WO2021069091A1 - Appareil de récolte de produits agricoles, ensemble de récolte et procédé de récolte - Google Patents

Appareil de récolte de produits agricoles, ensemble de récolte et procédé de récolte Download PDF

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Publication number
WO2021069091A1
WO2021069091A1 PCT/EP2020/000173 EP2020000173W WO2021069091A1 WO 2021069091 A1 WO2021069091 A1 WO 2021069091A1 EP 2020000173 W EP2020000173 W EP 2020000173W WO 2021069091 A1 WO2021069091 A1 WO 2021069091A1
Authority
WO
WIPO (PCT)
Prior art keywords
soil penetration
soil
rods
wire
harvesting
Prior art date
Application number
PCT/EP2020/000173
Other languages
English (en)
Inventor
Jos Van Esch
Original Assignee
Jos Van Esch
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 Jos Van Esch filed Critical Jos Van Esch
Publication of WO2021069091A1 publication Critical patent/WO2021069091A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D45/00—Harvesting of standing crops
    • A01D45/007—Harvesting of standing crops of asparagus

Definitions

  • the present invention relates to an automatic produce harvesting apparatus, such as an asparagus harvesting apparatus, that is, an apparatus capable of detecting asparagus to be harvested and automatically harvesting it.
  • Asparagus is popular in certain countries and is often white, though also large quantities of green asparagus are harvested.
  • White asparagus are cultivated by covering shoots with soil as they grow, i.e. earthed up in a bed. Freshness is considered very important and hence asparagus is typically consumed within a few days after harvesting or processed for storage.
  • Asparagus is typically harvested manually, which is therefore labour intensive. Each individual asparagus needs to be located in the bed, and then be cut manually under the soil at a desired length. Manual harvesting thereby also introduces a large variability, such as in length. Also, asparagus may be harvested too early, such as having an inferior length, or too late, then having a woody skin. In addition, the plant itself may be damaged during harvesting, which may lead to early decline of the plant. Also, many asparaguses that are still too young to be harvested are cut unintendedly, as often largely parallel and upwards growth of spatially closely distributed asparagus stemming from the same root plant occurs, of which one asparagus may be ready for harvesting, but the other (s) not.
  • an automatic asparagus harvesting apparatus of the type comprising means for displacing and controlling the direction of displacement of the chassis parallel to a bed of soil in which asparagus to be picked are grown is provided.
  • An asparagus harvesting tool is provided with means to mount the harvesting tool for horizontal and vertical translation perpendicular to the direction of travel of the chassis.
  • the agricultural implement has a guide which can be forced vertically into the soil and having a cutter at the end of the guide.
  • the guide has a parallelepiped frame with cutter blades mounted pivotally at the end of the frame. Pivoting of the blades causes simultaneous cutting of the plant and closure of the base of the frame. As the frame retracts its pulls out a soil core with the plants inside.
  • a harvester that includes at least one set of independently controllable cutter arm assemblies that rotate about a common axis to harvest individual asparagus spears is disclosed.
  • an apparatus for harvesting asparagus comprising a module for cutting asparagus, a brush module for removing soil, a soil replenish unit and a method for harvesting asparagus is disclosed.
  • the harvesting tool has a lifting device arranged at a support shaft.
  • the lifting device has a cutter which is rotated between open and closed positions about the support shaft with respect to the holding device.
  • the cutter is rested on the holding device in a closed position and is arranged at a non-zero angle relative to the support shaft in an open position.
  • the cutter has a blade arranged distant from the holding device.
  • a support device is limited in any position of the cutter and holding device between closed and open positions and extended between the holding device and the cutter.
  • the harvesting assembly comprises a platform that is arranged to move in a vertical direction, characterized in that at least two flexible soil penetration rods are mounted on a platform the soil penetration rods each being mounted at a platform end of the soil penetration rod on the platform and perpendicular to a plane of the platform and having a guiding element mounted on soil penetration tips of of the soil penetration rods, the guiding element being arranged to guide the tips of the flexible soil penetration rods by keeping the produce between the soil penetration rods while the harvesting assembly is lowered into the soil.
