Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/0407—Storage devices mechanical using stacker cranes
  • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
  • A01G31/00—Soilless cultivation, e.g. hydroponics
  • A01G31/02—Special apparatus therefor
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
  • A01G31/00—Soilless cultivation, e.g. hydroponics
  • A01G31/02—Special apparatus therefor
  • A01G31/06—Hydroponic culture on racks or in stacked containers
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
  • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
  • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
  • A01G9/027—Pots connected in horizontal rows
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
  • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
  • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
  • A01G9/029—Receptacles for seedlings
  • A01G9/0295—Units comprising two or more connected receptacles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/0478—Storage devices mechanical for matrix-arrangements
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/0485—Check-in, check-out devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
  • B65G1/02—Storage devices
  • B65G1/04—Storage devices mechanical
  • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
  • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
  • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
  • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
  • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
  • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

• the present disclosure relates to an apparatus and method for autonomous Controlled Environment Agriculture (CEA), including without limitation for the purpose of cultivation of organic produce and other organic or natural products and in vertical farming applications.
• CEA Controlled Environment Agriculture
• the disclosed apparatus and method can also be utilized for more general application in the fields of agriculture, material handling, and warehousing, including without limitation, modular pallet warehousing.
• Controlled Environment Agriculture is an evolving technique for the precision cultivation of organic produce through the artificial control of influential environmental factors.
• An appeal to facilitate the desirable outcomes of growth, this type agriculture may require the regulation of parameters pertaining to atmospheric, nutritional, spatial, or electromagnetic qualities. In doing so, a precise understanding of an organic system’s overall production with respect to time is much more attainable.
• Systems like these can vary in size, ranging from a household appliance, to a standard freight shipping container, to a 10,000 square-meter warehouse, to a multi-hectare greenhouse.
• CEA systems are typically equipped with a general selection of actuators and sensors to monitor and control the environment.
• CEA offers the appeal of being resistant to growth-inhibiting factors, such as droughts, famine, floods, or winters. Because of this resiliency, consistent, year-round production is possible for a wide range of geographic scenarios, including urban, desert, artic, and deep space regions.
• CEA systems running at a commercial capacity require a wide range of manual tasks to be performed by farmhands on a daily basis. These responsibilities may include the harvesting, cleaning, creation, inspection, and moving of product, the maintenance, sensing, control, and logistical planning of the environment, and the analysis of any data that may be subsequently collected.
• responsibilities may include the harvesting, cleaning, creation, inspection, and moving of product, the maintenance, sensing, control, and logistical planning of the environment, and the analysis of any data that may be subsequently collected.
• CEA systems Despite being computer-controlled and with sensory feedback, CEA systems have many logistical points of failure that require technical skills from the farmhands in order to maintain. Appropriately so, commercial CEA systems are sometimes referred to as“plant factories” for their resemblances to manufacturing environments.
• the system generally consisting of a plurality of tray assemblies (40) configured linearly within a plurality of track assemblies (18) within a rack (11) within an environmentally-controlled environment, may receive autonomous forceful input from a carriage-mounted manipulator (79) to add, subtract, index, or transfer tray assemblies (40) within the growing environment (10).
• the template frame (41) having features for compressive or tensile input along a serial chain of the like, orients onto a pair of tracks (19) of at least one track assembly (18) with low-friction bearing surfaces that are affixed to the template frame (41).
• a tag (47) consisting of an RFID chip or optical feature, allows for tracking from an inventory management system.
• Fasteners (44) on the template frame (41) accept a frame insert (50) derivation that is pertinent to the particular CEA application of interest.
• An indexing face (49) for the forceful input and manipulation from a carriage- mounted manipulator (79) allow the autonomous handling of product.
• the frame insert (50) having mating features for orienting and affixing to the fasteners (44) on a template frame (41), may be configured for a variety of scenarios that are pertinent to the particular CEA task.
• a frame insert (50) may include a rigid frame (51) along with tensioned fabric (52) principally intended as a growing media for short, leafy or herbal produce.
• the frame insert (50) may include an electronic enclosure (73) to facilitate tasks such computation, energy generation and storage, wireless communication, controls, and sensing.
• Additional embodiments of the frame insert (50) may be configured for applications that are largely pertinent to CEA organic product, such as ornamental crops, medicinal crops, plants requiring anchoring at the base, vines, fungi, roots, simple organisms, carbohydrates, fats, and protein sources.
