Harvesting Equipment

Abstract

The present invention relates to a harvesting device for harvesting horticultural crops from plant stems in greenhouse cultivation, the device comprising a guide member defining a through plant passage and configured in use to at least partially surround the plant stem, and a cutting member attached to the guide member and configured to cut and separate stalks of the crop attached to the plant stem from the plant stem, the plant stem being configured to be guided inside the guide member as the harvesting device moves relative to the plant stem along a longitudinal axis, the cutting member being configured to cut stalks passing through the guide member during movement of the harvesting device, the harvesting device further comprising a receiving member at least partially surrounding the guide member and configured to collect the crop separated from the plant stem, preferably configured to drop accessory shoots and leaves. Harvesting equipment.

Description

[Technical field]

[0001] The present invention relates to a harvesting device and method for harvesting horticultural crops, accessory shoots and / or leaves from plant stems in greenhouse cultivation.The present invention further relates to an apparatus and method for harvesting horticultural crops, accessory shoots and / or leaves from plant stems in greenhouse cultivation. [Background technology]

[0002] Currently, various types of harvesting devices are known for use in greenhouse cultivation. A first example is, inter alia, the so-called Sweeper harvesting robot, developed by Wageningen University and Research Institute (The Netherlands). This robot comprises a harvesting device attached to a manipulator arm and is configured to move the harvesting device to a horticultural crop, namely peppers, based on a sensor signal, the harvesting device being configured to cut the crop from the plant and transport it by means of the manipulator arm to storage.

[0003] This sweeper robot has the disadvantage that it first needs to find the plant stem using a sensor, then it needs to follow the stem using the sensor to find the ripe crop. After harvesting, the harvester needs to capture the cut crop and move it towards the storage with a manipulator arm. This causes the sweeper robot to be relatively slow.

[0004] Another example of a cutting device is known from Dutch patent 1024702, which discloses a manipulator arm and a cutting device arranged to surround and move along a plant stem. This cutting device is able to cut the leaves and secondary shoots of the plant, but is unable to harvest the crop from the plant. The cut parts of the plant, i.e. the leaves and secondary shoots, therefore only fall to the greenhouse floor. If the crop is cut, the system does not include means for processing the cut crop, e.g. for packaging and / or further processing.

[0005] Finally, WO 2005 / 058013 discloses an apparatus for harvesting tomatoes from tomato plants, comprising a positioning member with a gripping member for gripping the stem of the tomato plant and a separating member formed by a tray part. During harvesting with this apparatus, the plant stem is clamped and the tray part is moved upwards to separate the tomatoes from the plant stem. This known harvesting apparatus has the disadvantage that in order to separate the tomatoes from the plant stem, the plant stem needs to be clamped so as to exert an upward cutting force on the tomatoes. Summary of the Invention [Problem to be solved by the invention]

[0006] It is therefore an object of the present invention to provide a harvesting apparatus which allows for harvesting horticultural crops in a more efficient manner, or at least to provide an alternative harvesting apparatus. [Means for solving the problem]

[0007] The present invention provides a harvesting device for harvesting horticultural crops, accessory shoots and / or leaves from plant stems in greenhouse cultivation, the device comprising: a guide member defining a through plant passage and configured to at least partially surround a plant stem in use; - a cutting member attached to the guide member and cutting the stalk, the accessory shoot and / or the petiole of the crop plant attached to the plant stem, The plant stem is guided inside the guide member when the harvesting device moves relative to the plant stem along the longitudinal axis, i.e., vertically upward, the cutting member is configured to cut the stalk, accessory shoot and / or petiole passing through the guide member during movement of the harvesting device; characterised in that it further comprises a storage member at least partially surrounding the guide member and configured to collect the crop separated from the plant stem, preferably configured to allow the accessory shoots and leaves to fall.

[0008] The harvesting device according to the invention is configured to move along the plant stem while the plant stem is substantially surrounded within the through plant passage, whereby substantially surrounded means that the plant stem is either completely surrounded by the guide members or partially surrounded by the guide members.

[0009] The harvesting device is configured to receive the plant stems within the plant passages of the guide members, the passages extending along a longitudinal axis, such that the plant stems similarly extend along the longitudinal axis, the longitudinal axis may be substantially aligned vertically upwards, but may also have a horizontal component, for example aligned at an angle of between 0° and 20° to the vertical upwards.

[0010] The harvesting device is configured to be guided relative to the plant stem as a result of the plant stem being received within the guide member, i.e. the plant stem being at least partially surrounded by a plant through-passage in the guide member.

[0011] By guided is meant that the harvesting device is moved relative to its circumference and the plant stem follows the movement of the guide member. For example, it means that the harvesting device is moved, for example, upwards along the longitudinal axis and the plant is moved laterally as a result of being guided in the through plant passage. Furthermore, the harvesting device may be actively moved in a direction having at least a component perpendicular to the longitudinal axis, so that the harvesting device can actively follow any bends or curves in the plant stem.

[0012] Alternatively, guided may mean that the harvesting apparatus is held substantially stationary and the plants are moved within the through plant passage, e.g., raised or lowered within the through plant passage. For example, the harvesting apparatus may be held stationary in a direction parallel to the longitudinal axis, but optionally actively moved in a direction having at least a component perpendicular to the longitudinal axis, such that the harvesting apparatus can actively follow any bends or curvatures in the plant stems.

[0013] The cutting members of the harvesting device are also configured to be attached to the guide members and moved relative to the plant stems in conjunction with the guide members. The cutting members may be provided to at least partially surround the through plant passageway in a manner similar to that of the guide members.

[0014] During relative movement between the plant stem and the harvesting device, e.g., movement of the harvesting device along the plant stem, the harvesting device may impinge on horticultural crops attached to the plant stem by their stalks, such as tomatoes, e.g., stem tomatoes, peppers, eggplants, and cucumbers. Similarly, the plant stems may have undesirable accessory shoots and may also have leaves attached to the plant stem by their petioles (e.g., the three leaves between each branch of a tomato), both of which need to be removed during plant growth.

[0015] The cutting members are configured to cut all of these stalks, accessory shoots and petioles that come against them when the harvesting device is moved relative to the plant stem, e.g. performing a so-called stripping action on the plant stem. The stalks, accessory shoots and petioles project laterally from the plant stem, e.g. project horizontally away from the plant stem, and are therefore arranged wider than the plant stem itself.

[0016] The cutting members may be spaced from the through plant passage in the guide member so as to avoid cutting the plant stem itself, and instead cut only the outwardly projecting fruit stalk, accessory shoots and leaf stalks, however, the cutting members are configured to make the cut as close as possible to the plant stem so that as short a stub as possible remains on the plant stem after cutting.

