Harvesting device

Abstract

The present invention relates to a harvesting device for harvesting horticultural products, the device comprising: a guide member (10) defining a plant channel (11) configured to at least partially surround plant stems within the plant channel during use; and a cutting member (21) attached to the guide member and configured to cut the stems of the horticultural products (102) to separate them from the stems. The plant stems are configured to be guided within the guide member as the harvesting device moves relative to the plant stems along a longitudinal axis, and the cutting member is configured to cut the stems passing through the guide member during movement of the harvesting device. The harvesting device further comprises a storage member (30) at least partially surrounding the guide member and configured to collect the horticultural products separated from the plant stems.

Description

Technical Field

[0001] This invention relates to harvesting methods for harvesting horticultural products, lateral branches, and / or leaves from plant stems in greenhouse cultivation. The invention further relates to harvesting equipment and methods for harvesting horticultural products, lateral branches, and / or leaves from plant stems in greenhouse cultivation. Background Technology

[0002] Currently, various types of harvesting equipment are known for use in greenhouse cultivation. A first example is the so-called Sweeper Harvester robot, developed by Wageningen University and Institute (Netherlands). This robot includes a harvesting device attached to a manipulator arm configured to move the harvesting device to the horticultural product (i.e., bell peppers) based on sensor signals, and wherein the harvesting device is configured to cut the produce from the plant and transport it to a storage device using the manipulator arm.

[0003] The drawback of this cleaning robot is that it first needs to locate the plant stem using its sensors, and then follow the stem with sensors to find any ripe produce. After harvesting, the harvesting device needs to grasp the cut produce and move it towards the storage device using a manipulator arm. All of these factors contribute to the relatively slow operation of the cleaning robot.

[0004] Another example of a cutting device is known from Dutch patent NL1024702C2, which discloses a manipulator arm and a cutting device that surrounds and is configured to move along the plant stem. This cutting device is capable of cutting the leaves and lateral branches of the plant, but cannot harvest the produce from the plant. Therefore, the cut portions of the plant (i.e., leaves and lateral branches) simply fall onto the greenhouse floor. In the case of the produce being cut, the system does not include a device for processing the cut produce, for example, for packaging and / or further processing.

[0005] Finally, WO 2005 / 058013 A1 discloses an apparatus for harvesting tomatoes from tomato plants, comprising a positioning member having a clamping component for holding the stem of the tomato plant and a separating member formed by a tray portion. During harvesting with this apparatus, the plant stem is clamped, and the tray portion moves upward to separate the tomato from the plant stem. A disadvantage of this known harvesting apparatus is that the plant stem needs to be clamped to apply an upward cutting force to the tomato to achieve separation of the tomato from the plant stem. Summary of the Invention

[0006] Purpose of the invention

[0007] Therefore, the object of the present invention is to provide a harvesting device that can harvest horticultural products in a more efficient manner, or at least to provide an alternative harvesting device.

[0008] Detailed description

[0009] This invention provides a harvesting apparatus for harvesting horticultural products, lateral branches, and / or leaves from plant stems in greenhouse cultivation, the apparatus comprising:

[0010] - A guiding member that defines a through-passage plant channel and is configured to at least partially surround a plant stem within the plant channel during use, and

[0011] - A cutting component, attached to a guiding component and configured to cut the petioles, lateral branches, and / or leaves of a horticultural product attached to a plant stem, to separate them from the plant stem.

[0012] The plant stem is configured to be guided within a guide member as the harvesting device moves relative to it along a longitudinal axis (i.e., in an upward vertical direction), and a cutting member is configured to cut stalks, lateral branches, and / or petioles passing through the guide member during the movement of the harvesting device. The harvesting device further comprises:

[0013] - A storage component, which at least partially surrounds the guide component and is configured to collect horticultural products separated from plant stems, and is preferably configured to allow lateral branches and leaves to fall.

[0014] The harvesting device according to the invention is configured to move along a plant stem, during which the plant stem is substantially enclosed in a through plant channel. "Substantially enclosed" means that the plant stem can be completely surrounded by the guiding member, or it can be partially surrounded by the guiding member.

[0015] The harvesting device is configured to receive plant stems within a plant channel of a guide member. The channel extends along a longitudinal axis, such that the plant stem also extends along the longitudinal axis. The longitudinal axis can be substantially vertical and upward-aligned, but it can also have a horizontal component, for example, aligned at an angle between 0° and 20° relative to the upward vertical direction.

[0016] The harvesting device is configured to guide the plant stem relative to it by means of the plant stem being received in a through plant channel in the guiding member (i.e., the through plant channel in the guiding member at least partially surrounds it).

[0017] Being guided means that the harvesting device moves relative to its surroundings, and the plant stem follows the movement of the guiding member, for example, the harvesting device moves upward along a longitudinal axis, and the plant moves laterally due to its guidance in the through plant channel. Additionally, the harvesting device can also move actively in a direction having at least a component perpendicular to the longitudinal axis, allowing the harvesting device to actively follow any bends or curves in the plant stem.

[0018] Alternatively, being guided means that the harvesting device remains substantially stationary, and the plant is moved within the through plant channel, for example, raised or lowered therein. For example, the harvesting device may remain stationary in a direction parallel to the longitudinal axis, but may optionally move actively in a direction having at least a component perpendicular to the longitudinal axis, such that the harvesting device can actively follow any bend or curve in the plant stem.

[0019] The cutting component of the harvesting device is attached to the guiding component and is therefore configured to move relative to the plant stem together with the guiding component. The cutting component can be provided to at least partially surround the through-flowing plant channel in a manner similar to that of the guiding component.

[0020] As the harvesting device moves relative to the plant stem (e.g., as it moves along the plant stem), it may encounter horticultural products such as tomatoes, or vine tomatoes, bell peppers, eggplants, and cucumbers attached to the plant stem by means of a stalk. Similarly, the plant stem may have unwanted lateral branches attached to it, and may have leaves attached to it by means of a petiole, such as the three leaves between each vine of a tomato, both of which need to be removed during the plant's growth.

[0021] The cutting member is configured to cut all these stalks, lateral branches, and petioles facing the cutting member as the harvesting device moves relative to the plant stem, for example, to perform a so-called stripping action on the plant stem. The stalks, lateral branches, and petioles protrude laterally away from the plant stem, for example, horizontally away from the plant stem, such that they are set wider than the plant stem itself.

[0022] The cutting member can be spaced apart from the through plant channel in the guiding member to avoid cutting the plant stem itself, and instead only cutting outwardly protruding pedicels, lateral branches, and petioles. However, on the other hand, the cutting member is configured to make the cut as close as possible to the plant stem, so that any remaining short stems on the plant stem after cutting are as short as possible.

