EP1703786A1 - Procede et dispositif de separation de parties de plantes - Google Patents

Procede et dispositif de separation de parties de plantes

Info

Publication number
EP1703786A1
EP1703786A1 EP04808764A EP04808764A EP1703786A1 EP 1703786 A1 EP1703786 A1 EP 1703786A1 EP 04808764 A EP04808764 A EP 04808764A EP 04808764 A EP04808764 A EP 04808764A EP 1703786 A1 EP1703786 A1 EP 1703786A1
Authority
EP
European Patent Office
Prior art keywords
stem
plant
plant part
separating member
separating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04808764A
Other languages
German (de)
English (en)
Inventor
Cornelis Pellikaan
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Agrarisch Loonbedrijf C Pellikaan
Original Assignee
Agrarisch Loonbedrijf C Pellikaan
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agrarisch Loonbedrijf C Pellikaan filed Critical Agrarisch Loonbedrijf C Pellikaan
Publication of EP1703786A1 publication Critical patent/EP1703786A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • A01D45/006—Harvesting of standing crops of tomatoes
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees

Definitions

  • the present invention relates to a method for removing a plant part growing on a stem of a plant from the plant.
  • the stem and a separating member are positioned relative to one another, and the stem and the separating member are moved relative to one another in order to separate the plant part from the stem using the separating member. Then, the plant part is discharged.
  • N -A-1017406 It is known from N -A-1017406 to guide a plant along> an elongate, vertical suspension structure, such as a rigid or flexible wire, by connecting a stem of the plant to the suspension structure at some locations by means of clips which on one side engage the stem and on the other side engage the suspension structure.
  • the clips are displaceable along the suspension structure under frictional contact, preferably without releasing the connections between the clips and the stem and suspension structure.
  • Embodiments of clips of this type are known, for example, from WO-A 99/22587.
  • the length of the stem increases at the end thereof which is remote from the roots of the plant. Furthermore, the plant bears plant parts which are to be harvested and are less fully grown the further away they are from the roots of the plant.
  • the growth of the plant leads to a newly grown stem part having to be connected to the suspension structure at set times.
  • the suspension structure is moved upwards, with at least the clip which is located at the highest position sliding along the suspension structure and a clip located at a lower position being removed and placed above the clip which was hitherto the highest.
  • the invention provides first of all a method for removing a plant part from a plant, the plant part growing on a stem of the plant, the method comprising the steps of: (a) positioning the stem and a separating member relative to one another; and (b) using the separating member to separate the plant part from the plant, wherein in step (a) a positioning member and the stem are brought into contact with one another by moving the positioning member and the stem relative to one another.
  • the stem it is preferable for the stem to extend substantially in a vertical direction. Stems which have a substantially vertical direction are in widespread use in practice, for example by virtue of the stems being suspended from a suspension structure. In practice it has been found that the method is particularly suitable for use on stems which extend substantially vertically. However, in an alternative configuration, the stem may also have a different, for example a rather inclined direction.
  • the positioning member and the stem are preferably brought into contact with one another by the positioning member and/or the stem being moved relative to one another substantially in a direction which is transverse relative to the longitudinal direction of the stem, it being possible for the stem to be moved towards the positioning member (which is substantially stationary as seen in the direction of movement) , for the positioning member to be moved towards the stem (which is substantially stationary as seen in the direction of movement) or for both the stem and the positioning member to be moved in order for them to be brought into contact with one another.
  • a stop which is movable relative to the positioning member is used.
  • step (b) it is preferable for the plant part to be separated from the plant by the stem and the separating member being moved relative to one another.
  • the separating member may in this case make contact with the stem but may also be moved, at a predetermined distance from the stem, in a direction which in particular is substantially parallel to the longitudinal direction of the stem, since the plant part that is to be removed generally sprouts from the stem.
  • one of the two (stem and separating member) may be stationary, or both may move.
  • the plant part is separated from the plant by moving the separating member, in particular a cutting side thereof, in the upward direction with respect to the stem.
  • the plant part is separated from the plant by moving the plant downwards .