[0017] The harvesting device according to the invention further comprises a receiving member which forms part of the harvesting device and which is moved relative to the plant stem. The receiving member surrounds the guide member, for example in the same way that the guide member surrounds the through plant passage. The receiving member may be arranged to substantially surround the plant stem, meaning that the plant stem is either completely surrounded by the receiving member or the plant stem is partially surrounded by the receiving member.

[0018] The receiving member projects in a radial direction relative to the longitudinal axis away from the guiding member and the cutting member. In this way, it has the effect that the receiving member can have a larger profile or footprint than the guiding member and the cutting member. This larger profile ensures that the receiving member projects below the horticultural crop, which is located radially outside the cutting members. After cutting, the horticultural crop can be captured on the receiving member, preventing it from falling to the ground and avoiding gripping the crop before cutting and actively removing the crop after cutting, as required in the prior art.

[0019] The receiving member is configured to autonomously collect the horticultural crop cut from the plant stem by the cutting member, for example without requiring an active step of moving the receiving member towards the crop. The receiving member may be arranged below the cutting member, so that the crop can fall onto the receiving member after cutting under the effect of gravity acting on the crop. The receiving member is preferably arranged below the entire cutting member, so that, for example, all the crop is collected on the receiving member, regardless of which part of the cutting member it was cut by.

[0020] The storage member is preferably configured to drop the side shoots and leaves, since they are not desired to be stored. Instead, the side shoots and leaves are undesirable by-products with no significant value and do not need to be kept, but will eventually be cut by the cutting member. The side shoots and leaves may have a shape, size, and / or weight that is different from that of the crop, which means that the storage member can be dimensioned such that only the crop is collected thereon and the side shoots and leaves can fall off.

[0021] As an example, tomato leaves have a somewhat triangular shape with a size of about 50 centimeters, while tomato branches are generally elongated with a length of about 20 centimeters and weigh about 10 times as much. The containing member may have a width of about 20 centimeters such that the center of gravity of the tomato branch is within the contour of the containing member, while the center of gravity of the leaf is outside the contour of the containing member, so that after the leaf falls onto the containing member, it tips over the outer edge of the containing member and accordingly the leaf falls off the containing member.

[0022] In one embodiment, the receiving member is rotatable relative to the guiding member and / or the cutting member about its longitudinal axis. This rotation has the effect that after a crop has been collected on the receiving member at a certain position, the receiving member can be rotated so that a new unoccupied part of the receiving member faces the part of the guiding member and / or the cutting member where the subsequent crop is cut and collected. In this way, multiple cutting steps can be performed successively without the need to empty the receiving member between each two subsequent cutting steps.

[0023] Rotation of the receiving member relative to the guiding member and / or cutting member may be facilitated by bearings, such as annular bearings, provided between the guiding member and the receiving member and / or between the cutting member and the receiving member. An electric motor may be provided to actively actuate the rotation.

[0024] In a further embodiment, the harvesting device is configured to rotate the receiving member relative to the plant stem. The receiving member may be rotated about a longitudinal axis, and the rotation may involve rotation of only the receiving member, for example relative to the cutting member and / or the guiding member. Alternatively, the rotation may involve rotation of the entire harvesting device (including the receiving member).

[0025] The harvesting device may be configured to rotate the receiving member in response to a sensor signal representative of the position of a next crop to be harvested. The receiving member may be rotated relative to the crop such that an unoccupied portion of the receiving member may be positioned below the crop. This may provide the advantage that the crop is received in the unoccupied portion of the receiving member rather than on top of a previously harvested crop.

[0026] Rotation of the receiving member and / or the entire harvesting device may be performed relative to a support, such as a frame element, and / or an actuator device, such as a manipulator arm, to which the harvesting device is attached during use.

[0027] In one embodiment, the accommodation member can have a symmetric shape when viewed relative to the longitudinal axis, for example, the accommodation member can have a circular shape when viewed along the longitudinal axis such that the accommodation member is rotationally symmetric about the longitudinal axis.

[0028] This symmetry can provide the advantage that the storage member can store the crop after cutting regardless of the mutual orientation between the crop and the storage member, and in particular regardless of the rotational position of the storage member around the longitudinal axis.

[0029] In one embodiment, the receiving member has a width, i.e. diameter, perpendicular to the longitudinal axis, of greater than 30 centimeters, preferably greater than 60 centimeters, for example about 90 centimeters. A receiving member having a width in this range has been found to be advantageous for supporting a sufficient amount of crop.

[0030] In one embodiment, the harvesting device does not include a clamping device, so that the cutting of the stalk, accessory shoot and / or petiole may be performed only under the influence of gravity acting thereon. In use, the plant stem is located inside the guide member during cutting, but is not clamped. Instead, the cutting force required is less than the force of gravity acting on the stalk, accessory shoot and / or petiole, so that the stalk, accessory shoot and / or petiole will strike the cutting member and be separated from the plant stem.

[0031] In one embodiment, the harvesting device further comprises a rocking mechanism configured to tilt the harvesting device relative to a horizontal tilt axis. This tilting can contribute to guiding the fruit stalks, buds and petioles of the plant towards the cutting member. As a result of the fruit stalks, buds and petioles protruding outwards from the plant stem, they can undesirably jam against the guiding member. By rocking the harvesting device, this jamming can be cleared and the fruit stalks, buds and petioles can be further guided towards the cutting member.

[0032] The rocking mechanism may be implemented relative to a fixed reference, for example an actuator or manipulator arm to which the harvesting device is attached for movement along the plant stem along the longitudinal axis. The horizontal tilt axis may be aligned perpendicular to the longitudinal axis, and the rocking may be superimposed with a rotation of the receiving member, such that the receiving member can be tilted and rotated relative to the fixed reference.

[0033] In one embodiment, when viewed in a plane perpendicular to the longitudinal axis, the guiding member, the cutting member, and the receiving member together have: a first device part comprising a first guide member part, a first cutting member part, and a first receiving member part; a second device part comprising a second guide member part, a second cutting member part and a second receiving member part, The first and second apparatus parts are movable away from each other in an open configuration to allow the plant stem to enter and exit the plant passage, and the first and second apparatus parts are movable towards each other in a closed configuration to completely surround the plant passage, i.e., to completely surround the plant stem.

[0034] The separation of the harvesting device in the first and second equipment parts preferably occurs in one or more planes parallel to the longitudinal axis, so that when looking down on the harvesting device, for example, the separation between the parts is visible in a plane perpendicular to the longitudinal axis.

[0035] The first device portion may be an integrated portion of a first guide member portion, a first cutting member portion, and a first receiving member portion, and the second device portion may be an integrated portion of a second guide member portion, a second cutting member portion, and a second receiving member portion, such that the integrated first device portion is completely separable from, and movable relative to, the integrated second device portion.