[0023] The harvesting device according to the invention also includes a storage member that forms part of the harvesting device for movement relative to the plant stem. The storage member surrounds a guide member, for example, in a manner similar to a guide member surrounding a through plant channel. The storage member can be arranged to substantially enclose the plant stem, meaning the plant stem can be completely surrounded by the storage member, or it can be partially surrounded by the storage member.

[0024] The storage component protrudes radially away from the guide and cutting components in a direction radial to the longitudinal axis. In this way, the storage component can have a larger profile or occupy more space than the guide and cutting components. This larger profile ensures that the storage component protrudes below the gardening product, which is located radially outside the cutting component. After cutting, the gardening product can then be captured on the storage component to prevent it from falling to the ground, and to prevent it from being caught before cutting, and to allow for active removal of the gardening product after cutting, as required by the prior art.

[0025] The storage component is configured to autonomously collect horticultural products that have been cut from plant stems by the cutting component, for example, without requiring an active step in the movement of the storage component toward the horticultural products. The storage component may be located below the cutting component, allowing the horticultural products to fall onto the storage component after cutting under the influence of gravity acting on them. Preferably, the storage component is located entirely below the cutting component, such that all horticultural products (e.g., regardless of which part of the cutting component was cut) will be collected on the storage component.

[0026] The storage member is preferably configured to allow side shoots and leaves to fall, since these are not intended to be stored. Instead, side shoots and leaves are undesirable byproducts of little value that do not need to be retained, but are ultimately cut by the cutting member. Side shoots and leaves can have different geometries, sizes, and / or weights than the horticultural product, meaning the storage member can be sized such that only the horticultural product is collected on it and side shoots and leaves can fall.

[0027] As an example, a tomato leaf has a slightly triangular shape and is approximately 50 cm in size, while the tomato vine is roughly slender, about 20 cm long, and weighs about 10 times more than the tomato leaf. The storage component can be about 20 cm wide, such that the center of gravity of the tomato vine falls within the outline of the storage component, while the center of gravity of the leaf falls outside the outline of the storage component, so that after the leaf lands on the outer edge of the storage component, it will tilt on the outer edge of the storage component, and accordingly the leaf will fall from the storage component.

[0028] In one embodiment, the storage member can be rotated about a longitudinal axis relative to the guide member and / or the cutting member. This rotation allows the storage member to be rotated after gardening products have been collected at a specific location on it, such that a new, unoccupied portion of the storage member faces the portion of the guide member and / or the cutting member at the location where subsequent gardening products are to be cut and collected. In this way, multiple cutting steps can be subsequently performed without needing to empty the storage member between every two subsequent cutting steps.

[0029] Rotation of the storage component relative to the guide component and / or the cutting component can be facilitated by bearings, such as annular bearings provided between the guide component and the storage component and / or between the cutting component and the storage component. An electric motor can be provided to actively actuate the rotation.

[0030] In another embodiment, the harvesting device is configured to rotate the storage member relative to the plant stem. The storage member can rotate about a longitudinal axis, and the rotation can involve a separate rotation of the storage member, for example, relative to the cutting member and / or the guiding member. Alternatively, the rotation can involve the rotation of the entire harvesting device, including the storage member.

[0031] The harvesting device can be configured to rotate a storage component based on sensor signals indicating the position of a subsequent horticultural product to be harvested. The storage component can be rotated such that an unoccupied portion of the storage component can be positioned below the horticultural product. This provides the benefit that the horticultural product is received on the empty portion of the storage component, rather than on top of a previously harvested horticultural product.

[0032] Rotation of the storage components and / or the entire harvesting device can be achieved relative to the supports (such as frame elements and / or actuator devices (such as manipulator arms)) attached to the harvesting device during use.

[0033] In one embodiment, the storage member may have a symmetrical shape when viewed relative to the longitudinal axis. For example, when viewed along the longitudinal axis, the storage member may have a circular shape, such that the storage member is rotationally symmetrical about the longitudinal axis.

[0034] This symmetry provides the following benefits: the storage component can store gardening products after cutting, regardless of the mutual orientation between the gardening products and the storage component, and especially regardless of the rotational position of the storage component about the longitudinal axis.

[0035] In one embodiment, the storage member has a width (i.e., diameter) perpendicular to the longitudinal axis of greater than 30 cm, preferably greater than 60 cm (e.g., about 90 cm). It has been found that storage members with widths within this range are advantageous for supporting a sufficient quantity of horticultural products.

[0036] In one embodiment, the harvesting device lacks a clamping mechanism, allowing the cutting of stems, lateral branches, and / or petioles to be performed solely under the influence of gravity acting upon them. During use, the plant stem will be positioned within the guide member during cutting but will not be clamped. Conversely, the stems, lateral branches, and / or petioles can encounter the cutting member and will separate from the plant stem because the required cutting force will be less than the gravity acting on the stems, lateral branches, and / or petioles.

[0037] In one embodiment, the harvesting device further includes a oscillating mechanism configured to tilt the harvesting device relative to a horizontal tilting axis. This tilting facilitates guiding the stems, lateral branches, and petioles of the plant toward the cutting member. Because these stems, lateral branches, and petioles protrude outwards from the plant stem, they may undesirably become stuck against the guiding member. By oscillating the harvesting device, this sticking can be eliminated, and the stems, lateral branches, and petioles can be further guided toward the cutting member.

[0038] The oscillation mechanism can be operated relative to a fixed reference, such as an actuator or manipulator arm attached to the harvesting device for moving along the longitudinal axis of the plant stem. The horizontal tilt axis can be aligned perpendicular to the longitudinal axis, and the oscillation can be superimposed on the rotation of the storage member, allowing the storage member to tilt and rotate relative to the fixed reference.

[0039] In one embodiment, viewed in a plane perpendicular to the longitudinal axis, the guiding member, cutting member, and storage member are collectively divided into:

[0040] - The first device portion includes a first guiding member portion, a first cutting member portion, and a first storage member portion, and

[0041] - The second device portion includes a second guide member portion, a second cutting member portion, and a second storage member portion.

[0042] The first and second device portions can move away from each other in the open configuration to allow the plant stem to enter and exit the plant channel in a radial direction perpendicular to the longitudinal axis, and the first and second device portions can move toward each other in the closed configuration to completely close the plant channel, i.e., completely surround the plant stem.

[0043] The harvesting device is preferably separated into a first device part and a second device part in one or more planes parallel to the longitudinal axis, such that the separation between these parts is visible in a plane perpendicular to the longitudinal axis, for example, when looking down at the harvesting device.