  • the positioning member comprises a gripper member, in which case in step (a) the gripper member grips the stem in order for the step to be carried out. If the plant is suspended from a suspension structure and the positioning member comprises a gripper member, in step (a) the gripper member can grip the suspension structure in order for the step to be carried out. It is preferably in step (b) for the plant part to be separated from the plant by the gripper member and the separating member being moved apart. In this case, the gripper member provides a desired fixation of the stem or, in combination with this fixation, a desired displacement of the stem.
  • the separating member while the plant part is being separated from the plant, to have substantially the form of a ring, in which case the stem extends through the ring form. Consequently, the desired removal of the plant part takes place irrespective of the position at which the plant part is connected to the stem.
  • the separating member comprises at least two parts which are movable with respect to one another, the ring form can be opened in order for it to be placed around a stem prior to the removal of the plant part and to be removed again from -the stem after removal of the plant part, for use at a different stem.
  • the positioning member and the separating member are arranged on a frame, the frame being provided with a support structure, to which the positioning member and the separating member are connected such that they are movable relative to one another.
  • the frame preferably serves to move the positioning member and the separating member towards the plant, and more particularly to move the positioning member and the separating member to successive plants in a row of plants.
  • the support structure prefferably to be moved relative to the frame, in particular in a direction which is substantially transverse with respect to the longitudinal direction of the stem. This measure allows the positioning member, in a defined position of the frame, to be moved into a desired position relative to the stem in order for the positioning member and the stem to be brought into contact with one another.
  • the frame prefferably be moved in a direction which is substantially transverse relative to the longitudinal direction of the stem in order to move towards and away from the stem to allow the abovementioned defined position to be selected, the support structure optionally being movable relative to the frame.
  • the support structure can adopt a fixed position relative to the plant. Consequently, the frame can move along a row of plants while the support structure, at least during removal of one or more plant parts from a specific plant, is not displaced relative to the plant.
  • step (b) it is preferable for the plant part, after it has been separated from the plant, to be collected, for example in a box or other type of container, in order to ascertain the position of a removed plant part.
  • step (b) it is preferable for the plant part, after it has been separated from the plant, to be discharged, so that the plant part can be processed further in a predetermined way.
  • step (a) the position of the plant part which is to be removed relative to the separating member and/or the ripeness of the plant part is measured by a plant part detection means, in which case the removal of the plant part from the plant is controlled on the basis of the measured value obtained.
  • Plant part detection means to be used in this context are selected from a group of plant part detection means, such as for example a proximity switch, a temperature sensor, a colour sensor, an image sensor, etc.
  • a proximity switch or an image sensor it is possible, with the aid of, for example, a proximity switch or an image sensor, to determine the position of a plant part that is to be removed in order to control the separating member, the frame or the support structure, while the ripeness of the plant part can be determined using, for example, a temperature sensor, a colour sensor or an image sensor or combinations thereof. It is also possible, with the aid of an image sensor, to determine the volume of a plant part and to determine the weight of the plant part on the basis of the volume obtained. In this case, it is also possible to use data processing means coupled to the sensor (s) to determine whether or not the detected plant part should be removed from the plant or the destination to which a removed plant part should be discharged if there are various destinations for plant parts which satisfy different criteria.
  • the method according to the invention is suitable and intended in particular for use with tomato plants.
  • the invention allows efficient removal of tomatoes from tomato plants.
  • the plant part to be harvested is preferably a fruit, a berry or a leaf.
  • the invention also relates to a device for removing a plant part which grows on a stem of a plant from the plant, the device comprising a separating member which is configured to separate a plant part growing on the stem from the plant, the stem extending substantially in the vertical direction, and a positioning member which is configured to position the stem and the separating member relative to one another, the device being configured to bring the positioning member and the stem into contact with one another.