[0036] By dividing the harvesting apparatus into a first apparatus part and a second apparatus part, the through plant passage in the guide member may be totally and completely surrounded by the harvesting apparatus in use, for example in a closed configuration. In use, the first apparatus part and the second apparatus part may be arranged relative to each other to completely surround the plant stem.

[0037] For example, when the cutting has been performed to a desired extent and it is desired to remove the plant stem from the plant passageway, or when it is desired to insert a new plant stem into the plant passageway, the first and second device parts are brought into an open configuration. In the open configuration, the device parts can be moved at least partially away from each other, so that an axis is provided from the side towards the plant passageway. Thus, the plant passageway is no longer completely enclosed, but instead allows the plant stem to enter and exit from the side, for example perpendicular to the longitudinal axis, into the plant passageway.

[0038] In the absence of the first and second apparatus parts, in alternative embodiments the through plant passage may not be completely enclosed such that the plant stem is always able to enter and exit into the plant passage, or the through plant passage may be completely enclosed such that the plant stem is only able to enter and exit into the plant passage at its head ends, for example along the longitudinal axis.

[0039] In a further embodiment, the first device portion and the second device portion, upon movement between the open and closed configurations, - rotatable relative to each other about an axis of rotation parallel to the longitudinal axis; and / or - displaceable relative to one another in a displacement direction perpendicular to the longitudinal axis.

[0040] The device parts may be attached to one another by hinges to allow relative rotation therebetween. The hinges may form the only connection between the device parts in the open configuration, in which the device parts are rotated away from one another about an axis of rotation, e.g., a substantially vertical axis of rotation. When the device parts are moved to the closed configuration, they are rotated towards one another so that they abut one another on opposite sides of the hinge.

[0041] Alternatively or additionally, the device parts can be displaced relative to one another, for example by linear actuators, so that the device parts can be placed at a distance from one another in the open configuration and abut one another in the closed configuration.

[0042] In an alternative embodiment, the harvesting device further comprises a side opening, which provides access to the plant passage in an access direction substantially perpendicular to the longitudinal axis to allow the entry and exit of the plant stems in the plant passage in the access direction. According to this embodiment, the guiding member, the cutting member and the receiving member form a one-piece harvesting device (i.e. not hinged to each other to allow the entry of the plants into the plant passage). The side opening is provided to allow access to the plant passage from the side, allowing the entry and exit of the plant stems in the plant passage. This may provide the advantage that the harvesting device can be embodied less complexly and more robustly, improving its reliability.

[0043] In one embodiment, the receiving member comprises a skirt surface, for example an at least partially conically shaped skirt surface, which tapers radially outwardly, i.e. vertically downwardly, with increasing distance from the cutting member. The skirt surface surrounds the guiding member and the cutting member and forms a support surface on which the crop lands after cutting and is collected for further handling.

[0044] The skirt surface tapers outwardly from the guide members and slopes downwardly, i.e., has a planar component vertically downwardly. For example, in an embodiment with a circular plant passageway having a circular cross section perpendicular to the longitudinal axis, the skirt surface may have a circular outer profile, effectively making the skirt surface conical.

[0045] The containment member may further comprise delimiting means arranged at its lowermost end, e.g. on the periphery of the lowermost end of the skirt surface, and configured to prevent crop from falling off the skirt surface at the bottom. The delimiting means may, for example, comprise a peripheral ridge at the lowermost end of the skirt surface.

[0046] In a further embodiment, the skirt surface is disposed at a skirt angle relative to the longitudinal axis, the skirt angle being preferably selected in the range of 30° to 60°.

[0047] The skirt angle of the skirt surface is defined as the angle between the plane of the skirt surface and the longitudinal axis. Varying the skirt angle can change the slope of the skirt surface, which can then change the properties of the containment member, for example, with respect to which cutting portions (e.g., crop, offshoots, or leaves) remain on the skirt surface and which cutting portions fall off.

[0048] The skirt angle can be selected to optimally support the crop after cutting and to avoid the crop falling onto the skirt surface or generally being damaged after cutting. Furthermore, the skirt angle may be selected such that only the crop itself is supported by the skirt surface before cutting and during the upward movement of the harvesting apparatus, but the entire plant stem is prevented from being lifted when the crop remains connected to the plant stem.

[0049] The skirt angle may be selected depending on the type of crop being harvested, so that the skirt plane is aligned substantially parallel to the elongate direction in which the crop substantially extends. For example, cucumbers hang approximately vertically from the stem of the plant, which means that if the harvesting apparatus is used to harvest cucumbers, a relatively small skirt angle may be selected. However, tomatoes on the stem grow more horizontally than cucumbers, which means that if the harvesting apparatus is used to harvest tomatoes, a larger skirt angle may be selected.

[0050] In a manner similar to the selection of the skirt angle, the height of the skirt surface may be selected based on the length of the crop being harvested, for example, if the harvesting apparatus is used to harvest cucumbers, a greater height may be selected than if the harvesting apparatus is used to harvest peppers (which are generally shorter than cucumbers).

[0051] This embodiment, in which the skirt surface is installed at a skirt angle, may have the further advantage of allowing the secondary shoots and leaves to fall off the storage member. The tapered skirt surface, while capable of holding the crop, may be too steep for the secondary shoots and leaves, particularly when a skirt angle in the range of 30°-60° is selected, causing the secondary shoots and leaves to fall off.

[0052] In a further embodiment, the skirt surface may be movable relative to the cutting members and / or guiding members such that the skirt angle is adjustable. This may provide the advantage that a single harvesting apparatus, i.e. a single skirt surface, may be used to harvest many different types of crops. If the harvesting apparatus is used to harvest cucumbers, the skirt angle may be set relatively small, whereas if it is desired to harvest tomatoes, the skirt angle may be set relatively large.

[0053] In additional or alternative embodiments, the skirt surface comprises: a first skirt attached to the guide member, for example arranged below the guide member; a second skirt part attached to the first skirt part on the side opposite the guide member, for example on the side located below the first skirt part, The first skirt portion is disposed at a first skirt angle and the second skirt portion is disposed at a second skirt angle, the second skirt angle being greater than the first skirt angle.

[0054] According to this embodiment, the skirt surface is subdivided into two sections, each with a different function. The first skirt section is located directly below the guide member and forms an initial support for the crop before it is cut by the cutting device. As the harvesting device moves further upwards, the crop is cut and the crop slides down onto the second skirt section, which is located directly below the first skirt section. The second skirt section is more horizontally aligned than the first skirt section and has, for example, a larger skirt angle than the first skirt section, so that the cut crop slows down after sliding off the first skirt section and the crop is collected on the second skirt section.

