EP4622444A1

EP4622444A1 - Vertical farming system

Info

Publication number: EP4622444A1
Application number: EP23800453.5A
Authority: EP
Inventors: Trond Austrheim; Ivar Fjeldheim
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2022-11-24
Filing date: 2023-11-02
Publication date: 2025-10-01
Also published as: NO20221266A1; CN120265125A; TW202430024A; NO347966B1; WO2024110162A1; JP2025539817A; KR20250112826A

Abstract

The present invention provides a farming system (2) comprising a framework structure (100), for accommodating growth frames (3), and a growth frame lifter (20), wherein: the framework structure (100) comprises vertical column profiles (102) defining a plurality of columns (105) in which growth frames (3) are stored one on top of another in vertical stacks, each of the columns being defined by four of the column profiles (102); the growth frame lifter is configured to move in two perpendicular horizontal directions above the columns (105) and comprises a vertically moveable lifting frame (22) for releasable attachment to an upper section of a growth frame (3), such that a growth frame (3) may be retrieved from or added to a stack of growth frames; each of the growth frames comprises a root section (4) and a produce section (5) separated by a cultivation board (6); wherein a nozzle panel (7) is arranged at one side of each column (105) of a row of columns, each of the nozzle panels features a plurality of nozzles (8) facing the root sections (4) of a stack of growth frames in the corresponding column; and the root sections (4) of the stack of growth frames and the nozzle panel (7) form a root chamber (9) to which water may be provided via the nozzles (8).

Description

Vertical farming system

Field of the invention

The present invention relates to a vertical farming system, a growth frame for use in the vertical farming system and a method of obtaining a root chamber in a vertical farming system.

Background and prior art

Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.

The framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107. The members 102 may typically be made of metal, e.g. extruded aluminium profiles.

The framework structure 100 of the automated storage and retrieval system 1 comprises a horizontal grid-based rail system 108 (i.e. a rail grid) arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105. The rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X. Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108. The container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.

The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self- supporting.

Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c which enable the lateral movement of the container handling vehicles 201,301,401 iⁿ the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible. The first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails, and the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails. At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.

Each prior art container handling vehicle 201,301,401 also comprises a lift device 404, see Fig. 4, for vertical transportation of storage containers 106 (i.e. a container lift device), e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lift device 404 features a lifting frame 404d comprising container connectors 404b and guiding pins 404c adapted to engage a storage container 106. The lifting frame 404d can be lowered from the vehicle 201,301,401 so that the position of the lifting frame 404d with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction Y and the second direction X. The lifting device of the container handling vehicle 201 is located within the vehicle body 201a in Fig. 2.

To raise or lower the lifting frame 404d (and optionally a connected storage container 106), the lifting frame 404d is suspended from a band drive assembly by lifting bands 404a. In the band drive assembly, the lifting bands are commonly spooled on/off at least one rotating lifting shaft or reel arranged in the container handling vehicle. Various designs of band drive assemblies are described in for instance WO 2015/193278 Al, WO 2017/129384 Al and WO 2019/206438 Al.

Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=l ...n and Y=Y ..n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system A, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position A=17, Y=l, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=0.

The storage volume of the framework structure 100 has often been referred to as a grid, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and F-direction, while each storage cell may be identified by a container number in the X-, K- and Z- direction.

Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108. The storage space may comprise a cavity arranged internally within the vehicle body 201a,401a as shown in Figs. 2 and 4 and as described in e.g. WO2015/193278A1 and WO20 19/206487 Al, the contents of which are incorporated herein by reference.

Fig. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

The cavity container handling vehicle 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

Alternatively, the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or WO2019/206487A1.

The lateral area defined by a storage column is equal to the lateral area defined by a grid cell 122 of the rail system 108. The lateral area of a grid cell includes the area of the access opening 112 and half the width of the rails at the periphery of the access opening.

The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.

WO2018/146304A1, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and K directions. In the framework structure 100, a majority of the columns 105 are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In Fig. 1, columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical. For example, the storage containers 106 may be placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station. The transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

In Fig. 1, the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station, and the second port column 120 may be a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.

The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106. In a picking or a stocking station, the storage containers 106 are normally not removed from the automated storage and retrieval system 1 but are returned into the framework structure 100 again once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.

If the port columns 119,120 and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station. The conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.

