Method for freezing olive oil which achieves the sustaining of the polyphenols until the time of its consumption. The method is performed immediately after the collection of the fruit olives from the tree, with the addition of nitrogen, the cold extraction of the oil and the remaining of the oil pulp in water of 27° C. temperature at the softening for 30 minutes. The product is being transferred in stages at storage tanks with nitrogen supply and gradual at stages reduction of the temperature by 5° C. and remaining in each storage tank for 12 hours until its temperature reaches 6-7 degrees, after which it is being packaged and frozen with slow in stages freeze to −18° C. to −23° C. Due to this method the product maintains during the whole internal of freezing the color and aroma and the taste it has during its transformation into oil, organic characteristics that reappear exactly the same after it has been defrosted.

Method for freezing olive oil which achieves the sustaining of the polyphenols until the time of its consumption. The method is performed immediately after the collection of the fruit olives from the tree, with the addition of nitrogen, the cold extraction of the oil and the remaining of the oil pulp in water of 27° C. temperature at the softening for 30 minutes. The product is being transferred in stages at storage tanks with nitrogen supply and gradual at stages reduction of the temperature by 5° C. and remaining in each storage tank for 12 hours until its temperature reaches 6-7 degrees, after which it is being packaged and frozen with slow in stages freeze to −18° C. to −23° C. Due to this method the product maintains during the whole internal of freezing the color and aroma and the taste it has during its transformation into oil, organic characteristics that reappear exactly the same after it has been defrosted.

A plant cultivation system for a plant factory that cultivates plants. The plant factory has a building with roof and walls, which may be in the form of a greenhouse with a roof and windows that may be opened and closed. A plant factory using the plant cultivation system cultivates plants for harvest and/or sale. The plant factory plant utilizes a trolley conveyor for transport of plants in plant containers. The trolley conveyor uses straight runs of track connected by curved track portions. The straight runs of track of the trolley conveyor are spaced closely together with space only provided for passage of plant containers in a side by side fashion, as no room for workers is necessary. The plant containers take the plant containers to workers in a workshop for planting, cultivation, harvesting of plants or portions thereof, and packaging of plants or portions thereof for shipment. As a result, labor is minimized, and the productivity of the plant factory is increased.

A plant cultivation system for a plant factory that cultivates plants. The plant factory has a building with roof and walls, which may be in the form of a greenhouse with a roof and windows that may be opened and closed. A plant factory using the plant cultivation system cultivates plants for harvest and/or sale. The plant factory plant utilizes a trolley conveyor for transport of plants in plant containers. The trolley conveyor uses straight runs of track connected by curved track portions. The straight runs of track of the trolley conveyor are spaced closely together with space only provided for passage of plant containers in a side by side fashion, as no room for workers is necessary. The plant containers take the plant containers to workers in a workshop for planting, cultivation, harvesting of plants or portions thereof, and packaging of plants or portions thereof for shipment. As a result, labor is minimized, and the productivity of the plant factory is increased.

A trolley conveyor. The trolley conveyor includes: a tubular rail track having a slotted opening at the top. A trolley chain installed to move in the rail track. A hanger is provided for suspending therebelow objects to be transported. The hanger includes a connector at the upper end thereof which extends downward to toward the center of the trolley chain. The trolley chain includes vertical and horizontal rollers in chain units, with vertical rollers in one chain unit and horizontal rollers in an adjacent chain unit. The chain units are pivotally connected for up and down and side to side motion within the track. While the trolley chain moves, the connector avoids contact with the ends of the slot in the track. Thus, the trolley conveyor prevents the generation of noise and foreign substances. Also, the trolley conveyor prevents transfer of dirt, oil, and debris to an object being transported.

A mobile harvesting system is towable longitudinally by a vehicle along a field. The mobile harvesting system includes a trailer frame having wheels and a tongue configured for coupling to the vehicle. A harvesting frame is elongated and pivotally mounted to the trailer frame for pivoting between a longitudinal orientation and a transversal orientation. The harvesting frame has a plurality of sleigh attachments distributed along its length. A plurality of harvester sleighs are each coupled to a corresponding one of the sleigh attachments at a corresponding transversal position relative to the trailer frame. Each harvester sleigh has a first runner transversally spaced apart from a second runner, the first runner and the second runner both being longitudinally oriented and structurally interconnected by a sleigh frame.

A mobile harvesting system is towable longitudinally by a vehicle along a field. The mobile harvesting system includes a trailer frame having wheels and a tongue configured for coupling to the vehicle. A harvesting frame is elongated and pivotally mounted to the trailer frame for pivoting between a longitudinal orientation and a transversal orientation. The harvesting frame has a plurality of sleigh attachments distributed along its length. A plurality of harvester sleighs are each coupled to a corresponding one of the sleigh attachments at a corresponding transversal position relative to the trailer frame. Each harvester sleigh has a first runner transversally spaced apart from a second runner, the first runner and the second runner both being longitudinally oriented and structurally interconnected by a sleigh frame.

An autonomous agricultural vehicle including a wheel-set operably connected with a power source, a processing unit having a memory unit, and a controller operable to receive and transmit signals to the processing unit, wherein the controller is operable to control the wheel-set. The autonomous agricultural vehicle further including a wireless communication system electrically connected with the processing unit, a global positioning satellite receiver electrically connected with the processing unit, a first perception sensor electrically connected with the processing unit, wherein the first perception sensor is operable to detect environmental features, and a second perception sensor electrically connected with the processing unit, wherein the second perception sensor is operable to detect a feature of a tree. Wherein the processing unit is operable to navigate an environment utilizing signals from the global positioning satellite receiver, and wherein the processing unit is operable to navigate the environment utilizing signals from the first and second perception sensors in a GPS denied environment.

Method and Apparatus for harvesting crops, the apparatus (1) comprising a carriage (2) provided with a harvesting device (41), a ground height measuring device to measure or estimate the ground height (S2) at each harvested crop, a crop height measuring device to measure the height of a crop(S4), a processor operatively connected to the ground height measuring device to generate baseline ground data (S3) and operatively connected to the crop height measuring device to determine a desired harvest height (S5), a comparator to compare the baseline ground data to the desired harvest height to determine if a particular crop is to be harvested by the harvesting device.

In general terms, the present invention provides a passively compliant robotic arm having one or more variable stiffness joints controllable by first and second bi-directional actuators that can be independently operated. Each bi-directional actuator may be operable in a first configuration to urge the joint in a first direction, and in a second configuration to urge the joint in a second direction opposite to the first direction. The bi-directional actuators may be operated in a cooperating mode (high torque mode) in which they work in tandem (i.e. both in the first configuration or second configuration) to double the available torque output. The bi-directional actuators may also (or alternatively) be operated in a high stiffness mode (antagonist mode) in which they counter-act each other by operating so that they oppose one another (i.e. one in the first configuration and the other in the second configuration). The high torque mode may be utilised for an initial portion of a movement trajectory, and the antagonist mode for a final portion of the movement trajectory. The relatively high stiffness in the high stiffness/antagonist mode results from the combined effects of the non-linear force-deflection relationship of the first and second resilient members. The resilient members may each comprise an elastic element, tendon or other resilient member that can be stretched (elongated) to increase tension therein and thereby urge the joint to move.