  • Figure 1 shows a diagrammatic view of an embodiment according to the invention
  • Figures 2a and 2b show a diagrammatic view of a second embodiment according to the invention
  • Figure 3 shows another diagrammatic view of the second embodiment according to the invention
  • Figure 4 shows a detail view of an embodiment of the positioning member
  • Figure 5 shows another detail view of an embodiment of the positioning member
  • Figures 6a and 6b show a detailed plan view of an embodiment of the separating member
  • Figure 7 shows a detail view of an embodiment of the separating member
  • Figure 8 diagrammatically depicts another embodiment of the invention
  • Figure 9 shows a diagrammatic rear view of an embodiment of the invention
  • Figure 10 diagrammatically depicts another embodiment according to the invention
  • Figure 11 diagrammatically depicts yet another embodiment according to the invention.
  • Identical reference numerals refer to identical components or components which have an identical or similar function. Arrows without reference numerals indicate directions of movement of components .
  • Figure 1 shows a first embodiment of the invention. It shows a device 10 which comprises a positioning member 12 and a separating member 14.
  • the positioning member 12 and the separating member 14 are each connected to a support structure 16.
  • the positioning member 12 may be a stop.
  • the positioning member 12 can be moved in the upwards and downwards direction with respect to the support structure 16 in a manner which is not shown in more detail and is to be explained in greater depth below with reference to other figures.
  • the separating member 14 can move in the upwards and downwards directions with respect to the support structure 16 in a manner which is not shown in more detail and is to be explained in greater depth below with reference to other figures.
  • the positioning member 12 and the separating member 14 may be arranged on different support structures 16.
  • the separating member 14 comprises two separating parts 18a and 18b, the two separating parts 18a and 18b being connected to the support structure 16 such that they are rotatable relative to one another.
  • the separating parts 18a, 18b are rotatable in a horizontal plane. They are rotatable towards one another in order to make contact with one another and are rotatable away from one another in order to create space between the two separating parts 18a, 18b.
  • the separating parts 18a and 18b On their upward side, the separating parts 18a and 18b have a cutting edge 24. When the separating parts 18a and 18b are in contact with one another, together they form the form of a ring.
  • Figure 8 For one possible way of controlling the support structure 16, reference is made to Figure 8.
  • the right-hand side of the figure shows a plant 21 having a stem 20.
  • the stem 20 extends substantially in a vertical direction.
  • the stem 20 does not have to extend precisely vertically but may have a rather variable direction.
  • the invention is suitable in particular for plants which are a fruit-bearing crop which grows to a considerable height.
  • the plant 21 is a tomato plant and a bunch of tomatoes hangs from the stem 20.
  • the plant 21 may also be a different type of plant from which plant parts hang, such as: fruit, berries or vegetables.
  • a leaf 30, which hangs from the stem 20, is shown in Figure 1.
  • the bunch 22 is connected to the stem 20 by means of a stalk 26.
  • the stalk 26 may be a small stalk or a stronger branch.
  • the leaf 30 is also connected to the stem 20 by means of a stalk 26.
  • the support structure 16 is movable in the horizontal direction, so that the support structure 16 can be moved towards the stem 20. This is indicated in Figure 1 by a horizontal arrow.
  • the support structure 16 is moved by means which are not indicated in Figure 1- In this respect, reference is made to Figure 8.
  • the ring form 28 has an internal diameter which is slightly larger than the diameter of the stem 20, so that the separating member 14 can easily be moved along the stem 20.
  • the difference in diameter between the stem 20 and the internal diameter of the separating member 14 is preferably 0-10 mm.
  • the cutting edge 24 may also be of a different form than a ring form.
  • a square or oval form or another form is also possible.
  • cutting edge 24 is also possible to design the cutting edge 24 as a plurality of driven blade parts (not shown) , optionally with serrated cutting edges, which can move with respect to one another. In this way, plant parts 22 and/or 30 can be separated from the stem 20 by sawing them off the stem 20.
  • the separated plant part is also cleaned and sealed in order to prevent contaminants from penetrating into the separated plant part 22 and/or 30.
  • the support structure 16 will be moved towards the stem 20.
  • the positioning member 12 comes into contact with the stem 20
  • the movement of the support structure 16 is stopped and the support structure 16 is held in a fixed position with respect to the stem 20.
  • the separating member 14 is in an open state, with the two separating parts 18a and 18b located at a distance from one another, defining a space between them.