[0055] The first skirt portion and the second skirt portion are preferably attached to one another by a smooth transition to avoid unnecessary damage to the crop during sliding from the first skirt portion to the second skirt portion.

[0056] In one embodiment the cutting members are arranged at a distance from the plant passage when viewed in radial direction, said distance being preferably selected in the range of 5 mm to 15 mm.

[0057] For example, the distance between the plant passage defined by the guide member and the cutting member is such that the plant stem does not come into contact with the cutting member, since the plant stem always comes into contact with the guide member before coming into direct contact with the cutting member. Instead of being spaced apart from the plant passage, the cutting member can be spaced apart from the through plant passage of the guide member to avoid cutting the plant stem itself, but instead only cutting the outwardly projecting fruit stalk, accessory shoots and petioles. By appropriately selecting this distance, for example within the range of 5 mm to 15 mm, the cutting member can be configured to cut as close as possible to the plant stem, so that the stems and leaves remaining on the plant stem after cutting are as short as possible.

[0058] In one embodiment, the guide member is crown-shaped; a plurality of tips aligned upwardly, substantially parallel to the longitudinal axis, and spaced apart around the circumference of the plant passage; - each of the two adjacent tips has a tapered guide valley between them.

[0059] The crown shape is configured to guide the stalk, accessory shoot and petiole laterally as a result of the tapered guide valley between two adjacent tips. In principle, the stalk, accessory shoot and petiole can therefore be arranged around the entire circumference of the plant stem. In the case of the crown shape, the stalk, accessory shoot and petiole are guided to specific, discontinuous positions of the valley in which the cutting member is provided. As a result, the cutting member does not have to be arranged around the entire circumference of the plant passage, but instead is only arranged where the stalk, accessory shoot and petiole are guided.

[0060] During use of the harvesting device, if the stalks, accessory buds and petioles are already located in the valley during the movement of the harvesting device, they can converge towards the bottom of the valley. If the stalks, accessory buds and petioles are located above the tip, the rocking mechanism rocks the harvesting device so that the stalks, accessory buds and petioles end up in the valley.

[0061] In a further embodiment, the guide valley is U-shaped or V-shaped when viewed in the radial direction. Both the U-shape and the V-shape converge towards a central point at the bottom, so that the fruit stalk, the accessory bud and the petiole are guided towards this central point while the harvesting device moves upwards relative to the plant stem. This can provide a further advantage since the fruit stalk, the accessory bud and / or the petiole are prevented from rotating relative to the guide member. Instead, the guide valley, in particular the V-shaped guide valley, can clamp the fruit stalk, the accessory bud and / or the petiole to a certain extent, so that they can be cut more reliably and at a relatively short distance from the stem. In particular, the guide valley can laterally restrain the position of the fruit stalk, the accessory bud and / or the petiole, preventing their lateral displacement during cutting.

[0062] In a further or alternative embodiment, the cutting member is provided with a respective cutting device in each of the guide troughs, in this way the fruit stalks, accessory shoots and petioles automatically impinge on the respective cutting device at the bottom of the trough, so that they are cut as soon as they reach the bottom of the trough.

[0063] In this embodiment, the cutting device is only located at the bottom of the valley, which is only a small part of the circumference of the plant passage, so that only a certain part of the circumference of the receiving member can receive the harvested crop. In combination with a rotatable receiving member, the harvested crop can be distributed over the entire circumference of the receiving member, thereby increasing the capacity of the receiving member.

[0064] Each cutting device may for example be a cutting blade with teeth facing upwards along its longitudinal axis, by which the fruit stalks, accessory shoots and petioles are cut.

[0065] The combination of having a guide trough and having a cutting device at the bottom of the guide trough can provide the advantage that due to the confining that takes place inside the guide trough, all mutual forces between the stalk, accessory bud and / or petiole can be aligned substantially vertically upwards, i.e. in the opposite direction to the gravity acting thereon. In particular, the lateral confinement in the guide trough can prevent the stalk, accessory bud and / or petiole from shifting laterally during cutting. This can increase the net cutting force of the cutting device acting on the stalk, accessory bud and / or petiole, improving the cutting thereof.

[0066] For example, in one embodiment of the harvesting device according to the preamble of claim 1, the cutting members, e.g. each of the cutting devices, are vibrating cutting members, e.g. sonic or ultrasonic cutting members, whereby the cutting devices are movable and configured to vibrate or oscillate, e.g. within the valleys. Such vibration of the cutting devices improves the cutting action and reduces the upward force that needs to be exerted by the harvesting device on the plant stems.

[0067] For example, in an alternative embodiment of the harvesting device according to the preamble of claim 1, each of the cutting members, e.g. the cutting devices, is a rotary cutting member, e.g. a rotary knife. Such a rotary cutting member may be embodied as a toothed rotary cutting member. The advantage of a rotary cutting member is that there is no reversal of the movement direction, which occurs with a vibrating cutting member, which further improves the cutting action by reducing the risk of the knife jamming if the harvesting device moves too quickly upwards relative to the plant stem.

[0068] Alternatively, the cutting devices may be fixedly attached to the guide member, for example fixedly attached to each of the valleys.

[0069] In one embodiment the harvesting apparatus further comprises a sensor device configured to detect the presence of a horticultural crop, i.e. to detect the presence of a crop adjacent to the plant aisle, preferably configured to detect the maturity and / or weight of the crop.

[0070] The sensor device may be configured to transmit a sensor signal indicative of the presence of a crop immediately prior to entering the plant aisle during movement of the harvesting device, and, if a crop is detected, to transmit a sensor signal indicative of ripeness (e.g. "colour" if used to detect tomatoes, and / or "size", e.g. length for cucumbers).

[0071] In an alternative or additional embodiment of the harvesting device, the receiving member, the guiding member and / or the cutting member are rotatable about a longitudinal axis. The sensor device may be configured to detect a position of a piece of crop to be harvested and may be configured to output a position sensor signal representative of the position of the piece of crop. The harvesting device is configured to rotate the receiving member relative to the plant stem in response to the position sensor signal. The receiving member may be rotated relative to the crop such that an unoccupied portion of the receiving member may be positioned below the crop. This may provide the advantage that the crop is received in the vacant portion of the receiving member and not on top of a previously harvested crop.

[0072] To achieve this effect, the receiving member may be rotated about its longitudinal axis, which may involve, for example, rotation of only the receiving member relative to the cutting members and / or guiding members, or alternatively, rotation of the entire harvesting apparatus (including the receiving member).

[0073] Rotation of the receiving member and / or the entire harvesting device may be performed relative to a support, such as a frame element, and / or an actuator device, such as a manipulator arm, to which the harvesting device is attached during use.

