Apparatus and method for placing bulbs

Abstract

There is discussed a method of picking and placing bulbs, in which bulbs are supplied on a supply surface of a bulbs supply system; the bulbs being identified and picked from the supply surface with a pick-and-place head; wherein picked bulbs are transferred from the pick-and-place head, shoot-first and roots-last to a transfer-receptacle comprising at least one bulb-receptor, wherein the bulb-receptor temporarily clutches said bulb.

Claims

1. A method of picking and placing bulbs, comprising: supplying a plurality of bulbs upon a supply surface of a bulbs supply system; identifying a bulb as suitable for individual pick up, picking said identified bulb from the supply surface, with a pick-and-place head; reorienting the picked bulb; and placing the reoriented bulb, roots-first, into a holder; wherein the method comprises: transferring the picked bulb from the pick-and-place head, shoot-first and roots-last, to a transfer-receptacle comprising at least one bulb-receptor, wherein said bulb-receptor temporarily clutches said bulb.

2. The method of claim 1, comprising the steps of: providing the transfer-receptacle in a first orientation and placing said picked bulb into said at least one bulb-receptor, shoot-first and roots last; rotating said transfer-receptacle in a vertical plane to a second orientation in which the bulb clutched in the bulb-receptor is at an attitude from substantially horizontal to substantially upright, prior to the impaling step; and wherein the method comprises the step of impaling the bulb in said holder while the bulb is in the bulb-receptor.

3. The method of claim 1 wherein said at least one bulb-receptor comprises an aperture defined by a rim, and a negative pressure is applied in the aperture to clutch the bulb against the aperture rim.

4. The method of claim 1 wherein said at least one bulb-receptor comprises an aperture defined by a rim and a compressive gripping elements are provided to hold the bulb in said aperture.

5. The method of claim 1 wherein the picked bulb is transferred in a substantially inverted orientation, and placed atop the transfer-receptacle and the method comprises the steps of reorienting the transfer-receptacle to upright the bulb, and thereafter placing the upright bulb into a holder.

6. The method of claim 1 wherein a plurality of bulb-receptors are provided, and a plurality of bulb-receptor apertures are occupied with bulbs prior to impaling those bulbs.

7. The method of claim 1 wherein the picked bulb is rotated to have its major axis within 50° of gravitational vertical.

8. The method of claim 1 wherein the step of supplying a plurality of bulbs comprises the steps of: providing a plurality of spaced interference-flights adjacent to and intruding into a bulb-carrying volume of an elongate transport-conveyor; supplying bulbs into intra-flight volumes; and transporting the bulbs along the transport conveyor.

9. The method of claim 1, wherein the root of the bulb faces away from the bulb-receptor.

10. A transfer-receptable for receiving bulbs, comprising: an array of bulb-receptors configured to temporarily clutch a plurality of bulbs in a fixed array, such that the plurality of bulbs stay in position when rotating the transfer receptacle around an axis, wherein said bulb-receptors are each configured to receive a bulb-shoot such that the bulb-shoot faces the transfer-receptacle.

11. The transfer-receptacle of claim 10 further comprising one more compressive gripping elements to hold said bulbs.

12. The transfer-receptacle of claim 10 further comprising a source of negative pressure-in communication with the bulb-receptors, to clutch said bulbs in abutment with the apertures.

13. The transfer receptacle of claim 10 wherein the array of bulb-receptors is vertically rotatable.

14. The transfer-receptacle of claim 10 wherein the array of bulb-receptors is vertically rotatable between an orientation in which clutched bulbs are inverted, to an orientation in which clutched bulbs are upright.

15. An apparatus for picking and placing bulbs, comprising: a bulbs supply system for supplying a plurality of bulbs; a camera system for identifying the orientation of supplied bulbs using pattern recognition; and a transfer-receptacle in accordance with claim 10.

16. The apparatus of claim 15 further comprising a robotic carrier comprising a pick-and-place head comprising a grasper wherein said grasper comprises opposed grasping surfaces for grasping a bulb therebetween, at least one of said grasping surfaces being actively rotatable to rotate a grasped bulb about a minor axis of said bulb.

17. The apparatus of claim 15 wherein the bulb supply system comprises: an elongate transport-conveyor comprising a bulb-carrying volume through which bulbs are to be compelled; a plurality of spaced interference-flights adjacent to and intruding into said bulb-carrying volume; a bulb-feeder arranged to supply bulbs laterally to the elongate transport-conveyor.

18. The apparatus of claim 17 wherein the bulb supply system further comprises a controller, wherein relative speeds of the flights and the transport conveyor are different to one another.

19. The apparatus of claim 17 wherein the bulb-feeder comprises a supply tray comprising a series of supply lanes, which supply lanes compel bulbs carried by them towards the elongate transport-conveyor.

20. The apparatus of claim 19 wherein the bulb supply system comprises an operable barrier for selectively controlling passage of bulbs from the supply tray to the elongate transport-conveyor.

