DK180886B1

DK180886B1 - Autonomous robot and gripper system

Info

Publication number: DK180886B1
Application number: DKPA202001196A
Authority: DK
Inventors: Coskun Servet
Original assignee: Seasony Ivs
Priority date: 2020-10-23
Filing date: 2020-10-23
Publication date: 2022-06-14
Also published as: EP4232394A1; DK202001196A1; WO2022084522A1

Abstract

The present invention relates to an autonomous robot and a gripping system for operating and performing tasks within a vertical farm system, such as a plurality of rows having plants arranged in vertically stacked layers. The robot is arranged for retrieving a plant tray from the vertical farm system such that manual labor is avoided. The robot comprises a motorized vehicle having a power system for driving the vehicle and a steering system for determining a direction of the motorized vehicle; a gripping system for gripping a plant tray within the vertical farm system; a height adjustment mechanism, such as a scissor lift, arranged in-between the vehicle and the gripping system for arranging the gripping system at a predetermined height, and a control unit arranged for controlling the power system, the height adjustment mechanism and the gripping system. The gripping system comprises at least two gripping arms, arranged for gripping opposites sides of the plant tray and arms being moveable arranged on said gripping system in a horizontal plane and further comprises a locking system for establishing a closed electrical circuit when the locking arms has correctly engaged with the plant tray.

Description

DK 180886 B1 1 Autonomous robot and gripping system.

TECHNICAL FIELD The present invention relates to an autonomous robot and a gripping system for oper- ating and performing tasks within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers.

BACKGROUND OF THE INVENTION Traditionally, agricultural farming has been outdoor and land based, taking up huge ar- eas of land. However, such traditional agriculture is due to drought, pollution or environ- mental changes associated with a certain risk. Such traditional agriculture also requires a huge amount of work labour, which makes traditional farming a cumbersome business.

Within the recent years, vertical farming has been evolving more and more such that a variety of plants can be grown indoors in urban environments.

In vertical farming, plants are grown in containers e.g. within buildings and arranged in plant systems on stacked structures such as a plurality of shelf systems being arranged in rows. The plants are thus arranged on plant trays in the stacked structures.

This concept reduces land consumption, as the farming is arranged in several layers/lev- els, and arranges a farming production being productive all year round.

These vertical farming environments are high tech, such that the plant systems are sup- plied with monitoring, temperature control, artificial light, irrigation and nutrients for the crops.

Due to the arrangement of plant trays in long rows and at several layers/levels, typically more than several meters, the work task of retrieving the plant trays from the shelf sys- tems is troublesome and typically requires a lift or similar system, for the employees to be able to retrieve the plants trays. These work tasks require expensive equipment, are time consuming due to the work labour and expose the employees to the risk of injury.

It is an object of the present invention to provide an autonomous robot and a gripping system for operating and performing tasks within a vertical farm system, such as a plu-

DK 180886 B1 2 rality of shelf systems arranged in rows having plants arranged in vertically stacked lay- ers, where the requirement of expensive lift systems, human labour and the risk of hu- man injury is avoided.

One example of a prior art system is disclosed in US 2012/0324788 A1. The document discloses an autonomous robot system for operating and performing tasks within a ver- tical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within the vertical farm system. The document does at least not describe a gripping system comprising two gripping arms arranged for gripping the plant tray at opposites sides and the gripping arms comprises a locking system having a number of locking members for engagement with a number of cooperating locking elements arranged on said plant tray and an elec- trical circuit arranged for establishing a closed electrical circuit through said locking members, when the locking members are engaged with the locking elements.

