Classifications

• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
  • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
  • A01G9/14—Greenhouses
  • A01G9/143—Equipment for handling produce in greenhouses
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
  • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
  • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
  • Y02A40/25—Greenhouse technology, e.g. cooling systems therefor

Definitions

• the present invention relates to an apparatus for transferring plants from a loading structure to a receiving structure.
• the use is known of apparatus for automatically transferring plants, in particular those rooted in plugs, from loading structures and receiving structures of said plants, for example between different containers for transporting plants, such as boxes with cells, individual pots or pots in pot holders.
• Transplanting apparatus of known type do not generally allow modification of the plant handling cycle in real time, for example on the basis of the type and/or vegetative state of the plants and/or of the dimensions of the cells destined to receive these plants.
• transplanting apparatus of known type offer relatively modest performances in relation to the speed with which plant transfer operations are carried out.
• Transplanting apparatus currently available are often combined with one another for transferring and simultaneously assessing the vegetative state of the plants, with solutions that offer, in general, low precision in the handling the plants and poor performance in their selection process.
• transplant apparatus of known type often have structures that are relatively complex and expensive to produce on an industrial scale.
• the main aim of the present invention is to provide an apparatus for transferring plants from a loading structure to a receiving structure which enables the aforesaid drawbacks to be overcome.
• an object of the present invention is to provide an apparatus that has high flexibility of use.
• a further object of the present invention is to provide an apparatus capable of offering relatively high performances with regard to speed and precision in the handling of plants.
• a further object of the present invention is to provide an apparatus that is easy to produce on an industrial scale and to install in operation, with relatively limited costs.
• the apparatus according to the invention has an operating configuration that is easily modifiable on the field, with simple adjustment operations.
• the plant handling cycle, carried out by the apparatus according to the invention can be easily modified according to requirements.
• the apparatus according to the invention offers high flexibility of use that makes it easily adaptable to process requirements.
• the apparatus according to the invention enables plants to be handled with relatively high speeds, it has a relatively simple overall structure with limited weights and dimensions, and is easy to install in the field.
• the apparatus according to the invention is relatively simple and inexpensive to produce on an industrial scale.
• FIG. 1-4 schematically show some views of the apparatus according to the invention
• Fig. 5 schematically shows some views of a conveyor cell for plants used in the apparatus according to the invention
• FIG. 6-8 schematically show some details of an operating station of the apparatus according to the invention.
• FIG. 9 schematically show some details of another operating station of the apparatus according to the invention.
• Figs. 10-1 1 schematically show some details of another operating station of the apparatus according to the invention.
• Fig. 12 schematically shows a control unit of the apparatus according to the invention.
• the present invention relates to an apparatus 1 for the transfer of plants 100 from a loading structure 2 to a receiving structure 3.
• the plants 100 can be of any type, for example plants rooted in plugs.
• the loading structure 2 can be constituted by a container in which the plants 100 have been previously contained, for example a tray with multiple parallel rows of cells adapted to contain the aforesaid plants (Fig. 1), said cells which can have any shape, size and arrangement, according to requirements.
• the containers 2 can be conveyed by a first auxiliary conveyor belt 71, driven by the apparatus 1.
• the belt 71 is adapted to conveyor the containers 2 filled with plants, to a loading position 21 of these plants, and to remove the containers 2 already emptied.
• the loading structure 2 can be any mechanical or electromechanical device, operatively associated with the apparatus 1 to supply the plants 100 at a loading position 21, for example one or more auxiliary conveyor belts 72, driven by the apparatus 1 and provided with auxiliary conveyor cells capable of conveying the plants 100 (Fig. 4).
• the receiving structure 3 could be constituted by a container adapted to convey the plants 100 after the handling cycle, for example a tray with multiple parallel rows of cells adapted to contain the aforesaid plants (Figs. 1, 4), said cells which can have any shape, size and arrangement, according to requirements.
• Third auxiliary conveyor belts 73 driven by the apparatus 1, can be used to convey the incoming empty containers 3 and convey the outgoing containers 3 filled with plants.
• the receiving structure 3 could be any mechanical or electromechanical device operatively associated with the apparatus 1, to receive the plants 100 at a destination position 23, for example a carousel comprising cells capable of receiving the plants 100 or one or more fourth conveyor belts, driven by the apparatus 1 and provided with auxiliary conveyor cells capable of receiving the plants 100.
• the apparatus 1 comprises at least one supporting frame 8 which can be fixed to the ground or to any other supporting structure.
