APPARATUS FOR HARVESTING VEGETABLE CROPS

Abstract

Disclosed is a harvesting device for harvesting vegetable crops from the ground, which vegetable crops have a stem and a crown supported by the stem and leaves attached to the stem, said device comprising a frame, a first drive for moving the frame onward over the ground, a cutter for severing the stem, a second drive for the cutter, a stripper for stripping the leaves from the stem, and a third drive for moving the stripper vertically along the stem for in the stripper's strip position stripping the leaves from the stem.

Claims

1-75. (canceled)

76. Device for harvesting vegetable crops from the ground, which vegetable crops have a stem and a crown supported by the stem and leaves attached to the stem, said device comprising a frame, a first drive for moving the frame onward over the ground, a cutter for severing the stem, a second drive for the cutter, a stripper for stripping the leaves from the stem, and a third drive for moving the stripper vertically downwards along the stem for in the stripper's strip position stripping the leaves from the stem.

77. Device according to claim 76, wherein the stripper comprises two or more stripper members, and a fourth drive for moving the stripper members towards each other and away from each other between a position that is free from the stem and a strip position in which they engage onto the leaves at least near the stem.

78. Device according to claim 77, wherein the fourth drive is configured for moving the stripper members towards each other and away from each other between a free position, in which the stripper members leave a passage for the crown free in between them, and the strip position.

79. Device according to claim 77, wherein the stripper members are configured for in the strip position, extending jointly around the stem, comprises two stripper members that are disposed diametrically opposite each other.

80. Device according to claim 76, wherein the cutter comprises one or more blades, wherein the cutter is situated above the stripper.

81. Device according to claim 76, comprising a lift and a lift drive for, once the upper part of the vegetable plant has been severed by the cutter, moving said severed upper part to a higher level, in particular in at least substantially vertical direction wherein the cutter forms a support that is part of the lift for the portion of the severed vegetable plant situated above the cutting surface, wherein the device is provided with a receptacle/discharge, for the severed upper part of the vegetable plant, and a transfer device for transferring the severed upper part of the vegetable plant from the lift to the receptacle/discharge, wherein the transfer device forms a guide for the severed upper part of the vegetable plant to the receptacle/discharge, in particular in the form of a sloping guidance surface wherein the second drive is configured for moving the cutter to a position cancelling the support, wherein the severed upper part of the vegetable plant is released for a falling motion towards the guide for guidance by it to the receptacle/discharge wherein the guide can be moved between an inactive position, in which the cutter including support is given vertical free passage, and an active position, in which the severed upper part of the vegetable plant can be received from the support and is being guided to the receptacle/discharge, wherein the device further comprises a fifth drive for moving the guide between the inactive position and the active position.

82. Device according to claim 76, wherein the cutter and the stripper have been arranged on a first partial frame that is directly or indirectly supported by the frame, which first partial frame can be moved relative to the frame in the X-direction (direction of onward movement of the frame) by a sixth drive and/or can be moved relative to the frame in the Y-direction (horizontally transverse to the X-direction) by a seventh drive, and/or can be moved relative to the frame in the Z-direction by an eighth drive, wherein, in one embodiment, the first partial frame is supported by a second partial frame that is supported by the frame, wherein the seventh drive is operative between the first and the second partial frame.

83. Device according to claim 76, wherein the cutter and the stripper have been arranged on a first partial frame that is supported by the frame, which first partial frame has been arranged at the outer end of a robotic arm, which is attached to the frame and which first partial frame can be moved by it in the X- and Y-directions.

84. Device according to claim 76, comprising an orienting device for in the horizontal plane orienting the cutter and the stripper relative to the crown, in particular its center wherein the orienting device comprises a crown position determiner for in dependency on the data provided by the crown position determiner orienting the cutter and stripper in the horizontal plane relative to the crown, in particular at least substantially centered relative to the crown.