21. The apparatus of 14 further comprising a supply of pin bearing hydroponic holders; wherein the transfer-receptacle and the holder supply are configured for relative movement to impale bulbs in supplied pin bearing holders.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Various aspects of the invention will be further explained with reference to embodiments shown in the drawings wherein:

(2) FIG. 1 shows a perspective view of a hydroponics tray filled with upright bulbs;

(3) FIG. 2 shows a perspective view of a hydroponics crate filled with upright bulbs;

(4) FIGS. 3A-D show an apparatus for picking and placing bulbs into hydroponic trays or crates;

(5) FIG. 4 shows a pick-and-place head;

(6) FIG. 5 shows a pick-and-place head grasping a bulb FIGS. 6A-6D show a gripped bulb in various orientations;

(7) FIG. 7A is a cross-section through an array of bulbs in a transfer-receptacle comprising suctions cups;

(8) FIG. 7B shows a transfer-receptacle gripper with compressive gripping elements;

(9) FIG. 7C shows the transfer-receptacle gripper of FIG. 7B, holding a bulb;

(10) FIG. 7D shows a cross-section of the transfer-receptacle gripper of FIG. 7B holding a bulb;

(11) FIG. 7E shows the transfer-receptacle gripper of FIG. 7C, ejecting the bulb;

(12) FIG. 7F shows a cross-section of the transfer-receptacle gripper of FIG. 7E;

(13) FIG. 7G shows a row of the transfer-receptacle grippers of FIG. 7B;

(14) FIG. 7H shows a transfer-receptacle comprising two rows of transfer-receptacle grippers of FIGS. 7B to 7F;

(15) FIG. 8 shows an alternative pick-and-place head with a bulb-support;

(16) FIG. 9 shows the pick-and-place head of FIG. 8 in a impaling configuration FIGS. 10A and 10B show an apparatus for picking and placing bulbs provided with a bulb supply system, FIG. 10A is a perspective view, and FIG. 10B is a plan view;

(17) FIGS. 11A, 11B and 11C show the bulb supply system of FIGS. 10A and 10B in plan view, perspective view, and plan view respectively;

(18) FIG. 12 shows a bulb spacer comprising interference flights upon a common flight carrier, as also provided in FIGS. 10 to 11;

(19) FIGS. 13A and 13B show a lateral feeder for feeding individual bulbs laterally into intra-flight volumes;

(20) FIGS. 14A, 14B, and 14C show the bulb supply system in use feeding individual bulbs laterally into intra-flight volumes; and

(21) FIGS. 15A to 15B show the bulb supply system in use feeding individual bulbs laterally into intra-flight volumes.

DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

(22) The following is a description of various embodiments of the invention, given by way of example only and with reference to the drawings.

(23) FIG. 1 shows a perspective view of a hydroponic tray 4 filled with upright bulbs 2. The bulbs 2 are impaled upon upright pins (not shown) as is known in the art. The bulbs 2 may be forced to bloom by hydroponics when in such a tray 4. An aqueous nutrient solution is provided to the root-side (the underside in FIG. 1) of the bulbs 2 and bulb tray 4. The resultant blooms (not shown) can be harvested as a cut-flower crop. In order to give reasonable consistency in the height of eventual blooms, the bulbs 2 are upright and vertically oriented. While the shown trays and crates are adapted for hydroponics, the invention is not limited to handling of bulbs in hydroponics systems, and the holders may also be non-hydroponic holders, such as sand or soil containing trays or crates, (ornamental-)vases, or (ornamental-)dishes.

(24) FIG. 2 shows a perspective view of a hydroponic crate 6 filled with upright bulbs 2. The crate 6 is an alternative to tray 4.

(25) FIG. 3 shows an apparatus 8 of picking and placing bulbs into hydroponic trays 4. The apparatus is provided with a bulb supply system in the form of a single-file conveyor belt 10, upon which bulbs 2 are supplied to a picking-zone of a pick-and-place head 12 carried by robot arm 14. The conveyor belt 10 may be any type of conveyor belt, for example a continuous loop conveyor belt. Alternatives to conveyor belts are known and may be used, for example, a line of rotating friction surfaces or brushes that propel a bulb 2 lying atop of them.

(26) The bulbs 2 may be bulbs of any sort, and may include bulbs 2 that are already sprouting. A bulb is a roughly ovoid object, although there is much variation. For the present disclosure, a bulb 2 has a major axis X (FIG. 3) running centrally through its shoot-end 16 and roots-end 18. A minor axis Y of the bulb runs perpendicular to the major axis X, through the substantially thickest cross-section of the bulb's main body 20. The main body 20 of a bulb 2 is comprised of scales and a basal stem.

(27) The bulb supply system 10 may comprise a bulb inlet for supply of bulbs 2 to the bulbs supply system 10. The bulbs 2 may be placed onto the bulbs supply system 10 via an opening, either manually by a human operator or automatically, for example via a conveyor belt. An apparatus for supplying bulbs to the single-file conveyor belt 10 of FIG. 3 is shown in FIGS. 10 to 15.

(28) The shown bulbs supply surface 10 is horizontal, and this provides for a stable distribution of the bulbs over the surface. Supply surfaces angled slightly from horizontal are possible and may still provide a stable distribution, but are not preferred.

(29) The apparatus is further provided with a tray 4 or crate 6 supply system in the form of conveyor belt upon which trays 4 or crates 6 are supplied to an impalement zone. The conveyor belt may be any type of conveyor belt, for example a continuous loop conveyor belt.

(30) The apparatus further comprises a camera system 22 (shown in FIG. 3D) for identifying the position and orientation of individual bulbs 2. The camera system 22 comprises one or more cameras. Based on images obtained with the one or more cameras, bulb 2 position and orientation are identified using pattern recognition techniques. For example, the camera system 22 may be arranged to identify the shoot-end 16, roots-end 18, a major axis X and a minor axis Y, of a bulb 2. The images provided by the camera system 22 may be any type of suitable image including 2-dimensional images and 3-dimensional images. In the case of 3-dimensional imaging, the camera system 22 generally includes more than one camera.