[0074] In one embodiment, the harvesting device further comprises a discharge device configured to allow unloading of the storage member, e.g. gravity-based unloading. The discharge device may, for example, comprise a movable ridge of the storage member that can be closed, e.g. to prevent the crop from falling, during cutting by the harvesting device, and opened to allow the crop to slide off the skirt surface in a controlled manner to eject the crop for packaging and / or further processing.

[0075] In a further embodiment, the harvesting device (e.g., its storage member) is configured to rotate while discharging the crop from the storage member. In this way, all parts of the storage member can then pass over the discharge device, so that the crop is discharged from the storage member in the same manner, but successively, rather than all at once. This can provide the advantage that the crop can be discharged in a controlled manner to a desired location, which can reduce damage to the crop.

[0076] In one embodiment, the harvesting device further comprises a nozzle, which is attachable to a source of compressed air and configured to deliver bursts of compressed air to the receiving member to remove the leaves from the receiving member. The nozzle may, for example, extend over the entire receiving member, for example, over a skirt surface, so that any leaves or accessory shoots remaining on the receiving member can be removed therefrom.

[0077] The burst of compressed air can blow the leaves and shoots upwards, causing them to be lifted out of the containment member and fall. Any plants on the containment member are not affected by the burst of compressed air, because the weight of the plants is too great to be lifted by the burst of compressed air.

[0078] According to a second aspect, the present invention provides a harvesting implement comprising a base, a harvesting device as described herein, and an actuator device configured to move the harvesting device relative to the base to move the harvesting device relative to a plant stem along a longitudinal axis.

[0079] The harvesting device may have similar features and advantages as the harvesting device according to the first aspect of the invention described herein.

[0080] The base of the harvesting device may be configured to remain stationary during cutting by the harvesting device, but may be movable to move the harvesting device between plants, for example to move the harvesting device from a first plant stem to a second plant stem.

[0081] During cutting, the actuator device is configured to move the harvesting device relative to the base, preferably to move the harvesting device substantially vertically upwards, which may affect relative movement along the plant stem, which may be held stationary in order to perform the cut of the stalk, accessory shoot and petiole with the harvesting device.

[0082] In one embodiment, the harvesting tool comprises a harvesting device having a sensor device, the harvesting device further comprising a control unit, the control unit configured to control movement of the harvesting device by the actuator device based on a sensor signal from the sensor device.

[0083] The control unit is configured to process sensor signals from the sensor device, so that the control unit can detect the presence of a crop in front of the harvesting device. The control unit may be configured to compare the measured sensor signals with reference sensor signals, so that the control unit can, for example, make a comparison between a photograph taken of a tomato branch in front of the harvesting device and a reference image showing ripe tomatoes, so that the control unit can control the actuator device to cut the tomato branch if the tomato branch is found to be sufficiently ripe.

[0084] According to a further aspect, the present invention provides a method for harvesting horticultural crops, accessory shoots and leaves from plant stems in greenhouse cultivation, e.g., using the harvesting apparatus and / or harvesting tools described herein, comprising: - at least partially surrounding the plant stems in the plant passage by a guide member of the harvesting device; - moving a harvesting device along a plant stem along a longitudinal axis; - guiding the stalk, the accessory shoot and / or the petiole of the crop plant attached to the plant stem by means of a guiding element; - cutting the fruit stalk, accessory shoots and / or petioles by a cutting member of a harvesting device and separating them from the plant stem; - collecting the crop separated from the plant stems in a receiving element of a harvesting device; Includes.

[0085] The harvesting method may have similar features and advantages as the harvesting apparatus according to the first aspect of the invention described herein.

[0086] In one embodiment, the method further comprises the step of dropping the accessory shoots and leaves using a harvesting device.

[0087] In one embodiment, the method further comprises rotating the receiving member relative to the plant stem. The receiving member may be rotated about its longitudinal axis, for example, prior to the step of moving the harvesting device along the plant stem. The rotation may include rotation of only the receiving member, but may also include rotation of the entire harvesting device including the receiving member.

[0088] The rotating step may in particular be performed in response to a sensor signal representative of the position of the next crop to be collected. The receiving member may be rotated relative to the crop such that an unoccupied portion of the receiving member may be positioned below the crop. This may provide the advantage that the crop is received in the free portion of the receiving member rather than on top of a previously harvested crop.

[0089] The rotation of the receiving member can be adjusted depending on the crop and / or the receiving member. For example, if the receiving member is relatively large and / or the crop is relatively small, the rotation angle of the receiving member during the next harvest of multiple crops can be relatively small. If the receiving member is relatively small and / or the crop is relatively large, the rotation angle of the receiving member can be set relatively large.

[0090] In a further embodiment, the method further includes detecting a position of a crop to be harvested and outputting a position sensor signal representative of the position of the crop, and the step of rotating the holding member includes rotating the holding member in response to the position sensor signal.

[0091] The receiving member may be rotated relative to the crop such that an unoccupied portion of the receiving member may be positioned beneath the crop, which may provide the advantage that the crop is received in the vacant portion of the receiving member rather than on top of previously harvested crop.

[0092] In one embodiment, the method further includes moving the harvesting device to a discharge device, such as a container, and discharging the crop from the storage member to the discharge device. During the discharge, the harvesting device, e.g. its storage member, is rotated. In this way, all parts of the storage member can then pass over the discharge device, so that the crop is discharged from the storage member in the same manner, but successively, rather than all at once. This can provide the advantage that the crop can be discharged in a controlled manner to a desired location, reducing damage to the crop.

[0093] In one embodiment of the method, the cutting step is performed without clamping the plant stem, so that the cutting of the stalk, accessory shoot and / or petiole can be performed only under the influence of gravity acting on them. Thus, the plant stem can be located inside the guide member without being clamped, and during cutting, the stalk, accessory shoot and / or petiole can impinge on the cutting member, and the stalk, accessory shoot and / or petiole are separated from the plant stem, since the cutting force required is smaller than the gravity acting on the stalk, accessory shoot and / or petiole.

