Crop harvesting systems and methods

Abstract

: In one aspect the invention provides a picking cup with a pair of opposed movable jaws defining at least one cutting edge, both jaws defining at least one side wall which in combination form a cup when the jaws are closed. The picking cup also includes an attitude drive assembly engaged with the pair of opposed jaws and configured to change the angle of attack of the jaws to the direction of travel of a carrier vehicle. In another aspect the invention provides a harvesting module configured to be transported through a growing area by a carrier vehicle, the harvesting module including a harvest head, and a planar motion drive assembly arranged to translate the harvest head in a plane parallel to the direction of travel of the carrier vehicle.

Description

[0001] CROP HARVESTING SYSTEMS AND METHODS

[0002] Field of the Invention

[0003] This invention relates to improvements to crop harvesting systems and methods of harvesting crops using these improvements. In various preferred embodiments the invention may find particular utility in the harvesting of crops planted in parallel rows spaced laterally apart from one another.

[0004] Background of the Invention

[0005] The cultivation of crops as food sources is widespread and essential for the operation of modern societies. Industrialisation has seen a move towards mechanisation slowly reducing the labour inputs required to raise cops, allowing smaller numbers of people to produce the same or greater crop yields. Mechanisation can result in lower production costs and lower costs to produce consumers.

[0006] The harvesting of crops presents its own challenges in terms of automated or mechanised assemblies. Individual food producing plants can mature and be ready for harvest at different times, resulting in a random distribution of plants growing in a field being available for harvest at one time.

[0007] For example, some crops are planted in large arrays are parallel rows with lateral access spaces provided between rows. Ground harvested crops such as brassicas or asparagus can exhibit a semi-random planting distribution across the width of the row, while fruit trees exhibit a random distribution of fruits amongst their branches. Skilled workers are required to identify the position of produce to be packed and also assess the ripeness of produce before making a decision to pick.

[0008] Weather conditions can also require an entire crop to be harvested promptly when optimally ripe, dry or to avoid expected adverse climatic events. The speed at which a crop can be harvested is therefore of particular importance to growers, and those using manual labour must compete with others in the same region for a restricted pool of skilled workers.

[0009] Prior art attempts have been made to automate crop harvesting processes, combining electromagnetic sensors with machine intelligence systems and an articulated manipulator arm deploying a picking head. Commonly optical sensors are used to provide data indicating the spatial position and ripeness of various produce articles, with the manipulator arm being moved to position the picking head in contact with the selected produce. A cutting or grasping operation is completed depending on the form of picking head used and the manipulator arm is used to move and deposit the picked produce into a central collection bin or container. A representative example of such a prior art attempt at providing a harvesting assembly is disclosed in published US patent application US2022007582.

[0010] However such systems struggle to operate at the speeds required to harvest entire fields of crops at a useful rate.

[0011] Although articulated manipulator arms are capable of harvesting produce having a relatively random spatial distribution, they are relatively slow to operate, requiring the various joints of the arm to be actuated to position a picking head adjacent to produce. This motion must then be reversed to deploy the picking head adjacent to a collection bin. This requires a vehicle used to transport the harvesting assembly through a crop to move very slowly, ensuring the manipulator arm has enough time to complete its manoeuvres to pick all available ripe produce.

[0012] Attempts to speed up harvesting time using such prior art systems can also focus on deploying multiple manipulator arms and picking heads on the same vehicle and adjacent to one another. This approach however causes its own problems as the freedom of movement available to each manipulator arm makes it possible for adjacent arms to collide with one another when harvesting produce.

[0013] It would be of advantage to have improvements in the field of automated crop harvesting assemblies and automated methods of crop harvesting which address any or all of the above issues or at least provided that the public with an alternative choice. Improvements which minimised the need for manual labour and which could harvest crops effectively and rapidly would be of advantage. It would also be of advantage to have improvements over the prior art which provided flexibility in the configuration or arrangement of the harvesting equipment to allow for the ready substitution of harvesting machinery components. Improvements which provided an automated crop harvesting which could be constructed and operated cost effectively and which could compete economically with human labour costs would also be of advantage.

[0014] Disclosure of the Invention

[0015] According to one aspect of the present invention there is provided a harvesting module configured to be transported through a growing area by a carrier vehicle, the harvesting module including a harvest head, and a planar motion drive assembly arranged to translate the harvest head in a plane parallel to the direction of travel of the carrier vehicle.

