NL2028840B1

NL2028840B1 - Device and method for reorienting horticultural and agricultural products

Info

Publication number: NL2028840B1
Application number: NL2028840A
Authority: NL
Inventors: Cornelis Theodorus Wagenaar Richard; Antonius Ambrosius Jozef Sjerps Ton
Original assignee: Automotion Venhuizen Holding B V
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2023-01-31
Also published as: EP4377238A2; WO2023006785A3; EP4377239A2; WO2023006784A3; WO2023006784A2; WO2023006785A2

Abstract

Device (10) for orienting products (14), more in particular flower bulbs, the device comprising: — a conveyor (12) for conveying a product, the conveyor comprising an entry (16) and an exit (18), Wherein the conveyor comprises: 0 at least one first conveyor belt (20A) and at least one first drive (21A) which controllably drives the first conveyor belt, 0 at least one second conveyor belt (208) and at least one second drive (21 B) which controllably drives the second conveyor belt, 0 at least one movable contacting member (200) configured to contact the product, wherein the first and second conveyor belt define a transport direction (X), wherein the first and second conveyor belt and the movable contacting member provide a product space (24) between them, wherein the first and second conveyor belt and the movable contacting member are configured to contact the product on three different sides and are configured to exert pressure on the product, — at least one conveyor camera (25) configured for recording images of the product, — a control unit (100) configured for processing the recorded images and configured for individually controlling at least the first and second conveyor belt for conveying the product to the exit and configured for applying a relative speed between the first and second conveyor belt and the movable contacting member for reorienting the product based on the recorded images.

Description

P35176NLO0/WHA

Title: Device and method for reorienting horticultural and agricultural products

FIELD OF THE INVENTION

The present invention relates to a device and method for reorienting and or scanning product, in particular horticultural or agricultural products, more in particular flower bulbs.

Such device and methods are known.

BACKGROUND OF THE INVENTION

Horticultural and agricultural products may be difficult to process in an automated manner. This is due to the variation in the size and shape of such products. For instance, flower bulbs may have an irregular shape including “daughter bulbs” which are smaller bulbs attached to the side of a flower bulb. A considerable percentage, for instance 10-30 percent, of flower bulbs may have such a daughter bulb. Also, flower bulbs may have curved shoots which provide difficulties in handling the flower bulbs. The curved shoots are vulnerable and damage to the shoot may result in a flower with less or no commercial value.

Flower bulbs may be grown in a so-called hydroponic system. In such a system, the bulbs are placed in crates (also referred to as trays) which typically have upstanding pins.

The flower bulbs are impaled on the pins. Subsequently the bulbs grow into a flower. The filling of the crates in an automatic way poses challenges as a result of the variation in size and shape of the flower bulbs.

EP3552479A1 (D1) discloses a system for placing plant bulbs. The system comprises a conveyor and a camera system, see figure 3D. The system further comprises a gripper head which is configured to pick flower bulbs from the conveyor. The gripper head comprises two opposite gripper members at least one of which is actively rotatable. The gripper head is further rotatable about a vertical axis. With the camera system, a position and orientation of a flower bulb on the conveyor is recorded and a major axis of the flower bulb is determined. A control unit controls the position of the gripper head and orients the gripper head about the vertical axis in order to engage and pick up the flower bulb in the desired location which is a minor axis of the flower bulb, the minor axis extending orthogonal to the major axis. The gripper members are then rotated to orient the flower bulb with the major axis being vertical or horizontal. The gripper head subsequently positions the flower bulb in or on a bulb-receptor.

The bulb receptor comprises a suction head, see figures 7A-7H. In addition, the bulb receptor may comprise further gripping elements 160 in the form of resilient metal fingers, see paragraph 152. Multiple bulb receptors are arranged in an array, see figures 7G and 7H.

In the present invention it was recognised that, although this system according to

EP3552479A1 works, the system has a number of problems. The first problem is that flower bulbs may have daughter bulbs attached to the side of the flower bulb. Daughter bulbs are smaller bulbs which may be firmly or loosely attached to the flower bulb. If a flower bulb lies on a conveyor, the daughter bulb tends to be positioned on the side of the flower bulb, due to gravity. This means that the daughter bulb is positioned more or less on the minor axis which is identified by the camera system and the control unit. One of the two gripper members of the gripping head thus grips the flower bulb where the daughter bulb is located. It may then happen that the daughter bulb comes loose as a result of which the gripper head loses its grip on the flower bulb. The flower bulb may then drop in the tray which is below the pickup zone.

The dropped flower bulb may then block a position in the tray.

It may also happen that the flower bulb which is gripped by the gripping head suddenly rotates into another orientation when the gripping head engages the daughter bulb. The flower bulb then has an unknown orientation. Consequently, when the major axis is rotated in order to transfer the flower bulb into the bulb receptor, the major axis may have a different orientation than the orientation which the control unit has recorded. The flower bulb may be positioned in the bulb receptor in an incorrect orientation, resulting in damage of the flower bulb and in particular in damage to the shoot of the flower bulb.

Another problem with the system according to EP3552479A1 which was recognised in the present invention is that a flower bulb with a daughter bulb should be placed in the tray in a specific orientation. The daughter bulb should preferably be oriented in a 45 degree, 135- degree, 225-degree or 325-degree orientation when seen in top view. This is the position where the most space is available in a regular grid of flower bulbs in a tray. However, the metal fingers 160 are positioned in exactly these orientations, see figure 7G. This makes the system according to EP3552479A1 flawed in the handling of flower bulbs with daughter bulbs.

Another problem with the system of EP3552479A1 is that the shoots of flower bulbs may be curved. The bulb receptor of EP3552479A1 may damage such a curved shoot.

WO2018/201244A1 discloses another system for gripping, orienting and handling a biological horticultural object. The system of WO2018/201244A1 has a similar gripping head as the system of EP3552479A1, with similar disadvantages. In the system of

WO2018/201244A1 the horticultural object is first grasped with an extendable suction head, see figure 8B. If for some reason the horticultural object has an irregularity and has an orientation on a conveyor which is unsuitable for the suction head, there is no real solution how to pick up the horticultural object. For instance, if for some reason the shoot is oriented diagonally upwards, the suction head may be unable to pick up the horticultural object. Also, if a daughter bulb is present and it is positioned in an inconvenient position, it may be difficult to pick up the horticultural object. Also, it may be difficult to orient a daughter bulb in a required orientation in the tray with the system according to WO2018/201244A1.

US2012/0022691A1 discloses another system for automated positioning of an organic polarised object, which may be a plant bulb. The system of US2012/0022691A1 comprises a gripper head (called a robotic hand 104) having two gripper members 122, 124. With the gripper members 1 to 2, 124, the organic polarised object is positioned in a tray 317, see figure 3A. The plant bulb is placed upside down in a tray see figure 5A. A complex overturning system is necessary to overturn a series of plant bulbs in order to point the shoot upwards, see figure 5B.

NL2014327 discloses a system for impaling flower bulbs on the pins of a tray. The system comprises a gripper head which is based on suction and which is controlled with a camera and a control unit, see figure 1. The gripper head places the flower bulbs with the shoot pointing downwards in a holder 8, see figure 2. The holder 8 is then moved underneath a tray 7 having pins 71, see figure 4. The tray is in an inverted orientation with the pins 71 pointing downward. The holder 8 and the tray 7 are pressed against one another and during the pressing, the flower bulbs are impaled upon the pins, see figure 5. The tray 7 is then overturned with an overturning device 50. See figure 7.

EPQ727355A1 discloses a system for packaging agricultural and horticultural produce such as apples. The system according to EP0727355A1 comprises a reorienting system and suction members which can pick up re-oriented apples and place the apples in a tray, see figure 2. The system appears to be quite complex.

NL1020856 discloses another system for orienting flower bulbs. It is believed that the system has not left the drawing board.

WO01/33981A1 discloses another system for orienting objects having at least a concave portion, such as mushrooms pears, onions, flower bulbs and the like. The system of

WO01/33981A1 comprises an orientation mechanism comprising conveying elements formed by rollers arranged transversely to the conveying direction.

NL1009446 discloses another system for orienting flower bulbs. NL1020898 discloses a system for processing bulb plants such as onions. EP3448589B1 discloses another system for reorienting fruits particular for the packaging thereof. WO2008/148177A2 discloses another system for determining the position and orientation of a fruit. US5078258 discloses a system for orienting round or approximately round articles for instance fruit, comprising two parallel rollers. EP1637483A1 discloses an apparatus for orientating non-round objects. The system appears to have a low throughput and may not be reliable. Furthermore, the system may damage the shoots of flower bulbs. US2016/0159580A1 discloses a system for singulating products.

The Canadian company CMP has developed a system for picking and placing flower bulbs. See a YouTube video on https://www. youtube. com/watch?v=aGZE-9af4x08t=31s.

US2010/0147651 discloses a system for conveying fruit and vegetable products. The system comprises two motorised belts forming a V-slot, see figures 2-6. The system of

US2010/0147651 does not appear to be suitable for reorientation of the products but is only configured for singularisation. A similar system is disclosed in FR2917391.

JP2009023806A discloses an alignment device for chocolate eggs. The device is not suitable to handle chocolate eggs with irregularities or varying size. In particular large eggs do not fit and cannot be aligned. Too small eggs will not be aligned accurately. Unsuitable products are discarded with an air jet. The device also does not have any form of active control in the alignment process. The alignment device can only align about one axis, the Z- axis.

WO2020/130823A1 discloses an alignment station for slices.

OBJECT OF THE INVENTION

It is an object of the present invention to solve at least one of the problems of the prior art and/or to provide an alternative device for reorienting products, in particular horticultural and/or agricultural products, more in particular flower bulbs.

It is a further object of the present invention to provide a device and method for placing products, in particular horticultural and/or agricultural products in a target area, in particular tray, in a controlled manner, wherein in particular the position and orientation of the individual products in the target area can be controlled.

It is another object of the invention to pick and place products having an irregularity or specific visual feature such as a curved shoot, a daughter bulb, a red blush, wherein the products are placed in a target position and in a target orientation.

It is another object to provide a device for scanning products, in particular agricultural or horticultural products.

SUMMARY OF THE INVENTION

In order to achieve at least one of the objects, a device for orienting or scanning products, in particular agricultural and/or horticultural products, more in particular flower bulbs, the device comprising: — a conveyor for conveying a product, the conveyor comprising an entry where a product is received by the conveyor, the conveyor further comprising an exit via which the product leaves the conveyor, wherein the conveyor comprises: o atleast one first conveyor belt and at least one first drive which controllably drives the first conveyor belt, o atleast one second conveyor belt and at least one second drive which controllably drives the second conveyor belt, o atleast one movable contacting member configured to contact the product, and at least a third drive ar contacting member actuator for moving the at least one movable contacting member, wherein the first and second conveyor belt define a transport direction (X), wherein the first and second conveyor belt and the movable contacting member provide a product space between them, wherein the first and second conveyor belt and the movable contacting member are configured to contact the product on three different sides and are configured to exert pressure on the product, — atleast one conveyor camera configured for recording images of a product which is conveyed by the conveyor, — a control unit configured for processing the recorded images and configured for individually controlling at least the first and second conveyor belt and the movable contacting member for conveying the product to the exit and configured for applying a relative speed between the first and second conveyor belt and the contacting member for: o reorienting the product based on the recorded images in order to deliver the product at the exit in a target orientation, and/or o scanning the product from different sides.

The invention provides a reliable and efficient way of orienting products. Various products may be oriented, in particular flower bulbs, more in particular tulip bulbs. Other flower bulbs may be gladiolas, dahlias, begonias, daffodils, amaryllis and lilies. One of the advantages for flower bulbs is that less pre-processing is required. In particular it is no longer necessary or less critical to remove daughter bulbs from the flower bulbs because the device is capable of handling flower bulbs with daughter bulbs better than device according to the prior art. Also, the invention may be better capable of handling flower bulbs with curved shoots.

However, the device is also suitable to orient and/or scan other products with a bulbous shape such as apples, pears, strawberries, avocados, paprika's and many other products. The device is also suitable to orient certain cheeses which have a somewhat round shape.

Any product which is somewhat (although not necessarily completely) round and which can be rotated by two conveyor belts and a movable contacting member and which comprises a feature which can be used for orienting (e.g. a shoot, an irregularity, a stalk) can be reoriented.

Depending on the product, any orientation about the X-axis, Y-axis and Z-axis is possible.

For instance, for apples there is a preference to package the apples with the red blush facing upwards. The red blush provides a more attractive appearance for consumers. For other products, there may be other reasons for a specific orientation in a package.

A further advantage of the device according to the present invention may be that it can easily be combined with conventional belt conveyors or other types of convention conveyors onthe upstream side of the device and on the downstream side of the device. The transfer to and from the device of the present invention can be relatively simple and integration of the present device in an existing processing line can be relatively cost-effective.