The above object and advantages, together with numerous other objects and ad- vantages, which will be evident from the following description of the present invention, are according to a first aspect of the present invention obtained by: An autonomous robot system for operating and performing tasks within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within the vertical farm system, the robot system comprising: - a motorized vehicle having a power system for driving the vehicle and a steering system for determining a direction of the motorized vehicle; - a gripping system for gripping a plant tray within the vertical farm system; - a height adjustment mechanism, such as a scissor lift, arranged in-between the vehicle and the gripping system for arranging the gripping system at a predetermined height, - a control unit arranged for controlling the power system, the steering system, the height adjustment mechanism and the gripping system, the gripping system comprising at least two gripping arms, arranged for gripping the plant tray at opposites sides, the arms being moveable arranged on the gripping system in a horizontal plane, the gripping arms comprise a locking system having a number of locking members for engagement with a number of cooperating locking elements ar- ranged on the plant tray and where the locking system comprises an electrical circuit

DK 180886 B1 3 arranged for establishing a closed electrical circuit through the locking members, when the locking members are engaged with the locking elements.

Hereby is defined an autonomous robot which is cost efficient to install and eliminates human labor in retrieving plants from the vertical farm system, in a safe and controlled manner.

The motorized vehicle is preferably a four wheel equipped vehicle, with a built-in power source such as a rechargeable battery system. The power system comprises a motor, preferably an electric motor driven by the power source, which also powers the steering system, which allows the motorized vehicle to change direction. The vehicle is hereby self-propelled and may navigate in a vertical farm system.

In order for the robot to extract plants being shelved in the vertical farming system, the robot comprises a height adjustable and extensible gripping system, which is height adjustable and extensible in relation to the motorized vehicle. The robot comprises a height adjustable mechanism, such as a scissor lift, arranged in-between the motorized vehicle and the gripping system. The robot can thus be arranged in a collapsed config- uration, where the gripping system is arranged with a minimum distance to the motorized vehicle, and in an extended configuration, where the gripping system is arranged with a maximum distance to the motorized vehicle. The height adjustable mechanism is step- less, so the gripping system may be arranged at any level in-between the minimum and maximum distances. The height adjustable mechanism is in a preferred embodiment arranged as a scissor lift, but may in an alternative embodiment be arranged as any height adjustable mechanism such as actuators (mechanical, electrical, hydraulic or pneumatic) being able to arrange the gripping system at the desired vertical positions in relation to the motorized vehicle.

The robot system further comprises a control unit, such as an onboard computing device for controlling the movement and steering of the motorized vehicle, and for controlling the adjustment of the height adjustment mechanism. The control unit is preferably con- nected to a central server, which may be arranged as a data storage for the control unit, and for storing control functions and the mapping of the area, in which the robot is to

DK 180886 B1 4 navigate. In order for the control unit to communicate with the central server, the control unit is arranged with a wireless communication unit, such as a WIFI or GSM unit. In order for the robot to autonomously navigate within the vertical farm system, the ve- hicle is equipped with a vehicle sensor, such as a camera, for capturing images of the surroundings and transmitting the images to the control unit for determining the position of the robot. Preferably, the robot system is arranged with a number of sensors, ar- ranged as cameras positioned on the vehicle and the gripping system such that both images of the position of the vehicle position and images of the gripping system position are captured. The control unit or the central server compares the captured images to images stored (mapping) within the data storage, whereby the exact position and head- ing of the vehicle may be determined.

The robot may in a further or alternative embodiment be manually operated by an oper- ator via remote control, such that the operator via the control unit and the central server operates the robot system. The operator receives visual information from the number of sensors and is via remote control able to control the robot system including the gripping system.

An operator having access to the central server may thus operate the robot via the server either manually or via a number of commands. The robot may hereby be provided with a command for extracting a specific plant tray located at a specific shelf system, whereby the robot via the central server and the mapping receives information on the most preferred route, such as the shortest route, to the specific plant tray.

As the specific shelf system, in which the plant tray is located, and the specific level of the plant tray within the shelf system is known, the robot is able to navigate to the desired shelf system, and activate the height adjustment mechanism, such that the gripping sys- tem reaches the desired level and is able to grip the desired plant tray.

The gripping system is arranged with at least two gripping arms, arranged for gripping the plant tray at opposite sides, and the arms being moveable arranged in the gripping system in a horizontal plane in a longitudinal direction of the arms. The arms are prefer- able individually arranged with an electric motor, which drives the movement of the grip- ping arms, e.g. via spindle mechanism.