[0016] According to a further aspect of the present invention there is provided a crop harvesting module substantially as described above which includes at least one sensor configured to provide data related to a region of the growing area in proximity to the crop harvesting module, and a control assembly configured to receive the data provided by the sensor or sensors and being programmed to issue control signals to the planar motion drive assembly.

[0017] According to another aspect of the present invention there is provided a crop harvesting assembly arranged to be transported through a growing area by a carrier vehicle, the assembly including at least one harvesting module which includes a harvest head and a planar motion drive assembly arranged to translate the harvest head in a plane parallel to the direction of travel of the carrier vehicle, at least one lateral action bay configured to receive a harvesting module and to supply at least one utility service to the received harvesting module, a collection structure arranged to receive crop material supplied by the harvest head of a harvest module engaged with an action bay.

[0018] According to another aspect of the present invention there is provided a crop harvesting assembly substantially as described above which includes an array of lateral action bays extending perpendicular to the direction of travel of the carrier vehicle.

[0019] According to a further aspect of the present invention there is provided a picking cup arranged to be transported through a growing area by a carrier vehicle, the picking cup including a pair of opposed jaws movable towards and away from one another to exhibit an open configuration and a closed configuration, one or both of the jaws defining at least one cutting edge arranged to contact and cut crop material to be harvested as the picking cup jaws move from the open configuration to the closed configuration, both jaws defining at least one side wall which in combination form a cup arranged to support and partially enclose cut harvest materials when the jaws are in the closed configuration, and an attitude drive assembly engaged with the pair of opposed jaws and configured to change the angle of attack of the jaws to the direction of travel of a carrier vehicle. The present invention is adapted to provide improvements in relation to crop harvesting systems and can also facilitating a method of harvesting crops using these improvements. In particular, these improvements can include a picking cup arranged to support and partially enclose cut harvest materials, a crop harvesting module integrating a harvest head engaged with a planar motion drive assembly, and a crop harvesting assembly defining at least one lateral action bay configured to receive a harvesting module. In various embodiments each of these aspects of the invention may be provided separately or in combination with one another.

[0020] Those skilled in the art will appreciate that various embodiments of the invention may be configured to harvest a wide variety of crops. The invention may be used to harvest crops such as fruit, vegetables, berries, legumes, nuts and so forth. Reference in general throughout this specification will however be made to the invention being used to harvest freestanding vegetable crops such as brassicas growing in and projecting from the soil of a growing area. Again those skilled in the art will appreciate that the invention may be used to harvest other types of produce and reference to the harvesting of brassica crops should in no way be seen as limiting.

[0021] In various embodiments elements of the invention may be supported and conveyed over the surface of a growing area by a carrier vehicle. This carrier vehicle can be used to traverse the growing area containing the crop to be harvested, moving the invention over cropping plants.

[0022] In some embodiments a carrier vehicle may be provided as a standalone independent vehicle engaged with a separate harvesting assembly. However in other embodiments the invention may have a self-propelled character, integrating the form of the carrier vehicle required into its construction.

[0023] Reference throughout this specification will however be made to the invention being deployed on and moved by a separate carrier vehicle. Those skilled in the art will appreciate that other arrangements the invention are also within its scope.

[0024] In various preferred embodiments the invention may be used with crops planted in a sequence of separate parallel rows within a growing area. The spacing provided between rows allows a carrier vehicle to make multiple passes through the growing area, passing the harvesting apparatus over the top of the rows of the crop to be harvested. As indicated previously one aspect of the invention provides a picking cup arranged to be transported through a growing area. This picking cup is defined by a pair of opposed jaws which can be moved towards and away from one another. When moved towards and into contact with each other these jaws are placed in a closed configuration. When the jaws are moved away from each other and out of contact they are placed in an open configuration.

[0025] In various embodiments a cutting drive may be associated with each picking cup. This cutting drive is used to control the motion of the jaws towards and away from each other, and therefore whether the picking cup has an open or closed configuration. Preferably the individual jaws defined for the picking cup can be engaged together by a common pivot connector or axle, with the cutting drive being used to pivot the opposed jaws open and closed. In a range of embodiments this cutting drive may be implemented in combination with the attitude drive, with the attitude drive being used to control the angle of attack, relative orientation or positioning of each opposed jaw relative to the other jaw as discussed further below.