When a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119. This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lift device 404, and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e. with one or a plurality of other storage containers 106 positioned above the target storage container 106, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.

Alternatively, or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

When a storage container 106 is to be stored in one of the columns 105, one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, the container handling vehicle 201,301,401 positions the storage container 106 at the desired position. The removed storage containers 106 may then be lowered back into the storage column 105 or relocated to other storage columns 105.

For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.

Vertical farming using cube storage systems are known. One example of such vertical farming systems is described in EP 3326452 Al where bins with plants/crops are arranged in stacks, and where individual bins may be removed or inserted by a load handling device operating on rails on top of a storage grid. The prior art system also includes an illumination system comprising a controller and lighting device arranged above each bin. The controller may control the spectrum of emitted light. A similar prior art system with stacked bins is disclosed in EP 3282830 Al.

WO 2019/109006 Al discloses a vertical farming system having growth frames featuring two cultivation boards for growing plants/crops. The root side of the cultivation boards share a common root chamber. The growth frames are complex and comprise e.g. an internal fluidics system and external LED lighting.

For vertical farming, a system with stacks 107 of bins 106 is technically challenging since plants arranged within each bin 106 require both light and water to survive. Furthermore, due to the compactness of the stacks 107, any maintenance of equipment related to the illuminations and/or irrigations may prove difficult.

An objective of the present invention is therefore to provide a vertical farming system which allows easy access and treatment of plants/crops in individual growth frames, as well as simplified maintenance of equipment related to illumination and/or irrigation.

Yet another objective is to provide a simple and cost-efficient growth frame for plants/crops.

Summary of the invention

The present invention is defined in the attached claims and in the following:

In a first aspect, the present invention provides a farming system comprising a framework structure for accommodating growth frames and a growth frame lifter, wherein: the framework structure comprises vertical column profiles defining a plurality of columns in which growth frames are stored one on top of another in vertical stacks, each of the columns being defined by four of the column profiles; the growth frame lifter is configured to move in two perpendicular horizontal directions above the columns and comprises a vertically moveable lifting frame for releasable attachment to an upper section of a growth frame, such that a growth frame may be retrieved from or added to a stack of growth frames; each of the growth frames comprises a root section and a produce section separated by a cultivation board; wherein a nozzle panel is arranged at one side of each column of a row of columns, each of the nozzle panels features a plurality of nozzles facing the root sections of a stack of growth frames in the corresponding column; and the root sections of the stack of growth frames and the nozzle panel form a root chamber to which water may be provided via the nozzles.

The farming system may also be termed a vertical farming system.

In an embodiment of the farming system, the cultivation board may be vertical. The cultivation board may be inclined by up to 15 degrees with respect to the vertical.

Each nozzle panel may have a height substantially equal to the height of the vertical column profiles. Each nozzle panel may have a height at least equal to the height of two growth frames stacked one on top of another, preferably a height of at least three or at least four growth frames stacked one on top of another.

The width of each nozzle panel may be equal to, or larger than, the width of the root section of a growth frame. Each of the nozzle panels may close off the side of the column at which it is arranged.

In an embodiment of the farming system, each growth frame may comprise opposed vertical side portions, of which parts of the side portions extend on opposed sides of the root section. The part extending on opposed sides of the root section may alternatively be termed root parts.

In other words, parts of the vertical side portions may be arranged to delimit or define two opposite sides of the root section. The parts extending on two opposite sides of the root section may extend from the cultivation board to the corresponding nozzle panel and/or the column profiles at which the nozzle panel is arranged.

In an embodiment of the farming system, each of the vertical side portions features an edge being adjacent to a corresponding column profile, when arranged in a column defined by the corresponding column profile. In an embodiment of the farming system, each of the vertical side portions of a first growth frame comprises an upper edge arranged to support a lower edge of each of the vertical side portions of a second growth frame stacked on top of the first growth frame.

In an embodiment of the farming system, at last one of the growth frames, or each growth frame, may comprise a horizontally extending frame portion, the frame portion may be arranged above the root section. The frame portion may be a substantially horizontal or lateral plate element. In other words, the frame portion may extend in a horizontal direction from the cultivation board towards the nozzle panel.

In an embodiment of the farming system, at least an upper growth frame of a stack of growth frames comprise a horizontally extending frame portion, the frame portion may be arranged above the root section. The frame portion may be a substantially horizontal or lateral plate element. In other words, the frame portion may extend in a horizontal direction from the cultivation board towards the nozzle panel.