[0094] Further features of the invention will be explained below with reference to the embodiments illustrated in the accompanying drawings. [Brief description of the drawings]

[0095] [Figure 1A] FIG. 1A is a schematic diagram of several different crop-bearing plants. [Figure 1B] FIG. 1B is a schematic diagram of several different plants having crops. [Figure 1C] FIG. 1C is a schematic diagram of several different plants having crops. [Figure 1D] FIG. 1D is a schematic diagram of several different plants having crops. [Figure 2A] FIG. 2A is a perspective view of one embodiment of a harvesting device according to the present invention. [Figure 2B] FIG. 2B is a top view of the harvesting device of FIG. 2A. [Figure 2C] FIG. 2C is a side view of the harvesting device of FIG. 2a in use. [Figure 3.1] Figure 3.1 shows a schematic diagram of the use of the harvesting device. [Figure 3.2] Figure 3.2 shows a schematic diagram of the use of the harvesting device. [Figure 3.3] Figure 3.3 shows a schematic diagram of the use of the harvesting device. [Figure 3.4] Figure 3.4 shows a schematic diagram of the use of the harvesting device. [Figure 3.5] Figure 3.5 shows a schematic diagram of the use of the harvesting device. [Figure 3.6] Figure 3.6 shows a schematic diagram of the use of the harvesting device. [Figure 3A] FIG. 3A is a schematic diagram showing the use of the harvesting device. [Figure 3B] FIG. 3B is a schematic diagram showing the use of the harvesting device. [Figure 3C] FIG. 3C is a schematic diagram showing the use of the harvesting device. [Figure 4A] FIG. 4A shows a schematic diagram of some possibilities for receiving plant stems in a harvesting device. [Figure 4B] FIG. 4B is a schematic diagram showing some possibilities for receiving plant stems in the harvesting device. [Figure 4C] FIG. 4C is a schematic diagram showing some possibilities for receiving the plant stems in the harvesting device. [Figure 5.1] FIG. 5.1 is a schematic diagram of several different harvesting devices having different skirt angles. [Figure 5.2] FIG. 5.2 is a schematic diagram of several different harvesting devices having different skirt angles. [Figure 5.3] FIG. 5.3 is a schematic diagram of several different harvesting devices having different skirt angles. [Figure 5.4] FIG. 5.4 is a schematic diagram of several different harvesting devices having different skirt angles. [Figure 6A]FIG. 6A is a schematic diagram illustrating optional design features of the harvesting device. [Figure 6B] FIG. 6B is a schematic diagram illustrating optional design features of the harvesting device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0096] Throughout the drawings, the same reference numbers are used to refer to corresponding components or components with corresponding functionality.

[0097] 1A-1D show schematic diagrams of various types of plants 100 grown in greenhouse cultivation, each of which includes a plant stem 101 having horticultural produce 102, leaves 103, and side shoots. FIG. 1A shows a tomato plant 100 having a vine of tomatoes 102. FIG. 1B shows a cucumber plant 100' having a cucumber 102', and FIG. 1C shows an eggplant plant 100". FIG. 1D is an enlarged view of the boxed area of ​​FIG. 1C, showing that leaves 103" are attached to the plant stem 101" by petioles 104" and that the produce, e.g., eggplant plant 102" is attached to the plant stem 101" by peduncles 105.

[0098] Figures 2A, 2B and 2C show an embodiment of a harvesting device according to the invention, referred to with reference number 1. The harvesting device 1 comprises a crown-shaped guide member 10 defining a through plant passage 11. The harvesting device 1 is configured to receive a plant stem 101 in the plant passage 11 of the guide member 10. The passage 11 extends along a longitudinal axis LL, so that the plant stem 101 also extends along the longitudinal axis LL. The longitudinal axis LL is in this embodiment substantially vertically and upwardly aligned.

[0099] The harvesting device 1 is configured to be guided relative to the plant stem 101 as a result of the plant stem 101 being received, in particular as a result of the plant stem 101 being partially surrounded by the through plant passage 11 of the guiding element 10. According to this embodiment, the harvesting device 1 is moved relative to its surroundings and the plant stem 101 follows the movement of the guiding element 10.

[0100] The guide member 10 includes four tips 12 aligned upwardly and substantially parallel to the longitudinal axis LL and spaced apart around the circumference of the plant passage 11. The guide member 10 further includes three tapered guide valleys 13 between the tips 12.

[0101] The crown shape is configured to guide the fruit stalk 105, the accessory shoots and the petioles 104 laterally as a result of the tapered guide valley 13 between every two adjacent tips 12. The crown shape guides the fruit stalk 105, the accessory shoots and the petioles 104 to specific and distinct positions in the valley 13 where the cutting member 20 is provided, as shown diagrammatically in FIG. 6A. As a result, the cutting member 20 does not have to be placed around the entire circumference of the plant passage 11, but instead is only placed at the positions where the fruit stalk 105, the accessory shoots and the petioles 104 are guided. In FIGS. 2A-2C, the valley 13 is shown as U-shaped.

[0102] Alternatively, the valley may be V-shaped, as shown diagrammatically in Fig. 6A. As shown in Fig. 6B, the harvesting device may comprise a rocking mechanism, which is configured to tilt the harvesting device 1 relative to a horizontal tilt axis, as shown by the wavy line. This tilt may contribute to guiding the fruit stalk 105, accessory shoots and leaf stalks 104 of the plant 100 into the valley and towards the cutting member.

[0103] The harvesting device 1 further comprises a cutting member 20 attached to the guide member 10 and configured to cut fruit stalks 105, accessory shoots and leaf stalks 104 passing through the guide member 10 during 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 in conjunction with the guide member 10 and partially surrounds the plant through passage 11 in a manner similar to that of the guide member 10.

[0104] During the relative movement of the plant stem 101 and the harvesting device 1 along the plant stem 101, the harvesting device 1 bumps against the crop 102, the secondary shoots and the leaves 103. The cutting member 20 is configured to cut all of these off when they come up against the cutting member 20 as the harvesting device 1 is moved relative to the plant stem 101, e.g. performing a so-called stripping action on the plant stem 101.

[0105] 2A-2C, the cutting member 20 is provided with a respective cutting device 21 in each of the guiding troughs 13. In this way, the fruit stalks 105, the accessory shoots and the petioles 104 automatically impinge on the respective cutting device 21 at the bottom of the trough 13, so that they are cut off as soon as they reach the bottom of the trough 13. Each cutting device is embodied as a cutting blade 21 comprising teeth pointing upwards along the longitudinal axis LL, so that the fruit stalks 105, the accessory shoots and the petioles 104 are cut off by said teeth.

[0106] 2A-2C, the cutting member 20 is a vibrating cutting member and comprises a number of vibration actuators 22 arranged below the guide member 10. Each of the vibration actuators 22 is connected to a respective cutting blade 21 for vibrating the cutting blade 21 within the respective valley 13. Alternatively, the cutting member may be provided as a rotating cutting member.

[0107] The harvesting device 1 further comprises a receiving member 30 configured to collect the crop 102 separated from the plant stem 101 and configured to fall from the accessory shoots and leaves 103. The receiving member 30 surrounds the guide member 10 in the same way that the guide member 10 surrounds the through plant passage 11.

[0108] The receiving member 30 projects in a radial direction R relative to the longitudinal axis LL away from the guiding member 10 and the cutting member 20, as best seen in Figure 2B. The receiving member 30 therefore has a larger footprint than the guiding member 10 and the cutting member 20. This larger profile ensures that the receiving member 10 projects below the horticultural crop 102, which is located radially outboard of the cutting member 20, as shown in Figure 2C.