  • the positioning member 12 makes contact with the stem 20, the stem 20 will be located in the vicinity of and substantially between the two separating parts 18a and 18b.
  • the two separating parts 18a and 18b are moved towards one another in order to form a ring form 28 with a ring-formed cutting edge 24 which is directed upwards.
  • the stem 20 extends through the ring form 28 in this position.
  • the separating member 14 is moved upwards with respect to the stem 20. In the process, the separating member 14 will move towards the bunch 22 and the leaf 30. At a defined moment, the cutting edge 24 comes into contact with the stalk 26 of the bunch 22 or the leaf 30. The cutting edge 24 will then cut through the stalk 26, with the result that the bunch 22 or the leaf 30 is separated from the stem 20.
  • the upwards movement of the separating member 14 stops.
  • the two separating parts 18a and 18b of the separating member 14 are then moved away from one another.
  • the support structure 16 is then moved away from the stem 20 and can be moved towards a stem 20 of another plant 21 (not shown) .
  • the separating member 14 is moved downwards along the support structure 16. This completes a cycle of approaching the plant 21, making contact with the stem 20 via the positioning means 12, surrounding the stem 20 by the separating member 14 ' , separating plant parts 22 and/or 30 from the stem 20, releasing the stem 20 from the separating member 14 and moving the separating member 14 away from ' the stem 20.
  • This cycle can be repeated in order to treat a large number of plants 21. It is in this way possible to harvest fruit, vegetables, berries while at the same time leaves 30 are removed from a stem 20.
  • Figures 2a, 2b and 3 show a second embodiment according to the invention.
  • the positioning member 12 comprises a gripper member 32 for gripping the stem 20.
  • the gripper member 32 comprises two gripping parts 32a and 32b. These gripping parts 32a and 32b are provided with deformable contact surfaces 33a and 33b.
  • the deformable contact surfaces 33a, 33b protect the stem 20 from damage when the stem is gripped. It is in this way possible to grip a stem 20 and release it again without damage to the stem 20.
  • the contact surfaces 33a, 33b can be made from any suitable deformable material, such as rubber, foam rubber, felt or another material.
  • the gripping parts 32a, 32b are able to exert a force on the stem 20 which is substantially parallel to the longitudinal direction of the stem 20.
  • the separating member 14 is provided with collection means in the form of tray parts 34a and 34b, for collecting the separated plant parts 22, 30.
  • the collection means 34a and 34b are each fixedly connected to a respective separating part 18a and 18b and rotate with the respective separating parts 18a and 18b when the latter are moved towards one another. In this way, a collection means 34 in the form of a tray is formed, into which the plant part 22, 30 moves after separation from the stem 20.
  • the collection means 34 may be provided with one or more sensors (not shown) for detecting a plant part 22 and/or 30 which enters the collection means 34.
  • the stem 20 comes into contact with one of the gripping parts 32a or 32b of the positioning member 12. Then, the gripping parts 32a and 32b, in particular the contact surfaces 33a, 33b thereof, grip the stem 20 (cf. Figure 2b) . Then, the separating parts 18a and 18b of the separating member 14 are also moved towards one another in order to surround the stem 20. When the separating parts 18a, 18b have formed a ring form 28 around the stem, the separating member 14 is moved upwards along the stem. When a plant part 22, 30 comes into contact with the cutting edge 24 of the separating member 14, the separating member 14 will exert a force on the plant part 22, 30. This will result in an upward force on the stem 20, parallel to the longitudinal direction thereof. The gripper member 32 holds the stem 20 in place and prevents the stem 20 from being moved upwards as a result of the upward force. In this way, plant parts 22, 30 are removed from the stem 20.
  • the collection means 34 is provided with a sensor (not shown) for detecting a plant part 22 and/or 30 which enters the collection means, during use it is possible to determine, on the basis of the observation made, whether or not the collection means 34 needs to be emptied.
  • the positioning member 12 has straight sides 11a and lib in Figures 2a and 2b. However, it is also possible to use curved sides, such as concave sides, instead of straight sides. In this case, it is possible to create a scissor action, in which case the stem 20 is pulled towards the deformable contact surfaces 33a, 33b as the gripping parts 32a, 32b move towards one another.
  • Figure 3 shows the separating member 14 and the gripper member 12 while they are being moved apart in order for plant parts 22, 30 to be separated from the stem 20. It is shown in the figure that the gripper member 12 and the separating member 14 both have a respective wheel 44, 46 which runs in a respective guide track 48, 50.
  • each wheel 44, 46 will run through a respective guide track 48, 50 and will follow any changes in height of the guide tracks 48, 50. Therefore, the guide tracks 48, 50 are used to control the vertical positions of the gripper member 12 and the separating member 14 relative to the support structure 16 and relative to one another.
