EP2858476A1

EP2858476A1 - An apparatus for transferring plants from a loading structure to a receiving structure

Info

Publication number: EP2858476A1
Application number: EP13742744.9A
Authority: EP
Inventors: Aldo Maggion; Giovanni Maggion
Original assignee: Techmek Srl
Current assignee: Techmek Srl
Priority date: 2012-06-11
Filing date: 2013-06-05
Publication date: 2015-04-15
Also published as: ITTV20120111A1; WO2013186669A1

Abstract

Apparatus (1) for transferring plants (100) from a loading structure (2) to a receiving structure (3) characterized in that it comprises: a supporting frame (8); at least one continuous conveyor belt (4), operatively associated with said supporting frame, and at least one plurality of conveyor cells (41) of said plants, integral with said conveyor belt, said conveyor belt following a closed path (9) comprising a loading station (10), a filming station (11) and an unloading station (12A, 12B) of said plants, said conveyor belt moving with different speeds as a function of the position of said conveyor cells (41) along said closed path; loading means (101) of said plants, positioned at said loading station (10), said loading means being adapted to transfer a plurality of plants (100) at a time from said loading structure (2) to conveyor cells (41), positioned at said loading station; filming means (111) of said plants, positioned at said filming station (11), said filming means being adapted to acquire images of plants (100) contained in conveyor cells (41) that travel through said filming station; unloading means (121 A, 121B) of said plants, positioned at said unloading station (12 A, 12B), said unloading means being capable of transferring plants (100), one at a time, from conveyor cells (41), that have reached said unloading station, to said receiving structure (3); a control unit (50) adapted to receive one or more images (I₁, I₂) of a plant (100) contained in a conveyor cell (41) traveling through said filming station (11) and to manage the handling operations of said plant.

Description

AN APPARATUS FOR TRANSFERRING PLANTS FROM A LOADING STRUCTURE

TO A RECEIVING STRUCTURE DESCRIPTION

The present invention relates to an apparatus for transferring plants from a loading structure to a receiving structure.

In some agricultural sectors, for example in horticulture or nurseries, the use is known of apparatus for automatically transferring plants, in particular those rooted in plugs, from loading structures and receiving structures of said plants, for example between different containers for transporting plants, such as boxes with cells, individual pots or pots in pot holders.

Apparatus of this type (also known as "Transplanting Apparatus"), currently available, have considerable limits in terms of flexibility of use.

They are often designed for use only with predefined types of plant containers, with specific shape and sizes, for example a predefined number of cells or a predefined distance between cells.

In order to use containers of a different type to those established in the design stage, substantial modifications to the operating configuration of the apparatus are required or substantial losses in production capacity are incurred. These operations are difficult to carry out on the field and often require considerable times and costs, with consequent increase in the total costs of the transplanting process.

Transplanting apparatus of known type do not generally allow modification of the plant handling cycle in real time, for example on the basis of the type and/or vegetative state of the plants and/or of the dimensions of the cells destined to receive these plants.

Moreover, the transplanting apparatus of known type offer relatively modest performances in relation to the speed with which plant transfer operations are carried out.

Experience has shown how the handling speed of 1000 transferred specimens per hour per gripper is rarely exceeded (with typical values of 800 transferred specimens per hour per gripper).

Moreover, it has been widely proven in practice how it is often necessary to take noteworthy action on the operating configuration in order to vary, even marginally, the plant handling speed.

Transplanting apparatus currently available are often combined with one another for transferring and simultaneously assessing the vegetative state of the plants, with solutions that offer, in general, low precision in the handling the plants and poor performance in their selection process.

Finally, transplant apparatus of known type often have structures that are relatively complex and expensive to produce on an industrial scale.

Therefore, the main aim of the present invention is to provide an apparatus for transferring plants from a loading structure to a receiving structure which enables the aforesaid drawbacks to be overcome.

Within this aim, an object of the present invention is to provide an apparatus that has high flexibility of use.