  • the tips of the soil penetration rods will follow the asparagus below the soil regardless of how the asparagus grows below the soil.
  • the flexibility of the soil penetration rods allows curves in the growth of the asparagus to be followed.
  • the guiding element also ensures that the soil penetration rods stay close to the asparagus shoot to be harvested, thus reducing the risk the neighbouring shoots are damaged This way the risk of damaging the asparagus is greatly reduced.
  • the harvesting assemblies have inflexible rods which are pushed straight into the soil where the produce is detected, thus not being able to adjust to irregular shapes of the asparagus below the soil and risking damaging neighbouring shoots.
  • the soil penetration rods are essentially parallel to each other. Having the soil penetration rods almost parallel to each other eases the entry into the soil while still yielding a sturdy but flexible assembly.
  • the guiding element at the tips of the soil penetration rods can assist in keeping the soil penetration rods parallel to each other and creating a sturdy but flexible assembly by limiting the movement of the tips relative to each other.
  • the harvesting assembly comprises three or four or more soil penetration rods.
  • the soil penetration rods In order to surround the asparagus with the soil penetration rods at least three and preferably four soil penetration rods are used.
  • the use of three, four or more soil penetration rods allow an area to be defined by the tips of the soil penetration rods, the area being the area encircled by the guiding element to keep the asparagus between the soil penetration rods.
  • the use of more rods results in an increased sturdiness along the length of the soil penetration rods while still allowing them to bend or move sideways in a coordinated fashion.
  • three rods form a triangular prism while four rods form a rectangular prism around the asparagus.
  • the penetration rods comprise at least one cavity extending along the axis of the penetration rods where the cavity is arranged to guide a fluid from the platform end of the rod to the ground penetrating tip of the rod. Having a cavity in the soil penetration rods allows a fluid to be pressed through the platform to the tip of the soil penetration rod. This fluid can be used to loosen the soil and thus easing the penetration of the soil by the soil penetration rods. This fluid can also be used to insert a fertilizer into the soil during the harvesting operation. Especially with asparagus, which is rooted deep in the soil it is very advantageous to inject the fertilizer deeper into the soil as it will reach the roots quicker and avoids the wash off of the fertilizer as is the case when the fertilizer is applied in the traditional way over ground.
  • the guiding element is a wire.
  • a wire strung around the tips of the soil penetration rods creates a sturdy but flexible assembly by limiting the movement of the tips relative to each other. This results in an increased sturdiness along the length of the soil penetration rods while still allowing them to bend or move sideways in a coordinated fashion
  • the wire is looped around at least three of the soil penetration tips of the soil penetration rods so as to form a crossed loop, the crossed loop being positioned around the produce where the crossed loop is reduced in size when at least one end of the wire is pulled, thus cutting the produce.
  • the wire loses its function as a guiding element and can now be used as a cutting element to cut the asparagus by pulling on the string.
  • the wire when pulled, is a crossed loop shape and the loop part of the crossed loop being positioned around the asparagus, the diameter of the loop will reduce to the point where the asparagus is cut. This dual function allows for a very simple construction of the harvesting head.
  • the wire passes from the platform through a cavity of a first soil penetration rod to the tip of the first soil penetration rod and extends out to a second soil penetration rod, enters into a cavity of second soil penetration rod and exits the cavity of the second soil penetration rod at the platform.
  • the wire is fed from the platform through a cavity to the tip of the first soil penetration rod of a first soil penetration rod and extends out to to the tip of a second soil penetration rod and enters into a cavity of the second soil penetration rod and exits the cavity of the second soil penetration rod at the platform thus allowing the wire to be pulled above the soil, avoiding the ingress of dirt and wear.
  • the length of the portion of the wire between the two adjacent soil penetration rods is adjustable by feeding wire through at least one of the two cavities.
