GB2455967A

GB2455967A - Adjustable vehicle with platforms for agricultural workers

Info

Publication number: GB2455967A
Application number: GB0722703A
Authority: GB
Inventors: Adrian Tucker-Peake; Anthony Francis Spillane
Original assignee: TECH2REALITY Ltd
Current assignee: TECH2REALITY Ltd
Priority date: 2006-11-22
Filing date: 2007-11-19
Publication date: 2009-07-01
Anticipated expiration: 2027-11-19
Also published as: GB0623327D0; GB2455967B; GB0722703D0

Abstract

An electrically powered vehicle 10 to assist the manual tending of row crops has a plurality of ground engaging members 14 with which the vehicle 10 can be moved, each of which is mounted to a carrier 22 which is pivotably connected to the chassis 12, each carrier 22 being extensively rotatable about a steering axis. The vehicle chassis 12 carries a plurality of repositionable worker support platforms 70 by which a worker can be carried above the crop. A conveyor system 108, (106 see fig 2a), container dispensing system and foldable storage platform 152 are provided. The vehicle architecture and handling systems are configured to be compatible with orthogonal layouts of row crops, so that the vehicle can function bi-directionally both in its operative mode when harvesting or planting crops, and in its crabbing mode when negotiating headlands linking rows. A control unit is swingably mounted to the chassis 12, from which the alternative modes for steering, driving and conveying are automatically set up.

Description

1 2455967 Agricultural Vehide The present invention relates to an agricultural vehicle and particulaily, though not exclusively, to a vehicle for use within a covered agricultural environment.

It is becoming increasingly common for fruit and vegetable crops to be cultivated within enclosures which are commonly referred to as poly tunnels. A poly tunnel can be likened to a temporary greenhouse structure which can be erected over a portion of a field. A poly tunnel typically comprises a frame over which there is provided sheeting of substantially transparent plastics material. The frame and sheeting define an elongate enclosure which is of a substantially semicircular shape in cross-section. The poly tunnels are typically aligned in a parallel fashion, connected at their ends by headlands aligned substantially perpendicular to the tunnels.

The fruit and vegetable crops are generally of a low height type, such as, for example strawberry and asparagus plants. Planting, tending and harvesting of such crops is typically undertaken by hand and requires a worker to stoop or kneel in order to reach the crop or the surrounding earth. This leads to workers tiring quite quickly and reduces worker productivity. Typically the crops are planted in rows which are quite closely arranged next to one another.

Accordingly, a worker must step carefully when working to avoid stepping on and damaging the crops.

According to the present invention there is provided an electric vehicle for use in tending a horticultural growing surface, the vehicle having a chassis and a plurality of rotatable ground engaging members with which the vehicle can be moved over the surface, the vehicle further having a repositlonable worker support arrangement by which a worker can be supported above the growing surface, wherein each rotatable ground engaging member Is mounted to a carrier which is pivotably connected to the chassis, each carrier being rotatable both clockwise and counter clockwise through at least one hundred degrees about a steering axis which is substantially perpendicular to the axis of rotation of the ground engaging member mounted to said carrier.

The present invention Is particularly suited for use in connection with an orthogonal field layout comprising a plurality of substantially parallel linear rows of plants or crops having a headland at either end thereof. The arrangement Is such that the vehicle may function bI-directlonally in a longitudinal alignment when In Its operative mode of tending the growing surface, and also bi-directionally In a transverse alignment when in its transport or crabbing modes travelling either between tunnels, field to field or in delivery to site. The tending of the growing surface may comprise such actions as weeding, propagation and/or harvesting. A worker supported above the growing surface Is able to interact with the surface, and/or plants and crops growing from the surface without having to stoop or kneel.

Each ground engaging member typically comprises a wheel. Each wheel is independently rotatable about Its respective steering axis. It will thus be appreciated that the vehicle may this be operated In a selection of steering modes including pro steer and counter steer modes. The pro steer mode may be employed to make minor corrections to the direction of travel of the vehicle when the vehicle Is traversing a growing surface. The counter steer mode may be employed to make major changes to the direction of travel of the vehicle, for example when making a turn through a gate between headlands. An appropriate steering mechanism is provided between the chassis and each carrIer which is operable to rotate the carriers to a desired steering angle.

Each ground engaging member or wheel may be provided with a drive mechanism operable to rotate the ground engaging members or wheels in order to move the vehicle over the growing surface. In a preferred embodiment, each ground engaging member or wheel Is independently driveable. A drive mechanism including an electric motor may be fully contained within each carrier.