[0044] The first device portion may be an integral part of the first guide member portion, the first cutting member portion, and the first storage member portion, and the second device portion may be an integral part of the second guide member portion, the second cutting member portion, and the second storage member portion, such that the integral first device portion can be completely separated from the integral second device portion and can be moved relative to the integral second device portion.

[0045] By dividing the harvesting device into a first device section and a second device section, the through plant channel in the guiding member can be completely surrounded and enclosed by the harvesting device as a whole during use (e.g., in a closed configuration). During use, the first device section and the second device section can be arranged abutting against each other to completely enclose the plant stem.

[0046] In cases where it is necessary to remove plant stems from the plant channel, such as when cutting has occurred to the desired extent, or when it is necessary to insert new plant stems into the plant channel, the first and second device portions are in an open configuration. In the open configuration, the device portions can move at least partially away from each other, such that an axis is provided laterally toward the plant channel. Accordingly, the plant channel is no longer completely closed, but allows plant stems to enter and exit the plant channel from the sides (e.g., perpendicular to the longitudinal axis).

[0047] In the absence of the first and second device portions, in an alternative embodiment, the through plant channel may not be completely closed, allowing the plant stem to always enter and exit the plant channel, or the through plant channel may be completely closed, allowing the plant stem to enter and exit the plant channel only at its tip (e.g., along the longitudinal axis).

[0048] In another embodiment, when the first device portion and the second device portion move between an open configuration and a closed configuration:

[0049] - Can rotate relative to each other about a rotation axis parallel to the longitudinal axis, and / or

[0050] - They can be displaced relative to each other in a displacement direction perpendicular to the longitudinal axis.

[0051] The device parts can be attached to each other by means of hinges to allow relative rotation between them. The hinges can form the only connection between the device parts in the open configuration, in which the device parts have already rotated away from each other about an axis of rotation (e.g., a substantially vertical axis of rotation). When the device parts are moved to the closed configuration, the device parts rotate toward each other, so that they are also abutted to each other in the position opposite to the hinges.

[0052] Alternatively or additionally, the device parts can be displaced relative to each other, for example by means of a linear actuator. In this way, the device parts can be positioned at a distance from each other in an open configuration and can be adjacent to each other in a closed configuration.

[0053] In an alternative embodiment, the harvesting device further includes a side opening providing an entrance to the plant channel in an entry direction generally perpendicular to the longitudinal axis, allowing plant stems to enter and exit the plant channel in that direction. According to this embodiment, the guiding member, cutting member, and storage member form an integral harvesting device, i.e., they are non-hingedly connected to each other to allow plant entry into the plant channel. The side opening is provided to allow entry from the side into the plant channel, allowing plant stems to enter and exit the plant channel. This provides the benefit that the harvesting device can be implemented more simply and robustly, improving its reliability.

[0054] In one embodiment, the storage member includes a skirt surface, such as a at least partially tapered skirt surface, which tapers outward in the radial direction as the distance from the cutting member increases, i.e., in the downward vertical direction. The skirt surface surrounds the guide member and the cutting member and forms a supporting surface for the agricultural products to land after cutting and be collected for further processing.

[0055] The skirt surface tapers outward from the guide member and also slopes downward, i.e., it has a planar component in the downward vertical direction. For embodiments with circular plant channels (e.g., with a circular cross-section perpendicular to the longitudinal axis), the skirt surface can have a circular outer contour shape, effectively making the skirt surface tapered.

[0056] The storage member may further include a demarcation device located at its lowest edge (e.g., the lowest circumferential edge of the skirt surface), configured to prevent produce from falling off the skirt surface at the bottom. The demarcation device may, for example, include a circumferential ridge at the bottom edge of the skirt surface.

[0057] In another embodiment, the skirt surface is set at a skirt angle relative to the longitudinal axis, and the skirt angle is preferably selected in the range of 30° to 60°.

[0058] The skirt angle of the skirt surface is defined as the angle between the plane of the skirt surface and the longitudinal axis. The skirt angle can be changed to change the steepness of the skirt surface, and thus change the performance of the storage components, such as which cut portions (e.g., produce, branches, or leaves) remain resting on the skirt surface and which cut portions will fall off.

[0059] The skirt angle can be selected to optimally support the produce after cutting and to prevent it from falling onto the skirt surface or being damaged as is common after cutting. Furthermore, the skirt angle can be selected so that only the produce itself is supported by the skirt surface before cutting and during the upward movement of the harvesting device, but prevents the entire plant stem from being lifted while the produce remains attached to the stem.

[0060] The skirt angle can be selected based on the type of crop to be harvested, allowing the skirt surface to be aligned approximately parallel to the slender direction in which the crop generally extends. For example, cucumbers hang almost vertically from the plant stem, meaning a relatively small skirt angle can be chosen if the harvesting device is used to harvest cucumbers. However, vine tomatoes grow more horizontally than cucumbers, meaning a larger skirt angle can be chosen if the harvesting device is used to harvest tomatoes.

[0061] Similar to the selection of the skirt angle, the height of the skirt surface can be selected based on the length of the crop to be harvested. For example, if the harvesting device is used to harvest cucumbers, the height can be selected to be greater than the height when the harvesting device is used to harvest bell peppers, which are typically shorter than cucumbers.

[0062] In this embodiment, the skirt surface is set at a skirt angle, which can have the further benefit of allowing side branches and leaves to fall from the storage member. The tapered shape of the skirt surface, especially with a skirt angle selected in the range of 30° to 60°, may be able to hold produce while it is too steep for side branches and leaves, allowing them to fall.

[0063] In another embodiment, the skirt surface may be movable relative to the cutting member and / or the guiding member, such that the skirt angle is adjustable. This provides the advantage that a single harvesting device (i.e., a single skirt surface) can be used to harvest many different types of agricultural products. When the harvesting device is used to harvest cucumbers, the skirt angle can be set relatively small, while when harvesting tomatoes, the skirt angle can be set relatively large.

[0064] In additional or alternative embodiments, the skirt surface includes:

[0065] - The first skirt section, which is attached to the guide member, for example, located below the guide member, and

[0066] - A second skirt section, which is attached to the first skirt section on the side opposite to the guide member, for example, located below the first skirt section.

[0067] The first skirt section is set at a first skirt angle, and the second skirt section is set at a second skirt angle, wherein the second skirt angle is greater than the first skirt angle.

[0068] According to this embodiment, the skirt surface is divided into two sections, each with a different function. The first skirt section is located directly below the guide member and provides initial support to the produce before it is cut by the cutting device. As the harvesting device moves further upward, the produce is cut and allowed to slide downward onto the second skirt section located directly below the first skirt section. The second skirt section is more horizontally aligned than the first skirt section, for example, having a larger skirt angle than the first skirt section, such that the cut produce will decelerate after sliding from the first skirt section, and the produce is collected on the second skirt section.