A further object of the present invention is to provide an apparatus capable of offering relatively high performances with regard to speed and precision in the handling of plants. A further object of the present invention is to provide an apparatus that is easy to produce on an industrial scale and to install in operation, with relatively limited costs.

This task and these objects, together with other objects that will be apparent from the subsequent description and from the accompanying drawings, are achieved, according to the invention, by an apparatus for transferring plants from a loading structure to a receiving structure, according to claim 1, proposed hereunder, and the related dependent claims which refer to preferred embodiments of the present invention.

The apparatus according to the invention has an operating configuration that is easily modifiable on the field, with simple adjustment operations.

The plant handling cycle, carried out by the apparatus according to the invention can be easily modified according to requirements.

Therefore, the apparatus according to the invention offers high flexibility of use that makes it easily adaptable to process requirements.

Although the apparatus according to the invention enables plants to be handled with relatively high speeds, it has a relatively simple overall structure with limited weights and dimensions, and is easy to install in the field.

The apparatus according to the invention is relatively simple and inexpensive to produce on an industrial scale.

Further characteristics and advantages of the present invention will be more apparent with reference to the description given below and to the accompanying figures, provided purely for explanatory and non-limiting purposes, wherein:

Figs. 1-4 schematically show some views of the apparatus according to the invention;

Fig. 5 schematically shows some views of a conveyor cell for plants used in the apparatus according to the invention;

Figs. 6-8 schematically show some details of an operating station of the apparatus according to the invention;

Fig, 9 schematically show some details of another operating station of the apparatus according to the invention;

Figs. 10-1 1 schematically show some details of another operating station of the apparatus according to the invention;

Fig. 12 schematically shows a control unit of the apparatus according to the invention. With reference to the aforesaid figures, the present invention relates to an apparatus 1 for the transfer of plants 100 from a loading structure 2 to a receiving structure 3.

The plants 100 can be of any type, for example plants rooted in plugs.

The loading structure 2 can be constituted by a container in which the plants 100 have been previously contained, for example a tray with multiple parallel rows of cells adapted to contain the aforesaid plants (Fig. 1), said cells which can have any shape, size and arrangement, according to requirements.

The containers 2 can be conveyed by a first auxiliary conveyor belt 71, driven by the apparatus 1.

With reference to Figs. 1-2, the belt 71 is adapted to conveyor the containers 2 filled with plants, to a loading position 21 of these plants, and to remove the containers 2 already emptied.

Alternatively, the loading structure 2 can be any mechanical or electromechanical device, operatively associated with the apparatus 1 to supply the plants 100 at a loading position 21, for example one or more auxiliary conveyor belts 72, driven by the apparatus 1 and provided with auxiliary conveyor cells capable of conveying the plants 100 (Fig. 4).

The receiving structure 3 could be constituted by a container adapted to convey the plants 100 after the handling cycle, for example a tray with multiple parallel rows of cells adapted to contain the aforesaid plants (Figs. 1, 4), said cells which can have any shape, size and arrangement, according to requirements.

Third auxiliary conveyor belts 73, driven by the apparatus 1, can be used to convey the incoming empty containers 3 and convey the outgoing containers 3 filled with plants.

According to some alternative embodiments (not shown), the receiving structure 3 could be any mechanical or electromechanical device operatively associated with the apparatus 1, to receive the plants 100 at a destination position 23, for example a carousel comprising cells capable of receiving the plants 100 or one or more fourth conveyor belts, driven by the apparatus 1 and provided with auxiliary conveyor cells capable of receiving the plants 100. The apparatus 1 comprises at least one supporting frame 8 which can be fixed to the ground or to any other supporting structure.

The apparatus 1 comprises one or more endless conveyor belts 4, operatively associated with the supporting frame 8.

The apparatus 1 comprises a plurality of conveyor cells 41 integral with the belts 4.

Advantageously, with each belt 4 there are operatively associated one or more groups 410 of conveyor cells 41.