  • the holder is rotated on a circular path in the horizontal plane and all of the soil penetration rods are over this circular path.
  • the holder comprises an inclined channel in which the wire is seated when the holder is rotated, the inclined channel being arranged to raise a first section of the wire to a position above the soil penetration tips while keeping a second section of the wire below the soil penetration tips so as to hook the first section of the wire on the soil penetration rods 3 that the holder (7) is passing by.
  • the holder comprises two sliding surfaces on both sides of the channel to guide and ease the entry and the exit of the wire to the channel and a sweeping surface on the side of the holder opposite to the channel, that allows the retraction of the holder after hooking the wire around the soil penetration tips of the soil penetration rods.
  • the harvesting assembly comprises a stopper on the each of the soil penetration rods.
  • a produce harvester comprising a harvesting assembly as claimed in any one of the claims 1 to 13 benefits from the advantages of the harvesting assembly as mentioned above
  • the method for harvesting produce comprises the steps of:
  • the harvesting assembly comprising at least three flexible soil penetration rods 3 that are mounted on a platform (2) the soil penetration rods 3 being mounted perpendicular to a plane of the platform and having a cutting assembly mounted on the tips of the soil penetration rods
  • the cutting assembly is arranged to guide the harvesting assembly while lowering the harvesting assembly by keeping the produce between the soil penetration rods.
  • the cutting assembly is a wire.
  • the wire is looped around the ends of the soil penetration rods so as to form a crossed loop around the produce where the crossed loop is reduced in size when at least one end of the wire is pulled, thus cutting the produce.
  • the harvesting apparatus further comprises a holder arranged to string the wire around the tips of the soil penetration rods.
  • the holder is positioned just below a virtual plane defined by the tips of the soil penetration rods.
  • the holder is then rotated via an actuation mechanism, The holder is rotated on a circular path in the virtual plane.
  • the holder comprises a channel in which a portion of the cutting element extending between two soil penetration rods is inserted.
  • the channel is inclined, a fixed end of the wire entering the channel at or below the virtual plane while a feeding end of the wire enters the channel above the virtual plane.
  • the inclined channel assures the wire is strung around the outside of the soil penetration rods as the holder encircles them.
  • the holder further comprises, two sliding surfaces on both sides of the channel to assist in inserting and the exit of the string into the channel and a sweeping surface on the opposite side of holder from the channel allowing a retraction of the holder after the string around the tips of the soil penetration rods.
  • the two sliding surfaces help in inserting the wire into the inclined channel while the sweeping surface allows the wire to slide over that part of the holder that extends above the virtual plane when the holder is retracted from its stringing position by slightly pushing up the wire.
  • the harvesting assembly comprises a stopper near the tip of each of the soil penetration rods which stops the string from moving upwards towards the platform on the soil penetration rod when the soil penetration rod is inserted into the soil.
  • the stopper can be in the form of a protrusion or an indentation on the soil penetration rod.
  • the harvesting apparatus moves in the field and the location of the asparagus is determined, Then the harvesting assembly comprising the soil penetration rods are inserted into the soil thus tracing the asparagus.
  • the wire is pulled by a wire puller and as a consequence the portion of the string that extends between two soil penetration rods where the wire extends between is pulled.
  • the string forms a crossed loop around the asparagus and by pulling the string the loop is closed thus cutting the asparagus.
  • the harvesting assembly then has a clamping device to clamp the cut asparagus and when the harvesting apparatus retracts the harvesting assembly the asparagus is withdrawn from the soil together with the harvesting assembly.
  • the harvesting assembly can also be called a harvesting head.
  • Figure 1 is a schematic view of the harvesting assembly of the invention.
  • Figure 2 is a schematic view of the soil penetration rod.
  • Figure 3 is a side schematic view of the holder.
  • Figure 4 is a other side schematic view of the holder.
  • Figure 5 is a front schematic view of the holder.