• the track (19) having a plurality of flats that are parallel to the horizon, facilitates linear motion by providing at least one low-friction bearing (46) on a template frame (41) to commute.
• two tracks (19) are oriented to be mirrored about a center plane perpendicular to the horizon within the rack (11) and do not provide a significant contribution to the structural integrity of the structure.
• the track (19) may be configured with multiple steps for additional mobile bodies to linearly move independently of one another, features for the confinement of mobile bodies, features for electrical or fluidic channels, or features for mounting hardware, such as bearings brackets or sensors.
• the track (19) may be configured as a track assembly (18) to achieve various functions pertinent to a specialized CEA system.
• a track assembly (18) to achieve various functions pertinent to a specialized CEA system.
• an embodiment illustrated herein contemplates an aeroponic configuration in which a flexible sheet (20) is formed and affixed to fit between a hat (16) and track (19).
• Supporting hardware such as aeroponic modules (29), a fluidic drain (27), a fluidic inlet (28), and at least two bulkheads (22) and stiffeners (23) are incorporated into said track assembly (18) embodiment.
• a low pressure fluidic system (37) may be derived consisting of a flexible sheet (20) to function as a channel for waste fluids, a fluidic drain (27) and inlet (28), and fluidic emitters (36) to deliver a chemical solution to tray assemblies (40).
• a track assembly (18) may be configured for applications relevant to the production of ornamentals crops, medicinal crops, plants requiring anchoring at the base, vines, fungi, roots, simple organisms, carbohydrates, fats, and protein sources.
• the apparatus may include peripherals to assist in regulating environmental parameters.
• a fertigation system may use a combination of pumps, solenoids, filters, chemical reservoirs, and sensors to regulate and distribute a fluid of nutritional significance throughout the growing environment (10) and more directly to tray assemblies (40).
• a light (33) can be used to provide supplemental light to living organisms, preferably through color and intensity-specified LED modules, and facilitate desirable growth on each tray assembly (40).
• Fans (30) may be included to ensure proper mixing of gasses, to improve thermal distribution, and to redirect undesired moisture away from plant canopies.
• the apparatus is confined within an environmentally-controlled enclosure and is equipped with an air quality unit for the monitoring and regulation of atmospheric parameters within the grow environment (10).
• These parameters may include the active control of relative humidity, temperature, particulate frequency and size through mechanical filtration, pathogen through UV treatment, and carbon dioxide supplementation. Contents within the enclosure are physically isolated from an outside environment and undergo a minimal number of air exchanges, thus satisfying the function as a CEA system. Enclosure embodiments may fit the form factor found in industrial warehousing, shipping containers, and greenhouses while still benefitting from the embodiment of this invention.
• Exemplary embodiments are generally pertinent to the apparatus and method of autonomous inventory management in CEA systems through the active input of one or more carriage- mounted manipulators (79).
• an automated inventory management system is described for environments relevant to the cultivation of leafy or herbal produce inside facilities that are configured over multiple layers of plants grown within tray assemblies (40).
• the manipulator (82) may navigate to a first location of interest, extend its linear extensor (87) and perform a grasping maneuverer by closing its clamps (86), forcibly push tray assemblies (40) configured within a track assembly (18), and insert said tray assembly (40) into a new respective location within a track assembly (18) within a rack (11), or processing line.
• the manipulator (82) may perform retrieval, indexing, and insertion functions to tray assemblies (40) within the growing environment (10), and may optionally operate tray assemblies (40) to or from a processing line.
• Additional embodiments contemplate a system providing last-in-first-out (LIFO) inventory management.
• LIFO last-in-first-out
• Figure 1 shows an overall apparatus of autonomous controlled environment agriculture according to the embodiment of the invention as a grow environment.
• Figure 2 shows an embodiment of the template frame.
• Figure 3 shows one embodiment of a tray assembly having a fabric frame insert.
• Figure 4 shows one embodiment of a tray assembly having a deep bin frame insert.
• Figure 5 shows one embodiment of a tray assembly having a shallow bin frame insert.
• Figure 6 shows one embodiment of a tray assembly having a net pot frame insert.
• Figure 7 shows one embodiment of a tray assembly having a sensory and actuated frame insert.
• Figure 8 shows one embodiment of a track assembly configured for high-pressure irrigation.
• Figure 9 shows one embodiment of a track assembly configured for low-pressure irrigation.
