WO1991011902A1 - Appareil permettant la recolte selective des champignons et d'autres cultures associees - Google Patents

Appareil permettant la recolte selective des champignons et d'autres cultures associees Download PDF

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Publication number
WO1991011902A1
WO1991011902A1 PCT/NL1991/000024 NL9100024W WO9111902A1 WO 1991011902 A1 WO1991011902 A1 WO 1991011902A1 NL 9100024 W NL9100024 W NL 9100024W WO 9111902 A1 WO9111902 A1 WO 9111902A1
Authority
WO
WIPO (PCT)
Prior art keywords
equipment
mushrooms
mushroom
mentioned
picking
Prior art date
Application number
PCT/NL1991/000024
Other languages
English (en)
Inventor
Guillaume Antonius Maria Steijvers
Johannes Matheus Henrikus Steijvers
Original Assignee
Steijvers Guillaume Antonius M
Steijvers Johannes Matheus Hen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Steijvers Guillaume Antonius M, Steijvers Johannes Matheus Hen filed Critical Steijvers Guillaume Antonius M
Publication of WO1991011902A1 publication Critical patent/WO1991011902A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G18/00—Cultivation of mushrooms
    • A01G18/70—Harvesting

Definitions

  • the invention concerns an equipment for the selective har ⁇ vesting of mushrooms and related crops from a nursery bed, by which no harvesting damage is caused to the mushrooms, which can be grown obliguely and in clusters.
  • Similar equipment is known from the Dutch TIL no. 8501733.
  • This equipment is designed for automatic picking of mush ⁇ rooms cultivated as usual in nursery beds of varying lengths and breadths.
  • the invention as described consists of an automatically controlled car which moves over the nursery bed to observe and deter >mine the size and position of the mushroom to be picked.
  • a video camera is used for observati ⁇ on and picking device for harvesting.
  • this device consists of a sensor and one or more mushroom pickers.
  • the mushroom pickers consist of thin tubes which are guided over th,e localized mushrooms; within these tubes are adjustable ste ⁇ el wire's or strips with which the mushrooms are cut when the tube is rotated 90 degrees. The mushrooms are then removed in a somewhat ambiguous manner by a pusher provided with extremely fine needles.
  • the mushroom picking equipment described above has certain drawbacks, among which that the thin tube with cutting wire can damage mushrooms grown in clusters and that the pusher with needles used to transport the picked mushroom can damage the cap of the mushroom when it is pulled out.
  • Fur ⁇ thermore selection on the basis of quality, such as cap diameter and whether the cap/stem junction is open, closed or membranous, is impossible.
  • the equipment des- cribed is not suitable for the rapid harvesting of a quality product.
  • the present invention concerns to remove these drawbacks, whereby such equipment is characterised in that it is con ⁇ structed onto a near-horizontal frame positioned at a suit- able distance above the nursery bed with mushrooms, with at least one scanning camera mounted on a suitable extension, as well as at least one near-horizontal rail system equipped with at least one picking unit while the rail system at a suitable position under the mushroom harvesting path has an instrument for processing the mushroom stems set up as well as a camara for quality control of harvested mushrooms, while a number of removal systems, depending on the number of mushrooms qualities to be harvested, deliver the product to the appropriate receptacles, while the entire system, from the scanning camera which signals the removal of the mushrooms, is controlled by a specially programmed micropro ⁇ cessor.
  • the advantages of the present invention include attainment of an extremely rapid producti- on rate and fewer maintenance problems.
  • the above mentioned near-horizontal frame is relatively movable at an appropriate height above the nursery bed, while the frame is on wheels and can be moved along the longitudinal edge of the nursery bed with one of the wheels being driven directly by the microproces ⁇ sor.
  • the advantage here is that the device's rate of travel over the nuserey bed is incorporated in the total harvesting procedure, i.e. in the software itself.
  • the scanning camera is part of a "computer vision" system, by which a top view of the diameter and the coordinates of the mushroom's position in the bed is sent to the microprocessor, which in turn via its software guides a picking unit to the reported position and then processes and carries out quality selecti ⁇ on on the mushroom concerned.