The chassis may be adjustable so as to move the ground engaging members or wheels towards and away from one another. Each carrier may be telescopically mounted to the chassis. Depending upon the orientation of the ground engaging members or wheels, the chassis may be adjustable so as to lengthen or shorten the wheel base of the vehicle, or to increase or decrease the track width of the vehicle. The wheel base and track width may be varied for such purposes as, for example, stability, transport, and to ensure that the ground engaging members or wheels are positioned, In use, between rows of crops on the growing surface.

The overall width of the chassis may be adjustable to accommodate different sized poly tunnels.

The worker support arrangement may comprise an arm extending from the chassis and a worker support platform carried by said arm. The worker support arrangement may be configured so as to support a worker in a prone position.

The support platform may comprise, fbot, lower abdomen, chest and head support portions. The foot and head support portions may be movable relative is abdomen and chest support portions. In an alternative embodiment, the worker support platform may be configured so as to support a worker in a sitting position. Advantageously, the worker support platform Is movable on said arm.

The worker support platform Is preferably movable vertically to allow for personal adjustment. The worker support platform is preferably repositionable on the chassis. The vehicle may be provided with a plurality of worker support platforms. In such an embodiment the support platforms may be positioned in order to accommodate layouts of the growing surface which may be advantageously adjusted to increase crop productivity. The worker support platform may be positioned so that a pair of workers in a prone position are configured substantially head to head over a row of crop, enabling bi-directional operation.

The vehicle may be provided with a conveyor system operable to either supply items to a worker on a worker support platform, or to receive Items from a worker on a worker support platform. The conveyor system may operate either continually or periodically. The conveyor system may be provided with sensors.

In one embodiment the vehicle may be provided with one or more storage platforms mounted to the chassis. The or each platform may be provided in part with a low friction surface. The low friction surface may comprise a roller bed.

The vehicle may be provided with two storage platforms for bi-directional operation. In such an embodiment, the or each platform may be mounted In such a way that It may be adjusted to reduce the overall size of the vehicle. The adjustment may take the form of hinging upwards from the horizontal, and or swInging inwards towards the vehicle chassis.

The vehicle may be provided with a power source which Is able to support operation of the drive mechanism of each wheel, the steering mechanism for each wheel, the conveyor system, the vehicle controller, the sensors and other optional powered features. The power source may comprise an array of batteries. The power source may be removable from the chassis to facilitate re-charging.

Advantageously, the electrical power source may be supported by other on-board charging means. Such means may include an array of photo voltaic solar panels, or a combustion engine and coupled electrical generating system.

The vehicle may be provided with a control Interface unit to enable a worker present on either a storage platform or on the ground to control aspects of the vehIcle. Such aspects may Include corrective steering input variation of the ground speed of the vehicle and operation of the conveyors. Advantageously, the mounting layout of the interface will support the orthogonal operation of the vehicle, such that sensing means will detect the front, rear or side positIon of the Interface relative to the vehicle chassis. Interface positioning towards the front or rear of the vehicle will automatically detect the requirement to apply appropriate control signals for the vehicle's drive, steering, guidance and conveyor systems enabling correct function during Its longitudinal operative mode of tending the growing surface.

Interface positioning towards the side of the vehicle will automatically detect the requirement to apply signals to the above systems for correct function in its transverse transport or crabbing mode.

The vehicle may be provided with a control computer unit and associated 3s software to receive commands from the control interface system and to supply appropriate signals to the vehicle's electrical systems. The signals will operate the vehicle's electrical systems, will respond to sensors associated with these systems, and may additionally respond to sensors detecting any hazards encountered by the vehicle or the workers on board the vehicle. The control s computer unit may provide system monitoring feedback data to the data interface system. Such data may include battery condition, vehicle speed and productivity.

The vehicle may advantageously be provided with a guidance system. The guidance system preferably includes at least one ultra sonic sensor which is arranged to sense features at or near the ground in the intended direction of travel of the vehicle. The guidance system may further include an additional ultra sonic sensor which is arranged to sense features which are above the vehicle.

The vehicle may advantageously be provided with a productivity monitoring system. The productivity monitoring system preferably includes means for checking the weight of filled containers against prescribed limits. The means may be provided locally to a worker on the worker support platform, and or at the receiving point where filled containers are checked and packed.

The vehicle may advantageously be provided with a data interface system. The data interface system preferably includes means for providing the vehicle user with data covering productivity information that may be deduced from sensors s including driving speed, the passage of items on the conveyor, the item weights and the like. In one embodiment the data may be downloaded to a portable electronic data storage device. In a further embodiment, the data may be transmitted digitally via aerial means to a remote location.

The vehicle may advantageously be provided with a lighting system to facilitate night-time operations. The lighting system preferably Includes means for providing ambient lighting In the vicinity of the vehicle, and localised lighting in the vicinity of each worker.