85. Device according to claim 84, wherein the cutter and the stripper have been arranged on a first partial frame that is directly or indirectly supported by the frame, which first partial frame can be moved relative to the frame in the X-direction (direction of onward movement of the frame) by a sixth drive and/or can be moved relative to the frame in the Y-direction (horizontally transverse to the X-direction) by a seventh drive, and/or can be moved relative to the frame in the Z-direction by an eighth drive, wherein, in one embodiment, the first partial frame is supported by a second partial frame that is supported by the frame, wherein the seventh drive is operative between the first and the second partial frame, wherein the orienting device is configured for in dependency on the data provided by the crown position determiner controlling either the said sixth and seventh drives or the position of the outer end of the robotic arm in the horizontal plane.

86. Device according to claim 84, wherein the crown position determiner forms a unit with the stripper and the cutter, which unit can be moved in the horizontal plane and/or forms a unit with the stripper and the cutter, which unit can be moved in vertical direction.

87. Device according to claim 85, wherein the crown position determiner forms a unit with the stripper and the cutter, which unit can be moved in the horizontal plane and/or forms a unit with the stripper and the cutter, which unit can be moved in vertical direction, wherein the crown position determiner is attached to the assembly of first and second partial frame.

88. Device according to claim 84, wherein the crown position determiner comprises a camera, wherein the camera is situated above the stripper and cutter.

89. Device according to claim 88, wherein the orienting device comprises a vision system with a programmable control unit and the camera, which vision system is configured for by means of the camera image searching for the location and (an indication of) the center of the crown of the vegetable plant, wherein the vision system with the programmable control unit is configured for based on the current camera image controlling the position of the camera in the horizontal plane relative to the world.

90. Device according to claim 89, wherein the vision system is configured for providing an indication for the girth of the vegetable plant crown, in particular considered in a projection on a horizontal plane, in particular using contrast measurements. wherein the control unit is configured for entering therein a reference girth size of the crowns of the vegetable plants to be harvested, wherein the control unit is configured for comparing the crown surface indicated by means of the camera to the reference girth size and on the basis of the outcome of said comparison either activating or not activating the stripper/cutter.

91. Method for harvesting vegetable crops from the ground, which vegetable crops have a stem and a crown supported by the stem and leaves attached to the stem, wherein prior to severing the stem for detaching the crown from the ground, a stripper is brought into engagement with the stem under the crown in the upper part of the stem and is subsequently urged downwards along the stem while stripping the leaves from the stem, after which the stem is severed by a cutter.

92. Method according to claim 91, wherein the stem is severed at a location above the stripper.

93. Method according to claim 91, wherein the stem is severed by a blade, wherein the blade is being used as a transporter of the severed upper part of the vegetable plant to a location of discharge, wherein the blade, when functioning as transporter, is moved in vertical direction, wherein in the discharge position a guide is being placed under the blade and the blade is being placed in an inactive position for discharging the severed upper part to the guide under the influence of gravity, which guide guides the severed upper part to a discharge or receptacle under the influence of gravity.

94. Method according to claim 91, wherein the crown of the vegetable plant, in particular also a location indicative of the center of the crown, is being searched for by means of a camera and the position of the stripper and the cutter relative to the crown, in the X-direction and/or in the Y-direction, is being set in dependency on the camera images, in particular by means of a vision system, wherein the stripper and cutter and camera are supported by a frame that can be moved along the vegetable plants to be harvested, wherein the camera, as a unit with the stripper and the cutter, is being moved in the horizontal plane relative to the frame, in particular to take the camera to above the crown, in particular at least substantially to above the center of the crown.

95. Method according to claim 91, wherein by means of a vision system comprising a camera and a control unit an indication of the girth of the vegetable plant crown is provided, in particular a crown surface considered in a projection on a horizontal plane, and in the control unit of the vision system the crown girth indicated by means of the camera is compared to a pre-entered reference girth size and on the basis of the outcome of said comparison the control unit can either activate or not activate the stripper/cutter.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The invention will be elucidated on the basis of an exemplary embodiment shown in the attached drawings, in which:

[0082] FIGS. 1A-C schematically show a side view, a top view and an end view, respectively, of an exemplary embodiment of a device according to the invention;

[0083] FIGS. 2A-F show an example of the use of the device of FIGS. 1A-C, in consecutive process steps;

[0084] FIGS. 3A-E show a few process steps of FIGS. 2A-F, in detail;

[0085] FIGS. 4A-B show a few process steps of FIGS. 2A-F, in top view.