(31) The apparatus further comprises a pick-and-place head 12. The pick-and-place head 12 is communicatively coupled to the camera system 22. The pick-and-place head 12 is arranged for picking up bulbs 2 identified by the camera system 22, the pick-and-place head 12 grasps the bulb 2 at opposed ends of the identified and selected minor axis Y and picks it from the supply system 10. The pick-and-place head 12 of FIG. 3 is further arranged to reorient a picked bulb 20 into a vertically, inverted orientation (shoot-down; roots-up) by rotating it about the minor axis Y, while it is gripped. For this purpose, the bulb position (for example using Cartesian-coordinates, as will be understood by a person skilled in the art) and the orientation of the bulb are obtained using images from the camera system 22 in combination with pattern recognition. The pick-and-place head is discussed in more detail in relation to FIGS. 4 and 5.

(32) The shown pick-and-place head 12 is carried by a robot arm 14. The robot arm 14 is preferably provided with a number of degrees of freedom to position and orient the pick-and-place head for pick up, transport, and placement of picked-up bulbs.

(33) In some applications a robot arm 14 having 4 degrees of freedom is provided, i.e. 3 rotation axes, where one axis is arranged to allow transfer along the axis (preferably in a direction substantially perpendicular to the bottom surface of the bulbs supply system) is sufficient. In alternative applications a more sophisticated robot arm 14 is provided, for example a robot arm 14 capable of picking up bulbs in a variety of three-dimensional (3D) orientations using 3D-images. These more sophisticated robot arms 14 may be arranged to operate with 6 degrees of freedom.

(34) The robot arm 14 is programmed to move the pick-and-place head 12 to a selected bulb 2 on the supply surface of the bulbs supply system 10, and to position the pick-and-place head 12 into a suitable orientation to grasp, i.e. pick, a bulb 2. For this purpose, the bulb 2 position (for example using Cartesian-coordinates, as will be understood by a person skilled in the art) and the orientation of the blub are obtained using images from the camera system 22 in combination with pattern recognition.

(35) Once the pick-and-place head 10 has grasped the bulb 2, the robot arm 32 is programmed to move the pick-and-place head 10 along with the grasped bulb 2 to an unoccupied bulb-receptor 28 of a transfer-receptacle 26.

(36) The transfer-receptacle 26 comprises a single-file array of bulb-receptors 28. More detailed views of the bulb-receptors are found in FIGS. 3B, 3C and 7. The bulb-receptors in transfer-receptacle 26a are initially in a vertically inverted orientation (FIG. 3B), and receive vertically inverted bulbs 2 from the pick-and-place head 12, in a shoot-first, roots-last orientation from above. The bulbs 2 are received into the bulb-receptors shoot-first, and are clutched therein under a negative internal pressure within each bulb-receptor 28.

(37) Once the array of bulb-receptors 28 is filled with bulbs 2 by the pick-and-place head 12, the array of bulb-receptors 28 rotate vertically through 180° to take on an upright orientation as for transfer receptacle 26b of FIG. 3, enlarged in FIG. 3C. The then upright bulbs 2 in transfer receptacle 26b are impaled upon upstanding pins within supplied trays 4 or crates 6 below the transfer receptacle 26b. The picking, placing and impaling is repeated to fill supplied trays 4 or crates 6. Once filled to the desired level, the trays 4 or crates 6, are transported to bulb growth environment for hydroponic blooming.

(38) FIGS. 4 and 5 show views of an embodiment of a pick-and-place head 12 for attachment to a robot arm 14 via a connector 32. The pick-and-place head 12 is provided with a grasper 36 arranged for picking up a bulb 2 at opposing ends of a minor axis Y. The shown grasper is particularly suitable for grasping the main body 20 of a bulb 2.

(39) The grasper 36 comprises two opposed members 38a, 38b. The members 38a, 38b are generally pincer shaped, and extend from a proximal end to a distal end. The members 38a, 38b are adjoined to the body of the pick-and-place tool 12 at their proximal ends and converge with one another toward their distal ends so as to form pincers for grasping a bulb 2.

(40) Each member 38a, 38b is provided on an inner surface of its distal end with a grasping surface 40a, 40b for grasping the main body of the bulb 2. The grasping surfaces 40 are provided with flexible or resilient radially inward projections the illustrated frustoconical form is advantageous, but exemplary only. The projections resiliently engage a side surface of a bulb 2, as shown in FIG. 5. The projections may be contoured or ribbed to aid in grasping the bulb 2. The bulb 2 is grasped by applying a compression force between the grasping surfaces 40a, 40b.

(41) The members 38a, 38b are preferably resiliently flexible transverse to the grasping direction. Such resilient flex provides a firm grasp on the bulb 2, while at the same time avoiding an excessively forceful clamping that might damage a bulb 2. Forming the members 38a, 38b from resiliently flexible plastics or metals can achieve this flex. The members 38a, 38b preferably comprise spring steel, stainless steel, aluminium, or aluminium alloys in this respect.

