DE102021134103A1 - Device for managing an agricultural area and a corresponding method - Google Patents

Abstract

The invention relates to a device (10) and a method for cultivating an agricultural area (N). The device (10) comprises a chassis (11) which is formed from a plurality of elongate plug-in elements (14), these plug-in elements (14) being able to be connected to one another and detached again from one another in particular without the use of special tools, thereby reducing at least one dimension of the chassis (11) longitudinally or transversely to the direction of travel (F) of the device (10, 10'). At least one field cultivation device is attached to the chassis (11) or a part thereof, with which a plant cultivation process step can be carried out

Description

The invention relates to a device for managing a landscaped area according to the preamble of claim 1 and according to claim 7, and a corresponding method for which such a device is provided

According to the prior art, it is known to process agricultural land using self-propelled machines. These machines can be mobile, autonomous field robots that are equipped with their own chassis or running gear and have comparatively compact dimensions.

In addition to their compact dimensions, the above-mentioned field robots are generally also characterized by their low weight. As a result of this, when such field robots drive over a landscaped area to be cultivated, there is advantageously less soil compaction than when using large tractors or towing vehicles. An interaction between a field robot and plants already cultivated or still to be introduced on the usable area is mostly achieved by camera-based sensor systems in particular. With suitable sensors and/or cameras, it is thus possible for a field robot to take specific measures to manage a landscaped area, for example sowing individual plant seeds or planting young plants in the area, or to care for and/or harvest plants that have already grown become.

Conventionally known field robots are usually manufactured or delivered fully assembled. For a user, this leads to the disadvantage or to the restriction that it is not possible for him to adapt or change the dimensions of such a field robot as required. The procurement of an additional field robot with changed dimensions is disadvantageously associated with high costs. Any system changes are considered an infringement of the manufacturer's warranty and open interfaces are rare. For this reason, field robots are sold as self-contained products.

A further aspect of previously known field robots consists in the fact that plant cultivation process steps are carried out while the field robot is moving and are therefore carried out continuously, in the same way as in conventional agricultural technology. Conventional processes, especially those involving intervention in the soil (processing, sowing, harvesting) often make use of the strong propulsion of the tractor to introduce the process forces into the soil. However, field robots usually have significantly smaller drives, so that the process forces cannot be generated from the propulsion and therefore no management, care and/or harvest of a plant can be achieved.

The object of the invention is to make the processing of agricultural land more flexible with simple means and/or to carry out plant cultivation processes in the course of the cultivation of a landscape with greater accuracy.

This object is achieved by an apparatus having the features of claim 1 and claim 7 and by a method having the features of claim 24. Advantageous developments of the invention are defined in the dependent claims.

A device according to the present invention is used for the management of an agricultural area and comprises a chassis with a plurality of wheels attached thereto, with which the chassis can be moved over the area in one direction of travel, at least one of the wheels being provided with a drive and preferably at least two of these wheels are mounted pivotably or rotatably about a vertical axis on the chassis in order to enable the device to change the direction of travel. Furthermore, the device comprises at least one field cultivation device, which is attached to the chassis or a part thereof and with which a plant cultivation process step can be carried out. The chassis and the associated wheels are each of modular design, with the chassis comprising a plurality of elongate and in particular tubular plug-in elements which can be connected to one another and detached from one another in particular without the use of special tools. Thus, at least one dimension of the chassis can be changed longitudinally or transversely to the direction of travel of the device. Such a variable dimension of the chassis is expediently formed by a length of the chassis running in the direction of travel, a width or track width of the chassis running transversely to the direction of travel and/or a height of the chassis in the vertical direction.

The device according to the invention preferably has four (or more) wheels with which it is possible to move the device in a targeted manner on an agricultural area and thus to move into or onto a specific zone of this area.

With regard to the aforementioned mobility of the device according to the invention, it is expedient that at least one of the wheels of the device is provided with a drive, with two of these wheels, which are arranged adjacent to one another on one side of the device, preferably being pivotable about a vertical axis. or are rotatably mounted to allow a change in the direction of travel for the device.

The chassis of the device according to the invention comprises a plurality of elongate plug-in elements which can in particular be of tubular design. In any case, with the help of these plug-in elements it is possible that the dimensions of the chassis - if necessary - are variable, for example a length of the chassis (seen in the direction of travel of the device), a width or track width of the chassis (seen transversely to the direction of travel of the device) and /or a height of the chassis in the vertical direction, i.e. its vertical distance from the ground with which the wheels are in contact.

A device according to the present invention, which is of independent importance, is also used to cultivate an agricultural area, and comprises a chassis with a coupling device with which the chassis can be attached to a tractor or the like, and at least one field cultivation device that can be attached to the chassis or a part thereof and with which a plant cultivation process step can be carried out. In this device, the chassis has a modular structure and for this purpose comprises a plurality of elongate and in particular tubular plug-in elements, these plug-in elements being able to be connected to one another and detached again from one another in particular without the use of special tools, in such a way that at least one dimension of the chassis is variable, preferably that a variable dimension of the chassis is formed by a length of the chassis running transversely to the direction of travel of a tractor, a width of the chassis running in the direction of travel of the tractor and/or a height of the chassis in the vertical direction.

The plug-in elements mentioned above are expediently designed in such a way that they can be detached or reassembled without the use of special tools. As a result, the assembly or disassembly of the plug-in elements for the purpose of a desired change in the dimensions of the chassis is significantly simplified for a user, preferably when the device or a tractor provided for this purpose is at a standstill

With regard to the attachment of at least one field cultivation device or application to the chassis of the device, it is advantageous if this device or application can be moved or moved along a guide rail or the like. Such movability can be achieved, for example, with the aid of a so-called trolley or the like, which is attached to an associated guide rail. Thanks to such mobility of the field cultivation device or application relative to the chassis of the device, any inaccuracies in the position of the device on the agricultural area can be compensated for, with the result that a plant that is cultivated on this area can be sown or brought in should be managed with great precision.

The present invention is also aimed at a method for managing an agricultural area, namely in particular using a device according to the present invention, the associated plant cultivation process steps, in particular from sowing or sowing the plants to their harvest, being carried out fully automatically . This method is characterized in that the plant cultivation process steps are carried out intermittently, namely in each case with the device at a standstill when it is not being moved relative to the usable area.

With the present invention, a "construction kit" is defined in order to design a mobile system for the automatic management of an agricultural area according to the standards of industrial automation in a customer-specific manner. If necessary, such a system, which has the character of a field robot, can be changed or reconfigured by the customer or user himself. On the basis of the present invention, a mechanism is hereby created with which an open-air automation system like a field robot can be repositioned in particular on an agricultural area from a location A to a location B or on this area a movement of a field robot can be realized in certain zones thereof .

• - Zur Lagerung der Räder der Vorrichtung sind einheitliche Profilelemente vorgesehen. Diese Profilelemente können aus L-Profilen bestehen.
• - Ein vorstehend genanntes L-Profil zur Lagerung eines Rads ist vorzugsweise aus Aluminium hergestellt. Alternativ hierzu ist es möglich, dieses L-Profil auch aus einem anderen Metall, vorzugsweise Stahl, oder aus Verbundmaterialien (z.B. „FVK“, d.h. Faserverbundkunststoffe, insbesondere mit einem Anteil an Kohlefasern) herzustellen.
• - Die vorstehend genannten L-Profile, mit denen eine Lagerung der Räder an dem Chassis erreicht wird, sind im montierten Zustand Teil des Chassis und tragen dadurch wesentlich zu dessen Stabilität bei.
• - Die einzelnen Profilelemente zur Lagerung der Räder können in verschiedener Weise ausgeführt sein, beispielsweise mit/ohne Federung, mit/ohne Antrieb, mit/ohne drehbare Lenkachse und mit/ohne separates Lenkmodul. Damit ist es möglich, ein jeweiliges Profilelement auszuführen
  • ◯ mit Federung,
  • ◯ mit Antrieb
  • ◯ mit drehbarer Lenkachse, und/oder
  • ◯ mit separatem Lenkmodul.
• - Die vorstehend genannten Steckelemente, die Teil des Chassis sind, können in Längs- und Querrichtung des Chassis direkt an den L-Profilelementen angebracht sein. Für diesen Fall sind die L-Profilelemente dann tragender Bestandteil des Chassis.
• - An dem Chassis bzw. an einem zugehörigen Steckelement kann zumindest ein separates Kastenelement angebracht sein. Ein solches Kastenelement dient zur Aufnahme von Ausstattungselementen, die für einen Betrieb der erfindungsgemäßen Vorrichtung bzw. für eine Durchführung des erfindungsgemäßen Verfahrens von Bedeutung sind. Zweckmäßigerweise ist es möglich, an dem Chassis bzw. an Steckelementen hiervon eine Mehrzahl von solchen Kastenelementen anzubringen
• - Bei Bedarf können an dem Chassis weitere bzw. zusätzliche Kastenelemente angebracht werden, beispielsweise zur Aufnahme von weiteren Akkus bzw. Batterien, Range-Extender oder Generatoren, Bedienpanelen bzw. -einrichtungen, Steuerungs- und Kommunikationselementen inkl zugehörige Antennen, von zusätzlicher Sensorik und/oder von zusätzlichen Applikatoren. In gleicher Weise ist es möglich, solche Kastenelemente (z.B. für Instandhaltungs, Reinigungs- oder Reparaturzwecke) auch wieder von dem Chassis zu demontieren.
• - Gemäß einer Ausführungsform für das erfindungsgemäße Verfahren kann vorgesehen sein, dass die Vorrichtung als modulare Automatisierungsanlage aus Rädern dient. Im Sinne der vorliegenden Erfindung bedeutet dies, dass die Vorrichtung zur Vornahme von pflanzenbaulichen Prozessschritten stationär bzw. quasi-stationär, sprich: intermittierend arbeitet: Hierbei werden pflanzenbauliche Prozesse (beispielsweise Bodenbearbeitung, Saat, Pflanzenschutz, Bewässerung, Ernte) vorzugsweise im unbeweglichen Zustand der Vorrichtung bzw. bei deren Stillstand durchgeführt. Die hierzu erforderlichen Prozesskräfte, die in Wechselwirkung mit einer Pflanze aufzubringen sind, können dabei von einem sog. „Manipulator“, d.h. einer Feldbewirtschaftungseinrichtung bzw. Applikation erzeugt werden, die wie vorstehend bereits erläutert an dem Chassis angebracht sein kann.
• - Im Sinne der vorstehend genannten intermittierenden Durchführung von pflanzenbaulichen Prozessschritten ist zu verstehen, dass diese vorzugsweise dann durchgeführt werden, wenn sich die Vorrichtung in einer bestimmten Zone einer zu bewirtschaftenden landwirtschaftlichen Nutzfläche in einem quasi-stationären Zustand bzw. in Stillstand befindet. Dies führt zu dem Vorteil, dass in der besagten bestimmten Zone der Nutzfläche ausgewählte Prozessschritte von der Vorrichtung (nochmals: bei deren Stillstand) mit chirurgischer Präzision selektiv in Bezug auf eine einzelne Pflanze, einzelne Pflanzenbestandteile oder eine einzelne Pflanzposition ausgeführt werden können. Erst nachdem zumindest ein ausgewählter Prozessschritt oder mehrere solcher Prozessschritte in der vorbestimmten Zone der Nutzfläche ausgeführt bzw. abgeschlossen worden sind, wird dann die Vorrichtung auf ihren Rädern in eine vorzugsweise daran angrenzende nächste vorbestimmte Zone der zu bewirtschaftenden landwirtschaftlichen Nutzfläche weiter bewegt, in der dann erneut ausgewählte pflanzenbauliche Prozessschritte für zumindest eine Pflanze von der Vorrichtung durchgeführt werden.
• - Im Zusammenhang mit dem Bewegen der Vorrichtung auf einer zu bewirtschaftenden landwirtschaftlichen Nutzfläche von einer bestimmten Zone zu einer nächsten Zone ist für die vorliegende Erfindung zu verstehen, dass dies mit Hilfe der Räder der Vorrichtung erreicht wird, von denen zumindest eines mit einem geeigneten Antrieb ausgestattet ist. Dies bedeutet, dass mittels der Räder der Vorrichtung erreicht wird, dass sie auf einer landwirtschaftlichen Nutzfläche von einer bestimmten Zone, nachdem darin gewünschte pflanzenbauliche Prozessschritte durchgeführt und abgeschlossen worden sind, dann in eine vorzugsweise angrenzend dazu angeordnete Zone weiter bewegt bzw. verfahren werden kann. Im Umkehrschluss bedeutet dies auch, dass die Antriebsleistung der Vorrichtung nicht zur Durchführung von pflanzenbaulichen Prozessschritten, beispielsweise zum Pflügen oder dergleichen, genutzt wird. Dies wird bei der vorliegenden Erfindung vorzugsweise allein mittels einer Feldbewirtschaftungseinrichtung bzw. Applikation, beispielsweise in Form eines insbesondere mehrgelenkigen Roboterarms, erreicht.