[0109] After cutting, the horticultural crop 105 is captured on the storage member 30. The storage member 30 is configured to autonomously collect the horticultural crop 102 cut from the plant stem by the cutting member 20 without requiring an active step, for example, of moving the storage member 30 towards the crop 102. In particular, the crop 102 falls onto the storage member 30 after cutting under the effect of gravity acting on the crop 102. The storage member 30 is configured to drop the secondary shoots and leaves 104, since these are not desired to be stored.

[0110] The receiving member 30 comprises an at least partially conically shaped skirt surface 31 which tapers outwardly in a radial direction R as it moves vertically downward away from the cutting member 20. The skirt surface 31 surrounds the guiding member 10 and the cutting member 20 and forms a support surface on which the plant material 102 lands after cutting and on which the plant material 102 is collected for further handling.

[0111] The containment member 30 further comprises a peripheral ridge 32 at the lower end of the skirt surface 31 which is configured to prevent the crop 102 from falling off the skirt surface 31 at the bottom.

[0112] The harvesting device 1 shown in Figures 2A to 2C has a side opening 2 which provides access to the plant passage 11 in an access direction A substantially perpendicular to the longitudinal direction LL and allows the plant stems 101 to move in and out of the plant passage 11 in the access direction A. The guiding member 10, the cutting member 20 and the receiving member 30 thereby form an integral harvesting device 1.

[0113] In FIG. 5, the skirt surface 31 is angled at a skirt angle (α skirt, slope ) and the skirt angle (α skirt, slope The skirt angle (α skirt,slope ) can change the slope of the skirt surface 31, thereby changing the characteristics of the storage member 30.

[0114] Skirt angle (α skirt,slope ) is selected to optimally support the crop 102 after cutting and to prevent the crop 102 from falling onto the skirt surface 31. skirt,slope ) may be selected depending on the type of crop 102 being harvested, and the skirt surface 31 may be aligned substantially parallel to the elongated direction in which the crop 102 substantially extends.

[0115] For example, as shown in [2] of Figure 5, a cucumber hangs almost vertically from the stem of the plant, which means that the skirt angle (α skirt,slope However, in Fig. 5 [1], the tomato on the stem is tilted to the horizontal at an angle (α fruit ), which means that when the harvesting device 1 is used for harvesting tomatoes, a large skirt angle (α skirt,slope ) can be selected.

[0116] Skirt angle (α skirt,slopeSimilar to the selection of the height L of the skirt surface 31, the height L of the skirt surface 31 may be selected based on the length of the crop to be harvested. For tomatoes, an average height L may be selected, as shown in FIG. 5[1]. Also, when the harvesting apparatus 1 is used to harvest cucumbers, as shown in FIG. 5[2], the height L+ may be selected to be greater than the height L- of a harvesting apparatus used to harvest peppers, as shown in FIG. 5[3], which are shorter than cucumbers.

[0117] As shown diagrammatically in FIG. 5[4], the skirt surface 31 may comprise a first skirt portion 31 located directly below the guide member and forming an initial support for the crop 102 before the crop is cut by the cutting device. The skirt surface 31 may further comprise a second skirt portion 31″ that is more horizontally aligned than the first skirt portion 31′ and, for example, has a larger skirt angle than the first skirt portion 31′, such that the cut crop 31 decelerates after sliding off the first skirt portion 31′ and the crop is collected on the second skirt portion 31″.

[0118] 3 shows a schematic of the operation of a harvesting apparatus used to harvest vine tomatoes and cut leaves from the stems of tomato plants. In step [1], the harvesting apparatus is placed in a predetermined position around the plant stem, and in step [2] the first and second harvesting apparatus parts are brought towards each other to surround the plant stem.

[0119] In step [3], the harvesting device is moved upwards along the plant stem. The cutting member of the harvesting device is represented by a dashed line, which abuts the tomato vine in step [4]. The cutting member severs the stalk so that the vine of tomatoes is placed on the receiving member.

[0120] In step [5], the cutting member impinges on a leaf of the tomato plant, which is also cut by the cutting member, but the leaf does not fall onto the receiving member, but instead tilts over the outer edge of the receiving member. This is because a tomato leaf has a somewhat triangular shape with a size of about 50 centimeters, while a tomato branch has a roughly elongated shape with a length of only 20 centimeters and weighs approximately 10 times the weight of the leaf. Since the receiving member has a width such that the center of gravity of the tomato branch is within the contour of the receiving member, but the center of gravity of the leaf is outside the contour of the receiving member, the leaf falls onto the receiving member, then tilts over the outer edge of the receiving member, and accordingly the leaf falls off the receiving member.

[0121] Finally, in step [6], the harvesting device detects with the sensor device that the next tomato branch is not yet ripe (e.g. has a green color instead of red), and therefore the harvesting device is not moved further up along the plant stem, as this immature branch cannot yet be harvested.

[0122] Step [A] of FIG. 5 shows the harvesting device with tomato branches resting on the receiving member. The harvesting device may comprise a release device configured to allow gravity unloading of the receiving member. The release device is embodied as a movable ridge of the receiving member. This movable ridge is closed, for example to prevent the crop from falling during cutting by the harvesting device, as shown in step [A]. As shown in step [B], the movable ridge can be opened, and as shown in step [C], the crop can be slid off the skirt surface in a controlled manner and discharged for packaging and / or further processing. In step [C] of FIG. 5, it is shown that the crop can be discharged, for example, in a packaged state, as shown on the left, or on a conveyor belt, as shown on the right.

[0123] 4A-4C show alternative embodiments of harvesting devices which completely enclose the plant stem during use to harvest a crop, in which the guiding member, the cutting member and the containing member are both subdivided into a first device part 3 and a second device part 4.

[0124] Separation of the harvesting device in the first equipment part 3 and the second equipment part 4 occurs in a plane parallel to the longitudinal axis, so that the separation between the parts is visible in a plane perpendicular to the longitudinal axis when looking downwards on the harvesting device, for example as in Figures 4A-4C.

[0125] In Figures 4A-4C, a relative displacement between the plant stem and the harvesting device is shown. This may mean that the plant stem is stationary and the harvesting device is moved towards the plant stem. Alternatively, it may mean that the harvesting device is stationary and the plant stem is moved towards the harvesting device. As a further alternative, both the plant stem and the harvesting device may be movable.

[0126] The first device part 3 is an integrated part of a first guide member part, a first cutting member part, and a first receiving member part. The second device part 4 is an integrated part of a second guide member part, a second cutting member part, and a second receiving member part. The integrated first device part 3 is completely separable from the integrated second device part 4 and is movable relative to the integrated second device part 4.