[0026] Preferably one or both of the opposed set of jaws define at least one cutting edge to cut produce when the jaws move from open to a closed configurations. In various embodiments a single cutting edge may be provided on one jaw to contact with a complimentary bearing surface on the opposite jaw. In other embodiments a scissor type assembly may be provided with each jaw defining a cutting edge which are aligned together and act in a complimentary manner to cut produce. In yet other embodiments a single jaw may include two or more cutting-edges where the orientation of the picking cup relative to the direction of travel of the carrier vehicle will determine which edge is used to cut the produce being picked.

[0027] The jaws of the picking cup each define at least one side wall which in combination form a cup when the jaws are placed in the closed configuration. This cup will therefore at least partially enclosed cut produce and can be used to support and secure cut produce when severed from an original growing plant.

[0028] In a preferred embodiment each jaw of the picking cup may include an array of flat sheet sidewalls connected together and extending from the cutting edge or edges provided for each jaw. This array of sidewalls may provide a cup with a substantially rectangular or square shape and define an open face so that the cup only partially encloses the produce that it harvests.

[0029] Those skilled in the art will appreciate that other shapes or dimensions of sidewalls may also be provided in other embodiments. For example in one alternative form a single curved side wall may be provided with each jaw to define a hemispherical cup with a single open top or side face.

[0030] In preferred embodiments the invention may include an attitude drive arranged to adjust the angle of attack of the cup to the direction of travel of the associated carrier vehicle. This attitude drive can be used to angle the cup through a lateral arc, allowing for the harvesting of produce in front of, to the right and to the left of the harvesting assembly as it traverses a row of the growing area. The attitude drive therefore increases the overall span of a row which may be harvested by a single harvesting module.

[0031] In various embodiments the attitude drive may be arranged to adjust the angle of attack, relative orientation or positioning of each opposed jaw relative to the other jaw. In such embodiments the attitude drive may be used to control either or both of the angle made by one jaw relative to its opposite and / or the angle the jaw makes to the direction of travel experienced by the cup.

[0032] In preferred embodiments the attitude drive and / or any cutting drive used may be located at a greater height above the growing area than the pair of opposed jaws. In such embodiments this arrangement minimises the chances of these components impacting plants in the growing area during harvesting operations.

[0033] In one preferred embodiment the attitude drive may include a pair of rotatable drive shafts linked to a crank arms which in turn have pivotal connections to a tie rod engaged with each jaw. These drive shafts may therefore be rotated clockwise or anticlockwise independently of each other to change the angle of attack of the jaws and the cup they form. This angle can be adjusted depending on the location of produce approaching the assembly and whether the produce is to the left, right or to the centre of the mounting frame and adjacent collection structure.

[0034] In a further preferred embodiment this form of attitude drive may be implemented in combination with the cutting drive used to provide the opening and closing motion to the pair of jaws. Preferable the attitude drive may provide each jaw of the picking cup with an independently controlled rotational degree of freedom. In such embodiments the attitude drive can specify and separately control the angle of the arc of travel each jaw moves through in a cutting operation to place the cup in a closed configuration, with each jaw moving potentially moving through a different angle depending on whether the jaw is to close with a right, left, or central orientation. For example and an instance where an article of produce is positioned to the right of the jaws, the attitude drive can ensure that the cutting drive operates to move the right side jaw through a small arc and the left side jaw through a large arc, with both jaws contacting the produce at approximately the same time.

[0035] In a variety of embodiments a picking cup may also include an orientation drive used to determine the orientation of an open face or side formed in the picking cup. For example in one embodiment the cup orientation drive may facilitate a further 90° rotation of the cup to change the position of an open face of the cup. A cup which initially defines an upward facing open top may be rotated by further 90° to present an open front side face to the direction of travel of the carrier vehicle.

[0036] In one preferred embodiment the cup orientation drive may be implemented through mounting the picking cup on a horizontally orientated axle. A drive motor can then be deployed to rotate this axle and therefore change the orientation of the picking cup as desired.

[0037] As indicated above, one aspect of the invention provides a harvesting module configured to be transported through a growing area by a carrier vehicle. This harvesting module can integrate a harvest head and a planar motion drive assembly arranged to translate the harvest head in a plane perpendicular to the direction of travel of the carrier vehicle.