(42) The members 38a, 38b are movable transversely toward and away from one another. This is achievable by opposing movement of the attachment blocks 42a, 42b to which the members 38a, 38b are respectively joined at their proximal ends. By movement of the attachment blocks 42a, 42b toward one another, the grasping surfaces 40 are brought together and grasp upon the bulb 2. It will be clear to the skilled reader that the members 38a, 38b could be brought together by other movements. For example, the members 38a, 38b could be hinged to one another at a distal position, and pivoted toward and away from one another for grasping and releasing respectively.

(43) At least one of the grasping surfaces 40 is driven for active rotation, to rotate the grasped bulb 2 about the minor axis Y as illustrated by arrow Z in FIG. 5. In this manner the bulb can be reoriented from a generally horizontal orientation to a more vertical orientation. The driven rotation may be achieved by any known means such as via an electrical motor. In FIG. 6A the bulb 2 has been reoriented to be vertically inverted; in FIG. 6B the bulb 2 has been reoriented to be vertically upright; in FIG. 6C the bulb 2 has been reoriented to have an upward attitude at about 45° to from horizontal; and FIG. 6D has been reoriented to have an attitude opposite to that shown in FIG. 5. While vertically upright and vertically inverted attitudes are generally preferred for placing bulbs into transfer-receptacles or holders; other orientations may be used as suitable, for example, those orientations shown in FIGS. 6C and 6D may offer alignment for holder, e.g. trays or crates supplied in a non-horizontal state.

(44) FIG. 7A shows a cross-section through an array of bulbs 2 in a transfer-receptacle comprising bulb-receptors 28 in the form of suctions cups. Four bulb-receptors 28 are shown.

(45) Each bulb-receptor 28 is provided with a bulb aperture 44 sized to receive the bulb-shoot and to abut an upper surface 46 of the bulb adjacent the shoot 16, preferably about the shoot 16. The shoot 16 is received within a hollow within the bulb-receptor 28, and is thus protected from mechanical damage.

(46) The aperture 44 of the bulb-receptor 28 is preferably flexible and resilient to form a flexible engagement and at least partial seal with the bulb's 2 upper surface 46. A natural or synthetic rubber type material is suitable to achieve this. A gasket or sock may in particular be applied.

(47) The bulb-receptors 28 are commonly in communication with a negative pressure, vacuum, via manifold 50. The negative pressure is calibrated to firmly clutch bulbs 2 into engagement therewith, for example to avoid loss due to gravity when pendant, without causing damage thereto.

(48) FIG. 7B shows another embodiment of a bulb receptor 128 comprising four compressive gripping elements 160 in the form of fingers or claws, which are preferably resiliently flexible being formed of plastics or metal, most preferably spring steel, stainless steel or aluminium.

(49) The number of gripping elements 160 may be fewer or greater than four, and preferably may be from three to six, most preferably three or four.

(50) Preferably the distal ends 162 of the compressive gripping elements 160 are angled to glide over a bulb 2 as it is placed between the compressive gripping elements 160.

(51) Preferably the distal ends 162 of the compressive gripping elements 160 are angled to (partially) enclose a bulb 2 when it is held between the compressive gripping elements 160.

(52) As with the embodiment of FIG. 7A, a bulb aperture 144 is sized to receive the bulb-shoot and to abut an upper surface 46 of the bulb adjacent the shoot 16, preferably about the shoot 16. The shoot 16 is received within a hollow 166 within the bulb-receptor 128. The shoot 16 may be protected from mechanical damage and/or the bulb 2 may be supported in the correct orientation by the aperture's rim.

(53) The aperture 144 of the bulb-receptor 28 is preferably flexible and resilient to form a flexible engagement and at least partial seal with the bulb's 2 upper surface 46. A natural or synthetic rubber type material is suitable to achieve this. A gasket or sock may in particular be applied.

(54) The compressive gripping elements 160 are provided to grasp the bulb while held in the transfer-receptacle 126. The compressive gripping elements 160 may be biased into an open or a closed position, and driveable to an open or closed configuration, respectively, for capturing or releasing a bulb 2 respectively, for example by pneumatics. The compressive gripping elements 160 may be conveniently biased using springs or elastic material, such as an elastic band or hoop, which may preferably be provided at their proximal ends 164. Preferably the compressive gripping elements 160 are biased into a closed or holding position.

(55) In some embodiments, the bulb aperture 144 of the bulb receptor 128 may also be provided with a negative internal pressure to provide additional clutching of a held bulb 2.

(56) FIGS. 7C to 7D show the bulb-receptor 128 of FIG. 7B with a bulb 2 held by the compressive gripping elements 160.

(57) FIGS. 7E to 7F show the bulb-receptor 128 of FIGS. 7C and 7D ejecting the bulb 2 from the bulb receptor 128 for placement and/or impalement into a holder, such as a pin-bearing tray or crate 4, 6. The bulb aperture 144 is comprised upon a telescoping cylinder 168. To place or impale a held bulb 2, the telescoping cylinder 168 is extended, forcing the bulb 2 out of the hold of the compressive gripping elements 160.

(58) FIG. 7G shows an array of the bulb-receptors 128 of FIG. 7B forming a transfer receptacle 126. Fourteen bulb-receptors 28 are shown, however, any practical number may be used.

