公开(公告)号：EP1891852A1

公开(公告)日：2008-02-27

申请号：EP07115028.8

申请日：2007-08-27

申请人： Egatec A/S

发明人： Beiskjær, Peder Zoëga

IPC分类号： A01D46/30

CPC分类号： A01D46/30

摘要： The present invention is directed to a method for harvesting fruits and vegetables in particular fruits and vegetables in bunches or clusters such as truss tomatoes, grapes and the like. Furthermore, the invention is also directed to a collection vehicle (1) on which vehicle the implements for automatically carrying out the method are arranged.
The invention therefore provides a novel method for harvesting fruits or vegetables, in particular fruits or vegetables in bunches or clusters, such as truss tomatoes, grapes and the like where the method comprises the following steps :
a) placing a collection vehicle (1) adjacent a fruit bearing plant along a row of fruit bearing plants;
b) activating a vision system (40);
c) activating a first gripping means (5) arranged below a cutting station for gripping a fruit bearing stem (10);
d) activating a second gripping means (6) arranged above the cutting station;
e) adjusting the stem into a substantially vertical position, by moving the first and second gripping means in the horizontal plane;
f) simultaneously retracting the first and second gripping means towards the vehicle, whereby the stem enters a cutting station (20);
g) the second gripping means releases the stem (10);
h) if the vision system has been de-activated it is re-activated, and the cutting station is moved upwards until the vision system detects a side stem carrying a bunch of fruits;
i) cutter means in the cutting station are activated for cutting the side stem;
j) the cutter station is advanced upwards along the stem for cutting of non-fruit carrying stems;
k) the cutter station opens the vertical slit, and the gripping means releases the stem back to the stems position in the row;
l) the collection vehicle advances to the next fruit bearing plant.

摘要翻译： 本发明涉及一种用于收获水果和蔬菜，特别是水果和蔬菜的束或簇的方法，例如桁架番茄，葡萄等。 此外，本发明还涉及一种在其上布置有用于自动执行该方法的工具的车辆的收集车辆（1）。 因此，本发明提供了一种用于收获水果或蔬菜，特别是串或簇的水果或蔬菜的新颖方法，例如桁架番茄，葡萄等，其中该方法包括以下步骤：a）将收集车辆（1）放置在邻近 沿着一排水果植物的水果轴承植物; b）激活视觉系统（40）; c）激活布置在切割站下方的用于夹持果实轴承杆（10）的第一夹持装置（5）; d）启动布置在切割站上方的第二夹持装置（6）; e）通过在水平面中移动第一和第二夹持装置来将杆调节到基本垂直的位置; f）同时将第一和第二夹持装置朝向车辆缩回，由此杆进入切割站（20）; g）第二夹持装置释放杆（10）; h）如果视觉系统被激活，则其被重新激活，并且切割站向上移动直到视觉系统检测到携带一束水果的侧杆; i）切割站中的切割装置被激活以切割侧杆; j）切割台沿着茎向上推进以切割非水果携带茎; k）切割站打开垂直狭缝，并且夹持装置将杆释放回行中的杆位置; l）收集车辆前进到下一个水果轴承厂。

公开(公告)号：EP1992237A3

公开(公告)日：2009-01-14

申请号：EP08156181.3

申请日：2008-05-14

申请人： Egatec A/S

发明人： Pedersen, Jorge Odd

IPC分类号： A23N15/08 ,  B65G47/248 ,  B65G47/82

CPC分类号： A23N15/08

摘要： Method for turning non-round objects and in particular bulbs, berries, fruits, vegetables such as onions, beets and the like, wherein the objects are guided into an apparatus comprising a turning apparatus (1), where the turning apparatus (1) comprises a canal (2) having an inverted V- or U-shape, such that the objects (3) are placed inside the canal, and that means (4,5) are arranged superposed and above the canal, for pushing the objects (3) along the canal towards a delivery end (6), where said delivery end comprises a plate (8), such that as the objects are pushed along the canal, the objects (3) non-round shape will interact with the inner sides of the canal (2) and the means for pushing the objects along the canal, whereby the objects will be uniformly orientated, and that as the objects are pushed onto the plate the objects will have a well defined and precise position.