[0038] A harvest head provided with a harvesting module is configured to be moved by the planar motion drive to harvest produce present in a growing area being traversed. The form and arrangement of the harvest head provided may vary depending on the particular applications in which the harvesting module is to be used and the form of the crop to be harvested. For example, in some embodiments the harvest head may be formed from a scoop or bucket with a lower edge used to sever articles of produce and deliver them to the middle of the bucket. In other embodiments a harvest head may alternatively be formed by a pair of opposed jaws pivoted together to close around and harvest produce.

[0039] In a preferred embodiment a harvest head integrated into a harvesting module may be formed by a picking cup provided by a further aspect of the invention and as substantially described above. This type of harvest head can work effectively with a planar motion drive, with the attitude drive assembly it integrates maximising the lateral span over which the picking cup can harvest produce.

[0040] Reference in general throughout this specification will also be made to a harvest module including a harvest head formed by a picking cup substantially as described above. Those skilled in the art will however appreciate that other forms of harvest head may also be used with a harvesting module in additional embodiments. Preferably the harvesting module may have an axial configuration, allowing it to be orientated in the direction of travel of the carrier vehicle as it moves along the rows of the growing area. This axial configuration may be implemented through the use of components which limit the width of the module and orientate these components with a substantially longitudinal arrangement.

[0041] A planar motion drive assembly ensures that the motion of the harvesting module's harvest head is restricted to a volume which limits lateral movement of the head. This arrangement ensures that harvesting modules can be located adjacent and close to each other in a lateral array, preferably extending across the width of a growing area row without the risk of harvest heads colliding with each other during use.

[0042] In various preferred embodiments the planar motion drive assembly may be located at a greater height above the growing area than the harvest head. In these arrangements the chances of impacts with plants in the growing area are minimised.

[0043] In some embodiments a planar motion drive assembly may define a longitudinal guide over which a carriage is arranged to move, with a harvest head mounted to this carriage therefore moving forwards and backwards in the direction of travel of the harvesting module.

[0044] In some embodiments a planar motion drive assembly may define a vertical guide over which a carriage is arranged to move, with a harvest head mounted to this carriage therefore moving up and down perpendicular to the direction of travel of the harvesting module.

[0045] In some embodiments a planar motion drive assembly may include a pivot arm used to mount a harvest head to a carriage which moves forwards and backwards along a longitudinal guide. In such embodiments this pivot arm can move the harvest head through an with both a vertical and horizontal component, while also allowing the harvest head to the dropped into position adjacent to produce to be harvested, preferably without impacting on any other adjacent produce.

[0046] Those skilled in the art will appreciate that a wide variety of systems and mechanisms may be used to implement a planar motion drive assembly in accordance with the invention, and referenced the above example embodiments should in no way be seen as limiting. In a preferred embodiment the harvesting module includes at least one sensor which is arranged provide data relating to a region of the growing area in proximity to the assembly. The data provided by this sensor or sensors may - for example - be used to identify the presence of produce to be harvested, the location of this produce in three-dimensional co-ordinates, and / or the ripeness and availability for harvest of the identified produce.

[0047] In further preferred embodiments the harvesting module may include an optical sensor such as a visible light camera. Cameras can be used to capture video data of the growing area immediately in front of the harvesting module as it traverses the growing area.

[0048] Reference throughout this specification will also be made to the harvesting module including cameras as sensors used to identify, assess and / or locate produce to be harvested. Those skilled in the art will however appreciate that other types of sensor technologies may also be utilised in this role, and reference the use of optical cameras should in no way be seen as limiting.

[0049] In various preferred embodiments the harvesting module may also include a control assembly which receives sensor data and which issues control instructions to other components. In various embodiments these controls instructions may be provided to the planar motion drive assembly to position the module's harvest head adjacent to produce to be harvested.

[0050] Furthermore in various additional embodiments where the module integrates a picking cup to form a harvest head the control assembly may issue any one or more of the following control instructions to, for example:

[0051] • activate the planar motion drive assembly to position the picking cup adjacent to elements of the crop to be harvested,

[0052] • operate an attitude drive to change the lateral angle of attack of the picking cup to intersect with produce which the assembly is about move past,

[0053] • operate a cutting drive to close the jaws and harvest produce, and to subsequently open the jaws again to reset the assembly ready for a new harvesting operation,

[0054] • operate a cup orientation drive to the change the direction which an open face of the cup is presented or to unload picked produce from the picking cup into the collection structure.