(59) FIG. 7H shows transfer-receptacles 126a, 126b each comprising single-file arrays of the bulb-receptors 128 shown in FIG. 7B. The bulb-receptors 128 of transfer-receptacle 126a in transfer-receptacle 126a are initially in a vertically inverted orientation, and receive vertically inverted bulbs 2 from a pick-and-place head 12, in a shoot-first, roots-last orientation from above. The bulbs 2 are received into the bulb-receptors 128 shoot-first, and are clutched therein between compressive gripping elements 160 within each bulb-receptor 128.

(60) Once the array of bulb-receptors 128 is filled with bulbs 2 by the pick-and-place head 12, the array of bulb-receptors 128 rotate vertically through 180° to take on an upright orientation. The then upright bulbs 2 are impaled upon upstanding pins within supplied trays 4 or crates 6 below the transfer-receptacle. The picking, placing and impaling is repeated to fill suppled trays 4 or crates 6. Once filled to the desired level, the trays 4 or crates 6, are transported to bulb growth environment for hydroponic blooming.

(61) An alternative embodiment of the pick-and-place head is shown in FIG. 8, which pick-and-place head 12 is additionally suitable for directly impaling picked bulbs 2 into a pin-bearing holder 4, 6, without first handing-off to transfer-receptacle 28.

(62) The pick-and-place head 12 is similar to that of FIGS. 4 and 5, with the addition of a shoot-side abutment provided in the form a frame comprising elongate abutment members 52 with radially extending faces, which can be brought into abutment with a grasped bulb 2, as shown in FIG. 9. Distal end-faces of the abutment members 52 abut an upper surface 46 of the bulb 2 adjacent but not in contact with the shoot 16. The radially extending faces can abut the top 46 of the bulb 2. Alternatively a ring may be used, the shoot portion of the bulb passing through the rings open centre, and the ring abutting the upper surface 46 of the bulb 2.

(63) In this embodiment the picked bulb 2 of FIG. 8 is reoriented to a substantially upright orientation, as shown in FIG. 9, while gripped by the pick-and-place head. The bulb 2 can then be placed into an upright holder, such as a pin-bearing tray or crate 4, 6.

(64) According to this embodiment, the robot arm 14 moves the pick-and-place head 12 along with the grasped bulb 2 away from the bulb supply surface into an open volume where bulb 2 is rotated about 90° about axis X translating the bulb 2 from a generally horizontal orientation to a generally vertical orientation, and upright (roots downward ready for impalement in a tray or crate 4, 6.

(65) The robot arm simultaneously, or thereafter, positions the pick-and-place head 12 at pre-impalement coordinates above a tray or crate 4, 6.

(66) The pick-and-place head descends to impale the bulb 2 upon upstanding pins of the tray or crate 4, 6, during which action the bulb 2 abuts the abutment members 52.

(67) Finally, the pick-and-place head 12 is carried away from the cutting by the robot arm 14, and impalement of the bulb 2 within the crate, tray 4, 6 is complete.

(68) The above steps are repeated to fill the tray or crate with impaled bulbs.

(69) FIG. 10 shows a system provided with four pick and place apparatuses 8 similar to that of FIG. 3 with the addition of a bulb supply system 1000. The bulb supply system 1000 supplies in a controlled manner, bulbs 2 to the pick and place apparatus 8. Bulbs 2 are supplied in regularly spaced single-file fashion to the pick and place apparatus 8 via the single-file conveyor 10 (an example of an elongate transport conveyor) running in a direction from the supply system 1000 to the picking location; direction X in FIGS. 11 to 14.

(70) The bulb supply system 1000 comprises a supply tray 1002 and a bulb spacer 1016.

(71) As can be seen in FIGS. 11, 13 and 14, the supply tray 1002 comprises a series of bulb supply lanes 1004. The supply lanes 1004 are preferably parallel, and are gravity driven chutes or slides along which bulbs 2 can fall in single-file toward the single-file conveyor belt 10. Supply tray 1002 may be vibrated or shaken to motivate the bulbs 2 along the supply chutes 1004. As can be seen in FIG. 11B, the lateral supply tray 1002 is angled downwardly toward the single-file conveyor belt 10.

(72) The supply tray 1002 supplies bulbs generally laterally to the single-file conveyor 10 along direction Y in FIGS. 11C and 14A; that is, to a side thereof of the single-file conveyor 10, rather than to an end.

(73) The supply tray 1002 is further provided with an operable end barrier 1006, operable to selectively block or release/supply individual bulbs 2 per supply lane 1004 to the single-file conveyor 10. A more detailed discussion is provided in relation to FIGS. 13 to 15.

(74) The bulb supply system 1000 is further provided with a bulb spacer 1016, which as can be seen in FIGS. 11, 12 and 14 has a flight carrier 1018, preferably in the form of a continuous belt of chain, that carries a plurality of spaced interference flights 1020.

(75) The interference flights 1020 extend into, and interfere with, the volume of space above the single-file conveyor 10. That is, they interfere in the bulb carrying volume of the transport-conveyor 10. In this way a series of discrete bulb carrying volumes are formed by the intra-flight volumes 1022. The flights 1020 are spaced to create intra-flight volumes 1022 large enough to accommodate the bulbs 2 supplied by the supply tray 1002.

(76) The interference flights 1020 are compelled by the flight carrier 1018 through the bulb-carrying volume above the single-file conveyor 10. The flight carrier 1018 is propelled in direction Z shown in FIG. 11.

