NL2022411B1

NL2022411B1 - Handling device

Info

Publication number: NL2022411B1
Application number: NL2022411A
Authority: NL
Inventors: Martinus Cornelis Pullens Wilhelmus; Van Wijk Adrianus; Schreuders Gerrit; Henricus Maria Van Helvoort Johannes; De Koning Dirkjan; van wijk Hendrik
Original assignee: Maxpip B V; De Koning Technische Innovatie B V; Bloemkwekerij De Mortel Vlijmen B V; Martinus Cornelis Pullens Wilhelmus; Van Wijk Adrianus; Schreuders Gerrit
Priority date: 2019-01-17
Filing date: 2019-01-17
Publication date: 2020-08-18

Abstract

The present invention provides a handling device, configured to handle harvested plants, in particular flowers, in a greenhouse, comprising a carriage, a manipulator arm, and a plurality of wheels, which are rotatably mounted to the carriage and which are configured to rest on a set of rails that is suspended in the greenhouse. The handling device is configured to be supported above a plant-bed in the greenhouse and is configured to be moved in a first direction, along the plant-bed. The handling device further comprises a sub carriage, which is movably mounted to the carriage and which is, with respect to the carriage, configured to be moved in the first direction, and the manipulator arm is mounted to the sub carriage. The present invention further provides a greenhouse, a harvesting system and a method for harvesting plants from a plant-bed.

Description

P33597NLOO/TRE Title: Handling device The present invention relates to a handling device. The present invention further relates to a greenhouse, to a harvesting system and to a method for harvesting plants from a plant- bed.

Handling devices are known and are already often used in greenhouses. Handling devices may fulfil various functions in the greenhouse, and can for example be used to handle products, such as harvested flowers, vegetables or the like.

An example of such a handling device is known from European patent application EP 1 621 061 A1. In this document, a harvesting device is disclosed that comprises wheels with which it is adapted to travel on heating pipes in the greenhouse. The harvesting device comprises a robot arm with gripping elements to grip the stems of flowers. The heating tubes, over which the device travels, are suspended above the ground and are connected to a wire mesh, through which the flowers extend during their growth.

This known harvesting device has the disadvantage that the heating tubes on which it runs, above the plant-bed with the flowers, will bend under the influence of the weight of the harvesting device. The heating tubes will deflect in between the points at which it they are suspended, which results in a wave-like shape of the heating tubes. When the harvesting device travels along the deflected heating tubes, its relative distance to the ground will vary and the flowers can no longer be gripped accurately in the entire plant-bed.

Another greenhouse device is disclosed in Dutch patent NL 1027383, in which a rail guided spraying wagon is disclosed. This spraying wagon also comprises wheels with which it rests on a set of rails in the greenhouse. This device comprises carrying means, which are mounted to the wagon and which comprise a spraying head. The carrying means are configured to move in a transverse direction with respect to the spraying wagon, in order to increase the size of the spraying trajectory.

This spraying wagon, however, has the same disadvantage as the above-mentioned handling device, because it also travels on heating tubes that bend under the influence of the weight of the spraying wagon. This means that when the spraying wagon travels through the greenhouse, over the heating tubes, its relative distance to the ground varies.

It is an object of the invention to provide a handling device that overcomes the above- mentioned disadvantages, or at least to provide an alternative.

The present invention provides a handling device, configured to handle harvested plants, in particular flowers, in a greenhouse, comprising: - a carriage,

- a manipulator arm, and - a plurality of wheels, which are rotatably mounted to the carriage and which are configured to rest on a set of rails that is suspended in the greenhouse, wherein the handling device is configured to be supported above a plant-bed in the greenhouse and configured to be moved in a first direction, along the plant-bed, wherein the handling device further comprises a sub carriage, which is movably mounted to the carriage and which is, with respect to the carriage, configured to be moved in the first direction, and wherein the manipulator arm is mounted to the sub carriage.

The carriage of the handling device according to the present invention is configured to rest on the set of rails by means of the wheels and is configured to roll along the set of rails by means of the wheels. The carriage is configured to be moved along the plant-bed, above which the it may be supported, preferably in a longitudinal direction of the plant-bed.