• - An der Vorrichtung bzw. an deren Chassis können auch mehrere „Laufkatzen“ mit daran angebrachten Feldbewirtschaftungseinrichtungen vorgesehen sein, die an zugeordneten Führungsschienen entlang einer Längs- und/oder Quererstreckung der Vorrichtung beweglich daran verfahrbar sind. Eine solche Mehrzahl von „Laufkatzen“ können an der gleichen Seite der Vorrichtung und/oder an verschiedenen Seiten davon, d.h. an entgegengesetzten Seiten der Vorrichtung (d.h. an der linken Seite und an der rechten Seite, in Fahrtrichtung der Vorrichtung gesehen) beweglich angebracht sein. Insbesondere für den Fall, dass mehrere solche Laufkatzen mit den jeweils daran angebrachten Feldbewirtschaftungseinrichtungen an entgegengesetzten Seiten der Vorrichtung vorgesehen sind, ist es möglich, dass dann die Laufkatzen bzw. Feldbewirtschaftungseinrichtungen an der einen Seite der Vorrichtung unabhängig von den Laufkatzen bzw. Feldbewirtschaftungseinrichtungen bewegt werden, die an der jeweils anderen bzw. entgegengesetzten Seite der Vorrichtung vorgesehen sind.
• - In Bezug auf eine Feldbewirtschaftungseinrichtung bzw. eine Applikation, die an dem Chassis der Vorrichtung angebracht sein kann, ist zu verstehen, dass hiermit auch der innere Bereich der Vorrichtung bewirtschaftet werden kann, d.h. die Zone der landwirtschaftlichen Nutzfläche, auf dem sich das Chassis der Vorrichtung mit den Rädern befindet bzw. aufgestellt ist.
• - Eine Feldbewirtschaftungseinrichtung kann mittels eines Roboterarms an der Vorrichtung oder an einer Laufkatze angebunden sein. Vorzugsweise hat ein solcher Roboterarm eine Mehrzahl von Freiheitsgraden, und/oder mehrere Armelemente mit einer Mehrzahl von Drehgelenken mit daraus resultierenden Freiheitsgraden. Hieraus ergibt sich für eine Feldbewirtschaftungseinrichtung, die am freien Ende des Roboterarms angebracht sein kann, vorteilhaft eine flexible Bewegbarkeit mit einem großen Radius. Damit können auf der landwirtschaftlichen Nutzfläche auch Pflanzen bewirtschaftet bzw. erreicht werden, die nicht unmittelbar angrenzend an bzw. unterhalb der Vorrichtung positioniert sind, sondern seitlich neben der aktuellen Position der Vorrichtung angeordnet sind.
• - Der vorstehend genannte Roboterarm kann in Form eines SCARA-Roboters ausgebildet sein. Ein solcher SCARA-Roboter hat in bekannter Weise vier Achsen und vier Freiheitsgrade, wodurch sich für die Feldbewirtschaftungseinrichtung , die am unteren Ende der z-Achse montiert sein kann, vorteilhaft eine großer Einsatzradius ergibt.
• - An dem Chassis der Vorrichtung können gleichzeitig verschiedene Typen von Feldbewirtschaftungseinrichtungen montiert sein. Ergänzend oder alternativ ist es erfindungsgemäß möglich, dass bei Bedarf eine Feldbewirtschaftungseinrichtung gegen eine andere ausgetauscht wird. Zu diesem Zweck ist erfindungsgemäß an der Vorrichtung zumindest ein Werkzeugwechselsystem vorgesehen, mit dem an der Vorrichtung eine Mehrzahl von verschiedenen Typen von Feldbewirtschaftungseinrichtungen vorgehalten wird und bei Bedarf an zumindest einer Laufkatze eine Feldbewirtschaftungseinrichtung gegen eine andere ausgetauscht werden kann. Ein solcher Austausch erfolgt beispielsweise für den Fall, dass eine andere Pflanze bewirtschaftet und/oder ein anderer Bewirtschaftungsvorgang vorgenommen werden soll.
• - An einer Laufkatze können verschiedene Arten bzw. Typen von Feldbewirtschaftungseinrichtungen montiert werden. Beispielsweise ist es möglich, dass an einer Laufkatze gleichzeitig verschiedene Typen von solchen Feldbewirtschaftungseinrichtungen montiert sind.
• - Das vorstehend genannte Werkzeugwechselsystem bildet quasi einen „Vorratsbehälter“ für verschiedene Arten von Feldbewirtschaftungseinrichtungen. Für eine gewünschte Bestückung von zumindest einer Laufkatze mit einer Feldbewirtschaftungseinrichtung eines vorbestimmten Typs ist es zweckmäßig, dass das Werkzeugwechselsystem mit dem zugehörigen „Vorratsbehälter“ ebenfalls entlang der Längs- und/oder Quererstreckung der Vorrichtung beweglich ausgebildet ist, so dass dann - bei Bedarf - ein Austauschen einer Feldbewirtschaftungseinrichtung an einer ausgewählten Laufkatze schneller und mit größerer Flexibilität möglich ist.
• - Bei den vorstehend genannten Feldbewirtschaftungseinrichtungen, die an einer Laufkatze (oder alternativ: direkt an dem Chassis der Vorrichtung) montiert werden können, kann es sich beispielsweise um einen Bewässerungsapplikator, einen Düngeapplikator, einen Manipulator bzw. Applikator mit zumindest einer vertikalen Dreh- bzw. Manipulationsachse und mit weiteren daran angebrachten Peripheriegeräten und/oder einen Industrieroboter (= Manipulator) mit zumindest zwei Freiheitsgraden (DOF, auch SCARA- oder Delta-Roboter) handeln. Falls ein solcher Applikator bzw. Manipulator mit zwei oder mehr vertikalen Drehachsen ausgestattet ist, bedeutet dies beispielsweise, dass er zwei oder mehr Gelenkarme aufweist, die jeweils um eine vertikale Drehachse verschwenkbar sind. Alternativ hierzu ist es auch möglich, dass solche Gelenkarme auch um eine horizontale Achse schwenkbar sind.
• - Mittels geeigneter Werkzeuge bzw. Feldbewirtschaftungseinrichtungen, welche entlang der Längs- und/oder Quererstreckung der Vorrichtung beweglich daran geführt sind, kann erfindungsgemäß eine Bodenauflockerung auch nur lokal im Bereich der Pflanzen, die in die Acker- bzw. landwirtschaftlichen Nutzfläche eingebracht sind, erreicht werden.
• - Mittels der verschiedenen Typen von Feldbewirtschaftungseinrichtungen, die wie erläutert an einer Laufkatze (oder alternativ: direkt an einem Teil des Chassis) montierbar sind, werden alle Prozesse der Bewirtschaftung einer landwirtschaftlichen Nutzfläche abgedeckt bzw. möglich, wie etwa eine Bodenbearbeitung (z.B. Pflügen, Grubbern), Aussaat von Pflanzen, Pflanzenschutz, Bewässerung, Düngung, Ernte und ggf. Logistik für einen „Pick-and-Place“-Ansatz.
• - Es ist zweckmäßig, wenn jede Laufkatze jeweils über ein Werkzeugwechselsystem verfügt, mit dem wie erläutert an einer ihm zugeordneten Laufkatze verschiedene Typen von Feldbewirtschaftungseinrichtungen montiert werden können.
• - Im Hinblick auf eine Laufkatze, die wie erläutert entlang der Längserstreckung der Vorrichtung beweglich daran angebracht sein kann, versteht sich, dass eine solche Laufkatze zusammen mit der daran angebrachten Feldbewirtschaftungseinrichtung dann entlang eines Teils der Vorrichtung verfahren werden kann, währenddessen die Vorrichtung wie erläutert in einer bestimmten Zone der landwirtschaftlichen Nutzfläche angehalten bzw. in Stillstand positioniert ist. Hierdurch können Pflanzen an einer beliebigen, sprich: jedweder Stelle der Ackerfläche von der Feldbewirtschaftungseinrichtung erreicht werden, um einen gewünschten Bewirtschaftungs- oder Erntevorgang auszuführen.
• - An einer Feldbewirtschaftungseinrichtung und/oder einer zugeordneten Laufkatze, die wie vorstehend erläutert beweglich entlang der Vorrichtung angebracht sind, kann zumindest ein Sensor oder ein entsprechendes Sensorpaket vorgesehen sein. Hiermit ist eine Arbeitsraumüberwachung und eine geeignete Erkennung von Pflanzen möglich, die mit der Feldbewirtschaftungseinrichtung bearbeitet bzw. hiervon geerntet werden.
• - Die Vorrichtung kann mit einer Mehrzahl von Solarpanelen ausgestattet bzw. bestückt sein. Für diesen Fall verfügt die Vorrichtung über zumindest einen Batteriespeicher, der mit den Solarpanelen elektrisch verbunden ist. Somit ist es möglich, tagsüber diesen Batteriespeicher mit dem Strom, der durch die Solarpanele gewonnen wird, zu versorgen bzw. aufzuladen und dadurch den energetischen Eigenbedarf der Vorrichtung und der zugehörigen Einrichtungen zu decken. Damit kann der Batteriespeicher nachts auch als Nachtspeicher dienen, um einen fortwährenden Betrieb der erfindungsgemäßen Vorrichtung und der daran angebrachten Einrichtungen zu gewährleisten. In dieser Weise ist eine autarke Versorgung der erfindungsgemäßen Vorrichtung und der daran vorgesehenen Einrichtungen mit Energie gewährleistet.
• - Die vorstehend genannten Solarpanele sind vorzugsweise in einem oberen Bereich der Vorrichtung davon angebracht. Entsprechend erfüllen diese Solarpanele gleichzeitig die Funktion eines Witterungsschutzes für die Vorrichtung und den daran angebrachten Systemkomponenten.
• - An der Vorrichtung kann eine Einrichtung mit zumindest einer Düse angebracht sein, mittels der sich eine Flüssigkeit an einer gezielten Stelle des Bodens der landwirtschaftlichen Nutzfläche einbringen bzw. injizieren lässt. Hierbei ist es vorteilhaft, wenn diese Einrichtung entlang einer Längs- und/oder Quererstreckung der Vorrichtung verfahrbar ist. Nachdem die Düseneinrichtung eine vorbestimmte Stelle relativ zum Chassis der Vorrichtung erreicht hat, kann ein gezieltes Einbringen der zumindest einen Düse in den Boden der landwirtschaftlichen Nutzfläche z.B. durch eine Höhenverstelleinrichtung erreicht werden. Bei der Flüssigkeit kann es sich um Wasser handeln, um damit die in den Boden eingesetzten Pflanzen gezielt zu bewässern, und/oder um eine wässrige Lösung mit Düngemittel, um damit die Pflanzen gezielt zu düngen.
• - Falls mit der vorstehend genannten Düseneinrichtung Wasser in den Boden injiziert bzw. eingespritzt, beispielsweise angrenzend bzw. in direkter Nähe der zu bewässernden Pflanzen, entspricht dies erfindungsgemäß einer Minimalmengenbewässerung, mit der im Vergleich zum konventionellen Anbau eine Wassereinsparung von etwa 80% erreicht wird.
• - Mittels der Erfindung wird unter Verwendung von geeigneten Werkzeugen bzw. Feldbewirtschaftungseinrichtung, die wie erläutert an einer Laufkatze montiert werden können, auch ein ökologischer Pflanzenschutz ohne Chemie und eine punktförmige Bodenaufbereitung bzw. Einarbeitung von Ernteresten mit maximaler Bodenschonung und Energieeffizienz erreicht.
• - Erfindungsgemäß kann vorgesehen sein, dass eine Bewirtschaftung der landwirtschaftlichen Nutzfläche vollautomatisch durchgeführt wird, beispielsweise von der Einsaat der Pflanzen bis zu deren Ernte. Ein Merkmal einer solchen Bewirtschaftungsansatzes kann darin bestehen, dass auf der gleichen landwirtschaftlichen Nutzfläche verschiedene Pflanzen eingesät bzw. geerntet werden. Im Zuge dessen ist es dann möglich, beim Einbringen der Ernte auch verschiedene Pflanzen zusammen in einer Erntekiste zu sammeln, zwecks einer Direktvermarktung an mögliche Verbraucher. Für diesen Fall kann zumindest eine Erntekiste, oder eine Mehrzahl von solchen Erntekisten, vorzugsweise im mittigen Bereich des Chassis eingesetzt bzw. positioniert werden. Hierdurch wird mit Hilfe der vorliegenden Erfindung erreicht, im Zuge einer Verwertung der eingebrachten Ernte mindestens eine Handels- bzw. Bearbeitungsstufe einzusparen und dadurch attraktive Marktpreise zu erzielen.
• - Mit Hilfe der vorliegenden Erfindung kann auf einer landwirtschaftlichen Nutzfläche eine Punkt-Bewirtschaftung (sog. „spot farming“) realisiert werden, bei der die Bewirtschaftung einer landwirtschaftlichen Nutzfläche sich lediglich auf gezielte Pflanzpunkte konzentriert, an denen Pflanzen in den Boden eingebracht sind. An diesen Pflanzpunkten erfolgt dann konkret die Einsaat der Pflanzen, deren Bewässerung und ggf. auch ein Düngen, und schließlich das Ernten der ausgereiften Pflanzen. Eine solche Art des Anbaus kann Monokulturen ersetzen und gleichzeitig Biodiversität bzw. Artenvielfalt fördern.
• - Gemäß einer vorteilhaften Weiterbildung der Erfindung können pflanzenbauliche Anbau- und Ernteprozesse als Pick-and-Place Prozesse abgebildet werden. Hierdurch ist es möglich, diese Prozesse kulturübergreifend, d.h. für verschiedene Arten und Größen von Gemüsepflanzen durchzuführen. Beispielsweise ist es möglich, an einer Laufkatze eine geeignete Feldbewirtschaftungseinrichtung in Form eines Greifwerkzeugs zu montieren, mit dem Salat- und Kohlköpfe, sogar Kohlrabi, in beliebiger Größe geerntet werden können.
• - Wie soeben erläutert, ist es mittels der vorliegenden Erfindung möglich, eine landwirtschaftliche Nutzfläche mit verschiedenen Sorten von Pflanzen bzw. Gemüsen zu bewirtschaften. Avisierte Kulturen können die Folgenden sein: Eisberg-, Kopf- und Romanasalat, Rot- und Weißkohl (Mini), Broccoli, Kohlrabi, Sellerie, Gurken und Zucchini, sowie Kürbis. Anders ausgedrückt, ist es mittels der vorliegenden Erfindung möglich und vorgesehen, dass auf einer landwirtschaftlichen Nutzfläche ein „gemischter Anbau“ von Pflanzen bzw. Gemüse vorgenommen wird.
• - Ernteprozessschritte für die Pflanzen erfolgen erfindungsgemäß vorzugsweise automatisiert und weiter vorzugsweise bei Nacht. Dies kann insbesondere für den Fall vorgesehen sein, dass die vorstehend erläutert die landwirtschaftlichen Nutzfläche mit verschiedenen Sorten vom Pflanzen bzw. Gemüsen bepflanzt ist. Hierbei ist es möglich, diese verschiedenen Sorten bzw. Pflanzen im Zuge der Ernte direkt ab Feld in die Erntekisten, die wie erläutert in einem mittigen Bereich des Chassis eingesetzt bzw. positioniert sein können, einzubringen. Dabei besteht die Möglichkeit einer stationären Zugabe von Kartoffel-, Zwiebel- und Möhrenkisten, und somit das Angebot für die Endkunden zu vervollständigen.
• - Mittels der vorliegenden Erfindung ist es möglich, eine Vielzahl von verschiedenen Gemüsekulturen entweder mit integriert ausgebildeten Feldbewirtschaftungseinrichtungen bzw. Pflanzwerkzeugen oder einer Mehrzahl von solchen Einrichtungen bzw. Werkzeugen, die auch gleichzeitig an einer Laufkatze montiert sein können, zu bewirtschaften, im Sinne eines individuellen Micro-Spot-Farming. Dies kann vorteilhaft entweder zumindest teil-automatisiert oder vorzugsweise auch voll-automatisiert erfolgen, zweckmäßigerweise nach Vorgabe von entsprechenden Solldaten im Hinblick auf einzelne Prozessschritte und deren zeitliche Abfolge bezüglich der Bewirtschaftung der landwirtschaftlichen Nutzfläche.
• - Gemäß einer vorteilhaften Weiterbildung der Erfindung kann die Vorrichtung mit einer Steuer- oder Regeleinrichtung ausgestattet sein, mittels der ein Bewegen des Chassis über die landwirtschaftliche Nutzfläche, nämlich von einer bestimmten Zone davon zu einer nächsten Zone, und/oder die Bewegungen bzw. Operation der daran angebrachten Feldbewirtschaftungseinrichtungen geeignet gesteuert werden können, ggf. auch nach Art eines Regelkreises, d.h. geregelt.
• - In vorteilhafter Weiterbildung der Erfindung ist es mittels der vorstehend genannten Steuer- oder Regeleinrichtung auch möglich, errechnete mittlere Taktzeiten, den geschätzten Energiebedarf und/oder die agrarspezifische Prozesssicherheit zu validieren.
• - In vorteilhafter Weiterbildung der Erfindung kann die Vorrichtung mit einer Sende-/Empfangseinheit ausgestattet sein, die signaltechnisch mit der Steuerungeinrichtung verbunden ist. Mittels dieser Sende-/Empfangseinheit ist es möglich, Informationen bzw. Datenpakete entweder von einer entfernten Stelle (beispielsweise in Form eines Leitstands zur Überwachung und/oder Steuerung des Betriebs der erfindungsgemäßen Vorrichtung) aus zu empfangen und/oder an eine solche entfernte Stelle zu senden. Zweckmäßigerweise ist eine solche Sende-/Empfangseinheit in einem oberen Bereich des Chassis angebracht, so dass damit eine gute Sende- bzw. Empfangsleistung für die zu übertragenen Daten von der entfernten Stelle und/oder an die entfernte Stelle erreicht wird.
• - Gemäß einer vorteilhaften Weiterbildung der Erfindung ist es möglich, die zu bewirtschaftenden Pflanzen unmittelbar mit den an einer Laufkatze bzw. an dem Chassis der Vorrichtung angebrachten Feldbewirtschaftungseinrichtungen zu bearbeiten. Eine solche Bearbeitung kann darin bestehen, dass die Pflanze mittels einer Feldbewirtschaftungseinrichtung bzw. eines hierzu geeignet ausgebildeten Werkzeugs geeignet zerlegt bzw. zerteilt wird und/oder dass von der Pflanze nicht verzehrbare Biomasse abgetrennt wird. Der Begriff „nicht verzehrbare Biomasse“ ist im Sinne der vorliegenden Erfindung darin zu verstehen, dass es sich hierbei um absterbende Biomasse der zu bewirtschaftenden Pflanzen handelt, die durch Fäulnis, Insektenbefall, oder Nährstoff- und/oder Wassermangel entstehen kann.
• - Zur Qualitätssteigerung des Ernteguts ist gemäß der vorliegenden Erfindung vorgesehen, dass nicht verzehrbare Biomasse von den zu erntenden Pflanzen abgetrennt wird. Ein solches Abtrennen von nicht verzehrbarer Biomasse kann in einem Stadium der Pflanze (beispielsweise Broccoli) erfolgen, währenddessen sie noch in der landwirtschaftlichen Nutzfläche angebracht ist. Ergänzend oder alternativ kann dies auch im Zuge eines Prozessschritts erfolgen, wenn die Pflanze bei der Ernte aus dem Boden ausgebracht wird. Jedenfalls wird ein solches Zerlegen von Pflanzen und/oder ein Abtrennen von nicht verzehrbarer Biomasse durch einen vorzugsweise optischen Sensor unterstützt, mit dem wie vorstehend bereits erläutert eine Feldbewirtschaftungseinrichtung bzw. eine zugeordnete Laufkatze ausgestattet sein kann und damit dann die Pflanze und deren Position und/oder Größe erfasst werden.
• - Das vorstehend erläuterte Abtrennen von nicht verzehrbarer Biomasse ist erfindungsgemäß auch vor dem Hintergrund zu sehen, dass damit die verbleibenden gesunden Pflanzen oder Pflanzenteile geschützt und insoweit ein aktiver Pflanzenschutz erreicht wird. In gleicher Weise wird hiermit eine Wachstumsförderung durch Beeinflussung des Blattwerks und die Förderung neuer Triebe an den verbleibenden gesunden Pflanzen bzw. Pflanzenteilen erreicht.
• - Gemäß einer vorteilhaften Weiterbildung der Erfindung ist es mittels der Feldbewirtschaftungseinrichtungen auch möglich, den Anbaubereich einer landwirtschaftlichen Nutzfläche von Unkraut zu befreien. Hierbei kann vorgesehen sein, dass solches Unkraut mittels geeigneter Greifarme aus dem Boden ausgebracht und dann in angrenzend hierzu auf der Vorrichtung befindliche Erntekisten eingebracht wird. Im Anschluss hieran kann dann das ausgebrachte Unkraut mittels der Erntekisten mit der Vorrichtung abtransportiert werden, so dass es nicht länger auf der landwirtschaftlichen Nutzfläche wuchert oder lose herumliegt.
• - Durch den hohen Automatisierungsgrad bei der Bewirtschaftung einer landwirtschaftlichen Nutzfläche gemäß der vorliegenden Findung und der damit verbundenen Präzision durch Visual-Servoing ergibt sich auch der wesentliche Vorteil, dass chemisch-synthetisierte Pflanzenschutzmittel vollständig substituiert werden können. Hiermit in Verbindung steht auch der Vorteil, dass durch eine selektive Präzisionsbewässerung große Mengen Wasser eingespart werden können. Im Vergleich zum konventionellen Gemüseanbau beträgt diese Wassereinsparung ca. 80%.
• - An dem Chassis der Vorrichtung können verschiedene Arten von Werkzeugen bzw. Feldbewirtschaftungseinrichtungen anzubringen, mit denen pflanzenbauliche Prozessschritte durchführbar sind. Diese Feldbewirtschaftungseinrichtungen können wie folgt ausgebildet sein:
  • ◯ Als mechanische Hacke, um den Boden der landwirtschaftlichen Nutzfläche „zwischen den Reihen“ aufzulockern;
  • ◯ Als strombasiertes Jätetool - hierbei handelt es sich um eine Hochvolt-Applikation, mit der auf die Pflanzen gezielte Stromstöße aufgebracht werden,
  • ◯ Als Laserwerkzeug;
  • ◯ Bezüglich des strombasierten Jätetools und des Laserwerkzeugs versteht sich, dass diese im Nahpflanzenbereich für „in der Reihe“ angeordnet sein können. Hiermit ist ein wirkungsvolles Entfernen bzw. Vernichten von Unkraut möglich;
  • ◯ Die vorstehend genannten drei Beispiele für verschiedene Werkzeuge können an dem Chassis der Vorrichtung - in deren Fahrtrichtung gesehen - hintereinander angeordnet sein, und/oder auch - in vertikaler Richtung gesehen - übereinander, d.h. „gestackt“.
• - Weitere Vorteile der vorliegenden Erfindung, bei der wie erläutert eine Bewirtschaftung einer landwirtschaftlichen Nutzfläche und einer ausgewählten bzw. Zone hiervon vorzugsweise im Stillstand der Vorrichtung, d.h. quasi-stationär erfolgt, liegen darin,
  • ◯ dass in Folge einer nur lokalen Bodenbearbeitung ca. 60-70% der ansonsten zu erbringenden Pflugarbeitsleistung eingespart werden,
  • ◯ dass die Ernteerträge im Gemüsebau um ca. 40% gesteigert werden können, und/oder
  • ◯ dass im Vergleich zum herkömmlichen Ackeranbau ca. 80 % an Wasser und ca. 60% an Dünger eingespart werden.