  • the guide tracks 48, 50 are used to control the vertical positions of the gripper member 12 and the separating member 14 relative to the support structure 16 and relative to one another.
  • a person skilled in the art will recognize that there are also other ways of controlling the height of the gripper member 12 and the separating member 14, such as the use of controllable servomotors in combination with a gearwheel, or another suitable method.
  • Figure 8 For a way in which the guide tracks 48, 50 and the support structure 16 are controlled, reference is made to Figure 8.
  • Figures 4 and 5 show how the gripping parts 32a, 32b can be rotated open and closed as indicated by the double arrow shown in Figure 4.
  • the gripping part 32a is provided with a cam 53 for rotating the gripping part 32a open and closed.
  • the positioning member 12 is moved relative to the cam edge 51.
  • the cam 53 of the gripping part 32a comes into contact with the cam edge 51.
  • a rotating movement of the gripping part 32a about the support structure 16 will be set in motion. This results in the two gripping parts 32a, 32b coming into contact with one another in order to grip the stem 20.
  • Figures 6a and 6b show a plan view of the separating member 14.
  • the separating member 14 is shown in the open position in Figure 6a and in the closed position in Figure 6b. In the closed position, a space 64 is formed, through which the stem 20 extends.
  • the , separating member 14 comprises a cam 60.
  • the figure shows how the cam 60 is moved along a cam edge 62 in order to close the two separating parts 18a and 18b of the separating member 14.
  • the cam 60 touches the edge 62 the separating part 18a will rotate towards the separating part 18b.
  • the separating parts 18a and 18b come into contact with one another and form the ring form 28.
  • the separating member 14 will be moved to the right, as seen in the figure, and will then rotate towards the separating part 18b as indicated by the movement arrow.
  • the principle of the curved sides which can be used for the gripper member 32 may also be used for the separating member 14.
  • the separating member 14 has sides 61a, 61b which can be of curved design. In this way, the stem 20 can be pulled towards the separating parts 18a, 18b by means of a scissor action.
  • Figure 7 shows another view of the separating member 14 in detail.
  • a cam edge 62 is provided for engaging on the cam 60 (not shown) of the separating member 12.
  • the separating parts 18a an.d 18b each comprise a respective spacer segment 19a, 19b for maintaining a defined spacing between the stem 20 and the cutting edge 24.
  • the spacer 19a, 19b like the separating parts 18a, 18b, have the form of a half-ring and are each arranged on an inner side of the respective separating part 18a, 18b.
  • the spacer 19 has the function of maintaining a predetermined distance between the stem 20 and the cutting edge 24. In this context, account is taken of the fact that the stem has a certain flexibility and can bend towards the cutting edge 24.
  • the spacer 19 has an internal diameter and an external diameter, the difference between the internal diameter and the external diameter preferably being less than 10 mm.
  • the spacer 19 has, on an upwards side thereof, a radially outwardly bent surface 56 which limits the possible curvature of the stem 20; with a uniform force being exerted on the stem 20 by the radially outwardly bent surface 56. This prevents the stem 20 from being damaged. It also prevents the cutting edge 24 from "taking a bite" out of a stem 20.
  • Figure 8 shows another embodiment of the device 10, in which the positioning member 12 and the separating member 14 are arranged on a movable frame 42.
  • the movable frame is a vehicle 42.
  • the vehicle 42 is provided with wheels 54 which run over rails 40.
  • the movable frame can also be configured in a form other than a vehicle on wheels, for example in the form of a transportable structure suspended from a rail.
  • the plants 21 are suspended from a suspension structure 36.
  • the vehicle 42 On its front side, the vehicle 42 is provided with guides 58 for guiding the stems of the plants 21.
  • the guides can displace the plants 21 a certain distance in the horizontal direction towards the vehicle 42 or away from the vehicle 42, provided that they satisfy the condition that the plants 21 acquire a position in which the positioning member 12 can make contact with the stem 20 of the plant 21.
  • the vehicle 42 is provided with two endless chains 64a and 64b which are arranged rotatably and can turn about a turning structure (not shown) .
  • the endless chains 64a and 64b are driven by a drive (not shown) .
  • This may be an electrical, pneumatic, hydraulic or other drive.
  • the chain 64a is arranged at the top side of the vehicle and the chain 64b is arranged at the bottom side thereof.
  • Support structures 16 extend between the chains 64a, 64b.
  • the support structures 16 can move with the chains 64a, 64b.
  • a positioning member 12 and a separating member 14 are connected to each support structure 16.
  • the vehicle 42 also comprises guide tracks 48, 50, the guide track 48 guiding the positioning member 12 and the guide track 50 guiding the separating member 14.