Within each group 410, the conveyor cells 41 are arranged one after the other along the belt 4 with which they are associated.

When a belt 4 comprises several groups 410 of cells 41, these latter are appropriately spaced apart, based on the length of this conveyor belt.

The conveyor cells 41 are preferably cradle shaped, so as to promote optimal positioning of the plants 100.

As a rule, the conveyor cells 41 can be operatively associated with each of the belts 4 through fixing means of any type, such as screws or rivets.

Preferably, the conveyor cells 41 are fixed in a removable way to each belt 4.

Preferably (Fig. 5), each conveyor cell 41 comprises a cradle 401 at the base of which there is positioned a magnetic element 403, for example a permanent magnet, fixed to this cradle 401. Each conveyor cell 41 can thus be operatively connected, in a removable way, with magnetic type coupling, to a belt 4 at a supporting plate 402.

The supporting plates 402 are fixed, in predefined positions, to the belts 4 with appropriate fixing means, such as screws or rivets.

The conveyor cells 41 can thus be positioned on/removed from the conveyor belts 4 simply and immediately, without acting on these belts.

Each conveyor belt 4 follows a closed path 9 which comprises a loading station 10, a filming station 11 and an unloading station 12 A, 12B of the plants 100.

At the loading 10 and unloading 12 A, 12B stations, the plants 100 are respectively loaded onto and unloaded from the conveyor cells 41 of the belts 4.

At the filming station 11 images are instead filmed of the plants 100 contained in the conveyor cells 41 traveling through the filming station 11. Preferably, all the belts 4 have the same direction of movement M, with reference to which the filming station 11 is advantageously placed between the loading station 10 and the unloading station 12 A, 12B.

The closed path 9 can have any geometry, according to the installation needs of the apparatus 1.

As shown in the aforesaid figures, the closed path 9 advantageously comprises a first connecting section 91 between the loading station 10 and the filming station 1 1, a second connecting section 92 between the filming station 1 1 and the unloading station 12 A, 12B and a third connecting section 93 between the unloading station 12 A, 12B and the loading station 10. Preferably, along the connecting section 93, the path 9 comprises cleaning station 13 and/or a disinfecting station 14 of the conveyor cells 41.

With reference to the direction of movement M of the belts 4, the cleaning station 13 is advantageously positioned downstream of the unloading station 12 while the disinfecting station 14 is positioned upstream of the loading station 10 (Fig. 2).

The cleaning station 13 can advantageously comprise a plurality of spraying devices 131 adapted to rinse the cells 41 with a detergent liquid.

The disinfecting station 14 can advantageously comprise a plurality of second spraying devices 141 adapted to spray the cells 41 with a disinfectant liquid.

At the connecting sections 91 , 92, 93, guide elements (not shown) are preferably operatively positioned in parallel to the belts 4 so as to maintain the plants 100 in position inside the conveyor cells 41.

Each conveyor belt 4 moves with different speeds as a function of the position of the conveyor cells 41 along the closed path 9.

Advantageously, the type of movement of each belt 4 also varies as a function of the position of the related conveyor cells 41 along the closed path 9.

Preferably, the movement of each conveyor belt 4 takes place in a continuous manner along the connecting sections 91, 92, 93 and in a stepwise manner at the filming station 1 1.

At the unloading station 12 A, 12B, the movement of each conveyor belt 4 can take place in continuous mode or in a stepwise manner.

Preferably, each belt 4 stops at the loading station 10.

Preferably, the apparatus 1 comprises drive means of the belts 4 comprising one or more motors 408 operatively associated with respective drive rollers 409 of the belts 4 (Fig. 2). Advantageously, the aforesaid drive means also comprise tensioning rollers 41 1 adapted to maintain the belts 4 in tension during the movement thereof. At the loading station 10, the apparatus 1 comprises loading means 101 adapted to manage automated transfer of the plants 100 from the loading structure 2 to the conveyor cells 41. The loading means 101 are adapted to transfer the plants 100, one plurality at a time, from a loading structure 2 to related conveyor cells 41, which have reached the loading station 10. In other words, the loading means 101 are capable of transferring, with a single movement, a plurality of plants 100 from the loading structure 2 to the conveyor cells 41 of the belts 4, positioned at the loading station 10.