• the apparatus 1 comprises one or more endless conveyor belts 4, operatively associated with the supporting frame 8.
• the apparatus 1 comprises a plurality of conveyor cells 41 integral with the belts 4.
• each belt 4 there are operatively associated one or more groups 410 of conveyor cells 41.
• each group 410 the conveyor cells 41 are arranged one after the other along the belt 4 with which they are associated.
• a belt 4 comprises several groups 410 of cells 41, these latter are appropriately spaced apart, based on the length of this conveyor belt.
• the conveyor cells 41 are preferably cradle shaped, so as to promote optimal positioning of the plants 100.
• the conveyor cells 41 can be operatively associated with each of the belts 4 through fixing means of any type, such as screws or rivets.
• the conveyor cells 41 are fixed in a removable way to each belt 4.
• each conveyor cell 41 comprises a cradle 401 at the base of which there is positioned a magnetic element 403, for example a permanent magnet, fixed to this cradle 401.
• Each conveyor cell 41 can thus be operatively connected, in a removable way, with magnetic type coupling, to a belt 4 at a supporting plate 402.
• the supporting plates 402 are fixed, in predefined positions, to the belts 4 with appropriate fixing means, such as screws or rivets.
• the conveyor cells 41 can thus be positioned on/removed from the conveyor belts 4 simply and immediately, without acting on these belts.
• Each conveyor belt 4 follows a closed path 9 which comprises a loading station 10, a filming station 11 and an unloading station 12 A, 12B of the plants 100.
• the plants 100 are respectively loaded onto and unloaded from the conveyor cells 41 of the belts 4.
• images are instead filmed of the plants 100 contained in the conveyor cells 41 traveling through the filming station 11.
• all the belts 4 have the same direction of movement M, with reference to which the filming station 11 is advantageously placed between the loading station 10 and the unloading station 12 A, 12B.
• the closed path 9 can have any geometry, according to the installation needs of the apparatus 1.
• the closed path 9 advantageously comprises a first connecting section 91 between the loading station 10 and the filming station 1 1, a second connecting section 92 between the filming station 1 1 and the unloading station 12 A, 12B and a third connecting section 93 between the unloading station 12 A, 12B and the loading station 10.
• the path 9 comprises cleaning station 13 and/or a disinfecting station 14 of the conveyor cells 41.
• the cleaning station 13 is advantageously positioned downstream of the unloading station 12 while the disinfecting station 14 is positioned upstream of the loading station 10 (Fig. 2).
• the cleaning station 13 can advantageously comprise a plurality of spraying devices 131 adapted to rinse the cells 41 with a detergent liquid.
• the disinfecting station 14 can advantageously comprise a plurality of second spraying devices 141 adapted to spray the cells 41 with a disinfectant liquid.
• guide elements are preferably operatively positioned in parallel to the belts 4 so as to maintain the plants 100 in position inside the conveyor cells 41.
• Each conveyor belt 4 moves with different speeds as a function of the position of the conveyor cells 41 along the closed path 9.
• each belt 4 also varies as a function of the position of the related conveyor cells 41 along the closed path 9.
• each conveyor belt 4 takes place in a continuous manner along the connecting sections 91, 92, 93 and in a stepwise manner at the filming station 1 1.
• each conveyor belt 4 can take place in continuous mode or in a stepwise manner.
• each belt 4 stops at the loading station 10.
• the apparatus 1 comprises drive means of the belts 4 comprising one or more motors 408 operatively associated with respective drive rollers 409 of the belts 4 (Fig. 2).
• the aforesaid drive means also comprise tensioning rollers 41 1 adapted to maintain the belts 4 in tension during the movement thereof.
• the apparatus 1 comprises loading means 101 adapted to manage automated transfer of the plants 100 from the loading structure 2 to the conveyor cells 41.
• the loading means 101 are adapted to transfer the plants 100, one plurality at a time, from a loading structure 2 to related conveyor cells 41, which have reached the loading station 10.
• the loading means 101 are capable of transferring, with a single movement, a plurality of plants 100 from the loading structure 2 to the conveyor cells 41 of the belts 4, positioned at the loading station 10.
• the loading means 101 preferably comprise a comb 102 comprising a supporting base 105 and a plurality of retractable pick-up needles 104, reversibly movable between an idle position and an activated position, in which the pick-up needles 104 project at least partially from the supporting base 105.
• the supporting base 105 is advantageously movable along appropriate sliding guides 107 (Fig. 2).
• the comb 102 is thus able to pick-up a plurality of plants 100 at a time from the loading structure 2, when the pick-up needles 104 are in the activated position.