The sub carriage of the handling device is mounted to the carriage and is configured to be moved with respect to the carriage, for example by a respective set of wheels. The sub carriage is configured to move with respect to the carriage in the same first direction as the first direction in which the carriage itself is configured to be moved.

The manipulator arm of the handling device is configured to handle the harvested plants and is mounted to the sub carriage. The location of the manipulator arm in the greenhouse can therefore be changed in at least two ways. Either by movement of the carriage along the set of rails or by relative movement between the sub carriage and the carriage.

These two ways of changing the location of the manipulator arm, at least in the first direction along the plant-bed, has the advantage that the carriage itself may remain stationary and that the sub carriage can be moved in the first direction with respect to the carriage. The carriage may then be arranged at a location at which there is no deflection of the set of rails.

When the sub carriage is then moved with respect to the carriage, the set of rails will not deflect due to the stationary carriage while the location of the manipulator arm is changed during movements of the sub carriage.

The disadvantages of the known harvesting device and spraying device are thereby overcome, because the position of the manipulator arm may be controlled better, due to the absence of bending of the set of rails during movement of the sub carriage.

The handling device according to the present invention is not only configured to handle harvested plants, but may as well be used in a greenhouse for other purposes. The device may for example be used to also harvest the plants. Additionally or alternatively, the device may also be used to decontaminate soil in a plant-bed in the greenhouse, to plant new plants orto perform repair or maintenance tasks to the greenhouse.

In an embodiment of the handling device, the wheels are mounted to the carriage in a wheel pattern. This thereby corresponds to a pattern in which supports for the set of rails arearranged. In this configuration, the wheels of the carriage have the same footprint as the supports for the set of rails.

These corresponding footprints provide that the carriage may be arranged such, that its wheels are arranged on the rails at the position of the supports. At or near these supports, the deflection of the set of rails is the smallest, which means that the position of the carriage, in particular its height, may be accurately maintained.

While the wheels of the carriage are arranged at the position of the supports, the sub carriage may be moved with respect to the carriage, such that the location of the manipulator arm may be changed. In this situation, the location of the manipulator arm can be changed without deflection of the rails, which provides the result that the position of the manipulator arm may be controlled more accurately.

In a further embodiment of the handling device, the carriage comprises four wheels. In this embodiment, the wheel pattern is a rectangular pattern and a wheel may be arranged at each corner of the rectangle. The pattern of the supports is, in this embodiment, a rectangle as well, wherein the ribs of this rectangle may, for example, have dimensions that correspond to distances between adjacent frame elements of the greenhouse.

In an additional or alternative embodiment, the handling device comprises at least one adjustment device. Each of the respective adjustment devices is configured to adjust a dimension of the carriage, in order to adjust a relative distance between two adjacent wheels of the handling device, and to reduce a length of the carriage in the first direction.

With the adjustment device, the length of the carriage may be reduced, which allows the handling device to have an adaptable wheel pattern. This carriage can, first of all, be used more flexible, since its wheel pattern can be adapted to different greenhouses that have different patterns in which the supports for the set of rails are arranged.

The adjustment device secondly provides the advantage that the carriage may be transported more easily from a first plant-bed to another plant-bed. This transportation generally takes place via a centre-isle in the greenhouse, which may be narrower than the normal distance between the adjacent supports and thus smaller than the required wheel pattern for the carriage. In this case, the length of the carriage can be reduced to allow the carriage to be transported to another plant-bed, after which its length is increased again with the adjustment device, to ensure that the wheel pattern again corresponds to the pattern in which the supports for the set of rails are arranged.

In an embodiment of the handling device, the manipulator arm comprises a gripper that is configured to grip the harvested plants. The manipulator device may, in this embodiment, for example be configured to move the gripper from a gripping location, at which the harvested plants are gripped, towards a discharge location or vice versa. At the dischargelocation, the plants may for example be packaged or may be accumulated and transported further, to enable quality control, selection, sorting or the like.

The present invention further provides a greenhouse, comprising a handling device as described above and at least one set of rails, wherein the set of rails is, by means of supports, suspended from frame elements of the greenhouse and wherein the wheels of the handling device rest on the set of rails.

The greenhouse comprises the set of rails that is suspended by the supports. The supports are attached to frame elements of the greenhouse and the set of rails is, in turn, connected to the supports. The supports preferably extend vertically between the frame elements and the set of rails, but may as well extend in a non-vertical direction, such as a horizontal direction.