With reference to Figs. 10-1 1 , the loading means 101 preferably comprise a comb 102 comprising a supporting base 105 and a plurality of retractable pick-up needles 104, reversibly movable between an idle position and an activated position, in which the pick-up needles 104 project at least partially from the supporting base 105.

The supporting base 105 is advantageously movable along appropriate sliding guides 107 (Fig. 2).

The comb 102 is thus able to pick-up a plurality of plants 100 at a time from the loading structure 2, when the pick-up needles 104 are in the activated position.

Movement means (not shown) can advantageously be provided to regulate the movement of the comb 102 and of the related retractable needles 104 so that the plants 100 are picked-up from the loading structure 2, at a loading position, and transferred into the conveyor cells 41 of the belts 4, at the loading station 41.

The comb 102 advantageously enables a whole row of plants to be picked-up from the loading structure 2, transferring it, with a single movement, from the loading position 21 to the conveyor cells 41, at the loading station 10 (Figs. 1, 4).

The comb 102 comprises an assembly of structural elements 1 10, arranged side by side with one another to provide support to corresponding pairs of pick-up needles 104.

Each element 1 10 of the comb comprises a first and second guide element 114, 1 15 that supports and guides a first and second pick-up needle 104 A, 104B.

The guide elements 1 14, 1 15 of each structural element 1 10 are joined by a spacer element 1 16, to which the aforesaid guide elements are fixed through fixing means 117.

The position of the pick-up needles 104 of the comb 102 can be varied, according to requirements, along a guide (not shown) which extends in a substantially orthogonal way with respect to the pick-up needles 104.

Preferably, the relative distance between the structural elements 1 10 can be varied by means of a positioning belt 1 18 which is operatively associated with the structural elements 1 10 and is operated by appropriate actuation means (not shown), such as a piston. By operating the positioning belt 118, the elements 110 can be positioned at a greater distance from, or closer to, one another.

The relative position of the pick-up needles 104A, 104B of each element 1 10 can be adjusted, varying the position at which the guide elements 1 14, 1 15 are fixed to the corresponding spacer element 1 16.

The relative position of the pick-up needles 104A, 104B of each element 1 10 can also be adjusted varying the dimensions of the spacer elements 116.

The comb 102 is characterized by high flexibility of use, given that it can be used advantageously to pick-up and transfer plants of different size and/or positioned at different relative distances and/or to pick-up plants from loading structures of different type, for example having a different size and/or a different arrangement of these plants.

Preferably, the loading means 101 comprise a first disinfecting tank (not shown) comprising disinfectant liquid. This tank is arranged so as to be accessible, at a first disinfecting position

(not shown), to the comb 102 which can immerse the pick-up needles 104 therein.

The transfer operations of the plants 100 from the loading structure 2 to the conveyor cells 41, at the loading station 10, are now described in greater detail.

When a row of plants 100 is located at the loading position 21, the comb 102 is moved along the sliding guides 107 toward this loading position 21.

The needles of the comb 102 exit from the supporting base 105 and are inserted into the plugs of the plants 100.

The comb 102 is thus capable of picking up a whole row of plants 100 from the loading structure 2.

The comb 102 is then moved along the sliding guides 107 by the related movement means, so as to transfer the row of plants thus picked-up toward the loading station 10, at which the conveyor cells 41 of one of the conveyor belts 4 are positioned.

The movement of the comb 102 is completed by depositing the plants 100 into the related conveyor cells 41.

At this point, the needles of the comb 401 are retracted in their idle position and the comb 102 returns, with reverse movement, toward the loading position 21.

During travel toward the loading position 21, the comb 102 reaches the first disinfecting position.