In an embodiment of the farming system, the root section of each growth frame may be delimited and/or defined by horizontal frame portion arranged above the root section

In an embodiment of the farming system, the horizontally extending frame portion may be a cantilevered extension of the cultivation board. The horizontally extending frame portion may extend from the cultivation board and above the root section. When a growth frame is arranged in a column, the horizontally extending frame portion may extend from the vertical cultivation board towards the nozzle panel arranged at one side of the column. The horizontally extending frame portion may be a horizontal plate element. The horizontally extending frame portion may extend a length being substantially equal to the distance between the cultivation board of a growth frame arranged in a column and the nozzle plate at one side of the column.

In an embodiment of the farming system, the root chamber may be divided into root chamber sections by the horizontally extending frame portions. In this manner, an upper part of the root chamber is closed off by a horizontal frame portion independent of the number of growth frames in a stack.

The nozzle panel may comprise at least one nozzle for each of the root chamber sections. In other words, the root chamber sections may be separated by the horizontally extending frame portions. In other words, the root chamber in a column is divided into root chamber sections by the horizontally extending frame portions of the growth frames being stacked in the column.

In an embodiment of the farming system, the horizontally extending frame portion may comprise a drainage hole allowing excess water in the growth chamber sections to drain towards the bottom of the stack of growth frames, i.e. to the bottom of the root chamber.

In other words, the drainage hole allows water in a growth chamber section to drain into a growth chamber section below. In an embodiment of the storage system, an uppermost growth frame may comprise a horizontally extending frame portion without a drainage hole while the growth frames stacked below the uppermost growth frame comprise a drainage hole.

In an embodiment of the farming system, at least an upper growth frame in a stack of growth frames may comprise a horizontally extending frame portion.

In an embodiment of the farming system, each of the nozzle panels may extend between two column profiles that define the corresponding column at which the nozzle panel is arranged. In other words, each of the nozzle panels may extend between two of the four column profiles that define the corresponding column at which the nozzle panel is arranged.

Each of the nozzle panels may be connected to the two column profiles between which it is arranged. The connection may be waterproof to prevent water from exiting between an edge of the nozzle panel and the column profiles.

In an embodiment of the farming system, the nozzles are flush with an inner surface of the nozzle panel, i.e. flush with a surface of the nozzle panel facing the growth chamber.

In an embodiment, the farming system may comprise illumination devices arranged to provide light to the produce sections.

In an embodiment of the farming system, at least one illumination device may be arranged at a side of each column of the row of columns having nozzle panels, the side being opposite the corresponding nozzle panel, the at least one illumination device faces the produce sections of the stack of growth frames in the corresponding column.

In an embodiment of the farming system, a lighting frame may be arranged at a side of each column of the row of columns having nozzle panels, the side being opposite the corresponding nozzle panel, the lighting frame may feature at least one of the illumination devices facing the produce sections of the stack of growth frames in the corresponding column.

In an embodiment of the farming system, each of the lighting frames may extend between two column profiles that define the corresponding column at which the lighting frame is arranged. In other words, each of the lighting frames may extend between two of the four column profiles that define the corresponding column at which the lighting frame is arranged.

In an embodiment of the farming system, the framework structure may comprise a rail system arranged above the columns, the rail system featuring a first set of parallel rails and a second set of parallel rails forming a rail grid, and the growth frame lifter comprises a wheel assembly configured for moving the growth frame lifter along any of the first set of parallel rails and the second set of parallel rails, the wheel assembly comprising at least four wheels.

In an embodiment of the farming system, each column profile may have a crosssection comprising a hollow centre section and at least two corner sections, each corner section comprises two perpendicular growth frame guides for accommodating a corner of a growth frame.

In an embodiment of the farming system, each nozzle panel may have a width allowing the nozzle panel to be arranged between two centre sections of adjacent column profiles.

In an embodiment of the farming system a nozzle panel is arranged at one side of each column of a first row of columns and a second row of columns, the first and second row of columns being parallel and separated by a third row of columns in which growth frames are not accommodated. Each column of the third row of columns may have a lighting frame arranged at two opposite sides thereof, the lighting frames providing light to the produce sections of the growth frames stacked in the first and second row of columns.