  • Figure 7 is a bottom view of the harvesting assembly showing the starting position of the holder for stringing the wire around the soil penetration rods.
  • Figure 8 is a bottom view of the harvesting assembly showing a first intermediate position of the holder and the string when stringing the wire around the soil penetration rods.
  • Figure 9 is a bottom view of the harvesting assembly showing a second intermediate position of the holder and the string when stringing the wire around the soil penetration rods.
  • Figure 10 is a bottom view of the harvesting assembly showing the position of the holder and the string after completing the stringing of the wire.
  • Figure 11 shows a bottom view of the harvesting assembly showing the position of the soil penetration rods, the asparagus to be harvested and the wire at the start of the cutting of the asparagus.
  • Figure 12 shows a bottom view of the harvesting assembly showing the position of the soil penetration rods, the asparagus to be harvested and the wire after the wire has slipped off the tips of the soil penetration rods by pulling of the wire.
  • Figure 13 shows a bottom view of the harvesting assembly showing the position of the soil penetration rods, the asparagus to be harvested and the wire after the wire has been pulled further.
  • Figure 14 and 15 show a bottom view of the harvesting assembly showing the position of the soil penetration rods, the asparagus to be harvested and the wire progressively cutting the asparagus.
  • Figure 16 shows a bottom view of the harvesting assembly showing the position of the soil penetration rods, the asparagus to be harvested and the wire after completion of the cutting of the asparagus.
  • FIG. 1 is a schematic view of the harvesting assembly of the invention.
  • the harvesting assembly 1 arranged to be used in a harvesting vehicle comprises a platform 2 that the harvesting apparatus can move in three dimensions and at least three flexible soil penetration rods 3 (4 shown) that are mounted on the platform 2 perpendicular to the plane of the platform.
  • the tips define a capture area 12 in which an asparagus can be harvested is to be when lowering the soil penetration rods of the harvesting assembly into the soil.
  • the soil penetration rods 3 are arranged to encircle the asparagus while lowered into the soil. In other words, the asparagus stays between these soil penetration rods 3 when the flexible soil penetration rods 3 are inserted to the soil
  • Figure 1 also shows the guiding element 4 that limits the movement of the soil penetration rods 3 relative to each other for instance by loosely holding them together to avoid the soil penetration rods 3 moving away from the asparagus while moving down into the soil
  • the guiding element is a wire and the wire also performs the cutting of the asparagus when the desired depth is reached.
  • the soil penetration rods 3 are essentially parallel to each other although an arrangement where the soil penetration rods converge and form a cut cone can be envisaged as well. It is beneficial that the soil penetration rods do not diverge relative to each other. In an alternative embodiment of the invention the soil penetration rods 3 converge towards each other from the platform 2 ends to the tips of the soil penetration rods 3.
  • the soil penetration rods 3 are inserted into the soil, such that the asparagus is placed between the soil penetration rods 3. Since the soil penetration rods 3 are flexible the guiding element will ensure they will not only follow a straight asparagus when going deeper into the soil but will also follow the shape of the asparagus in the soil when this shape is irregular. By choosing the capture area to be slightly larger than the largest diameter asparagus to be harvested it is ensured that the soil penetration rods closely follow the asparagus, thus avoiding to neighbouring asparagus shoots.
  • the number of soil penetration rods 3 is four and these soil penetration rods 3 form a rectangular shaped capture area.
  • the soil penetration rods 3 are located at the sides of a virtual rectangular prism.
  • the soil penetration rods 3 are in the form of flexible rods and are made of flexible material such as plastic and depending on soil requirements can be reinforced with stiffening inserts that can increase longitudinal stiffness.
  • Each of the soil penetration rods 3 comprise at least one cavity 5 extending along the axis of the soil penetration rod 3.
  • a liquid source is connected to the platform end of such cavity 5 and the other end of the cavity 5 at the tip of the soil penetration rod 3 is open.