The device may also be used as a scanner for scanning the product without a specific orienting goal for the product at the exit of the conveyor. The scanning works fast and reliable.

In an embodiment, the at least one movable contacting member is a third conveyor belt wherein the conveyor comprises at least one third drive which controllably drives the third conveyor belt. A conveyor having three conveyor belts was found to be a practical, reliable way of orienting products.

In an alternative embodiment, the at least one movable contacting member is an elongate member, in particular a rod, which is not a conveyor belt. The elongate member may be stationary in the transport direction or may be movable in the transport direction by means of a third drive. For instance the movable contacting member may be movable in the transport direction in a reciprocating manner. The elongate member may be movable toward and away from the first and second conveyor belts.

In the same or an alternative embodiment, the first and second conveyor belt extend substantially parallel to one another. This may provides a stable support surface for the product.

In the same or an alternative embodiment, the movable contacting member, in particular the third conveyor belt, in an operating position thereof, diverges from the first and second conveyor belt or approaches the first and second conveyor belt in the transport direction (X). In particular, the movable contacting member may be inclined upward in the transport direction (X) in an operating position thereof. The diverging or approaching configuration allows good control of the pressure which is exerted on the product. In particular, the pressure may vary over the length of the conveyor. The pressure may be relatively high where the third contacting member is close to the first and second conveyor belt and relatively low where the contacting member is further away from the first and second conveyor belt. A central portion may then be a preferred location for the reorienting process.

The product may be moved to a central portion of the conveyor, subsequently be reoriented in the central portion, and be subsequently moved to the exit of the conveyor.

In the same or an alternative embodiment, when seen in cross-section the first and second conveyor belt diverge from one another in an upward direction and in particular form a

V-configuration. The bottom angle of the V may be 60-130 degrees, in particular 90-120 degrees. A central vertical longitudinal plane may be defined by the first and second conveyor belt and the movable contacting member, said central vertical longitudinal plane extending between a contact area of the movable contacting member and through a midpoint of a straight line extending between the contact areas of the first and second conveyor belt. In this embodiment, gravity advantageously does not negatively influence the aligning process and may actually positively assist the aligning process, because shoots of flower bulbs will have the tendency to move to a lowest point which may be a gap between the first and second conveyor belt.

In the same or an alternative embodiment, when seen in cross section the first conveyor belt is positioned on a left side of the conveyor, the second conveyor belt is positioned on a right side of the conveyor and the movable contacting member is positioned between the first and second conveyor belt and above a first and second contact area where the respective first and second conveyor belts contact the product.

In the same or an alternative embodiment, the control unit is configured to determine a primary axis of the product which is conveyed by the conveyor on the basis of the recorded images, and wherein the control unit is configured to drive at least the first and second conveyor belt with relative speed differences to align said primary axis with a longitudinal plane of the conveyor, wherein said longitudinal plane extends through a contact area of the movable contacting member and through a mid-point of a straight line extending between the first and second contact areas of the respective first and second conveyor belt, wherein said longitudinal plane is in particular a central vertical longitudinal plane defined by the first and second conveyor belt and the movable contacting member. This advantageously allows a structured orientation process which can be carried out in separate specific steps. The speed of a conveyor belt may be negative during the aligning process, in other words the conveyor belt may move rearward.

In the same or an alternative embodiment, the control unit is further configured to, after the primary axis of the product has been oriented in alignment with the central vertical longitudinal plane, reorient the primary axis of the product to a target orientation, in particular to a horizontal or vertical orientation, while maintaining the primary axis aligned with the longitudinal plane, wherein said reorienting is carried out by driving the first and second conveyor belt with a same speed and with a relative speed in respect of the movable contacting member. This advantageously allows the structured orientation process. If the movable contacting member is held stationary at this time, the first and second conveyor belt may have opposite speeds.

In the same or an alternative embodiment, the control unit is configured to determine if the product is to be rotated about the primary axis to a target circumferential angle, in which case the control unit is configured to rotate the product about said primary axis by applying a speed difference between the first and second conveyor belt while maintaining a speed of the movable contacting member at an average speed of the first and second conveyor belt. This advantageously enables an orientation of an irregularity such as a daughter bulb or a curved shoot. If the movable contacting member is held stationary at this time, the speed of the movable contacting member will be zero and the speeds of the first and second conveyor belt will be opposite.

In the same or an alternative embodiment, the conveyor comprises at least one gap adjustment actuator for providing a gap between a proximal edge, in particular a lower edge, of the first conveyor belt and a proximal edge, in particular a lower edge, of the second conveyor belt, wherein the control unit is configured to adjust a width of the gap, wherein in particular the width of the gap is adjustable in at least a range from 0.1-100mm. The gap advantageously allows a part of the product to be positioned in the gap, thereby avoiding damage to the product. The conveyor may comprise at least one gap adjustment actuator for adjusting the gap, wherein the control unit is configured to adjust the gap, wherein in particular the width of the gap is adjustable in at least a range from 0.1-100mm.

This embodiment advantageously allows the conveyor to be adjusted to the size of a shoot of a flower bulb, or to the size of any other protruding part of any other product which can be placed in the gap during the orientation process. A camera may be directed from below at the gap. The camera does not have a clear view, the gap may be widened to obtain a better view. If the product has a size which varies considerably, the adjusting of the gap may prevent that small products fall through the gap. Some flower bulbs have a blunt shoot.

In that case the gap can be widened to let the camera have a better view of the blunt shoot.

The gap may have a uniform width over the length of the conveyor. The gap may also be used for discarding a product by increasing the gap and letting the product fall through the gap.

In the same or an alternative embodiment, the control unit is configured to determine on the basis of the recorded images whether the product comprises an irregularity, in particular a so-called “daughter bulb”, and where the irregularity is located, wherein if the product indeed comprises such an irregularity, the control unit is configured to: — determine a primary axis of the product,

— determine a target orientation of the product at the exit about the X-axis, Y- axis and Z-axis of a local coordinate system having its origin in the center of gravity of the product, — orient the primary axis vertically, wherein a projection of the product, in particular a shoot of the flower bulb, is oriented downward, — followed by rotating the product about the vertical axis with the first and second conveyor belt, wherein the irregularity is oriented, when seen in top view to a circumferential target angle, in particular to a 45-degree, a 135- degree a 225-degree or a 315-degree angle relative to the transport direction, — subsequently reorient the primary axis from vertical to horizontal by driving the first and second conveyor at a same speed and at a relative speed to the movable contacting member, in particular the third conveyor belt.

This allows efficient use of space in a crate/tray where products are to be placed because the irregularities can be positioned in the available spaces between the products. It also allows for instance the red blush of an apple to be oriented upwards in a package or a bad spot to be oriented downward. During the reorienting of the primary axis from vertical to horizontal by driving the first and second conveyor at a same speed and at a relative speed to the movable contacting member, the movable contacting member may have a zero speed.

In the same or an alternative embodiment, the control unit is configured to determine on the basis of the recorded images whether the product has a curved shoot and wherein if the product has a curved shoot, the shoot is oriented at the exit in a target shoot orientation, in particular with the shoot extending in a forward direction and with: a) the shoot curving downwardly or upwardly in a central vertical longitudinal plane of the conveyor, and/or b) the shoot curving sideways, away from the central vertical longitudinal plane.

In this way, damage to the shoot can be avoided if the shoot is subsequently to be gripped with a suction head or different kind of gripper gripper.

In the same or an alternative embodiment, the movable contacting member is positioned centrally between the first and second conveyor belt.

In the same or an alternative embodiment, the movable contacting member is narrower than the first and second conveyor belt, wherein the movable contacting member is in particular narrower than 10mm and more in particular narrower than 6 mm. This advantageously enables the one or more cameras to obtain good images of the product on the conveyor. A camera positioned directly above the conveyor may be slightly off center to further improve the view on the products.

In the same or an alternative embodiment, the movable contacting member defines a third engagement surface which faces downwards. This allows the movable contacting member to exert pressure on the product in the same direction as gravity.

In the same or an alternative embodiment, when seen in cross-section the contact areas of the first and second conveyor belt and the movable contacting member, in particular the third conveyor belt, are arranged in a triangular configuration, wherein the triangle points upwards.

In the same or an alternative embodiment, the first, second and, if present, third conveyor belts are flat belts, round belts or a combination of flat and round belts.

In the same or an alternative embodiment, the first and second conveyor belt and if present, the third conveyor belt, are flat belts or a series of adjacent round belts. The contact areas of the first and second conveyor belt and the movable contacting member may define a triangle which points upwards.

In the same or an alternative embodiment, the first, second and/or, if present, third conveyor belt is composed of separate adjacent round conveyor belts or separate adjacent narrow conveyor belts. It was found that separate narrower adjacent conveyor belts improve the friction on the product and therefore improve the orientation process.

In the same or an alternative embodiment, the control unit is configured to position a part of the product, in particular a projection of the product, more particular a shoot of a flower bulb, in the gap between the proximal lower edges of the first and second conveyor belt in the reorientation process, in particular when the primary axis of the product is oriented vertically.

Advantageously, the flower bulb or other product may be oriented without damaging the part which extends between the proximal edges. This procedure may also be used to reorient the shoot of flower bulb from a rearward direction to a forward direction.

In the same or an alternative embodiment, the primary axis is aligned with the transport direction during the orienting process so that, when the product arrives at the exit, a surface of the product surrounding the primary axis is accessible for a pick and place assembly. This advantageously enables transfer of the product to a pick and place assembly.

In the same or an alternative embodiment, the primary axis is aligned with the transport direction and an irregularity on the product is oriented to a target circumferential angle about the primary axis.

In the same or an alternative embodiment, the transport direction of the conveyor is horizontal or substantially horizontal.

In the same or an alternative embodiment, at least a part of the movable contacting member is moveable by means of a contacting member actuator, between an operating position and a retracted position, wherein the operating position is closer to the first and second conveyor belt than the retracted position. In particular, the movable contacting member may be the third conveyor belt wherein the conveyor comprises a movable belt roller at the entry and/or at the exit, wherein the belt roller and at least a portion of the third conveyor belt which extends arount the moveable belt roller is moveable by means of a belt roller actuator between an operating position and a retracted position in which the entry of the conveyor is wider than in the operating position to allow a product to enter the conveyor, wherein the control unit is configured to move the belt roller to the retracted position away from the first and second conveyor belt when a product is present at the entry and wherein the control unit is configured for moving the belt roller and the third conveyor belt to the operating position after the product has entered the conveyor. This advantageously makes it easier for a product to travel through the entry onto the conveyor. It also allows the third conveyor belt to diverge from the first and second conveyor belt or to approach the first and second conveyor belt. If the movable belt roller is at the entry, the third conveyor belt will diverged from the first and second conveyor belt. If the movable belt roller is at the exit, the third conveyor belt will approach the first and second conveyor belt in the transport direction (X).

In the same or an alternative embodiment, the first, second and if present third conveyor belts comprise openings in the belt surface or are translucent. This allows cameras to record images of the product through the conveyor belts.

In the same or an alternative embodiment, the device further comprises a pick and place assembly comprising: — amovable arm, — a suction head connected to said arm, and — one or more pick and place actuators for moving the movable arm, wherein the pick and place assembly is configured to pick up the product at the exit of the conveyor with the suction head and to place the product in a target position, in particular in a tray.

In a further embodiment, the suction head is rotatable about a central suction head axis or about an axis parallel to said central suction head, in particular over an angle of at least 45° in both directions starting from a default orientation, more in particular over at least 180° in both directions starting from the default orientation and the pick and place assembly comprises a rotary actuator for rotating the suction head.

In the same or an alternative embodiment, the control unit is configured to determine an approach path of the suction head to a product at the exit, in particular an approach angle (vy), wherein said approach path is determined in dependence of the size and shape of the product at the exit and in particular in dependence of a curved shoot of the product, wherein more in particular the control unit is configured to let the suction head approach a curved shoot from below or from a side or from above. The suction head may follow the curvature of the shoot during the approach.

In the same or an alternative embodiment, the pick and place assembly comprises: — at least one pick and place camera which records images of a target area where the product is to be placed, and — a pick and place control unit, wherein the pick and place control unit is configured for processing recorded images of the target area, in particular of a tray which is to be filled and to determine a target position in the target area for each product which is gripped by the suction head of the pick and place assembly, wherein the pick and place control unit takes into account the available places in the tray, the size and shape of the products in the tray, including irregularities such as a daughter bulb, for determining the target position.

In the same or an alternative embodiment, the arm is extendable, in particular telescoping, and wherein the pick and place assembly comprises an extension actuator for extending and retracting the arm, the actuator being controlled by the pick and place control unit.

