It is known from NL-A-1017406 to guide a plant along, an elongate, vertical suspension structure, such as a rigid or flexible wire, by connecting a stem of the plant to the suspension structure at some locations by means of clips which on one side engage the stem and on the other side engage the suspension structure. The clips are displaceable along the suspension structure under frictional contact, preferably without releasing the connections between the clips and the stem and suspension structure. Embodiments of clips of this type are known, for example, from WO-A 99/22587.

During growth of the plant, the length of the stem increases at the end thereof which is remote from the roots of the plant.

Furthermore, the plant bears plant parts which are to be harvested and are less fully grown the further away they are from the roots of the plant. The growth of the plant leads to a newly grown stem part having to be connected to the suspension structure at set times. For this purpose, by way of example, the suspension structure is moved upwards, with at least the clip which is located at the highest position sliding along the suspension structure and a clip located at a lower position being removed and placed above the clip which was hitherto the highest. Of course, it is also possible to add one or more clips in order to connect a newly grown stem part to the suspension structure without removing clips that are already present.

During removal of plant parts from the stem, including the harvesting of plant parts, it is advantageous to move the plant

parts that are to be removed to a predetermined height, so that the working height is uniform. It is known from NL-A-1017406 to move the stem of the plant downwards with respect to a separating device which is disposed at a predetermined height and acts along the stem, this downward displacement being substantially in the longitudinal direction of the stem, so that the displacement automatically leads to the removal of plant parts from the stem when the plant parts move past the separating device.

However, in the prior art it is not possible to carry out the process of removing plant parts automatically, since the position of the stem of a plant is not accurately defined as seen in a horizontal direction and the downwards displacement of the stem cannot be accurately determined in advance.

It is an object of the invention to improve this situation in order to allow automatic removal of plant parts.

For this purpose, the invention provides first of all a method for removing a plant part from a plant, the plant part growing on a stem of the plant, the method comprising the steps of: (a) positioning the stem and a separating member relative to one another ; and (b) using the separating member to separate the plant part from the plant, wherein in step (a) a positioning member and the stem are brought into contact with one another by moving the positioning member and the stem relative to one another. The result of these measures is that the position of the stem with respect to the separating member can be determined accurately and mechanically during a predetermined positioning of the positioning member relative to the separating member, after which the separating member can automatically remove the plant part from the plant.

It is preferable for the stem to extend substantially in a vertical direction. Stems which have a substantially vertical direction are in widespread use in practice, for example by virtue of the stems being suspended from a suspension structure.

In practice it has been found that the method is particularly

suitable for use on stems which extend substantially vertically.

However, in an alternative configuration, the stem may also have a different, for example a rather inclined direction.

The positioning member and the stem are preferably brought into contact with one another by the positioning member and/or the stem being moved relative to one another substantially in a direction which is transverse relative to the longitudinal direction of the stem, it being possible for the stem to be moved towards the positioning member (which is substantially stationary as seen in the direction of movement), for the positioning member to be moved towards the stem (which is substantially stationary as seen in the direction of movement) or for both the stem and the positioning member to be moved in order for them to be brought into contact with one another. To move the stem, by way of example, a stop which is movable relative to the positioning member is used.

In step (b), it is preferable for the plant part to be separated from the plant by the stem and the separating member being moved relative to one another. The separating member may in this case make contact with the stem but may also be moved, at a predetermined distance from the stem, in a direction which in particular is substantially parallel to the longitudinal direction of the stem, since the plant part that is to be removed generally sprouts from the stem. In this case, one of the two (stem and separating member) may be stationary, or both may move. In particular, in step (b) the plant part is separated from the plant by moving the separating member, in particular a cutting side thereof, in the upward direction with respect to the stem. By way of alternative, in step (b) the plant part is separated from the plant by moving the plant downwards.