DK 180886 B1 The height adjustment mechanism arranges the gripping system with the gripping arms at a desired vertical level and the gripping arms may slide outwards from the gripping system in a horizontal plane, such that the gripping arms can connect with the specific plant tray, arranged on the shelf system. 5 The gripping arms are in a preferred embodiment arranged in the gripping system with an intermediate distance, which approximately corresponds to the width of the plant tray, such that the gripping arms are arranged to grip the plant tray at the sides thereof. The arms may in an alternative embodiment be arranged with a shorter intermediate dis- tance, such that the arms may grip the plant tray at a middle part.

In order for the gripping arms to grip the plant tray in a secure manner, the gripping arms are arranged with a locking system having a number of locking members for engage- ment with a number of cooperating locking elements arranged on the plant tray. Hereby, when the locking members engage with the locking elements, the locking elements and locking members automatically connect to each other such that when the plant tray is removed from the shelf system, the plant tray is securely supported by the gripping sys- tem in order to avoid any dropping of the plant tray.

According to a further embodiment of the first aspect of the invention, the locking mem- bers are located on an underside of the gripping arms for engagement with the cooper- ating locking elements arranged on an upper side of the plant tray.

The locking members are preferable located on an underside of the gripping arms and the locking elements are preferably arranged on an upper side of the plant tray. Hereby, the gripping arms are able to grip the plant tray from above, instead of gripping the plant tray sideways or from below.

The locking system is in a preferred embodiment arranged with an electrical circuit ar- ranged for establishing a closed electrical circuit through the locking members, when the locking members are engaged with the locking elements. The gripping system and the closed electrical circuit is connected to the control system, which is hereby able to distinguish between a correct engagement between the locking members and locking elements and an incorrect engagement between the locking members and locking ele-

DK 180886 B1 6 ments. The control unit is thus able to detect if the gripping arms are not correctly con- nected to the plant tray and as a result prevent the gripping arms to be retracted and prevent any propping of the plant tray.

According to a further embodiment of the first aspect of the invention, the gripping sys- tem comprises a frame, connected to the height adjustment system and for slidable supporting of the gripping arms.

The gripping arms are in a preferred embodiment arranged on a frame, which is con- nected to the height adjustment mechanism. This provides a modular robot system where the individual parts of the system can be exchanged. According to a further embodiment of the first aspect of the invention, the frame is sub- stantially U-shaped and defines an opening, and the gripping arms are arranged on each side of the opening, respectively, such that the gripping arms in a retracted state accom- modate the plate tray within the opening. In order for the plant tray to be safely accommodated in the gripping system, the frame is preferably substantially U-shaped and defines an opening, such that the plant tray may be accommodated within the opening. The gripping arms are arranged on each side of the opening, respectively, and arranged slidably displaceable in a horizontal di- rection, in such a way that the arms can slide outwards in relation to the frame and the opening, grab a plant tray and retract the plant tray from the shelf system into the open- ing of the U-shaped frame.

According to a further embodiment of the first aspect of the invention, the motorized vehicle has omnidirectional wheels, such as mecanum wheels. In order for the motorized vehicle to have a maximum degree of freedom to move and navigate between the plurality of shelf systems, the vehicle is preferably arranged with omnidirectional wheels. Using omnidirectional wheels such as mecanum wheels ena- bles the vehicle to move forward/rearward, sideways, stationary rotation, and a combi- nation of sideways and forwards/rearward. It is hereby possibly for the vehicle to navi- gate within a limited space.

DK 180886 B1 7 According to a further embodiment of the first aspect of the invention, the locking mem- bers are adjustable in a longitudinal direction of the gripping arms in order to accommo- date different sizes of plant trays.

Preferably, the locking members are arranged on the gripping arms such that the locking members may be displaced in a longitudinal direction of the gripping arm. It is hereby possible for the locking system to be adapted to various sizes of plant trays.

