NL1044231B1

NL1044231B1 - Fully automatic plant cultivation device

Info

Publication number: NL1044231B1
Application number: NL1044231A
Authority: NL
Inventors: Gritsch Stefan
Original assignee: Gritsch Stefan
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2023-06-22

Abstract

The present application relates to a tool changing device for a fully automatic plant cultivation device, in particular for use in a fully automatic plant cultivation device, a tool for plant cultivation for use with the tool changing device according to the invention, a light bar for use in a fully automatic plant cultivation device, and a fully automatic plant cultivation device.

Description

P35730NLOO/HSE

Fully automatic plant cultivation device

The present invention concerns a tool changing device for a fully automatic plant culti- vation device, in particular for use in a fully automatic plant cultivation device, a tool for the plant cultivation for use with the tool changing device according to the invention, a light bar for use in a fully automatic plant cultivation device, as well as a fully automatic plant cultivation device.

Such devices for fully automatic seeding, cultivation and harvesting of eatable plants, such as fruit and in particular vegetables, are as such known from the state of the art.

For example, the utility model DE 20 2015 002 283 U1 discloses for example a gar- dening machine with a universal head, which is exchangeable for other working heads. The different working heads are fastened by means of vacuum. For exchange, the vacuum pump is switched off.

WO 2019/207088 A1 discloses a plant cultivation device, having a collecting drum which is rotatably mounted to a housing, with plural plant holding containers for plants, and a drive for rotating the collecting drum in the housing, a robot device with a holder for a first working head for cultivation the plants in the plant holding containers, with a first linear guide for shifting the holder for the first working head along a first axis and with a second linear guide for shifting the first linear guide with the holder for the first working head along a second axis. A further plant cultivation device is known from US 2002/0088173 A1, comprising a sys- tem for providing a continuous yield of fresh agricultural products, which can be arranged in a usual transport container.

A goal of the present invention is therefor to provide a concept of a fully automatic plant cultivation device, which is improved in respect of the state of the art. Furthermore, a goal of the present invention is to provide a fully automatic plant cultivation device which is improved in respect of the state of the art.

Description of the invention

According to the invention, the object is solved by a tool changing device with the features of claim 1, a tool with the features of claim 6, a light bar with the features of claim 11 and a plant cultivation device with the features of the claim 12.

Further advantageous embodiments of the invention are indicated in the dependent claims.

The features listed individually in the dependent claims can be combined with one another in a technologically useful manner and can define further embodiments of the invention. In addition, the features indicated in the claims are further specified and explained in the de- scription, whereby further preferred embodiments of the invention are illustrated.

In a first aspect, the present invention relates to a tool changing device for a fully automatic plant cultivation device, in particular for use in a fully automatic plant cultivation device, wherein the tool changing device can be coupled fully automatically with a plurality of differ- ent tools for plant cultivation. The tool changing device according to the invention comprises a hollow housing with a receiving bush arranged at a first distal end, into which the corre- sponding tool can be inserted; a first actuator arranged in the housing, via which a torque can be transmitted to a shaft of the tool by means of a coupling element; and a locking ele- ment in the form of a hollow cylindrical sleeve, by means of which a tool inserted into the tool changing device can be fixed in position in the axial direction, the hollow cylindrical sleeve being arranged coaxially around the first actuator and being connected to the latter in a rotationally fixed manner, and it being possible for the locking element to be actuated by a second actuator which is positioned inside the housing axially adjacent to the first ac- tuator.

Similarly, the invention provides a tool for plant cultivation which is intended for use with the tool changing device according to the invention. The tool comprises a tool head by means of which the tool can be coupled to the tool changing device, the tool head having a plug element corresponding to the receiving bush of the housing of the tool changing device; and a coupling element carresponding to the coupling element of the tool changing device, which coupling element is arranged at a distal end of the plug element and can be coupled to the coupling element of the tool changing device in such a way that a torque can be transmitted from the first actuator of the tool changing device to a shaft of the tool, which shaft is connected in a rotationally fixed manner to the coupling element and extends axially from the distal end of the plug element to a working unit of the tool and drives the latter.