It is preferable for the positioning member to comprise a gripper member, in which case in step (a) the gripper member grips the stem in order for the step to be carried out. If the plant is suspended from a suspension structure and the positioning member comprises a gripper member, in step (a) the gripper member can grip the suspension structure in order for

the step to be carried out. It is preferably in step (b) for the plant part to be separated from the plant by the gripper member and the separating member being moved apart. In this case, the gripper member provides a desired fixation of the stem or, in combination with this fixation, a desired displacement of the stem.

It is preferable for the separating member, while the plant part is being separated from the plant, to have substantially the form of a ring, in which case the stem extends through the ring form. Consequently, the desired removal of the plant part takes place irrespective of the position at which the plant part is connected to the stem. If the separating member comprises at least two parts which are movable with respect to one another, the ring form can be opened in order for it to be placed around a stem prior to the removal of the plant part and to be removed again from-the stem after removal of the plant part, for use at a different stem.

It is preferable for the positioning member and the separating member to be arranged on a frame, the frame being provided with a support structure, to which the positioning member and the separating member are connected such that they are movable relative to one another. The frame preferably serves to move the positioning member and the separating member towards the plant, and more particularly to move the positioning member and the separating member to successive plants in a row of plants.

It is preferably for the support structure to be moved relative to the frame, in particular in a direction which is substantially transverse with respect to the longitudinal direction of the stem. This measure allows the positioning member, in a defined position of the frame, to be moved into a desired position relative to the stem in order for the positioning member and the stem to be brought into contact with one another.

It is preferable for the frame to be moved in a direction which is substantially transverse relative to the longitudinal

direction of the stem in order to move towards and away from the stem to allow the abovementioned defined position to be selected, the support structure optionally being movable relative to the frame.

If it is ensured that during movement of the frame the direction of movement of the support structure with respect to the frame, at least for a certain time, is opposite to the direction of movement of the frame with respect to the stem (and the movement of the support structure is preferably of the same magnitude as the movement of the frame), the support structure, despite the movement of the frame, can adopt a fixed position relative to the plant. Consequently, the frame can move along a row of plants while the support structure, at least during removal of one or more plant parts from a specific plant, is not displaced relative to the plant.

In step (b), it is preferable for the plant part, after it has been separated from the plant, to be collected, for example in a box or other type of container, in order to ascertain the position of a removed plant part.

In step (b) it is preferable for the plant part, after it has been separated from the plant, to be discharged, so that the plant part can be processed further in a predetermined way.

Preferably, in step (a), the position of the plant part which is to be removed relative to the separating member and/or the ripeness of the plant part is measured by a plant part detection means, in which case the removal of the plant part from the plant is controlled on the basis of the measured value obtained.

Plant part detection means to be used in this context are selected from a group of plant part detection means, such as for example a proximity switch, a temperature sensor, a colour sensor, an image sensor, etc. In this case, it is possible, with the aid of, for example, a proximity switch or an image sensor, to determine the position of a plant part that is to be removed in order to control the separating member, the frame or the support structure, while the ripeness of the plant part can be

determined using, for example, a temperature sensor, a colour sensor or an image sensor or combinations thereof. It is also possible, with the aid of an image sensor, to determine the volume of a plant part and to determine the weight of the plant part on the basis of the volume obtained. In this case, it is also possible to use data processing means coupled to the sensor (s) to determine whether or not the detected plant part should be removed from the plant or the destination to which a removed plant part should be discharged if there are various destinations for plant parts which satisfy different criteria.

The method according to the invention is suitable and intended in particular for use with tomato plants. The invention allows efficient removal of tomatoes from tomato plants.

The plant part to be harvested is preferably a fruit, a berry or a leaf.

The invention also relates to a device for removing a plant part which grows on a stem of a plant from the plant, the device comprising a separating member which is configured to separate a plant part growing on the stem from the plant, the stem extending substantially in the vertical direction, and a positioning member which is configured to position the stem and the separating member relative to one another, the device being configured to bring the positioning member and the stem into contact with one another.

Further preferred embodiments of the device are described. in the claims.