• Movement means can advantageously be provided to regulate the movement of the comb 102 and of the related retractable needles 104 so that the plants 100 are picked-up from the loading structure 2, at a loading position, and transferred into the conveyor cells 41 of the belts 4, at the loading station 41.
• the comb 102 advantageously enables a whole row of plants to be picked-up from the loading structure 2, transferring it, with a single movement, from the loading position 21 to the conveyor cells 41, at the loading station 10 (Figs. 1, 4).
• the comb 102 comprises an assembly of structural elements 1 10, arranged side by side with one another to provide support to corresponding pairs of pick-up needles 104.
• Each element 1 10 of the comb comprises a first and second guide element 114, 1 15 that supports and guides a first and second pick-up needle 104 A, 104B.
• each structural element 1 10 The guide elements 1 14, 1 15 of each structural element 1 10 are joined by a spacer element 1 16, to which the aforesaid guide elements are fixed through fixing means 117.
• the position of the pick-up needles 104 of the comb 102 can be varied, according to requirements, along a guide (not shown) which extends in a substantially orthogonal way with respect to the pick-up needles 104.
• the relative distance between the structural elements 1 10 can be varied by means of a positioning belt 1 18 which is operatively associated with the structural elements 1 10 and is operated by appropriate actuation means (not shown), such as a piston.
• actuation means such as a piston.
• the elements 110 can be positioned at a greater distance from, or closer to, one another.
• the relative position of the pick-up needles 104A, 104B of each element 1 10 can be adjusted, varying the position at which the guide elements 1 14, 1 15 are fixed to the corresponding spacer element 1 16.
• the relative position of the pick-up needles 104A, 104B of each element 1 10 can also be adjusted varying the dimensions of the spacer elements 116.
• the comb 102 is characterized by high flexibility of use, given that it can be used advantageously to pick-up and transfer plants of different size and/or positioned at different relative distances and/or to pick-up plants from loading structures of different type, for example having a different size and/or a different arrangement of these plants.
• the loading means 101 comprise a first disinfecting tank (not shown) comprising disinfectant liquid.
• This tank is arranged so as to be accessible, at a first disinfecting position
• the comb 102 is moved along the sliding guides 107 toward this loading position 21.
• the needles of the comb 102 exit from the supporting base 105 and are inserted into the plugs of the plants 100.
• the comb 102 is thus capable of picking up a whole row of plants 100 from the loading structure 2.
• the comb 102 is then moved along the sliding guides 107 by the related movement means, so as to transfer the row of plants thus picked-up toward the loading station 10, at which the conveyor cells 41 of one of the conveyor belts 4 are positioned.
• the movement of the comb 102 is completed by depositing the plants 100 into the related conveyor cells 41.
• the needles of the comb 401 are retracted in their idle position and the comb 102 returns, with reverse movement, toward the loading position 21.
• the comb 102 During travel toward the loading position 21, the comb 102 reaches the first disinfecting position.
• the needles of the comb 102 project once again from the supporting base 105 and are immersed in the disinfectant liquid of the first disinfecting tank. After being disinfected, the needles of the comb 102 are retracted again into their idle position and the comb 102 returns toward the loading position 21 to pick-up a new plurality of plants 100.
• the apparatus 1 comprises filming means 1 1 1 adapted to acquire one or more images of the plants 100 contained in the relative conveyor cells 41 of each belt 4, coming from the loading station 10 and traveling toward the unloading station 12, passing through the filming station.
• the filming means 1 1 1 comprise a first and second video camera 112, 113 adapted to acquire images of the plants 100 conveyed by the conveyor cells 41 of each conveyor belt 4.
• the video cameras 1 12, 113 are positioned respectively at a first and second filming position 1 12A, 1 13A.
• the video cameras 1 12, 1 13 are positioned so as to be able to film the plants 100 from a lateral filming position 112A and from an overhead filming position 113A (Figs. 6-8).
• the filming means 1 1 1 are therefore preferably arranged so as to provide at least two images I], I 2 for each plant 100 traveling through the filming station 1 1.
• the video cameras 1 12, 113 can move with respect to the conveyor belts 4 so that they can be positioned to always ensure optimal resolution of the filming of the plants 100, regardless of which conveyor belt is conveying them.
• the apparatus 1 At the unloading station 12A, 12B, the apparatus 1 comprises unloading means 121 A, 121B of the plants 100.