(77) When in the bulb-carrying volume, the interference flights 1020 are compelled in the same direction as the single-file conveyor 10, namely in the direction of arrow X in FIGS. 11 and 13. Preferably, however, the interference flights 1020 proceed more slowly than the single-file conveyor 10 such that the bulbs 2 on the single-file conveyor 10 tend to gain or catch-up with the rear side 1024 of the interference flights 1020 prior to their passage to the picking zone. In this manner, the bulbs 2 are given a regular spacing in accordance with a rear surface of the interference flights 1020. While in contact with the rear side 1024 the bulbs 2 will tend to slide or slip over the conveyor 10 which then travels faster than them.

(78) As can be seen in FIGS. 11 through 15, especially FIGS. 11 to 12, the interference flights 1018 may be advantageously contoured on their rear side 1024 to cup bulbs 2 as the bulbs 2 come into abutment therewith. This advantageously aids in shifting the bulbs 2 to a desired transverse position on the single-file conveyer 10, typically to a middle-line of the conveyor 10 in the direction of travel.

(79) Referring to FIGS. 13A and 13B, the supply tray 1002 is shown in greater detail, in particular the operable barrier 1006 for selective release of bulbs 2 supply lanes 1004 to the single-file conveyor 10.

(80) The barrier 1006 comprises a moveable divider 1008 and a moveable divider-shifter 1010 upstream of the divider 1008. The divider 1008 and divider-shifter 1010 are reciprocally lowered or raised to either block or allow passage of a bulb 2 toward the conveyor 10.

(81) The process of selectively supplying a single bulb 2 from each supply lane 1004 is illustrated in FIGS. 14A to 14C. In FIG. 14A, the barrier 1008 is raised blocking passage of bulbs 2 in the direction of the conveyor 10. The shift barrier 1010 is lowered allowing a bulb 2 from each of the supply lanes 1004 to move onto its upper surface 1012 under gravity. In FIG. 14A, the intra-flight volumes 1022 are empty, and supply of bulbs 2 to those volumes can proceed.

(82) In FIG. 14B, following FIG. 14A, the barrier 1008 is lowered allowing passage of bulbs 2 in the direction of the conveyor 10 through v-shaped recesses in its upper profile. The shift barrier 1010 is raised, blocking the supply lanes 1004, but shifting the bulb 2 upon its upper surface upwards and towards the conveyor 10 such that it clears the barrier 1008. The upper surface of the shift barrier 1010 is preferably angled toward the conveyor 10 to propel the bulbs 2 in the direction Y toward the conveyor 10.

(83) In FIG. 14C the bulbs 2 have entered the intra-flight volumes 1022 and are transported in direction X toward the picking zone. The barrier 1008 is re-raised, the shift-barrier 1010 is lowered, and as the bulbs 2 are transported away, empty intra-flight volumes are again brought into registration with the supply lanes 1004 to again arrive at the status of FIG. 14A.

(84) The barrier 1008 and barrier-shifter 1010 have a generally serrated upper profile, with spacing or recesses allowing passage of bulbs 2. The serrated profile may aid in maintaining alignment and position of the bulbs 2 passing the operable barrier 1006.

(85) FIGS. 15A and 15B further illustrate the process discussed and shown for FIGS. 14A to 14C.

(86) Referring to FIGS. 13 and 15, the supply tray 1002 is further provided with a series of return transports in the form of return conveyors 1030 running in the −Y direction away from the single-file conveyor 10. The return conveyors 1030 collect and recover excess bulbs 2 or detritus that overflows the supply lanes 1004 or may otherwise collect at the operable barrier 1006, ensuring free operation of the barrier mechanism, and individual bulb supply.

(87) The invention has been described by reference to certain embodiments discussed above. It will be recognized that these embodiments are susceptible to various modifications and alternative forms well known to those of skill in the art without departing from the spirit and scope of the invention. Accordingly, although specific embodiments have been described, these are examples only and are not limiting upon the scope of the invention, which is defined in the accompanying claims.