The needles of the comb 102 project once again from the supporting base 105 and are immersed in the disinfectant liquid of the first disinfecting tank. After being disinfected, the needles of the comb 102 are retracted again into their idle position and the comb 102 returns toward the loading position 21 to pick-up a new plurality of plants 100.

At the filming station 1 1, the apparatus 1 comprises filming means 1 1 1 adapted to acquire one or more images of the plants 100 contained in the relative conveyor cells 41 of each belt 4, coming from the loading station 10 and traveling toward the unloading station 12, passing through the filming station.

Preferably, the filming means 1 1 1 comprise a first and second video camera 112, 113 adapted to acquire images of the plants 100 conveyed by the conveyor cells 41 of each conveyor belt 4.

The video cameras 1 12, 113 are positioned respectively at a first and second filming position 1 12A, 1 13A.

Preferably, the video cameras 1 12, 1 13 are positioned so as to be able to film the plants 100 from a lateral filming position 112A and from an overhead filming position 113A (Figs. 6-8). The filming means 1 1 1 are therefore preferably arranged so as to provide at least two images I], I₂ for each plant 100 traveling through the filming station 1 1.

Preferably, the video cameras 1 12, 113 can move with respect to the conveyor belts 4 so that they can be positioned to always ensure optimal resolution of the filming of the plants 100, regardless of which conveyor belt is conveying them.

At the unloading station 12A, 12B, the apparatus 1 comprises unloading means 121 A, 121B of the plants 100.

The unloading means 121 A, 12 IB are adapted to transfer the plants 100, one at a time, from the related conveyor cells 41, which have reached the unloading station 12 A, 12B, to a receiving structure 3.

Preferably, the unloading means 121 A, 12 IB comprise a robotized arm 122 provided with a gripper 123 arranged so as to be able to pick-up one plant 100 at a time from the related conveyor cell 41 of a conveyor belt 4.

Preferably, the gripper 123 is connected to the robotized arm 122 in a removable way. In this way, it is possible to select the type of gripper to use on the basis of the type of plant 100 to be handled.

Preferably, the robotized arm 122 is a robotized arm with at least four degrees of freedom. Preferably, the gripper 123 is movable, advantageously in a direction rotating about an axis X, so as to be able to position each plant 100 in the related receiving structure 3, according to the required spatial orientation, which can be selectively selected. Preferably, the unloading means 121 A, 121B comprise a second disinfecting tank (not shown) comprising disinfectant liquid. This tank is arranged so as to be accessible, at a second disinfecting position (not shown), to the robotized arm 122, which can immerse the gripper 123 therein.

The operations to transfer the plants 100 from the conveyor cells 41, to the unloading station 10, are now described in greater detail.

When the plants 100 reach an unloading position 22, the robotized arm 122 moves the gripper 123 so as to pick-up one plant 100 at a time from the conveyor cells 41.

The plant 100, thus picked-up, is then moved by the robotized arm 122 toward the receiving structure 3 for which it is destined.

During this travel, if necessary, the plant 100 is oriented as required, through appropriate rotation of the gripper 123 about the axis X.

The movement of the robotized arm 122 is completed by depositing the plant 100 into the receiving structure 3.

It can be noted how the use of a robotized arm provided with rotationally movable gripper ensures considerable operating flexibility in positioning of the plants 100 in the receiving structure 3.

The plants 100 can be easily transferred to receiving structures 3 that differ from one another at required destination positions 23, each of which can be selected in real time during the handling cycle of these plants.

For example, the plants 100 can be placed in containers 3 having cells that differ from one another, or only in some cells of a container 3, according to requirements and to the type of plant being handled.

After depositing the plant 100, the robotized arm 122 returns, with reverse movement, toward the unloading position 22.

During travel toward the unloading position 22, it reaches the second disinfecting position and immerses the gripper 123 in the disinfectant liquid of the second disinfecting tank.

