Harvester for leafy plants
A support frame; a cut and lift mechanism coupled to the support frame; a tool carrying platform coupled to the cut and lift mechanism; an outer leaf removal device coupled to the tool carrying platform; a cutting tool coupled to the tool carrying platform; a controller in data communication with the cut and lift robot; and a plant center locator in data communication with the controller.
1. An apparatus, comprising:
a support frame;
a cut and lift robot coupled to said support frame;
a tool carrying platform coupled to said cut and lift robot;
an outer leaf removal device coupled to said tool carrying platform;
a cutting tool attached to a cutting tool shaft, said cutting tool shaft coupled to said tool carrying platform;
a controller in data communication with said cut and lift robot;
a plant center locator in data communication with said controller;
a top plate attached to said support frame and to said cut and lift robot;
a cutting tool actuator attached to said top plate, said cutting tool actuator in data communication with said controller;
a core stabilizer vertical position actuator attached to said top plate, said core stabilizer vertical position actuator in data communication with said controller;
a first cardan shaft connected to said cutting tool actuator and to said cutting tool shaft; and
a second cardan shaft connected to said core stabilizer vertical position actuator and rotatably coupled to said tool carrying platform.
2. The apparatus of claim 1 , further comprising:
a parallel-arm frame rotatably coupled to said tool carrying platform;
a gearbox attached to said tool carrying platform, said second cardan shaft, and to said parallel arm frame, wherein a rotation of said core stabilizer vertical position actuator rotates said second cardan shaft and selectively raises and lowers said parallel-arm frame relative to said tool carrying platform.
3. The apparatus of claim 1 , said outer leaf removal device further comprising:
a cap formed with a first interior void space;
a base formed with an aperture in fluid communication with said first interior void space, said aperture positioned to direct a flow of pressurized air from said first interior void space downward onto a plant to be harvested; and
a core stabilizer attached to said base, said core stabilizer formed with a second interior void space and a plurality of flexible fingers.
4. The apparatus of claim 3 , further comprising:
a first inlet coupler for an air hose, said first inlet coupler in fluid communication with said first interior void space; and
a second inlet coupler for an air hose, said second inlet coupler in fluid communication with said second interior void space.
5. The apparatus of claim 1 , further comprising a conveyor attached to said support frame and a conveyor lift in data communication with said controller.
6. The apparatus of claim 5 , wherein said conveyor is a v-trough conveyor.
7. The apparatus of claim 1 , further comprising a height sensor in data communication with said controller, said height sensor positioned to measure a height above ground of a blade height reference location for setting a cutting height of said cutting tool.
8. The apparatus of claim 1 , wherein said plant center locator includes an optical scanner.
9. The apparatus of claim 1 , wherein said plant center locator includes a camera.
10. The apparatus of claim 1 , further comprising a lateral positioner having a movable part attached to said support frame and a stationary part adapted for attachment to a transport.
11. The apparatus of claim 1 , further comprising a core ejector attached to said tool carrying platform, wherein said core ejector is positioned to push a harvested plant out of said outer leaf removal device.
12. The apparatus of claim 1 , further comprising a protection cage attached to said support frame, said protection cage surrounding said cut and lift robot.
13. The apparatus of claim 1 , wherein said cut and lift robot is a delta robot.
14. The apparatus of claim 1 , wherein said cutting tool is formed with a plurality of ridges on a top surface of said cutting tool, and each of said plurality of ridges is formed with a triangular profile.
15. The apparatus of claim 1 , wherein said cut and lift robot positions said cutting tool to produce a harvested plant core with a preferred core diameter.
16. An apparatus, comprising:
a support frame;
a cut and lift robot coupled to said support frame;
a tool carrying platform coupled to said cut and lift robot;
an outer leaf removal device coupled to said tool carrying platform;
a cutting tool attached to a cutting tool shaft, said cutting tool shaft coupled to said tool carrying platform;
a controller in data communication with said cut and lift robot;
a plant center locator in data communication with said controller; and
a rotary encoder in data communication with said controller, said rotary encoder having a pulse output signal comprising a fixed number of pulses for a full revolution of a wheel.
17. The apparatus of claim 16 , wherein said controller sets a longitudinal cutting position for said cutting tool in response to a count of pulses from said pulse output signal and a sensed plant center position from said plant center locator.
18. The apparatus of claim 16 , wherein said controller converts each plant center coordinate in a longitudinal direction from said plant center locator to a pulse count value referenced to a home position of said cut and lift robot.