The greenhouse may further comprise a plant-bed, in which plants are to be cultivated. In this embodiment, the set of set of rails is arranged above the plant-bed. The handling device is, with its wheels, arranged on the set of rails and is thereby supported above the plant-bed and configured to be moved along the plant-bed.

In an embodiment of the greenhouse, the set of rails comprises at least two rails, which extend in the first direction, along a plant-bed in the greenhouse. The at least two rails are set at a distance from each other in a second direction. This second direction is perpendicular to the first direction. The distance between the rails is referred to as the spacing and is substantially constant along the length of the rails. The spacing between the rails may for example substantially correspond to a width between frame elements of the greenhouse.

In this embodiment of the greenhouse, the supports are arranged in a support pattern that corresponds to a wheel pattern of the wheels of the handling device, and the wheels of the handling device are configured to rest on the rails at the location at which the rails are suspended by the supports.

In this configuration, the handling device may be arranged on the rails such, that its wheels are arranged at the location of the supports. The weight of the handling device is carried by the set of rails, but its gravitational force is, via the wheels of the handling device, applied at the location of the supports. At these locations, the rails are rigid and the amount of deflection thereof, under the influence of the weight of the handling device, is minimized. Accordingly, the position of the handling device can be controlled more accurately, when compared to the prior art devices that were suspended from the set of rails in between the supports.

The width of the support pattern, in the second direction, may be the same as the spacing between the rails. The width of the wheel pattern is the same as the spacing between the rails as well, in order to provide that the wheels of the handling device rest on each of the rails.

The length of the support pattern in the first direction may correspond to a distance between adjacent supports and to a distance between adjacent frame elements of the greenhouse. As such, the wheels of the handling device may rest at locations below the adjacent frame elements, in order to obtain the least amount of deflection of the rails.

5 In a further embodiment of the greenhouse, the wheel pattern is a rectangular pattern. In this embodiment, the length of the wheel pattern corresponds, in the first direction, to the length of the support pattern in the first direction and to the distance between adjacent frame elements of the greenhouse. Furthermore, the width of the wheel pattern corresponds, in the second direction, to the width of the support pattern in the second direction and to a distance between the rails of the set of rails, e.g. the spacing between the rails.

In an embodiment of the greenhouse, the set of rails is suspended from the roof of the greenhouse. In this embodiment, the frame elements of the greenhouse form part of the roof construction of the greenhouse and the supports generally extend downwards, in the vertical direction, from the frame elements of the roof towards the set of rails.

In a preferred embodiment, the greenhouse has a roof construction that has a triangular shape that extends in the first direction and in the longitudinal direction of the plant-bed. On each side of the respective triangle, a frame element extends parallel to the first direction. These frame elements are, over their length, supported by columns. The supports are, in this embodiment, suspended from the frame elements at the locations where the frame elements are supported by the columns. In this configuration, the position of the supports themselves is secured as well, since the frame elements will not deflect at the location where they are supported by the columns.

In a further embodiment of the greenhouse, the set of rails is formed by heating tubes of the greenhouse. The heating tubes extend above the plant-bed in the longitudinal direction thereof. The heating tubes are mainly configured to transport a heated fluid trough the greenhouse, in order to heat the greenhouse. These heating tubes typically have a circular cross section and may be supported from the roof of the greenhouse. This provides that the heating tubes are suitable to be used as rails. Preferably, the wheels of the handling device have a concave outer surface that corresponds to the convex outer surface of the circular heating tubes.

In an alternative or additional embodiment, the greenhouse comprises a transfer device, which is configured to transfer the handling device from a first set of rails, which is associated with a first plant-bed in the greenhouse, to a second set of rails, associated with a second plant-bed in the greenhouse.

With the transfer device, the handling device may be moved between different plant- beds. As such, a single handling device can be used throughout the greenhouse, for all plant-

beds therein, and is it not required to provide a separate handling device for each of the individual plant-beds.

The transfer device may be arranged in a centre-isle of the greenhouse, which may extend in the second direction, perpendicular to the longitudinal direction of the plant-beds.

The transfer device is thereby configured to transfer the handling device from one plant-bed to another, via the centre-isle.

