Device for the automatic selective harvesting of mushrooms

Details Device for the automatic selective harvesting of mushrooms Device for the automatic selective harvesting of mushrooms

A - Human Necessities

01

D

A01D 45/00 (2006.01) A01G 1/04 (2006.01)

Patent

CA 2113168

2113168 9300793 PCTABS00019 Device for the automatic selective harvesting of mushrooms (8) grown on growing beds (6). The device comprises a carrier (16) which is movable above the growing bed and is provided with picking arms (30), at least one camera (48) for observing the mushrooms on the growing bed, and positioning devices for positioning the picking arms on the basis of the information coming from each camera. One end of each picking arm bears a picking head (32) coupled with a suction element by means of a torsionally rigid, laterally flexible coupling member (84). The suction element has an annular pad (85) consisting of a flexible envelope (85a) filled with a deformable material (85b). Each picking arm can be moved both in a horizontal plane, essentially transversely to the direction of movement (38) of the carrier (16) relative to the growing bed (6), and in a vertical plane between an initial position (A) and a picking position (B), between which positions a cutting device (86) can cut off the base of the stalk of a picked mushroom.

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