In another aspect, the present invention relates to a light bar, which is also provided for use in a fully automatic plant cultivation device, comprising a plurality of light-emitting diodes which are individually controllable in such a way that individual areas of a bed and/or indi- vidual and/or grouped cultivation containers can be individually illuminated.

In a further aspect, the present invention also relates to a fully automatic plant cultivation device, comprising a portal which can be moved, if appropriate via at least one rail, and on which the tool changing device according to the invention is arranged such that it can be moved transversely with respect to the direction of movement of the portal, and at least one tool according to the invention.

The present invention is based on the essential finding that a particularly simple, versatile and flexible system for fully automatic plant cultivation can be realised using a tool changing device with only two actuators, which can be expanded and adapted at any time due to its modular design. For example, separate tools can be developed for each type of plant, so that the device can be more easily adapted to the different needs of customers. This allows for a broad coverage of all required tasks.

In an advantageous embodiment, the receiving bush is tapered, which makes it much easi- er to form the plug-in connection between the receiving bush of the tool changing device and the corresponding tapered plug element of the corresponding tool, especially if this is done fully automatically. Furthermore, such an embodiment is less susceptible to wear in contrast to a cylindrical shape.

In order to further simplify the process of plug-in connection between the tool changing de- vice and the respective process and to secure the tool against twisting, the housing advan- tageously comprises an axially extending bore on its end face forming the first distal end, which can be brought into engagement with a pin of the tool. For this purpose, the tool head of the tool preferably has a pin arranged axially parallel to the plug element, which can be inserted into the axially extending bore of the housing of the tool changing device.

Preferably, the first actuator and/or the second actuator is designed in the form of an elec- tric motor, although in principle other drive elements, such as pneumatic actuators, can be used to convert the electrical signals into mechanical movement.

The coupling element of the tool changing device is advantageously connected via a shaft to the first actuator in the form of an electric motor and projects into the receiving bush in such a way that it can be coupled to a correspondingly designed coupling element of the tool. Via the coupling, a torque can then be transmitted from the first electric motor of the tool changing device to a shaft of the tool, which in turn drives the drive unit. In this context, it is particularly preferred that the coupling is in the form of a claw coupling.

In a preferred embodiment, the coupling element of the tool, and/or alternatively of the tool changing device, is axially preloaded via a pressure element, in particular a compression spring. This ensures that both coupling elements engage with each other if they are incor- rectly positioned relative to each other, in that the coupling element of the tool changing de- vice first presses in that of the tool and the latter then engages automatically by rotation of the coupling element of the tool changing device driven by the first electric motor.

In order to secure the tool inserted into the tool changing device particularly effectively in the axial direction, the hollow cylindrical sleeve preferably has at its end oriented towards the first distal end of the housing at least one, more preferably at least two, locking pin ex- tending transversely to its longitudinal axis, by means of which the tool changing device can be locked to the tool. Accordingly, the plug element of the tool has at least one, more pref- erably at least two, L-shaped groove on its lateral surface, which can be brought into en- gagement with the at least one locking pin. A locking system designed in this way is also referred to as a bayonet system.

In a further advantageous embodiment, the tool can have two grooves between the tool head and the working unit extending transversely to its longitudinal axis, via which the tool can be stored in a holding device of the fully automatic plant cultivation device and can be approached by the tool changing device via the portal.

The working unit can basically be made in one piece with the tool head. Preferably, howev- er, the tool is made in several parts, whereby the working unit is then particularly preferably interchangeable. In principle, elements for plant cultivation can be considered as a working unit, such as grippers for gripping plants and/or for removing plants ploughs for ploughing up or digging up the soil, seed planter for planting seeds and/or seedlings, and/or gripper hands for moving cultivation containers.

In a further advantageous embodiment, the tool and/or the tool changing device comprises a module for transmitting energy and/or data between the tool changer and the tool or a minicomputer coupled thereto. For example, the tool and/or the tool changing device can have a USB connection, so that power and/or data transmission is made possible via an appropriately designed USB stick. Alternatively, the tool and/or the tool changing device can comprise a plug connection, for example in the form of a spring contact.