The locking members may in a further embodiment be connected to the control unit and hereby by automatically adjustable by the control unit, depending on the size of the plant tray. According to a further embodiment of the first aspect of the invention, the gripping arms are individually sideways adjustable, such that that gripping system can be adapted to different sizes of plant trays.

Preferably, the gripping arms are arranged individually sideways adjustable in the grip- ping system such that plants of varying width can all be operated with the robot system. The sideways movement may in an embodiment be performed by an electric motor con- nected to the control system, such that that system automatically adjusts the distance between the gripping arms to the width of the plant tray. The gripping arms may in a possible embodiment be arranged individually sideways adjustable on the frame which supports the gripping arms. According to a second aspect of the present invention, the above objects and ad- vantages are obtained by: A gripping system for an autonomous robot operating and performing tasks within a vertical farm system, such as a plurality of rows having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within said vertical farm system, said gripping system comprising at least two gripping arms, arranged for gripping said plant tray at opposites sides, said arms being moveable arranged in said gripping system in a horizontal plane, said gripping arms comprising a locking system, having a number of locking mem- bers for engagement with a number of cooperating locking elements arranged on said plant tray, the locking system comprising an electrical circuit, arranged for establishing

DK 180886 B1 8 a closed electrical circuit through said locking members, when said locking members are engaged with said locking elements According to a further embodiment of the second aspect of the invention, said locking members are located on an underside of said gripping arms, for engagement with said cooperating locking elements arranged on an upper side of said plant tray Fig. 1 is a perspective view of the autonomous robot system. Fig. 2 is a perspective view of the autonomous robot system. Fig. 3 is a perspective view of the autonomous robot system in a collapsed state. Fig. 4 is an enlarged perspective view of the griping system.

Fig. 5 is an enlarged perspective view of the locking system. The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The invention may, however, be embodied in different forms and should not be con- strued as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Similar reference numerals refer to similar elements. Similar elements will thus not be described in detail with respect to the description of each figure. Fig. 1 shows a perspective view of the autonomous robot system 10. The robot system 10 comprises a motorized vehicle 12 having a number of wheels 16 for moving the ve- hicle. The wheels 16 are preferably omnidirectional wheels, such as mecanum wheels, whereby the robot system 10 is able to navigate within a very limited space. The vehicle 12 having mecanum wheels is thus able to move forward/rearward, sideways, in a sta- tionary rotation, and a combination of sideways and forwards/rearward, in a vertical farming environment where a number of shelf systems are arranged in close proximity. The motorized vehicle 12 comprises a vehicle housing 14, which incorporates a power system, such as a rechargeable battery for powering the vehicle’s motor, such as an

DK 180886 B1 9 electrical motor. The wheels 16 of the vehicle 12 are part of the steering system for navigating the vehicle 12. The robot system 10 comprises a height adjustment mechanism 32, which in the illus- trated embodiment is a scissor lift. Arranging the height adjustable mechanism 32 as a scissor lift has the advantage that the robot system 10 can be collapsed to a minimum and extended in a vertical direction according to the length of the lift. The vehicle housing 14 further comprises a control unit arranged for controlling the power system, the steering system, the height adjustment mechanism 32 and the grip- ping system 20. To activate the height adjustment of the robot system 10, the height adjustment mech- anism 32 is arranged with an actuator 34 such as a mechanical, electrical, hydraulic or pneumatic actuator 34, which is connected to the control unit within the vehicle housing

14. The robot system 10 further comprises a gripping system 20, which enables the robot system 10 to grab a plant tray 30, having a number of plants (not shown), from a shelf system and retract the plant tray 30. The gripping system 20 is illustrated with a sub- stantially U-shaped frame 24 having an opening 26, which is sized to be able to accom- modate a plant tray 30, having a number of plants, such that the plant tray 30 is accom- modated within the boundary of the robot system 10. The U-shaped frame 24 is on each side of the opening 26 arranged with a gripping arm 22, which is arranged horizontally slidable to and from the opening 26. The gripping arms 22 are arranged in the gripping system 20, with an intermediate distance, which is slightly smaller than the width of the plant tray 30. Hereby, the gripping arms can grab the plant tray 30 at the upper surface of the plant tray 30 in the vicinity of the edge of the tray 30. Preferably, each arm 22 comprises a small electrical motor (not shown), which is con- nected to the control unit, such that the control unit can control the extension and retrac- tion of the gripping arms 22 in relation to the U-shaped frame 24. In order for the control unit to correctly position the gripping mechanism 20 in relation to the specific plant tray 30, which is to be retracted, the gripping system 20 comprises a gripping system sensor 28, such as a vision sensor, arranged as a camera. The gripping