Advantageous developments of a device and a method according to the present invention result in particular from the following features:

• - Uniform profile elements are provided for mounting the wheels of the device. These profile elements can consist of L-profiles.
• - An above-mentioned L-profile for storing a wheel is preferably made of aluminum. Alternatively, it is possible This L-profile can also be made from another metal, preferably steel, or from composite materials (e.g. "FRP", ie fiber-reinforced plastics, in particular with a proportion of carbon fibers).
• - The above-mentioned L-profiles, with which the wheels are mounted on the chassis, are part of the chassis when assembled and thus contribute significantly to its stability.
• - The individual profile elements for mounting the wheels can be designed in different ways, for example with / without suspension, with / without drive, with / without rotatable steering axle and with / without a separate steering module. This makes it possible to execute a respective profile element
  • ◯ with suspension,
  • ◯ with drive
  • ◯ with a rotating steering axle, and/or
  • ◯ with separate steering module.
• - The plug-in elements mentioned above, which are part of the chassis, can be attached directly to the L-profile elements in the longitudinal and transverse direction of the chassis. In this case, the L profile elements are then a supporting part of the chassis.
• At least one separate box element can be attached to the chassis or to an associated plug-in element. Such a box element is used to accommodate equipment elements that are important for operating the device according to the invention or for carrying out the method according to the invention. It is expediently possible to attach a plurality of such box elements to the chassis or plug-in elements thereof
• - If necessary, further or additional box elements can be attached to the chassis, for example to accommodate additional rechargeable batteries or batteries, range extenders or generators, control panels or devices, control and communication elements including associated antennas, additional sensors and/or or from additional applicators. In the same way, it is also possible to remove such box elements (eg for maintenance, cleaning or repair purposes) from the chassis.
• - According to an embodiment of the method according to the invention, it can be provided that the device serves as a modular automation system made of wheels. In the context of the present invention, this means that the device for carrying out plant cultivation process steps works in a stationary or quasi-stationary manner, i.e. works intermittently: Plant cultivation processes (e.g. tillage, sowing, plant protection, irrigation, harvesting) are preferably carried out when the device is stationary or carried out when they are at a standstill. The process forces required for this, which are to be applied in interaction with a plant, can be generated by a so-called “manipulator”, ie a field cultivation device or application, which can be attached to the chassis as already explained above.
• In terms of the above-mentioned intermittent implementation of crop production process steps, it should be understood that these are preferably performed when the device is in a quasi-stationary state or at a standstill in a specific zone of an agricultural area to be cultivated. This leads to the advantage that in said specific zone of the usable area, selected process steps can be carried out by the device (again: when it is stationary) with surgical precision selectively in relation to an individual plant, individual plant components or an individual planting position. Only after at least one selected process step or several such process steps have been carried out or completed in the predetermined zone of the useful area is the device then moved on its wheels to a preferably adjacent next predetermined zone of the agricultural area to be cultivated, in which then again selected agronomic process steps for at least one plant are carried out by the device.
• - In connection with moving the device on an agricultural area to be cultivated from a certain zone to a next zone, it is to be understood for the present invention that this is achieved by means of the wheels of the device, at least one of which is equipped with a suitable drive is. This means that the wheels of the device ensure that it can be moved or moved on an agricultural area from a specific zone, after desired plant cultivation process steps have been carried out and completed therein, into a zone preferably arranged adjacent thereto. Conversely, this also means that the drive power of the device is not for Implementation of agronomic process steps, such as plowing or the like, is used. In the case of the present invention, this is preferably achieved solely by means of a field cultivation device or application, for example in the form of a particularly multi-articulated robot arm.