• the unloading means 121 A, 12 IB are adapted to transfer the plants 100, one at a time, from the related conveyor cells 41, which have reached the unloading station 12 A, 12B, to a receiving structure 3.
• the unloading means 121 A, 12 IB comprise a robotized arm 122 provided with a gripper 123 arranged so as to be able to pick-up one plant 100 at a time from the related conveyor cell 41 of a conveyor belt 4.
• the gripper 123 is connected to the robotized arm 122 in a removable way. In this way, it is possible to select the type of gripper to use on the basis of the type of plant 100 to be handled.
• the robotized arm 122 is a robotized arm with at least four degrees of freedom.
• the gripper 123 is movable, advantageously in a direction rotating about an axis X, so as to be able to position each plant 100 in the related receiving structure 3, according to the required spatial orientation, which can be selectively selected.
• the unloading means 121 A, 121B comprise a second disinfecting tank (not shown) comprising disinfectant liquid. This tank is arranged so as to be accessible, at a second disinfecting position (not shown), to the robotized arm 122, which can immerse the gripper 123 therein.
• the robotized arm 122 moves the gripper 123 so as to pick-up one plant 100 at a time from the conveyor cells 41.
• the plant 100 thus picked-up, is then moved by the robotized arm 122 toward the receiving structure 3 for which it is destined.
• the plant 100 is oriented as required, through appropriate rotation of the gripper 123 about the axis X.
• the movement of the robotized arm 122 is completed by depositing the plant 100 into the receiving structure 3.
• the plants 100 can be easily transferred to receiving structures 3 that differ from one another at required destination positions 23, each of which can be selected in real time during the handling cycle of these plants.
• the plants 100 can be placed in containers 3 having cells that differ from one another, or only in some cells of a container 3, according to requirements and to the type of plant being handled.
• the robotized arm 122 After depositing the plant 100, the robotized arm 122 returns, with reverse movement, toward the unloading position 22.
• the robotized arm 122 After disinfecting the gripper 123, the robotized arm 122 returns toward the unloading position 22 to pick-up a new plant 100 from one of the belts 4.
• the apparatus 1 comprises a plurality of belts 4, which move with a same direction of movement M and so that the conveyor cells 41 of each belt never occupy the same position along the closed path 9.
• the conveyor belts 4 can advantageously be operated separately to one another.
• the apparatus 1 comprises a first pair 4 A and a second pair 4B of belts 4.
• Each pair 4A, 4B of belts 4 respectively follows a first and second closed path 9, which comprise a common loading station 10, a common filming station 11 and, respectively, a first and second unloading station 12 A, 12B.
• the apparatus 1 respectively comprises first and second unloading means 121 A, 121 B of the plants 100.
• Each of the first and second unloading means 121 A, 121B preferably comprises a robotized arm 122 provided with the related gripper 123.
• the apparatus 1 could comprise more than four conveyor belts to transfer the plants 100.
• the belts 4 could be replaced by chains or by other structures capable of moving along a closed path.
• the direction of movement of the belts 4 could differ from the one (clockwise) represented in the aforesaid figures.
• the apparatus 1 comprises a control unit 50 to control the operation thereof.
• the control unit 50 is adapted to receive the images Ii, I 2 filmed by the filming means 11 1.
• the control unit 50 comprises observation means 51 adapted to obtain first data Di indicative of the vegetative state and/or of the morphological properties of each plant 100 traveling through the filming station 11, on the basis of the images Ii, I 2 provided by the filming means 11 1.
• the control unit 50 comprises selection means 52 adapted to supply, on the basis of the first data Di, second data D 2 indicative of a receiving structure 3 selected to receive each plant 100 examined by the observation means 51.
• the control unit 50 comprises control means 53 adapted to supply, on the basis of the data D 2 , control signals C to control the operation of the unloading means 121 A, 122B (in particular of the robotized arm 122) so that this latter transfers each plant 100 from the related conveyor cell 41, upon reaching the unloading station 12A, 12B, to the receiving structure 3 selected to receive this plant 100, at a required destination position 23.
• the selection means 52 are adapted to provide, on the basis of the first data Dj, also third data D 3 indicative of a preferred spatial orientation for each plant 100, examined by the observation means 52.
• control means 53 On the basis of the third data D 3 , the control means 53 generate control signals C to control the operation of the unloading means 121 A, 122B (in particular of the gripper 123) so that this latter positions each plant 100 in the receiving structure 3, selected to receive said plant, according to the preselected preferred spatial orientation.
• the observation means 51 , the selection means 52 and the control means 53 are preferably computerized means that can be executed by one or more processing devices of the control unit 50, optionally also remotely.