The vehicle may advantageously be provided with worker comfort facilities at each working position. Such facilities may Include the provision of drinks and music.

In an alternative embodiment of the vehicle's mechanical architecture, the vehicle may be provided with a demountabie trailer to which the conveyor system may supply items placed thereupon. The trailer preferably is provided with space to temporarily store items supplied thereto by the conveyor. The trailer may also be provided with a power source for the vehicle.. The vehicle itself is preferably provided with a power source which is able to operate the drive mechanism of each wheel when the trailer is disconnected. Disconnection of the trailer may be necessary when, for example, the vehicle is manoeuvring outside of a poly tunnel or executing a headland turn. The trailer may further be provided with a control interface to enable a worker present upon the trailer to control aspects of the operation of the vehicle.

An embodiment of the present invention will now be described with reference to the accompanying drawings in which: FIgure 1 shows a side view of a vehicle according to the present invention; Figure 2 shows a perspective view of the vehicle; Figure 2a shows an enlarged view of the features ringed In figure 2; Figure 3a shows a top plan view of the vehicle chassis in its transport mode; Figure 3b shows a top plan view of the vehicle chassis In Its crabbing mode; Figure 3c shows a top plan view of the vehicle chassis in its operative mode; Figure 4 shows a perspective view of a drive arrangement of the vehicle; Figure 5a shows a perspective view of a worker support platform for prone positioning; Figure 5b shows a perspective view of an alternative worker support platform, for sitting positioning Figure 6 shows a side view of the vehicle according to an alternative embodiment of the present invention, with a trailer connected thereto; and Figure 7 shows a top plan view of a poly tunnel and headland layout.

Referring to the figures there Is shown a vehicle generally designated 10. The vehicle 10 includes a chassis 12 having four ground engaging wheels 14. The chassis 12 comprises a back bone member 16 and a pair of longitudinal members 18. At each end of the back bone member 16, a further extension member may be mounted 17. Both the back bone member, extension member and longitudinal members 16, 17, 18 are comprised of substantially box section tube. The longitudinal members 18 are connected substantially perpendicularly to the backbone member 16 towards opposing ends thereof. The longitudinal members 18 are connected by appropriate clamping and pivoting arrangements so as to be repositionable on the backbone member 16 and hence their spacing may be varied. The longitudinal members 18 are set apart at a spacing which is significantly wider than that of typical agricultural machines such as tractors.

Each longitudinal member 18 projects an equal distance to either side of the backbone member 16. Within each end of each longitudinal member 18 there Is provided an arm 20. The arm 20 comprises a further length of substantially box section tube which is telescopically mounted within the longitudinal member 18.

Is At the end of each arm 20 distal to the longitudinal member 18 there is provided a wheel carrier generally designated 22. Each wheel carrier 22 is pivotably connected its respective arm 20 via an appropriately configured bearing arrangement 24 which permits the wheel carrier 22 to rotate through at least degrees in both clockwise and anticlockwlse directions as indicated by arrows 30 of figure 3c. Each wheel carrier 22 supports a wheel 26 having a pneumatic tyre 28.

Referring now to figure 3c, the vehicle 10 Is shown In a configuration mode wherein the wheels 14 are aligned with the longitudinal members 18 and telescopic arms 20. In this configuration, referred to as the operative mode, the vehicle 10 can travel in a direction aligned substantially with the direction of the longitudinal members 18. The arms 20 are movable telescopically with respect to the longitudinal members 18 as indicated by arrows of 32 of figure 3b. It will be appreciated that the arms 20 can be moved so as to Increase or decrease the wheelbase of the vehicle 10. The wheel carriers 22 can be rotated through 90 degrees so that the wheels 14 are aligned substantially parallel to the backbone member 16 such that the vehicle 10 is able to travel In a direction aligned substantially with the longitudinal direction of the backbone member 16. From such a configuration, referred to as the transport mode, the arms 20 are movable relative to the longitudinal members 18 so as to decrease the effective axle width or track of the vehIcle 10, thereby establishing the third configuratloh, referred to as the transport mode, shown In figure 3a.