The invention is explained in more detail below on the basis of an associated, non-limiting drawing, in which: Figure 1 shows a diagrammatic view of an embodiment according to the invention; Figures 2a and 2b show a diagrammatic view of a second embodiment according to the invention; Figure 3 shows another diagrammatic view of the second embodiment according to the invention;

Figure 4 shows a detail view of an embodiment of the positioning member; Figure 5 shows another detail view of an embodiment of the positioning member; Figures 6a and 6b show a detailed plan view of an embodiment of the separating member; Figure 7 shows a detail view of an embodiment of the separating member; Figure 8 diagrammatically depicts another embodiment of the invention; Figure 9 shows a diagrammatic rear view of an embodiment of the invention ; Figure 10 diagrammatically depicts another embodiment according to the invention ; and Figure 11 diagrammatically depicts yet another embodiment according to the invention.

Identical reference numerals refer to identical components or components which have an identical or similar function. Arrows without reference numerals indicate directions of movement of components.

Figure 1 shows a first embodiment of the invention. It shows a device 10 which comprises a positioning member 12 and a separating member 14. The positioning member 12 and the separating member 14 are each connected to a support structure 16. The positioning member 12 may be a stop. The positioning member 12 can be moved in the upwards and downwards direction with respect to the support structure 16 in a manner which is not shown in more detail and is to be explained in greater depth below with reference to other figures. The separating member 14 can move in the upwards and downwards directions with respect to the support structure 16 in a manner which is not shown in more detail and is to be explained in greater depth below with reference to other figures. The positioning member 12 and the separating member 14 may be arranged on different support structures 16.

The separating member 14 comprises two separating parts 18a and 18b, the two separating parts 18a and 18b being connected to the support structure 16 such that they are rotatable relative to one another. The separating parts 18a, 18b are rotatable in a horizontal plane. They are rotatable towards one another in order to make contact with one another and are rotatable away from one another in order to create space between the two separating parts 18a, 18b. On their upward side, the separating parts 18a and 18b have a cutting edge 24. When the separating parts 18a and 18b are in contact with one another, together they form the form of a ring. For one possible way of controlling the support structure 16, reference is made to Figure 8.

The right-hand side of the figure shows a plant 21 having a stem 20. The stem 20 extends substantially in a vertical direction.

Since it is a plant, it will be clear to the person skilled in the art that the stem 20 does not have to extend precisely vertically but may have a rather variable direction. The invention is suitable in particular for plants which are a fruit-bearing crop which grows to a considerable height. In Figure 1, the plant 21 is a tomato plant and a bunch of tomatoes hangs from the stem 20. However, the plant 21 may also be a different type of plant from which plant parts hang, such as: fruit, berries or vegetables. However, it is also possible to use the invention to separate leaves alone from a stem 20. A leaf 30, which hangs from the stem 20, is shown in Figure 1.

The bunch 22 is connected to the stem 20 by means of a stalk 26.

The stalk 26 may be a small stalk or a stronger branch. The leaf 30 is also connected to the stem 20 by means of a stalk 26.

The support structure 16 is movable in the horizontal direction, so that the support structure 16 can be moved towards the stem 20. This is indicated in Figure 1 by a horizontal arrow. The support structure 16 is moved by means which are not indicated in Figure 1. In this respect, reference is made to Figure 8. A person skilled in the art will recognize that it is also possible to move the plant 21 towards the support structure 16 using means which are not shown in more detail.

The ring form 28 has an internal diameter which is slightly larger than the diameter of the stem 20, so that the separating member 14 can easily be moved along the stem 20. The difference in diameter between the stem 20 and the internal diameter of the separating member 14 is preferably 0-10 mm.

In practice, the cutting edge 24 may also be of a different form than a ring form. A square or oval form or another form is also possible. With a form of this type, it is possible to remove plant parts 22,30 from the stem 20 over the entire circumference of the stem 20. If it is desired to remove plant parts 22,30 over only part of the circumference of the stem 20, it is possible to opt for an open form for the cutting edge 24, such as a C-form (not shown), or a straight cutting edge (not shown).

It is also possible to design the cutting edge 24 as a plurality of driven blade parts (not shown), optionally with serrated cutting edges, which can move with respect to one another. In this way, plant parts 22 and/or 30 can be separated from the stem 20 by sawing them off the stem 20.