  • the advantage here is perfect mushroom harvesting and selec- tion .
  • the above-mentioned near-horizon ⁇ tal rail system is, in a preferential version, designed to be endless, consisting of two uprights positioned on a single plane and connected at the extremities by a semicir- cle, while this endless rail system has a cross-section profile suitable for roller guide rails, with the picking unit on rollers being guided by the programmed microproces- sor.
  • the advantage here is a reliably constructed and therefore also economically sound picking unit path and system.
  • the equipment in accordance with the present invention has also been designed so thaft the number of picking units in a preferential version is at. least five, while the picking unit consists of a tray mounted on the above-mentioned automatically driven rollers, while a near-vertical guide is mounted on one side of the tray, along which a guide block can be moved on bearings or rollers via a wire or similar flexible element driven by a motor which receives signals from the programmed microprocessor, while a near-horizontal bar with the actual picking instrument is attached to the guide block.
  • a further development of the equipment in accordance with the present invention is that a near-vertical rotary shaft is fitted through the above mentioned horizontal bar, with a suction cup and accessories on the end nearest the mushrooms and an electric motor controlled by signals from the micro ⁇ processor, on the other end, while the near-vertical rotary shaft can be rotated over an angle of circa 90 degrees by the control signals from the programmed microprocessor.
  • the advantage here is that the mushrooms cannot possibly be damaged and that picking of harvesting by means of rotation is very efficient, since torsion breakage takes place in the stem rather than the roots of the mushroom and no earth is displaced in the bed to soil the other mushrooms.
  • the advantage here is that the stem is cut in a simple and effective manner.
  • the preferential version is equipped with a pair of endless near-horizontal rail systems (first and second rail systems) with the above-mentioned removal system placed between them, while the picking units on the diffe ⁇ rent rail systems can be moved in opposite directions, while the first rail system with picking units is programmed for harvesting large diameter mushrooms or similar crops and the second is programmed to harvest mushrooms with smaller diameters.
  • the advantages here are that the picking or harvesting capacity is greatly increased and that selection on the basis of cap diameter is facilitated.
  • a further development of the equipment is that the above- mentioned microprocessor is programmed so that de device automatically locates the mushrooms, cuts them to the proper length, harvests and selects them according to quality, then guides them to the appropriate receptacle.
  • the advantage here is a fully automated device for harves ⁇ ting mushrooms and sorting them according to cap diameter and quality.
  • the above-mentioned near-horizontal rail system can, in another version, consist of a single rail which can be mounted on a " ' - 5 - movable frame equipped with at least one scanning camera, while the frame can n 'be ⁇ mqved along .the rail and is also equipped with at leasts * on r e picking unit, whose vertical guide is directed towards the mushrooms in the bed or on a sorting line, while the whole system is controlled by the microprocessor and the picking unit can harvest at least one mushroom at a titae.
  • the rail can be easily positio- ned much higher above tlxe* nursery ,bed, so that the device can either pick the mushrooms automatically directly from the bed or the mushrooms; can be picked by hand and placed on a sorting line, from whdaC the device, using a much simpler programme, can pick them up and place them in the correct receptacle.
  • FIG. 5 shows a cross-se € ion over line V-V in figures 1,2,3 and 4 of the picking unit" designed to go with the device;
  • fig. 6 shows a top vie of the d'evice from line VI-VI in figure 5; .
  • * fig. 7 shows an obliquei-view of the rail with roller guide system from the device's entiless rail system;