• - Several “trolleys” with field management devices attached to them can also be provided on the device or on its chassis, which can be moved on associated guide rails along a longitudinal and/or transverse extension of the device. Such a plurality of "trolleys" can be movably mounted on the same side of the device and/or on different sides thereof, ie on opposite sides of the device (ie on the left side and on the right side, seen in the direction of travel of the device). In particular, in the event that several such trolleys with the field management devices attached to them are provided on opposite sides of the device, it is possible for the trolleys or field management devices to be moved on one side of the device independently of the trolleys or field management devices. which are provided on the respective other or opposite side of the device.
• - With regard to a field cultivation device or an application that can be attached to the chassis of the device, it should be understood that this can also be used to cultivate the inner area of the device, ie the zone of agricultural land on which the chassis of the Device with the wheels is or is set up.
• - A field cultivation device can be connected to the device or to a trolley by means of a robotic arm. Such a robot arm preferably has a plurality of degrees of freedom and/or a plurality of arm elements with a plurality of pivot joints with degrees of freedom resulting therefrom. This advantageously results in flexible mobility with a large radius for a field cultivation device that can be attached to the free end of the robot arm. This means that plants can also be cultivated or reached on the agricultural area that are not positioned immediately adjacent to or below the device, but rather are arranged to the side next to the current position of the device.
• - The above robot arm can be in the form of a SCARA robot. Such a SCARA robot has, in a known manner, four axes and four degrees of freedom, which advantageously results in a large operating radius for the field cultivation device, which can be mounted at the lower end of the z-axis.
• - Different types of field cultivation devices can be mounted on the chassis of the device at the same time. In addition or as an alternative, it is possible according to the invention for one field cultivation device to be exchanged for another if required. For this purpose, at least one tool changing system is provided on the device according to the invention, with which a plurality of different types of field cultivation devices are kept available on the device and, if necessary, one field cultivation device can be exchanged for another on at least one trolley. Such an exchange takes place, for example, in the event that another plant is to be cultivated and/or another cultivation process is to be carried out.
• - Various kinds or types of field cultivation equipment can be mounted on a trolley. For example, it is possible for different types of such field cultivation devices to be mounted on a trolley at the same time.
• - The tool changing system mentioned above forms a sort of "storage container" for various types of field management equipment. For a desired equipping of at least one trolley with a field cultivation device of a predetermined type, it is expedient that the tool changing system with the associated "storage container" is also designed to be movable along the longitudinal and/or transverse extent of the device, so that - if necessary - a Replacing a field management device on a selected trolley is possible more quickly and with greater flexibility.
• - The field cultivation devices mentioned above, which can be mounted on a trolley (or alternatively: directly on the chassis of the device), can be, for example, an irrigation applicator, a fertilizer applicator, a manipulator or applicator with at least one vertical rotating or manipulation axis and with other peripheral devices attached to it and/or an industrial robot (= manipulator) act with at least two degrees of freedom (DOF, also SCARA or delta robots). If such an applicator or manipulator is equipped with two or more vertical axes of rotation, this means, for example, that it has two or more articulated arms, each of which can be pivoted about a vertical axis of rotation. As an alternative to this, it is also possible for such articulated arms to also be pivotable about a horizontal axis.
• - By means of suitable tools or field cultivation devices, which are movably guided along the longitudinal and/or transverse extent of the device, a soil loosening can also only be achieved locally in the area of the plants that are introduced into the arable or agricultural area .
• - By means of the different types of field cultivation devices, which can be mounted on a trolley (or alternatively: directly on a part of the chassis), all processes of cultivation of an agricultural area are covered or possible, such as soil cultivation (e.g. ploughing, cultivating). ), sowing of plants, crop protection, irrigation, fertilization, harvesting and, if necessary, logistics for a “pick and place” approach.
• - It is expedient if each trolley has a tool changing system with which, as explained, different types of field management devices can be mounted on a trolley assigned to it.
• - With regard to a trolley which, as explained, can be movably attached thereto along the longitudinal extension of the device, it is to be understood that such a trolley together with the field cultivation equipment attached thereto can then be traversed along part of the device, during which time the device as explained in is stopped or positioned at a standstill in a certain zone of the agricultural area. As a result, plants can be reached at any desired, that is to say any point on the arable land by the field management device in order to carry out a desired management or harvesting process.
• At least one sensor or a corresponding sensor package can be provided on a field cultivation device and/or an associated trolley, which, as explained above, are movably attached along the device. This makes it possible to monitor the work area and to identify plants in a suitable manner that are processed with or harvested from the field management device.
• - The device can be equipped or equipped with a plurality of solar panels. In this case, the device has at least one battery store that is electrically connected to the solar panels. It is thus possible during the day to supply or charge this battery store with the electricity that is generated by the solar panels and thereby to cover the energy requirements of the device and the associated facilities. The battery store can thus also serve as a night store at night, in order to ensure continuous operation of the device according to the invention and the devices attached to it. In this way, a self-sufficient supply of energy to the device according to the invention and the devices provided thereon is ensured.
• - The aforesaid solar panels are preferably mounted in an upper portion of the device thereof. Accordingly, these solar panels simultaneously fulfill the function of weather protection for the device and the system components attached to it.
• A device with at least one nozzle can be attached to the device, by means of which a liquid can be introduced or injected at a specific point on the floor of the agricultural area. It is advantageous here if this device can be moved along a longitudinal and/or transverse extension of the device. After the nozzle device has reached a predetermined point relative to the chassis of the device, the at least one nozzle can be brought into the soil of the agricultural area in a targeted manner, for example by means of a height adjustment device. The liquid can be water to selectively water the plants planted in the soil and/or an aqueous solution containing fertilizer to selectively fertilize the plants.
• - If water is injected or sprayed into the soil with the above-mentioned nozzle device, for example adjacent or in the immediate vicinity of the plants to be watered, this corresponds to a minimum quantity irrigation according to the invention, with which a water saving of about 80% is achieved compared to conventional cultivation.
• - By means of the invention, using suitable tools or field cultivation equipment, which can be mounted on a trolley as explained, also an ecological plant protection without chemicals and a punctiform soil treatment or incorporation of harvest residues with maximum soil protection and energy efficiency.
• - According to the invention it can be provided that management of the agricultural area is carried out fully automatically, for example from sowing the plants to their harvest. A characteristic of such a management approach can be that different crops are sown or harvested on the same agricultural area. In the course of this it is then possible to collect different plants together in a harvest box when bringing in the harvest for the purpose of direct marketing to potential consumers. In this case, at least one harvest crate, or a plurality of such harvest crates, can preferably be used or positioned in the central area of the chassis. In this way, with the help of the present invention, at least one trading or processing stage is saved in the course of utilizing the harvested crop and attractive market prices are thereby achieved.
• - With the help of the present invention, spot farming (so-called "spot farming") can be implemented on an agricultural area, in which the management of an agricultural area concentrates only on specific planting points at which plants are planted in the soil. At these planting points, the plants are then sown, watered and possibly also fertilized, and finally the mature plants are harvested. Such a type of cultivation can replace monocultures and at the same time promote biodiversity or species diversity.
• - According to an advantageous development of the invention, crop cultivation and harvesting processes can be mapped as pick-and-place processes. This makes it possible to carry out these processes across crops, ie for different types and sizes of vegetable plants. For example, it is possible to mount a suitable field cultivation device on a trolley in the form of a gripping tool with which lettuce and cabbage heads, even kohlrabi, can be harvested in any size.
• - As just explained, it is possible by means of the present invention to manage an agricultural area with different types of plants or vegetables. Advised cultures can be the following: iceberg, lettuce and romaine lettuce, red and white cabbage (mini), broccoli, kohlrabi, celery, cucumber and zucchini, as well as pumpkin. In other words, it is possible and provided by means of the present invention that “mixed cultivation” of plants or vegetables is carried out on an agricultural area.
• - Harvesting process steps for the plants are preferably carried out automatically according to the invention and more preferably at night. This can be provided in particular for the case that the agricultural area explained above is planted with different types of plants or vegetables. It is possible to bring these different varieties or plants into the harvest boxes, which as explained can be inserted or positioned in a central area of the chassis, in the course of the harvest directly from the field. There is the possibility of stationary addition of potato, onion and carrot crates, thus completing the offer for the end customer.
• - By means of the present invention, it is possible to manage a large number of different vegetable crops either with integrated field management devices or planting tools or a plurality of such devices or tools, which can also be mounted on a trolley at the same time, in the sense of an individual micro -Spot farming. Advantageously, this can be done either at least partially automatically or preferably also fully automatically, expediently after specification of corresponding target data with regard to individual process steps and their chronological sequence with regard to the management of the agricultural area.
• - According to an advantageous development of the invention, the device can be equipped with a control or regulating device, by means of moving the chassis over the agricultural area, namely from a certain zone thereof to a next zone, and / or the movements or operation of Field management devices attached to it can be suitably controlled, possibly also in the manner of a control loop, ie regulated.
• - In an advantageous development of the invention, it is also possible by means of the above-mentioned control or regulating device to validate calculated mean cycle times, the estimated energy requirement and/or the agricultural-specific process reliability.
• - In an advantageous embodiment of the invention, the device with a transmit / Emp be equipped with a catching unit that is connected to the control system via signals. This transmitter/receiver unit makes it possible to receive information or data packets either from a remote location (for example in the form of a control station for monitoring and/or controlling the operation of the device according to the invention) and/or to send them to such a remote location . Such a transmitter/receiver unit is expediently fitted in an upper area of the chassis so that good transmission and reception power for the data to be transmitted from the remote location and/or to the remote location is achieved.
• - According to an advantageous development of the invention, it is possible to process the plants to be cultivated directly with the field cultivation devices attached to a trolley or to the chassis of the device. Such processing can consist in the plant being suitably dismantled or divided by means of a field cultivation device or a tool suitably designed for this purpose and/or in that non-edible biomass is separated from the plant. For the purposes of the present invention, the term “non-consumable biomass” is to be understood as meaning that this is dying biomass of the plants to be cultivated, which can be caused by rot, insect infestation, or a lack of nutrients and/or water.
• - To increase the quality of the harvested crop is provided according to the present invention that non-edible biomass is separated from the plants to be harvested. Such separation of non-edible biomass can occur at a stage of the plant (e.g., broccoli) while it is still attached to the farmland. In addition or as an alternative, this can also take place in the course of a process step when the plant is removed from the soil during harvesting. In any case, such a cutting up of plants and/or a separation of non-edible biomass is supported by a preferably optical sensor, with which a field cultivation device or an associated trolley can be equipped, as already explained above, and thus the plant and its position and/or size are recorded.
• According to the invention, the separation of non-consumable biomass explained above is also to be seen against the background that the remaining healthy plants or parts of plants are protected and in this respect active plant protection is achieved. In the same way, growth is promoted by influencing the foliage and promoting new shoots on the remaining healthy plants or parts of plants.
• - According to an advantageous development of the invention, it is also possible by means of the field management devices to free the cultivation area of an agricultural area from weeds. Provision can be made here for such weeds to be removed from the ground by means of suitable gripping arms and then placed in harvest boxes located adjacent thereto on the device. Following this, the weeds that have been spread can then be transported away by means of the harvest boxes with the device, so that they no longer proliferate on the agricultural area or lie around loosely.
• - Due to the high degree of automation in the management of agricultural land according to the present finding and the associated precision through visual servoing, there is also the essential advantage that chemically synthesized pesticides can be completely substituted. This also has the advantage that large amounts of water can be saved through selective precision irrigation. Compared to conventional vegetable cultivation, this water saving is around 80%.
• - Different types of tools or field cultivation devices can be attached to the chassis of the device, with which plant cultivation process steps can be carried out. These field management facilities can be designed as follows:
  • ◯ As a mechanical hoe to loosen the soil of agricultural land “between the rows”;
  • ◯ As a power-based weeding tool - this is a high-voltage application that is used to apply targeted power surges to the plants,
  • ◯ As a laser tool;
  • ◯ With regard to the power-based weeding tool and the laser tool, it is understood that these can be arranged in the near-plant area for "in the row". With this, an effective removal or destruction of weeds is possible;
  • ◯ The above three examples of different tools can be arranged one behind the other on the chassis of the device - seen in the direction of travel, and/or also - viewed in the vertical direction - one above the other, ie "stacked".
• - Further advantages of the present invention, in which, as explained, cultivation of an agricultural area and a selected area or zone thereof preferably takes place when the device is at a standstill, ie quasi-stationary, are that
  • ◯ that as a result of only local tillage approx. 60-70% of the plowing work that would otherwise have to be carried out is saved,
  • ◯ that the harvest yields in vegetable growing can be increased by approx. 40%, and/or
  • ◯ that compared to conventional arable farming, around 80% of water and around 60% of fertilizer are saved.