It is also possible to use a thermal separation member. In this case, the separated plant part is also cleaned and sealed in order to prevent contaminants from penetrating into the separated plant part 22 and/or 30.

During operation, the support structure 16 will be moved towards the stem 20. When the positioning member 12 comes into contact with the stem 20, the movement of the support structure 16 is stopped and the support structure 16 is held in a fixed position with respect to the stem 20.

During this time, the separating member 14 is in an open state, with the two separating parts 18a and 18b located at a distance from one another, defining a space between them. When the positioning member 12 makes contact with the stem 20, the stem

20 will be located in the vicinity of and substantially between the two separating parts 18a and 18b.

Then, the two separating parts 18a and 18b are moved towards one another in order to form a ring form 28 with a ring-formed cutting edge 24 which is directed upwards. The stem 20 extends through the ring form 28 in this position.

Then, the separating member 14 is moved upwards with respect to the stem 20. In the process, the separating member 14 will move towards the bunch 22 and the leaf 30. At a defined moment, the cutting edge 24 comes into contact with the stalk 26 of the bunch 22 or the leaf 30. The cutting edge 24 will then cut through the stalk 26, with the result that the bunch 22 or the leaf 30 is separated from the stem 20.

In this way, plant parts 22,30 are separated from the stem 20 over a distance along which the separating member 14 is moved.

When the separating member 14 has reached a predetermined distance relative to the positioning member 12, the upwards movement of the separating member 14 stops. The two separating parts 18a and 18b of the separating member 14 are then moved away from one another. The support structure 16 is then moved away from the stem 20 and can be moved towards a stem 20 of another plant 21 (not shown). During this movement, the separating member 14 is moved downwards along the support structure 16. This completes a cycle of approaching the plant 21, making contact with the stem 20 via the positioning means 12, surrounding the stem 20 by the separating member 14, separating plant parts 22 and/or 30 from the stem 20, releasing the stem 20 from the separating member 14 and moving the separating member 14 away from the stem 20. This cycle can be repeated in order to treat a large number of plants 21. It is in this way possible to harvest fruit, vegetables, berries while at the same time leaves 30 are removed from a stem 20.

Figures 2a, 2b and 3 show a second embodiment according to the invention. In this embodiment, the positioning member 12

comprises a gripper member 32 for gripping the stem 20. The gripper member 32 comprises two gripping parts 32a and 32b.

These gripping parts 32a and 32b are provided with deformable contact surfaces 33a and 33b. The deformable contact surfaces 33a, 33b protect the stem 20 from damage when the stem is gripped. It is in this way possible to grip a stem 20 and release it again without damage to the stem 20. The contact surfaces 33a, 33b can be made from any suitable deformable material, such as rubber, foam rubber, felt or another material.

The gripping parts 32a, 32b are able to exert a force on the stem 20 which is substantially parallel to the longitudinal direction of the stem 20.

In this embodiment, the separating member 14 is provided with collection means in the form of tray parts 34a and 34b, for collecting the separated plant parts 22,30. The collection means 34a and 34b are each fixedly connected to a respective separating part 18a and 18b and rotate with the respective separating parts 18a and 18b when the latter are moved towards one another. In this way, a collection means 34 in the form of a tray is formed, into which the plant part 22,30 moves after separation from the stem 20.

In one particular embodiment, the collection means 34 may be provided with one or more sensors (not shown) for detecting a plant part 22 and/or 30 which enters the collection means 34.

During operation, the stem 20 comes into contact with one of the gripping parts 32a or 32b of the positioning member 12. Then, the gripping parts 32a and 32b, in particular the contact surfaces 33a, 33b thereof, grip the stem 20 (cf. Figure 2b).