[0055] Reference throughout this specification will be made in general to the control assembly including or incorporating at least one processor. Those skilled in the art will appreciate well known forms of computer and information technology may be used to implement this control assembly, it through a single processor, programmable logic controller, and / or distributed network of processors.

[0056] As indicated previously another aspect of the invention provides a harvesting assembly defining at least one lateral action bay. This lateral action bay is configured to receive a harvesting module substantially as described above.

[0057] In various embodiments a harvesting assembly provided in accordance with the invention can include a mounting frame. This frame can be used to engage the assembly with the carrier vehicle while defining one or more lateral action bays. A lateral action bay can secure a harvesting module to the harvesting assembly, allowing the module to be transported through a growing area by a carrier vehicle transporting the harvesting assembly. In various preferred embodiments the mounting frame may define a cavity or void in the structure of the mounting frame which is able to receive a harvesting module and position this module in proximity to the produce of a growing area.

[0058] In further preferred embodiments the mounting frame of a harvest assembly may define an array of lateral action bays extending perpendicular to the direction of travel of the carrier vehicle. Harvesting modules can then be added or removed from this array of lateral action base as required depending on the width of growing rows defined within a growing area. Furthermore in some instances this array of action bays may extend across multiple rows defined within a growing area and allow harvesting modules to be positioned only in bays which move over these rows.

[0059] In a preferred embodiment a lateral action bay may provide or engage with at least one module connector used to removably connect a harvesting module to the assembly's mounting frame. In such embodiments this module connector or connectors can allow a module to be swapped in and out of the harvesting assembly on demand by a user. For example, malfunctioning harvesting modules can be replaced easily using such connectors, or the number of modules deployed by the assembly can be increased or decreased as required based on the width of a produce row defined in a growing area.

[0060] In some embodiments a module connector may be implemented through the use of a nut and bolt threaded through complimentary apertures defined in the assembly's mounting frame and a portion of a harvesting module. In this embodiment harvesting modules can be bolted on to the assembly or unbolted from the assembly as required. In other embodiments a module connector may be provided by a two part sleeve configured to surround a transverse beam defined by the mounting frame at or near one end of a lateral action bay. This sleeve connector can be secured in place on the transverse beam by the parts of the sleeve being pulled together and into contact with the beam with nuts and bolts or other similar fixing systems. In such embodiments the lateral position of a module within an action bay can be easily adjusted by sliding this sleeve to a desired position on the transverse beam.

[0061] In a preferred embodiment a lateral action bay may include at least one utility service assembly which can be removably engaged with a harvesting module located within the bay. In such embodiments the harvesting assembly may - for example - supply pressurised hydraulic fluid, pressurised gas, and / or electrical current to a harvesting module. Various supply conduits and associated support elements well known in the art can be used to implement such utility service assemblies as will be appreciated by those skilled in the art.

[0062] Reference throughout this specification has been made to a lateral action bay and associated utility service assembly providing electrical current only. Again those skilled in the art will appreciate that other types of utility services may also be supplied by a lateral action bay in other embodiments.

[0063] A crop harvesting assembly provided in accordance with the invention can also include a collection structure, preferably engaged with the mounting frame. This collection structure is arranged receive picked produce supplied by a harvesting module.

[0064] In one preferred embodiment a collection structure may be formed by an endless loop conveyor belt, preferably being provided with a pair of bracketing side walls or guides. This conveyor belt may be used to transport harvested produce away from a supplying harvesting module and to a bulk collection container, preferably carried or supported by the carrier vehicle. In such embodiments this distal bulk collection container may also be arranged to receive produce from two or more harvesting assemblies.

[0065] The present invention may provide many potential advantages over the prior art

[0066] In various preferred embodiments a harvesting module may be provided with an axial form, limiting the lateral extent of the module as it traverses a current growing area and a growing row in particular. This arrangement allows multiple harvesting modules to be deployed across the width of at least a portion of a growing area while limiting the risk of collisions between the moving parts of each module. In this way a relatively large number of harvesting modules can be deployed at the same time to work over a single growing row or region of the growing area, substantially improving the speed at which crops can be harvested.

[0067] In a number of embodiments the invention can provide harvesting modules which can be readily interchanged with one another as well as being added or removed from the action bays of receiving harvesting assembly. This aspect of the invention allows for variation in the span or extent of a growing area traversed in a single pass of a harvesting assembly, allowing the number of modules deployed to span the width of particular growing row. This modularity can also allow effectively identical modules to be removed and replaced for repairs and maintenance without impacting on harvesting operations.