It goes without saying that the features mentioned above and those still to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

The invention is shown schematically below using preferred embodiments in the drawing and is described in detail with reference to the drawing.

• 1 eine Perspektivansicht einer erfindungsgemäßen Vorrichtung gemäß einer ersten Ausführungsform,
• 2(a) bis (c) Perspektivansichten von verschiedenen Formen von Steckeinrichtungen, die Teil eines Chassis der Vorrichtung von 1 sind;
• 3-7 verschiedene Varianten von Rädern und deren zugehörigen Profile dementen, mit denen diese Räder an dem Chassis der Vorrichtung von 1 angebracht sind,
• 8 eine Perspektivansicht eines Kastenelements, das an dem Chassis der Vorrichtung von 1 angebracht ist,
• 9 eine Perspektivansicht einer erfindungsgemäßen Vorrichtung gemäß einer zweiten Ausführungsform,
• 10(a) eine Seitenansicht der Vorrichtung von 9,
• 10(b) eine Stirnseitenansicht der Vorrichtung von 9,
• 11(a) eine Perspektivansicht eines Teils des Chassis der Vorrichtung von 9,
• 11(b) eine Seitenansicht des Teils des Chassis von 11(a),
• 12 eine Perspektivansicht einer erfindungsgemäßen Vorrichtung gemäß einer dritten Ausführungsform,
• 13(a) eine Draufsicht auf die Vorrichtung von 12,
• 13(b) eine Stirnseitenansicht der Vorrichtung von 12,
• 14 eine Perspektivansicht einer Feldbewirtschaftungseinrichtung, die Teil der erfindungsgemäßen Vorrichtung von 1, 9 bzw. 12 ist,
• 15, 16 jeweils Perspektivansichten der erfindungsgemäßen Vorrichtung von 9 bzw. von weiteren Details hiervon,
• 17, 18 jeweils eine Seiten- und eine Vorderansicht der erfindungsgemäßen Vorrichtung gemäß der Ausführungsform von 15,
• 19 eine schematisch vereinfachte Ansicht von verschiedenen Zonen einer landwirtschaftlichen Nutzfläche, die mit Hilfe der vorliegenden Erfindung bewirtschaftet werden kann,
• 20 eine Perspektivansicht einer erfindungsgemäßen Vorrichtung gemäß einer vierten Ausführungsform, und
• 21 eine Seitenansicht der Vorrichtung von 20.

Show it:

• 1 a perspective view of a device according to the invention according to a first embodiment,
• 2(a) to (c) perspective views of different forms of connectors forming part of a chassis of the device of FIG 1 are;
• 3-7 dementen different variants of wheels and their associated profiles, with which these wheels on the chassis of the device from 1 are attached
• 8th a perspective view of a box member attached to the chassis of the device of 1 is appropriate
• 9 a perspective view of a device according to the invention according to a second embodiment,
• 10(a) a side view of the device of FIG 9 ,
• 10(b) an end view of the device of FIG 9 ,
• 11(a) a perspective view of a part of the chassis of the device of FIG 9 ,
• 11(b) a side view of part of the chassis of FIG 11(a) ,
• 12 a perspective view of a device according to the invention according to a third embodiment,
• 13(a) a plan view of the device of FIG 12 ,
• 13(b) an end view of the device of FIG 12 ,
• 14 a perspective view of a field cultivation device, which is part of the device according to the invention of 1 , 9 or. 12 is,
• 15 , 16 each perspective views of the device according to the invention from 9 or further details thereof,
• 17 , 18 a side view and a front view of the device according to the invention according to the embodiment of FIG 15 ,
• 19 a schematically simplified view of different zones of an agricultural area that can be managed with the help of the present invention,
• 20 a perspective view of a device according to the invention according to a fourth embodiment, and
• 21 a side view of the device of FIG 20 .

Below are with reference to the 1 until 21 preferred embodiments for a device 10 according to the invention and a corresponding method are explained in order to use it to cover an agricultural area N (cf. 19 ) to manage. The same features in the drawing are each provided with the same reference symbols. At this point it is pointed out separately that the drawing is merely simplified and in particular is not shown to scale.

1 shows a perspective view of the device 10 according to the invention according to a first embodiment.

A total of four wheels 12 are attached to a chassis 11 of the device 10 . Profile elements 13 are provided for mounting the wheels 12 in each case. Correspondingly, these profile elements 13 each fulfill the function of a wheel suspension element, the structure of which is explained separately below.

For the device 10 with the wheels 12 mounted thereon, a direction of travel F is provided which is in the 1 is symbolized by a corresponding arrow.

The chassis 11 of the device 10 is modular. Specifically, the chassis 11 consists of a plurality of plug-in elements 14 which are connected or fastened to a respective profile element 13 in the corner regions of the chassis 11 . In the assembled state of the device 10, the individual profile elements 13, which are used to mount the respective wheels 12, and the majority of the plug-in elements 14, which are attached to the profile elements 13, are therefore components of the chassis 11.

• - als 1-Punkt-Traverse gemäß 2(a),
• - als 2-Punkt-Traverse gemäß 2(b),
• - als 4-Punkt-Traverse gemäß 2(c),

The plug-in elements 14, which as explained above are part of the chassis 11 of the device 10, are known, for example, from event technology and can be designed as a 1-point truss or as a multi-point truss. The representation of 2 shows various embodiments for a plug-in element 14, namely in detail:

• - as a 1-point traverse according to 2(a) ,
• - as a 2-point traverse in accordance with 2 B) ,
• - as a 4-point traverse in accordance with 2(c) ,

In addition, it is pointed out that a plug-in element 14, with which a chassis 11 of the device 10 is constructed, can also be designed as a 3-point traverse. Such a 3-point truss is also known from event technology and therefore in the 2 not shown separately.

According to the representation of 2 the individual plug-in elements 14 are each tubular. Deviating from this, it is also possible for the purposes of the present invention for the plug-in elements to have a different shape in cross section, which in any case ensures sufficiently high stability, for example against bending, buckling or torsion.

3 shows an embodiment of a profile element 13, which is used to mount a wheel 12. show in detail 3(a) a perspective view and 3(b) a front view of this profile element 13 with a wheel 12 mounted on it.

The profile element 13 is designed in the form of an L-shaped base body 15 . Correspondingly, this base body 15 comprises a horizontal leg 16 and a vertical leg 17 (cf. 3(a) ).

Two guide devices 22 are attached to the base body 15, between which a wheel 12 is accommodated in an articulated manner.

In the embodiment according to 3 the two guide devices 22 are each rigidly attached to the base body 15 . Accordingly, this results in rigid guidance for the wheel 12 from its bearing axis relative to the base body 15.

On the side surfaces of the L-shaped base body 15, two attachment points 20 are provided on its two legs 16, 17, to which a plug-in element 14 can be attached. In the same way, on an end face 19 of the vertical leg 17 (in 3 not recognizable, but see eg 4(a) ) Several such attachment points 20 are provided, to which plug-in elements 14 can be attached or assembled.

Optionally, the wheel 12 in a profile element 13 according to the embodiment of 3 be equipped with a wheel hub motor, which is shown in the illustration by 3(a) is labeled “M” for simplification.

In the embodiment according to 1 the chassis 11 of the device 10 is designed in such a way that two profile elements 13, which are provided in pairs at a respective end of the device, can be connected in the transverse direction of the device (i.e. transversely to the direction of travel F) by plug-in elements 14 in the form of 1-point traverses (cf . 2(a) ) are connected. This means that these 1-point traverses 14 are each connected or fastened to the fastening points 20 which, as explained, are provided on the side surfaces of the L-shaped base body 15 .

A length of the 1-point traverses 14, with which the profile elements 13 are connected at a respective end of the device 10 in the transverse direction, for the device according to FIG 1 in the direction of its width B (cf. 1 ) Defines a track width S ₁ by which the wheels 12 are spaced transversely to the direction of travel F from one another.

As an alternative to displaying 1 it would also be possible to connect the profile elements 13 on the two sides of the device 10 in its transverse direction with respective 2-point traverses of the same length instead of with 1-point traverses.

In combination with its direction of travel F, the device 10 can be assigned a front end V and a rear end H. This is in the 1 symbolized by corresponding letters.

The perspective view according to 1 also makes it clear that the profile elements 13, which are arranged on both sides of the front end V and the rear end H of the device 10, are connected in the longitudinal direction of the device 10 by plug-in elements 14 in the form of 2-point traverses (cf . 2 B) ) are connected. This 2-point trusses 14 are each at the Befesti tion points 20 connected or mounted, which are provided as explained on the end face 19 of the vertical leg 17 of a respective profile element 13.

In the embodiment of 1 a wheelbase R of the device 10 results - seen in the direction of travel F of the device 10 - by the dimensions or length of the plug-in elements 14, which are used in the longitudinal direction of the device for connecting the profile elements 13 at the respective ends V, H of the device 10 are. According to the representation of 1 two 2-point traverses 14 are used here on each side of the device, which are connected at separation points T (cf. 1 , 10(a) ) are attached to one another and thus one behind the other and thereby connect two profile elements 13 at the two ends V, H of the device 10 to one another.

A side view of the device 10 according to FIG 1 is also in the 10(a) shown. A length of the device 10 which—seen in the direction of travel F—results between the profile elements 13 at the front end V and at the rear end H is denoted by “L” here. In the same way as already explained in connection with the wheelbase R, this length L depends on the respective length or number of plug-in elements 14 with which the profile elements 13 at the front end V and rear end H of the device 10 are connected to one another by these plug-in elements 14 .

The mountability of the plug-in elements 14, namely both at the attachment points 20 of a respective profile element 13 and, if necessary, at one another, can be realized in a known manner by using preferably conical bolts and cotter pins. In addition or as an alternative to the assembly of the plug-in elements, it is also possible for screw connections, for example in the form of union nuts, to be used at the ends of the associated tubular elements or the like. Compared to the use of bolts and cotter pins, such screw connections have the advantage that they have greater operational safety against accidental loosening in the event of vibrations, shocks or the like, which usually occur when using the device according to the invention on an agricultural area.

In connection with the aforementioned ability to assemble the plug-in elements 14, it should be pointed out at this point that the plug-in elements 14 mentioned can be firmly connected to the attachment points 20 on the profile elements 13 in order to assemble the chassis 11 of the device 10. Mutatis mutandis, this also applies to fastening a plurality of plug-in elements 14 below or with one another. If necessary, it is also possible to detach these plug-in elements 14 from the fastening points 20 or from one another again if a conversion of the chassis 11 is desired in order to achieve changed dimensions for the device 10 .

In the embodiment of 1 two box elements 24 are attached to each longitudinal side of the device 10 .

8th shows a perspective view of such a box element 24. In this regard, it can be provided that such a box element 24 is connected to a plug-in element 14 in the form of a 2-point traverse via suitable fastening points.

As already explained above, come in the embodiment of 1 , Seen in the longitudinal direction of the device 10, two 2-point traverses are used per side, with which the profile elements 13 are connected to each other at the two ends of the device 10. According to the representation of 1 a box element 24 is fastened to each of these 2-point trusses 14, resulting in a total of four such box elements 24.

• - eine Batterie, oder eine Mehrzahl von solchen Batterien,
• - Sensorik, beispielsweise in Form von Kameras,
• - Elektrische und/oder elektronische Komponenten, beispielsweise in Form einer Steuer- oder Regeleinrichtung 42,
• - einen Applikator, mit dem ein pflanzenbaulicher Prozessschritt durchführbar ist, und/oder
• - GPS-Sensoren.

For the present invention, a box member 24 serves the purpose of accommodating or attaching therein equipment items that are important to an operation of the device 10 . These items of equipment can be

• - a battery, or a plurality of such batteries,
• - sensors, for example in the form of cameras,
• - Electrical and/or electronic components, for example in the form of a control or regulating device 42,
• - an applicator with which a plant cultivation process step can be carried out, and/or
• - GPS sensors.

In the representation of 8th is symbolized by corresponding reference numbers that a transceiver unit 40, a weather station 41, a control or regulating device 42 and/or a battery 43 can be accommodated in a box element 24.

With regard to the feature of a battery 43, it may be pointed out that, for the present invention, this also means a rechargeable battery that can be recharged in a known manner.

The attachment of a box element 24 to a plug-in element 14 in the form of a 2-point traverse takes place with regard to an assembled state of the chassis 11 preferably on the outside thereof. This enables good accessibility for the box elements 24, for example for maintenance or repair purposes.

Below are with reference to the 4-7 further embodiments for a profile element 13, which is used to mount a wheel 12, are explained. In all of these embodiments, an L-shaped base body 15 as in 3 shown for use in which, as explained, a plurality of attachment points 20 are provided for attachment of tabs 14 thereto.