Then, the separating parts 18a and 18b of the separating member 14 are. also moved towards one another in order to surround the stem 20. When the separating parts 18a, 18b have formed a ring form 28 around the stem, the separating member 14 is moved upwards along the stem. When a plant part 22,30 comes into contact with the cutting edge 24 of the separating member 14, the separating member 14 will exert a force on the plant part

22,30. This will result in an upward force on the stem 20, parallel to the longitudinal direction thereof. The gripper member 32 holds the stem 20 in place and prevents the stem 20 from being moved upwards as a result of the upward force. In this way, plant parts 22, 30 are removed from the stem 20.

It is also possible for the separating member 14 to be left in a stationary position with respect to the support structure 20 and for the gripper member 12 to be moved downwards. In this way, the stem 20 is pulled downwards. The stem 20 is pulled through the separating member 14, with plant parts 22,30 being separated from the stem 20. To control these movements, reference is made to Figure 8.

If the collection means 34 is provided with a sensor (not shown) for detecting a plant part 22 and/or 30 which enters the collection means, during use it is possible to determine, on the basis of the observation made, whether or not the collection means 34 needs to be emptied.

The positioning member 12 has straight sides lla and lib in Figures 2a and 2b. However, it is also possible to use curved sides, such as concave sides, instead of straight sides. In this case, it is possible to create a scissor action, in which case the stem 20 is pulled towards the deformable contact surfaces 33a, 33b as the gripping parts 32a, 32b move towards one another. Figure 3 shows the separating member 14 and the gripper member 12 while they are being moved apart in order for plant parts 22,30 to be separated from the stem 20. It is shown in the figure that the gripper member 12 and the separating member 14 both have a respective wheel 44,46 which runs in a respective guide track 48,50.

If, during use, the support structure 16 is moved in a horizontal direction along the guide tracks 48,50, each wheel 44,46 will run through a respective guide track 48,50 and will follow any changes in height of the guide tracks 48,50.

Therefore, the guide tracks 48,50 are used to control the vertical positions of the gripper member 12 and the separating

member 14 relative to the support structure 16 and relative to one another. A person skilled in the art will recognize that there are also other ways of controlling the height of the gripper member 12 and the separating member 14, such as the use of controllable servomotors in combination with a gearwheel, or another suitable method. For a way in which the guide tracks 48, 50 and the support structure 16 are controlled, reference is made to Figure 8.

Figures 4 and 5 show how the gripping parts 32a, 32b can be rotated open and closed as indicated by the double arrow shown in Figure 4. The gripping part 32a is provided with a cam 53 for rotating the gripping part 32a open and closed. In use, the positioning member 12 is moved relative to the cam edge 51. In the process, the cam 53 of the gripping part 32a comes into contact with the cam edge 51. As a result, a rotating movement of the gripping part 32a about the support structure 16 will be set in motion. This results in the two gripping parts 32a, 32b coming into contact with one another in order to grip the stem 20.

Figures 6a and 6b show a plan view of the separating member 14.

The separating member 14 is shown in the open position in Figure 6a and in the closed position in Figure 6b. In the closed position, a space 64 is formed, through which the stem 20 extends. The, separating member 14 comprises a cam 60. The figure shows how the cam 60 is moved along a cam edge 62 in order to close the two separating parts 18a and 18b of the separating member 14. When the cam 60 touches the edge 62, the separating part 18a will rotate towards the separating part 18b. The separating parts 18a and 18b come into contact with one another and form the ring form 28. The separating member 14 will be moved to the right, as seen in the figure, and will then rotate towards the separating part 18b as indicated by the movement arrow. For the way in which the cam edge 62 is connected to the surrounding area, reference is made to Figure 8.

The principle of the curved sides which can be used for the gripper member 32 may also be used for the separating member 14.

The separating member 14 has sides 61a, 61b which can be of curved design. In this way, the stem 20 can be pulled towards the separating parts 18a, 18b by means of a scissor action.

Figure 7 shows another view of the separating member 14 in detail. A cam edge 62 is provided for engaging on the cam 60 (not shown) of the separating member 12.