Refeffing now to figures 1 ahd 2 there Is shown a steeHPIg a?raheW%eht, generally desIgnated 34, which Is operable to pivot a wheel carrier 22 relative to an arm 20 to which it is mounted. The steenng arrangement 34 Includes at least one set of worm gear and pinion, housed in a gearbox 40. The OP the tftst pinion is connected to an electric motor 42, the assembly 34 being canied by thC arm 20. The or the second worm gear is connected to a shaft 50 which 0 extends through a healing aiahgemeht 24 Of thC arm 20 to the whCel caiPlei 22. An end portion of the shaft 50 extends above the gearbox 40 and is provided with a rotational position sensor 52 whIch Is operable to determine the rotational position of the Wheel aieP 22 Pelatlve tO a datUth �osItiOfl. lb use, the motor 42 is operable to rotate the shaft SO via the Worm gear set or sets In gearbox 40. Each wheel carrIer 22 is provided with a steering arrangement 34 of this type, each of which is Independently operable. It Will b appPedated that other arrangements may be provided which are operable to rotate the wheel carrier 22 relative to the arm 20. For one example, a direct rotational drive mechanism may be connected to the Shaft 50 extending throUgh the arm 20 to the wheel carrIer 22. For a further example, a lever arm may extend from shaft 50, causing the shaft to be turned by an actuator.

FIgure 4 shows the interior of a wheel canier 22 within which there Is provided an electric drive rnoto 54, wheel bearing and gearbox as einbIV 56, a z controller 58 and wiring 68 to convey electrical pOwe r to the Im)tor 54 and controller 58 and operative instructions to the motor 54 from the local controller 58. 54 is provided with anOutput pulley 60 and the Whëél healing and gearbox assembly 56 with a drive pulley 62 connected to a wheel drive shaft 64 extending through the wheel bearing and gearbox assembly 56. The output and drive pulleys 60,62 are connected by a toothed drive belt 66. The motor 54 Is operable by the local controller 58 to rotate the drive shaft 64 and hence the wheel and tyre 26,28. The motor 54 Is reversible so as to be able to rotate the wheel and tyre 26,28 both clockwise and antidockwisC. At leat twO Wheel carriers 22 may be provided with a similar arrangement and at least two wheels and tyres 26,28 may be independently rotatable relative to the others of the 9.

vehicle 10. In an alternative embodiment the motor 54 and wheel bearing and gearbox assembly 56 may be arranged co-axially.

It will be appreciated that the drive arrangement for each wheel and tyre 26,28 is contained within the wheel carrier 22, and that the each wheel carrier 22 presents a relatively narrow face to the direction of travel of each wheel and tyre 26,28. The space envelope of each wheel carrier 22 and wheel/tyre is thus minimised and consequently the vehicle 10 Is able to operate In narrow crop aisles.

The vehIcle 10 Is provided with a plurality of worker supports, generally designated 70, which, In use, support a worker in at least one defined position.

In the embodiment shown in figure 5a each support platform 70 comprises a support arm 72 and a platform 74 movable relative to the arm 72 as indicated by arrow 75. The support arm 72 Is fixed at one end to the backbone member 16 and extends from the backbone member in a direction substantially parallel to the longitudinal members 18.

The support arm 72 includes a vertical adjustment means 76 at its distal end.

The adjustment comprises a threaded rod and nut assembly 78, actuated by a windIng handle 80. Guidance for the adjustment means 76 is provided by a slider box section 82 movIng within an enclosing box section 84 which is formed as part of the support arm 72. Each worker support platform can thus be set at a height to accommodate both the ergonomic preference of the worker, a change In height of the crop to be tended, or any deterioration in ground conditions over which the vehicle is passing. The slider box sectIon 82 carries the worker support platform 70. The worker support platform is partly fixed and partly hinged. The hinging function shown by arrow 89 is provided to both enable each wheel and tyre 26, 28 to turn through 90 degrees for the vehicle's orthogonal function, and also to accommodate adjustments of the vehicle's chassis for shortening the wheelbase.

The fixed part of the worker support platform 86 shown for a worker in a prone position carries a chest support pad 90 and a forehead support pad 92, while the hinging part 88 carries an abdomen support pad 94 and a foot support arrangement 96. The forehead support pad 92 and chest support pad 90 are slidably mounted to the fixed part of the worker support platform 86 so as to be movable towards and away therefrom as indicated by arrows 98, 99. Similarly, the foot support arrangement 96 is telescopically mounted to the abdomen support pad 94 and movable towards and away therefrom as indicated by arrow 101. The forehead support pad 92, chest support pad 90 and foot support arrangement 96 can thus be set at desired positions relative to the abdomen support pad 94 to accommodate a worker's preferred ergonomic position.

In an alternative embodiment shown in figure Sb, the fixed part of the worker support platform 86 is adapted for use by a worker In a sittIng position. The worker in this case may tend row crops grown in such a manner as to present the produce at a height substantially above ground level. The fixed part of the worker support platform cames a sitting pad 91 and a foot support arrangement 100.