公开(公告)号：EP1992237A2

公开(公告)日：2008-11-19

申请号：EP08156181.3

申请日：2008-05-14

申请人： Egatec A/S

发明人： Pedersen, Jorge Odd

IPC分类号： A23N15/08 ,  B65G47/248 ,  B65G47/82

CPC分类号： A23N15/08

摘要： Method for turning non-round objects and in particular bulbs, berries, fruits, vegetables such as onions, beets and the like, wherein the objects are guided into an apparatus comprising a turning apparatus (1), where the turning apparatus (1) comprises a canal (2) having an inverted V- or U-shape, such that the objects (3) are placed inside the canal, and that means (4,5) are arranged superposed and above the canal, for pushing the objects (3) along the canal towards a delivery end (6), where said delivery end comprises a plate (8), such that as the objects are pushed along the canal, the objects (3) non-round shape will interact with the inner sides of the canal (2) and the means for pushing the objects along the canal, whereby the objects will be uniformly orientated, and that as the objects are pushed onto the plate the objects will have a well defined and precise position.

摘要翻译： 用于转动非圆形物体，特别是灯泡，浆果，水果，蔬菜如洋葱，甜菜等的方法，其中物体被引导到包括转动设备（1）的设备中，其中转动设备（1）包括 具有倒V形或U形的管道（2），使得物体（3）放置在管道内，并且该装置（4,5）被布置在管道上方并重叠以推动物体（3） ），其中所述输送端包括板（8），使得当所述物体沿着所述管道被推动时，所述物体（3）非圆形将与所述输送端（6）的内侧相互作用 运河（2）和用于沿着管道推动物体的装置，由此物体将被均匀地定向，并且当物体被推到板上时，物体将具有良好的定义和精确的位置。

公开(公告)号：EP1637483A1

公开(公告)日：2006-03-22

申请号：EP05020171.4

申请日：2005-09-15

申请人： Egatec A/S

发明人： Pedersen, Jorge Odd

IPC分类号： B65G47/24 ,  A23N15/08

CPC分类号： A23N15/08 ,  B65G47/24 ,  B65G47/82 ,  B65G2201/0211

摘要： Method for the orientation of non-round objects, where:

an object is placed in accommodating means provided in a tray (4);
which tray is moved from a first loading position into a superposed second position such that the means for accommodating the object is placed over a piston (3);
the piston (3) is activated, whereby the object is engaged and lifted from the trays (4) and pushed through a flexible conic frustum shaped member (2), where the object is passed inside the frustum, and that the frustum tapers upwards;
as the object has passed the frustum, means for transferring the object, for example in the shape of a suction cup, is provided such that the object is removed from the piston (3);
as the object is engaged by the piston (3), the tray (4) may be withdrawn to the first loading position
as the means (8) for transferring the object has engaged the object, the piston (3) may be retracted.

摘要翻译： 用于非圆形物体的取向的方法，其中：将物体放置在设置在托盘（4）中的容纳装置中; 所述托盘从第一装载位置移动到重叠的第二位置，使得用于容纳物体的装置放置在活塞（3）上方; 活塞（3）被启动，由此物体从托盘（4）接合和提升并被推动通过柔性锥形截头锥形构件（2），其中物体通过平截头体内，并且截头锥体向上变浅; 当物体已经通过截锥体时，提供用于传送物体的装置，例如吸盘的形状，使得物体从活塞（3）移除; 当物体被活塞（3）接合时，当用于传送物体的装置（8）已经接合物体时，托盘（4）可以被拉出到第一装载位置，活塞（3）可以缩回。