• Figure 10 shows a profile view of one embodiment of a track assembly configured for high-pressure irrigation.
• Figure 11 shows one embodiment of a rack.
• Figure 12 shows one embodiment of a rack.
• Figure 13 shows one embodiment of a rack with walkways.
• Figure 14 shows an embodiment of a carriage-mounted manipulator.
• Figure 15 shows an interaction of a carriage-mounted manipulator and a tray assembly.
• Figure 16 shows a perspective view of interlocked tray assemblies within track assemblies of a rack according to another embodiment.
• Figure 17 shows a perspective view of a frame assembly according to the embodiment of Figure 16.
• Figure 18 shows a perspective view of a tray assembly according to the embodiment of Figure 16.
• Figure 19 is a detailed view of a frame assembly positioned on a friction surface.
• Figure 20 is a perspective view of two frame assemblies coupled together.
• Figure 21 is a detailed view of frame assemblies on a rack.
• Figure 22 is a detailed view of two frame assemblies coupled together.
• Figure 23 is a perspective view of a single carriage-mounted manipulator LIFO system operating system.
• Figure 24 is a perspective view of a single carriage-mounted manipulator LIFO system operating system having racks on both sides of the manipulator.
• Figure 25 is a detailed view of a frame assembly secured by a manipulator.
• Figure 26 is a detailed view of an engagement thumb of a manipulator connected to a frame assembly coupler.
• FIG. 1 One embodiment of the present invention, as depicted in Figure 1, comprises a carriage- mounted manipulator (79), consisting of a carriage (80) which is further shown in an embodiment in Figure 14 and 15, and a manipulator (82) which is further shown in preferred embodiments in Figure.
• FIG. 1 Further detail of the embodiment consists of a rack (11) which is further shown in an embodiment in Figures 1, 11, 12, and 13, a track assembly (18) which are further shown in an embodiments in Figures 1, 8, 9 and 10, and tray assembly (40) comprising of a template frame (41) and frame insert (50), assuming a variety of utilities and embodiments demonstrated in Figures 3, 4, 5, 6, and 7, such as housing plant grow media for the cultivation of produce, a bin for retaining organic material, or a wireless sensory and actuation hub.
• rack (11) which is further shown in an embodiment in Figures 1, 11, 12, and 13, a track assembly (18) which are further shown in an embodiments in Figures 1, 8, 9 and 10, and tray assembly (40) comprising of a template frame (41) and frame insert (50), assuming a variety of utilities and embodiments demonstrated in Figures 3, 4, 5, 6, and 7, such as housing plant grow media for the cultivation of produce, a bin for retaining organic material, or a wireless sensory and actuation hub.
• the manipulator (82) may push or pull a tray assembly (40) through the forceful contact, or alternatively retrieve said tray assembly (40) through a multitude of grasping techniques, such as through the use of a clamp (86) directly to at least two wheels (46) mounted to the template frame (41).
• Tags (47) on a rack (11) and the tray assembly (40) may assist the manipulator (82) and carriage (80) in localization and may also serve the function of tracking.
• an antagonistic manipulator (82) may retrieve a tray assembly (40) to provide linear clearance along the track assembly (18).
• a multitude of tray assembly (40) and track assembly (18) derivations may be incorporated into a rack (11), offering sensory, sterilization, and actuation resources in addition to methods and apparatuses for the cultivation of produce.
• the rack (11) is configured to provide attachment sites to the track assembly (18), linear guides (83 and 84) for the carriage (80), and horticultural lights (33).
• the track assembly (18) bears directly onto the rack runner (12), where load may be transmitted through the rack verticals (13), distributed through the foot pads (14) and onto a sturdy floor.
• the rack (11) in Figures 1, 11-13 describe track assemblies (18) at six levels high, the rack (11) may conceivably be any number of track assemblies (18) wide, at any length, at any number of layers high.
• the linear guides (83 and 84) may be extended across at heights that are unobtrusive for a human to navigate around.
• Brackets (15) are used to provide stiffness to the rack (11) shown in FIG. 1, 11-13. Plumbing for drains (27) and pressurized lines may be routed within the proximity of the rack verticals (13).
• the carriage-manipulator (79) shown in Figure 1, 14, and 15 may freely navigate along the width of the rack (11) while still having access to the tray assemblies (40) derived in Figures 2-7.
• the carriage (80), shown in Figures 1, 14, and 15, provides vertical linear motion via its linear guides (98) and drive motor (91).