  • fig. 8 shows a top view*pf a modified version of the mush ⁇ room harvester which. can be moved over nursery beds or boxes;
  • fig. 9 shows the same as figure 8, but with a sorting line above the moving nursery boxes where hand-picked mushrooms are placed to be sorted by the device into sorting boxes;
  • fig. 10 shows a cross-section over line X-X in figures 8 and
  • FIG. 9 showing the harvester's picking unit directed at the nurserey bed;
  • fig. 11 shows a top view from line XI-XI in figure 10 in accordance with the invention.
  • FIGS 1 and 2 show top views of preferential, second and further versions of the equipment in accordance with the present invention, for selective harvesting of mushrooms 2 from a nursery bed 3.
  • the equipment 1 moves in the direction of the arrow 4 over the nursery bed 3.
  • the harvester is made up of the following main components: one or more harvesting sections 5,5', a main drive 6 for the harvesting equipment 1, a frame 7, a scanning camera 8 for determining position, diameter and if necessary height of the mushroom to be harvested, a removal system 9 with receptacles 10.
  • the harvesting sections 5, 5' consist of an endless near-hori ⁇ zontal rail system 13,14 along which the picking units 12 move, entirely under computer control.
  • a scanning camera 8 identifies and locates (determines the position and possible the height and diameter of the mushrooms to be harvested) a mushroom 2, the main drive 6 of the devices 1 is activated by the microporcessor and the equipment 1 moves forward over the nursery bed 3. Meanwhile a computer-controlled picking unit 12 moves to the indicated mushroom coordinates and comes to a halt precisely above the indicated mushroom.
  • Harvest section 5 selectively harvests or picks mushrooms with a cap diameter between 40 and 80 mm and harvest section 5' selectively harvests or picks mushrooms with smaller cap diameters.
  • Picking units 12 and 12' travel on endless rail systems 13 and 13'.
  • the endless rail systems 13 and 13' are made up of a pair of uprights consisting of a rail with roller guide 14 (see figures 5,6 and 7) on which picking units 12 and 12' move on wheels 15.
  • a gear- or cogwheel 16 for example, is driven oh a rack 30 by an electric motor 17 controlled by the above mentioned microprocessor.
  • the up and down motion of the guide block 18 occurs along the right guide 19 by means of a wire or belt 20, which is driven by the electric motor 21 controlled by the microprocessor.
  • a vertical rotary shaft 23 as attached to the guide block 18, with a suction cup 24 with accessories at one end for pick ⁇ ing the mushroom 2.
  • On the other J e ⁇ i ⁇ of the shaft 23 is a microprocessor-controlled electric motor 25 used to rotate the mushroom 90 degrees so that it is separated from its root by torsion breakage.
  • the broken mushroom stem is moved to the knife-shaped instrument 26, 26* to be neatly cut, after which a camera 27, 27' examines the mushrooms on the stem side to sort them according to cap-stem junction.
  • This junction can be open, closed or membranous.
  • the mushroom controlled by the microprocessor software, is placed on one of the removal systems 9 to be finally sorted into one of the receptacles 10.
  • a perfect sorting of the mushrooms to be harvested or picked is the result of this procedure.
  • the removal systems 9 can be conveyor belts.
  • the scanning cameras 8, the harvesting sections 13, 13' with all accessories are fitted on the frame 7 mentioned above, which can be equipped with wheels to travel over an edge 29 of the nursery bed 3.
  • an optional element 31 is fitted in the rectangular rail 14, 14', by means of which the picking unit 12 can also be rotated 180 degrees on a vertical axis in order to deposit the mushroom 2 on the removal system 9.
  • FIGS 8 and 9 a top view is shown of another modified version of the mushroom harvester.
  • the mushrooms 2 are located in the mursery bed.
  • the harvesting unit consists of a single rail 5", along which a picking unit 12 can be moved.
  • the picking unit 12 harvests the mushrooms 2 directed at the nursery bed below.
  • the picking unit 12 harvests the mushrooms 2 directly from the nursery bed 3 and lets them drop into the receptacles 10.
  • the mushrooms are picked by hand 33 and placed in the sorting line 34.
  • the picking unit 12 takes up at least one mushroom 2 each time and sorts it into the recep ⁇ tacles 10.
  • the processor instrument 26 can be rotary blades.