• observation means 51 could be electronic circuits specifically arranged to perform the functions described above.
• control means 53 could be electronic circuits specifically arranged to perform the functions described above.
• the belt 4 is advantageously stopped so that the respective conveyor cells 41 can receive the plants 100 transferred from the loading structure 2 by the loading means 101.
• the belt 4 is moved, according to the direction of movement M, so as to travel at relatively high speed along the connecting section 91 toward the filming station 1 1.
• the belt 4 is moved in a stepwise manner.
• Each plant 100 transported is filmed by the filming means 1 1 1 from two different filming positions 1 12A, 1 13 A.
• control unit 50 can thus receive at least two images I 1 ; I 2 from different angles.
• the observation means 51 of the control unit 50 determine, on the basis of the images 1 ⁇ , I 2 received, the vegetative state and/or the morphological properties of each plant 100 filmed during transport through the filming station 1 1.
• the observation process performed by the observation means 52 advantageously provides for comparison of information obtainable from the images U, with parameters predefined by the user, for example, the volume occupied by the plant observed, its height and/or the diameter of the stem, and so forth.
• the observation means 51 For each plant filmed 100, the observation means 51 generate data Di indicative of its state and/or of its morphological properties.
• the selection means 52 select, on the basis of the data Di, the receiving structure 3 destined to receive each plant 100 examined by the observation means 51.
• the selection means 52 generate the data D 2 that indicate the preselected receiving structure 3.
• the selection means 52 determine, on the basis of the data D l5 the most suitable spatial orientation for each plant filmed 100, when this latter must be loaded into the receiving structure 3.
• the selection means 52 generate the data D 3 that indicate the preferred spatial orientation to be given to each plant filmed 100, at the end of the unloading operations.
• the belt 4 After passage of the conveyor cells 41 through the filming station 1 1, the belt 4 is moved, according to the direction of movement M, so as to travel with relatively high speed along the connecting section 92 between the filming station 1 1 and the unloading station 12A or 12B.
• the belt 4 At the unloading station 12A or 12B, the belt 4 is moved in a stepwise or continuous manner.
• the control means 53 On the basis of the data D 2 , D 3 , the control means 53 generate control signals C to move the unloading means 121 A or 12 IB so as to handle each filmed plant 100 according to the methods determined by the selection means 52.
• the unloading means 121 A or 121B thus pick-up each filmed plant 100 and position it in the loading structure 3 selected for it, at a desired destination position 23, according to the preselected preferred orientation.
• the belt 4 is moved, according to the direction of movement M, so as to travel at relatively high speed along the connecting section 93 toward the loading station 10.
• the conveyor cells are made to pass through the stations 130 and 140 to perform, respectively, washing and disinfection of these cells.
• each belt 4 is moved, according to the operating cycle described above, with times that ensure continuous operating cycle of the loading station 10, of the filming station 11 and of the unloading stations 12 A, 12B.
• the movements of the belts 4 are thus advantageously synchronized so as to alternately repeat the same operating cycle, according to the methods illustrated above.
• control unit 50 can advantageously use an open chain control system.
• Simple adjustment operations enable operation of the belts 4 and of the operating stations 10, 11, 12A, 12B to be regulated according to contingent needs.
• the apparatus according to the invention advantageously enables the plants 100 to be handled with relatively high speeds.
• the apparatus 1 is able to handle over 3000 plants per hour, with overall performances that are constant over time and greatly superior to those offered by prior art machines.
• the apparatus 1 enables a selection of the plants 100 to be performed during the handling cycle thereof.
• the plants 100 can thus be easily transferred to receiving structures 3 of different type, on the basis of their vegetative state and/or their morphological properties.
• Plants that are dead or in precarious vegetative state or plants having unsatisfactory morphological properties can be easily rejected in real time, during the handling cycle.
• the apparatus according to the invention has a relatively simple and sturdy structure, which is easy and inexpensive to produce on an industrial scale and easy to install in operation.

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• Life Sciences & Earth Sciences (AREA)
• Environmental Sciences (AREA)
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Cited By (7)

Citations (5)

• 2012
  • 2012-06-11 IT IT000111A patent/ITTV20120111A1/it unknown
• 2013
  • 2013-06-05 WO PCT/IB2013/054631 patent/WO2013186669A1/fr not_active Ceased
  • 2013-06-05 EP EP13742744.9A patent/EP2858476A1/fr not_active Withdrawn

Patent Citations (5)

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