The fully automatic plant cultivation device according to the invention comprises a movable portal, on which the tool changing device according to the invention is arranged so as to be movable transversely to the direction of movement of the portal, as well as at least one tool according to the invention. For cultivation areas to be cultivated outdoors, it is therefore en- visaged that the portal is mounted on wheels and/or a caterpillar drive, via which the fully automatic plant cultivation device is moved over the corresponding field. The length of the portal can be up to 10 m. A caterpillar drive is particularly advantageous on moist soils.

In the case of smaller cultivation areas which comprise beds and/or separate cultivation containers, the portal can be moved over at least one or two rails and/or profiles which are spaced parallel to one another, depending on the embodiment, which can form part of the frame of the plant cultivation device, for example. For example, for cultivation in a container, it is advantageously provided that the portal is moved over a rail arranged on a wall of the container. In the case of beds or raised beds of usual commercial sizes, the portal can ad- vantageously be moved over two rails.

Advantageously, the fully automatic plant cultivation device as well as the further different components according to the invention are therefore designed modularly and can therefore be used in different areas. Preferred installation locations are therefore gardens, fields, house facades, flat roofs and enclosed spaces, in particular containers or greenhouses.

In a preferred embodiment, the fully automatic plant cultivation device further comprises at least one sensor unit arranged on the portal, via which plant cultivation-relevant parameters can be determined. The at least one, preferably several, sensor unit is advantageously se- lected from the series comprising a sensor for measuring the sun intensity (light intensity sensor), a sensor for measuring the soil moisture (soil moisture sensor), a sensor for de- tecting rain (rain sensor), a sensor for measuring the temperature (temperature sensor), a sensor for measuring the air humidity (air humidity sensor), a sensor for measuring the wind speed (wind speed sensor), a sensor for measuring the wind direction (wind direction sen- sor), a pH value sensor, and/or a sensor for measuring the plant growth (ultrasound sen- sor). Advantageously, the at least one sensor or the plurality of sensors is connected in terms of signalling technology to a control unit via which the recorded data can be transmit- ted to an IT system for evaluation.

In a further advantageous embodiment, the fully automatic plant cultivation device compris- es at least one camera unit arranged on the portal, via which a bed and/or individual cultiva- tion containers can be inspected. This allows the condition of the bed and/or the cultivation containers to be continuously monitored so that, for example, diseases on the plants, such as fungi or the like, and/or pest infestation can be detected at an early stage and, if neces- sary, countermeasures can be implemented directly.

Furthermore, it is advantageously provided that the fully automatic plant cultivation device comprises at least one irrigation unit arranged on the portal, via which the bed and/or the individual cultivation containers can be optimally irrigated and/or fertilised.

Furthermore, the fully automatic plant cultivation device preferably comprises the light bar according to the invention, by means of which individual areas of a bed and/or individual cultivation containers and/or cultivation containers grouped together can be individually il- luminated; a frame which can be positioned above a bed if necessary; and/or a lift by means of which the portal can be moved in height.

The individual lighting is controlled by a minicomputer that controls all tasks of the plant cul- tivation device. This can also be connected to a database in which values for the exposure time and/or light intensity for the different plants are stored.

For an application in greenhouses, the one or more light bars can be coupled with one and/or more light sensors, via which the solar irradiation is determined over the course of the day and the intensity for a night lighting is adjusted on the basis of these values.

Furthermore, the light bars can include a water cooling system that is fluidically connected to a cooling circuit with heat exchangers. In this way, the water used for cooling the light bars or the thermal energy stored in it can be used for heating an indoor system.

The frame can include a storage plate or a holding device for storing the tools, which is ap- proached by the portal for a tool change.

Furthermore, the frame and/or the plant cultivation device can comprise a carrier plate for a plurality of cultivation containers. Particularly in the case of cultivation in closed rooms, it has proven to be advantageous to use cultivation containers, as these can then be ar- ranged one above the other. It is therefore particularly preferred in this context that the fully automatic plant cultivation device comprises a lift by means of which the portal can be moved up and down in order to access and manage the individual cultivation levels.

Description of the Figures

The invention and the technical environment are explained in more detail below with refer- ence to the figures. It should be noted that the invention is not to be limited by the embodi- ments shown. In particular, unless explicitly shown otherwise, it is also possible to extract partial aspects of the facts explained in the figures and to combine them with other compo- nents and findings from the present description and/or figures. In particular, it should be noted that the figures and especially the dimensions shown are only schematic. Identical reference signs designate identical objects, so that explanations from other figures can be used as a supplement if necessary.