  • the vehicle 42 is provided with a seat 72 for a driver (not shown) .
  • the driver can control, inter alia, the speed of the vehicle 42.
  • the positioning member 12 and the separating member 14 can move with respect to the stem 20 in a direction which is substantially parallel to the longitudinal direction of the stem 20, the vertical position of the positioning member 12 and the separating member 14 being controllable in order to make contact with the stem 20 at a desired height and to separate plant parts 22 and/or 30 from the stem 20 at a desired height.
  • the driver can set the height of the positioning member 12 and the separating member 14 before contact is made with the stem 20. In this way, it is possible to carry out a separating action where the plant parts 22 and/or 30 are located on each stem 20.
  • the guide track 48 is not configured as a single track, but rather as a number of guide tracks 48a, 48b, 48c, etc., which are at different heights relative to one another.
  • the guide tracks extend in the longitudinal direction of the vehicle, towards the rear side 102 as seen from the front side 100 of the vehicle 42, over respective, different, vertical, downward distances, so that if, during operation, a wheel 44 of the gripper member 32 moves through the guide track in the longitudinal direction of the vehicle 42 the gripper member 32 is displaced downwards over a vertical distance which is determined by the guide tracks.
  • These different guide tracks 48a, 48b, 48c, etc. are connected to one another by means of switch mechanisms .
  • These switch mechanisms can be controlled by the driver of the vehicle 42, so that the driver can select the guide track through which the gripper member 32 will be guided. This makes it possible for the gripper member 32 to move over a controllable vertical downwards distance while the stem 20 is being held and during the movement along the vehicle 42. If one of the various guide tracks 48a, 48b, 48c, etc. extends horizontally, it is also possible for the gripper member 32, if desired, to be held stationary in the vertical direction during the movement along the vehicle 42.
  • the same arrangement can be configured for the guide path 50 for the separating member 14, except that now the guide tracks 50a, 50b, 50c in the longitudinal direction of the vehicle run in various upward vertical directions rather than downward directions, in the direction of the rear side 102 as seen from the front side 100 of the vehicle 42. In this way, it is possible to control the vertical displacement of the separating member 14 during movement along the vehicle 42. If a guide track which extends horizontally is fitted, it is possible to keep the separating member 14 stationary in the vertical direction during its movement along the vehicle 42.
  • the horizontal guide track for the gripper member 32 and the separating member 14 can be selected if a stem 20, by way of example, has plant parts 22 which are not ripe and are therefore not to be harvested.
  • the vehicle 42 In use, the vehicle 42 is moved along a row of plants, with a stem 20 coming into contact with the guides 58 and being guided along the vehicle 42 through the guides 58.
  • the endless chains 64a, 64b rotate in a direction in which the side of the chains 64a, 64b which runs on the side of the vehicle 42 along which the stems 20 are also moving moves in a direction which is opposite to the direction of movement of the vehicle 42.
  • the support structures 16 move with the chains 64a, 64b in the same direction.
  • a support structure 16 is in a position 80 at the front side of the vehicle 42 and is moved from this position 80 towards a position 82 on the outer side of the vehicle 42, the positioning member 12 and the separating member 14 have a movement component which is transverse relative to the direction of movement of the vehicle 42.
  • the positioning member 12 and the separating member 14 move outwards from the interior of the vehicle 42 in the section between position 80 and position 82, with the positioning member 12 and the separating member 14 projecting out of the vehicle in position 82.
  • both the gripper member 32 and the separating member 14 are in an open state.
  • the positioning member 12 comes into contact with the stem 20.
  • the separating member 14 also comes into contact with the stem 20.
  • the gripping parts 32a, 32b of the gripper member 32 will then be moved towards one another and grip the stem 20.
  • the separating parts 18a, 18b of the separating member 14 are also moved towards one another in order to form the ring form 28, so that the stem 20 is surrounded by the ring form 28.
  • the support structure 16 While the vehicle 42 is being moved further forwards, the support structure 16, together with the stem 20, is moved backwards with respect to the vehicle 42.
  • the support structure 16 is substantially stationary with respect to the stem 20. This means that the support structure 16 moves backwards with respect to the vehicle 42 at substantially the same speed as the vehicle 42 is moving forwards with respect to the stem 20.
  • the separating member 14 is moved upwards through the guide track 50.
  • the gripper member 32 is moved downwards through guide track 48.