Preferably, in this embodiment of the greenhouse, the handling device comprises the adjustment device, such that its length may be reduced. In greenhouses, the width of the centre-isle is generally smaller than the normal spacing between the supporting columns.

When the length of the handling device is reduced with the adjustment device, the length of the handling device may become less than the width of the centre-isle, such that it can be transferred via the centre-isle.

Preferably, the transfer device is, upon transfer of the handling device, configured to move the handling device in the second direction. The transfer device is thereby suitable to transfer the handling device between plant-beds that are arranged side-to-side. This may, for example, be the case in a greenhouse in which the plant-beds are, with their longitudinal directions, aligned in the first direction and in which the centre-isle extends perpendicular to the plant-beds, in the second direction.

The present invention further provides a harvesting system that is configured to harvest plants, in particular flowers, from a plant-bed in a greenhouse, which is described above. The harvesting system comprises: - a handling device as described above, and - a movable cutting device, configured to cut stems of the plants, wherein the handling device is configured to be supported and moved above the plant- bed, and wherein the cutting device is configured to be placed in the plant-bed and configured to move in the plant-bed, in order to follow movements of the sub carriage of the handling device.

During the harvesting of the plants, the handling device is suspended above the plant- bed and the cutting device is arranged in the plant-bed. The cutting device may, for example, comprise wheels or caterpillar track, with which it is configured to propel itself in the plant- bed.

The cutting device is configured to cut the stems of the plants and the handling device is configured to remove the cut plants. Preferably, the greenhouse comprises a height adjustable wire mesh, which is suspended above the plant-bed and the cutting device, but below the handling device. The wire mesh is configured to hold the cut plants in an upright orientation, such that they may easily be gripped from above by the handling device.

The cutting device is configured to follow movements of the sub carriage of the handling device, such that the plants are cut right before they are gripped and removed by the handling device.

Preferably, the cutting device is configured to cut the plants row-by-row, which rows may extend in the second direction, and is the handling device configured to grip and remove one or more rows of harvested plants repetitively.

The present invention further provides a method for harvesting plants from a plant-bed, comprising the steps of: - cutting stems of the plants that are arranged in a first row of plants, - handling the cut plants with a manipulator arm of the handling device, and - displacing the manipulator arm along the plant-bed to a subsequent row of plants, wherein the handling device is in a position in which its wheels rest on a set of rails that is suspended in the greenhouse, wherein each of the wheels rests at a location at which the rails are suspended by supports, and wherein the step of displacing comprises: 0 moving the sub carriage, with respect to the carriage, in the first direction, from a begin position on the carriage to an end position on the carriage, and 0 when the sub carriage has reached the end position; . moving the carriage to a subsequent position at which the wheels rests at a subsequent location at which the rails are suspended by subsequent supports, and . moving the sub carriage, with respect to the carriage, to the begin position.

Prior to the harvesting, the carriage of the handling device is positioned above the plant- bed of which the plants are to be harvested, and its wheels are arranged on the respective set of rails of that plant-bed.

Then, the cutting device is arranged underneath the carriage of the handling device and is activated to cut the stems of at least one row of plants in the plant-bed.

The handling device is thereafter activated to handle the cut plants.

The handling device is, for example, configured to grip the stems of the plants with its manipulator arm and to discharge the cut plants on a conveyor belt that is configured to transport the plants out of the greenhouse, for example towards sorting and packaging apparatuses.

During the handling, the wheels of the carriage of the handling device rest on the set of rails, at the location where the rails are suspended from their supports.

It is thereby prevented that the position of the handling device is influenced by deflection of the rails, since the rails will not deflect significantly at the position of the supports.

After the first row of cut plant is handled by the handling device, the cutting device is moved in the plant-bed and configured to cut the next row of plants.

The manipulator arm is then displaced, in order to position it at a location at which it may grip the cut plants of the of the next row of plants.

The displacement of the manipulator arm is achieved by movement of the sub carriage with respect to the carriage. The sub carriage is thereby initially arranged in a begin position on the carriage. It is thereafter moved, with respect to the carriage, in the first direction towards an end position. The end position is, seen in the first direction, arranged at an opposite end of the carriage, when compared to the begin position.

The above steps of cutting and displacing the manipulator arm may be repeated when the method is carried out. When, as a result of a number of displacements of the manipulator arm, the sub carriage has reached the end position on the carriage, further movement of the sub carriage is no longer possible in the first direction.