  • the liquid source can be water and/or fertilizer. Accordingly, the liquid fed from the top is discharged at the bottom of the soil penetration rods 3 loosening the soil and hence the soil penetration rods 3 more easily go through the soil following the asparagus when the soil penetration rods 3 are inserted in the soil.
  • the guiding element 4 in figure 1 can be a wire.
  • a wire strung around the tips of the soil penetration rods creates a sturdy but flexible assembly by limiting the movement of the tips relative to each other. This results in an increased sturdiness along the length of the soil penetration rods while still allowing them to bend or move sideways in a coordinated fashion to follow the asparagus shape.
  • Figure 2 is a schematic view of the soil penetration rod.
  • the soil penetration rods comprises at least one cavity 5 extending along the axis of the penetration rods 3 where the cavity 5 is arranged to guide a fluid from the platform end 21 of the rod 3 to the ground penetrating tip 22 of the rod. Having a cavity 5 in the soil penetration rods allows a fluid to be pressed from the platform to the tip 22 of the soil penetration rod 3. This fluid can be used to loosen the soil and thus easing the penetration of the soil by the soil penetration rods 3. IN addition, this channel 5, or an extra channel (not shown can be used for feeding the wire used to cut the asparagus from the platform 2 to the tip 22 of the soil penetration rod 3.
  • this stopper is shown as an indentation, but it can of course also be a protrusion (not shown).
  • the wire 4 can be used as a guide as well as as a cutter.
  • Figure 3, 4, 5 and 6 show various views of the holder.
  • Figure 3 shows a first side view
  • figure 4 shows a second side view
  • figure 5 shows a front view of that side of the holder 7 where the channel 8 is located.
  • figure 6 shows the top view of the holder with a sweeping surface 10 to ease the extraction of the holder 7 after the stringing of the wire.
  • the holder is used to string the wire 4 around the tips of the soil penetration rods 3 and comprises a channel in which a portion of the wire extending between two soil penetration rods is inserted.
  • the channel is inclined, a fixed end of the wire entering the channel at or below the virtual plane while a feeding end of the wire enters the channel above the virtual plane.
  • the inclined channel assures the wire is strung around the outside of the soil penetration rods as the holder encircles them.
  • the wire (4) is sliding within the channel 8, the lower entry of the channel 8 being below the tip of the soil penetration rod 3 and a higher exit of the channel 8 at a level that is slightly above tip the soil penetration rods 3 that the holder 7 is passing by
  • the holder further comprises, two sliding surfaces on both sides of the channel 8 to assist in inserting and the exit of the string into the channel 8 and a sweeping surface on the opposite side of holder 7 from the channel
  • the holder 7 As the holder 7 is used above ground to string the wire around the soil penetration rods, thus providing the harvesting assembly with the guiding element/ cutter in the form of the wire, it has to be brought into a stringing position, rotated and retracted from the stringing position.
  • the two sliding surfaces help in inserting the wire into the inclined channel while the sweeping surface 10 allows the wire to slide over that part of the holder 7 that extends above the virtual plane when the holder 7 is retracted from its stringing position by slightly pushing up the wire.
  • the holder 7 further comprises a sweeping surface 10 on the side of the holder 7 opposite to the channel 8.
  • the sweeping surface 10 is on the side of the holder 7 that faces the soil penetration rods 3 during the rotation of the holder 7 and sweeps the soil penetration rods 3 while the holder 7 passes by.
  • the sweeping surface 10 and the channel 8 are located on the opposite sides of the holder 7.
  • the sweeping surface 10 has a concave curvature The sweeping surface 10 allows the retraction of the holder 7 after hooking the wire 4 around the tips of the soil penetration rods 3.
  • Figures 7 through 10 illustrate the stringing of the wire around the tips of the soil penetration rods.
  • the holder 7 rotates to hook the wire 4 on each soil penetration rod 3 consecutively passing on the outside of each soil penetration rod 3 one by one.
  • Figure 7 shows the start of the stringing of the wire around the tips of the soil penetration rods.