In an embodiment of the farming system, the cultivation board of each growth frame may comprise a plurality of holes or recesses for accommodating growth pucks or net pots in which plants may be cultivated. The holes/recesses extend through the cultivation board between the root section and the produce section.

In an embodiment, the farming system may comprise an access station at which a growth frame may be presented for control, processing and or harvesting of produce. The access station may be arranged to allow access to a growth frame by a human or robotic operator. In an embodiment, the farming system may comprise a column through which a growth frame may be transported to or from the access station. The column may be termed a port column.

In a second aspect, the present invention provides a growth frame for use in a farming system according to any embodiment of the first aspect. The growth frame comprises a support frame and a cultivation board separating a root section and a produce section of the growth frame, the support frame comprising two vertical side portions between which the cultivation board is mounted, the vertical side portions extending on opposite sides of the root section and the produce section. The two vertical side portions arranged in respective vertical planes being perpendicular to a vertical plane in which the cultivation board is arranged.

In an embodiment of the growth frame, a part of the vertical side portions may extend on opposite sides of the root section to provide a vertical liquid barrier at the opposite sides of the root section.

In an embodiment of the growth frame, each of the vertical side portions may comprise an upper edge and a lower edge. The upper edge and lower edge being configured such that the upper edge of a first growth frame may support the lower edge of a second growth frame stacked on top of the first growth frame.

The upper edge of the vertical side portions, or an upper edge of the support frame, may comprise connecting recesses for releasable connection to a lifting frame.

The vertical side portions extending on opposite sides of the root section of a first growth frame may extend vertically such that the upper edge of the vertical side portions will interact with the lower edge of the vertical side portions extending on opposite sides of the root section of a second growth frame stacked on top of the first growth frame.

In an embodiment of the growth frame, a part of the vertical side portions extending on opposite sides of the produce section comprises an opening allowing free passage of air through the produce section. The opening may constitute more than 50%, more than 60% or more than 70% of the sides defined by the vertical side portions extending on opposite sides of the produce section.

In an embodiment, the growth frame may comprise a plate element extending horizontally above the root section. The plate element may feature a drainage hole. The plate element may be an integral part of the support frame or the cultivation board.

In an embodiment, the growth frames may be cuboid-shaped or rectangular cuboidshaped.

In an embodiment of the growth frame, the cultivation board may comprise a plurality of holes for accommodating growth pucks or net pots in which plants may be cultivated. The holes extend through the cultivation board between the root section and the produce section.

In a third aspect, the present invention provides a framework structure for a farming system according to any embodiment of the first aspect, wherein: the framework structure comprises vertical column profiles defining a plurality of columns in which growth frames may be stored one on top of another in vertical stacks, each of the columns being defined by four vertically extending column profiles; and a nozzle panel is arranged at one side of each column of a row of columns, each of the nozzle panels comprising a plurality of nozzles facing an internal space of the corresponding column.

In an embodiment, the framework structure comprises a lighting frame arranged at a side of each column of the row of columns having nozzle panels, the side being opposite the corresponding nozzle panel, the lighting frame features at least one illumination devices facing the internal space of the corresponding column.

In an embodiment, the framework structure may comprise a rail system arranged above the columns, the rail system featuring a first set of parallel rails and a second set of parallel rails forming a rail grid.

The framework structure according to the third aspect may comprise any of the features of the framework structure of the farming system according to the first aspect.

In a fourth aspect, the present invention provides a method of providing a root chamber in a farming system comprising a framework structure and a growth frame lifter, the framework structure comprises vertical column profiles defining a plurality of columns in which growth frames are stored one on top of another in vertical stacks, each of the columns being defined by four vertically extending column profiles; the growth frame lifter is configured to move in two perpendicular horizontal directions above the columns and comprises a vertically moveable lifting frame for releasable attachment to an upper section of a growth frame, such that the growth frame may be retrieved from or added to a stack of growth frames; each of the growth frames comprises a root section and a produce section separated by a cultivation board; wherein a nozzle panel is arranged at one side of each column of a row of columns, each of the nozzle panels features a plurality of nozzles facing the root sections of a stack of growth frames in the corresponding column; and the method comprises the steps of lowering a plurality of growth frames (one by one) into a column by use of the growth frame lifter; and obtaining a root chamber defined by the root sections of the growth frames and the corresponding nozzle panel.

The method according to the fourth aspect may comprise any of the features of the embodiments of the farming system according to the first aspect, the growth frame according to the second aspect or the framework structure according to the third aspect.