[0086] FIGS. 5A,B show a part of an alternative embodiment of a device according to the invention;

[0087] FIGS. 6A-C show a few process steps with the device of FIGS. 5A,B; and

[0088] FIG. 7 shows an impression of a multiple device according to the invention.

DETAILED DESCRIPTION OF THE DRAWINGS

[0089] Theunmannedharvesting machine 1 in FIGS. 1A-C comprises a main frame 2 having longitudinal girders 2a, transverse beams 2b and columns 2c supporting the rectangular assembly of longitudinal girders and transverse beams. The main frame 2 is supported by wheels 3a,b arranged at the lower end of the columns 2c, wherein the wheels 3a are rigid casters that can be driven by hydraulic motors 4 (first drive), for moving the machine 1 in the directions A, and the wheels 3b are swivel casters. The hydraulic motors 4 are fed by a pump 5 driven by a fuel engine. The fuel tank, the fuel engine and the tank of its hydraulic system are not shown. Shown further are a valve block 6 of the hydraulic system and a central, programmable control unit 7, both attached to the main frame 2.

[0090] The main frame 2 further supports a tray 18, indicative for a receptacle or a discharge of harvested products, which may for instance also be a conveyor, and which is positioned above the profile of the crop.

[0091] The main frame 2 supports an auxiliary frame or third partial frame 8, that can be reciprocally moved by a hydraulic cylinder 9 (sixth drive), having a casing 9a and rod 9b, and being operative between a longitudinal girder 2a and the auxiliary frame 8, the movement taking place in directions B parallel to directions A, guided by the longitudinal girders 2a. The auxiliary frame comprises two longitudinal girders 8a and a number of transverse beams 8b and columns 8c.

[0092] The auxiliary frame 8 supports a flap 20 that is able to hinge about an axis 21 (directions K) by means of a hydraulic cylinder 22 (fifth drive) between an inactive position vertically hanging down and an inclined guide position, for guiding harvested products to the tray 18, et cetera.

[0093] The auxiliary frame 8 supports a further auxiliary frame or second partial frame 10, that can be moved up and down in directions C by vertical cylinders 11a,b (eighth drive) that are operative between the auxiliary frame 8 and auxiliary frame 10. The cylinders 11a and 11b are connected in series and oppositely oriented. In that way, the oil released when retracting the one cylinder can be used for allowing the other cylinder to extend. In the vertical motion the further auxiliary frame 10 is guided by one or more guides 19 that are fixed to the auxiliary frame 8. The further auxiliary frame 10 comprises a number of horizontal structural members 10a,b such as box profiles, and vertical structural members, such as box profiles. At the lower end, the rod of the cylinder 11a is attached to a transverse member 10b, the opposite cylinder end is attached to a yoke 24, onto which also the end of the rod of the cylinder 11b is attached, of which cylinder the opposite end is attached to a transverse beam 8b of the auxiliary frame 8.

[0094] The auxiliary frame 10 supports a next auxiliary frame or first partial frame 12, which relative to the second auxiliary frame 10 can be reciprocally moved in transverse directions D by a cylinder 13 (seventh drive). The auxiliary frame 12 supports a leave stripper 14 and a stem cutter 16 situated just above it. The stripper 14 comprises two stripper blades 14a,b which can be moved towards and away from each other in the directions E by cylinders 15a,b (fourth drive). The cutter 16 comprises a blade and counter blade 16a,b which can be moved towards and away from each other in the directions F by cylinders 17a,b (second drive). In this example the directions D, E and F are parallel, but in the invention, it is also possible that one or two directions are perpendicular to the two or one other direction(s). Alternatively, use can be made of a reciprocally movable blade and a dedicated anvil, which anvil is held adjacent to the stem.