  • the harvesting apparatus comprises an actuator 6 and a holder 7 that is moved by the actuator 6.
  • the holder 7 is mounted on the actuator 6.
  • the holder is positioned just below a virtual plane defined by the tips of the soil penetration rods.
  • the holder is then rotated via an actuation mechanism, The holder is rotated on a circular path in the virtual plane.
  • Figure 7 shows the starting of the stringing of the wire 4.
  • the holder 7 Prior to the insertion into the soil of the soil penetration rods 3a, 3b, 3c, 3d of the harvesting assembly 1 the holder 7 is positioned just below the tips of the soil penetration rods 3a, 3b, 3c, 3d and the wire 4 that extends from the first soil penetration rod 3a to the second soil penetration rod 3b slides into the inclined channel 8 (as figures 7 through 10 are bottom view, i.e. looking at the tips of the soil penetration rods 3a, 3b, 3c, 3d, the channel 8, being inside the holder 7, is indicated by a dashed line)
  • the holder 7 is rotated such that the wire 4 encircles all the soil penetration rods 3a, 3b, 3c, 3d from the outside. Thereafter the holder 7 is retracted leaving the soil penetration rods 3 surrounded by the wire 4 ready to be inserted into the soil for guiding and subsequent cutting
  • the holder 7 has been rotated over 90 degrees.
  • the length of the wire extending between the two soil penetration rods 3a, 3b is increased (being fed through the cavity of at least one the soil penetration rods 3a, 3b)and the wire is strung around the second soil penetration rod where it is held in place by the stopper of the second soil penetration rod 3b.
  • the wire extends from the first soil penetration rod 3a to the top of the inclined channel 8, through the inclined channel 8 to the bottom of the inclined channel 8 and exits there to extend further to the second soil penetration rod 3b.
  • the wire coming from the first soil penetration rod 3a stays in position held by the stopper of the second soil penetration rod 3b, while the section of the wire from the bottom of the inclined channel 8 extending to the second soil penetration rod 3b passes below the holder, thus being below the tips of the soil penetration rods and thus not hooking up to the soil penetration rod 3b (and also not to the other soil penetration rods 3c and 3d when the holder passes those).
  • the figure for the fourth soil penetration rod 3d has been omitted as it is based on the same principle as detailed for the third soil penetration rod 3c.
  • Figure 10 shows the completed stringing of the wire 4.
  • the wire extending from the first soil penetration rod is now encircling the soil penetration rods 3a, 3b, 3c, 3d and held in position by the stoppers of the four rods 3a, 3b, 3c, 3d.
  • the wire is still entering the top of the inclined channel 8 and exiting the bottom of the inclined channel 8 and then extending to the second soil penetration rod 3b.
  • the length of the wire extending from the first soil penetration rod 3a to the second soil penetration rod 3b is of course greatly extended compared to the starting situation of figure 7, now being strung around all four soil penetration rods 3a, 3b, 3c, 3d.
  • the wire 4 now functions as a guiding element when the harvesting assembly is lowered into the soil.
  • the asparagus will stay within the area defined by the wire 4 strung around the soil penetration rods 3a, 3b, 3c,
  • the harvesting assembly can be brought into position above an asparagus and lowered into the soil and the wire 4 functions as a guiding element.
  • the stopper 11 restricts the movement of the wire 4 on the soil penetration rods 3a, 3b, 3c, 3d.
  • the stopper 11 can be an indentation on the soil penetration rods 3 surface, which acts as a slot that the wire 4 sits in when the soil penetration rods are lowered into the soil.
  • the stopper 11 are in the form of a protrusion on the soil penetration rod 3a, 3b, 3c, 3d surface.
  • FIGS 11 through 16 illustrate the cutting action performed by pulling at the end of the wire.
  • figure 11 which is a front view of the tips of the soil penetration rods 3a, 3b, 3c, 3d, the wire 4, forming a crossed loop, i.e. a loop with its legs crossed, while circle 111 represents the cross section of the asparagus to be cut.