• Other forms of linear actuation such as friction roller, lead screw, scissor mechanism, or fluidic actuator may also be suitable.
• the carriage vertical (97) provides structure to the overall integrity of the carriage (80) shown in Figure 1, 14, and 15. Bearings may be tensioned to fit securely onto the linear guides (98).
• the carriage (80) may store electronics, hyperspectral cameras, or sensors for querying the tray assembly (40).
• the motor (90) controlling motion along the linear guides (83 and 84) may be housed remote of the carriage (80) in Figures 1, 14, and 15.
• the manipulator (82), shown in Figures 1, 14, and 15, is intended to manipulate the tray assembly (40), shown in Figures 3-7, through a mode of actuation.
• the stiffeners (42 and 43) are bonded together with brackets (48). Bearings provide controlled linear motion about the linear extensor (87).
• a motor (92) provides power to the linear extensor (87).
• the linear extension function could be accomplished through fluidic actuation, a lead screw, linkage, or magnetic suspension.
• the linear extensor (87) is oriented directly over the top surface of the template frame.
• the manipulator (82) shown in Figures 15 is oriented in front of a cutout feature of the track assembly (18), and extended through the actuation input of the motor (92).
• the indexing face (49) comes into contact with the indexing face (49) of another template frame (41), and continues to exert force until the template frames (41) within the track assembly (18) have indexed one full template frame (41) width.
• the track assembly (18) resides within the rack (11) expressed in Figures 11-13, and houses template frames (41) and plumbing.
• the track (19) bears features for securing template frames (41) and mitigating risk for buckling.
• the track (19) has a two-sided feature to allow for the manipulator (82), in Figures 1, 14, and 15, to access the template frames (41).
• the track assembly (18) bears a flange feature for bearing onto rack runner (12), and a small pitch to motivate water drainage towards its center.
• An overflow drain (56) assures no risk for water to flood the track assembly (18) in Figure 9, whereas a drain (57) provides a smaller orifice for water to fully evacuate the tray assembly (40).
• the bulkhead (22) retains water, and bears a cutout feature for the manipulator (82) to engage the template frame (41).
• the template frame (41) in one embodiment is compatible with features demonstrated on the manipulator (82) in Figures 14 and 15, and also the track assembly (18) of Figures 8-10.
• the template frame (41) comprises a tag (47), which may be but is not limited to RFID, or a binary matrix. Grasping features, such as a flange for a forklift approach, features for vacuum holding, latches, or keys may also be considered. Low-friction bearings (46) nest within the track (19), permitting motion along its length.
• a template frame (41) serves as a surface for mounting farm peripherals, such materials for cultivating product ( Figures 3-6), materials for sensing the environment, or materials for actuation ( Figure 7).
• FIG. 3-6 Other contemplated embodiments, as shown in Figures 3-6, of the frame insert (50) comprise of features such as a deep bin (54) or shallow bin (55) to retain organic matter.
• a lid (53) may be included to regulate environment within the deep bin (54).
• Fasteners (44) hold the template frame (41) to the frame insert (50).
• FIG. 7 Other contemplated embodiments of the template frame (41) comprise features such as solar panels (72) that may provide power to be stored in a battery.
• an electronics enclosure (73) may store power generated from a solar panel (72) and perform sensory and control tasks through the locomotion along a track assembly (18).
• Wheels (60) may be deployed through active actuation from the assistance of motors (67).
• a linkage (61) system allows for the height of the template frame (41) to be adjusted.
• An antenna (74) facilitates wireless communication to a central hub.
• a camera (71) provides data in the visible, infrared, or ultraviolet spectra.
• FIG. 1-15 While the embodiments shown in Figures 1-15 allow for first-in-first-out (FIFO) inventory management, other embodiments, shown in Figures 16-26, allow for last-in-first-out (LIFO) inventory management of tray assemblies 140 each having a frame assembly 141.
• the inventory management is FIFO because the system includes a pair of coordinated carriage mounted manipulators 82 wherein the first manipulator 82 manipulator which can then unload a the tray assembly 40 from the lane that had been in the lane the longest.
• FIG. 16-26 The embodiments of Figures 16-26 are capable of LIFO without the use of a gravity conveyor because a single manipulator 182 is capable of pulling the last loaded tray assembly 140 off of a lane 200, and in doing so indexes each tray assembly 140 one step rearwards towards the manipulator 182.