[0095] The auxiliary frame 12 further supports a housing 30 (also see FIG. 3A) having an upper wall 31 and a circumferential wall 32 and being open in downward direction. The housing 30 in fact forms a cabinet that is open at the bottom side, in this example having a rectangular horizontal cross-section. In the upper wall, lighting facilities have been built in, for instance IR-LED lights 33. Said lighting is used for a camera 34, in this example a CCD camera or a CMOS camera, disposed in the upper wall. The camera 34 is part of a vision system, the control unit of which is incorporated in the central control unit 7. The vision system is configured for detecting the crown of a broccoli plant in the camera image by means of contrast measurement. The image data are used in the central control unit 7 for moving the auxiliary frame 12 and thus the camera 34 and the stripper 14 and the cutter 16 relative to the frame 2 by means of controlling the cylinders 9 and 13 in the B- or the X-direction and in the D- or Y-direction, respectively. The camera 34 is oriented vertically and placed concentric to the center between both stripper blades 14a,b. In their inactive position the blades and the stripper blades are kept at a sufficiently large distance from each other to have a sufficiently large image frame of the camera of the area below it. The circumferential wall 32 ensures that the image of the camera is disrupted as little as possible by natural UV-radiation: when the sun is shining on the crown, reflection may cause disruption of the camera image. Controlling the cylinders 9 and 13 takes place such that the crown of the broccoli plant is taken to the center of the image frame of the camera as much as possible and kept there.

[0096] The distance between stripper 14 and the upper wall 31 is larger than the crown depth+stem length to be harvested along with it, of the plants to be harvested. Further disposed in the upper wall 31 of the housing 30 is a distance sensor 35, operative on the basis of IR radiation or ultrasonic, by means of which the distance from the upper wall 31 to the upper side of the crown can be determined. The distance sensor 35 is connected to the central control unit 7, with which, on the basis of the data provided by the distance sensor 35, the cylinders 11a,b are controlled.

[0097] In this specification, the auxiliary frame 12 is also called first auxiliary frame, the auxiliary frame 10 is also called second auxiliary frame and auxiliary frame 8 is also called third auxiliary frame.

[0098] In operation, see FIG. 2A, the harvesting machine 1 is moved onward in the direction A1, at uniform speed or intermittently, overhead of a row of plants to be harvested, in this case broccoli plants. It is noted that in the drawings the plant to be harvested and the frame 2 are depicted stationary, however, it will be understood that the frame moves in direction A1. The cylinders 11a,b keep the second auxiliary frame 10 at an initial height of for instance 0.3 m above the crowns of the plants to be harvested at such a height that the plants to be harvested certainly will not be contacted, that means above the plant profile, and the camera has a sufficiently large image frame, larger than the crown girth in the horizontal plane. The height of the plant profile has been determined beforehand and an estimation of the crown girth in vertical direction, also called crown depth, has also been made for the crop to be harvested. The estimated crown depth together with the known distance between sensor 35 and stripper 14 results in a boundary distance between sensor and crown upper side, at which boundary distance the stripper will then be situated just below the crown, in a starting position for stripping. Said boundary distance, for instance 5 cm, has been entered into the control unit 7.

[0099] Furthermore, the desired stroke of the stripper is entered in the control unit 7. Said stroke can be relatively short if the crown is practically the only part one wishes to harvest, for instance in order to remove the florets from them at a later stage, or slightly longer, to harvest a desired length of (leafless) stem along with it.

[0100] The inactive positions and final positions of the cylinders 15a,b and 17a,b have furthermore also been entered in the control unit 7, in dependency on the largest crown diameter and the stem thickness.

[0101] The vision system is configured for once the crown of the broccoli plant enters the image frame of the camera 34, detecting a peripheral area of the crown, in contrast with the surroundings. The camera has then been set such that the image frame of the camera in the X- and Y-directions is larger than the largest crown girth to be expected of the plants to be harvested. Depending on its location in the D- or the Y-direction in the image frame, in one embodiment, the control unit 7 controls the seventh drive, cylinder 13, in order to move the image frame of the camera, and thus the camera 34, in order to enlarge and indicate the detected peripheral area situated in the image frame and finally center the indicated area of the crown in the image frame in the Y-direction, also see FIG. 3A. This involves the control unit 7 to continuously or shortly consecutively process camera images for feedback, on the basis of contrast measurements in the recorded images. In a way, the camera is self-piloting with respect to the crown.