After disinfecting the gripper 123, the robotized arm 122 returns toward the unloading position 22 to pick-up a new plant 100 from one of the belts 4.

In a preferred embodiment, the apparatus 1 comprises a plurality of belts 4, which move with a same direction of movement M and so that the conveyor cells 41 of each belt never occupy the same position along the closed path 9.

The conveyor belts 4 can advantageously be operated separately to one another.

Preferably, the apparatus 1 comprises a first pair 4 A and a second pair 4B of belts 4. Each pair 4A, 4B of belts 4 respectively follows a first and second closed path 9, which comprise a common loading station 10, a common filming station 11 and, respectively, a first and second unloading station 12 A, 12B.

At the unloading station 12A, 12B, the apparatus 1 respectively comprises first and second unloading means 121 A, 121 B of the plants 100.

Each of the first and second unloading means 121 A, 121B preferably comprises a robotized arm 122 provided with the related gripper 123.

According to alternative embodiments of the present invention (not shown), the apparatus 1 could comprise more than four conveyor belts to transfer the plants 100.

Moreover, the belts 4 could be replaced by chains or by other structures capable of moving along a closed path.

The direction of movement of the belts 4 could differ from the one (clockwise) represented in the aforesaid figures.

Further variants of the present invention are possible to those skilled in the art.

According to the invention, the apparatus 1 comprises a control unit 50 to control the operation thereof.

The control unit 50 is adapted to receive the images Ii, I₂ filmed by the filming means 11 1. The control unit 50 comprises observation means 51 adapted to obtain first data Di indicative of the vegetative state and/or of the morphological properties of each plant 100 traveling through the filming station 11, on the basis of the images Ii, I₂ provided by the filming means 11 1.

The control unit 50 comprises selection means 52 adapted to supply, on the basis of the first data Di, second data D₂ indicative of a receiving structure 3 selected to receive each plant 100 examined by the observation means 51.

The control unit 50 comprises control means 53 adapted to supply, on the basis of the data D₂, control signals C to control the operation of the unloading means 121 A, 122B (in particular of the robotized arm 122) so that this latter transfers each plant 100 from the related conveyor cell 41, upon reaching the unloading station 12A, 12B, to the receiving structure 3 selected to receive this plant 100, at a required destination position 23.

Preferably, the selection means 52 are adapted to provide, on the basis of the first data Dj, also third data D₃ indicative of a preferred spatial orientation for each plant 100, examined by the observation means 52.

On the basis of the third data D₃, the control means 53 generate control signals C to control the operation of the unloading means 121 A, 122B (in particular of the gripper 123) so that this latter positions each plant 100 in the receiving structure 3, selected to receive said plant, according to the preselected preferred spatial orientation.

The observation means 51 , the selection means 52 and the control means 53 are preferably computerized means that can be executed by one or more processing devices of the control unit 50, optionally also remotely.

The term "computerized means" is intended, in this context as instructions, modules, routines, programs, software applications etc., stored in the control unit 50 or which can be remotely loaded.

Alternatively, the observation means 51 , the selection means 52 and the control means 53 could be electronic circuits specifically arranged to perform the functions described above. With reference to the preferred embodiment shown in the aforesaid figures, an example of operating cycle performed by the apparatus 1 for each of the belts 4 is now described below. Initially, let us suppose that the conveyor cells 41 of one of the belts 4 have reached the loading station 10.

The belt 4 is advantageously stopped so that the respective conveyor cells 41 can receive the plants 100 transferred from the loading structure 2 by the loading means 101.

When the conveyor cells 41 of the belt 4 have been loaded with the plants 100, the belt 4 is moved, according to the direction of movement M, so as to travel at relatively high speed along the connecting section 91 toward the filming station 1 1.

At the filming station 1 1 , the belt 4 is moved in a stepwise manner.

Each plant 100 transported is filmed by the filming means 1 1 1 from two different filming positions 1 12A, 1 13 A.

For each plant 100, the control unit 50 can thus receive at least two images I_{1 ;} I₂ from different angles.