The 4 shows an embodiment of a profile element 13 in which a wheel 12 mounted thereon can be pivoted about a vertical axis of rotation D. In this regard show 4(a) a side view, 4(b) a perspective view, and 4(c) a front view of this embodiment.

In the embodiment according to 4 It is provided that the two guide devices 22, between which a wheel 12 is accommodated in an articulated manner, are attached to the base body 15 about the axis of rotation D. It is thus possible for the wheel 12 to be pivoted with its wheel axle relative to the base body 15 in order to be able to achieve a change in direction for the device 10 when it is moved over a subsurface or floor.

5 shows a side view of a further embodiment for a profile element 13. In this case, guide devices 22, between which a wheel 12 is rotatably mounted, are mounted with a spring/damper unit 26 and are each pivotable about a horizontal axis. As a result, a suspension is realized for the wheel 12 .

The embodiment of 6 corresponds to a modification of the embodiment of FIG 4 , with the addition that in this case on the top 18 of the horizontal leg 16 of the base body 15, a steering module 28 is attached. With this steering module, a torque can be generated on the axis of rotation D of the two guide devices 22, so that a wheel 12 can be steered in a targeted manner.

The embodiment of 7 corresponds to a combination of the two embodiments of 5 and 6 . This means that a steerable wheel 12 is also equipped with a suspension.

In the embodiment of 1 can be provided that the two profile elements 13 at the front end V of the device according to the embodiment of 4 are selected and thus each have steerable wheels 12. At the rear end H of the device, profile elements 13 according to the embodiment of FIG 3 to be appropriate.

With respect to the in-wheel motor M used for the embodiment of FIG 3 is shown, it is understood that the other embodiments of a profile element 13 according to the 4-7 can be equipped with such a wheel hub motor M.

9-11 show a device 10 according to the invention according to a second embodiment. show in detail 9 a perspective view, 10 a side view, and 11 a front view of this embodiment.

In contrast to the first embodiment according to 1 is according to the second embodiment 9-11 the chassis 11 is formed to have a larger track width S ₂ . Thus, the relation: S ₂ > S ₁ holds. This is achieved in the second embodiment in that the profile elements 13, which are provided at the front end V and at the rear end H on both sides of the device 10, transversely to the direction of travel F by a plurality of 2-point trusses with each other are connected, these 2-point trusses at separation points T each with or to each other, ie are attached one behind the other. This results - in the transverse direction of the device 10 or seen transversely to the direction of travel F - a greater distance between the profile elements 13 than in the embodiment of FIG 1 , with a correspondingly larger track width S ₂ .

Otherwise, in the second embodiment, the structure of the chassis 11 and the design and attachment of the profile elements 13 in connection with the wheels 12 correspond to the first embodiment of FIG 1 , so that, in order to avoid repetition, reference may be made to the explanations for the first embodiment.

Regarding the second embodiment according to 9-11 it is additionally pointed out that in this case further plug-in elements 14 can be provided in the inner area of the chassis 11, preferably in the form of 2-point traverses, which can extend transversely to the direction of travel F within the chassis 11. This enables at least one box element 24 to be inserted in the inner region of the chassis 11 or on the plug-in elements 14 fitted therein, as shown in FIG 9 is illustrated.

11 once again illustrates the further plug-in elements 14 which, as just explained, can be provided in the inner area of the chassis 11 . Further box elements 24 and/or field cultivation devices 30 can then be attached to these plug-in elements 14, preferably in the form of 2-point traverses, which can extend in the transverse direction of the device 10.

At the in 11 The field management devices 30 shown are, for example, a nozzle device with which liquid can be dispensed in a targeted downward direction, ie onto the agricultural area N.

The 12 and 13 show a device 10 according to the invention according to a third embodiment. show in detail 12 a perspective view, 13(a) a top view, and 13(b) a front view of this third embodiment.

In contrast to the first and second embodiment, the chassis 11 in the third embodiment is designed in such a way that it has an even greater track width S ₃ . Thus, the relation: S ₃ > S ₂ > S ₁ holds. This is achieved in that, in the third embodiment, the profile elements 13, which are provided at the front end V and at the rear end H on both sides of the device 10, transversely to the direction of travel F by an even greater number of 2-point Traverses are connected to each other, with these 2-point traverses at separation points T (cf. 13(b) ) each with or to each other, ie are attached one behind the other. This results in a larger distance between the profile elements 13 than in the first and second embodiment, with a correspondingly larger track width S ₃ -- seen in the transverse direction of the device 10 or transversely to the direction of travel F.

Regarding a length L of the device 10 as shown in 10(a) is shown, it should be noted that this length L is chosen to be the same for all three of the above-mentioned embodiments of the device 10, namely through the use of two 2-point traverses which are attached to one another or one behind the other and as a result the profile elements 13 on connect the front end V and the rear end H to each other. In this regard, it is pointed out separately that such a length L of the device 10, in view of the modular design of the chassis 11 mentioned, can be increased in the manner of a building block system, for example by - viewed in the longitudinal direction of the device - three (or possibly also more than three) 2-point trusses are used to connect the respective profile elements 13 at the front end V and at the rear end H of the device. This also applies to the reverse case, if the length L of the device 10 is shorter than in FIG 1 , 9 or. 12 shown is to be selected: Accordingly, only a single plug-in element 14 can then be used, preferably in the form of a 2-point traverse, to connect the profile elements 13 to one another in the longitudinal direction of the device 10 .

In all three of the aforementioned embodiments of the device 10, a first sensor 36 (cf. 1 , 9 , 12 ) may be provided, which is attached, for example, to a plug-in element 14 running between the lateral profile elements 13 . This first sensor 36 can be designed as an optical camera and is used in any case for the purpose of detecting an area of the device 10 adjacent to the front end V or in its direction of travel F.

The device 10 according to the invention comprises at least one field cultivation device 30, which is shown in the perspective view in FIG 14 is shown. This applies to all three of the above-mentioned embodiments of the device 10.

A field cultivation device 30 can be attached to the device 10 either directly on one of the plug-in elements 14, or alternatively on a trolley 32 (cf. 14 ) movably guided along a guide rail (not shown). Such a guide rail can be suitably attached to the chassis 11 in such a way that it runs in the longitudinal direction (ie parallel to the direction of travel F) or in the transverse direction (ie transverse to the direction of travel F) of the device 10 .

According to the representation of 14 a field cultivation device 30 is connected to an associated trolley 32 by means of a preferably articulated robot arm 34 . Such a robot arm 34 has several degrees of freedom and preferably several articulated arm elements with which a flexible movement of the field cultivation device 30, which is attached to a free end of the robot arm 34, is possible in space. This also includes a vertical adjustability of the robot arm 34, so that the working height of the field cultivation device 30 or its distance from the ground can be changed as required. This vertical adjustability of the robot arm 34 is in the 14 symbolized by a corresponding double arrow.

The device 10 includes a tool changing system W, with which it is possible at one Robot arm 23 to mount different field management devices, depending on the purpose or type of processing to be carried out on the agricultural area N.

In the 14 shows a simple form for the tool changing system W mentioned above, which here consists of a holding plate 33 attached to a trolley 32, on which at least one further field cultivation device 31a, 32b can be held. If it is desired to replace field cultivation device 30, which is already mounted on the free end of robot arm 34, with field cultivation device 31a, for example, field cultivation device 30 can be “set down” on retaining plate 33 at a free position therefrom, so that subsequently on which the other field cultivation device 31a is mounted on the free end of the robot arm 34. This other field management device 31a is then used to carry out another plant cultivation process step.

The exchange of a field cultivation device 30, 31a, 31b at a free end of the robot arm 34, as explained above, preferably takes place fully automatically. In any case, such an exchange of one field cultivation device for another usually serves to prepare for a change in a plant cultivation process step with which plants P cultivated on the usable area N are cultivated.

If one or more field cultivation devices are set down or arranged on the holding plate 33, the holding plate 33 fulfills the function of a "parking area".

A second sensor 37 (cf. 14 ) be provided. This second sensor 37 serves to detect an area or space of the agricultural area immediately adjacent to or below this field cultivation device 30 in order to obtain information regarding the plants that are cultivated on the agricultural area N. In this respect, the second sensor 37 is also referred to as a “local sensor” within the meaning of the present invention.

The area that is detected by the second sensor 37 is shown in FIG 14 attracted to "38" and to be understood according to the invention as "monitoring space". This means that the sensor 37 can be used not only to detect a flat surface (for example the floor of the agricultural area N), but also the space above it. Correspondingly, the position of the field cultivation device 30, which is mounted on a free end of the robot arm 34, and of plants P and, for example, their growth and/or shape can also be recorded.

The device 10 according to the invention also includes a transmitter/receiver unit 40 and a weather station 41. These components can be accommodated in one of the box elements 24, which is shown in FIG 1 is symbolized by corresponding numbers.

Furthermore, the device 10 according to the invention also includes a control or regulating device 42, which can also be accommodated in one of the box elements 24 (cf. 1 , 8th ). This control or regulating device 42 is connected to the sensors 36, 37 and also to the transmitter/receiver unit 40 in terms of signals.

The provision or accommodation of transmitter/receiver unit 40, weather station 41 and control or regulating device 42 in a box element 24 applies in the same way to all three of the above-mentioned embodiments of device 10. In this regard, the explanations should be referred to again 8th to get expelled.

In the 15-18 is according to the second embodiment 8th shown again in further illustrations when a field cultivation device 30 is attached to the chassis 11 of the device 10 by means of a robot arm 34 and an associated trolley 32 .

In addition or as an alternative to the representations according to 15-18 it should be pointed out at this point that a field cultivation device 30, 31a, 31b can also be attached to an outside of the chassis 11. Several field cultivation devices 30, 31a, 31b can also be attached to several sides of the chassis 11, in particular using trolleys 32, for example on opposite sides of the chassis 11.

Furthermore, it is pointed out that the attachment of at least one field cultivation device 30, 31a, 31b, as in the 15-18 is shown, for the device 10 according to the invention also for the first embodiment according to 1 and according to its third embodiment 12 is possible.

The representations according to 15-18 clarify that the device 10 is also equipped with a conveyor system 51 which is attached to the chassis 11 or a part thereof. In the embodiment shown here, this conveyor system 51 attached to an upper side of two profile elements 13 and extends transversely to the direction of travel of the device 10.

The conveyor system 51 can be equipped with a circulating conveyor belt 52 and is used to move at least one harvest crate 50 or a plurality of such harvest crates 50 in the longitudinal or transverse direction of the chassis 11 and thus to a predetermined position, in particular adjacent to a Field management device 30, 31a, 31b can be brought. In this context, it is understood that a plurality of such harvest boxes 50 can be placed on the conveyor belt 51 from above.

The conveyor belt 52 is expediently made of a rubberized material or has such a rubberized material on its surface. This has the advantage that it prevents a harvest box 50 from slipping on the conveyor belt 52 .

The directions of movement that can be implemented with the conveyor system 51 and its conveyor belt for the harvest crates 50 are shown in FIGS 15 , 16 and 18 each symbolized by a double arrow.

As an alternative to the conveyor belt 52 shown, the conveyor system 51 can also have a roller table (not shown) with a plurality of support rollers, each with a horizontal axis of rotation. In this regard, one or more harvest boxes 50 can then be placed on the roller table from above, in the same way as with the conveyor belt 52.

If the conveyor system 51 has a roller table, it is expedient here for at least one support roller of the roller table to be motor-driven, so that a movement in the aforementioned directions is achieved for a harvest box 50 placed on the roller table.

For the purposes of the present invention, the feature of a “harvest box” is to be understood as meaning any box-shaped container that is suitable for receiving harvested crops or fruit and preferably has handles or the like on two opposite sides thereof with which such a harvest box can be gripped . Such a harvest box can expediently be made of plastic or wood, or alternatively also of (light) metal, e.g. aluminium. In any case, the material from which such a harvest crate consists or is made is selected to be sufficiently stable to ensure that such a crate can be lifted by hand when it is filled with harvested crops and that a plurality of adjacent harvest crates can come into contact with one another Roller table or the like is possible without buckling or even cracking in the side panels of the harvest crates.

With the conveyor system 51 explained above, regardless of whether with a conveyor belt 52 or with a roller table (not shown), it is thus achieved that at least one harvest crate 50, preferably a plurality of such harvest crates 50, is always moved to a predetermined position of the chassis 11 can, in which then an interaction with a robot arm 32 attached to a field processing device 30, 31a, 31b is possible. Such an interaction is to be understood in the sense of the present invention that a field management device 30, 31a, 31b either selectively removes things from a harvest box 50, for example seeds, seedlings, young plants or the like, or that a field management device 30, 31a, 31b in the course of a harvesting process step harvested material is brought into a harvesting box 50 in a targeted manner. As already explained elsewhere above, this harvested crop can also come from different plants or varieties, specifically in the event that “mixed cultivation” of plants or vegetables is carried out on the agricultural area N. It is thus possible with the present invention to bring harvested crops from different plants P into a common harvest box 50 provided for this purpose.

If the harvest crates 50, which are placed on the conveyor belt 51 or a roller table of the conveyor system 51, are completely filled with harvested crop during the course of the harvest, it can be provided for the device 10 that this filling level is detected by suitable sensors and then the device 10 drives independently to a (not shown) magazine or the like, to which the filled harvest boxes 50 are handed over for further processing or logistics. Subsequent to this, it is then possible for empty harvest crates 50 to be put back onto the conveyor system 51 from said magazine, so that further harvesting process steps can be carried out by the device 10 .