[0069] The first skirt section and the second skirt section are preferably attached to each other by means of a smooth transition section in order to avoid unnecessary damage to the agricultural products during the sliding of the agricultural products from the first skirt section to the second skirt section.

[0070] In one embodiment, the cutting member is separated from the plant channel by a distance in the radial direction, and this distance is preferably selected in the range of 5 mm to 15 mm.

[0071] The spacing between the plant channel (e.g., defined by the guide member) and the cutting member ensures that the plant stem never comes into direct contact with the cutting member, as the plant stem always contacts the guide member before contacting the cutting member. Conversely, the distance between the plant channels allows the cutting member to be separated from the through plant channel in the guide member, preventing the plant stem itself from being cut, and instead cutting only the outwardly projecting pedicels, lateral branches, and petioles. By appropriately selecting the distance, for example, within the range of 5 mm to 15 mm, the cutting member can be configured to make the cut as close as possible to the plant stem, ensuring that any remaining short stems on the plant stem after cutting are as short as possible.

[0072] In one embodiment, the guide member is crown-shaped and includes:

[0073] - Multiple apexes, aligned upwards and roughly parallel to the longitudinal axis, and spaced apart around the perimeter of the plant passage, and

[0074] - A corresponding tapering guide recess between every two adjacent apexes.

[0075] The crown shape is configured to laterally guide the peduncles, lateral branches, and petioles through tapering guide recesses between every two adjacent apexes. Therefore, in principle, the peduncles, lateral branches, and petioles can be arranged around the entire periphery of the plant stem. Using the crown shape, the peduncles, lateral branches, and petioles are guided to certain discrete locations within the recesses, where cutting elements are provided. As a result, the cutting elements do not need to be arranged around the entire periphery of the plant passage, but only at the locations where the peduncles, lateral branches, and petioles are guided.

[0076] If the stems, lateral branches, and petioles are already in the recess during the use of the harvesting device and while the harvesting device is moving, they may converge towards the bottom of the recess. If the stems, lateral branches, and petioles eventually reach the top of the apex, the swinging mechanism can swing the harvesting device so that the stems, lateral branches, and petioles are finally in the recess.

[0077] In another embodiment, the guide recess is U-shaped or V-shaped when viewed in the radial direction. Both the U-shape and the V-shape converge towards a center point at the bottom, such that the stem, lateral branches, and petioles are guided toward this center point accordingly during the upward movement of the harvesting device relative to the plant stem. This provides a further benefit because it prevents the stem, lateral branches, and / or petioles from rotating relative to the guide member. Conversely, the guide recess (especially the V-shaped guide recess) can clamp the stem, lateral branches, and / or petioles to a certain extent, enabling them to be cut more reliably and at a relatively short distance from the stem. In particular, the guide recess can laterally restrict the position of the stem, lateral branches, and / or petioles to prevent them from shifting laterally during cutting.

[0078] In additional or alternative embodiments, the cutting member includes a corresponding cutting device in each guide recess. In this way, the peduncle, lateral branches, and petioles automatically encounter the corresponding cutting device at the bottom of the recess, so that they are cut as soon as they reach the bottom of the recess.

[0079] In this embodiment, the cutting device is located only at the bottom of the recess, which is only a part of the entire periphery of the plant channel. This allows only certain portions of the periphery of the storage member to receive the harvested produce. Combined with the rotatable storage member, the harvested produce can be distributed across the entire periphery of the storage member, thereby increasing its capacity.

[0080] Each cutting device can be a cutting blade, for example, including teeth facing upward along the longitudinal axis, so as to cut the stem, lateral branches and petioles by means of the teeth.

[0081] The combination of a guide recess and a cutting device at the bottom of the guide recess provides the following benefits: due to the confinement within the guide recess, all mutual forces between the peduncle, lateral branches, and / or petioles can be aligned substantially in an upward vertical direction (i.e., opposite to the force of gravity acting upon them). In particular, the lateral confinement in the guide recess prevents lateral displacement of the peduncle, lateral branches, and / or petioles during cutting. This increases the net cutting force exerted by the cutting device on the peduncle, lateral branches, and / or petioles, thus improving the cut.

[0082] In one embodiment of the harvesting device, the cutting member (e.g., each cutting device) is an oscillating cutting member (e.g., an acoustic or ultrasonic cutting member). Therefore, the cutting device is movable, for example, configured to vibrate or oscillate within a recess. This oscillation of the cutting device improves the cutting action and reduces the upward force required to act on the plant stem through the harvesting device.

[0083] In an alternative embodiment of the harvesting device, the cutting member (e.g., each cutting device) is a rotary cutting member (e.g., a rotary blade). This rotary cutting member can be implemented as a toothed rotary cutting member. The advantage of a rotary cutting member is that the reversal of the direction of movement that occurs in an oscillating cutting member does not occur, which further improves the cutting action by reducing the risk of blade jamming in cases where the harvesting device moves too quickly relative to the plant stem.

[0084] Alternatively, the cutting device can be statically mounted to the guide member, for example, fixedly mounted in each recess.

[0085] In one embodiment, the harvesting device further includes a sensor device configured to detect the presence of horticultural products, i.e., the presence of horticultural products adjacent to the plant passage, and preferably to detect the maturity and / or weight of the produce.

[0086] The sensor device can be configured to send sensor signals indicating the presence of produce just before it enters the plant channel when the harvesting device moves, and if produce is detected, it indicates maturity, such as color (if used to detect tomatoes) and / or size (e.g., the length of cucumbers).

[0087] In alternative or additional embodiments of the harvesting apparatus, the storage member, guiding member, and / or cutting member may be rotatable about a longitudinal axis. Sensor devices may be configured to detect the position of a piece of produce to be harvested and may be configured to emit a position sensor signal indicating the position of that piece of produce. The harvesting apparatus is configured to rotate the storage member relative to the plant stem based on the position sensor signal. The storage member may be rotated such that an unoccupied portion of the storage member may be positioned below the produce. This provides the advantage that the produce is received on the empty portion of the storage member, rather than on top of a previously harvested piece of produce.

[0088] For this purpose, the storage member can rotate about a longitudinal axis, and this rotation can involve a separate rotation of the storage member, for example, relative to the cutting member and / or the guiding member. Alternatively, the rotation can involve the rotation of the entire harvesting device (including the storage member).

[0089] Rotation of the storage components and / or the entire harvesting device can be achieved relative to the supports (such as frame elements and / or actuator devices (such as manipulator arms)) attached to the harvesting device during use.