In the same or an alternative embodiment, the arm is rotatably mounted on a horizontal shaft which defines a horizontal pivot axis, wherein said rotation axis extends in particular in a Y-direction which when seen in top view is orthogonal to the transport direction, wherein the pick and place assembly comprises a rotation actuator for controllably rotating the arm about the horizontal pivot axis.

In the same or an alternative embodiment, the pick and place assembly comprises a

Y-actuator for, when seen in top view, moving the movable arm in the Y-direction to a target

Y-position wherein the Y-actuator is controlled by the pick and place control unit.

In the same or an alternative embodiment, the pick and place control unit is configured to determine on the basis of the recorded images whether the product, in particular a flower bulb, has a curved projection, in particular a curved shoot, and wherein the first, second and, if present, third drive of the conveyor belts are controlled to position the curved projection in a target orientation at the exit and wherein the pick and place actuators are controlled to let a center of the suction head follow the curved projection during the approach in order to grip the product without damaging the curved projection, and wherein in particular a center of an opening of the suction head follows the curved shoot to move the opening over the curved shoot and insert the curved shoot into the chamber and wherein the suction head is rotated to position the curved shoot in a corner or pocket of the chamber.

In the same or an alternative embodiment, the movable arm is configured to move the product downward during the movement of the suction head from the pickup location at the exit of the conveyor to the target position in the target area by rotating the movable arm about the horizontal pivot axis.

In the same or an alternative embodiment, the device further comprises a tray support device configured for supporting a tray into which the products are to be placed, wherein the tray is supported in a filling position, wherein the tray support device comprises: — a tray supply track, — atray discharge track and — atray moving system for each time taking a tray from the tray supply track, positioning the tray in the target area in which the pick and place assembly can controllably place a number of products in the tray, and for placing the tray on the tray discharge track after the tray has been filled with products.

In this way a highly automated filling process can be created

In the same or an alternative embodiment, the tray moving system comprises a lift for lifting the tray upward to the filling position and for lowering a filled tray to the tray discharge track after filling. This advantageously keeps the tracks free of trays which are being filled and which for that reason need to be stationary. In this way the tracks can be used for supplying and discharging trays for other devices.

In the same or an alternative embodiment, the tray moving system comprises at least one tray actuator for moving the tray in at least one direction, in particular at least in an X- direction, i.e. orthogonal to the rotation axis of the movable arm, and wherein the control unit is configured for moving the tray with the tray actuator in order to position the product in a target location in the tray. This way, the pick and place assembly can advantageously be kept simple and fast because this degree of freedom does not need to be present in the pick and place assembly.

In the same or an alternative embodiment, the tray supply track and the tray discharge track are located underneath the conveyor and the pick and place assembly and in particular are located within a length of the device when seen in top view. This keeps the total device compact and allows an operator to approach the device for inspection or maintenance without having to worry about any moving trays or tracks. It allows allows multiple devices to be coupled to one another, wherein the tracks are coupled to form long supply and discharge tracks.

In the same or an alternative embodiment, the tray supply track and the tray discharge track extend parallel to the Y-direction and orthogonal to the transport direction. This allows multiple devices to be placed adjacent one another. The tracks can be interconnected.

In the same or an alternative embodiment, the tray support device is configured to hold the tray in an inclined orientation during the filling thereof.

In the same or an alternative embodiment, the device comprises vibrating members, wherein the first and/or second conveyor belt are vibrated with the vibrating members. The vibrating members advantageously improve the oriented process.

In an alternative embodiment, a second, downstream conveyor is positioned downstream of the exit of the conveyor, the second conveyor configured for maintaining the orientation of the product during the conveying thereof. The downstream conveyor can be used for various purposes.

In the same or an alternative embodiment, the second conveyor comprises: — a fourth conveyor belt, a fifth conveyor belt and sixth conveyor belt, and — at least a fourth drive for controllably driving the fourth, fifth and sixth conveyor belt, wherein the fourth, fifth and sixth conveyor belt define a transport direction, wherein the fourth, fifth and sixth conveyor belt provide a product space between them in which the product can be conveyed,

wherein the fourth, fifth and sixth conveyor belt are configured to contact the product on three different sides and are configured to exert pressure on the product,.

In the same or an alternative embodiment, the control unit is configured to control the speeds of the fourth, fifth and sixth conveyor belt in order to: — group products while maintaining the orientation of the products, and/or — hold one or more products in order for a second pick and place assembly to pick up the products from the second conveyor — let the products engage carriers or pusher elements of a third conveyor which further convey the products, and/or — package the products with a packaging device.

The present invention further relates to a method for reorienting and/ or scanning products, in particular horticultural and/or agricultural products, in particular flower bulbs, the method comprising: — conveying products with the conveyor of the device according to claim 1, — applying relative speeds between the first and second conveyor belt and the movable contacting member to reorient and/or scan the product between the entry and the exit.

When reorienting the product, the product is delivered in the target orientation at the exit. When scanning the product, there may not be a target orientation at the exit. The method has the same advantages as the device according to the invention.

In the same or an alternative embodiment, the control unit controls the speeds of the first, second drive and, if present, the third drive to align a primary axis of the product with a central vertical longitudinal plane of the conveyor.

In the same or an alternative embodiment, after the primary axis of the product has been aligned with the central vertical longitudinal plane, the primary axis is reoriented to a target orientation, in particular to a vertical or substantially vertical orientation orto a horizontal or substantially horizontal orientation while maintaining the primary axis aligned with the central vertical longitudinal plane.

In the same or an alternative embodiment, the control unit determine on the basis of the recorded images whether the product has a curved shoot and wherein if the product has a curved shoot, the shoot is oriented at the exit in a target shoot orientation, in particular with the shoot extending in a forward direction and with the shoot curving upwardly downwardly in a central vertical longitudinal plane of the conveyor or sideways out of the central vertical longitudinal plane.

In the same or an alternative embodiment, the control unit determines on the basis of the recorded images whether the product comprises an irregularity, in particular a so-called “daughter bulb”, wherein if the product indeed comprises such an irregularity, the control unit: — determines a target orientation and position of the irregularity on the product at the exit, — orients the primary axis vertically, wherein in particular a projection of the product, in particular a shoot of the flower bulb, is oriented downward, — rotates the product about the vertical primary axis by applying speed differences between the first and second conveyor belt while driving the third conveyor belt at an average speed of the first and second conveyor bel, wherein the irregularity is oriented - when seen in top view - to a target orientation, in particular to a 45-degree, a 135 degree, a 225 degree or a 315 degree orientation relative to the transport direction, — subsequently reorients the primary axis from vertical to horizontal or substantially horizontal and still aligned with the central vertical longitudinal midplane by driving the first and second conveyor at a same speed but faster or slower, preferably faster, than the third conveyor belt.

In the same or an alternative embodiment, the conveyor conveys the product from the entry over a first distance to an intermediate position, wherein the product is stopped in the intermediate position, wherein the product are oriented in the intermediate position while being in a stationary or substantially stationary position and wherein after the orienting has completed the product is moved from the intermediate position to the exit.

In the same or an alternative embodiment, the conveyor simultaneously conveys and orients the products.

All the above embodiments can be used alone or in combination

Pick and place assembly (1)

In an independent aspect, the present invention relates to a pick and place assembly configured for picking and placing a product, in particular a horticultural and/or agricultural product, the pick and place assembly comprising:

— agripping head configured for gripping the product, — one or more actuators for moving the suction head, — one or more cameras for recording images of the product in the gripping head and of a target area where the product is to be placed, — a pick and place control unit for controlling the one or more actuators on the basis of the recorded images.

In the same or an alternative embodiment of the pick and place assembly, the gripping head is a suction head comprising: — anozzle and — a chamber behind the nozzle, wherein the suction head defines a central suction head axis and is rotatable, wherein the chamber is rotationally non-symmetric about the central axis, wherein a circumference of the chamber is defined by a circumferential wall which extends around the chamber, wherein the circumferential wall comprises: o a first wall region having a curved shape, in particular a shape of a part of a cylinder, and co a second wall region which comprises at least one corner or pocket, and in particular three straight wall sections which define two corners, wherein a first distance from a center of the chamber to the corner is greater than a second distance from the center of the chamber to the first wall region, and wherein the pick and place control unit is configured to rotate the suction head in order to position a curved shoot of a flower bulb in a corner or in the pocket of the suction head.

In the same or an alternative embodiment of the pick and place assembly, the nozzle has a diameter, and wherein the chamber has an internal width which is greater than the diameter.

In the same or an alternative embodiment of the pick and place assembly, the suction head comprises an O-ring support wall which defines a cavity for an O-ring and an O-ring positioned in said cavity, wherein the O-ring support wall defines a support wall diameter which gradually increases in a direction away from the O-ring.

In the same or an alternative embodiment of the pick and place assembly, the gripping head is rotatable about a central gripping head axis wherein the pick and place assembly comprises a rotary actuator for rotating the gripping head.

In the same or an alternative embodiment, the pick and place assembly comprises at least one pick-an place camera which is directed at the pickup location, wherein the pick and place control unit is configured to determine on the basis of the recorded images whether the product, in particular a flower bulb, has a curved projection, in particular a curved shoot, and wherein the control unit is configured to control the actuators to let the gripping head approach the product in the pickup location in order to avoid damage to the curved projection, wherein an approach path is oblique with respect to a main axis of the pick-up location and/or curved, and wherein the control unit is configured to rotate the suction head to position the curved shoot in a corner or in the pocket of the chamber.

In the same or an alternative embodiment of the pick and place assembly, the gripping head is a suction head configured for gripping a flower bulb, and wherein the pick and place control unit is configured to determine on the basis of the recorded images whether the flower bulb has a curved shoot and wherein the actuators are controlled to maintain the curved shoot within an opening of the suction head when transferring the product to the suction head, wherein in particular a central suction head axis of the suction head is positioned off- centre from a base of the shoot in case the shoot is curved and the control unit is configured to rotate the suction head in order to position the curved shoot in a corner or pocket of the chamber of the suction head.

In the same or an alternative embodiment, the pick and place assembly comprises at least one pick-an place camera which is directed at the gripper head, wherein the pick and place control unit is configured to determine on the basis of the recorded images of the product in the gripper head whether the product, in particular a flower bulb, has an irregularity, in particular for a flower bulb a curved shoot or a daughter bulb, and wherein the control unit is configured to control the actuators to approach a target position of the product in the target area in dependence of the determined irregularity.

In the same or an alternative embodiment the pick and place assembly comprises at least one pick-an place camera which is directed at the target area, wherein the pick and place control unit is configured to determine on the basis of the recorded images of the target area whether any products which are already placed in the target area, in particular a flower bulb, have an irregularity, in particular for a flower bulb a curved shoot or a daughter bulb, or a deviating position and wherein the control unit is configured to control the actuators to approach a target position of the product in the target area in dependence of one or more determined irregularities or deviating position.

In the same or an alternative embodiment, the nozzle has a diameter, and wherein the chamber has an internal width which is greater than the diameter.

In the same or an alternative embodiment, the pick an place assembly comprises: - an actuator for rotating the suction head about the central suction head axis or about an axis parallel to said central suction head axis, - an actuator for rotating the movable arm about a horizontal rotation axis, - an actuator for moving the movable arm in the Y-direction, - an actuator for extending the movable arm, and - an actuator for moving the tray in the X-direction.

All the above embodiments can be used alone or in combination

Pick and place assembly (2)

In a further independent aspect of the pick and place assembly for picking and placing an agricultural product or a horticultural product, the pick and place assembly comprises: — aframe, — a movable arm supported by the frame, — a gripping head connected to said arm, the suction head configured to grip a product, and — one or more pick and place actuators for moving the movable arm. — at least one pick and place camera configured to record images of the target area where the product is to be placed. — a pick and place control unit, wherein the pick and place control unit is configured for processing recorded images of the target area and/or of a product which is gripped by the gripping head.

In an embodiment of the pick and place assembly, at least one pick and place camera is directed at the gripping head, wherein the control unit is configured to take into account the size, shape and/or position of the product which is held by the gripping head, in particular including irregularities such as a daughter bulb, for determining the target position and/or target orientation of the product in the target area.

In an embodiment, the arm is extendable, in particular telescoping, and wherein the pick and place assembly comprises an extension actuator for extending the arm, the extension actuator being controlled by the pick and place control unit.

In an embodiment, the pick and place assembly comprises a slider for allowing the arm to slide in a Y-direction parallel to the shaft, wherein the pick and place assembly comprises a Y-actuator for moving the arm in the Y-direction parallel to the horizontal shaft to a target Y-position.

In an embodiment, the arm is slidably mounted on a horizontal shaft via a slider which defines a horizontal pivot axis wherein the pick and place assembly comprises a rotation actuator for controllably rotating the arm about the horizontal pivot axis.