The term produce is to be interpreted broadly to include any plant species or crop suitable for hydroponic cultivation systems using a growing medium, such as mushrooms, herbs, medicinal plants, ornamental and general crops/plants, etc.

Brief description of the drawings

Embodiments of the present invention are described in detail by way of example only and with reference to the following drawings:

Fig. l is a perspective view of a framework structure of a prior art automated storage and retrieval system. Fig. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

Fig. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.

Fig. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.

Figs. 5-8 are perspective side views of an exemplary farming system according to the invention.

Figs. 9-11 are perspective view of an exemplary growth frame for use in the farming system in figs. 5-8.

Figs. 12-15 are perspective top views of the farming system in figs. 5-8.

Figs. 16-19 are various views showing details of the farming system in figs. 5-8.

Detailed description of the invention

In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

The present invention is an automated farming system for cultivating crops/biological species such as plants. An exemplary embodiment of the inventive farming system and various features thereof are shown in figs. 5-19.

The farming system 2 comprises a framework structure 100, a plurality of growth frames 3 and a growth frame lifter 20, see figs. 5-8.

The framework structure 100 comprises vertical column profiles 102 defining a plurality of columns 105 in which the growth frames 3 may be stored one on top of another in vertical stacks. Each of the columns is defined by four of the column profiles 102. A rail system 108 is arranged above the columns 105. The rail system has a first set of parallel rails 110 and a second set of parallel rails 111 forming a rail grid on which the growth frame lifter 20 may move in two horizontal perpendicular directions. The growth frame lifter 20 has a vertically moveable lifting frame 22 for releasable attachment to an upper section of the growth frames 3, such that growth frames 3 may be retrieved from or added to a stack of growth frames 3, see fig. 14. In the exemplary farming system 2, the growth frame lifter 20 is a vehicle comprising a wheel assembly configured for moving the growth frame lifter along any of the first set of parallel rails 110 and the second set of parallel rails 111. The wheel assembly comprises two sets of wheels, each set of wheels having four wheels 21.

The wheel assembly of the exemplary growth frame lifter 20 is similar to the wheel assemblies of the prior art vehicles 201,301,401 described in the background section. In other embodiments, the growth frame lifter 20 may alternatively be moved by any other suitable means, such as by being part of a gantry type lift arranged above the columns 105. In embodiments wherein the growth frame lifter 20 is moved without use of wheels, the framework structure is not required to have a rail system 108 arranged on top of the column profiles 102.

Details of an exemplary growth frame 3 is shown in figs. 9-11. The growth frame 3 is shaped as a rectangular cuboid and comprises a support frame 15 and a cultivation board 6. The cultivation board 6 separates a root section 4 and a produce section 5 of the growth frame 3. The cultivation board features a plurality of holes 27 for accommodating growth pucks or net pots 32, see fig. 7, in which plants 28 may be cultivated. Growth pucks and net pots are known in the field of hydroponics and vertical farming, see e.g. WO 2019/109006 Al. The support frame 15 comprises two vertical side portions 10 between which the cultivation board 6 is mounted. The vertical side portions are interconnected by crossbars 26 and extend on opposite sides of the root section 4 and the produce section 5. Each of the vertical side portions 10 features an internal side having a track 29 in which track the cultivation board 6 is inserted or fastened. Alternative growth frames 3 may comprise a plurality of tracks 29 such that the distance between the cultivation board 6 and an illumination device 13, see below, may be changed if required. The vertical side portions extend vertically such that an upper edge 30 of the vertical side portions 10 will interact with a lower edge 31 of vertical side portions of a second growth frame 3 when two growth frames 3 are stacked on top of one another. The cultivation board 6 of the illustrated embodiment is vertical. However, in alternative embodiments, the cultivation board 6 may be slightly inclined by up to 15 degrees with respect to the vertical.

A part 10a (may also be termed a root part) of the vertical side portions 10 extends on opposite sides of the root section 4 to provide a vertical liquid barrier at opposite sides of the root section.4. A part 10b (may also be termed a produce part) of the vertical side portions 10 extending on opposite sides of the produce section 5 has an opening 17 allowing free passage of air through the produce section 5 providing ventilation. Each of the vertical side portions 10 features an edge 19 being adjacent to a corresponding column profile 102 when the growth frame 3 is arranged in a column 105. The edge 19 is arranged close to the corresponding column profile 102 but will commonly leave a small gap 33 between them. In alternative embodiments, the edge 19 may e.g. comprise a brush seal to close off the gap if required.