[0102] Following that or at least partially coinciding therewith, the central control unit 7 can also control the sixth drive on the basis of the camera images in order to also center the area that is an indication for the crown in the image frame in the X-direction. This involves moving the auxiliary frame 8, and therewith auxiliary frames 10 and 12, such in direction B1 relative to the main frame 2, that the movement as a result of the uniform onward movement of the frame is compensated for, so that the camera as it were remains above the crown. It is noted that in the drawings the position of the auxiliary frame 8 appears to be the same relative to the main frame 2 in the X direction, however, it will be understood that the auxiliary frame 8 is kept above the plant due to operating the sixth drive whereas the main frame 2 progresses in the direction A1.

[0103] As soon as it is detected that the crown has ended up in the center of the camera image to an acceptable extent, also see FIG. 4A, the indicated crown surface is matched in the control unit 7 with a surface that has been entered in the control unit 7 beforehand, which surface forms a threshold value. If the crown surface indicated based on the camera image covers a smaller area than the threshold value, the harvesting process for this plant is broken off. If the indicated surface exceeds the threshold value, the control unit 7 controls the cylinders 11a,b for urging the auxiliary frame 10, and as a consequence auxiliary frame 12, downwards over a first step, direction C1, FIGS. 2B, 3B, at high speed. The distance over which this takes place depends on the distance measurement by sensor 35, as soon as the set desired minimum distance of the sensor to the crown has been reached said first downward stroke is stopped. In that process, the stripper 14 and the cutter 16, which have been vertically aligned with the crown by controlling the camera, have been taken along around the crown to a position in which the stripper 14 is at the wanted starting height. This involves leaves (covering leaves) extending upwards along the crown being bent away. Subsequently, the control unit 7 activates the cylinders 15a,b in order to move the stripper blades 14a,b towards each other, until in a position in which they extend around the stem, against the stem or close to the stem, to take variations in stem thickness and stem shape into account, also see FIGS. 3C and 4B.

[0104] Immediately subsequent thereto, the control unit 7 activates the cylinders 11a,b once more in order to have the stripper 14 strip the leaves from the stem over the preset length in a second, downward stroke. The leaves end up on the ground, FIGS. 2C and 3D.

[0105] Immediately after stripping, the control unit 7 activates the cylinders 17a,b for at that location severing the leafless stem using the blades 16a,b, FIG. 2C. The cylinders 15a,b are then activated as well to return the stripper 14 into the initial position again. This can optionally also be done at a later moment.

[0106] It is noted that after orienting auxiliary frame 12 in the horizontal plane, immediately prior to starting the first downward stroke, the stripper blades 14a,b may have been taken to a shorter distance from each other by the cylinders 15a,b which distance has been entered beforehand in the control unit 7, adjusted to the crown diameter, in order to bend the leaves that are situated close to the crown downwards in the first downward stroke. By then the camera has already fulfilled its function and cannot be hindered by stripper blades extending in the image frame.

[0107] The cylinders 17a,b remain in the closing position of the blades, in order to let the blades function as a support for the severed upper part. Immediately after severing the control unit 7 activates the cylinders 11a,b for retrieving the auxiliary frame 10 with auxiliary frame 12, direction C2, FIG. 3E. This involves lifting the auxiliary frame 12 in an almost vertical path (there will be compensationif anyin the X-direction by the cylinder 9 as a result of the device moving onward) until it is in a position entirely above the flap 20, immediately after which the control unit 7 activates the cylinder 22 for directly swinging the flap in the direction K2, about hinge 21 to the position shown in FIG. 2E. The control unit 7 then activates the cylinders 17a,b for returning the blades to their initial position, with which the support for the severed upper part is cancelled and the severed upper part, guided by flap 20 slides to the receptacle or discharge 18, FIG. 2F.