The separating parts 18a and 18b each comprise a respective spacer segment 19a, 19b for maintaining a defined spacing between the stem 20 and the cutting edge 24. The spacer segments 19a, 19b, like the separating parts 18a, 18b, have the form of a half-ring and are each arranged on an inner side of the respective separating part 18a, 18b. When the spacer segments 19a, 19b are brought into contact with one another, they together form a spacer 19. The spacer 19 has the function of maintaining a predetermined distance between the stem 20 and the cutting edge 24. In this context, account is taken of the fact that the stem has a certain flexibility and can bend towards the cutting edge 24. The spacer 19 has an internal diameter and an external diameter, the difference between the internal diameter and the external diameter preferably being less than 10 mm.

The spacer 19 has, on an upwards side thereof, a radially outwardly bent surface 56 which limits the possible curvature of the stem 20, with a uniform force being exerted on the stem 20 by the radially outwardly bent surface 56. This prevents the stem 20 from being damaged. It also prevents the cutting edge 24 from"taking a bite"out of a stem 20.

Figure 8 shows another embodiment of the device 10, in which the positioning member 12 and the separating member 14 are arranged on a movable frame 42. In this case, the movable frame is a vehicle 42. The vehicle 42 is provided with wheels 54 which run over rails 40. A person skilled in the art will recognize that the movable frame can also be configured in a form other than a vehicle on wheels, for example in the form of a transportable structure suspended from a rail.

The plants 21 are suspended from a suspension structure 36. On its front side, the vehicle 42 is provided with guides 58 for guiding the stems of the plants 21. The guides can displace the plants 21 a certain distance in the horizontal direction towards the vehicle 42 or away from the vehicle 42, provided that they satisfy the condition that the plants 21 acquire a position in which the positioning member 12 can make contact with the stem 20 of the plant 21.

Furthermore, the vehicle 42 is provided with two endless chains 64a and 64b which are arranged rotatably and can turn about a turning structure (not shown). In this case, the endless chains 64a and 64b are driven by a drive (not shown). This may be an electrical, pneumatic, hydraulic or other drive. The chain 64a is arranged at the top side of the vehicle and the chain 64b is arranged at the bottom side thereof. Support structures 16 extend between the chains 64a, 64b. The support structures 16 can move with the chains 64a, 64b. A positioning member 12 and a separating member 14 are connected to each support structure 16.

The vehicle 42 also comprises guide tracks 48,50, the guide track 48 guiding the positioning member 12 and the guide track 50 guiding the separating member 14.

Furthermore, the vehicle 42 is provided with a seat 72 for a driver (not shown). The driver can control, inter alia, the speed of the vehicle 42.

In another possible embodiment (not shown) of the device, the positioning member 12 and the separating member 14 can move with respect to the stem 20 in a direction which is substantially parallel to the longitudinal direction of the stem 20, the vertical position of the positioning member 12 and the separating member 14 being controllable in order to make contact with the stem 20 at a desired height and to separate plant parts 22 and/or 30 from the stem 20 at a desired height. In an embodiment of this type, the driver can set the height of the positioning member 12 and the separating member 14 before contact is made with the stem 20. In this way, it is possible to

carry out a separating action where the plant parts 22 and/or 30 are located on each stem 20.

In a further embodiment (not shown), the guide track 48 is not configured as a single track, but rather as a number of guide <BR> <BR> tracks 48a, 48b, 48c, etc. , which are at different heights relative to one another. The guide tracks extend in the longitudinal direction of the vehicle, towards the rear side 102 as seen from the front side 100 of the vehicle 42, over respective, different, vertical, downward distances, so that if, during operation, a wheel 44 of the gripper member 32 moves through the guide track in the longitudinal direction of the vehicle 42 the gripper member 32 is displaced downwards over a vertical distance which is determined by the guide tracks. These different guide tracks 48a, 48b, 48c, etc. are connected to one another by means of switch mechanisms. These switch mechanisms can be controlled by the driver of the vehicle 42, so that the driver can select the guide track through which the gripper member 32 will be guided. This makes it possible for the gripper member 32 to move over a controllable vertical downwards distance while the stem 20 is being held and during the movement along the vehicle 42. If one of the various guide tracks 48a, 48b, 48c, etc. extends horizontally, it is also possible for the gripper member 32, if desired, to be held stationary in the vertical direction during the movement along the vehicle 42.