The observation means 51 of the control unit 50 determine, on the basis of the images 1_\, I₂ received, the vegetative state and/or the morphological properties of each plant 100 filmed during transport through the filming station 1 1.

The observation process performed by the observation means 52 advantageously provides for comparison of information obtainable from the images U, with parameters predefined by the user, for example, the volume occupied by the plant observed, its height and/or the diameter of the stem, and so forth.

For each plant filmed 100, the observation means 51 generate data Di indicative of its state and/or of its morphological properties. The selection means 52 select, on the basis of the data Di, the receiving structure 3 destined to receive each plant 100 examined by the observation means 51.

For this purpose, the selection means 52 generate the data D₂ that indicate the preselected receiving structure 3.

Moreover, the selection means 52 determine, on the basis of the data D_l5 the most suitable spatial orientation for each plant filmed 100, when this latter must be loaded into the receiving structure 3.

For this purpose, the selection means 52 generate the data D₃ that indicate the preferred spatial orientation to be given to each plant filmed 100, at the end of the unloading operations. After passage of the conveyor cells 41 through the filming station 1 1, the belt 4 is moved, according to the direction of movement M, so as to travel with relatively high speed along the connecting section 92 between the filming station 1 1 and the unloading station 12A or 12B. At the unloading station 12A or 12B, the belt 4 is moved in a stepwise or continuous manner. On the basis of the data D₂, D₃, the control means 53 generate control signals C to move the unloading means 121 A or 12 IB so as to handle each filmed plant 100 according to the methods determined by the selection means 52.

The unloading means 121 A or 121B thus pick-up each filmed plant 100 and position it in the loading structure 3 selected for it, at a desired destination position 23, according to the preselected preferred orientation.

When the plants 100 have been unloaded from the conveyor cells 41 of the belt 4, the belt 4 is moved, according to the direction of movement M, so as to travel at relatively high speed along the connecting section 93 toward the loading station 10.

During this travel, the conveyor cells are made to pass through the stations 130 and 140 to perform, respectively, washing and disinfection of these cells.

Preferably, each belt 4 is moved, according to the operating cycle described above, with times that ensure continuous operating cycle of the loading station 10, of the filming station 11 and of the unloading stations 12 A, 12B.

The movements of the belts 4 are thus advantageously synchronized so as to alternately repeat the same operating cycle, according to the methods illustrated above.

This ensures that plants 100 are always present at the unloading stations 12 A, 12B, ready to be unloaded toward the related receiving structure 3.

In this way, transfer of the plants 100 from the loading structures 2 to the receiving structures 3 can take place without interruption, with considerably advantages in relation to the handling speed of these plants. For movement of the belts 4, the control unit 50 can advantageously use an open chain control system.

Simple adjustment operations enable operation of the belts 4 and of the operating stations 10, 11, 12A, 12B to be regulated according to contingent needs.

It has been seen in practice how the apparatus according to the present invention allows the set objects to be achieved.

The apparatus according to the invention advantageously enables the plants 100 to be handled with relatively high speeds.

For example, it has been observed that the apparatus 1 is able to handle over 3000 plants per hour, with overall performances that are constant over time and greatly superior to those offered by prior art machines.

The apparatus 1 enables a selection of the plants 100 to be performed during the handling cycle thereof.

The plants 100 can thus be easily transferred to receiving structures 3 of different type, on the basis of their vegetative state and/or their morphological properties.

Plants that are dead or in precarious vegetative state or plants having unsatisfactory morphological properties can be easily rejected in real time, during the handling cycle.

The apparatus according to the invention has a relatively simple and sturdy structure, which is easy and inexpensive to produce on an industrial scale and easy to install in operation.