As can readily be seen from the drawings, the vehicle 10 is provided with a plurality of worker support platforms 70 arranged longitudinally on opposing sides of the backbone member 16. The vehicle 10 shown in figure 2 is provided with ten worker support platforms split equally between each side of the backbone member 16 and extension member 17. It will be appreciated that a greater or lesser number of support platforms 70 may be provided. In the embodiment shown the support platforms 70 are equidistantly spaced along the backbone member 16. It will be appreciated that other support spacing configurations are possible. In the embodiment shown for workers in a prone position the support platforms 70 are configured such that the head of a worker is proximal to the backbone member 16 and their feet are distal to the backbone member 16. Refemng to figures 2 and 5a, the spacing of the support platforms 70, their angular relationship to the back bone 16 and the orientation of the workers may be changed to suit the circumstances and environment in which the vehicle 10 is operated. The worker support platforms 70 may thus be considered to be modular elements which are individually adjustable for worker comfort.

The freedom to reposition the support platforms 70 along the backbone member 16, and to select the overall number of support platforms 70 carrIed by the backbone member ensures that the vehicle 10 can be readily configured for use with a desired crop row spacing and easily reconfigured for use with differing crop row spacings. The vehicle 10 can thus be configured to accommodate very high density plantations which can comprise multiple adjacent crop rows with minimal or no aisles therebetween.

Referring to figures 1 and 2a, the vehicle 10 Is further provided with a conveyor system generally designated 104. The conveyor system 104 includes two endless belt conveyors 106 arranged below and substantially parallel to the backbone member 16. The conveyors 106 are aligned axially with respect to one another and are operable so as to convey items In a direction Inwardly from the ends of the backbone member 16 as shown by arrow 107. At least one further endless belt conveyor 108 is positioned between the conveyors 106 so as to receive Items conveyed thereby, as shown by arrow 109. The or both conveyor 108 is inclined upwardly with respect to the conveyors 106, and may be adjustable for inclination to facilitate reconfiguration of the storage platform 152, as shown by arrow 111.

Referring to figure 2a, in the region of each worker support platform 70 there is provided a container supply hopper 110. In the embodiment shown each hopper is of the wire frame type, however it will be appreciated that other types and configurations of hopper 110 may be utilised. Each hopper 110 Is mounted to an edge of a conveyor 106 and is inclined In the direction of its associated In instances where the vehicle 10 is utiiised for produce harvesting, the hopper is loaded with a plurality of empty produce containers. Advantageously, the containers may be nested within one another. Advantageously, each hopper 110 is provided with a release Indexing system 111 to supply regulated quantities of containers to the worker. A worker resting on a support platform 70 is able to remove a container from the hopper 110, fill it with harvested produce and then place the filled container on the conveyor 106. The conveyor 106 carries the filled container towards and then onto the or both inclined conveyor 108.

Adjacent to the worker support platform 70 a facility 102 for check weighing of filled containers may be provided.

Adjacent to the top of the Inclined conveyor 108 a facility 136 for check weighing of filled containers may be provided.

The speed and direction of the conveyor system may advantageously be changed to accommodate a diversity of crop management tasks. In instances where the vehicle is used for weeding, where a high volume of plant material may be handled, the conveyor system speed may be increased. In Instances where the vehicle is used for crop planting, the conveyor system 104 may be reversed In its direction, enabling It to continually supply workers with plants as the vehicle moves over the prepared rows.

During a harvesting operation, the filled containers are carried up at least one inclined conveyor 108 towards at least one storage facility. In the preferred embodiment, the vehicle 10 Is provided with at least one storage platform 152.

The platform is mounted to the chassis via swingable outriggers 154, wIth, In the embodiment shown, the platform surface substantially aligned to provide a horizontal surface across the majority of the crop rows. Each outrigger 154 is swingably mounted on a vertical axis to the longitudinal member 18, and to the platform 152, enabling the platform 152 to be moved closer to the back bone member 16, shown by arrow 153.

Each outrigger 154 is also pivotably mounted on a horizontal axis at its connection to the platform 152, enabling the platform 152 to be lifted to a substantially vertical position, shown by arrow 155.

Provision is made for securing the platform 152 at the limits of its swung and lifted positions, using a latch 156.

A combination of the two adjustments provides reconfiguration facilities to reduce the overall size of the vehicle when It Is being operated in its crabbing mode at the end of the poly tunnels.

The storage platform Is configured to receive at least one pallet of crop tending material in crates 160, plus at least one worker who may be overseeing the control of the vehicle and receiving filled containers.

The storage platform 152 may be provided with a low friction surface such as, for example, a roller bed, In order to assist in the loading and unloading of payload.

In order to control all electrical functions on the vehicle, a computer control unit Is provided 162. The computer control unit is equipped with software configured to enable safe operation of the vehicle, feedback to the user, and condition monitoring of the vehicle's systems. The unit is hardwired to all sensors and switches, and connected via relays to all motors used on the vehide.