Showing:

Fig. 1 an embodiment of the tool changing device according to the invention,

Fig. 2 the tool changing device shown in Fig. 1 from below,

Fig. 3 a first embodiment of the tool according to the invention,

Fig. 4 a perspective view of the tool shown in Fig. 3,

Fig. 5 a second embodiment of the tool according to the invention,

Fig. 6 a third embodiment of the tool according to the invention,

Fig. 7 a fourth embodiment of the tool according to the invention,

Fig. 8 a first embodiment of the fully automatic plant cultivation device according to the invention,

Fig. 9 a section of the embodiment shown in Fig. 8,

Fig. 10a second embodiment of the fully automatic plant cultivation device according to the invention in a first working position, and

Fig. 11 the embodiment shown in Fig. 10 in a second working position.

Figure 1 shows an embodiment of the tool changing device 1 according to the invention in perspective, which is intended for use in a fully automatic plant cultivation device 2, as shown in Figures 8 to 11, and which can be coupled fully automatically with a large number of different tools 3 (Figs. 3 - 7) for plant cultivation.

For this purpose, the tool changing device 1 comprises a hollow housing 4 with a receiving bush 6 (Fig. 2) arranged at a first distal end 5, into which the tool 3 can be inserted. The section of the housing 4 formed in the area of the first distal end 5 is designed at right an- gles in such a way that it can be inserted into a hollow Z-axis 7, which in turn is arranged on a portal 8 of the plant cultivation device 2. As can be seen in particular from Figure 2, the receiving bush 6 is tapered in such a way that the cross-section narrows from the distal end 5 in the axial direction. If necessary, the Z-axis 7 can also be telescoped in such a way that it can be retracted and extended via an actuator, for example in the form of an electric mo- tor.

Furthermore, the tool changing device 1 has a first actuator 9 arranged in the housing 4, via which a torque can be transmitted to a shaft 11 of the tool 3 by means of a coupling ele- ment 10. The first actuator 9 is designed in the form of an electric motor. The coupling ele- ment 10 is thereby connected via a shaft 12 to the first actuator 9, which is in the form of an electric motor, in a rotationally fixed manner and projects into the receiving bush 6, as can be seen in Figure 2.

Furthermore, the tool changing device 1 comprises a locking element in the form of a hol- low cylindrical sleeve 13, by means of which the tool 3 inserted into the tool changing de- vice 1 can be fixed in position in the axial direction (not shown). As can be seen from the illustration in Figure 1, the hollow cylindrical sleeve 13 is arranged coaxially around the first actuator 9 and is connected to it in a rotationally fixed manner. The locking element 13 can be actuated by a second actuator 14, which is positioned within the housing 4 axially adja- cent to the first actuator 9. The second actuator 14 is also in the form of an electric motor.

At its end oriented towards the first distal end 5 of the housing 4, the hollow cylindrical sleeve or the locking element 13 has a locking pin 15 (Fig. 2) extending along its longitudi- nal axis which can be used to lock the tool changing device 1 to the tool 1.

As can also be seen from Figure 2, the housing 4 has an axially extending bore 17 on its end face 16 forming the first distal end 5, which can be engaged with a pin 18 of the tool 3.

Figures 3 to 7 show examples of different embodiments of the tool 3 according to the inven- tion, which are intended for use with the tool changing device 1.

The tool 3 has a tool head 19 via which it can be coupled to the tool changing device 1 (not shown). For this purpose, the tool head 19 comprises a plug element 20 corresponding to the receiving bush 6 of the housing 4 of the tool changing device 1, which is conical in shape in such a way that the cross-section tapers in the direction of its distal end. As can be seen from the illustrations in Figures 3 to 7, the plug element 20 comprises an L-shaped groove 22 on its lateral surface 21 which, can be brought into engagement with the at least one locking pin 15 of the hollow cylindrical sleeve 13. A locking system designed in this way is also referred to as a bayonet system.