[0108] Immediately after that, the cylinder 22 is activated in order to return the flap 20 (direction K1) in the vertical position so that the cylinders 11a,b can be activated again in order to return the auxiliary frame 10 to the initial level again, see FIG. 2A, and then the process can be started over for the next plant in the row.

[0109] The progression speed of the harvesting machine is geared to the mutual distance of the plants in the row and to the time required for orienting the auxiliary frame 12 by means of the camera and the subsequent leave stripping, stem severing, lifting and discharging of the severed upper part.

[0110] As already noted above, the vision system can be configured for determining whether the crown of the plant possibly to be harvested is large enough to be harvested, for instance by determining one or more dimensions of the crown in projection on a horizontal plane. Said dimension(s) form(s) an indication for the crown girth and can be compared in the central control unit 7 to (an) entered reference value(s). Based on the outcome of said comparison the central control unit 7 subsequently either controls the drives operative for stripping and cutting the plant in question, or not.

[0111] In the alternative embodiment 101 shown in FIGS. 5A,B, there is once more a division in partial frames, namely first auxiliary frame or partial frame 112, having a stripper 114 and cutter 116 and a camera casing 130, like in the previous example, second auxiliary frame or partial frame 110 and third auxiliary frame or partial frame 108. The third partial frame 108 can again be reciprocally moved relative to the (main) frame 102 in the X-direction by a cylinder (sixth drive) that is not shown. However, in this case the second partial frame 110 can be reciprocally moved in transverse direction, directions D, relative to the third partial frame 108, by means of a seventh drive in the form of two cylinders 113a,b connected in tandem, the principle of operation being in accordance with lifting cylinders 11a,b.

[0112] In this example, the first partial frame 112 can be moved up and down relative to the second partial frame 110, by means of cylinders (eighth drive) that are not shown here, which in essence correspond with cylinders 11a,b of the previous example. One single vertical guide 119 then guides the first partial frame 112. In a manner so as to be slidable in transverse direction (D), the first partial frame 112 supports a transverse rod (128) near the upper end, which rod with its ends extends in curve tracks 127 that have been provided in first, upright operation rods 126, which at the location of 129 (indicated indicatively, in the drawing screened off by frame parts 102) are attached in partial frame 108 so as to hinge (directions H). The upright operation rods 126 and therefore the curve tracks 127 have a largest portion 126a, 127a that is straight and an upper end portion 126b, 127b that is S-shaped, offset in a direction away from the vertical path of the first partial frame 112.

[0113] A transverse rod 125 is rotatably attached to the lower ends of the rods 126 and protrudes laterally from them. At the ends of the rod 125 there are ends 124b of second operation rods 124 that form link rods and with their other ends 124a are rotatably attached to side plates 123 of a guide 120. At a distance from 124a, said side plates 123 are furthermore rotatably attached to the third partial frame 108. Due to this construction, the guide 120 has an inactive position that is tilted upwardly (K1) relative to the active position. With means that are not shown, the guide 120 is pre-biassed to the inactive position.

[0114] When operational, see FIGS. 6A-C, the assembly of first and second partial frame is situated at the starting height above the row of plants, in this case broccoli plants again. In FIG. 6A camera images are used by the central control unit 107 for centering the camera (and thus the stripper and the cutter) above the plant P1, in a manner as described above, now using cylinders 113a,b and the drive for the third partial frame 108 in the X-direction relative to the frame 102. When, in accordance with the explanation already given with the previous example, the control unit 107 has established that the camera is positioned above the indicative center of the crown K1, and it has moreover been established that the crown has the right dimensions, the control unit 107 activates the vertical drive of the first partial frame 112. Therewith in two consecutive downward steps, first the stripper 114 (and also the cutter 116) are moved over the crown K1 to a position just below it while bending away covering leaves, and once the stripper blades have been moved to near the stem, the stripper in strip position is subsequently moved along the stem for stripping the leaves from the stem. The eighth drive then also constitutes the third drive. Then the cutter 116 is operated, and the severed upper part of the plant, supporting on the cutter, is taken to the position of FIG. 6C in an upward stroke of the partial frame 112.