[0090] In one embodiment, the harvesting device further includes a release device configured to allow unloading of the storage member, such as gravity-based unloading. The release device may, for example, include a movable ridge of the storage member that closes during cutting with the harvesting device, for example to prevent the produce from falling off, and that the movable ridge can open to allow the produce to slide in a controlled manner from the skirt surface for discharge for packaging and / or further processing.

[0091] In another embodiment, the harvesting device (e.g., its storage component) is configured to rotate during the release of produce from the storage component. In this way, all portions of the storage component can pass sequentially along the release device, causing the produce to be discharged from the storage component sequentially, rather than all at once. This provides the benefit that the produce can be discharged in a controlled manner at a desired location, which can reduce damage to the produce.

[0092] In one embodiment, the harvesting device further includes a nozzle that can be attached to a compressed air source and configured to deliver ejected compressed air at the storage member to remove leaves from the storage member. The nozzle may be distributed, for example, on the storage member, such as across the skirt surface, so that any leaves or side branches remaining on the storage member can be removed therefrom.

[0093] By ejecting compressed air, leaves and lateral branches can be blown upwards, causing them to be lifted from the storage components and fall. Any produce on the storage components will not be affected by the air ejection because they have a significantly greater weight, making them unaffected by the lifting action.

[0094] According to a second aspect, the present invention provides a harvesting device including a base, a harvesting device as described herein, and an actuator device configured to move the harvesting device relative to the base such that the harvesting device moves relative to the plant stem along a longitudinal axis.

[0095] Harvesting equipment can have similar features and benefits to harvesting devices according to the first aspect of the invention as described herein.

[0096] The base of the harvesting device can be configured to remain stationary during cutting with the harvesting device, but it can also be movable to move the harvesting device between plants (e.g., from the first plant stem to the second plant stem).

[0097] During cutting, the actuator is configured to move the harvesting device relative to the base, preferably in a substantially upward vertical direction. This movement can affect the relative movement along the plant stem, which can remain stationary, to perform the cutting of stems, lateral branches, and petioles with the harvesting device.

[0098] In one embodiment, the harvesting equipment includes a harvesting device that includes a sensor device, wherein the harvesting equipment further includes a control unit configured to control the movement of the harvesting device via an actuator device based on sensor signals from the sensor device.

[0099] The control unit is configured to process sensor signals from the sensor device, enabling it to detect the presence of agricultural products in front of the harvesting device. The control unit can be configured to compare the measured sensor signals with reference sensor signals, such as comparing a photograph of a tomato vine in front of the harvesting device with a reference image showing ripe tomatoes. If the tomato vine is found to be sufficiently ripe, the control unit can control an actuator to cut the tomato vine.

[0100] According to another aspect, the present invention provides a method for harvesting horticultural products, lateral branches, and leaves from plant stems in greenhouse cultivation, for example by means of harvesting devices and / or harvesting equipment as described herein, comprising the following steps:

[0101] - The plant stem is at least partially surrounded in the plant passage by the guiding components of the harvesting device.

[0102] - The harvesting device moves along the longitudinal axis of the plant stem.

[0103] - Guide the pedicels, lateral branches, and / or petioles of the agricultural products attached to the plant stem using guiding components.

[0104] - The stems, lateral branches, and / or leaves are cut using the cutting components of the harvesting device to separate them from the plant stem, and

[0105] - Agricultural products separated from plant stems are collected in the storage components of the harvesting device.

[0106] Harvesting methods can have similar features and benefits to harvesting devices according to the first aspect of the invention as described herein.

[0107] In one embodiment, the method further includes the step of removing lateral branches and leaves using a harvesting device.

[0108] In one embodiment, the method further includes the step of rotating a storage member relative to the plant stem. The storage member may be rotated about a longitudinal axis, for example, prior to the step of moving the harvesting device along the plant stem. The rotation may involve a separate rotation of the storage member, but may also include rotation of the entire harvesting device (including the storage member).

[0109] The rotation step can be specifically performed based on sensor signals indicating the position of the next crop to be harvested. The storage unit can be rotated so that the unoccupied portion of the storage unit can be positioned below the crop. This provides the benefit that the crop is received on the empty portion of the storage unit, rather than on top of a previously harvested crop.

[0110] The rotation of the storage component can be adjusted according to the agricultural product and / or the storage component itself. For example, if the storage component is relatively wide and / or when the agricultural product is relatively small, the rotation angle of the storage component between the harvested agricultural product and the stored product can be relatively small. If the storage component is relatively small and / or if the agricultural product is relatively large, the rotation angle of the storage component can be set to be relatively large.

[0111] In another embodiment, the method further includes the steps of detecting the position of a piece of agricultural product to be harvested and emitting a position sensor signal indicating the position of the piece of agricultural product, wherein the step of rotating the storage member includes rotating the storage member according to the position sensor signal.

[0112] The storage unit can be rotated so that the unoccupied portion of the storage unit can be positioned below the produce. This provides the benefit that the produce is received on the empty portion of the storage unit, rather than on top of a previously harvested produce.

[0113] In one embodiment, the method further includes the steps of moving the harvesting device to a discharge device, such as a container, and releasing the produce from a storage member into the discharge device. During the release, the harvesting device (e.g., its storage member) is rotated. Thus, all portions of the storage member can sequentially pass through the discharge device, causing the produce to be discharged from the storage member sequentially, rather than all at once. This provides the benefit that the produce can be discharged in a controlled manner at a desired location, which can reduce damage to the produce.

[0114] In one embodiment of the method, the cutting step is performed without clamping the plant stem. Therefore, the peduncle, lateral branches, and / or petioles can be cut solely under the influence of gravity acting on them. Thus, the plant stem can remain within the guiding member without being clamped, and during cutting, because the required cutting force will be less than the gravity acting on the peduncle, lateral branches, and / or petioles, the peduncle, lateral branches, and / or petioles can encounter the cutting member and separate from the plant stem. Attached Figure Description

[0115] Other features of the invention will now be explained with reference to the embodiments shown in the accompanying drawings, in which:

[0116] Figures 1A to 1D The illustration depicts several different plants that produce agricultural products.

[0117] Figure 2A A perspective view depicting an embodiment of the harvesting apparatus according to the present invention.

[0118] Figure 2B Depicting Figure 2A A top view of the harvesting device.

[0119] Figure 2C Depicting Figure 2A A side view of the harvesting device during use.

[0120] Figures 3.1 to 3.6 as well as Figures 3A to 3C The use of the harvesting device is illustrated schematically.

[0121] Figures 4A to 4C Several possibilities for receiving plant stems in a harvesting device are schematically depicted.