The cultivation board 6 further comprises a substantially horizontal plate element (i.e. horizontally extending frame portion) 11 extending above the root section 4, the plate element 11 features a drainage hole 12. In other embodiments, the horizontal plate element may be a separate element or be a part of the support frame 15.

To allow the growth frame 3 to be lifted by the growth frame lifter 20, the upper edge 30 of the support frame 15 comprises connecting recesses 16 by which the lifting frame 22 may be releasably attached. The lifting frame 22 is similar to the prior art lifting frame 404d described in the background section above and the connecting recesses 16 may be releasably connectable to corresponding connectors 404b as shown in fig. 4.

A nozzle panel 7 is arranged at one side of each column 105 in which growth frames are to be stacked. Each of the nozzle panels 7 features a plurality of nozzles 8, as well as pipes 18 for providing water to the nozzles 8. The nozzles are arranged to face the root sections 4 of a stack of growth frames 3 in the corresponding column. In this manner, the root sections 4 of the stack of growth frames and the nozzle panel 7 form a root chamber 9 to which water may be provided via the nozzles 8. The parts 10a of the vertical side portions 10 extending on opposite sides of the root sections 4 of a stack of growth frames 3 provide vertical walls of the root chamber 9.

In the exemplary farming system, each column profile 102 has a cross-section comprising a hollow centre section 23 and at least two corner sections 24, see figs. 16-19, each corner section 24 comprises two perpendicular growth frame guides 25 for accommodating a corner of a growth frame 3. In the illustrated embodiment, the growth frame guides 25 are in the shape of plates, webs or flanges. Each nozzle panel 7 has a width allowing the nozzle panel 7 to be arranged between two centre sections 23 of adjacent column profiles 102 without crossing a plane D of an adjacent growth frame guide 25, such that the nozzle panel 7 may be connected to a column profile without interfering with a growth frame 3 whose corner is accommodated in a corner section 24 comprising the adjacent growth frame guides 25. In the illustrated embodiment, the nozzles 8 are substantially flush with an inner surface of the nozzle panel 7 such that the plate element 11 may be in close proximity to the nozzle panel without being hindered by the nozzles 8 during vertical movement into or out of the column. However, in alternative embodiments, the nozzles 8 may extend beyond the plane of the adjacent growth frame guides 25, i.e. may extend into the rectangular cross-sectional area of the column defined by the column profiles. In such alternative embodiments the horizontal plate element 11 may for example comprise a recess configured such that the nozzles 8 do not prevent the vertical movement of the growth frames 3 within the column 105, optionally in combination with a flange on the nozzle panel to close off the recess when the growth frame is in the column, or the horizontal plate element 11 may be made in an elastic material allowing deflection when passing the nozzles.

In the exemplary farming system, each of the root chambers 9 are divided into root chamber sections 9’ by the horizontal plate elements 11. In this manner, an upper level of the root chamber 9 is at least partially closed off independent of the number of growth frames arranged in a stack. In other words, the plate elements 11 ensure that the root chamber 9 is not easily dehydrated when one or more growth frames are removed from a stack of growth frames. The plate elements 11 also ensure that water from the nozzles do not exit at the top of the root chamber 9 when the stack is full, i.e. when the maximum number of growth frames 3 are stacked in the column 105. Although advantageous, the plate elements 11 are not essential for obtaining a functional root chamber, and in other embodiments the growth frames may be without such a plate element. Alternatively, only the upper growth frame may comprise a horizontal plate element 11 to close off an upper level of the root chamber 9.

A plurality of lighting frames 14 are arranged at one side of each column 105, the side being opposite the corresponding nozzle panel 7. Each of the lighting frames 14 is arranged between two adjacent column profiles 102 of a column 105 and features at least one illumination device 13 arranged to provide light to the produce section of a growth frame 6. In alternative embodiments of the farming system, the size of the lighting frames 14 and number of illumination devices 13 may be configured such that only a single lighting frame may provide light to a full stack of growth frames 3. Although an advantage of the present invention is the simple construction of the growth frames 3, in alternative embodiments, each of the growth frames 3 may comprise an illumination device 13 providing the required light to the corresponding produce section.

