts to tightly hold the butterfly clamps. The maximum diameter of the circular collar (20) is of 3 feet and correspondingly thickness of the circular collar is of 1.25 inch. (as shown in FIG. 2)
[0035] The apparatus (10) also includes a plurality of arms (40). The plurality of arms (40) is mechanically coupled to inner surface of the circular collar (20). The plurality of arms (40) is configured to enable gripping on the tree.
[0036] Furthermore, the apparatus (10) also includes a roller (50). The roller (50) is mechanically coupled to each end of the plurality of arms (40). The roller (50) is configured to enable vertical movement of the circular collar (20). In one embodiment, the plurality of arms (40) may be four in number, placed in alternate upward and downward direction. (as shown in FIG. 3)
[0037] Here, the plurality of arms (40) extends through the inner surface of the circular collar (20) and protrude in u-shaped fabrication. In one embodiment, the u-shaped fabrication comprises elongated one side of the u-shaped fabrication. The protrusion of each of the plurality of arms (40) along with rollers (50) enable pushing of the plurality of arms (40) against the tree from all sides. Pushing force of the plurality of arms (40) enables easy movement of the circular collar (20) on the tree with proper gripping force during the vertical movement. Here, in one embodiment, the rollers (50) may have hooking structure retrofitted for proper gripping.
[0038] The apparatus (10) also includes a suspension arm (80). The suspension arm (80) is mechanically coupled to outer surface of the circular collar (20). The suspension arm (40) is configured to extend one or more cutting device (100). Here, in one embodiment, the extension of the one or more cutting device (100) is vertically upward. In one embodiment, maximum length of the suspension arm (40) may be of 3 feet.
[0039] Furthermore, the suspension arm (80) may be rotated 360-degree on the circular collar (20) over the tree circumference. Here, the rotation enables proper placement of the one or more cutting device (100) during operation. Here the rotation is enabled by a servomotor (70) with a help of a wheel (60). In one embodiment, the wheel has gear teeth which grips on gear teeth on the collar. Due to rotation movement of the motor, the gear wheel rotates and movement of the unit happens. In one specific embodiment, the servomotor (70) enables precision movement of the wheel (60) that further helps in rotation of the suspension arm (80) around the circular collar (20).
[0040] Here, the one or more cutting device (100) is mechanically coupled to top end of the suspension arm (80). In one exemplary embodiment, the one or more cutting device may be a hedge shear, a tree cutting grinder, a tree cutting chainsaw and the like. (as shown in FIG. 4)
[0041] Here, in one embodiment, the suspension arm (80) is retrofitted with a plurality of motors (90) on a plurality of joints to provide movement. In such embodiment, each of the plurality of motors (90) controls the each of the adjoining plurality of joints. In such embodiment, controlling movement of each joint further leads to controlling of the extension. As used herein, the term “motor” refers to a machine, especially one powered by electricity or internal combustion, that supplies motive power for a vehicle or for another device with moving parts.
[0042] Furthermore, the apparatus (10) also includes an image capturing device (140). The image capturing device (140) is mechanically coupled to one or more cutting device (100). The image capturing device (140) is configured to provide image during the operation of the one or more cutting device (100). Such, capturing of image will enable proper control over the operation. Here, a light source is mechanically coupled to the image capturing device (140). The light source is configured to provide light during operation of the one or more cutting device (100).
[0043] Moreover, a battery unit (160) is mechanically coupled to one side base of the circular collar (20). The battery unit (160) is configured to provide electrical energy for the roller (50) movement, extension of the suspension arm (80) and operation of the one or more cutting device (100). It would be appreciated by a person skilled in the art, that the whole apparatus (10) is fabricated with light weight plastic to enable easy fitting and easy displacement.
[0044] Moreover, the apparatus (10) also includes a controller (130). The controller (130) is mechanically coupled to the circular collar (20). The controller (130) includes an input module (170) operable by one or more processor. The input module (170) is configured to receive input from one or more handheld device. In one embodiment, the handheld device may be a specifically designed remote or an any mobile device. (as shown in FIG. 5)
[0045] The controller (130) also includes a speed control module (180) operable by one or more processor. The speed control module (180) is operatively coupled to the input module (170). The speed control module (180) is configured to control speed of the circular collar (20) during the vertical movement. In one embodiment, when the circular collar (20) is positioned over the tree, the vertical movement may upward and downward movement. (as shown in FIG. 5)
[0046] The controller (130) also includes an analysis module (190) operable by one or more processor. The analysis module (190) is operatively coupled to the speed control module (180). The analysis module (190) is configured to analysis the required extension of the suspension arm (80) by an analysis technique. In such embodiment, the plurality of motors (90) on the plurality of joints is controlled by the controller (130).