  • the gripper member 32 pulls the stem 20 taut and downwards.
  • the separating member 14 moves a defined distance upwards with respect to the stem 20 and in the process separates plant parts 22 and/or 30 from the stem 20.
  • both the gripper member 32 and the separating member 14 are then moved into an open position, so that the stem 20 is once again hanging freely.
  • the stem 20 is now devoid of plant parts 22, 30 over a predetermined vertical distance.
  • the plant parts 22, 30 are discharged by discharge means (not shown) .
  • the support structure 16 is then moved towards the front side 100 of the vehicle by the chains 64a, 64b on the other side of the vehicle 42.
  • the positioning member 12 and the separating member 14 are moved back into a required vertical position by guide means (not shown) in order once again to make contact with a stem 20.
  • the endless chains 64a, 64b have to be provided in duplicate, with the second chain (not shown) rotating in the opposite direction to the first chain.
  • a plant part detection means such as a proximity switch, a temperature sensor, a colour sensor and an image sensor. It is in this way possible to assess the position and/or ripeness of a plant part 22 and/or 30 that is to be removed. It is then possible to determine whether and how the plant part 22, 30 is separated from the plant 21 on the basis of the measured value obtained.
  • FIG 9 shows a typical situation in a tomato farm.
  • Tomato plants 21 are suspended in a row 92 from a suspension structure 36.
  • the suspension structure 36 may be a wire, a bar or another suitable means for a plant to be suspended from.
  • the suspension structure 36 is typically located at a height of approximately 4 metres, but may in practice be arranged at any desired height.
  • the roots of the tomato plants 21 are planted in a channel 38 in which a soil, rock wool or other suitable base may be arranged.
  • the stems 20 of the plants 21 form a loop downwards from the channel 38 and back upwards towards the suspension structure 36. Many plants 21 can thereby be suspended next to one another in the row 92. There is a path 90 between two rows 92.
  • the device 10 according to the invention is shown in Figure 9 as a vehicle 42 which is moved along the row 92 on rails 40.
  • the separating member 14 and the positioning member 12 are not shown in Figure 9.
  • the vehicle 42 is moved along the plants 21, during which process plant parts are removed from in each case one stem 20 of a plant 21.
  • the vehicle 42 can be turned round in order to cover the same distance in the opposite direction, during which process the row of plants 92 on the other side of the path 90 are processed.
  • Figure 10 shows an embodiment according to the invention in which a roller 103, around which a sheet 104 is wound, is arranged in the vicinity of the front side 100 of the vehicle 42.
  • a separating device 106 in the form of a suction device which comprises an air nozzle 108 is arranged at the rear side 102 of the vehicle.
  • the separating device can divide the leaves 30 from the plant parts 22 on account of the fact that the leaves 30 have a lower weight than the plant parts 22 and are sucked up by the suction device.
  • the sheet 104 creates a clean base for harvested plant parts and makes it possible to transport the plant parts.
  • the roller 103 is rotated. In the process, the sheet 104 is unwound and placed onto the ground.
  • the device 10 is in this case provided with discharge means (not shown) for placing the separated plant parts 22 and/or 30 onto the sheet 104.
  • roller 103 can rotate freely and the sheet 104, at its end, is fixedly secured to the surroundings, the sheet will automatically unwind during a forwards movement of the vehicle 42.
  • the harvested plant parts 22 can then be placed directly into a container and be discharged. This can be done by an operator or by the provision of discharge means which can transport a plant part 22 from the collection means 34 to the corresponding container.
  • the containers may be boxes, trays, bags or other suitable containers .
  • the suction device 106 comprises an air nozzle 108 which opens out at a short distance above the ground. If the suction device 106 is sucking during the forwards movement of the vehicle 42, leaves 30 are sucked off the sheet 104. The result is that only the desired plant parts 22 remain behind on the sheet 104.
  • Figure 11 shows another embodiment in which the vehicle 42 is provided with a roller 103 on which a sheet 104 is wound. At the end of the path 90 there is a second roller 116, which is driven by a drive device 114. One end of the sheet 104 is secured to the second roller 116.
  • the drive device 114 winds up the second roller 116.
  • the sheet 104 is pulled along the ground, in the direction of the second roller 116.
  • the plant parts 22 which are on the sheet are in this way transported to the end of the path 90.
  • the vehicle 42 in such a manner that the vehicle can harvest plant parts both forwards and backwards.
  • the second roller 116 will have to be able to rotate, at its circumference, at a greater speed than the speed of the vehicle 42 in order to ensure that the sheet 104 is unwound from the first roller 103 and pulled towards the second roller 116.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)