CLAUSES

(88) The following clauses refer to various aspects of the invention. Clause 1. A Method of picking and placing bulbs, comprising: supplying a plurality of bulbs on a supply surface of a bulbs supply system; identifying a bulb as suitable for pick up, picking said identified bulb from the supply surface with a pick-and-place head; reorienting the picked bulb; and placing the reoriented bulb into a holder, preferably a pin bearing holder,  wherein the method comprises: identifying a major axis of the identified bulb, identifying and selecting a minor axis of the identified bulb, said minor axis being substantially perpendicular to the major axis, and  wherein the step of picking said identified bulb comprises the pick-and-place head gripping said identified bulb at opposed ends of said minor axis, and the step of reorienting the picked bulb comprises shifting the major axis. Clause 2. The method of clause 1 wherein the step of reorienting the picked bulb comprises shifting the major axis toward a substantially vertical orientation. Clause 3. The method of any preceding clause wherein the step of reorientation of the picked bulb, comprises rotation of the picked bulb about said minor axis, while gripped by the pick-and-place head. Clause 4. The method of any preceding clause wherein the picked bulb is reoriented to a substantially inverted orientation, while gripped by the pick-and-place head. Clause 5. The method of any of any preceding clause further comprising the step of placing said gripped bulb, shoot-first and roots-last, into a transfer-receptable, said transfer-receptacle comprising a support surface abutting and supporting the bulb adjacent a shoot of the bulb. Clause 6. The method of clause 5 wherein the transfer-receptable comprises an aperture defined by an edge, wherein the aperture is sized to receive the bulb-shoot and abut an upper surface of the bulb adjacent to the shoot, preferably about the shoot. Clause 7. The method of any of clauses 6 to 7 wherein the transfer-receptacle applies an internal negative pressure to hold the bulb in said aperture and in abutment with said edge and/or wherein the transfer-receptacle is provided with compressive gripping elements to hold the bulb in said aperture. Clause 8. The method of any of clauses 5 to 7 wherein the picked bulb is placed into the transfer-receptacle in a substantially inverted orientation, optionally wherein the method further comprises the step of reorienting the transfer-receptacle to upright the bulb, and preferably the step of impaling a rooted base of the bulb onto upstanding pins in said pin bearing holder. Clause 9. The method of any of clauses 5 to 7 wherein the picked bulb is placed into the transfer-receptacle in a substantially upright orientation, optionally wherein the method further comprises the step of reorienting the transfer-receptacle to invert the bulb, and preferably the step of impaling a rooted base of the bulb onto upstanding pins in said pin bearing holder. Clause 10. The method of any of clauses 1 to 4 wherein the picked bulb is reoriented to a substantially upright orientation, while gripped by the pick-and-place head. Clause 11. The method of any of clauses 1 to 4 or 10, wherein the holder is a pin-bearing holder, and further comprising the step of moving the pick-and-place head with gripped bulb toward said pin-bearing holder, and impaling the bulb onto upstanding pins in the pin-bearing holder, wherein the method comprises providing a shoot-side support to the picked and reoriented bulb during impalement, preferably wherein the shoot-side support comprises a bulb abutment surface adjacent but spaced from the shoot, preferably the abutment surface comprises a partial ring, a full ring, a frame or a scaffold. Clause 12. A pick-and-place head for picking and placing bulbs, comprising a grasper wherein said grasper comprises opposed grasping surfaces for grasping a bulb therebetween, at least one of said grasping surfaces being actively rotatable to rotate a grasped bulb about a minor axis of said bulb. Clause 13. The pick-and-place head of clause 12, further comprising at least one bulb-support element against which a grasped bulb abuts, at least during an impalement upon pins. Clause 14. The pick-and-place head of clause 13 wherein said bulb-support element comprises one or more selected from the group consisting of a partial ring, a full ring, a frame or a scaffold. Clause 15. The pick-and-place head of any of clauses 13 to 14 wherein the bulb-support element has a bulb engagement configuration and a bulb non-engagement configuration. Clause 16. The pick-and-place head of any of clauses 13 to 15, wherein the pick-and-place head comprises a grasper comprising two opposed grasper members for grasping upon a portion of the identified bulb; preferably wherein the grasper comprises at least one elongate member, and one of the two opposed grasping surfaces forms an inner surface of the elongate member, preferably wherein the grasper comprises two opposed, elongate members the two opposed grasping surfaces being provided on the opposed elongate members. Clause 17. A robotic carrier comprising a pick-and-place head according to any of clauses 12 to 16, preferably wherein the robotic carrier is a robotic arm. Clause 18. A Method of picking and placing bulbs, comprising: supplying a plurality of bulbs upon a supply surface of a bulbs supply system; identifying a bulb as suitable for individual pick up, picking said identified bulb from the supply surface, with a pick-and-place head; reorienting the picked bulb; and placing the reoriented bulb, roots-first, into a holder, preferably wherein the holder is a pin-bearing holder and the reoriented bulb is impaled roots-first, onto pins in the pin-bearing,  wherein the method comprises:  transferring the picked bulb from the pick-and-place head, shoot-first and roots-last, to a transfer-receptacle comprising at least one bulb-receptor,  wherein said bulb-receptor temporarily clutches said bulb. Clause 19. The method of clause 18, comprising the steps of: providing the transfer-receptacle in a first orientation and placing said picked bulb into said at least one bulb-receptor, shoot-first and roots last; rotating said transfer-receptacle in a vertical plane to a second orientation in which the bulb clutched in the bulb-receptor is at an attitude from substantially horizontal to substantially upright, prior to the impaling step; and wherein the method comprises the step of impaling the bulb in said holder while the bulb is the bulb-receptor. Clause 20. The apparatus of any of clauses 18 to 19 wherein said at least one bulb-receptor comprises an aperture defined by a rim, and a negative pressure is applied in the aperture to clutch the bulb against the aperture rim, preferably wherein the bulb-receptor is a suction cup; and/or wherein said at least one bulb-receptor comprises an aperture defined by a rim and a compressive gripping elements are provided to hold the bulb in said aperture. Clause 21. The method of any of clauses 18 to 20 wherein the picked bulb is transferred in a substantially inverted orientation, and placed atop the transfer-receptable, and the method comprises the steps of reorienting the transfer-receptacle to upright the bulb, and thereafter placing the upright bulb into a holder, preferably impaling the upright bulb onto upstanding pins in a pin-bearing holder; while the bulb is clutched in said bulb-receptor. Clause 22. The method of any of clauses 18 to 21, wherein a plurality of bulb-receptors are provided, and a plurality of bulb-receptor apertures are occupied with bulbs prior to impaling those bulbs. Clause 23. The method of any of clauses 18 to 22, comprising repetition of the picking and placement steps to arrange more than one bulb in the holder, preferably 5 or more bulbs, preferably 10 or more bulbs, preferably 50 or more bulbs. Clause 24. The method of any of clauses 1 to 11 or 18 to 23 wherein the picked bulb is rotated to have its major axis within 50° of vertical, preferably within 40°, preferably within 30°, preferably within 20°, preferably within 10°, more preferably within 10° and most preferably substantially vertical. Clause 25. A transfer-receptable for receiving bulbs, comprising:

(89) an array of bulb-receptors configured to temporarily clutch a plurality of bulbs, wherein said bulb-receptors are each configured to receive a bulb-shoot and abut an upper surface of the bulb adjacent to the shoot, preferably about the shoot. Clause 26. The transfer-receptacle of clause 25 further comprising a source of negative pressure, preferably a pump, in communication with the bulb-receptors, to clutch said bulbs in abutment with the edges of the apertures; and/or comprising one more compressive gripping elements to hold said bulbs. Clause 27. The transfer receptacle of any of clauses 25 to 26, wherein the array of bulb-receptors is vertically rotatable, preferably rotatable between an orientation in which clutched bulbs are inverted, to an orientation in which clutched bulbs are upright. Clause 28. Apparatus for picking and placing bulbs, comprising: a bulbs supply system for supplying a plurality of bulbs; a camera system for identifying the orientation of supplied bulbs using pattern recognition; and at least one of: a robotic carrier in accordance with clause 17; and/or a transfer-receptacle in accordance with any of clauses 25 to 27. Clause 29. The apparatus of clause 28 comprising both of a robotic carrier in accordance with clause 17 and a transfer receptacle in accordance with any of clauses 25 to 27; further comprising a supply of pin bearing hydroponic holders; and  wherein the transfer-receptacle and the holder supply system are configured for relative movement to impale bulbs in the pin bearing holders. Clause 30. The method of any of clauses 1 to 11 and 18 to 24 wherein the pick-and-place head is in accordance with any of clauses 12 to 16. Clause 31. The method of any of clauses 6 to 9 and 18 to 24 wherein the transfer-receptacle is in accordance with any of clauses 24 to 27. Clause 32. A bulb supply system comprising: an elongate transport-conveyor comprising a bulb-carrying volume through which bulbs are to be compelled; a plurality of spaced interference-flights adjacent to and intruding into said bulb-carrying volume; a bulb-feeder arranged to supply bulbs laterally to the elongate transport-conveyor. Clause 33. The bulb supply system of clause 32, wherein the interference-flights are attached to a common flight carrier element arranged to compel the interference flights through the bulb-carrying volume. Clause 34. The bulb supply system of any of clauses 32 to 33, wherein the flights interfere with the bulb carrying volume of the transport-conveyor, dividing the bulb carrying volume into a series of discrete, intra-flight volumes proceeding from upstream toward the downstream direction

(90) Clause 35. The bulb supply system of any of clauses 32 to 34, further comprising a controller, wherein relative speeds of the flights and the transport conveyor are different to one another. Clause 36. The bulb supply system of any of clauses 32 to 35, wherein the speed of the flights is less than that of the transport conveyor. Clause 37. The bulb supply system of any of clauses 32 to 36, wherein one or more of the interference-flights are shaped on at least a rear side thereof to cup or cradle bulbs. Clause 38. The bulb supply system of any of clauses 32 to 37, wherein the speed of the flights and the transport-conveyor are independently variable. Clause 39. The bulb supply system of any of clauses 32 to 38, wherein the bulb-feeder is arranged to supply bulbs laterally to the elongate transport-conveyor. Clause 40. The bulb supply system of any of clauses 32-39, wherein the bulb-feeder comprises a supply tray comprising a series of supply lanes, which supply lanes compel bulbs carried by them towards the elongate transport-conveyor. Clause 41. The bulb supply system of any of clauses 32-40, wherein an operable barrier is provided to selectively control passage of bulbs from the supply tray to the elongate transport-conveyor. Clause 42. The bulb supply system of any of clauses 32-40, wherein the operable barrier is preferably provided with a first moveable barrier and a shift-barrier adjacent and upstream of the first moveable barrier. Clause 43. The bulb supply system of clause 42 wherein the shift-barrier has an upper surface upon which a bulb may temporarily rest when the shift-barrier is in a retracted position. Clause 44. The bulb supply system of clauses 43 wherein the shift-barrier upper surface is angled to propel a bulb toward the transport conveyor. Clause 45. The bulb supply system of any of clauses 32 to 44, wherein one or more return-conveyors are provided adjacent one or more supply lanes. Clause 46. A method for transporting discrete bulbs along a path, the method comprising the steps of: a. providing a plurality of spaced interference-flights adjacent to and intruding into a bulb-carrying volume of an elongate transport-conveyor; b. supplying bulbs into intra-flight volumes; c. transporting the bulbs of step b. along the transport conveyor. Clause 47. The method of clause 46, wherein the bulbs are fed substantially laterally to the elongate transport conveyor. Clause 48. The method of any of clauses 46 to 47, wherein the interference-flights are preferably compelled more slowly than the transport conveyor. Clause 49. The method of any of clauses 46 to 48, wherein the transport conveyor is a single-file transport conveyor for bulbs. Clause 50. The method of any of clauses 46 to 49, wherein the method further includes the step of transporting the bulbs to a downstream bulb handling system, preferably wherein the downstream handling system is a pick and place apparatus in accordance with clause 28.