In an embodiment, the control unit is configured to determine on the basis of the recorded images whether the product, in particular a flower bulb, has a curved projection, in particular a curved shoot, and wherein the first, second and third drive and/or Y-actuator and the suction head are controlled to align the gripping head with the curved shoot during the approach of the gripping head toward the product.

In an embodiment, the movable arm is configured to pivot about the horizontal pivot axis from a horizontal or substantially horizontal orientation at the pickup location where the product is received by the suction head downward to more vertical orientation to the target position in the target area.

In an embodiment. the pick and place assembly further comprises a tray support device configured for supporting a tray into which the products are to be placed, wherein the tray is supported in a filling position, wherein the tray support device comprises: — a tray supply track, — a tray discharge track and — a tray moving system for each time taking a tray from the tray supply track, positioning the tray in the target area in which the pick and place assembly can controllably place a number of products in the tray, and for placing the tray on the tray discharge track after the tray has been filled with products.

In an embodiment, the tray moving system comprises at least one tray actuator for moving the tray in at least one direction, in particular at least in an X-direction, i.e. orthogonal to the horizontal pivot axis of the movable arm.

In an embodiment, the tray supply track and the tray discharge track are located below the filling position, wherein the tray moving system comprises a lift for lifting the tray upward to the filling position and for lowering a filled tray to the tray discharge track after filling.

In an embodiment, the tray supply track and the tray discharge track extend parallel to the horizontal pivot axis.

In an embodiment, the tray support device is configured to hold the tray in an inclined orientation during the filling thereof.

It will be understood that a specific embodiment may not achieve all the stated objectives/advantages.

These and other aspects of the invention will be more readily appreciated as the same becomes better understood by reference to the following detailed description and considered in connection with the accompanying drawings in which like reference symbols designate like parts.

SHORT DESCRIPTION OF THE FIGURES

Figures 1 and 2 show the isometric views of the device according to the invention.

Figure 3 shows a cross-section of the device according to the invention.

Figures 4, 5 and 6 show constructional details of the device according to the invention.

Figure 7 shows a typical flower bulb with curved shoot.

Figures 8A and 8B show the device according to invention in different operational states.

Figures 9A and SB show the conveyor and the pick and place assembly in different operational states.

Figures 10A and 10B show a top view and an isometric view of conveyors of the device according to the invention.

Figure 11 shows a cross-section in front view of the conveyors of the device according to the invention.

Figures 12, 13 and 14 show further details of the device according to the invention.

Figure 15 shows a top view of a tray which is to be filled.

Figures 16A — 16G show a cross-section of various configurations of the conveyor.

Figures 17A — 17F show various views of the suction head.

Figures 18A — 18I show steps in the orienting process of a regular flower bulb.

Figures 19A — 191 show front views of the respective steps of the figures 18A — 18l.

Figures 20A — 201 and 21A-211 show views of orienting a product with an irregularity.

Figures 22A — 22J show views of an orienting process the transfer to a gripping head of a flower bulb having a long curved shoot.

Figures 23A-23D show views of a second conveyor.

Figures 24A-24C shows further embodiments of the conveyor having a movable contacting member.

DETAILED DESCRIPTION OF THE FIGURES

Turning to figures 1-14, a device 10 for orienting products 14 is shown. In this embodiment the products 14 are flower bulbs having a main body 15 and a shoot 28. The device comprises a frame 11 with legs 216. The device 10 is in particular suitable for orienting agricultural and/or horticultural products, more in particular flower bulbs. The device comprises a first conveyor 12A and a second conveyor 12B. The device may also comprise a single conveyor 12. The conveyors 12A, 12B are configured for conveying a product 14.

Each conveyor comprises an entry 18 where a product 14 is received by the conveyor. Each conveyor further comprises an exit 18 via which the product leaves the conveyor. Each conveyor 12 comprises: o atleast one first conveyor belt 20A and at least one first drive 21A which controllably drives the first conveyor belt, o atleast one second conveyor belt 20B and at least one second drive 21B which controllably drives the second conveyor belt, o a movable contacting member 20C which in this case is a third conveyor belt and at least one third drive 21C which controllably drives the third conveyor belt,

The first, second and third conveyor belt define a transport direction (X). The first, second and third conveyor belt 20A, 20B, 20C provide a product space 24 between them in which the product can be conveyed and reoriented. The first, second and third conveyor belt are tensioned with belt tensioners. The third conveyor belt 20C is positioned between upper regions of the first and second conveyor belt and is in particular positioned centrally.

The third conveyor belt may comprise one or more intermediate rollers positioned along the length of the conveyor belt, wherein the intermediate rollers being resiliently mounted in order to let the conveyor belt exert pressure on the product. The first and second conveyor belt preferably do not have such intermediate rollers and are preferably not supported between the upstream and downstream roller. This allows some flexibility.

The first, second and third conveyor belt are configured to contact the product on three different sides and are configured to exert pressure on the product. The first conveyor belt 20A contacts the product 14 on the left lower side, the second conveyor belt 20B contacts the product on the right lower side and the third conveyor belts 20C contacts the product 14 on an upper side thereof. With the first, second and third conveyor belt the product 14 can be oriented about the X-axis, Y-axis and Z-axis.

The device 10 comprises at least one but preferably multiple conveyor cameras 25 configured for recording images of a product which is conveyed by the conveyor.

The control unit is configured to increase the gap 30 in order to discard the product and let the product drop through the gap in or on a first discard path when the product is found to have an unacceptable feature, in particular a rotten spot. Also signs of illness like fusarium or irregular colors may be a reason to discard the bulb.

The device further comprises a second discard path at the exit of the conveyor, wherein the control unit is configured to not pick a product which is unsuitable and to let the product drop in the second discard path. The second discard path may be a discharge conveyor 85 for discharging products 14 which are to be discarded. Examples may be flower bulbs with high irregular shapes, e.g. very strongly curved shoots.

Two separate discard paths allow the option to completely discard very unsuitable products, for instance rotten products, via the first path and to reroute somewhat unsuitable products - which for instance need to be processed by hand but can still be used - via the second path.

Figure 13 shows that for each conveyor 20 a left camera 25L, a centre camera 25C and a right camera 25R are provided. Other configurations of cameras are also possible. The left and right camera 25L,25R are configured to record images of the product 14 and of a shoot 28 which extends through a gap 30 located between proximal edges 32A, 32B of respective conveyor belts 20A, 20B. The gap is also visible in figure 12.

The centre camera 25C records images from the top of the product 14. The centre camera 25C may be positioned slightly off centre to avoid the movable contacting member 20C obstructing the camera. The first, second and if present third conveyor belt 20A, 20B,

20C may comprise openings in the belt surface and/or may be translucent to provide the cameras with a better view of the product.

In the embodiment of figure 13 the first and second conveyor belts 20A, 20B do not slide over rigid support surfaces but are capable of deforming somewhat in a direction normal to the conveyor belt. The possibility of deformation also allows the conveyor belts to deform around an irregularity in the product. In this way, the pressure force on the product can be maintained at a level sufficient to provide a fast orienting process but without damaging the product. The belts are elastic and have a high friction coefficient. In this way the bulbs are clamped gently.

The device 10 further comprises vibrating members 300, wherein the first and/or second conveyor belt are vibrated with the vibrating members. The vibrating members advantageously improve the oriented process.

Figure 14 shows that the first and second conveyor belts are mounted on a bracket 140 which comprises a pivot 141.

The device 10 comprises a control unit 100 schematically indicated in figures 1 and 2.

The control unit 100 is configured for processing the images recorded by the cameras and configured for individually controlling at least the first, second and third drive 21A, 21B and 21C for conveying the product to the exit and configured for applying speed differences between the first, second and third drive for reorienting the product based on the recorded images in order to deliver the product 14 at the exit in a target orientation.

The first and second conveyor belt 20A, 20B extend substantially parallel to one another and extend horizontally. The transport direction X is also horizontal. In another embodiment, the transport direction X can be inclined upwards or downwards.

Turning to figures 8A, 9A and 9B, the third conveyor belt 20C comprises a movable belt roller 34 at the entry 16. The movable belt roller is moveable by means of a belt roller actuator 35 between an operating position 38, see figure 9B, and a retracted position 39, see figure BA, in which the entry 16 of the conveyor is higher than in the operating position to allow a product to enter the conveyor, wherein the control unit 100 is configured to move the belt roller to the retracted position away from the first and second conveyor belt when a product 14 is present at the entry and wherein the control unit is configured for moving the belt roller and the third conveyor belt to the operating position after the product has entered the conveyor. Figure 9A shows the movable belt roller in an intermediate position 40.

In an operating position 38, the third conveyor belt 20C diverges from the first and second conveyor belts 20A, 20B and is inclined upward in the transport direction X over an angle of about 15°. In the intermediate position 40 the angle is about 6°. In the operating position, the third conveyor belt 20C exerts pressure on the product 14 when a product 14 is present between the three conveyor belts. The third conveyor belt 20C is bent over the product 14 as is visible in figure 9B. The curvature of the band and the tension in the third conveyor belt 20C determine the pressure on the product. This pressure can be controlled by varying the position of the movable belt roller 34. When the product is gently clamped by the three conveyor belts, it can be oriented about the three axes X, Y and Z.

It is noted that this configuration can be inverted. In other words, the movable belt roller 44 may be positioned at the exit in which case the exit becomes higher when the movable belt roller is in the retracted position. In this embodiment the third conveyor belt 20C approachs the first and second conveyor belts 20A, 20B. A combination is also possible, i.e. both belt rollers 34, 44 may be retractable, together or independently.

Figure 9A also shows cameras 25D which are oriented in the X-direction or at an angle of less than 20 degrees in the X-direction.

Turning to figures 11, 12 and 13 when seen in cross-section the first and second conveyor belt 20A, 20B diverge from one another in an upward direction and in particular form a V-configuration. A central vertical longitudinal plane 45 is defined by the first, second and third conveyor belt, said central longitudinal plane extending between a contact area of the third conveyor belt and through a midpoint of a straight line extending between the contact areas of the first and second conveyor belt.

Turning to figures 16A -16G various configurations of the first and second conveyor belts 20A, 20B in the movable contacting member 20C which may also be a conveyor belt are shown.

In the embodiments of figures 18A-16G when seen in cross section the first conveyor belt 20A is positioned on a left side of the conveyor, the second conveyor belt 20B is positioned on a right side of the conveyor and movable contacting member 20C is positioned between the first and second conveyor belt and above a respective first and second contact area 46A, 46B where the first and second conveyor belts contact the product. In these embodiments, the third conveyor belt 20C is positioned centrally between the first and second conveyor belt. In these embodiments, the third conveyor belt defines a third engagement surface which faces downwards.

In the embodiments of figures 16B and 16C the third conveyor belt 20C is narrower than the first and second conveyor belts. The third conveyor belt may in particular be narrower than 10mm and more in particular narrower than 6 mm.

In the embodiments 16A-16G, when seen in cross-section the first and second conveyor belt 20A, 20B and the movable contacting member 20C are arranged in a triangular configuration. In fact two separate triangles may be distinguished.

A first triangle 50 can be envisioned by virtually extending the flat conveyor belts 20A, 20B and 20C until they meet one another. The triangle 50 as indicated with dashed lines in figure 16B. The first triangle 50 points downward. The first, second and third conveyor belts 20A, 20b, 20C define the downwardly pointing triangle 50 with three enclosed angles (a1, a2, a3). The angle enclosed by the first and second conveyor belt may be 60-130 degrees in particular 90-120 degrees. A second triangle 51 is formed by the contact areas 486A, 46B, 46C of the first and second conveyor belt and the movable contacting member 20C which may also be a conveyor belt. The second triangle 51 is also shown in figure 16B and points upwards. The size and shape of the second triangle 51 depends on the size of the product 14 which is being conveyed.

In the embodiments of figure 16A, 16B and 16C the first and second conveyor belts 20A, 20B are flat belts. In figure 16C, the movable contacting member 20C is round. In case the movable contacting member 20C is a conveyor belt, it is a round conveyor belt. In figure 16C, a combination of two flat belts and one round movable contacting member is formed. In figure 16E, a combination of two round conveyor belts 20A, 20B and one flat movable contacting member which may be a conveyor belt is formed. Figure 16D shows an embodiment with two round conveyor belts 20A, 20B and a round movable contacting member.

In the embodiments of figures 16F and 16G the first, second and third conveyor belts 20A, 20B, 20c are a series of adjacent round belts. In the embodiment of figure 16 G the adjacent round belts are arranged in a curved configuration in order to closely match the contour of the product 14. This provides extra grip.