[0068] Brief description of the drawings

[0069] Additional and further aspects of the present invention will be apparent to the reader from the following description of embodiments, given in by way of example only, with reference to the accompanying drawings in which :

[0070] • Figures 1 shows a perspective view of a picking cup provided in one aspect and embodiment of the invention.

[0071] • Figures 2a and 2b show top and underside views of the picking cup shown with respect to figure 1.

[0072] • Figures 3a and 3b illustrate the action of an attitude drive assembly integrated into the picking cup of figures 1, 2a and 2b.

[0073] • Figure 4 shows a perspective view of a harvesting module provided in a further aspect and embodiment of the invention.

[0074] • Figure 5 shows a side view of the harvesting module illustrated with respect to the embodiment of figure 4.

[0075] • Figure 6 illustrates the positioning of the harvest head of the harvesting module of figures 4 and 5 during a harvesting action.

[0076] • Figure 7 illustrates the harvesting module of figures 4 to 6 when engaged with elements of a crop harvesting assembly provided in a further aspect and embodiment of the invention.

[0077] • Figure 8 illustrates two harvesting modules engaged with the elements of the crop harvesting assembly shown with respect to figure 7.

[0078] • Figure 9 shows front views of portions of crop harvesting assemblies engaged with two and three adjacent harvesting modules respectively.

[0079] • Figures 10 provides a perspective view of an array of six harvesting modules deployed across three growing rows by a crop harvesting assembly. Further aspects of the invention will become apparent from the following description of the invention which is given by way of example only of particular embodiments.

[0080] Best modes for carrying out the invention

[0081] Figure 1 shows a perspective view of a picking cup 1 provided in one aspect and embodiment of the invention. Figures 2a and 2b show top and underside views of the picking cup 1 shown with respect to figure 1.

[0082] As can be seen from these figures the picking cup includes a pair of opposed jaws 2 which are movable towards and away from one another through a pivotal connection to a common central jaw axle 3. These figures illustrate the pair of jaws oriented in an open configuration. In the embodiment shown the leading or forward edge of each jaw defines a cutting edge 4 which is used to contact and cut crop material when the jaws are closed.

[0083] Figure 1 also illustrates how each jaw defines a series of side walls 5 which form an open cup or enclosure when the jaws are closed together. The side walls and the cup they form are used to support and partially enclose any produce harvested by the closing of the jaws.

[0084] Figures 2a and 2b illustrate components of a cutting drive and attitude drive assembly 6 used to both drive the opening and closing motion of the jaws and to adjust the angle of attack of the jaws. These components can adjust both the overall orientation of the cup relative it's the direction of travel and the arc of travel undertaken independently by each jaw from cup open to closed positions - thereby controlling the angle each jaw makes relative to its opposite. The action of this attitude drive assembly is also shown in further detail with respect to figures 3a and 3b. In the embodiment shown the cutting drive includes a pair of motor driven shafts 7 each engaged with a crank linkage 8. A tie rod 9 is connected to the end of each crank linkage 8 and to each jaw 2. Rotation of each of the shafts will applied a torque to each respective jaw to undertake opening and closing operations. The degree of rotation of each shaft is controlled separately for each jaw to set the angle of the attack of the jaws as they move through a cutting operation.

[0085] Figures 3a and 3b illustrate the action of an attitude drive assembly integrated into the picking cup of figures 1, 2a and 2b. These images show the progression of the picking cup 1 in a direction of travel from the right to left of the page during a harvesting process for broccoli heads 10. Figure 3a shows the initial position of the cutting cup with the jaws in the open configuration. As the cutting cup moves towards the nearest broccoli head the attitude drive assembly works in combination with the cutting drive to individually control the pivoting motion of each jaw moving through to the closed position. Figure 3b illustrates the jaws when almost closed and as the cutting edge of each jaw begins to sever the stem of the broccoli head.

[0086] As can be seen from figure 3b the attitude drive assembly limits the degree of rotation of the right hand jaw to a relatively small arc when compared to the large arc of rotation of the left hand jaw. This changes the angle of attack of the closed jaw to project to the right of the direction of travel.

[0087] Figure 4 shows a perspective view of a harvesting module 11 provided in a further aspect and embodiment of the invention. In the embodiment shown the harvesting module 11 is configured to be transported to a growing area by carrier vehicle (not shown). The module incorporates a harvest head 12 implemented using the picking cup shown with respect to figures 1 through 3.