Referring now to figure 6 there Is shown an alternative embodiment of a vehicle where a trailer is provided generally designated 112. The trailer 112 comprises a base 114, upstanding front and side waIls 116,118 and front and rear axles having front and rear ground engaging wheels 120,122. A drawbar 124 extends from the front axle to enable the trailer 112 to be connected to an appropriate coupling of the vehicle 10. One or more workers are able to stand in the trailer 112 and receive filled containers carried by the inclined conveyor 108.

The filled containers car, then be placed in crates carried by the trailer 112. The trailer 112 may also carry a power source for the vehicle 10 in the form of a plurality of batteries. An electrical coupling may be incorporated Into the drawbar 124 such that an electrical connection between the vehicle 10 and the trailer 112 is made when the trailer is connected. Alternatively, a separate electrical coupling may be provided. The vehicle 150 is provided with a power source to enable It to be operated without the trailer 112 beIng connected, for example when being manoeuvred Into position relative to a poly tunnel, being loaded and unloaded from a transporter, or making a headland turn in the crabbing configuration.

Referring to figures 3a, 3b, 3c and 7, operation of the vehicle 10 wIll now be described. The vehicle 10 may be conveyed to an operation site on a suitable transporter such as, for example a low loader or a trailer. Advantageously, the vehicle 10 is transported In the aforementioned orthogonal transport configuration shown in figure 3a with the arms 20 retracted Into the longitudinal members 18 so as to minimise the track width of the vehicle 10, each storage platform 152 swung in and folded, and each inclined conveyor 108 folded up so as to minimise the overall width of the vehicle. The minimised width of the vehicle 10 also assists once on the farm with the negotiation of such features as gateways and the like. The vehicle 10 may be driven from the transporter by the issue of drive, braking and steering commands to the vehicle by an appropriately configured command input device. This device may comprise a boom mounted control interface 172. The control interface may correspond wirelessly with the vehicle 10 or may be connected thereto by a cable or the like.

Once demounted from the transporter, the vehicle 10 can be reconfigured into its crabbing mode shown in figure 3b, then manoeuvred to its start position such as, for example, the mouth of a poly tunnel 132.

At the start position shown In figure 7, the vehicle 10 is reconfigured into the operative mode shown in figure 3c using the position of the control interface 172 to provide automatic set up of the appropriate vehicle systems. The bi-dIrectional vehicle requires that vehicle systems are set up to ensure all crop management functions operations are appropriate to the worker who is operating the vehicle from a storage platform. The wheel carriers 22 are rotated so as to align each wheel and tyre 26,28 with the longitudinal members 18 and the crop rows 128. The conveyor system 104 is primed to operate In a direction enabling the worker to receive containers. The steering is set to provide selectable front wheel steer or rear wheel steer, according to the direction of travel. The speed controller on the control interface unit 172 is set to drive the vehicle in the appropriate direction.

is The stowage platforms 152 can be deployed and prepared with material suitable for the crop management task. The workers can then position themselves on the support platform 70 having firstly adjusted the chest pad 90, forehead support pad 92 and foot support arrangement 96 to their like. If applicable, the trailer 112 can then be coupled to the vehicle 150 and the vehicle 150 driven into the poly tunnel.

Figure 10 shows a plan view of the vehicle 10 traversing a crop growIng surface 126 having a configuration of the type employed within poly tunnel cultivation.

In the example shown the surface 126 comprises spaced rows of crops 128 having an access aisle 130 between adjacent rows 128. The spacing of the longitudinal members 18 on the backbone member 16 Is such that the wheels 14,28 on each side of the vehicle 10 run in respective aisles 130. It will be appreciated that the aisles 130 Intermediate those in which the widely spaced vehicle wheels are positioned may be omitted and planted instead to enable higher productivity.

The spacing of the worker support platforms 70 on the backbone member 16 is such that the workers are positioned over the crop rows 128. In the embodiment shown, the support platforms 70 are arranged such that each crop row 128 is serviced by two workers, one facing the direction of travel of the vehicle 10 and one facing in a direction opposite to the direction of travel. As described above, the workers fill containers with picked produce and place the filled containers onto the conveyors 106. The workers may use the facility of check weighing 102, before placing the containers onto the conveyors. The filled containers are moved by the conveyors 106 in the direction of the inclined conveyor 108 as indicated by arrow 107. The filled containers are then packed into crates by a worker on the storage platform, then the filled crates are stacked onto a pallet. The facility of check weighing 136 may be used by the receiving worker before packing containers into crates, or crates onto pallets.