Figures 18A — 16C also show that a gap 30 is present between the first conveyor belt 20A and the second conveyor belt 20B. The gap is present between a proximal edge 32A, in particular a lower edge, of the first conveyor belt 20A and a proximal edge 32B, in particular a lower edge, of the second conveyor belt 20B.

It was found that for flower bulbs flat conveyor belts work better than individual round conveyor belts. For other products, this may be different.

Turning to figure 10A, the gap 30 may have an adjustable width and be adjustable with at least one gap adjustment actuator 52 for adjusting the gap.The control unit 100 is configured to adjust the gap, wherein in particular the width of the gap is adjustable in at least arange from 0.1-100mm. for flower bulbs, the gap width may be in the range of 10 — 25 mm during the orienting of the flower bulb. The gap may be increased to about 50 — 100 mm in case the flower bulb should be discarded.

The device 10 further comprising a pick and place assembly 60 comprising: — a movable arm 62, — a suction head 64 connected to said arm, and — one or more pick and place actuators 66A, 66B, 63, 79 for moving the movable arm 62. wherein the pick and place assembly is configured to pick up the product at the exit of the conveyor with the suction head and to place the product in a target position, in particular in a tray 70 or crate which may have upstanding pins 72.

The arm 62 is extendable, in particular telescoping. The pick and place assembly 60 comprises an extension actuator 63 for extending and retracting the arm, the extension actuator being controlled by the pick and place control unit. The extension actuator 63 may be a linear actuator, in particular a servo-controlled electric actuator or a servo-controlled pneumatic actuator with a 0,1 mm resolution.

The arm 62 is rotatably mounted on a horizontal shaft 74 via a slider 88 which defines a horizontal pivot axis 75. The rotation axis extends in particular in a Y-direction which when seen in top view is orthogonal to the transport direction X. The pick and place assembly 60 comprises a rotation actuator SSA for controllably rotating the arm about the horizontal pivot axis 75. This results in a simple pick and place mechanism. The rotation actuator 66A rotates the arm 62 via a transmission mechanism 85 comprising a crankshaft 67, a rod 69 which is connected via a hinge 77 and a curved arm 78 to the arm 62. The resolution of the rotation actuator 66A can be 0.01 degree.

The pick and place assembly 60 comprises a Y-actuator 66B for, when seen in top view, moving the movable arm in the Y-direction to a target Y-position, wherein the Y-actuator is controlled by the pick and place control unit 101. The Y-actuator 66B drives the movable arm 62 via a belt transmission 81.

The suction head 84 is rotatable about a central suction head axis 110, in particular over an angle of at least 45° in both directions starting from a default orientation, more in particular over at least 180° in both directions starting from the default orientation. A rotary actuator 79 is provided on the movable arm 62. An advantage is a curved shoot can be positioned in a corner or pocket of the chamber of the suction head by rotating the suction head. The corner or pocket is aligned with the curved shoot.

In this embodiment, the pick and place assembly 60 further comprises at least one pick and place camera 80 (see fig. 1) which records images of a target area 82 where the product is to be placed. With the camera 80 suitable target positions 83 in the target area 82 for a new product can be located. The camera is mounted above the target area and above the suction head 64. The camera 80 also is configured to take images of the suction head and the product 14 held by the suction head. If the product which is held by the suction head comprises an irregularity sich as a daucghter bulb, the camera will record this and the control unit takes the irregularity into account when determing a target position in the target area. It is also possible that a separate, dedicated gripping head camera is provided which records images from the suction head and the product from a different angle. An advantage of this embodiment is that the product may move or rotate slightly when it is sucked into the suction head. In that case the exact position of the product is unknown unless a gripping head camera records it. Hence an advantage of the gripping head camera is that the system becomes robust for movements of the products when sucked in by the suction head. The gripping head camera may also be used to record other features such as a shoot

The pick and place assembly 60 further comprises a pick and place control unit 101 (diagrammatically indicated in figure 8A) , which may be combined with the control unit 100 or may be a separate control unit. The pick and place control unit 101 is configured for processing recorded images of the target area, in particular of the tray 70 which is to be filled, and to determine a target position 83 in the target area 82 for each product which is gripped by the suction head 64 of the pick and place assembly. One or more of the pick an place cameras are directed at the suction head to record images of a product gripped by the suction head. A feature of the product such as the position, size, shape or irregularities may be determined by the control unit and used for determining a target position in the target area.

For instance a daughter bulb may be recorded and subsequently the flower bulb may be rotated to avoid the daughter bulb colliding with another product in the tray.

The movable arm 62 is configured to move the product 14 downward during the movement of the suction head 64 from the pickup location at the exit of the conveyor to the target position 83 in the target area by rotating the movable arm about the horizontal pivot axis.

Turning to figure 15, a tray 70 which is to be filled is shown. In case of flower bulbs 14, the tray is filled with rows of flower bulbs 14. The flower bulbs are positioned close to one another in order to position many flower bulbs in the tray. The flower bulbs 14 may have so- called daughter bulbs 114. These are smaller bulbs which are connected firmly or loosely to the ‘main’ bulb 14. The daughter bulbs 114 should not be oriented in a 0°, 90°, 180° or 360° position, because then the daughter bulbs will block other bulbs 14. This is indicated with the crosses in figure 15. Conversely, the daughter bulbs 114 should be positioned in a 45°, 135°, 225° or 315° position. In this way, best use is made of the available spaces between the main flower bulbs 14 and a dense packing of the flower bulbs in the tray 70 is possible. If the flower bulbs or smaller, the system will automatically place more bulbs in the X or Y direction of the tray 70. The system also prevent collisions between the flower bulbs 14.

On the basis of the recorded images with the pick and place camera 80, the pick and place control unit 101 takes into account available places in the tray 70, the size and shape of the products 14 in the tray and the size and shape of the product which is held by the suction head, including irregularities such as a daughter bulb 114, for determining the target position of the bulb which is held by the suction head. For other products 14 than flower bulbs, other irregularities than a daughter bulb may play a role.

With reference to figures 8A and 8B, the device 10 further comprises a tray support device 90 configured for supporting a tray 70 into which the products 14 are to be placed. The tray is supported in a filling position. The tray support device comprises a tray supply track 91, and a tray discharge track 92. The tracks may comprise rollers 170. Drives 93 are present to drive a conveyor which conveys the trays 70 along the track 91, 92.

The tray support device 90 comprises a tray moving system 94 for each time taking a tray from the tray supply track 91, positioning the tray in the target area 82 in which the pick and place assembly 60 can controllably place a number of products 14 in the tray 70, and for placing the tray on the tray discharge track 92 after the tray has been filled with products. The tray moving system 94 comprises a lift 95 for lifting the tray upward to the filling position and for lowering a filled tray to the tray discharge track after filling, as indicated by arrow 108. The tray supply track 91 and the tray discharge track 92 extend parallel to the Y-direction and orthogonal to the transport direction X. A further actuator 195 is provided to change the angle of inclination of the tray 70.

The tray moving system comprises at least one tray holder 96 and a tray actuator 97.

The tray moving system comprises actuators 150 for clamping the tray 70 in the tray holder in the X-direction and Y-direction. The tray holder 96 is slidably mounted on a rail 98 via rollers 107 for moving the tray holder 96 including the tray 70 in the X-direction, i.e. orthogonal to the rotation axis of the movable arm. The tray actuator 97 drives the tray holder via one or more belts 99. The tray actuator 97 itself is visible in figure 1. The pick and place control unit 101 is configured for moving the tray with the tray actuator 97 in the X-direction in order to position the product 14 in a target position 83 in the tray.

The tray supply track 91 and the tray discharge track 92 are located underneath the conveyors 12 and the pick and place assembly 60 and are in particular located within a length 215 of the device when seen in top view. This allows easy coupling of multiple devices 10 in parallel. The individual tracks 91, 92 are coupled to respective supply and discharge tracks 91, 92 of an adjacent device 10 to form longer tracks.

The tray support device 94, more in particular the tray holder 96 is configured to hold the tray in an inclined orientation during the filling thereof.

Suction head

Turning to figures 17A — 17F, the suction head 64 of the pick and place assembly 60 also forms an independent invention. The suction head 64 defines a central suction head axis 110 and the suction head is rotatable about this central suction head axis 110. The suction head may also be rotatable about an axis parallel to said axis in case the suction head is positioned off-centre from the telescoping arm 62 and the central suction head axis 110 is defined by the telescoping arm 62. The suction head 64 comprises a nozzle 112 which defines an opening 113 and a chamber 214 behind the nozzle. The suction head 64 further comprises a connector 124 which can be connected to a source of under pressure, in particular a vacuum pump.

The chamber 214 is rotationally non-symmetric about the central suction head axis 110. A circumference of the chamber is defined by a circumferential wall 116 which extends around the chamber. The circumferential wall comprises a first wall region 117 having a curved shape, in particular a shape of a part of a cylinder, and a second wall region 118 which comprises at least one corner 120, and in particular three straight wall sections 121,122,123 which define two corners 120A, 120B. A different kind of pocket for accomodating the tip of the curved shoot is also possible, for instance rounded corner or a pocket having a bulbous shape.

A first distance 126 from a central suction head axis 110 of the chamber to the corner or pocket is greater than a second distance 127 from the central suction head axis of the chamber to the first wall region 116. The first distance 126 may be 10 millimetres greater than the second distance 127. This enables the suction head 64 to grip flower bulbs with long shoots.

The nozzle 113 has a diameter 151 which is smaller than the internal width 152 of the chamber.

The suction head 64 comprises an O-ring support wall 130 which defines a cavity 131 for an O-ring and an O-ring 132 positioned in said cavity, wherein the O-ring support wall defines a support wall diameter which gradually increases in a direction away from the O-ring.

The suction head may be part of a pick and place assembly comprising: — the suction head 64 for engaging the product, — one or more actuators 66A, 66B, 79, 63 for moving the suction head, — one or more cameras 80 for recording images of the product, — a pick and place control unit (101) for controlling the one or more actuators on the basis of the recorded images.

In the same or an alternative embodiment of the pick and place assembly, the pick and place control unit 101 is configured to determine on the basis of the recorded images whether the product, in particular a flower bulb 14, has a curved projection, in particular a curved shoot 28, and wherein the first, second and, if present, third drive of the conveyor belts 20A, 20B, 20C are controlled to position the curved projection in a target orientation at the exit and wherein the pick and place actuators 66A, 66B, 79, 63 are controlled to let a center of the suction head 64 follow the curved projection during the approach in order to grip the product without damaging the curved projection, and wherein in particular a center of an opening 113 of the suction head follows the curved shoot to move the opening over the curved shoot and insert the curved shoot into the chamber and wherein the suction head is rotated to position the curved shoot in a corner or pocket of the chamber. This avoids damage to the shoot 28. Even flower bulbs 14 with relatively long curved shoots 28 can be gripped by this suction head 64 in this way.

Once the tip 136 has been inserted through the opening, the suction head 64 can be moved towards the base 135 of the shoot 28. The base 135 of the shoot 28 eventually contacts the O-ring 132 and the bulb becomes gripped. The O-ring 132 is soft and flexible and has a high friction coefficient. The O-ring can be made of silicone and may be 30-40 shore. The primary axis 19 of the flower bulb 14 will be more or less aligned with the central suction head axis 110. This alignment may not be perfect because of irregular shapes of the flower bulb 14. However, for a correct placement of the flower bulb in the tray 70, an exact alignment is not required because a pick and place camera 80 records the position of the bulb in the suction head and may record other features as well, such as size, orientation, irregularities. The control unit uses these data to determine a target position 83 of the flower bulb in the target area 82.

The movement comprises a component in the direction of the central suction head axis 110 and a component orthogonal to the central suction head axis. In the end position shown in figure 17F, the curved shoot 28 is positioned in one of the corners 120A, 120B (or pocket).

The round portion 116 of the circumferential wall has an advantage in that the suction head can be positioned and rotated very close to the exit 18 of the conveyor 12 while still allowing the movable contacting member 20C to extend closely overhead the suction head 64.

Orienting process

Turning to figures 18A-18I and figures 19A-191, the orienting process of a ‘regular’ flower bulb shown, a flower bulb without any klisters and with a relatively straight shoot 28.

The skilled person will understand that no two flower bulbs are exactly the same. Hence the word “regular” is to be interpreted with some caution.

With reference to figures 18A-18C and figures 19A-19C, the conveyor 12 conveys the product 14 from the entry 16 over a first distance to an intermediate position 235, wherein the products are stopped in the intermediate position 235. The products are oriented in the intermediate position 235 while being in a stationary or substantially stationary position and wherein after the orienting has completed the products are moved from the intermediate position to the exit 18. Alternatively, the conveyor simultaneously conveys and orients the products.