The aspects explained above with regard to a conveyor system 51 and its mode of operation apply in the same way to all of the three above-mentioned embodiments of the device 10 according to the invention 1 , 9 or. 12 .

Below are with reference to the 19 Aspects explained for implementation of a method according to the invention are of importance.

19 shows a schematically simplified plan view of an agricultural area N.

To carry out a method according to the invention, the usable area N is 19 divided into a plurality of distinct zones. At least one plant P is cultivated in each of these zones, possibly also a plurality of such plants. In 19 nine such zones are symbolized by way of example, each of which is numbered with the Roman numerals I to IX. These zones can cover an area of a few square meters, eg 2x2 m = 4 m ² .

Deviating from the representation according to 19 , in which the respective zones have a square area, it is also possible for these zones to be rectangular, for example 3 meters long and 1 meter wide, resulting in a floor area of 3 m ² each.

The management of the usable area N according to 19 can be done in such a way that for this purpose the device 10 from a starting point in 19 symbolized by "A", enters a specific zone I of the usable area N. For this purpose, at least one wheel 12 of the device 10 is equipped with a wheel hub motor M (cf. 3 ).

After the device 10 enters the specified zone I, it stops there. In other words, the device 10 is brought to a standstill with its wheels 12 after it has reached the determined zone I. Then, in this specific zone I of the usable area N, the device 10 carries out specific agronomic process steps for at least one plant P that is planted in the zone I. This means that the plant cultivation process steps in the specific zone I are carried out by the device 10 and the tools or field management devices attached thereto in a stationary state, i.e. when the chassis 11 is stationary.

After the crop production process steps in the specific zone I have been completed or ended, the device 10 then moves on its wheels 12 to a next zone of the usable area N, in the example shown 19 into the specific zone II. After reaching this specific zone II, the above-mentioned process is then repeated, i.e.: the device 10 is brought to a standstill in this zone II and then carries out the required or desired plant cultivation process steps for at least a plant P grown or to be grown in Zone II.

In the sequence explained above, the device 10, with reference to the example of FIG 19 , all nine specific zones I to IX, are processed one after the other, ie intermittently.

Using the example of 19 it is illustrated that the specific zones of the agricultural area N can be arranged in different rows. For example, zones I-III, IV-VI, and VII-IX are each arranged in different rows. In this regard, it should be noted that when the device 10 has reached the defined zone III and therefore the end of the first row, thanks to the steerable wheels 12 it can turn automatically and enter the central row adjacent thereto, there first in the defined zone IV, then then the aforementioned workflow is run through again. Mutatis mutandis, the device can then automatically turn from the specific zone VI, i.e. when the end of the middle row is reached, and move into the lower row, i.e. there into the specific zone VII, etc.

Regarding the individual rows used for the usable area N according to the example of 19 are shown, it is to be understood that these rows may of course have more than just 3 distinct zones. This is symbolized by broken lines in the individual rows shown.

By means of the control or regulating device 42 it is possible to control a travel movement of the device 10 and/or the operations or movements of individual field management devices 30, 31a, 31b. This can also be done in the manner of a control loop, i.e. in a controlled manner. The signals of a GPS module can also be taken into account here, with which the device 10 according to the invention can be equipped.

Deviating from the movement sequence explained above, with which the device 10 moves into the specific zones I-IX of the usable area 10 and then carries out plant cultivation process steps therein, it can also be provided according to the invention that the device 10 switches between two rows of the usable area N before the end of each row is reached. This is for the example of 19 symbolized by the dotted arrow leading from Zone II to Zone V. This means that the device 10, after it has completed the necessary crop production process steps in zone II, moves directly into zone V, in order to carry out further crop production process steps there or in it for at least one plant P. In this case, it is advantageous if all four wheels 12 of the device in profile elements 13 according to the embodiment of 6 (or alternatively: according to 7 ) are guided in bearings, because: In this case, the wheels 12 are each mounted on the chassis 11 so that they can pivot about the vertical axis of rotation D, with a steering module 28 assigned to the respective profile elements 13 applying a desired turning or steering torque to the Wheels 12 can be exercised. This achieves great maneuverability for the device 10 and, for example, enables turning on the spot.

In connection with a management of specific zones of the agricultural area N by the device 10 according to the invention, it is pointed out separately at this point that the dimensions of the chassis 11 of the device 10 (in a horizontal plane) essentially correspond to the area of the respective specific zones of the usable area N are chosen to match. In this regard, it is possible to specifically adapt or change the dimensions of the chassis 11 of the device 10 depending on an agricultural area N to be cultivated and the plants P grown thereon. This can be achieved by the above-described mountability of the plug-in elements 14 on the individual profile elements 13 and/or also on or with one another, as a result of which changed track widths S and/or changed lengths or wheelbases R can then be realized for the device 10 .

Regarding the flow with which for the example of 19 an agricultural area N is cultivated according to a method according to the invention, it goes without saying that a device 10 is expediently used for this purpose, which is described above in FIGS 1-18 shown and explained. It is thus possible, depending on certain types of plants and their size and cultivation on a usable area N, to adjust the dimensions of the chassis 11 of the device 10 in a targeted manner thanks to the modular design. In addition, it is also possible within the meaning of the present invention and the associated method, the management of a usable area N according to the example of 19 with another suitable device, the chassis of which is not of modular design, but whose dimensions are adapted from the outset to a specific type of plant and its cultivation on a usable area N.

The above-explained sequence of a method according to the invention, according to which the management of an agricultural area N is carried out intermittently, ie successively in certain zones of this area N, is to be understood in the context of the present invention against the background that the process forces generated here are essentially vertical from above be discharged into the floor of the usable area N. This is best possible if a device used for this purpose, preferably the device 10 according to the invention 1-14 , is at a standstill when carrying out these plant cultivation process steps. For example, carrots are pulled upwards in a vertical direction during harvest. In any case, it is important for the present invention that the process forces, which are generated for carrying out plant cultivation process steps, are decoupled from the movement or traction of a device used for this purpose. This is the reason for said intermittent management of the useful area N according to the present invention.

In the various embodiments of a profile or wheel suspension element 13 according to the 3-7 it is provided that the attachment points 20, to which plug-in elements 14 can be attached or mounted, are formed on both sides of the legs 16, 17. This means that in the mounted state of a device 10 according to the first to third embodiment, there are “free” attachment points 20 on the sides of the legs that point away from the center of the chassis 11 and thus in each case outwards, which can be seen in the perspective views the 1 , 9 and 12 is identified in each case. Accordingly, it is possible to mount further booms or extensions, for example in the form of trusses, on an outside of the chassis 11, ie laterally on these profile elements 13, and to attach further field management devices to them, for example in the form of spray nozzles. Such additional arms can expediently be designed to be pivotable in the direction of the center of the chassis 11 in order, for example, to simplify turning of the device 10 between two rows of a usable area N.

Using the transceiver unit 40, information can be transmitted or received to the device 10 according to the invention from a remote control station (not shown), this information being data for operating the device 10 according to the invention or for carrying out a method according to the present invention contain. For example, according to the invention, this information can contain target data for operating the device 10 and the devices attached to it, in which case the individual devices and/or a movement of the device 10 from a specific zone of the usable area N to another specific zone can then also be controlled in a controlled manner .

In the same way, the transceiver unit 40 can be used to transmit information obtained from the sensors 36, 37 with regard to the monitored areas detected thereby to a remote control center for further evaluation of the operation of the device 10 according to the invention.

The nature of the profiled elements 13 explained above in relation to the attachment points 20 provided on either side of the associated legs 16, 17 makes it possible, starting from the state of a device 10 as shown in FIGS 1 , 9 and 12 is shown, in the direction of the width B of the device, in each case at the front end V and at the rear end H of the device 10, further profile elements 10 can be offered by using plug-in elements 14 at the explained "free" attachment points 20 of the already existing profile elements 13 . When using, for example, a further pair of profile elements 13, ie a further profile element 13 at the front end V and at the rear end H, the device would have a total of six wheels 12 with a correspondingly increased total track width.

On the basis of the principle just explained, according to which the device 10 can also have more than two profile or wheel suspension elements in width at the front end V and the rear end H, it is thus possible by using a large number of such profile elements 13 to create a mobile field robot with a theoretically arbitrarily large width. In this case, turning the device 10 in the form of cornering would either only be possible with restrictions or no longer possible. Instead, it could be provided for such a modification of the device 10 according to the invention that it moves translationally, i.e. forwards and backwards over an agricultural area N.

In connection with the just mentioned modification of a device 10 according to the invention, according to which three or possibly also (significantly) more than three profile elements 13 are provided in the direction of its width at the front end V and at the rear end H, it is also possible that then such a device, seen over its width B, within the chassis 11 with the conveyor system 51 (cf. 15-18 ) is equipped, on which at least one harvest box 50 can be moved. Such a conveyor system 51 can have, for example, a circulating conveyor belt 52, on which at least one harvest crate 50, or a large number of such harvest crates 50, can be placed. In this regard, to avoid repetition, refer to the explanations for the 15-18 to get expelled.

A connection of profile elements 13, both between the front end V and the rear end H of the device 10, ie in the longitudinal direction, can deviate from the embodiments shown by plug-in elements 14 in the form of 3-point trusses or 4-point trusses (see. 2(c) can be done. Mutatis mutandis, this also applies to a connection of profile elements 13 on the two sides of the device 10, ie seen across its width.

20 and 21 show an inventive device 10 'according to a fourth embodiment. show in detail 20 a perspective view of this embodiment and 21 part of it in a side view.

The device 10′ according to the fourth embodiment comprises a chassis 11, which has a modular structure in the same way as in the embodiments explained above and for this purpose comprises a plurality of elongate plug-in elements 14 which can be connected to one another in particular without using special tools. In this regard, to avoid repetition, refer to the explanations 2 to get expelled.

In the fourth embodiment of the device 10', as shown, four plug-in elements 14 are mounted next to one another, ie in a row. In the central area of the chassis 11 formed thereby, ie between the second and third plug-in element 14, the device 10' comprises a coupling device 53 (cf. 21 ), which is adapted to a three-point hitch, as known from tractors or comparable machines. Correspondingly, with the aid of this coupling device 53 it is possible to mount the device 10' on a three-point attachment, for example of a tractor (not shown).

Furthermore, in the fourth embodiment of the device 10', two trolleys 32 are provided in a central area of the chassis in connection with associated robot arms 34 and field management devices 30 attached thereto.

A conveyor system 51 with a circulating conveyor belt 52 is arranged in an upper area of the device 10 ′ according to the fourth embodiment, namely on an upper side of the chassis 11 and the associated plug-in elements 14 . Accordingly, when placed on the conveyor belt 52, harvest boxes 50 can be moved in the two directions shown in 20 are symbolized by a double arrow 54 .

With regard to the functioning of a field cultivation device 30, 31a, 31b and the conveyor system 51, it is emphasized for the fourth embodiment of the device 10' according to the invention that it does not differ from other embodiments and in this respect reference may be made to the explanations for the other three embodiments of the device 10 .

Reference List

10

contraption

11

chassis

12

Wheels

13

Profile element or wheel suspension element

14

plug-in element

15

L-shaped body

16

horizontal leg (of the base body 15)

17

vertical leg (of the body 15)

18

Top (of horizontal leg 16)

19

end face (of the vertical leg 17)

20

attachment point

22

guide device

24

box element

26

spring/damper unit

28

steering module

30

field management facility

31a, 31b

other field management facilities

32

trolley

33

Holding plate or "parking area"

34

robotic arm

36

first sensor

37

second sensor

38

Monitoring space (of the second sensor 37)

40

transmitter/receiver unit

41

weather station

42

Control or regulating device

43

battery or rechargeable battery

50

harvest box(es)

51

conveyor system

52

(circulating) conveyor belt

53

coupling device

54

Direction of Movement (for a Harvest Crate 50)

B

Width (of the device 10, transverse to the direction of travel F)

D

axis of rotation

f

Direction of travel (of the device 10)

H

Back end (of device 10)

L

Length (of the device 10, seen between two profile elements 13 and in the direction of travel)

M

engine

N

agricultural land

P

Plant)

R

wheelbase

S1, S2, S3

track width

V

Front end (of device 10)

W

tool changing system

Claims (33)