The same arrangement can be configured for the guide path 50 for the separating member 14, except that now the guide tracks 50a, 50b, 50c in the longitudinal direction of the vehicle run in various upward vertical directions rather than downward directions, in the direction of the rear side 102 as seen from the front side 100 of the vehicle 42. In this way, it is possible to control the vertical displacement of the separating member 14 during movement along the vehicle 42. If a guide track which extends horizontally is fitted, it is possible to keep the separating member 14 stationary in the vertical direction during its movement along the vehicle 42.

The horizontal guide track for the gripper member 32 and the separating member 14 can be selected if a stem 20, by way of example, has plant parts 22 which are not ripe and are therefore not to be harvested.

It is also possible to make this control completely automatic by fitting the abovementioned sensors on the vehicle 42 and controlling the points mechanisms on the basis of the measured values which are obtained using the sensors.

In use, the vehicle 42 is moved along a row of plants, with a stem 20 coming into contact with the guides 58 and being guided along the vehicle 42 through the guides 58. The endless chains 64a, 64b rotate in a direction in which the side of the chains 64a, 64b which runs on the side of the vehicle 42 along which the stems 20 are also moving moves in a direction which is opposite to the direction of movement of the vehicle 42. The support structures 16 move with the chains 64a, 64b in the same direction.

If a support structure 16 is in a position 80 at the front side of the vehicle 42 and is moved from this position 80 towards a position 82 on the outer side of the vehicle 42, the positioning member 12 and the separating member 14 have a movement component which is transverse relative to the direction of movement of the vehicle 42. The positioning member 12 and the separating member 14 move outwards from the interior of the vehicle 42 in the section between position 80 and position 82, with the positioning member 12 and the separating member 14 projecting out of the vehicle in position 82. In this position, both the gripper member 32 and the separating member 14 are in an open state. In the process, the positioning member 12 comes into contact with the stem 20. The separating member 14 also comes into contact with the stem 20. The gripping parts 32a, 32b of the gripper member 32 will then be moved towards one another and grip the stem 20. The separating parts 18a, 18b of the separating member 14 are also moved towards one another in order to form the ring form 28, so that the stem 20 is surrounded by the ring form 28.

While the vehicle 42 is being moved further forwards, the support structure 16, together with the stem 20, is moved backwards with respect to the vehicle 42. The support structure 16 is substantially stationary with respect to the stem 20. This means that the support structure 16 moves backwards with respect to the vehicle 42 at substantially the same speed as the vehicle 42 is moving forwards with respect to the stem 20.

Then, the separating member 14 is moved upwards through the guide track 50. At the same time, the gripper member 32 is moved downwards through guide track 48. The gripper member 32 pulls the stem 20 taut and downwards. The separating member 14 moves a defined distance upwards with respect to the stem 20 and in the process separates plant parts 22 and/or 30 from the stem 20.

When the entire distance has been covered, both the gripper member 32 and the separating member 14 are then moved into an open position, so that the stem 20 is once again hanging freely.

The stem 20 is now devoid of plant parts 22,30 over a predetermined vertical distance. The plant parts 22, 30 are discharged by discharge means (not shown).

The support structure 16 is then moved towards the front side 100 of the vehicle by the chains 64a, 64b on the other side of the vehicle 42. In the process, the positioning member 12 and the separating member 14 are moved back into a required vertical position by guide means (not shown) in order once again to make contact with a stem 20.

It is also possible to adapt the vehicle 42 in such a way that plant parts 22 and/or 30 can be separated from plants on both sides of the vehicle 42. For this purpose, the endless chains 64a, 64b have to be provided in duplicate, with the second chain (not shown) rotating in the opposite direction to the first chain.

It is also possible for the vehicle 42 to be stopped at each stem 20 in order to separate the plant parts 22,30 from the stem 20 in a stationary position. However, this can be achieved

by means of a different structure from the structure shown with the endless chains 64a, 64b.