In a first orienting step, the control unit is configured to determine a primary axis 19 of the product 14 which is conveyed by the conveyor 12 on the basis of the recorded images. It is noted that the central camera 25C has a slight off centre position of about 15°, which is why the movable contacting member 20C is slightly off centre.

The control unit is configured to drive at least the first and second conveyor belt 20A, 20B with relative speed differences to align said primary axis 19 with a longitudinal plane 45 of the conveyor, wherein said longitudinal plane extends through a contact area of the third conveyor belt and through a mid-point of a straight line extending between the first and second contact areas 46A, 46B of the respective first and second conveyor. Said longitudinal plane 45 is in particular the central vertical longitudinal plane defined by the first, second and third conveyor belt. In figures 18C and 19C the primary axis 19 is aligned with or substantially aligned with the longitudinal plane 45.

With reference to figures 18D-18F and figures 19D-19F, after the primary axis 19 of the product has been oriented in alignment with the central vertical longitudinal plane, the primary axis 19 of the product is oriented to a target orientation, in particular to a horizontal orientation, while maintaining the primary axis 19 aligned with the longitudinal plane 45. This reorienting step is carried out by driving the first and second conveyor belt 20A, 20B with a same speed and by driving the third conveyor belt 20C with a different speed than the first and second conveyor belt.

The result of this orientation step is shown in figures 18G-18I and figures 19G-19l.

The primary axis 19 is now in a horizontal orientation and aligned with the longitudinal plane 45. In this orientation, the distance ZL between the tip of the shoot and the second conveyor belt 20B is equal to the distance ZR between the tip of the shoot and the first conveyor belt.

The distance YC is the offset of the tip of the shoot from the central ongitudinal plane 45. In the final position, ZI=Zr =0,5 D wherein D is the diameter of the bulb.

Turning to figures 20A-20l and 21A- 211 an orienting process of a flower bulb with an irregularity in the form of a daughter bulb 114 (also called a klister) is shown. The control unit is configured to determine on the basis of the recorded images whether the product comprises an irregularity, in particular a so-called “daughter bulb”, and where the irregularity is located on the product. The control unit determines the primary axis 19 of the product, and determine a target orientation of the product at the exit about the X-axis, Y-axis and Z-axis of a local coordinate system having its origin in the center of gravity of the product,

In figures 20A-20B and 21A — 21B the primary axis 19 is aligned with the central longitudinal plane 45. In figures 20C and 21C, the gap 30 is opened and the primary axis 19 is oriented vertically. The shoot 28 extends downwards through the gap 30 between the first conveyor belt 20A and the second conveyor belt 20B.

Turning to figures 20D-20F and 21D -21F, in case of a daughter bulb 114, the control unit determines that the product is to be rotated about the primary axis 19 to a target circumferential angle (B). The target circumferential angle may be - 45° (equals 315 degrees) or + 45° relative to the transport direction X. In other embodiments, the target circumferential angle may be a 135-degree or a 225-degree angle relative to the transport direction (X),

The control unit is configured to rotate the product about said vertical primary axis 19, by applying a speed difference between the first and second conveyor belt while maintaining the speed of the third conveyor belt at an average speed of the first and second conveyor belt While the primary axis 19 is maintained vertically, the daughter bulb 114 is rotated to a target circumferential angle. For apples, the red blush should be oriented upward. In case of a bad spot, the product is discarded.

Turning to figures 20G-201 and 21G -211, the primary axis 19 is reoriented to the horizontal orientation by driving the first and second conveyor at a same speed but faster or slower, than the third conveyor belt 20C. The third conveyor may have a speed of zero. In figure 20H the bulb 14 is now in the target orientation with the daughter bulb 114 in the target circumferential angle. The bulb 14 can now be transferred to the suction head 64.

Turning to figures 22A — 22J the process of orienting flower bulbs 14 with long curved shoots 28 is shown. The control unit 100 is configured to determine on the basis of the recorded images whether the product has a curved shoot 28. If the product has a curved shoot, the shoot is oriented at the exit 18 in a target shoot orientation, in particular with the shoot extending in a forward direction and with the shoot curving downwardly or upwardly in a central vertical longitudinal plane of the conveyor or curving sideways. In order to position the shoot in a target shoot orientation, several intermediate steps are taken.

Turning to figures 22B and 22C, the control unit 100 is configured to determine on the basis of the recorded images whether the product, in particular a flower bulb, has a curved projection, in particular a curved shoot. In that case, the control unit 100 is configured to position a part of the product, more particular the shoot 28 of a flower bulb, in the gap 30 between the lower edges 32A,32B of the first and second conveyor belt 20A, 20B in the reorientation process. This should be done carefully in order to avoid damage to the shoot 28 for instance by oscillating the first and second conveyor belts while maintaining a low pressure from the third conveyor belt.

Turning to figures 220, 22E and 22F, in a next step, the shoot 28 is aligned with the central longitudinal plane 45 by rotating the flower bulb 14 about a vertical axis. The shoot 28 curves to the rear, in other words opposite to the transport direction X.

Turning to figures 22G - 22J, next the primary axis 19 is aligned with the transport direction during the orienting process so that, when the product arrives at the exit, a surface of the product surrounding the primary axis is accessible for a pick and place assembly. The shoot 28 is pointed forward in such a way that it curves downward.

Turning in particular to figures 221 and 22J, the movement of the gripping head, particularly the suction head, is controlled to align the approach path 231 of the gripping head with the curved shoot. The suction head is rotated about central gripping head axis 110 to align the corner or the pocket of the suction head with the curved shoot.

In particular a center of the opening 113 of the suction head follows the curved shoot when transferring the product to the gripping head, in particular the suction head at the exit 18 of the conveyor. The center of the opening follows the curvature of the shoot. To this end, the gripping head approaches the product 14 in an oblique manner and from an off centre position. The gripping head gradually reaches a centred position aligned with the central longitudinal plane 45. The suction chamber 214 is asymmetrical as described above has one or two corners or a pocket in which the shoot 28 can be positioned.

The control unit may be configured to determine the approach path of the suction head to a product 14 at the exit 18, in particular an approach angle (y), wherein said approach path is determined in dependence of the size and shape of the product at the exit and in particular in dependence of a curved shoot of the product, wherein mare in particular the control unit is configured to let the suction head approach a curved shoot from below or from a side or from above.

Pick and place assembly

The pick and place assembly 60 as disclosed above can be viewed independently from the conveyor 12. Therefore, in an independent aspect, the present invention relates to the pick and place assembly 60 for picking and placing an agricultural product or a horticultural product, the pick and place assembly comprising: — aframe 11,

— a movable arm 60 supported by the frame, — agripping head connected to said arm, the gripping head configured to grip a product, and — one or more pick and place actuators 66A,66B, 79, 63 for moving the movable arm 60. — at least one pick and place camera 80, and — a pick and place control unit 101.

The gripping head may be a suction head. Alternatively, the gripping head may comprise two grippers which may be movable and/or rotatable to grip the product and/or to rotate the product about an axis which is defined by the two grippers. Alternatively, the gripping head may comprise more than two grippers.

The pick and place control unit 101 is configured for processing recorded images of the target area, in particular of a tray which is to be filled and to determine a target position in the target area for each product which is gripped by the gripping head of the pick and place assembly. The pick and place control unit may in particular take into account the available places in the tray.

At least one pick and place camera may be directed at the gripping head to record images of the product held by the gripping head, wherein the control unit is configured to take into account the size and shape of the product which is held by the gripping head, including irregularities such as a daughter bulb, for determining the target position.

Further embodiments

Turning to figures 23A-23D a second, downstream conveyor 210 is positioned downstream of the exit of the (first) conveyor, the second conveyor configured for maintaining the orientation of the product during the conveying thereof. The second conveyor 210 comprises: — a fourth conveyor belt 220A, a fifth conveyor belt 220B and sixth conveyor belt 220C, and — at least a fourth drive for controllably driving the fourth, fifth and sixth conveyor belt.

For reasons of convenience, the drive is not explicitly shown. Because the fourth , fifth and sixth conveyor belt have the same speed, a single drive may be sufficient, but of course multiple synchronized drives are also possible. The skilled person will understand that the drives can be the same as for the conveyor 12. The fourth, fifth and sixth conveyor belt define a transport direction (X). The fourth, fifth and sixth conveyor belt provide a product space between them in which the product can be conveyed. The fourth, fifth and sixth conveyor belt are configured to contact the product on three different sides and are configured to exert pressure on the product. The sixth conveyor belt 220C may be positioned eccentrically in order to create space for another pick and place assembly to pick up the products 14 from the second conveyor 210.

The second conveyor 210 may have different functions. The control unit 100 may be configured to control the speed of the fourth, fifth and sixth conveyor belt in order to: — group products while maintaining the orientation of the products, and/or — hold one or more products in order for a second pick and place assembly to pick up the products from the second conveyor, and/or — let the products engage carriers or pusher elements of a third conveyor which further conveys the products, and/or — package the products with a packaging device.

Also, an upstream conveyor 230 may be provided for supplying the products 14 to the aligning conveyor 12.

Turning to figure 24A, in another embodiment, the movable contacting member 20C is not a belt conveyor. The movable contacting member 20C may comprise a rod 200. The rod may be movable in the Z-direction with a Z-actuator. Alternatively or additionally, the rod 200 may be movable in the X-direction with an X-actuator.

If the rod 200 is stationary in the X-direction, the embodiment has a disadvantage over the embodiment with a third conveyor belt 20C in the sense that the product 14 cannot be conveyed in a fixed orientation when the rod 200 contacting the product 14. If the product 14 is to be conveyed with a fixed orientation, the rod 200 needs to move upwards and disengage from the product 14.

Figure 24A shows two embodiments. The first embodiment (above) has a rotary contacting member actuator 203 which can rotate the rod 200 about an Y-axis. The second embodiment comprises a contacting member actuator 202 configured to translate the rod 200 in the Z-direction.

Turning to figures 24B and 24C, this embodiment comprises a first contacting member actuator 201 configured to translate the rod 200 in the X-direction and a second contacting member actuator 202 configured to move the rod in the Z-direction.

In this document the word tray is used to indicate a holder. The skilled person will understand that tray is intended to have broad meaning and cover a crate or similar holder.

The present document discusses the placing of the flower bulbs in hydroponic methods with trays having pins. However, other kinds of growing systems are used in which the trays need not have pins but for example may be filled with soil or another substrate. The skilled person will understand that this does not change the principles of the present invention.

As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting, but rather, to provide an understandable description of the invention.

The terms "a" or "an", as used herein, are defined as one or more than one. The term plurality, as used herein, is defined as two or more than two. The term another, as used herein, is defined as at least a second or more. The terms including and/or having, as used herein, are defined as comprising (i.e., open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention.

Claims

CONCLUSIONS

Device (10) for orienting or scanning products (14), in particular agricultural and/or horticultural products, more in particular flower bulbs, the device comprising: - a transport device (12) for transporting a product, the transport device comprising an entrance (16) where a product is received by the transport device, the transport device further comprising an exit (18) through which the product leaves the transport device, the transport device comprising: o at least one first conveyor belt (20A) and at least one first drive (21A) controllably driving the first conveyor belt, o at least one second conveyor belt (20B) and at least one second drive (21B) controllably driving the second conveyor belt, o at least one movable contact element (20C) that comes into contact with the product, and at least a third drive (21C) or actuator of the contact element (201, 202, 203) that moves the at least one movable contact member moves, the first and second conveyor belts defining a conveying direction (X), the first and second conveyor belt and the movable contact body forming a product space (24) between them, the first and second conveyor belt and the movable contact member being configured to touching the product from three different sides and configured to apply pressure to the product, — at least one conveyor camera (25), configured to capture images of a product being transported through the conveyor, — a control unit ( 100), configured to process the captured images and configured to separately control at least the first and second conveyor belts and the movable contact member to convey the product to the exit and configured to apply a relative velocity between the first and second conveyor belt and the contact element to: o reorient the product based on the captured images in order to deliver the product at the exit in a target orientation, and/or o scan the product from different sides.

An apparatus according to claim 1, wherein the at least one contacting member is a third conveyor belt (20C), the transport device including at least one third drive (21C) controllably driving the third conveyor belt.

An apparatus according to claim 2, wherein the first and second conveyor belt are flat and wherein the third conveyor belt is a round belt or a belt that is narrower than the first and second conveyor belt.

Device according to claim 1, wherein the at least one movable contact element is an elongate element, in particular a rod (200), which is not a conveyor belt and which can be moved in the direction of transport by the actuator of the contact element (201, 202, 203). can be moved and/or can be moved to and from the first and second conveyor belt.