[0047] The input module (170) in association with the analysis module (190) controls the plurality of motors (90). In one such embodiment, the analysis module (190) also controls the movement of the suspension arm (80) around the circular collar (20) for fixing the operating position of the one or more cutting device (100).
[0048] The controller (130) also includes a cutter module (200) operable by one or more processor. The cutter module (200) is operatively coupled to the input module (170). The cutter module (200) is configured to operate the one or more cutting device (100).
[0049] In operation, a user may control the disclosed apparatus (10) from the base of the tree. Here, the user may control the apparatus (10) by a custom build remote. At first instant, the user clamps the whole apparatus (10) around base of a coconut tree. Then, the user inputs commands through an input module (170). The circular collar (20) with the help of plurality of arms (40) moves vertically upward on the tree. The rollers (50) help in easy movement on the surface of the coconut tree.
[0050] In the above stated operation, the user controls the speed of the circular collar (20) through a speed control module (180). Moreover, the user further controls extension of suspension arm (80) along with 360-degree movement of the extended suspension arm (80) along the circular collar (20) through the analysis module (190). Lastly, the apparatus (10) attached cutting device (100) is controlled by a cutter module (200).
[0051] FIG. 6 is a block diagram of a computer or a server (210) in accordance with an embodiment of the present disclosure. The server (210) includes processor(s) (240), and memory (220) coupled to the processor(s) (240).
[0052] The processor(s) (240), as used herein, means any type of computational circuit, such as, but not limited to, a microprocessor, a microcontroller, a complex instruction set computing microprocessor, a reduced instruction set computing microprocessor, a very long instruction word microprocessor, an explicitly parallel instruction computing microprocessor, a digital signal processor, or any other type of processing circuit, or a combination thereof.
[0053] The memory (220) includes a plurality of modules stored in the form of executable program which instructs the processor () to perform the method steps illustrated in Fig 1. The memory (220) has following modules: the input module (170), the speed control module (180), the analysis module (190) and the cutter module (200).
[0054] The input module (170) is configured to receive input from one or more handheld device. The speed control module (180) is configured to control speed of the circular collar (20) during the vertical movement. The analysis module (190) is configured to analysis the required extension of the suspension arm by an analysis technique. The cutter module (200) is configured to operate the one or more cutting device.
[0055] Computer memory elements may include any suitable memory device(s) for storing data and executable program, such as read only memory, random access memory, erasable programmable read only memory, electrically erasable programmable read only memory, hard drive, removable media drive for handling memory cards and the like. Embodiments of the present subject matter may be implemented in conjunction with program modules, including functions, procedures, data structures, and application programs, for performing tasks, or defining abstract data types or low-level hardware contexts. Executable program stored on any of the above-mentioned storage media may be executable by the processor(s) (240).
[0056] FIG. 7 is a flowchart representing the steps of a method for facilitating tree climbing (250) in accordance with an embodiment of the present disclosure. The method includes (250) receiving input from one or more handheld device in step 260. In on embodiment, receiving the input from the one or more handheld device includes receiving the input from the one or more handheld device by an input module.
[0057] The method (250) also includes monitoring speed of the circular collar during vertical movement in step 270. In one embodiment, monitoring speed of the circular collar during the vertical movement includes monitoring speed of the circular collar during the vertical movement by a speed control module. In another embodiment, monitoring speed of the circular collar during the vertical movement includes monitoring speed of the circular collar during the vertical movement comprising upward movement and downward movement.
[0058] The method (250) also includes analysing extension of suspension arm by an analysis technique in step 280. In one embodiment, analysing extension of the suspension arm by the analysis technique includes analysing extension of the suspension arm by an analysis module. In another embodiment, analysing extension of the suspension arm by the analysis technique includes controlling the movement of the suspension arm around the circular collar for fixing the operating position of the one or more cutting device.
[0059] The method (250) also includes controlling the one or more cutting device during extension of the suspension arm in step 290. In one embodiment, controlling the one or more cutting device during extension of the suspension arm includes controlling the one or more cutting device during extension of the suspension arm by a cutter module.
[0060] Present disclosure of an apparatus to facilitate tree climbing is a remote-controlled robotic machine. The apparatus may be implemented easily with trees like coconut tree, palm tree and the like. Here, a cutting device is mechanically controlled with a suspension arm. The cutting device may be operated with a remote-control for doing a specific function. The apparatus provides an easy solution for labour shortage for arboriculture.
[0061] While specific language has been used to describe the disclosure, any limitations arising on account of the same are not intended. As would be apparent to a person skilled in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein.
[0062] The figures and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment. For example, order of processes described herein may be changed and are not limited to the manner described herein. Moreover, the actions of any flow diagram need not be implemented in the order shown; nor do all of the acts need to be necessarily performed. Also, those acts that are not dependant on other acts may be performed in parallel with the other acts. The scope of embodiments is by no means limited by these specific examples.