[0115] When moving the first partial frame 112 up and down, the ends 128a,b of the rod 128 that has been taken along, run through the curve tracks 127. When the ends 128a,b are in the straight portions 127a of the curve tracks 127, the operation rods 126 will be vertically oriented, parallel to the path of the first partial frame 112. In that condition, FIGS. 6A and 6B, the rods 124 keep the side plates 123 upwardly tilted in direction K1 as a consequence of which the guide 120 is kept beyond the vertical movement path of the first partial frame 112, so that the movement of the partial frame is not impeded. When in the upward stroke of the partial frame 112 the rod ends 128a,b arrive in the S-shaped end portions 127b of the curve tracks, the operation rods 126 will tilt about hinges 129 in the direction H1 into the sloping position of FIG. 6C. This is geared to the lower end of the first partial frame 112 passing through to above the tilting path of the guide 120. Due to the rods 126 tilting, the side plates 123 are pulled at via the rods 124 and the guide 120 tilts about hinges 121, counter the pre-bias, in the direction K2 into a position straight below the first partial frame 112, FIG. 6C. The control unit 107 subsequently opens the cutter 116 and the severed upper part S1 can drop onto the guide 120 which facilitates its slide down to the discharge belt 118. The drive for the first partial frame 112 thus indirectly constitutes a drive for moving the guide 120 from the inactive position to the active position.

[0116] When subsequently moving the first partial frame 112 downwards again, the rod ends 128a,b soon arrive in the straight portions 127a of the curve tracks 127 and the rods 126 tilt to the vertical position again and the guide 120, aided by the pre-bias, will be tilted upwards once more, out of the path of the first partial frame 112.

[0117] In FIGS. 3A-E the harvesting device 1 works its way through the row of plants in direction A1, in FIGS. 6A-C in the opposite direction A2. Each time the harvesting device 1, 101 has arrived at the end of a row of plants, it can be aligned with an adjacent row of plants by means of a transverse movement and then, while retaining the orientation, ride in the opposite direction A2; A1 to harvest the plants in that row.

[0118] In FIGS. 1-6 the exemplary embodiment of the harvesting machine is singular. A multiple embodiment is possible, see FIG. 7, wherein several harvesting machines 201, at least the parts that are supported by the said main frame, are positioned in a direction transverse to the rows of plants, attached to a portal 200, which with frame 202 at its ends is supported by wheels 203 so as to be mobile. The multiple embodiment has a central drive for the wheels 203. The wheels 203 are pivotable. The discharge belt 218 is a common one for all harvesting machines 201. Both outermost harvesting machines have been placed beyond the path of the wheels 203 so as to enable the harvesting of a row of plants at that location as well. The distance in transverse direction between the harvesting machines 201 can be set. The harvesting machines 201 can also be removed, so that the remaining harvesting machines 201 can be exactly aligned with the rows of plants.

[0119] This harvesting device according to the invention as well, can be operative in both directions A1,A2. When arriving at the end of the rows of plants the multiple harvesting machine can be moved in transverse direction on a headland using the swivel casters in order to be positioned correctly for a return stroke, in which other rows of plants are being harvested. The multiple harvesting device can be provided with a directional sensor operative in a wheel track, based on the data of which the wheels 203 are kept correctly oriented to follow the tracks between the plants. Said directional sensor can also be provided in singular harvesting machines discussed above.

[0120] By way of example: the portal may have a length of 7.5 m, the rows of plants may be 75 cm apart, the depicted possible paths for the wheels can then be situated 1.5 m apart. The range in transverse direction of each harvesting machine will then for instance be 65 cm.

[0121] It is noted that apart from hydraulic, one or more of the drives can have other configurations, for instance pneumatic or electrical, such as in the form of servo-electric motors.

[0122] The above description is included to illustrate the operation of preferred embodiments of the invention and not to limit the scope of the invention. Starting from the above explanation many variations that fall within the spirit and scope of the present invention will be evident to an expert.