[0088] The picking cup harvest head 12 is engaged with a planar motion drive assembly 13 which can move the head through a plane of motion which is orientated perpendicular to the direction of travel of the carrier vehicle.

[0089] In the embodiment shown the planar motion drive assembly is formed from a longitudinal guide rail 14 engaged with a carriage 15 able to move up and down this rail along the direction of travel of the module. This carriage 15 is connected to a pivot arm 16 deployed below the carriage and connected to the harvest head 12. The motion of the pivot arm 16 allows a harvest head to be raised and lowered as required to harvest individual broccoli stems.

[0090] As can be seen from figure 4 the construction and arrangement of both the harvest head and planar motion drive provides the module with an axial configuration, allowing it to be rotated in the direction of travel of an associated carrier vehicle.

[0091] The module also includes an optical camera sensor 17 which is configured to send image data to a control assembly 18, formed in this embodiment by a microprocessor and associated supporting electronics. The camera sensor 17 provides images of the crop to be harvested immediately above and in front of the module 11 as it is moved forward by the carrier vehicle. These images are used by the control assembly to control the operation of both the planar motion drive assembly 13 and the harvest head 12. The module includes a pair of utility service supply ports 19 which allow for the supply of electrical energy to operate the module, and the provision of programming instructions if required for the control assembly 18.

[0092] Figure 5 shows a side view of the harvesting module illustrated with respect to the embodiment of figure 4, while figure 6 illustrates the positioning of the harvest head during a harvesting action. These figures illustrate how the pivot arm 16 of the planar motion drive assembly 13 can be used to drop the harvest head 12 into close contact with a specific broccoli head 20 to be harvested. As can be seen from figure 6 in particular the jaws of the harvest head extend below the end of the pivot arm, allowing one broccoli head 20a to be harvested without impacting adjacent and potentially unripe broccoli heads 20b.

[0093] Figure 7 illustrates the harvesting module 11 of figures 4 to 6 when engaged with elements of a crop harvesting assembly 21 provided in a further aspect and embodiment of the invention. In the embodiment shown the crop harvesting assembly defines a lateral action bay 22 formed from the longitudinal 23 and transverse beams 24 of a mounting frame. This mounting frame defines a void or cavity which can receive one or potentially more harvesting modules, as illustrated in further detail with respect to figures 8 through 10.

[0094] Figure 7 also provides an exploded view of a pair of module connectors 25 used to removably connect the module 11 to the transverse beam 24 of the mounting frame. In the embodiment shown these module connectors are formed by two-part sleeve elements which are bolted together to surround a selected point or position on the leading and trailing transverse beams.

[0095] Figure 8 illustrates two harvesting modules engaged with the elements of the crop harvesting assembly shown with respect to figure 7. As can be seen from this figure the single action bay shown is used to accommodate two harvesting modules positioned side-by-side and extending across the width of the bay. The specific position of each module can be set to correspond with the plant row spacing used for a crop to be harvested.

[0096] Figure 9 shows front views of portions of crop harvesting assemblies engaged with two and three adjacent harvesting modules 11 respectively. As can be seen from this figure two different plant spacing distances are illustrated for broccoli heads 20 to be harvested. This figure illustrates the ability of a single action bay to locate different numbers of harvesting modules depending on the planting density of a crop to be harvested. Figures 10 provide a perspective view of an array of six harvesting modules deployed across three growing rows by a crop harvesting assembly 21. As again can be seen from figure 10 a single action bay can be used to locate a lateral array of harvesting modules spanning three separate growing rows of a growing area. Figure 10 also shows the provision of a collection structure 26 in the harvesting assembly provided. In the embodiment shown this collection structure is formed by a conveyer belt positioned in front of and at the leading end of the action bay. This positioning allows each of the harvesting modules to deposit the crop materials they harvest on to the collection structure for delivery to a separate remote receiving container (not shown).

[0097] In the preceding description and the following claims the word "comprise" or equivalent variations thereof is used in an inclusive sense to specify the presence of the stated feature or features. This term does not preclude the presence or addition of further features in various embodiments.

[0098] It is to be understood that the present invention is not limited to the embodiments described herein and further and additional embodiments within the spirit and scope of the invention will be apparent to the skilled reader from the examples illustrated with reference to the drawings. In particular, the invention may reside in any combination of features described herein, or may reside in alternative embodiments or combinations of these features with known equivalents to given features. Modifications and variations of the example embodiments of the invention discussed above will be apparent to those skilled in the art and may be made without departure of the scope of the invention as defined in the appended claims.