[0122] Figures 5.1 to 5.4 Several different harvesting devices with different skirt angles are schematically depicted, and

[0123] Figures 6A to 6B The optional design features of the harvesting device are schematically depicted.

[0124] Throughout the accompanying drawings, the same reference numerals are used to refer to corresponding parts or parts having corresponding functions. Detailed Implementation

[0125] Figures 1A to 1D The illustration depicts various types of plants 100 growing in a greenhouse, each plant including a plant stem 101, which carries horticultural products 102, leaves 103, and lateral branches. Figure 1A The tomato plant 100 is shown as the vine supporting tomato 102. Figure 1B The image shows a cucumber plant 100' bearing cucumber 102', and... Figure 1C The eggplant is shown as 100". Figure 1D yes Figure 1C The enlarged view of the circled area shows that the leaf 103 is attached to the plant stem 101 by means of the petiole 104, and the agricultural product (e.g., eggplant 102) is attached to the plant stem 101 by means of the stalk 105.

[0126] Figure 2A , Figure 2Band Figure 2C An embodiment of a harvesting device according to the invention is shown, referred to by reference numeral 1. The harvesting device 1 includes a crown-shaped guide member 10 defining a through-flow plant channel 11. The harvesting device 1 is configured to receive a plant stem 101 within the plant channel 11 of the guide member 10. The channel 11 extends along a longitudinal axis LL, such that the plant stem 101 also extends along the longitudinal axis LL. In this embodiment, the longitudinal axis LL is substantially vertical and upwardly aligned.

[0127] The harvesting device 1 is configured to guide the plant stem 101 relative to it, as the plant stem 101 is received in a through plant channel 11 in the guide member 10, and in particular, partially surrounded by the through plant channel 11 in the guide member 10. According to this embodiment, the harvesting device 1 moves relative to its surrounding environment, and the plant stem 101 follows the movement of the guide member 10.

[0128] The guide member 10 includes four tips 12 aligned upwards, substantially parallel to the longitudinal axis LL, and spaced apart around the periphery of the plant passage 11. The guide member 10 further includes three tapering guide recesses 13 between the tips 12.

[0129] The crown shape is configured to allow lateral guidance of the peduncle 105, lateral branches, and petioles 104 due to the tapering guide recesses 13 between every two adjacent apexes 12. Utilizing the crown shape, the peduncle 105, lateral branches, and petioles 104 are guided to certain discrete locations within the recesses 13, where cutting members 20 are provided, such as... Figure 6A As schematically shown. Therefore, the cutting member 20 does not need to be arranged around the entire perimeter of the plant passage 11, but only at the locations of the stem 105, lateral branches, and petioles 104. Figures 2A to 2C In the middle, the recess 13 is shown as a U-shape.

[0130] Alternatively, the recess can be V-shaped, such as... Figure 6A As illustrated schematically. In Figure 6B The harvesting device shown may include a swing mechanism configured to tilt the harvesting device 1 relative to a horizontal tilting axis (shown by means of a wavy line). This tilting can help guide the stems 105, lateral branches, and petioles 104 of the plant 100 into the recess and toward the cutting member.

[0131] The harvesting device 1 further includes a cutting member 20, which is attached to the guide member 10 and configured to cut the stem 104, lateral branches, and petioles 104 passing through the guide member 10 during the movement of the harvesting device 1 along the plant stem 101. The cutting member 20 is configured to move relative to the plant stem 101 together with the guide member 10 and partially surround the through plant channel 11 in a manner similar to how the guide member 10 surrounds it.

[0132] As the harvesting device 1 moves relative to the plant stem 101, it encounters produce 102, lateral branches, and leaves 103. The cutting member 20 is configured to cut all produce 102, lateral branches, and leaves 103 when they face the cutting member 20 as the harvesting device 1 moves relative to the plant stem 101, for example, to perform a so-called stripping action on the plant stem 101.

[0133] exist Figures 2A to 2C In this embodiment, the cutting member 20 includes a corresponding cutting device 21 in each guide recess 13. In this way, the stem 105, lateral branches, and petiole 104 automatically encounter the corresponding cutting device 21 at the bottom of the recess 13, so that they are cut as soon as they reach the bottom of the recess 13. Each cutting device is implemented as a cutting blade 21, which includes teeth facing upward along the longitudinal axis LL, such that the teeth cut the stem 105, lateral branches, and petiole 104.

[0134] exist Figures 2A to 2C In one embodiment, the cutting member 20 is an oscillating cutting member, which includes a plurality of oscillating actuators 22 positioned below the guide member 10, each oscillating actuator being connected to its own corresponding cutting blade 21 to cause the cutting blade 21 to oscillate within a corresponding recess 13. Alternatively, the cutting member may be provided as a rotary cutting member.

[0135] The harvesting device 1 further includes a storage member 30 configured to collect produce 102 separated from the plant stem 101 and to allow lateral branches and leaves 103 to fall. The storage member 30 surrounds the guide member 10 in a manner similar to that of the guide member 10 surrounding the through plant channel 11.

[0136] The storage member 30 protrudes radially away from the guide member 10 and the cutting member 20 relative to the longitudinal axis LL, such as Figure 2B As best shown. Therefore, the storage member 30 has a larger footprint than the guide member 10 and the cutting member 20. This larger profile ensures that the storage member 10 protrudes below the garden product 102, which is located radially outside the cutting member 20, as shown. Figure 2C As shown in the image.

[0137] After cutting, the horticultural product 105 is captured on the storage member 30. The storage member 30 is configured to autonomously collect the horticultural product 102 that has been cut from the plant stem by the cutting member 20; for example, no active step is required in terms of the movement of the storage member 30 toward the product 102. In particular, the product 102 falls onto the storage member 30 after cutting due to the influence of gravity acting on it. The storage member 30 is configured to allow side branches and leaves 104 to fall off, as these are not intended to be stored.

[0138] The storage member 30 includes at least a partially tapered skirt surface 31 that tapers outward in the radial direction R as the distance from the cutting member 20 increases in the downward vertical direction. The skirt surface 31 surrounds the guide member 10 and the cutting member 20 and forms a support surface for the agricultural products 102 to land after cutting and be collected for further processing.

[0139] The storage member 30 further includes a circumferential ridge 32 at the bottom edge of the skirt surface 30, which is configured to prevent the produce 102 from falling off the skirt surface 31 at the bottom.

[0140] Figures 2A to 2C The harvesting device 1 shown includes a side opening 2, which provides an entrance to the plant channel 11 in an entry direction A generally perpendicular to the longitudinal axis LL, allowing the plant stem 101 to enter and exit the plant channel 11 in the entry direction A. The guiding member 10, the cutting member 20, and the storage member 30 thus form the integral harvesting device 1.