DK 180886 B1 10 system sensor captures images of the plant tray 30 and transmits the images to the control unit to determine whether the plant tray 30 is correctly aligned with the gripping arms 22 and to determine the distance from the gripping arms 22 to the plant tray 30. If the gripping arms 22 are not correctly aligned and/or if the distance from the gripping arms 22 to the plant tray 30 is not correct, the control unit activates the power and steer- ing system to navigate the motorized vehicle 12 into a correct position. If a correct posi- tion is accomplished, the control unit activates the electric motors of the gripping arms 22, which extend over the plant tray 30 for interconnection.

The robot system 10 comprises a vehicle sensor 18, arranged as a vision sensor, such as a camera, which captures images of the surroundings of the robot and transmits the captured images to the control unit for determining the position and the heading of the robot in order for the robot system 10 to autonomously navigate within the vertical farm system. The control unit or the central server compares the captured images to images stored within the data storage, whereby the exact position and heading of the robot system 10 may be determined.

In the shown embodiment in figure 1, the height adjustment system 32 is arranged in an elevated position which is not a fully elevated position, such that the gripping system 20 is arranged between a completely collapsed position and a fully retracted position. The gripping arms 22 are extended over and connected to a plant tray 22 arranged in a shelf system (not shown).

Fig. 2 shows the robot system 10 according to figure 1, where the gripping arms 22 are arranged in a fully retracted position. When the gripping arms 22 are arranged in the retracted position, the plant tray 30, as shown in the figure, is fully accommodated within the opening 26 of the U-shaped profile. Hereby, the plants (not shown) arranged in the plant tray 30 are accommodated within the frame structure of the U-shaped profile, and thus prevented from falling of the plant tray 30 or collide with any objects outside the frame 24.

Fig. 3 shows the robot system 10 according to figure 1 and 2, where the height adjust- ment mechanism 32 is arranged in a fully collapsed configuration. The fully collapsed configuration is preferably used in a transport mode of the robot system 10, where the robot system 10 navigated within the vertical farm system. The fully retracted configura- tion ensures the best possible stability of the plants arranged on the plant tray.

DK 180886 B1 11 Fig. 4 shows an enlarged perspective view of the gripping system 20. The figure shows a left side of the gripping system 20 comprising the U-shaped frame and the left gripping arm 22, which is shown connected to the left side of a plant tray 30. The gripping arm 22 is connected to the frame via intermediate slide rails (not shown) in order for the gripping arm to be extended/retracted in relation to the frame 24. The frame is in the shown embodiment arranged with a longitudinal groove and the gripping arm 22 is ar- ranged with a projection being slidable accommodated within the groove, for supporting the movement of the gripping arms 22. The projection and the groove comprise a grip- ping arm sensor system 36, which senses if the gripping arms 22 are in the retracted position and transmits the information to the control unit. If the arms 22 are not in the retracted position, the control unit can be programmed such that the robot system 10 cannot manoeuvre from the present vehicle position.

Fig. 5 shows an enlarged perspective view of the locking system. The illustration shows one possible embodiment of the connection between the left gripping arm 22 and the left side of the plant tray 30. The gripping arm 22 and the plant tray 30 are shown in a non-connected configuration. The gripping arm 22 comprises a number of locking ele- ments 38 (preferable two), where only the outer most locking element 38 is shown, and the plant tray preferably comprises a corresponding number of locking elements 40 ar- ranged at a side edge of the plant tray. The locking system is in a preferred embodiment provided with an electrical circuit (not shown) arranged for establishing a closed electri- cal circuit through the locking members 38, when the locking members 38 are engaged with the locking elements 40. The locking system is connected to the control system, such thatit can be detected if the gripping arms 22 and the plant tray 30 are not correctly connected.