Claims

1. Apparatus (1) for transferring plants (100) from a loading structure (2) to a receiving structure (3) characterized in that it comprises;

a supporting frame (8);

at least one continuous conveyor belt (4), operatively associated with said supporting frame, and a plurality of conveyor cells (41) of said plants, operatively associated with said conveyor belt, said conveyor belt following a closed path (9) comprising a loading station (10), a filming station (1 1) and an unloading station (12A, 12B) of said plants, said conveyor belt moving with different speeds as a function of the position of said conveyor cells (41) along said closed path;

loading means (101) of said plants, positioned at said loading station (10), said loading means being adapted to transfer plants (100), a plurality at a time, from said loading structure (2) to conveyor cells (41), which have reached said loading station;

filming means (1 11) of said plants, positioned at said filming station (11), said filming means being adapted to acquire images of plants (100) contained in conveyor cells (41) that travel through said filming station;

unloading means (121 A, 12 IB) of said plants, positioned at said unloading station (12A, 12B), said unloading means being adapted to transfer plants (100), one at a time, from conveyor cells (41), which have reached said unloading station, to said receiving structure (3);

a control unit (50) adapted to receive one or more images (Ii, I₂) of a plant (100) filmed by said filming means 1 1 1, said control unit comprising observation means (51) adapted to obtain first data (Dj) indicative of the vegetative state and/or of the morphological properties of said plant (100), at a filming station 11, on the basis of the images (Ii, I₂) provided by said filming means, selection means (52) adapted to supply, on the basis of said first data, second data (D₂) indicative of a receiving structure (3) selected to receive said filmed plant (100), and control means (53) adapted to supply, on the basis of said second data, control signals (C) to control the operation of said unloading means (121 A, 122B), so that said unloading means transfer said filmed plant (100) from the related conveyor cell (41), which has reached said unloading station, to said receiving structure (3), selected to receive said filmed plant (100), at a required destination position (23).

2. The apparatus according to claim 1, characterized in that said selection means (52) are adapted to supply, on the basis of said first data, third data (D₃) indicative of a preferred spatial orientation for said filmed plant (100), said control means providing, on the basis of said third data, control signals (C) to control the operation of said unloading means (121 A, 122B), so that they position said filmed plant (100) in said receiving structure (3), selected to receive said filmed plant (100), according to said preferred spatial orientation.

3. The apparatus according to one or more of the preceding claims, characterized in that said conveyor cells (41) are fixed removably to said conveyor belt (4).

4. The apparatus according to claim 3, characterized in that at least one of said conveyor cells (41) comprises a cradle (401) operatively connected, with magnetic type coupling, to a corresponding supporting plate (402) fixed to said support belt.

5. The apparatus according to one or more of the preceding claims, characterized in that said loading means (101) comprise a comb (102) that comprises a base (105), movable along sliding guides (107), and a plurality of retractable pick-up needles (104), reversibly movable between an idle position and an activated position.

6. The apparatus according to one or more of the preceding claims, characterized in that said filming means (1 1 1) comprise a first and second video camera (1 12, 113) adapted to acquire images (I_1? I₂), respectively from a first and second filming position (112A, 113 A), of plants (100) contained in conveyor cells (41) that travel through said filming station (1 1).

7. The apparatus according to claim 6, characterized in that said first and second video camera (1 12, 1 13) are movable with respect to said conveyor belt (4).

8. The apparatus according to one or more of the preceding claims, characterized in that said unloading means (121 A, 121B) comprise a robotized arm (122) provided with a gripper (123) rotationally movable about an axis (X).

9. The apparatus according to one or more of the preceding claims, characterized in that the closed path (9) of said conveyor belt (4) comprises a cleaning station (13) of said conveyor cells (41) and/or a disinfecting station (14) of said conveyor cells.

10. The apparatus according to one or more of the preceding claims, characterized in that it comprises a first and second pair (4A, 4B) of conveyor belts (4) that respectively follow a first and second closed path (9) comprising a common loading station (10), a common filming station (11) and respectively a first and second unloading station (12A, 12B), said apparatus comprising first and second unloading means (121 A, 12 IB) of said plants respectively at said first and second unloading station (12A, 12B).