[0141] exist Figures 5.1 to 5.4 The diagram schematically shows the skirt surface 31 relative to the longitudinal axis LL at a skirt angle (α). 裙部，斜率 The skirt angle (α) is set. 裙部，斜率 The angle can be selected within the range of 30° to 60°. The skirt angle (α) can be changed. 裙部，斜率 This alters the steepness of the skirt surface 31, and thus changes the performance of the storage component 30.

[0142] Skirt angle (α) 裙部，斜率 The angle α is chosen to optimally support the produce 102 after cutting and to prevent it from falling onto the skirt surface 31. 裙部，斜率 The skirt surface 31 can be selected according to the type of agricultural product 102 to be harvested, so that it can be aligned roughly parallel to the slender direction in which the agricultural product 102 extends.

[0143] For example, such as Figure 5.2 As shown in figure [2], the cucumber hangs almost vertically from the plant stem, which means that the skirt angle (α) 裙部，斜率The smaller ones were selected. However, the vine-bearing tomatoes in

[01] were at a more horizontal angle than the cucumbers (α). 水果 ) growth, which means that when harvesting device 1 is used to harvest tomatoes, the skirt angle (α) 裙部，斜率 (It can be selected to be larger.)

[0144] At an angle similar to that of a skirt (α) 裙部，斜率 The selection method can be based on the length of the crop to be harvested, choosing the height L of the skirt surface 31. For tomatoes, such as... Figure 5.1 As shown in [1], the height L can be selected as the average value. If, as shown in [2], the harvesting device 1 is used to harvest cucumbers, then the height L+ can be selected to be greater than the height L- of the harvesting device shown in [3] for harvesting bell peppers that are shorter than cucumbers.

[0145] exist Figure 5.4 As schematically shown in reference [4], the skirt surface 31 may include a first skirt section 31 located directly below the guide member and forming initial support for the produce 102 before it is cut by the cutting device. The skirt surface 31 may further include a second skirt section 31" which is more horizontally aligned than the first skirt section 31', for example, having a larger skirt angle than the first skirt section 31', such that the cut produce 31 will decelerate after sliding from the first skirt section 31', and the produce will be collected on the second skirt section 31".

[0146] Figures 3.1 to 3.6 The operation of a harvesting device is schematically shown for harvesting vine tomatoes and for cutting leaves from the stem of the tomato plant. In step [1], the harvesting device is positioned appropriately around the plant stem, and in step [2], the first and second harvesting device portions are aligned to enclose the plant stem with each other.

[0147] In step [3], the harvesting device is moved upward along the plant stem. The cutting component of the harvesting device, indicated by a dashed line, encounters the tomato vine in step [4]. The cutting component has cut the stem to arrange the tomato vine on the storage component.

[0148] In step [5], the cutting member encounters a tomato plant leaf, which is also cut by the cutting member, but does not fall onto the storage member, but rather slopes off the outer edge of the storage member. Thus, the tomato leaf has a slightly triangular shape and is about 50 cm in size, while the tomato vine is roughly slender, only 20 cm long, and weighs about 10 times more than the leaf. The storage member has a width that causes the center of gravity of the tomato vine to fall within the outline of the storage member, while the center of gravity of the leaf falls outside the outline of the storage member, such that after the leaf falls on the outer edge of the storage member, it will slope off the outer edge of the storage member, and accordingly the leaf will fall off the storage member.

[0149] In step [6], finally, the harvesting device uses a sensor to detect that the next tomato vine is not yet ripe, for example, it is green instead of red. Accordingly, the harvesting device no longer moves further up the plant stem, because the immature vine may not yet be harvested.

[0150] Figure 3A Step [A] shows a harvesting device where tomato vines are on a storage member. The harvesting device may include a release device for the storage member configured to allow gravity-based unloading. The release device is implemented as a movable ridge of the storage member, as shown in step [A], which closes during cutting with the harvesting device, for example, to prevent the produce from falling off. As shown in step [B], the movable ridge can open, and as shown in step [C], allows the produce to slide in a controlled manner from the skirt surface to discharge the produce for packaging and / or further processing. Figure 3C Step [C] shows that agricultural products can be discharged, for example, into packaging (e.g., as shown on the left) or onto a conveyor belt (as shown on the right).

[0151] Figures 4A to 4C An alternative embodiment of the harvesting device is shown, which completely encloses the plant stem during harvesting of agricultural products. In these harvesting devices, the guiding member, cutting member, and storage member are divided into a first device section 3 and a second device section 4.

[0152] The harvesting device is separated into a first part 3 and a second part 4 in a plane parallel to the longitudinal axis, such that the separation between the parts is visible in a plane perpendicular to the longitudinal axis, for example... Figures 4A to 4C When looking down at the harvesting device.

[0153] exist Figures 4A to 4C The diagram illustrates the relative displacement between the plant stem and the harvesting device. This could mean that the plant stem is stationary and the harvesting device is moving toward the plant stem. Alternatively, it could mean that the harvesting device is stationary and the plant stem is moving toward the harvesting device. As another alternative, both the plant stem and the harvesting device could be movable.

[0154] The first device part 3 is an integral part of the first guide member part, the first cutting member part, and the first storage member part. The second device part 4 is an integral part of the second guide member part, the second cutting member part, and the second storage member part. The integral first device part 3 is separable from the integral second device part 4 and is movable relative to the integral second device part 4.

[0155] The first device part 3 and the second device part 4 can move away from each other in an open configuration to allow the plant stem 101 to enter and exit the plant channel 11 in a radial direction perpendicular to the longitudinal axis. Figures 4A to 4C In the middle, the left figure shows the device parts 3 and 4 in the open configuration, showing the entry of the plant stem 101.

[0156] The first device part 3 and the second device part 4 can move toward each other in a closed configuration, in which the first device part 3 and the second device part 4 are arranged abutting against each other to completely enclose the plant passage 11, that is, completely surround the plant stem 101. On the right side, in Figures 4A to 4C The image shows the first device portion 3 and the second device portion 4 in a closed configuration.

[0157] Figure 4A This illustrates a first option for how the harvesting device can be divided into a first device portion 3 and a second device portion 4. In this embodiment, the first device portion 3 and the second device portion 4 are rotatable relative to each other about a rotation axis parallel to the longitudinal axis when moving between an open configuration and a closed configuration. Thus, the device portions 3 and 4 are attached to each other by means of a hinge 5 to allow relative rotation between them. The hinge 5 is the only connection between the device portions 3 and 4 in the open configuration, for example in… Figure 4A On the left side, device parts 3 and 4 have already rotated away from each other about the axis of rotation. When device parts 3 and 4 move to the closed configuration, device parts 3 and 4 rotate toward each other, so that they are also adjacent to each other in the position opposite to hinge 5.