Claims

What we claim is:

1. A picking cup arranged to be transported through a growing area by a carrier vehicle, the picking cup including a pair of opposed jaws movable towards and away from one another to exhibit an open configuration and a closed configuration, one or both of the jaws defining at least one cutting edge arranged to contact and cut crop material to be harvested as the picking cup jaws move from the open configuration to the closed configuration, both jaws defining at least one side wall which in combination form a cup arranged to support and partially enclose cut harvest materials when the jaws are in the closed configuration, and an attitude drive assembly engaged with the pair of opposed jaws and configured to change the angle of attack of the jaws to the direction of travel of a carrier vehicle.

2. The picking cup of claim 1 wherein the jaws include a cutting drive and are engaged together by a common pivot axle.

3. The picking cup of claim 1 wherein each jaw includes an array of flat sheet sidewalls connected together and extending from the at least one cutting edge to define a cup with an open face.

4. The picking cup of claim 1 wherein the attitude drive assembly is located at a greater height above the growing area than the pair of opposed jaws.

5. The picking cup of claim 1 which includes an attitude drive arranged to separately control the arc of travel each jaw is moved through to place the picking cup in the closed configuration.

6. The picking cup of claim 5 wherein the attitude drive provides each jaw of the picking cup with an independently controlled rotational degree of freedom.

7. The picking cup of claim 1 wherein the attitude drive includes a pair of rotatable drive shafts linked to a crank arms with pivotal connections to a tie rod engaged with each jaw.

8. The picking cup of claim 3 which includes an orientation drive used to determine the orientation of an open face of the picking cup.

9. The picking cup of claim 7 which includes an orientation drive formed from a horizontally orientated axle and a drive motor configured to rotate the axle when the picking cup is mounted on the axle.

10. A harvesting module configured to be transported through a growing area by a carrier vehicle, the harvesting module including a harvest head, and a planar motion drive assembly arranged to translate the harvest head in a plane parallel to the direction of travel of the carrier vehicle.

11. The harvesting module of claim 10 which includes a harvest head formed by the picking cup of claim 1.

12. The harvesting module of claim 10 which includes at least one sensor configured to provide data related to a region of the growing area in proximity to the crop harvesting module, and a control assembly configured to receive the data provided by the sensor or sensors and being programmed to issue control signals to the planar motion drive assembly.

13. The harvesting module of claim 10 wherein the planar motion drive assembly is located at a greater height above the growing area than the harvest head.

14. The harvesting module of claim 10 wherein the planar motion drive assembly defines a longitudinal guide over which a carriage is arranged to move, with a harvest head mounted to this carriage moving forwards and backwards in the direction of travel of the harvesting module.

15. The harvesting module of claim 10 which a planar motion drive assembly includes a vertical guide over which a carriage is arranged to move, with a harvest head mounted to this carriage moving up and down perpendicular to the direction of travel of the harvesting module.

16. The harvesting module of claim 10 which a planar motion drive assembly includes a pivot arm used to mount a harvest head to a carriage which moves forwards and backwards along a longitudinal guide.

17. The harvesting module of claim 12 wherein the harvesting module includes an optical sensor.

18. The harvesting module of claim 12 wherein control instructions are issued by the control assembly to the planar motion drive assembly to position the harvest head adjacent to produce to be harvested.

19. The harvesting module of claim 11 and claim 12 wherein control instructions are issued by the control assembly to execute any one or combination of operating a picking cup attitude drive, or operating a picking cup cutting drive, or operate a picking cup orientation drive.

20. A crop harvesting assembly arranged to be transported through a growing area by a carrier vehicle, the assembly including at least one harvesting module as claimed in claim 10, at least one lateral action bay configured to receive the harvesting module and to supply at least one utility service to the received harvesting module, a collection structure arranged to receive crop material supplied by the harvest head of a harvest module engaged with an action bay.

21. The crop harvesting assembly as claimed in claim 20 which includes an array of lateral action bays extending perpendicular to the direction of travel of the carrier vehicle.

22. The crop harvesting assembly as claimed in claim 20 which includes at least one utility service assembly configured to supply pressurised hydraulic fluid, pressurised gas, and / or electrical current to a harvesting module.

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