5. Device as claimed in any of the foregoing claims, wherein the first and second conveyor belt extend substantially parallel to each other and the movable contact element, in particular the third conveyor belt, diverges in an operating position thereof from the first and second conveyor belt in the conveying direction (X). conveyor belt or the first and second conveyor belt, wherein in particular the movable contact element in an operating position thereof runs obliquely upwards in the conveying direction (X).

An apparatus according to any one of the preceding claims, wherein in cross-section the first and second conveyor belt recede from each other in upward direction and in particular form a V-configuration, wherein a central vertical longitudinal plane (45) passes through the first and second conveyor belt and the movable contact element is determined.

7. Device according to claim 5 or 6, wherein in cross section the first conveyor belt is located on the left side of the transport device, the second conveyor belt is located on the right side of the transport device, and the movable contact element, in particular the third conveyor belt, is located between the first and second conveyor belts and above a respective first and second contact zone (48A, 46B) where the first and second conveyor belts contact the product.

An apparatus according to any one of the preceding claims 5-6, wherein the control unit is configured to determine, on the basis of the recorded images, a primary axis (19) of the product being transported by the transport device, and wherein the control unit is configured is to drive at least the first and second conveyor belts with relative speed differences to align said primary shaft with the central longitudinal plane (45) of the conveyor.

An apparatus according to claim 8, wherein the control unit is further configured, after the primary axis (19) of the product has been aligned with the central longitudinal plane, to reorient the primary axis of the product to a target orientation, in particular to a horizontal or vertical orientation, while the primary axis remains aligned with the central longitudinal plane, the reorientation being performed by driving the first and second conveyor belts at the same speed and at a speed relative to the movable contact member.

An apparatus according to any one of the preceding claims, wherein the control unit is configured to determine whether to rotate the product about the primary axis to a target circumferential angle {B}, and wherein the control unit is configured to rotate the product about said primary axis. turning by applying a speed difference between the first and second conveyor belts while maintaining a speed of the movable contact member at an average speed of the first and second conveyor belts.

An apparatus according to any one of the preceding claims, wherein the transport device comprises at least one gap control actuator (52) for creating a gap (30) between a proximal edge (32A), in particular a lower edge, of the first conveyor belt and a proximal edge (32B), in particular a lower edge, of the second conveyor belt, the control unit being configured to set a width of the gap, in particular the width of the gap being adjustable within a range of at least 0, 1-100mm.

An apparatus according to the preceding claims, wherein the control unit (100) is configured to determine on the basis of the captured images whether the product contains an irregularity, in particular a so-called "daughter bulb", and where the irregularity is located on the product , where if the product does indeed contain such an irregularity, the control unit is configured to: — determine a primary axis (19) of the product, — determine a target orientation of the product at the exit about the X-axis, Y -axis and Z-axis of a local coordinate system with the origin at the center of gravity of the product, — orienting the primary axis vertically, in particular a projection of the product, for example a sprout (28) of the flower bulb, downwards oriented, — then rotating the product about the vertical axis with the first and second conveyor belt while hitting the product with the movable contact element, the irregularity in top view is oriented at a circumferential angle, in particular at an angle of 45°, 135°, 225° or 315° with respect to the transport direction (X),

- then reorienting the primary shaft from vertical to horizontal by driving the first and second conveyor belts at the same speed and at a relative speed to the movable contact element, in particular the third conveyor belt.

An apparatus according to any one of the preceding claims, wherein the control unit is configured to determine on the basis of the captured images whether the product has a warped sprout and wherein, if the product has a warped sprout, the sprout is positioned at the exit in an intended sprout orientation is oriented, with the sprout extending in particular in the forward direction and wherein: a) the sprout bends downwards or upwards in a central vertical longitudinal plane of the transport device, and/or b) the sprout bends sideways, away of the central vertical longitudinal plane.

14. Device as claimed in any of the foregoing claims, wherein the movable contact element, in particular the third conveyor belt, is placed centrally between the first and the second conveyor belt.

15. Device as claimed in any of the foregoing claims, wherein the movable contact element is narrower than the first and second conveyor belt, wherein the movable contact element is in particular narrower than 10 mm and more particularly narrower than 6 mm.

A device according to any one of the preceding claims, wherein the movable contact element has a third contact surface facing downwards.

An apparatus according to any one of the preceding claims, wherein the contact surfaces (46A, 46B, 46C) of the first and second conveyor belt and the movable contact element are arranged in a triangular configuration, the triangle pointing upwards.

An apparatus according to any one of the preceding claims, wherein the first and second conveyor belt and, if present, the third conveyor belt are flat belts, round belts or a combination of flat and round belts.

An apparatus according to any one of the preceding claims, wherein the first and second conveyor belts and, if present, the third conveyor belt are flat belts or a series of adjacent round belts and wherein the areas of contact of the first and second conveyor belts and the movable contact element have an form an upward-facing triangle.

An apparatus according to any one of claims 11-19, wherein the control unit is configured to insert a part of the product, in particular a protrusion of the product, more in particular a sprout of a flower bulb, into the gap between the bottom edges ( 32A, 32B) of the first and second conveyor belts (20A, 20B) during the reorientation process, especially when the primary axis of the product is oriented vertically.

An apparatus according to any one of the preceding claims, wherein the primary axis is aligned with the conveying direction during the orientation process, so that when the product arrives at the exit, a surface of the product around the primary axis is accessible for a pick-and-go. place unit.

An apparatus according to the preceding claims, wherein the primary axis is aligned with the direction of transport and an irregularity on the product, in particular a daughter bulb on a flower bulb, is oriented at a target circumferential angle about the primary axis.

23. Device according to one of the preceding claims, in which the conveying direction (X) of the conveying device is horizontal or substantially horizontal.

An apparatus according to any one of the preceding claims, wherein the first and second conveyor belts and, if present, the third conveyor belt are composed of separate adjacent round conveyor belts or separate adjacent narrow conveyor belts.

An apparatus according to any one of the preceding claims, wherein at least part of the movable contact body is movable by means of a contact body drive between an operative position and a retracted position, the operative position being closer to the first and second conveyor belts than the retracted position. position, the movable contact body in particular being a third conveyor belt, the third conveyor belt comprising a movable belt roller (34) at the entrance and/or at the exit, the belt roller being movable by means of a belt roller actuator between the operating position and the retracted position, where the entrance and exit respectively of the conveyor is wider than in the operating position to allow a product to come onto the conveyor, where the control unit is configured to move the belt roll to the retracted position, away from the first and second conveyor belt, when a product at d e entrance or at the exit is present, and wherein the control unit is configured to move the belt roller and the third conveyor belt to the operating position after the product has entered the transport device respectively after the product has left the transport device via the exit .

An apparatus according to any one of the preceding claims, wherein the first and second conveyor belts and, if present, the third conveyor belt have openings in the belt surface or are translucent.

Device according to one of the preceding claims, further comprising a pick-and-place unit (60) comprising: - a movable arm (62), - a gripping head, in particular a suction head (64), connected to said arm , and - one or more actuators (66A, 66B, 63, 79) for moving the gripping head, the pick and place unit being configured to deliver the product at the exit (18) of the conveyor (12). ) with the gripper head and place the product in a target position, in particular in a bin or crate.

An apparatus according to claim 27, wherein the arm is extendable, in particular telescopic, and wherein the pick-and-place unit includes an extendable actuator (63) for extending and shortening the arm, the actuator being controlled by the control unit of the pick and place unit.

An apparatus according to the preceding claim, wherein the pick and place unit comprises a Y actuator (66B) for moving the movable arm in the Y direction to a target Y position, viewed in plan view, wherein the Y actuator is controlled by the control unit of the pick and place unit.

An apparatus according to any one of claims 27-29, wherein the gripping head, in particular the suction head, is rotatable about a central suction head axis (110) or about an axis parallel to said central suction head axis (110), in particular through an angle of at least 45° in both directions from an initial orientation, more specifically at least 180° in both directions from the initial orientation, the pick and place unit comprising a rotary actuator for rotating the suction head.

An apparatus according to any one of the preceding claims 27-30, wherein the control unit is configured to determine an approach path from the suction head to a product (14) at the exit (18), in particular an approach angle (y), where this approach path is determined depending on the size and shape of the product at the exit and in particular depending on a curved sprout of the product, more specifically the control unit is configured to give the suction head a curved sprout from below or from the side or from above.

An apparatus according to any one of the preceding claims 27-31, wherein the pick and place unit comprises: - at least one pick and place camera (80) that captures images of a target area where the product is to be placed, and — a pick and place controller (101), the pick and place controller being configured to process the captured images of the target area, in particular of a crate to be filled, and to determine a target position in the target area for each product that is gripped by the suction head of the pick and place unit, the pick and place control unit taking into account the available places in the crate, the dimensions and the shape of the products in the crate, including irregularities such as a daughter sphere, for determining the target position.

An apparatus according to any one of the preceding claims 27-32, wherein the pick and place unit comprises one or more grip head cameras (80) aimed at the grip head, in particular the suction head, the control unit (100) is configured to take into account a feature of the product held by the gripper head, in particular an irregularity thereof, for determining the target position.

34. Device according to one of the preceding claims 27-33, wherein the arm is slidably mounted via a sliding bush (88) on a horizontal axis (74) which defines a horizontal axis of rotation (75), this axis of rotation extending in particular in a Y direction viewed from above perpendicular to the transport direction (X), the pick and place unit comprising a rotation actuator (66A) for controllably rotating the arm about the horizontal rotation axis.

An apparatus according to any one of the preceding claims 27-34, wherein the control unit (101) is configured to determine on the basis of the registered images whether the product, in particular a flower bulb, has a curved or an off-centre protrusion. , in particular a curved sprout, and where the suction head is controlled to keep the curved or off-center protrusion within a contour of the gripper head while approaching the product (14), and in particular to keep the curved protrusion within maintain an opening of the suction head, when the product is transferred to the suction head at the exit of the conveying device, in particular positioning a central suction head axis (110) of the suction head from the center of a base of the sprout if the sprout is bent.

A pick and place unit (60) according to the preceding claim, wherein the gripping head is a suction head (64) comprising: - a nozzle (112) and - a chamber (214) behind the suction mouth, in which the suction head has a central suction head axis (110) and is rotatable about this central suction head axis or about an axis parallel to this central suction head axis, wherein the chamber is non-rotationally symmetric about the central axis, wherein a periphery of the chamber is defined by a peripheral wall extending extending around the chamber, wherein the peripheral wall comprises: o a first wall region (117) having a curved shape, in particular a shape of a part of a cylinder, and o a second wall portion (118) having at least one corner (120 ) or a cavity, and in particular three straight wall portions defining two corners (120A, 120B), where a first distance from a center of the chamber to the corner or cavity is greater than a second distance from the center of the room to the first wall section, and where the pick-and-place b The control unit is configured to rotate the suction head to position a curved bulb shoot in the corner or cavity of the suction head.

An apparatus according to any one of the preceding claims 27-36, wherein the movable arm is configured to lower the product during the movement of the suction head from the pick-up location at the exit of the conveyor to the target position in the target area by rotating the movable arm about the horizontal axis of rotation.

38. Device as claimed in any of the foregoing claims 27-37, further comprising a crate support device configured for supporting a crate in which the products are to be placed, wherein the crate is supported in a filling position, the crate support device comprising: - a supply track for crates (91), — a crate discharge track (92) and — a crate moving system (94) to take one crate at a time from the crate feeding conveyor, place the crate in the target area (82) in which the pick and place unit controlled a number of products in the crate, and to place the crate on the crate discharge track after the crate has been filled with products.

Apparatus according to the preceding claim, wherein the crate moving system comprises an elevator (95) for raising the crate to the filling position and for lowering a filled crate to the crate discharge track after filling. to fill.

40. Device as claimed in any of the foregoing claims 38-39, wherein the system for moving the crates comprises at least one crate actuator for moving the crate in at least one direction, in particular at least in an X- direction, i.e. perpendicular to the axis of rotation of the movable arm, and wherein the control unit is configured to move the crate with the crate actuator to place the product at a target location in the crate.

An apparatus according to any one of claims 38 to 40, wherein the supply path and the discharge path of the crate are located below the transport device and the pick-and-place unit and are in particular within the length (215) of the device viewed in plan view and in particular between the legs (216) of the device.

An apparatus according to any one of claims 38 - 41, wherein the supply track for the crates and the discharge track for the crates extend parallel to the Y direction and perpendicular to the transport direction (X).

An apparatus according to any one of claims 38 - 42, wherein the crate support device is configured such that the crates are held in an inclined position during filling.