The vehicle 10 is typically set to travel over the surface 126 at an initial speed which may fall within the range of one to six metres per minute. The initial speed of the vehicle 10 may be dependant upon such factors as the nature and roughness of the surface 126, the nature of the crop, and the density and size of the produce it is desired to harvest from the crop, or the nature of the crop management task. The vehicle 10 may be provided with a number of speeds, one of which can be selected prior to the vehide commencing a run through a poly tunnel. Alternatively, the vehicle 10 may be provided with a variable speed selection means. In yet a further embodiment, the vehicle 10 may be provided with means to monitor the productivity of the workers and adjust the operative speed accordingly.

Advantageously, the steering system of the vehicle 10 is sensitive to which mode the vehicle 10 is placed in, as defined by the orthogonal position of the control interface 172. In the operative mode, the steering angle through which the wheel camers 22 may be moved is limited, as shown by arrow 115, so that the available steering is restricted to the provision of minor steering corrections.

In the transport and crabbing modes, the steering angle through which the wheel carriers 22 are movable is much greater, for example in excess of 90 degrees. By limiting the available steering angle when the vehicle 10 is In the operative mode, the possibility of a large steering input being accidentally entered, and hence the possibility of the wheels 14 of the vehicle 10 deviating from the aisles of the growing surface and running over the crops is significantly reduced.

In a preferred embodiment shown In figure 2a the vehicle 10 is provided with an automated guidance and steering system which is used when the vehicle 10 is traversing a growing surface 126. The guidance system may comprise a first ultra sonic sensor 142 which Is arranged to sense features at or near the is growing surface 126 over which the vehicle 10 Is travelling. For example, the first ultra sonic sensor 142 may be arranged to monitor crop rows or aisles between crop rows either ahead of or behind the vehicle 10 and feed back to the computer control unit 162 informatIon relating to the position of the vehicle 10 relative to the sensed features. The vehicle 10 may be provided with two such sensors 142 which are positioned to detect opposite sides of the aIsles 130. The computer control unit may be operable to steer the wheel carriers 22 of the vehicle to ensure that the vehicle 10 maintains a desired direction of travel. The vehicle 10 may optionally be provided with a further ultra sonic sensor 144 which is arranged to sense features above the vehicle 10. Specifically, the further ultra sonic sensor 144 may be arranged to monitor hoop members of a poly tunnel which overlie the growing surface 126. By monitoring the orientation of the hoops relative to the vehicle, then any deviation of the vehicle 10 relative to the intended direction of travel can be determined and any necessary steering corrections made by the computer control unit.

Poly tunnels 132 are typically arranged in a side by side arrangement and hence once the vehicle has passed through one tunnel It is often a requirement that it then travels along a narrow headland 140 to the next adjacent poly tunnel. The fully rotatable nature of the wheel camers 22 supports this linear and perpendicular layout and ensures that the vehicle 10 does not need a large turning circle in order to align itself with the next adjacent poly tunnel. Once the vehicle 10 has cleared a poly tunnel 132, the vehicle 10 is brought to a stop. The workers get off their support platforms 70 and may assist in the folding of a storage platform 152 if required. Under the direction of the rotatable positioning of the control interface unit 172, shown by arrow 157, the wheel carriers 22 are rotated through 90 degrees so as to place the vehicle 10 in the transport or crabbing mode. The vehicle 10 can than be moved into alignment with the mouth of the next poly tunnel in a direction substantially perpendicular to the original direction of travel. Once In position the wheel camers 22 can be rotated through 90 degrees to place the vehicle back in the operative mode. The bi-directional operation shown by arrow 159 can be supported by folding down an opposite storage platform 152, and activating a second inclined conveyor 108 under a position based signal from the control interface unit 172.

If the alternative embodiment with the trailer 112 Is employed, the trailer can be reconnected to the opposite side of the chassis 12 than before, and the position of the inclined conveyor 108 reversed so as align with the trailer 112.

The vehicle 10 may be provided with additional features such as optical counters positioned on the conveyors 106, 108. These counters may be utilised to monitor the productivity of workers carried by the worker support platforms 70.

The inclined conveyor 108 may operate on a timed or switchable on-off cycle.

This function would permit a worker present upon either the trailer 112 or storage platform 152 to attend to other tasks in between sessions of loading filled containers to the crates.

The vehicle 10 may be provided with additional features such as a lighting system to facilitate night-time operations. The lighting system preferably includes means for providing ambient lighting In the vicinity of the vehicle 10, and localised lighting 170 in the vicinity of each worker.

While the embodiments of the vehicle 10,150 described above has been described with reference to the picking or harvesting of produce, it will be appreciated that the vehicle 10 may be used for other horticultural operations.

For example, the vehicle 10 may be used to convey workers over a surface whereupon they conduct sowing, planting or weeding operations.