DK 180886 B1 12 List of reference numbers 10 Autonomous robot system 12 Motorized vehicle 14 Vehicle housing

16 Wheels 18 Vehicle sensor 20 Gripping system 22 Gripping arms

24 Frame 26 Opening 28 Gripping system sensor 30 Plant tray 32 Height adjustment mechanism

34 Actuator 36 Gripping arm sensor system 38 Locking member 40 Locking element

Claims

DK 180886 B1 13 PATENTKRAV

An autonomous robot system (10) for operating and performing tasks in a vertical cultivation system, such as rows of shelving systems with plants placed in vertically stacked layers and for placing and / or removing a plant tray (30) in the vertical cultivation system, which robot system comprises: - a gripping system (20) for gripping a plant tray (30) in the vertical cultivation system; a height adjustment mechanism (32), such as a scissor lift, arranged between the vehicle (12) and the gripping system (20), for placing the gripping system (20) at a predetermined height, said gripping system (20) comprising at least two gripping arms (22), which is movably mounted on the gripping system (20) in a horizontal plane, characterized in that the robot system comprises a motorized vehicle (12), with a power supply system for driving the vehicle (12) and a control system for determining a direction of the motorized vehicle ( 12), and a control unit arranged to control the power supply system, the control system, the height adjustment mechanism (32) and the gripping system (20), which gripping arms are arranged to grip the plant tray (30) at opposite sides, the gripping arms (22) comprising a locking system with a plurality of locking units (38) for engaging a plurality of cooperating locking elements (40) disposed on the plant tray (30), and wherein the locking system comprises an electrical circuit adapted to establish a closed ele optical circuit through said locking units (38) when the locking units (38) are in engagement with the locking elements (40).

The autonomous robot system (10) of claim 1, wherein the locking units (38) are located on a underside of the gripping arms (22) for engaging the cooperating locking elements (40) disposed on an upper side of the plant tray (30).

An autonomous robot system (10) according to any one of the preceding claims, wherein the gripping system comprises a frame (24) which is connected to the height adjustment system (32) and for slidably supporting the gripping arms (22).

An autonomous robot system (10) according to claim 3, wherein the frame (24) is substantially U-shaped and defines an opening (26), and the gripping arms (22) are arranged on opposite sides of said opening (26), so that in a retracted condition the gripping arms (22) have space for the plant tray (30) in the opening (26).

DK 180886 B1 14

An autonomous robot system (10) according to any one of the preceding claims, wherein the motorized vehicle (12) has directionally independent wheels (16), such as mecanum wheels.

An autonomous robot system (10) according to any one of claims 1-2, wherein the locking units (38) are adjustable in a longitudinal direction of the gripping arms (22), in order to adapt to different sizes of plant trays (30).

An autonomous robot system (10) according to any one of the preceding claims, wherein the gripping arms (22) are individually laterally adjustable so that the gripping system can be adapted to different sizes of plant trays (30).

A gripping system for an autonomous robot system (10) according to claims 1-7, for operating and performing tasks in a vertical cultivation system, such as several rows of plants placed in vertically stacked layers and for placing and / or removing a plant tray (30) in the vertical cultivation system, which gripping system comprises at least two gripping arms (22) arranged to grip the plant tray (30) at opposite sides, which arms (22) are movably arranged in the gripping system in a horizontal plane, which gripping arms (22 ) comprises a locking system with a number of locking units (38) for engaging with a number of cooperating locking elements (40) arranged on the plant tray (30), the locking system comprising an electrical circuit arranged to establish a closed electrical circuit through the locking units (38) when the locking units (38) engage the locking elements (40).

A gripping system according to claim 8, wherein the locking units (38) are located on a underside of the gripping arms (22) for engagement with the cooperating locking elements (40), which are arranged on an upper side of the plant tray (30).