When the sub carriage has reached the end position on the carriage, the carriage is therefore moved, with respect to the set of rails, to a subsequent positon. At the subsequent position, the wheels of the carriage are again positioned such, that they rest on the set of rails at a location at which the rails are suspended by the supports.

When the carriage is moved to its subsequent position, the sub carriage is moved back with respect to the carriage, from its end position towards its begin position. This back- movement of the sub carriage does not necessarily need to take place during the movement of the carriage, but may as well take place before or after the movement of the carriage.

The sub carriage is now arranged in its begin position again and the manipulator is arranged above a subsequent row of plants. The earlier steps of the method, comprising the cutting of the stems of the plants, the handling of the plants and the displacing of the manipulator arm, are again repeated until the sub carriage reaches its end position once more. Then, the carriage is moved to another subsequent position and the sub carriage is moved back into its begin position.

The above steps are repeated until the cutting device and the sub carriage reach the end of the plant-bed. Then, all plants in the respective plant-bed have been harvested. The handling device and the cutting device may then be moved back to the begin of the plant-bed. Then, the handling device may, by means of a transfer device, be transferred to a subsequent plant-bed and the cutting device may be arranged in the subsequent plant-bed, such that the plants in the subsequent plant-bed can be harvested.

Further characteristics of the invention will be explained below, with reference to embodiments, which are displayed in the appended drawings, in which: Figures 1 — 3 schematically depict a harvesting system according to the present invention, and Figure 4 schematically depicts a perspective view on a handling device of the harvesting system.

Throughout the figures, the same reference numerals are used to refer to corresponding components or to components that have a corresponding function.

Figure 1 schematically depicts an embodiment of the harvesting system according to the present invention, being referred to with reference numeral 1. The harvesting system 1 comprises an embodiment of the handling device according to the present invention, to which is referred with reference numeral 20.

The harvesting system 1 is arranged in a greenhouse. The greenhouse comprises a plant-bed 2, in which plants 3 are grown and which extends in a first horizontal direction (I). The greenhouse further comprises a height-adjustable wire mesh 4 through which the plants 3 have grown and which is configured to provide horizontal support for the plants 3 during their growth. The plants 3 are generally top-heavy, having flowers at their highest points; the wire mesh 4 is configured to prevent the top-heavy plants 3 from falling over.

The greenhouse further comprises columns 5, which are supported by foundations 6 that are arranged in, or adjacent the plant-bed 2. The columns 5 are regularly spaced and are configured to support frame elements 6 of a roof structure of the greenhouse.

The greenhouse further comprises at least one set of rails 7, which extend in the first direction (I), parallel to the plant-bed 2. In the present embodiment, the set of rails 7 comprises two rails 7, which are formed by heating tubes of the greenhouse.

Both rails 7 are set at a distance from each other in a second horizontal direction (II), perpendicular to the first direction (I). The distance between the rails 7 does, in the present embodiment, correspond to a width of the plant-bed 2 in the second direction (II).

The rails 7 are suspended from the frame elements 6 of the greenhouse by means of supports 8. The supports 8 are regularly spaced in the first direction (1). In figure 4, two rails 7 are displayed, which are each supported by a plurality of supports 8. The supports 8 of a rail 7 are arranged such, that they form a rectangular support pattern 9 with supports 8 of an adjacent rail 7.

The harvesting system 1 further comprises a movable cutting device 10, which is placed inthe plant-bed 2. The cutting device 10 is configured to move within the plant-bed 2, for example by means of wheels, as in the present embodiment. The cutting device 10 is configured to move in the first direction (I) and to cut stems of the plants 3. In the present embodiment, the cutting device 10 is configured to cut stems of a row of the plants 3 at a time. The rows of plants 3 extend perpendicular to the plant-bed 2, in the second direction (II). After the stems of the plants 3 in a certain row have been cut, the cutting device 10 is configured to move to a next row. The cut plants 3 remain in a substantially upright position, since they will fall and come to rest against the wire mesh 4.

The handling system 1 comprises a handling device 20, which is configured to handle plants 3 that are cut by the cutting device 10. The handling device 20 is supported from the set of rails 7 above the plant-bed 2 and is configured to be moved in the first direction (I).