• a single manipulator 182 mounted on a carriage 180 is used which provides the same amount of productivity as the above-described embodiments utilizing two manipulators 82 while removing the need to coordinate movements of two manipulators 82. This allows for more consistent grasps by the manipulator 182 and requires fewer movements to access a frame assembly 141.
• a friction based staging area may also be provided.
• frame assemblies 141 are slidable forwardly and rearwardly in long track assemblies 118 along a forward and rearward direction of travel within a plurality of horizontal lanes 200 arranged in a plurality of vertical columns 202 in rack 111.
• each frame assembly 141 includes stiffeners 142 and low-friction bearings 146 rollable on tracks 119 of a track assembly 118 to move the frame assembly 141 in the forward and rearward direction of travel X.
• frame assembly 141 is configured to move on a track assembly 118 that is secured to rack 111.
• Frame assembly 141 bears directly onto a friction surface 220 incorporated into the track assembly 118.
• the friction surface 220 exerts countering forces overcome linear motion that is normally facilitated by the low-friction bearing 146 on the track 119.
• the static forces produced by the friction surface facilitate the precise positioning of the frame assembly 141 when being placed and retrieved by a carriage-mounted manipulator 182.
• a guard 222 prevent linear displacement of the frame assemblies 141.
• tracks 119 may include wheels 204 on which the frame assemblies 141 slide upon.
• Each frame assembly 141 in each horizontal lane 200 is configured to couple to an adjacent frame assembly 141.
• Each frame assembly 141 has at least one coupler 206, 208 on the forward and rearward ends 210, 212 of the tray assembly.
• the at least one coupler 206 on the forward end 210 are first and second forward couplers 206
• the at least one coupler 208 on the rearward end 112 are first and second rearward couplers 208.
• first and second forward couplers 206 and the first and second rearward couplers 208 are a pair of spaced hook shaped components 214 each having a first proximal portion 216 substantially perpendicular to the respective end 210, 212 of the frame assembly 141 and substantially parallel to the direction of travel X, and a distal portion 218 substantially perpendicular to the forward and rearward direction of travel X and parallel to the corresponding end 212, 214 of the frame assembly 141.
• Each pair of the first and second forward couplers 206 on a frame assembly 141 is configured to couple with the first and second rearward couplers 208 of an adjacent frame assembly 141 in the forward direction of travel.
• each first and second forward couplers 206 extends in the opposite direction to the second distal portions 218 of the first and second rearward couplers 208 of an adjacent tray assembly such that each frame assembly 141 is rotationally symmetrical about an axis normal to the width and length frame assembly plane.
• This rotational symmetry allows for bidirectional operation of the manipulator 182 and allows for frame assemblies 141 to be placed anywhere without the need to rotate the frame assembly 141.
• Other forms of couplers and arrangements are acceptable.
• having multiple coupling features having a positive engagement latch or drop pin, as commonly found in gates and train cars; dropping a tray assembly onto a hitch; powerful magnets; engagement of a cam or key feature; fastening and unfastening with screws; no coupler, instead a gravity flow rack and a sufficiently powerful manipulator to overcome increased indexing loads.
• the manipulator would then be configured to correspond to the coupler to allow for coupling and decoupling.
• the couplers 206, 208 may be integral with the frame assembly 141 of each tray assembly 140 material and be made from a corrosion-resistant cast low carbon steel, aluminum, or stainless steel. They may also be made from aluminum extrusions, formed heavy gauge steel, aluminum, or stainless sheets, formed stainless wire, or subtractively or additively manufactured metal. The couplers 206, 208 may also be attached to stiffeners 142 of the frame assembly 141. [0060] The forward and rearward couplers 206, 208 are the features that the manipulator 182 uses to couple, push, and pull the frame assemblies 141.
• the carriage-mounted manipulator 182 positions itself spatially to a plus or minus tolerance from nominal, it is best for the first and second forward and rearward couplers 206, 208 to be oversized in accordance with tolerances expected from the carriage-mounted manipulator 182. This ensures that a manipulator 182 positioned“slightly off” can still couple to a coupler 206, 208 without the need for sophisticated actuation or sensing. Because the coupler 206, 208 is oversized in this way, there exists a small (about 0.25”) amount of linear play from one coupler 206, 208 engaged to another.