The illumination devices 13 are configured to emit light at a predetermined wavelength or a predetermined wavelength range to optimize cultivation of the crops within the growth frames 3, e.g. by optimizing photosynthesis in plants. The predetermined wavelength range may be between 425 nm and 700 nm, for example within the wavelength range 425-450 nm (blue range) and/or the wavelength range 600-700 nm (red range). Examples of suitable illumination devices 13 are incandescent light bulbs or LEDs.

To allow access to the growth frames 3 for treatment and processing, the farming system may feature a port column for transporting a growth frame out of the framework structure (i.e. a port column as discussed in the background section for moving storage containers) and any suitable type of access station (not shown). Suitable access stations may include access stations similar to the ones described in the background section. Further suitable access stations are disclosed in for example EP3326452A1 and WO2016166311A1.

List of reference numbers

1 Prior art automated storage and retrieval system

2 Farming system

3 Growth frame

4 Root section

5 Produce section

6 Cultivation board

7 Nozzle panel

8 Nozzle

9 Root chamber

10 Vertical side portions

11 Plate element, horizontally extending frame portion

12 Drainage hole 13 Illumination device

14 Lighting frame 15 Support frame

16 Connecting recess

17 Opening

18 Pipe

19 Edge

20 Growth frame lift, growth frame lifter vehicle

21 Wheel

22 Lifting frame, gripping device

23 Hollow centre section

24 Corner section

25 Growth frame guiding plate

26 Crossbar

27 Hole

28 Plant

29 Track 30 Upper edge 31 Lower edge 32 Net pot 33 Gap 100 Framework structure 102 Upright members of framework structure 104 Storage grid

105 Column, storage column 106 Storage container 106’ Particular position of storage container 107 Stack 108 Rail system

110 Parallel rails in first direction (X)

112 Access opening

119 First port column

120 Second port column

201 Prior art container handling vehicle

201a Vehicle body of the container handling vehicle 201

201b Drive means / wheel arrangement / first set of wheels in first direction (X)

201c Drive means / wheel arrangement / second set of wheels in second direction (F)

301 Prior art cantilever container handling vehicle 301a Vehicle body of the container handling vehicle 301

301b Drive means / first set of wheels in first direction (X) 301c Drive means / second set of wheels in second direction (F) 304 Gripping device 401 Prior art container handling vehicle

401a Vehicle body of the container handling vehicle 401 401b Drive means / first set of wheels in first direction (X) 401c Drive means / second set of wheels in second direction (F) 404 Gripping device 404a Lifting band

404b Gripper 404c Guide pin 404d Lifting frame 500 Control system

First direction

F Second direction z Third direction

Claims

1. A fanning system (2) comprising a framework structure (100), for accommodating growth frames (3), and a growth frame lifter (20), wherein: the framework structure (100) comprises vertical column profiles (102) defining a plurality of columns (105) in which growth frames (3) are stored one on top of another in vertical stacks, each of the columns being defined by four of the column profiles (102); the growth frame lifter is configured to move in two perpendicular horizontal directions above the columns (105) and comprises a vertically moveable lifting frame (22) for releasable attachment to an upper section of a growth frame (3), such that a growth frame (3) may be retrieved from or added to a stack of growth frames; each of the growth frames comprises a root section (4) and a produce section (5) separated by a cultivation board (6); wherein a nozzle panel (7) is arranged at one side of each column (105) of a row of columns, each of the nozzle panels features a plurality of nozzles (8) facing the root sections (4) of a stack of growth frames in the corresponding column; and the root sections (4) of the stack of growth frames and the nozzle panel (7) form a root chamber (9) to which water may be provided via the nozzles (8).

2. A farming system according to claim 1, wherein each growth frame comprises opposed vertical side portions (10), of which parts (10a) of the side portions extend on opposed sides of the root section (4).

3. A farming system according to claim 2, wherein each of the vertical side portions features an edge (19) being adjacent to a corresponding column profile (102).

4. A farming system according to claim 2 or 3, wherein each of the vertical side portions of a first growth frame (3) comprises an upper edge (30) arranged to support a lower edge (31) of each of the vertical side portions of a second growth frame stacked on top of the first growth frame.

5. A fanning system according to any of the preceding claims, wherein each growth frame (3) comprises a horizontally extending frame portion (11), the frame portion may be arranged above the root section.