The handling device 20 comprises a carriage 21 and four wheels 22, which are rotatably mounted to the carriage 21. The four wheels 22 are arranged in a rectangular wheel pattern 23, as is best seen in figure 4. The rectangular wheel pattern 23 corresponds to the rectangular support pattern 9 of the supports 8 by which the rails 7 are suspended. A length (L) of the wheel pattern 23 in the first direction corresponds to a length (L’) of the support pattern 9 and width (W) of the wheel pattern 23 in the second direction corresponds to a width (W) of the support pattern 9.

It is provided, by having a wheel pattern 23 that corresponds to the support pattern 9, that all four wheels 22 of the handling device 20 can be arranged at locations on the rails 7 at which the rails 7 are suspended by the supports 8. The amount of deflection of the rails 7, under the influence of the weight of the handling device 20, is the lowest at the positions where they are suspended by the supports 8.

The frame elements 6 of the greenhouse comprise a triangular structure and may be regarded rigid, in particular compared to the rails 7. Since the handling device 20 is, with its wheels 22, suspended at the locations of the supports 8, the position of the handling device can be controlled more accurately. Furthermore, the carriage 21 of the handling device 20 20 has a rigidity that is significantly larger when compared to the rigidity of the rails 7.

The handling device 20 further comprises a sub carriage 24, which is movably mounted to the carriage 21. The sub carriage 24 comprises a plurality of wheels 25 with which the sub carriage 24 is configured to roll over the carriage 21 in the first direction (I).

The handling device 20 further comprises a manipulator arm 26, which is with one end thereof mounted to the sub carriage 24 and which is, with respect to the carriage 21, configured to move along with the sub carriage 24.

The manipulator arm 26 comprises a gripper 27 at an opposing end, with which it is configured to grip the cut plants 3. The manipulator arm 26 is configured to move the cut plants 3 from a gripping location, in which they rest against the wire mesh 4, towards a discharge location. A conveyor belt 28 is arranged at the discharge location, which is configured to receive the plants 3 that are discharged from the gripper 27 and to transport the plants away for further processing.

Figures 1 — 3 display a method of harvesting plants 3 by means of the harvesting system 1. In figure 1, the carriage 21 is located at a first location on the set of rails 7. At this first location, the wheels 22 of the carriage 21 rest on the rails 7 at locations where a first set of supports 8 is provided. The sub carriage 24 is arranged at a begin position (B) on the carriage 21.

For harvesting the plants 3, the cutting device 10 is configured to be moved in the first direction (I), towards the right in the figure, in order to cut subsequent rows of plants 3. The sub carriage 24 is moved in the first direction (I), towards the right as well and towards its end position (E) on the carriage 21. The cutting device 10 is thereby configured to follow movements of the sub carriage 24. Meanwhile, the manipulator arm 26 is, with its gripper 27, configured to grip the cut plants 3 and to move the cut plants 3 towards the conveyor belt 28.

In figure 2, the sub carriage 24 has moved in the first direction (I}, towards its end position (E) on the carriage 21. The cutting device 10 has moved through the plant-bed 2 accordingly. The carriage 21 has not moved and remains to rest at its first location on the set ofrails 7.

In figure 3, the cutting device 10 has moved further in the plant-bed 2. The sub carriage 24, however, had already reached its end position (E) on the carriage 21, whereas the carriage 21 initially remained at its first position. In figure 3, the carriage 21 has thereto been moved towards a subsequent, second location on the set of rails 7. At this second location, the wheels 22 of the carriage 21 rest on the rails 7 at locations where a second set of supports 8 is provided, in order to provide again for a rigid support for the handling device 20.

The sub carriage 24 has, with respect to the carriage 21, been moved back in the first direction (I), towards the left in the figure and towards its begin position (B) on the carriage

21. From this position on, the sub carriage 24 is configured to be moved towards its end position on the carriage 21 again, in order to grip subsequent rows of cut plants 3 and to transport them towards the conveyor belt 28.

This method of moving the carriage 21 and the sub carriage 24 has the advantage that the carriage 21 rests on the set of rails 7 at the locations where the rails 7 are suspended by the supports 8. The carriage 21 is relatively rigid, compared to the rails 7, which provides that the position of the sub carriage 24 with the manipulator arm 26, and in particular its height with respect to the plant-bed 2, may be controlled more accurately as compared to when the sub carriage 24 were to be moved directly over the set of rails 7.