• a first frame assembly 141a being added to a lane 200 is coupled to second frame assembly 141b on the lane 200 as follows:
• the carriage-mounted manipulator 182 engages to the first frame assembly 141a and positions the first and second forward couplers 206 on the first frame assembly 141a above the first and second rearward couplers 208 of the second frame assembly 141b.
• Manipulator 182 lowers the first frame assembly 141a (for example, a few inches) such that the first and second forward couplers 206 on the first frame assembly 141a slide into the first and second rearward couplers 208 of the second frame assembly 141b.
• the first frame assembly 141a is now coupled to the second frame assembly 141b in the direction of travel X of the lane 200 with the couplers 206 and 208 being coplananr a configured to transmit force in the direction of travel X.
• the manipulator 182 may push the first frame assembly 141a towards the second frame assembly 141b and index the series of interconnected frame assemblies 141a, 141b one index.
• Manipulator 182 disengages from the first frame assembly 141a.
• a first frame assembly 141a is decoupled from a second frame assembly 141b on the lane as follows: [0068] 1.
• Manipulator 182 engages to the first frame assembly 141a.
• Manipulator 182 pulls the first frame assembly 141a, subsequent frame assemblies 141 are pulled towards the manipulator 182 one index. The first frame assembly 141a is now secured by the manipulator 182.
• Manipulator 182 raises the first frame assembly 141a (for example, a few inches) such that the first and second forward couplers 206 of the first frame assembly 141a slide from the first and second rearward couplers 208 of the second frame assembly 141b.
• an engagement thumb 224 having projections 230 for connecting to a coupler 208 on a frame assembly 141 fixedly connects to a parallel-driven belts 226.
• Pulleys 228 driven clockwise or anticlockwise, are used to provide transmission to the belts 226, which power and guide linear motion of the engagement thumb 224 in the direction of travel X as dictated by the track assembly 118.
• Bi-directional motion of the engagement thumb 224 is possible, allowing for manipulation paradigms to both available sides of the manipulator 182.
• the carriage-mounted manipulator 182 is fixed near the frame assembly 141 with the engagement thumb 224 positioned below the coupler 208 to be manipulated.
• the pulleys 228 provide power to the belts 226, which motions vertical movement of the engagement thumb 224 to slide into the coupler 206 and engage.
• the pulleys 228 continue to drive as the motion of the engagement thumb 224 transitions from vertical movement to horizontal, pulling the first-out frame assembly 141b and all subsequently coupled frame assemblies 141 along the same track assembly 118 a distance of one index.
• the manipulator 182 moves vertically to disengage the coupler 208 of the secured frame assembly 141 from the newly positioned first-out frame assembly 141a, if present.
• the carriage-mounted manipulator 182 is positioned near the track assembly 118 of interest. As is shown in Figure 25, the manipulator 182 is oriented vertically to engage the coupler 208 of the secured frame assembly 141a to the coupler 206 of the first- in frame assembly 141b within a track assembly 118.
• the engagement thumb 224 in contact to the coupler 208 of the secured frame assembly 141a in the direction of the first-in frame assembly 141b, is powered through the input of the pulley 228 and belt 226 drive system. Compressive force is exerted from the engagement thumb 224 and through the secured frame assembly 141a, causing motion of the secured frame assembly towards the rack 111.
• a guide 232 is used to center the frame assembly 141b during ingress, and guards 222 are used to center the frame assembly 141b along the length of the track assembly 118. Subsequent frame assemblies 141 within the track assembly 118, if present, move one full index. The manipulator 182 disengages its engagement thumb 224 from the newly-positioned first-out frame assembly 141, and the motion is complete.
• the embodiment of Figures 16-24 may also use identifying tags 147 such as an RFID chip or optical feature allowing for tracking from an inventory management system
• a lane 200 containing frame assemblies 141 may be completely emptied by a single manipulator 182, easing manual functions around cleaning and inspecting farm equipment. It is to be understood that the disclosed embodiments are not limited to the farming industry but may be utilized in other autonomous material handling industries such as food and fulfillment operations.

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• Life Sciences & Earth Sciences (AREA)
• Environmental Sciences (AREA)
• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Physics & Mathematics (AREA)
• Mathematical Physics (AREA)
• Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

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• 2019
  • 2019-12-02 WO PCT/US2019/063928 patent/WO2020113203A1/en unknown
  • 2019-12-02 CA CA3121490A patent/CA3121490A1/en active Pending
  • 2019-12-02 EP EP19889342.2A patent/EP3887289A4/de active Pending

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