Abstract

L'invention concerne la récolte de parties de plantes. La tige d'une plante est reliée à une structure en suspension, et est disposée dans un sens sensiblement vertical. Ladite tige et un élément de positionnement sont positionnés l'un par rapport à l'autre par déplacement de la tige par rapport à l'élément de positionnement. Dans ledit procédé, l'élément de positionnement et la tige sont mis en contact, puis une partie de la plante pendant à la tige est ensuite séparée de cette dernière par un élément de séparation.
EP04808764A 2003-12-05 2004-12-06 Procede et dispositif de separation de parties de plantes Withdrawn EP1703786A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL1024960A NL1024960C2 (nl) 2003-12-05 2003-12-05 Werkwijze en inrichting voor het verwijderen van plantdelen.
PCT/NL2004/000848 WO2005058013A1 (fr) 2003-12-05 2004-12-06 Procede et dispositif de separation de parties de plantes

Publications (1)

Publication Number Publication Date
EP1703786A1 true EP1703786A1 (fr) 2006-09-27

Family

ID=34699158

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04808764A Withdrawn EP1703786A1 (fr) 2003-12-05 2004-12-06 Procede et dispositif de separation de parties de plantes

Country Status (3)

Country Link
EP (1) EP1703786A1 (fr)
NL (1) NL1024960C2 (fr)
WO (1) WO2005058013A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6569177B2 (ja) * 2015-09-07 2019-09-04 パナソニック株式会社 収穫方法
NL2028660B1 (en) 2021-07-08 2023-01-16 Saia Holding B V Harvesting device

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1331062A (fr) * 1962-08-10 1963-06-28 épampreur à tabac
WO1981001496A1 (fr) * 1979-12-05 1981-06-11 Murdoch A Gemmell Machine d'abattage d'arbres
US4781228A (en) * 1987-08-17 1988-11-01 Weyerhaeuser Company Tree pruner
FR2649287B1 (fr) * 1989-07-04 1991-11-08 Raffaello Henri Elagueuse
US5261163A (en) * 1992-07-27 1993-11-16 Shearhart Omer D Stem cutting device
US5956897A (en) * 1997-07-11 1999-09-28 Takashima; Yasukazu Automatic plant growing and harvesting system
NL1017406C2 (nl) * 2001-02-20 2002-08-27 Agrarisch Loonbedrijf C Pellik Ophangorgaan voor een gewas alsmede een werkwijze voor het telen daarvan.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2005058013A1 *

Also Published As

Publication number Publication date
NL1024960C2 (nl) 2005-06-07
WO2005058013A1 (fr) 2005-06-30

Similar Documents

Publication Publication Date Title
EP1891852B1 (fr) Procédé et véhicule de collecte pour la moisson de récoltes sur tige
EP2289304B1 (fr) Moissonneuse
US4289080A (en) High-speed transplanter
EP1996007B1 (fr) Dispositif et procédé pour moissonner une récolte et releveur de récoltes
CA2692173C (fr) Appareil a transplanter
US9468146B2 (en) Harvesting machine for formally trained orchards
TR201809802T4 (tr) Mantarlarin hasat edi̇lmesi̇ i̇çi̇n si̇stem
US20200170201A1 (en) Device for conveying mushrooms
US3989110A (en) Green onion harvester
CN110831429B (zh) 机械化水果采收机器使用的轻柔捕获水果的气动式垫子
JP5000135B2 (ja) 自動化プランター
US20020069633A1 (en) Vinous crop harvesting apparatus and method
JP7284956B2 (ja) 取得装置及び取得システム
WO2007059570A1 (fr) Moissonneuse sélective
JP2020048548A (ja) 収穫装置
EP1621061B1 (fr) Dispositif de récolte
JP7068508B2 (ja) 取得装置及び取得システム
US20100163257A1 (en) Seedling harvesting apparatus
EP1703786A1 (fr) Procede et dispositif de separation de parties de plantes
EP3826452A1 (fr) Système de culture de plantes et appareils associés
EP2223585B1 (fr) Transplanteur
US20230309476A1 (en) Vertical growth systems including seeders, trimmers and harvesters
JPH08322408A (ja) 葉物野菜の下葉処理方法およびその装置
US9301449B1 (en) Fruit harvester and methods of making and using the same
WO2018207085A1 (fr) Dispositif de transport de champignons

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20060705

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20120703