Device (10) for cultivating an agricultural area (N), comprising a chassis (11) with a plurality of wheels (12) attached thereto, with which the chassis (11) can be moved over the area (N) in a direction of travel (F). is, wherein at least one of the wheels (12) is provided with a drive (M) and preferably at least two of these wheels (12) are mounted pivotably or rotatably about a vertical axis (D) on the chassis (11) in order for the device (10, 10') to enable a change in the direction of travel (F), at least one field cultivation device (30, 31a, 31b) which is attached to the chassis (11) or a part thereof and with which a plant cultivation process step can be carried out , characterized in that the chassis (11) and the associated wheels (12) each have a modular structure, and that the chassis (11) comprises a plurality of elongate and in particular tubular plug-in elements (14), these plug-in elements (14) in particular can be connected to one another and detached again from one another without the use of special tools, in such a way that at least one dimension of the chassis (11) can be changed lengthwise or transversely to the direction of travel (F) of the device (10, 10'), preferably that a changeable dimension of the Chassis (11) formed by a length of the chassis (11) running in the direction of travel (F), a width or track width of the chassis (11) running transversely to the direction of travel (F) and/or a height of the chassis (11) in the vertical direction is. Device (10) after claim 1 , characterized in that uniform profile elements (13) are provided for mounting the wheels (12) on the chassis (11), preferably that these profile elements (13) are each formed from L-profiles (15), more preferably that the profile elements (13) are each made of lightweight construction, more preferably that the profile elements (13) are each made of aluminum and / or a fiber-reinforced plastic. Device (10) after claim 2 , characterized in that the plug-in elements (14) are attached directly to the L-profile elements (13) in the longitudinal and transverse direction of the chassis (11), so that the L-profile elements (13) in the assembled state are a supporting part of the chassis ( 11) are. Device (10) according to one of the preceding claims, characterized in that the uniform profile elements (13) for mounting the wheels (12) are designed with at least one of the following features, namely: - with a suspension, - with a drive (M) , preferably in the form of a hub motor in an axis of a wheel (12), - with a vertical steering axis, and/or - with a separate steering module with which a steering torque can be generated for a wheel (12). Device (10) according to one of the preceding claims, characterized by a battery store (43) and an electromotive drive fed from the battery store (43), through which at least one wheel (12) and/or a robot arm (34) with a field cultivation device attached thereto (30, 31a, 31b), the battery storage (43) being electrically connected to solar panels and being able to be charged when exposed to sunlight, preferably by the solar panels being mounted above the chassis (11) or in an upper area thereof are, more preferably, that the solar panels are pivotable, so that a tracking of the solar panels to a changing position of the sun is possible. Device (10) according to one of the preceding claims, characterized by a control or regulating device (42) with which a movement of the chassis (11) over the usable area (N) and/or an actuation of at least one field cultivation device (30, 31a, 31b) can be controlled or regulated, preferably that the control or regulation device (42) is attached to the chassis (11) or a part thereof or adjacent thereto. Device (10') for cultivating an agricultural area (N), comprising a chassis (11) with a coupling device (53) with which the chassis (11) can be attached to a tractor or the like, and at least one field cultivation device (30, 31a , 31b) which is attached to the chassis (11) or a part thereof and with which a plant cultivation process step can be carried out, characterized in that the chassis (11) has a modular structure and for this purpose a plurality of elongate and in particular tubular plug-in elements ( 14), wherein these plug-in elements (14) can be connected to one another and detached again from one another, in particular without the use of special tools, in such a way that at least one dimension of the chassis (11) can be changed, preferably that a variable dimension of the chassis (11) can be changed by a length of the chassis (11) running transversely to the direction of travel (F) of the tractor, a width of the chassis (11) running in the direction of travel (F) of the tractor and/or a height of the chassis (11) in the vertical direction. device (10'). claim 7 , characterized in that the coupling device (53) is adapted to a three-point mount of a tractor and can therefore be attached to such a three-point mount. device (10'). claim 7 or 8th , characterized by a control or regulating device (42) with which a movement of the chassis (11) over the usable area (N) and/or an actuation of at least one field cultivation device (30, 31a, 31b) can be controlled or regulated, preferably that the control or regulation device (42) is attached to the chassis (11) or a part thereof or adjacent thereto. Device (10, 10'). claim 6 or 9 , characterized in that the control or regulation device (42) is set up in terms of programming in such a way that average cycle times and/or an energy requirement can be determined and on the basis of which an agricultural-specific process reliability can be validated, preferably that the control or regulation device (42) is programmed in such a way that an at least approximate profitability calculation for the use or operation of the device (10, 10') and at least one field cultivation device (30, 31a, 31b) attached to it can be carried out. Device (10, 10 ') according to one of Claims 6 , 9 or 10 , characterized by a transmitter/receiver unit (40) which is connected to the control or regulation device (42) using signals, with the transmitter/receiver unit (40) sending information or data packets for monitoring and/or controlling the operation of the chassis (11) and/or field management devices (30, 31a, 31b) attached or provided thereon can be received either from a remote location, in particular in the form of a control station, and/or can be sent to such a remote location, preferably that the transmitter/receiver unit (40) attached to the chassis (11) or a part thereof or adjacent thereto. Device (10, 10') according to any one of the preceding claims, characterized by a robotic arm (34) with which a field cultivation device (30, 31a, 31b) is attached to the chassis (11) or a part thereof, the robotic arm ( 34) has a plurality of degrees of freedom and/or a plurality of arm elements with a plurality of swivel joints with resulting degrees of freedom, preferably that a robot arm (34) is designed in the form of an industrial robot with at least two degrees of freedom and has two or more articulated arms, each a vertical or horizontal axis of rotation are pivotable. Device (10, 10 ') according to any one of the preceding claims, characterized in that on the chassis (11) or a part thereof, a plurality of trolleys (32) with attached field management devices (30, 31a, 31b) are provided, wherein the Trolleys (32) are attached to associated guide rails of the chassis (11) and are thus movable in the direction of the longitudinal or transverse extension of the chassis (11), preferably that the plurality of trolleys (32) with at least one field cultivation device (30, 31a , 31b) are provided on the same side of the chassis (11) and/or on opposite sides of the chassis (11), more preferably that the plurality of trolleys (32) with the field cultivation devices (30, 31a, 31b) attached thereto, respectively can be moved independently of each other. Device (10, 10') according to one of the preceding claims, characterized in that a field cultivation device (30, 31a, 31b) as an irrigation applicator, fertilizer applicator or as a manipulator or applicator with at least one vertical axis of rotation or manipulation with further peripheral devices attached thereto is formed, preferably that different types of field cultivation devices (30, 31a, 31b) are mounted on the chassis (11) or a part thereof at the same time. Device (10, 10') according to one of the preceding claims, characterized in that at least one field cultivation device (30, 31a, 31b) is designed in the form of a nozzle through which a liquid is sprayed at a specific point on the soil of the agricultural area (N) can be introduced or injected, preferably in that this nozzle is attached to a trolley (32) and can thus be moved in the longitudinal or transverse extension of the chassis (11). Device (10, 10') according to one of the preceding claims, characterized in that at least one field cultivation device (30, 31a, 31b) is designed in the form of a power-based weeding tool or as a laser tool and can be used in the vicinity of plants. Device (10, 10') according to one of the preceding claims, characterized in that at least one separate box element (24) is attached to the chassis (11) or to an associated plug-in element (14), which is used to accommodate equipment elements that are operation of the device (10, 10') according to the invention is required and/or at least one field cultivation device (30, 31a, 31b) is used, preferably that on the chassis (11) or on plug-in elements (14) thereof a plurality of such box elements (24) are attached. Device (10, 10') according to one of the preceding claims, characterized by at least one tool changing system (W) which is attached to the chassis (11) or a part thereof, wherein on or in the tool changing system (W) a plurality of different field management devices (30, 31a, 31b) can be attached or picked up and, if required, a field cultivation device (30, 31a, 31b) can be exchanged for another field cultivation device (30, 31a, 31b) on at least one robot arm (34), preferably that the tool changing system ( W) attached to an associated guide rail of the chassis (11) in connection with a trolley (32) and thus movable along the chassis (11) in the direction of its longitudinal or transverse extent, more preferably that each trolley (32) has a tool changing system (W). Device (10, 10') according to one of the preceding claims, characterized in that at least one sensor (37) or a corresponding sensor package is provided on a field cultivation device (30, 31a, 31b) and/or an associated trolley (32), with which allows workspace monitoring and suitable identification of plants (P) that can be processed with the field management device (30, 31a, 31b). Device (10, 10') according to any one of the preceding claims, characterized by a conveyor system (51) which is attached to the chassis (11) or a part thereof, wherein at least one harvest box (50) with the conveyor system (51) in longitudinal - or in the transverse direction of the chassis (11) and can thus be brought to a predetermined position, in particular adjacent to a field cultivation device (30, 31a, 31b), preferably that the conveyor system (51) transports a plurality of such harvest crates (50) in longitudinal or in the transverse direction of the chassis (11), more preferably that the conveyor system (51) can be actuated or acted on in opposite directions (54), so that at least one harvest box (50) can be moved when it is placed on the conveyor system (51). is placed, is movable in a selected direction (54). Device (10, 10'). claim 20 , characterized in that the conveyor system (51) comprises a circulating conveyor belt (52) on which at least one harvest box (50), preferably a plurality of harvest boxes (50) can be placed. Device (10, 10'). claim 20 , characterized in that the conveyor system (51) has a roller table with a plurality of support rollers, each with a horizontal axis of rotation, wherein at least one harvest box (50) can be placed on the support rollers of the roller table, preferably that at least one support roller of the roller table is motor-driven and thereby at least one harvest box (50) placed on the roller table is movable in a desired direction along the chassis (11). Device (10, 10'). Claim 22 , characterized in that the position of the roller table can be adjusted relative to the horizontal in such a way that a longitudinal extent of the roller table encloses an angle with the horizontal, preferably in that the roller table is equipped with at least one stop element with which a harvest box (50) can be placed a predetermined position of the roller table or the chassis (11) can be brought to a standstill. Method for managing an agricultural area (N) using a device (10, 10 '), in particular according to one of Claims 1 until 23 , characterized in that the method and the associated plant cultivation process steps, in particular from sowing or sowing the plants (P) to their harvest, are carried out fully automatically, characterized in that the plant cultivation process steps are carried out intermittently, namely in one Standstill of the device (10, 10') if it is not moved relative to the usable area (N). procedure after Claim 24 , characterized in that on the same agricultural area (N) different plants are sown or harvested, wherein when bringing in the harvest by means of a field management device (30, 31a, 31b) of the device (10, 10 ') according to one of claims 20 until 23 the harvested material from different plants (P) is brought together into a common harvest box (50). procedure after Claim 24 or 25 , characterized in that point management is implemented on the agricultural area (N), in which management of the area (N) is concentrated solely on targeted planting points at which plants (P) are introduced into the soil of the area (N). are, preferably that at the targeted planting points the sowing of the plants (P), irrigation and/or fertilization of the plants (P), and/or harvesting of the mature plants (P) by means of at least one field management device (30, 31a, 31b) of the device (10, 10') according to one of Claims 1 until 23 he follows. Procedure according to one of claims 24 until 26 , characterized in that agronomic process steps, in particular agronomic cultivation and harvesting processes, are depicted as pick-and-place processes, showing that these pick-and-place processes are cross-cultural, ie carried out for different types and sizes of vegetable plants. Procedure according to one of claims 24 until 27 , characterized in that a large number of different vegetable crops can be grown either with integrated field cultivation devices (30, 31a, 31b) or planting tools or with a plurality of such devices or tools which are attached to a trolley (32) of a device (10, 10' ) after one of the Claims 1 - 23 are mountable, are managed, preferably wise that such management is fully automated and in particular according to the specification of corresponding target data with regard to individual process steps and their chronological sequence with regard to the management of the agricultural area (N). Procedure according to one of claims 24 until 28 , characterized in that in this case non-consumable biomass from the plants to be harvested (P) with a field management device (30, 31a, 31b) of a device (10, 10 ') according to one of Claims 1 until 23 is separated, preferably that non-consumable biomass is separated at a stage of a plant (P) while it is still attached to the agricultural area (N), more preferably that non-consumable biomass is separated in the course of a process step If the plant (P) is removed from the ground during harvesting, more preferably that such a cutting up of plants (P) and/or a separation of non-edible biomass is supported by a preferably optical sensor (37) with which a field cultivation device (30, 31a, 31b) or an associated trolley (32) of the device (10, 10 ') according to one of Claims 1 - 23 is equipped and then the plant (P) and their position and / or size are recorded. Procedure according to one of claims 24 until 29 , characterized in that on a control or regulation device (42) of a device (10, 10 ') according to one of Claims 6 , 9 or 10 Algorithms for new processes or process steps are implemented on the software side, so that training data for neural networks can be generated reliably and in particular regardless of the weather, preferably that the same plants (P) every day and in the same position using the sensors or cameras provided for this purpose Device (10, 10 ') are recorded, so that a complex masking of plants (P) is reduced, more preferably that a monitoring of the plants to be cultivated (P) on the agricultural area (N) even after row closure in the advanced stage of growth of the plants (P) takes place. Procedure according to one of claims 24 until 30 , characterized in that chemically synthesized pesticides are completely substituted, with irrigation and / or fertilizing of plants (P) on the agricultural area (N) is purely selective, namely depending on the places where on or in the Usable area (N) plants (P) are introduced. Procedure according to one of claims 24 until 31 , characterized in that agronomic process steps, in particular harvesting process steps, are fully automated and carried out at night. Procedure according to one of claims 24 until 32 , characterized in that an agricultural area (N) with different types of plants (P) or vegetables is managed, consisting of the group consisting of iceberg, lettuce and romaine lettuce, red and white cabbage (mini), broccoli, kohlrabi , celery, cucumbers, courgettes and/or pumpkins are formed, so that mixed cultivation of plants (P) or vegetables takes place on the agricultural area (N).

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