By being operated electrically, the vehicle 10,150 described above is safe to use and operate in the relatively enclosed environment of a poly tunnel. The heat output of the vehicle 10,150 is minimal and hence it does not increase the temperature within a poly tunnel to the detriment of the comfort of the workers or the quality of produce picked by the workers when harvesting. The clean characteristics of the electrical machines avoid the distribution of harmful emIssions, fuels and lubricants over the edible crop. The moderated passage of the containers from the workers' hands to the receiving point on the storage platforms, combined with the smooth and stable function of the entire vehicle minimises the risk of bruising to the sometimes fragile produce. The quiet operation of the electric drives ensures minimal fatigue to the workers and a is high level of productive Interaction between them.

Claims

P715809GB CLAIMS

1. An electrically powered vehicle to assist the manual tending of row crops has a reconfigurabte chassis structure, a plurality of ground engaging members with which the vehicle can be moved, each of which is mounted to a carrier which is pivotably connected to the chassis, each carrier being Independently and extensively rotatable about a steering axis, and a repositionable worker support platform by which a worker can be carried above the crop.

2. An electrically powered vehicle as claimed in Claim 1, wherein at least two ground engaging members are provided with Independent electric traction drive.

3. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the vehicle is operable under predefined and substantially orthogonal driving modes.

4. An electrically powered vehicle as claimed In Claim 3 whereIn under at least one predefined mode, the rotational speed of the ground engaging members is continually adjusted according to output from sensors monitoring a or the

5. An electrically powered vehicle as claimed in Claim 3 whereIn under at least one predeflned mode, the alignment of the vehicle relative to the crop Is continually adjusted according to output from chassis mounted sensing means.

6. An electrically powered vehicle as claimed In Claim 3 wherein under at least one predefined mode, the alignment of the vehicle relative to the crop covering structure is continually adjusted according to output from chassis mounted sensing means.

7. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the vehicle systems' functions to support the predefined operating modes are automatically established by sensing the angular position of a control interface unit which is pivotably mounted to the vehicle chassis.

8. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the vehicle's chassis structure Is reconflgurable to Increase or decrease the wheelbase between the ground engaging members.

9. An electrically powered vehicle as claimed In any one of the preceding claims, wherein the vehicle's chassis structure is reconflgurable to increase or decrease the track distance between the ground engaging members.

10. An electrically powered vehicle as claimed In any one of the preceding claims, wherein the vehicle chassis provides mounting for a plurality of worker support platforms.

11. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the or each worker support platform Is configured such that the head of a prone worker is proximal to the chassis centre and their feet are distal to the chassis centre.

12. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the or each worker support platform is transversely adjustable across the chassis.

13. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the or each worker support platform is rotationally adjustable relative to the chassis, In plan view.

14. An electrically powered vehicle as claimed in any one of the preceding claims, wherein the or each worker support platform is foldable about a substantially transverse axis to facilitate orthogonal steer rotation of a ground engaging member.

15.. An electrically powered vehicle as claimed in any one of the preceding claims, further comprising a conveyor system configured to deliver containers from the or each worker to the front and rear of the vehicle.

16. An electrically powered vehicle as claimed in any one of the preceding claims, further comprising a conveyor system configured to deliver containers from the front and rear of the vehide to the or each worker.

17. An electrically powered vehicle as claimed In Claim 15 or Claim 16, wherein the conveyor system is automatically controlled according to the passage of containers.

18. An electrically powered vehicle as claimed in any one of the preceding claims, further comprising a storage platform at the front and rear of the vehicle.

19. An electrically powered vehicle as claimed in Claim 18, wherein the storage platform is reconfigurable on its mountings In order to reduce the length and width of the vehicle.

20. An electrically powered vehicle as claimed in any one of the preceding claims, wherein an electrical power source Is provided to support the power and control functions of the vehicle's systems.

21. An electrically powered vehicle as claimed in aalm 20, wherein the electrical power source is supplemented by additional on vehicle charging means.

22. An electrically powered vehicle as claimed in any of the preceding claims, further comprising container weighing means at a or the worker support platform.

23. An electrically powered vehicle as claimed in any of the preceding claims, further comprising container weighing means at a or the storage platform.

24. An electrically powered vehicle as claimed in any of the preceding claims, further comprising an electronic data interface system which comprises data storage and retrieval means.

25. An electrically powered vehicle as claimed in Claim 24, further comprising electronic data transmission means capable of sending accumulated data to an off-vehicle location.

26. An electrically powered vehicle as claimed In any of the preceding claims, further comprising a demountable trailer adapted to carry containers and

27. An electrically powered vehicle as claimed in Claim 26, wherein the trailer is adapted to carry an electrical power source to support the power and control functions of the vehicle's systems.