Abstract

On a mis au point un appareil (1) destiné principalement à la récolte sélective des champignons (2) dans les bâches à multiplication (3) en évitant entièrement de les endommager. L'appareil est construit sur un cadre mobile (7) que l'on place à une hauteur appropriée au-dessus de la bâche (3). Ce cadre (7) est doté d'unités de cueillette (12) montées sur un réseau de rails (5, 5', 5'') et commandées automatiquement par une caméra de balayage programmée (8). Les champignons récoltés (2) sont également amenés automatiquement aux récipients (10). Ladite caméra (8) est un système de visionique. Les unités de cueillette (12) enlèvent les champignons (2) des bâches de multiplication (3) à l'aide d'un système de ventouses rotatives (24). Les champignons (2) sont taillés de manière appropriée et tirés en fonction du diamètre de leurs chapeaux.
PCT/NL1991/000024 1990-02-16 1991-02-13 Appareil permettant la recolte selective des champignons et d'autres cultures associees WO1991011902A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9000378 1990-02-16
NL9000378 1990-02-16

Publications (1)

Publication Number Publication Date
WO1991011902A1 true WO1991011902A1 (fr) 1991-08-22

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Application Number Title Priority Date Filing Date
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WO (1) WO1991011902A1 (fr)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993000793A1 (fr) * 1991-07-09 1993-01-21 Ccm Beheer B.V. Dispositif servant a recolter automatiquement et selectivement les champignons
FR2751910A1 (fr) * 1996-08-02 1998-02-06 Royal Champignon Sa Dispositif de coupe laterale
EP1066749A3 (fr) * 1999-06-29 2003-01-02 Wiesenhof-Pilzland Vertriebsgesellschaft mbH Méthode et dispositif pour le traitement des champignons ou similaires
WO2006111619A1 (fr) 2005-04-22 2006-10-26 Green Automation Ltd Oy Appareil pour la récolte des champignons
NL1028906C2 (nl) * 2005-04-29 2006-10-31 Ipecs B V Plukinrichting, systeem en werkwijze voor het plukken van champignons.
DE102007008330A1 (de) * 2007-02-16 2008-08-21 Neubauer, Christoph Vorrichtung und Verfahren zum Ernten von Spargel
ES2313857A1 (es) * 2008-08-07 2009-03-01 Jose Estanislao Guerrero Muñoz Metodo automatizado del corte de la flor del azafran para liberacion y separacion de sus estigmas.
WO2012110238A1 (fr) * 2011-02-16 2012-08-23 Schneiders, Servatius Système et procédé de culture et de récolte de champignons
US9730394B2 (en) 2014-04-28 2017-08-15 Vineland Research and Innovations Centre Inc. Graze harvesting of mushrooms
US9974235B2 (en) 2014-08-26 2018-05-22 Vineland Research and Innovations Centre Inc. Mushroom harvester
CN109349006A (zh) * 2018-09-30 2019-02-19 山东省农业科学院农业资源与环境研究所 一种高效金针菇采收-废料回收系统及方法
EP2654397B1 (fr) 2010-12-22 2019-11-20 Van den Top, Hendrik Dispositif de récolte, espace de culture, système et procédé de culture
NL2022795B1 (nl) * 2019-03-22 2020-09-28 Cornelissen/Derkx Beheer B V Inrichting voor het in een houder plaatsen van champignons
US11154010B2 (en) 2018-11-13 2021-10-26 Mycionics Inc. System and method for autonomous harvesting of mushrooms
US11185027B2 (en) 2016-05-27 2021-11-30 Christiaens Group B.V. Arrangement and method for the cultivation of horticultural products
WO2023010198A1 (fr) * 2021-08-03 2023-02-09 Techbrew Robotics Inc. Système de récolte de champignons automatisé
CN116569794A (zh) * 2023-06-07 2023-08-11 农业农村部南京农业机械化研究所 一种食用菌采摘装置
US11856898B2 (en) 2021-08-03 2024-01-02 4Ag Robotics Inc. Automated mushroom harvesting system
US11957091B2 (en) 2016-05-27 2024-04-16 Christiaens Group B.V. Cultivation arrangement and method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL6814542A (fr) * 1968-10-11 1970-04-14
NL7107587A (fr) * 1970-06-04 1971-12-07
EP0053994A1 (fr) * 1980-12-09 1982-06-16 Ecole Nationale Supérieure d'Electricité et de Radioélectricté de Bordeaux E.N.S.E.R.B. Robot ramasseur d'asperges
EP0100207A2 (fr) * 1982-07-22 1984-02-08 Garran Enterprises Limited Appareil pour la récolte des champignons et plantes analogues
NL8501733A (nl) * 1985-06-14 1987-01-02 Adriana Theodora Maria Theresi De uitvinding betreft een inrichting voor het automatisch plukken van champignons.
NL8600887A (nl) * 1986-04-08 1987-11-02 Adriana Theodora Maria Theresi De uitvinding betreft een inrichting voor het automatisch plukken van champignons.
EP0270469A1 (fr) * 1986-11-05 1988-06-08 Etablissements Pellenc Et Motte Machine robotisée, notamment pour la récolte de fruits
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL6814542A (fr) * 1968-10-11 1970-04-14
NL7107587A (fr) * 1970-06-04 1971-12-07
EP0053994A1 (fr) * 1980-12-09 1982-06-16 Ecole Nationale Supérieure d'Electricité et de Radioélectricté de Bordeaux E.N.S.E.R.B. Robot ramasseur d'asperges
EP0100207A2 (fr) * 1982-07-22 1984-02-08 Garran Enterprises Limited Appareil pour la récolte des champignons et plantes analogues
US4843561A (en) * 1985-05-01 1989-06-27 Sun Controls Design, Inc. Apparatus for locating and manipulating agricultural products
NL8501733A (nl) * 1985-06-14 1987-01-02 Adriana Theodora Maria Theresi De uitvinding betreft een inrichting voor het automatisch plukken van champignons.
NL8600887A (nl) * 1986-04-08 1987-11-02 Adriana Theodora Maria Theresi De uitvinding betreft een inrichting voor het automatisch plukken van champignons.
EP0270469A1 (fr) * 1986-11-05 1988-06-08 Etablissements Pellenc Et Motte Machine robotisée, notamment pour la récolte de fruits