It is also possible to provide the vehicle 42 with a plant part detection means, such as a proximity switch, a temperature sensor, a colour sensor and an image sensor. It is in this way possible to assess the position and/or ripeness of a plant part 22 and/or 30 that is to be removed. It is then possible to determine whether and how the plant part 22,30 is separated from the plant 21 on the basis of the measured value obtained.

Figure 9 shows a typical situation in a tomato farm. Tomato plants 21 are suspended in a row 92 from a suspension structure 36. The suspension structure 36 may be a wire, a bar or another suitable means for a plant to be suspended from. The suspension structure 36 is typically located at a height of approximately 4 metres, but may in practice be arranged at any desired height.

The roots of the tomato plants 21 are planted in a channel 38 in which a soil, rock wool or other suitable base may be arranged.

There are means (not shown) for providing the plant 21 with all the substances required for growth of the plant 21. The stems 20 of the plants 21 form a loop downwards from the channel 38 and back upwards towards the suspension structure 36. Many plants 21 can thereby be suspended next to one another in the row 92.

There is a path 90 between two rows 92.

The device 10 according to the invention is shown in Figure 9 as a vehicle 42 which is moved along the row 92 on rails 40. The separating member 14 and the positioning member 12 are not shown in Figure 9. The vehicle 42 is moved along the plants 21, during which process plant parts are removed from in each case one stem 20 of a plant 21. When a complete row 92 has been processed, the vehicle 42 can be turned round in order to cover the same distance in the opposite direction, during which process the row of plants 92 on the other side of the path 90 are processed.

Figure 10 shows an embodiment according to the invention in which a roller 103, around which a sheet 104 is wound, is arranged in the vicinity of the front side 100 of the vehicle

42. A separating device 106 in the form of a suction device which comprises an air nozzle 108 is arranged at the rear side 102 of the vehicle. The separating device can divide the leaves 30 from the plant parts 22 on account of the fact that the leaves 30 have a lower weight than the plant parts 22 and are sucked up by the suction device.

The sheet 104 creates a clean base for harvested plant parts and makes it possible to transport the plant parts.

If, during use, the vehicle 42 is moved forwards, the roller 103 is rotated. In the process, the sheet 104 is unwound and placed onto the ground. The device 10 is in this case provided with discharge means (not shown) for placing the separated plant parts 22 and/or 30 onto the sheet 104.

If the roller 103 can rotate freely and the sheet 104, at its end, is fixedly secured to the surroundings, the sheet will automatically unwind during a forwards movement of the vehicle 42.

Instead of a roller, however, it is also possible to move containers (not shown) together with the vehicle 42. The harvested plant parts 22 can then be placed directly into a container and be discharged. This can be done by an operator or by the provision of discharge means which can transport a plant part 22 from the collection means 34 to the corresponding container. The containers may be boxes, trays, bags or other suitable containers.

The suction device 106 comprises an air nozzle 108 which opens out at a short distance above the ground. If the suction device 106 is sucking during the forwards movement of the vehicle 42, leaves 30 are sucked off the sheet 104. The result is that only the desired plant parts 22 remain behind on the sheet 104.

Figure 11 shows another embodiment in which the vehicle 42 is provided with a roller 103 on which a sheet 104 is wound. At the end of the path 90 there is a second roller 116, which is driven

by a drive device 114. One end of the sheet 104 is secured to the second roller 116.

In use, the drive device 114 winds up the second roller 116. In the process, the sheet 104 is pulled along the ground, in the direction of the second roller 116. The plant parts 22 which are on the sheet are in this way transported to the end of the path 90.

It is also possible to design the vehicle 42 in such a manner that the vehicle can harvest plant parts both forwards and backwards. In that case, when the vehicle 42 moves towards the second roller 116, the second roller 116 will have to be able to rotate, at its circumference, at a greater speed than the speed of the vehicle 42 in order to ensure that the sheet 104 is unwound from the first roller 103 and pulled towards the second roller 116.