An apparatus according to any one of the preceding claims, with the exception of claims 27-43, wherein a second, downstream transport device is placed downstream of the exit of the (first) transport device, the second transport device being configured to maintain the orientation of the product during its transport. Device according to the preceding claim, wherein the second conveyor device comprises: - a fourth conveyor belt, a fifth conveyor belt and a sixth conveyor belt, and - at least a fourth drive for controlled driving of the fourth, fifth and sixth conveyor belt, wherein the fourth, fifth and sixth conveyor belts determine a transport direction (X) when the fourth, fifth and sixth conveyor belts provide an intermediate space (24) in which the product can be transported,

wherein the fourth, fifth and sixth conveyor belts are configured to contact the product on three different sides and are configured to apply pressure to the product.

An apparatus according to the preceding claim, wherein the controller is configured to control the speeds of the fourth, fifth and sixth conveyor belts to: - group products while maintaining the orientation of the products, and/or - fix one or more products so that a second pick-and-place unit can pick up the products from the second conveyor device, and/or or — packing the products with a packing device.

An apparatus according to any one of the preceding claims, including vibrating means (300), the first and/or second conveyor belt being vibrated with the vibrating means.

An apparatus according to any one of the preceding claims, further comprising a camera (25D) directed in the X direction or at an angle of less than 20 degrees to the X direction and configured to display images of the product on the conveying to include equipment.

An apparatus according to any one of the preceding claims 11-48, wherein the controller is configured to enlarge the opening to discard the product and drop the product through the opening into or onto a first throwing path when the product has an unacceptable characteristic turns out to have, in particular, a rotten spot.

Apparatus as claimed in any preceding claim, further comprising a second throwaway lane at the exit of the conveyor, the control unit being configured not to pick up an unsuitable product and allow the product to fall into the second throwaway lane .

51. Method for reorienting and/or scanning products, in particular horticultural and/or agricultural products, in particular flower bulbs, the method comprising: - transporting products with the transport device of the device according to claim 1,

- applying relative speeds between the first and second conveyor belt and the movable contact element to orient the product between the entrance and the exit, and - delivering the product in the intended orientation at the exit.

A method according to the preceding claim, wherein the controller controls the speeds of the first and second drives and, if movable in the direction of conveyance, the movable contact element to align a primary axis (19) of the product with a central vertical longitudinal plane { 45) of the transport device.

A method according to the preceding claim, wherein after the primary axis (19) of the product has been aligned with the longitudinal central vertical plane, the primary axis is reoriented to a target orientation, in particular to a vertical or substantially vertical orientation or to a horizontal or mainly horizontal orientation while keeping the major axis aligned with the central vertical longitudinal plane.

A method according to any one of the preceding method claims, wherein the control unit is configured to determine on the basis of the captured images whether the product has a curved sprout and, if the product has a curved sprout, the sprout is oriented at the exit in an intended shoot orientation, in particular where the shoot extends in a forward direction and where the shoot is curved downwards or upwards in a longitudinal central vertical plane of the conveyor or curved laterally, outside the central vertical longitudinal plane of the conveyor .

A method according to the preceding claim, wherein the control unit determines on the basis of the captured images whether the product contains an irregularity, in particular a so-called "daughter sphere", wherein, if the product does indeed contain such an irregularity, the control unit: determines the intended orientation and position of the irregularity on the product at the exit, — orients the primary axis vertically, in particular with a protrusion of the product, in particular a sprout of the flower bulb, pointing downwards — the product around the vertical primary shaft rotates by applying speed differences between the first and second conveyor belts, while maintaining the movable contact element at an average speed of the first and second conveyor belts, orienting the irregularity - viewed from above - to a target orientation, in the particularly at an orientation of 45 degrees, 135 degrees, 225 degrees, or 315 degrees to relative to the direction of transport (X), — then reverses the primary shaft from vertical to horizontal or nearly horizontal and still aligned with the central vertical longitudinal median plane through the first and second conveyor belts at the same speed but at a positive or negative speed relative to to drive the movable contact element.

A method according to any one of claims 51 to 55, wherein the transport device transports the products from the entrance over a first distance to an intermediate position, the products being stopped in the intermediate position, the products being oriented in the intermediate position while they are in a stationary or near-stationary position and where after orientation the products are moved from the intermediate position to the exit while maintaining the orientation.

A method according to any one of the preceding claims 51-56, wherein the transport device simultaneously transports and orients the products.

58. Pick and place unit (60) for picking up and placing a product (14), in particular a horticultural and/or agricultural product, comprising - a gripping head (64) configured to grip the product, — one or more actuators to move the gripping head — one or more cameras (80) for capturing images of the product in the gripping head and of a target area where the product is to be placed — a control unit (101) for controlling the one or more actuators based on the captured images.

A pick and place unit (60) according to the preceding claim, wherein the gripping head is a suction head (64), comprising: - a nozzle (112) and - a chamber (214) behind the suction mouth, in which the suction head has a suction head axis (110) and is rotatable, wherein the chamber is non-rotationally symmetrical about the central axis, wherein a perimeter of the chamber is defined by a perimeter wall extending around the chamber, wherein the perimeter wall comprises: o a first wall region (117) with a curved shape, in particular a shape of a part of a cylinder, and o a second wall zone (118) comprising at least one corner (120) or cavity, and in particular three straight wall parts that have two corners (120A, 120B), where a first distance from a center of the room to the corner is greater than a second distance from the center of the room to the first wall zone, and where the pick and place controller is configured to to rotate the suction head around a crooked shoot of a flower bulb at an angle or place it in the cavity of the suction head.

A pick and place unit (60) according to the preceding claim, wherein the nozzle has a diameter (151), and wherein the chamber has an internal width (152) greater than the diameter.

A pick and place unit according to any one of claims 59 to 60, wherein the suction head includes an O-ring support wall defining an O-ring cavity and an O-ring disposed within this cavity, wherein the O-ring support wall defines a support wall diameter that gradually increases in a direction away from the O-ring.

A pick and place unit according to any one of the preceding claims 59-61, wherein the gripper head is rotatable about a central gripper head axis and wherein the pick and place unit includes a rotary actuator for rotating the gripper head.

A pick and place unit (60) according to the preceding claim, having at least one pick and place camera directed at the pick-up location, the pick and place unit controller being configured to determine on the basis of the captured images whether the product, in particular a flower bulb, has a curved projection, in particular a crooked shoot, and wherein the control unit is configured to control the actuators to force the gripper head to deliver the product to the pick-up location approach to prevent damage to the curved protrusion, wherein an approach route is inclined to a major axis of the retrieval location and/or is curved, and wherein the controller is configured to rotate the gripper head to position the curved sprout at an angle or in the cavity of the chamber.

A pick and place unit (60) according to the preceding claim, wherein the gripping head is a suction head configured to grip a flower bulb, and the pick and place control unit is configured to, based on the recorded images to determine if the bulb has a crooked sprout and where the actuators are controlled to keep the crooked sprout within an opening of the suction head when transferring the product to the suction head, in particular a central suction head axis (110) of the suction head is placed off center of a base of the sprout if the sprout is curved and the control unit is configured to rotate the suction head to position the curved sprout in a corner or cavity of the chamber of the suction head.

A pick and place unit (60) according to the preceding claim, having at least one pick and place camera directed at the gripper head, the pick and place controller being configured to act on the basis of the recorded images of the product in the gripper head to determine if the product, especially a bulb, has an irregularity, especially for a bulb a crooked shoot or a daughter bulb, and the control unit is configured to control the actuators to reach a target position of the product in the target area depending on the detected irregularity.

A pick and place unit (60) according to the preceding claim, having at least one pick and place camera aimed at the target area, the pick and place control unit (101) being configured to, based on the recorded images, of the target area determine whether products already placed in the target area, in particular a bulb, have an irregularity, in particular for a bulb a crooked shoot or a daughter bulb, or a deviated position, and the control unit is configured to control the actuators to approach a target position of the product in the target area depending on one or more detected anomalies or anomalies.

67. Pick and place unit (60) for collecting and placing an agricultural product or a horticultural product, the pick and place unit comprising: - a frame (11), - a movable arm (60) supported by the frame, - a gripper arm connected to said arm, the gripper arm configured to grip a product, and - a plurality of pick and place actuators (S6A, 66B, 79, 63) to move and rotate the gripper head (60) , — at least one pick and place camera (80) that captures images of the target area where the product is to be placed, — a pick and place control unit (101), where the pick and place control unit is configured for processing captured images of the target area and/or of a product gripped by the gripping head.

A pick and place unit according to the preceding claim, wherein the gripping head is a suction head.

A pick and place unit according to the preceding claim, wherein the pick and place camera is configured to record images of a target area, in particular a crate to be filled, and the pick and place control unit is configured to determine a target position in the target area for each product gripped by the gripping head, the picking and placing control unit taking particular account of available locations in the target area, and the gripping head being movable between a pick-up location and the target position in the target area, and wherein the pick and place unit is configured to pick up the product at the pick-up location with the grab head and place the product at the target position, specifically in the crate.

A pick and place unit according to any one of the preceding claims 67-69, wherein at least one pick and place camera is directed at the gripping head, the control unit being configured to take into account the size, shape and/or position of the product held by the gripper head, in particular including irregularities such as a daughter bulb, for determining the target position and/or target orientation of the product in the target area.

71. Pick and place unit according to one of claims 67 - 70, wherein the arm is extendable, in particular telescopic, and wherein the pick and place unit comprises an extension actuator for extending or shortening the arm , where the actuator is controlled by the pick and place control unit.

A pick and place unit according to any one of claims 87 to 71, wherein the gripper head is rotatable about a central pick head axis (110) thereof or about an axis parallel to said central pick head axis (110), the pick and place place unit contains a rotary actuator for rotating the gripping head.

A pick and place unit according to the preceding claim, wherein the arm is slidably mounted via a slide bushing (88) on a horizontal shaft (74) defining a horizontal axis of rotation (75), the pick and place unit includes a rotation actuator (66A) for controllably rotating the arm about the horizontal axis of rotation.

A pick and place unit according to the preceding claim, comprising a slide sleeve for sliding the arm in a Y direction parallel to the axis, the pick and place unit comprising a Y actuator (66B) to move the arm in the Y direction parallel to the horizontal axis to a target Y position.

Pick and place unit according to one of the preceding claims 67-74, wherein the pick and place control unit (101) is configured to determine on the basis of the registered images whether the product, in particular a flower bulb, has a curved protrusion, in particular a curved spout, and wherein the first, second and, if any, third drives of the conveyor belts (20A, 20B, 20C) are controlled to position the curved protrusion at the exit in a target orientation and wherein the pick and place actuators (66A, 66B, 79, 63) are controlled to cause a center of the suction head (60) to follow the arcuate protrusion during the approach to grip the product without damaging the arcuate protrusion, and in particular, a center of an opening (113) of the suction head follows the curved protrusion to move the opening over the curved protrusion and place the curved protrusion into the chamber and the suction head is rotated to t Place curved protrusion in a corner or cavity of the room.

A pick and place unit according to any one of the preceding claims 67-75, wherein the movable arm is configured to move from a horizontal or near horizontal orientation at the pick-up location where the product is received by the suction head to down the horizontal axis of rotation. rotate, rotate to a more vertical orientation, and rotate towards the target position in the target area.

A pick and place unit according to any one of the preceding claims 67-76, further comprising a crate support device configured to support a crate in which the products are to be placed, in which the crate is supported in a filling position, in which the crate support device includes: — a crate feeding track, — a crate unloading track, and — a crate moving system to take one case at a time from the crate feeding track, place the crate in the target area where the pick and place unit can controllably place a number of products in the crate , and to place the crate on the crate discharge track after the crate has been filled with products.

78. Pick and place unit according to the preceding claim, wherein the crate moving system comprises at least one crate actuator for moving the crate in at least one direction, in particular at least in an X direction, i.e. perpendicular to the horizontal pivot axis of the movable arm.

79. Pick-and-place unit according to any one of claims 67 - 78, wherein the supply track for the crates and the discharge track for the crates are located below the filling position, and wherein the crate-moving system comprises a lift for lifting the crates upwards. the crates to the filling position and for lowering a filled crate to the discharge conveyor for the crates after filling.

A pick-and-place unit according to any one of claims 87 - 79, wherein the supply track and the output track of the crate run parallel to the horizontal axis of rotation.

A pick and place unit according to any one of claims 67 - 80, wherein the crate support device is configured to maintain the tray in an inclined orientation during filling.

A pick and place unit according to any one of claims 67 to 81, wherein the supply path and the discharge path of the crates are located below the conveyor and below the pick and place unit and within the length (215) of the device (10).

Pick and place unit according to any one of claims 67 - 81, wherein the pick and place unit comprises: - an actuator (79) for rotating the suction head about the central suction head axis or about an axis parallel on said central suction head axis, — an actuator (66A) for rotating the movable arm about a horizontal axis of rotation, — an actuator (66B) for moving the movable arm in the Y direction, — a drive (63) for extending the movable arm, and - an actuator (97) for moving the crate in the X direction.