  • the asparagus is situated between the soil penetration rods 3a, 3b, 3c, 3d, and within the loop formed by the wire 4.
  • the wire 4 is being pulled from at least one of the legs 4a, 4b. This cause the wire 4 to slip of the tips of the soil penetration rods 3a, 3b, 3c, 3d, as shown in the situation of figure 12.
  • the pulling of the wire 4 can be effected at or above the platform 2 (not shown). Preventing the ingress of dirt into the pulling/feeding mechanism. Any pulling/feeding mechanism can be used, its function is not essential to the invention as long as the pulling/feeding is effected at the proper moment with the proper force as can easily be determined by the skilled person.
  • Figure 13 shows the wire 4 now being pulled even further and the wire 4 which slid of the tips of the soil penetration rods 3a, 3b, 3c, 3d, is now encircling the asparagus 111.
  • the legs 4a, 4b of the crossed loop formed by wire 4 are now clearly visible.
  • the asparagus can now be grasped of clamped by the harvesting assembly (not shown) and the harvesting assembly lifted from the soil thus harvesting the asparagus 111.
  • the cycle can now be repeated by positioning the holder as detailed in figure 7, stringing the wire 4 as detailed in figures 8 through 10, positioning the harvesting assembly over a further asparagus and lowering the harvesting assembly into the soil and cut the further asparagus as detailed in figures 11 through 16.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvesting Machines For Specific Crops (AREA)

Abstract

L'invention concerne un ensemble de récolte (1) adapté à être utilisé dans un véhicule de récolte, l'ensemble comprenant une plateforme (2) pouvant se déplacer en trois dimensions et au moins trois tiges flexibles de pénétration du sol (3a, 3b, 3c, 3d) montées sur la plateforme (2) afin de former une zone fermée, de manière à encercler les asperges pendant l'utilisation. Autrement dit, les asperges restent entre lesdites tiges de pénétration du sol (3a, 3b, 3c, 3d) lorsque les tiges flexibles de pénétration du sol (3a, 3b, 3c, 3d) sont introduites dans le sol. Les tiges de pénétration du sol (3a, 3b, 3c, 3d) sont presque parallèles entre elles et, lors de l'utilisation, elles sont également parallèles aux asperges dans le sol.
PCT/EP2020/000173 2019-10-07 2020-10-07 Appareil de récolte de produits agricoles, ensemble de récolte et procédé de récolte WO2021069091A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP19000455 2019-10-07
EPEP19000455.6 2019-10-07

Publications (1)

Publication Number Publication Date
WO2021069091A1 true WO2021069091A1 (fr) 2021-04-15

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60202504T2 (de) * 2001-06-12 2006-02-16 Kirpy Vorrichtung zum automatischen Ernten von aus dem Boden auftauchenden Pflanzen
DE102005051032A1 (de) * 2005-10-25 2007-04-26 Heinz Schmidt Einrichtung zum Stechen und Ziehen von Spargelstangen
EP2380429A1 (fr) * 2010-04-26 2011-10-26 Phoenix Technology Ltd. Unité de plantation pour systèmes de récolte d'asperges
EP3357322A1 (fr) * 2017-02-02 2018-08-08 Cerescon Holding B.V. Procédé et système pour cueillir des asperges dans le sol

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE60202504T2 (de) * 2001-06-12 2006-02-16 Kirpy Vorrichtung zum automatischen Ernten von aus dem Boden auftauchenden Pflanzen
DE102005051032A1 (de) * 2005-10-25 2007-04-26 Heinz Schmidt Einrichtung zum Stechen und Ziehen von Spargelstangen
EP2380429A1 (fr) * 2010-04-26 2011-10-26 Phoenix Technology Ltd. Unité de plantation pour systèmes de récolte d'asperges
EP3357322A1 (fr) * 2017-02-02 2018-08-08 Cerescon Holding B.V. Procédé et système pour cueillir des asperges dans le sol

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