[0158] Figure 4B An alternative embodiment is shown, wherein the first device portion 3' and the second device portion 4' are displaced relative to each other in a displacement direction D perpendicular to the longitudinal axis when moving between an open configuration and a closed configuration. According to this embodiment, device portions 3' and 4' are displaced relative to each other by means of a linear actuator 6. Thus, device portions 3' and 4' are displaced relative to each other in the open configuration (e.g., in...). Figure 4B The left sides of the two structures are set at a certain distance from each other, and in a closed configuration (e.g., in...). Figure 4B (The right side of the middle) are adjacent to each other.

[0159] Figure 4CAnother alternative embodiment is shown, which includes a first device portion 3" that almost completely surrounds the plant passage, but further includes a second device portion 4" when configured for opening (e.g., in...). Figure 4C (left side) and towards the closed configuration (e.g., in) Figure 4C When the right side of the first device part 3" moves, the second device part 4" can be completely removed from the first device part 3" and can be connected to the first device part 3".

Claims

1. A harvesting apparatus for harvesting horticultural products, lateral branches, and / or leaves from plant stems in greenhouse cultivation, said apparatus comprising: - A guide member defining a through plant channel and configured to at least partially surround the plant stem within the plant channel during use, and - A cutting member, attached to the guide member and configured to cut the stem, lateral branches, and / or petioles of the horticultural product attached to the plant stem, to separate them from the plant stem. The plant stem is configured to be guided within the guide member as the harvesting device moves relative to it along the longitudinal axis, i.e., in the upward vertical direction. The cutting member is configured to cut the stem, lateral branches, and / or petioles that pass through the guide member during movement of the harvesting device. Its features are, The harvesting device further includes: - A storage component, which at least partially surrounds the guide component and is configured to collect the horticultural product separated from the plant stem. The storage member includes at least a partially tapered skirt surface that tapers outward in a radial direction perpendicular to the longitudinal axis as the distance from the cutting member increases.

2. The harvesting apparatus of claim 1, wherein the storage member is configured to allow the lateral branches and leaves to fall.

3. The harvesting apparatus of claim 1, wherein the storage member is rotatable about the longitudinal axis relative to the guide member and / or the cutting member.

4. The harvesting device according to claim 1, wherein the skirt surface is arranged at a skirt angle relative to the longitudinal axis, and The skirt angle is selected within the range of 30° to 60°.

5. The harvesting device according to claim 4, wherein the skirt surface comprises: - A first skirt section, the first skirt section being attached to the guide member, and - A second skirt section, which is attached to the first skirt section on the side opposite to the guide member. The first skirt section is set at a first skirt angle, and the second skirt section is set at a second skirt angle. The angle of the second skirt section is greater than the angle of the first skirt section.

6. The harvesting apparatus of claim 5, wherein the first skirt section is located below the guide member.

7. The harvesting apparatus according to claim 5, wherein the second skirt section is located below the first skirt section.

8. The harvesting device according to any one of the preceding claims, wherein the guiding member is crown-shaped and comprises: - Multiple tips, the multiple tips being upwardly aligned and generally parallel to the longitudinal axis, and the multiple tips being spaced apart around the perimeter of the plant passage, and - A corresponding tapering guide recess between every two adjacent apexes.

9. The harvesting device according to claim 8, wherein, viewed in the radial direction, the guide recess is U-shaped or V-shaped, and / or The cutting member includes a corresponding cutting device in each of the guide recesses.

10. The harvesting apparatus according to claim 1, wherein the cutting member is an oscillating cutting member.

11. The harvesting apparatus according to claim 10, wherein the cutting member is an acoustic or ultrasonic cutting member.

12. The harvesting apparatus according to claim 9, wherein each of the cutting devices is an oscillating cutting member.

13. The harvesting apparatus of claim 12, wherein each of the cutting devices is an acoustic or ultrasonic cutting component.

14. The harvesting apparatus according to claim 1, wherein the cutting member is a rotary cutting member.

15. The harvesting apparatus according to claim 14, wherein the cutting member is a rotating blade.

16. The harvesting apparatus of claim 9, wherein each of the cutting devices is a rotary cutting member.

17. The harvesting apparatus of claim 16, wherein each of the cutting devices is a rotary blade.

18. The harvesting apparatus according to any one of claims 1 to 7, further comprising a sensor device configured to detect the presence of horticultural products, i.e., the presence of horticultural products adjacent to the plant passage.

19. The harvesting apparatus of claim 18, wherein the sensor device is configured to detect the maturity and / or weight of the horticultural product.

20. The harvesting apparatus of claim 18, wherein the storage member, the guiding member, and / or the cutting member are rotatable about the longitudinal axis. The sensor device is configured to detect the location of a horticultural product to be harvested and to emit a location sensor signal indicating the location of that horticultural product. The harvesting device is configured to rotate the storage member relative to the plant stem based on the position sensor signal.

21. The harvesting apparatus according to any one of claims 1 to 7, further comprising a nozzle that can be attached to a compressed air source and configured to deliver ejected compressed air at the storage member to remove the leaf from the storage member.

22. A harvesting device comprising a base, an actuator device, and a harvesting device according to any one of the preceding claims, the actuator device being configured to move the harvesting device relative to the base such that the harvesting device moves relative to the plant stem along the longitudinal axis.

23. The harvesting apparatus of claim 22, comprising the harvesting device of claim 18, the harvesting apparatus further comprising a control unit configured to control movement of the harvesting device via the actuator device based on sensor signals from the sensor device.

24. A method for harvesting horticultural products, lateral branches, and leaves from plant stems in greenhouse cultivation, comprising the following steps: - The plant stem is at least partially surrounded in the plant channel by the guiding components of the harvesting device. - The harvesting device is moved along the longitudinal axis of the plant stem. - The guide member guides the stem, lateral branches, and / or petioles of the horticultural product attached to the plant stem. - The stems, lateral branches, and / or leaves are cut using the cutting component of the harvesting device to separate them from the plant stem, and - The horticultural product separated from the plant stem is collected in the storage component of the harvesting device. The harvesting device thereon is the harvesting device according to any one of claims 1 to 21.

25. The method of claim 24, wherein the method further comprises the step of rotating the storage member relative to the plant stem.

26. The method of claim 24, further comprising the steps of detecting the position of a piece of horticultural product to be harvested and emitting a position sensor signal indicating the position of the piece of horticultural product, and The step of rotating the storage component includes rotating the storage component according to the position sensor signal.

Images