6. A farming system according to claim 5, wherein the horizontally extending frame portion (11) is a cantilevered extension of the cultivation board (6).

7. A farming system according to claim 5 or 6, wherein the root chamber (9) is divided into root chamber sections (9’) by the horizontally extending frame portions.

8. A farming system according to any of claims 5-7, wherein the horizontally extending frame portion (11) comprises a drainage hole (12) allowing excess water in the growth chamber sections to drain towards the bottom of the stack of growth frames.

9. A farming system according to any of the preceding claims, wherein each of the nozzle panels (7) extends between two column profiles (102) that define the corresponding column at which the nozzle panel is arranged.

10. A farming system according to any of the preceding claims, comprising illumination devices (13) arranged to provide light to the produce sections.

11. A farming system according to claim 10, wherein a lighting frame (14) is arranged at a side of each column of the row of columns having nozzle panels, the side being opposite the corresponding nozzle panel, the lighting frame features at least one of the illumination devices (13) facing the produce sections of the stack of growth frames in the corresponding storage column.

12. A farming system according to any of the preceding claims, wherein the framework structure (100) comprises a rail system (108) arranged above the columns, the rail system featuring a first set of parallel rails (110) and a second set of parallel rails (111) forming a rail grid, and the growth frame lifter (20) comprises a wheel assembly configured for moving the growth frame lifter along any of the first set of parallel rails (110) and the second set of parallel rails (111), the wheel assembly comprising at least four wheels (21).

13. A farming system according to any of the preceding claims, wherein each column profile has a cross-section comprising a hollow centre section (23) and at least two corner sections (24), each corner section comprises two perpendicular growth frame guides (25) for accommodating a corner of a growth frame (3).

14. A farming system according to claim 13, wherein each nozzle panel (7) has a width allowing the nozzle panel to be arranged between two centre sections (23) of adjacent column profiles (102).

15. A growth frame (3) for use in a farming system according to any of claims 1- 14, comprising a support frame (15) and a cultivation board (6) separating a root section (4) and a produce section (5) of the growth frame, the support frame (15) comprising two vertical side portions (10) between which the cultivation board is mounted, the vertical side portions extending on opposite sides of the root section and the produce section.

16. A growth frame according to claim 15, wherein a part (10a) of the vertical side portions (10) extending on opposite sides of the root section (4) provide a vertical liquid barrier at the opposite sides of the root section.

17. A growth frame according to claim 15 or 16, wherein a part (10b) of the vertical side portions (10) extending on opposite sides of the produce section comprises an opening (17) allowing free passage of air through the produce section (5).

18. A growth frame according to any of claims 15-17, comprising a plate element (11) extending above the root section, the plate element featuring a drainage hole (12).

19. A growth frame according to any of claims 15-18, wherein the vertical side portions comprise an upper edge (30) having connecting recesses (16) for releasable connection to a lifting frame. 0. A framework structure (100) for a farming system according to any of claims 1-14, wherein: the framework structure (100) comprises vertical column profiles (102) defining a plurality of columns (105) in which growth frames (3) may be stored one on top of another in vertical stacks (107), each of the columns being defined by four vertically extending column profiles (102); and a nozzle panel (7) is arranged at one side of each column (105) of a row of columns, each of the nozzle panels comprising a plurality of nozzles (8) facing an internal space of the corresponding column. A method of providing a root chamber in a farming system comprising a framework structure (100), for accommodating growth frames, and a growth frame lifter (20), the framework structure (100) comprises vertical column profiles (102) defining a plurality of columns (105) in which growth frames (3) are stored one on top of another in vertical stacks, each of the columns being defined by four vertically extending column profiles (102); the growth frame lifter is configured to move in two perpendicular horizontal directions above the columns (105) and comprises a vertically moveable lifting frame (22) for releasable attachment to an upper section of a growth frame (3), such that the growth frame may be retrieved from or added to a stack of growth frames; each of the growth frames comprises a root section (4) and a produce section (5) separated by a cultivation board (6); wherein a nozzle panel (7) is arranged at one side of each column (105) of a row of columns, each of the nozzle panels features a plurality of nozzles (8) facing the root sections (4) of a stack of growth frames in the corresponding column; and the method comprises the steps of lowering a plurality of growth frames (3) into a column by use of the growth frame lifter; and obtaining a root chamber (9) defined by the root sections of the growth frames and the corresponding nozzle panel.