Claims

-12- CONCLUSIONS

Greenhouse, comprising: - a handling device (20), designed for handling harvested plants (3), in particular flowers, in a greenhouse, comprising: © a trolley (21), a manipulator arm (26), and o a plurality of wheels (22), which are rotatably attached to the carriage (21) and which are arranged to rest on a set of rails (7) suspended in the greenhouse, the handling device (20) being arranged to move above a planting bed (2) to be supported in the greenhouse and arranged to be moved in a first direction (I), along the planting bed (2), the handling device (20) further comprising a sub-cart (24), which is movable attached to the carriage (21) and which, relative to the carriage (21}, is arranged to be moved in the first direction (I), and wherein the manipulator arm (26) is attached to the sub carriage (24) , - at least one set of rails (7), - several supports (8), the set of rails (7) being suspended by means of the supports (8) from frame elements ( 6) of the greenhouse and wherein the wheels (22) of the handling device (20) rest on the set of rails (7), the set of rails (7) comprising at least two rails (7) extending in the first direction (I), along the planting bed {2) in the greenhouse, and which are spaced apart in a second direction (II), the second direction (II) being perpendicular to the first direction (I), where the supports (8) are arranged in a support pattern (9) corresponding to a wheel pattern (23) of the wheels (22) of the handling device (20), and wherein the wheels (22) of the handling device (20) are arranged to rest on rails (7) where the rails (7) are suspended from the supports (8).

Greenhouse according to claim 1, wherein the wheels (22) are attached to the carriage (21) in a wheel pattern (23) and wherein the wheel pattern (23) corresponds to a pattern (9) in which supports (8) for the set of rails. (7) are installed.

Greenhouse according to claim 2, wherein the trolley (21) comprises four wheels (22) and wherein the wheel pattern is a rectangular pattern (23).

Greenhouse according to claim 2 or 3, comprising at least one adjusting device, each of the respective adjusting devices being adapted to adjust a size of the carriage (21).

-13- to adjust a spacing between two adjacent wheels (22) of the handling device (20), to reduce a length of the carriage (21) in the first direction (I).

Greenhouse according to one of the preceding claims, wherein the manipulator arm (26) comprises a gripper (27) that is adapted to grip the harvested plants (3).

Greenhouse according to any one of claims 2 - 5, wherein the wheel pattern is a rectangular pattern (23), a length (L) of the wheel pattern (23), in the first direction (I), corresponding to a distance between adjacent frame elements (6) of the greenhouse, and wherein a width (W) of the wheel pattern (23), in the second direction (II), corresponds to a distance between the rails (7) of the set of rails.

Greenhouse according to one of the preceding claims, wherein the set of rails (7) is suspended from the roof of the greenhouse.

Greenhouse according to claim 7, wherein the set of rails is formed by heating pipes (7) of the greenhouse.

Greenhouse according to any one of the preceding claims, comprising a transfer device adapted to transfer the handling device (20) from a first set of rails associated with a first planting bed in the greenhouse to a second set of rails associated with with a second planting bed in the greenhouse.

Greenhouse according to claim 9, wherein the transfer device is arranged to move the handling device in the second direction (I) upon transfer of the handling device (20).

A method for harvesting plants (3) from a planting bed (2), comprising the steps of: - cutting stems of the plants (3) arranged in a first row of plants, - handling the cut plants (3) with a manipulator arm (26) of the handling device (20), and - moving the manipulator arm (26) along the planting bed (2) to a next row of plants, the handling device (20) being in a position in which its wheels (22) rest on a set of rails (7) suspended in the greenhouse,

-14 - each of the wheels (22) resting in a location where the rails (7) are suspended from supports (8) and the step of moving comprises: 0 moving relative to the carriage (21) in the first movement of the sub-carriage (24), from a starting position (B) on the carriage (21) to an end position (E) on the carriage (21), and o when the sub-carriage (24) has reached end position (E):. moving the carriage (21) to a next position where the wheels (22) rest at a next location, where the rails (7) are suspended by subsequent supports (8), and. moving the sub-carriage (24) relative to the carriage (21) to the starting position (B).