Cited By (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5471827A (en) * 1991-07-09 1995-12-05 Ccm Beheer B.V. Device for the automatic selective harvesting of mushrooms
EP0741961A2 (fr) * 1991-07-09 1996-11-13 Ccm Beheer B.V. Dispositif de balayage optique des plates-bandes de champignons
EP0741961A3 (fr) * 1991-07-09 1997-02-19 Ccm Beheer Bv Dispositif de balayage optique des plates-bandes de champignons
WO1993000793A1 (fr) * 1991-07-09 1993-01-21 Ccm Beheer B.V. Dispositif servant a recolter automatiquement et selectivement les champignons
FR2751910A1 (fr) * 1996-08-02 1998-02-06 Royal Champignon Sa Dispositif de coupe laterale
EP1066749A3 (fr) * 1999-06-29 2003-01-02 Wiesenhof-Pilzland Vertriebsgesellschaft mbH Méthode et dispositif pour le traitement des champignons ou similaires
US8033087B2 (en) 2005-04-22 2011-10-11 Green Automation Ltd Oy Apparatus for picking mushrooms
WO2006111619A1 (fr) 2005-04-22 2006-10-26 Green Automation Ltd Oy Appareil pour la récolte des champignons
EP1879443A1 (fr) * 2005-04-22 2008-01-23 Green Automation Ltd OY Appareil pour la récolte des champignons
EP1879443A4 (fr) * 2005-04-22 2012-01-11 Green Automation Ltd Oy Appareil pour la récolte des champignons
NL1028906C2 (nl) * 2005-04-29 2006-10-31 Ipecs B V Plukinrichting, systeem en werkwijze voor het plukken van champignons.
DE102007008330B4 (de) * 2007-02-16 2016-03-24 Christoph Neubauer Vorrichtung und Verfahren zum Ernten von Spargel
DE102007008330A1 (de) * 2007-02-16 2008-08-21 Neubauer, Christoph Vorrichtung und Verfahren zum Ernten von Spargel
ES2313857A1 (es) * 2008-08-07 2009-03-01 Jose Estanislao Guerrero Muñoz Metodo automatizado del corte de la flor del azafran para liberacion y separacion de sus estigmas.
EP2654397B1 (fr) 2010-12-22 2019-11-20 Van den Top, Hendrik Dispositif de récolte, espace de culture, système et procédé de culture
WO2012110238A1 (fr) * 2011-02-16 2012-08-23 Schneiders, Servatius Système et procédé de culture et de récolte de champignons
US9730394B2 (en) 2014-04-28 2017-08-15 Vineland Research and Innovations Centre Inc. Graze harvesting of mushrooms
US9974235B2 (en) 2014-08-26 2018-05-22 Vineland Research and Innovations Centre Inc. Mushroom harvester
US11185027B2 (en) 2016-05-27 2021-11-30 Christiaens Group B.V. Arrangement and method for the cultivation of horticultural products
US11957091B2 (en) 2016-05-27 2024-04-16 Christiaens Group B.V. Cultivation arrangement and method
US11457579B2 (en) 2016-05-27 2022-10-04 Christiaens Group B.V. Arrangement and method for the transfer of horticultural products between cultivation racks
CN109349006B (zh) * 2018-09-30 2023-07-28 山东省农业科学院农业资源与环境研究所 一种高效金针菇采收-废料回收系统及方法
CN109349006A (zh) * 2018-09-30 2019-02-19 山东省农业科学院农业资源与环境研究所 一种高效金针菇采收-废料回收系统及方法
US11154010B2 (en) 2018-11-13 2021-10-26 Mycionics Inc. System and method for autonomous harvesting of mushrooms
US11889789B2 (en) 2018-11-13 2024-02-06 Mycionics Inc. Vision system for automated harvester and method for operating a vision system for an automated harvester
NL2022795B1 (nl) * 2019-03-22 2020-09-28 Cornelissen/Derkx Beheer B V Inrichting voor het in een houder plaatsen van champignons
WO2023010198A1 (fr) * 2021-08-03 2023-02-09 Techbrew Robotics Inc. Système de récolte de champignons automatisé
US11856898B2 (en) 2021-08-03 2024-01-02 4Ag Robotics Inc. Automated mushroom harvesting system
CN116569794A (zh) * 2023-06-07 2023-08-11 农业农村部南京农业机械化研究所 一种食用菌采摘装置
CN116569794B (zh) * 2023-06-07 2023-11-24 农业农村部南京农业机械化研究所 一种食用菌采摘装置

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