[0127] The first apparatus part 3 and the second apparatus part 4 can be moved away from each other in the open configuration, thereby allowing the plant stem 101 to move in and out of the plant passage 11 in a radial direction perpendicular to the longitudinal axis. In Figures 4A-C the image on the left shows the apparatus parts 3, 4 in the open configuration, displaying the entry of the plant stem 101.

[0128] The first equipment part 3 and the second equipment part 4 can be moved towards each other in a closed configuration, in which the first equipment part 3 and the second equipment part 4 are arranged relative to each other so as to completely surround the plant passage 11, i.e. completely surround the plant stem 101. On the right side of Figures 4A-4C the first equipment part 3 and the second equipment part 4 are shown in the closed configuration.

[0129] FIG. 4A shows a first option of how the harvesting device can be subdivided into a first device part 3 and a second device part 4. In this embodiment, the first device part 3 and the second device part 4 are rotatable relative to each other about a rotation axis parallel to the longitudinal axis when moving between the open and closed configurations. The device parts 3, 4 are thereby attached to each other by a hinge 5, which allows relative rotation between them. The hinge 5 is the only connection between the device parts 3, 4 in the open configuration, for example on the left side of FIG. 4A, with the device parts 3, 4 rotated away from each other about the rotation axis. When the device parts 3, 4 are moved to the closed configuration, they rotate towards each other, so that they also come into abutment with each other on the opposite side of the hinge 5.

[0130] 4B shows an alternative embodiment, in which a first device part 3' and a second device part 4' are displaceable relative to each other in a displacement direction D perpendicular to the longitudinal axis when moving between an open and a closed configuration. According to this embodiment, the device parts 3', 4' are displaced relative to each other by a linear actuator 6. Thus, in the open configuration (e.g. on the left side of FIG. 4B), the device parts 3', 4' are placed at a distance from each other and in the closed configuration (e.g. on the right side of FIG. 4B) they abut each other.

[0131] FIG. 4C shows a further alternative embodiment, which comprises a first device part 3″ that substantially completely surrounds the plant passageway, but further comprises a second device part 4″ that is fully removable from and connectable to the first device part 3″, respectively, when moving towards an open configuration, e.g. to the left of FIG. 4C, and when moving towards a closed configuration, e.g. to the right of FIG. 4C.

Claims

1. A harvesting device (1) for harvesting horticultural crops (102), auxiliary buds and / or leaves (103) from a plant stem (101) in greenhouse cultivation, comprising: - a guiding member (10) defining a through-plant passage (11) and configured to at least partially surround the plant stem during use; - a cutting member (20) attached to the guiding member and configured to cut the stalk (104) of the crop attached to the plant stem, auxiliary buds and / or petioles and separate them from the plant stem; - a receiving member (30) at least partially surrounding the guiding member and configured to collect the crops separated from the plant stem; characterized in that: when the harvesting device moves relative to the plant stem along the longitudinal axis (L-L) in a vertically upward direction, the plant stem is guided inside the guiding member; the cutting member is configured to cut the stalk, the auxiliary buds and / or the petioles passing through the guiding member during the movement of the harvesting device; the receiving member has a skirt surface (31), and the skirt surface is characterized in that it tapers radially outward and vertically downward as the distance from the cutting member increases; Harvesting device.

2. The harvesting device according to claim 1, wherein the receiving member is rotatable about the longitudinal axis relative to the guiding member and / or the cutting member.

3. The harvesting device according to claim 1, wherein the skirt surface is installed at a skirt angle (αskirt) relative to the longitudinal axis, and the skirt angle is selected in the range of 30° to 60°.

4. The skirt surface comprises: - a first skirt portion (31') attached to the guiding member and disposed below the guiding member; - a second skirt portion (31") attached to the first skirt portion on the side opposite to the guiding member and below the first skirt portion; the first skirt portion is installed at a first skirt angle, the second skirt portion is installed at a second skirt angle, and the second skirt angle is larger than the first skirt angle; The harvesting device according to claim 3.

5. The guiding member has a crown shape and comprises: - a plurality of tip portions (12) aligned upward, substantially parallel to the longitudinal axis, and spaced apart around the circumference of the plant passage; - Each having a tapered guide groove portion (13) between two adjacent tip portions, The guide groove portion is U-shaped or V-shaped when viewed in the radial direction, and / or The cutting member includes a respective cutting device (21) in each of the guide groove portions, The harvesting device according to claim 1.

6. The harvesting device according to claim 1, wherein the cutting member including each of the cutting devices is a vibration cutting member including a sonic cutting member or an ultrasonic cutting member.

7. The harvesting device according to claim 1, wherein the cutting member including each of the cutting devices is a rotary cutting member including a rotary knife.

8. The harvesting device according to claim 1, further comprising a sensor device, the sensor device being configured to detect the presence of horticultural crops adjacent to the plant passage and to detect the maturity and / or weight of the crops.

9. The receiving member, the guiding member, and / or the cutting member are rotatable about the longitudinal axis, the sensor device is configured to detect the position of one crop to be harvested, and to output a position sensor signal representing the position of the one crop, and the harvesting device is configured to rotate the receiving member with respect to the plant stem according to the position sensor signal. The harvesting device according to claim 8.

10. The harvesting device according to claim 1, further comprising a nozzle, the nozzle being attachable to a source of compressed air and configured to deliver a burst of compressed air in the receiving member to remove leaves from the receiving member.

11. A base, The harvesting device according to any one of claims 1 to 7 and 10, An actuator device configured to move the harvesting device relative to the base and to move the harvesting device relative to the plant stem along the longitudinal axis, A harvesting implement comprising.

12. A base, The harvesting device according to claim 8 or claim 9, An actuator device configured to move the harvesting device relative to the base and to move the harvesting device relative to the plant stem along the longitudinal axis, A control unit configured to control the movement of the harvesting device by the actuator device based on a sensor signal from the sensor device, A harvesting implement comprising.

13. A method of harvesting horticultural crops, auxiliary buds and leaves from a plant stem in greenhouse cultivation, - Surrounding at least partially the plant stem in the plant passage by a guiding member of the harvesting device, - moving the harvesting device along the plant stem along the longitudinal axis; - guiding, by the guiding member, the stalks, axillary buds, and / or petioles of the crops attached to the plant stem; - cutting, by the cutting member of the harvesting device, the stalks, the axillary buds, and / or the petioles and separating them from the plant stem; - collecting the crops separated from the plant stem in the receiving member of the harvesting device; including; optionally, further including the step of rotating the receiving member relative to the plant stem; Method.

14. The method according to claim 13, further comprising the step of detecting the position of one crop to be harvested and emitting a position sensor signal representing the position of the one crop, wherein the step of rotating the receiving member includes rotating the receiving member in response to the position sensor signal.

Images