Furthermore, the tool 3 has a coupling element 23 corresponding to the coupling element 10 of the tool changing device 1, which is arranged at the distal end of the plug element 20 and is in this case axially pretensioned via a pressure element (not shown) in the form of a compression spring. The tool 3 can be coupled to the tool changing device 1 via the two coupling elements 10, 23, which form a claw coupling, in such a way that a torque can be transmitted from the first electric motor 9 to the shaft 11 of the tool 3, which is connected to the coupling element 23 in a rotationally fixed manner. The shaft 11 extends axially from the distal end of the plug element 20 to a working unit 24 of the tool 3 and transmits the torque of the first electric motor 9 to it via a spin drive 25. In Figures 3, 4 and 6, the working unit 24 is in the form of a gripper intended for gripping plants and/or removing objects and/or weeds. In Figure 5 the working unit 24 is in the form of a plough for ploughing or digging up the soil. In Figure 7, the working unit is in the form of a seed setter, by means of which sow- ing can be carried out fully automatically.

As can be seen from figures 3 to 7, the pin 18 is arranged axially parallel to the plug ele- ment 20. Furthermore, in the embodiments shown here, the tool 3 comprises between the tool head 19 and the working unit 24 two grooves 26 extending along its longitudinal axis, via which the tool 3 can be stored in a holding device 27 of the fully automatic plant cultiva- tion device 2 (Fig. 8 and 9).

Figure 8 shows a first embodiment of the fully automatic plant cultivation device 2 according to the invention, which comprises the portal 8, which can be moved along the longitudinal axis of a bed 29 via two rails 28 using a roller drive 30. The two rails 28 form part of a frame 31 which is arranged around the bed 29. All components of the fully automatic plant cultiva- tion device 2 are electrically connected to a control unit 32, by which they are controlled.

The portal 8, which, is shown without a tool 3, comprises a permanently installed sensor unit 33, an irrigation device 34 and a permanently installed camera unit 35 (Fig. 8 and 9), via which plant cultivation-relevant parameters can be determined. The sensor unit 33 can,

for example, be selected from the series comprising a light intensity sensor, a soil moisture sensor, a rain sensor, a temperature sensor, a humidity sensor, a wind speed sensor, a wind direction sensor, a pH value sensor, and/or an ultrasonic sensor.

The bed 29 and/or individual cultivation containers 36 can be inspected via the camera unit 35 which is fixed to the portal 8. The camera unit 35 is designed in the form of a commer- cially available camera and can be connected to a network. As can be seen from the illus- tration in Figure 8, the individual cultivation containers 36 are arranged in a carrier plate 37 that is mounted on the frame 31.

The fully automatic plant cultivation device 2 may further comprise a light bar (not shown) arranged on the portal 8, which comprises a plurality of individually controllable light- emitting diodes.

Figures 10 and 11 show a fully automatic plant cultivation device 2 arranged in a container 38. In contrast to the first embodiment, the respective plants are cultivated in the cultivation containers 36, which are arranged in the carrier plates 37 floor by floor within the container 38. For this purpose, the plant cultivation device 2 comprises a lift 39 by means of which the portal 8 can be moved vertically and horizontally via the rails 28. In the present embodi- ment, the tool changing device 1 comprises a gripping hand as a working unit 24, via which the cultivation containers 36 can be gripped.

List of reference signs 1 Tool changing device

2 Plant cultivation device 3 Tool 4 Housing 5 Distal end 6 Receiving bush

7 Z-axis 8 Portal 9 First actuator / electric motor 10 Coupling element of the tool changing device 11 Shaft of the tool

12 Shaft of the tool changing device 13 Hollow cylindrical sleeve / locking element 14 Second actuator / electric motor 15 Locking pin 16 Front face

17 Borehole 18 Pin 19 Tool head 20 Plug element

21 Sheathing 22 Groove 23 Coupling element of the tool 24 Working unit 25 Spin drive 26 Groove 27 Holding device 28 Rail 29 Bed 30 Roller drive 31 Frame 32 Control unit 33 Sensor unit 34 Irrigation device

Camera unit 36 Cultivation containers 37 Carrier plate 35 38 Container 39 Lift

Claims

CONCLUSIONS

Tool changing device (1) for, in particular use in a, fully automatic plant cultivating device (2), wherein the tool changing device (1) can be coupled fully automatically with several different tools (3) for plant cultivation, comprising: - a concave housing (4 ) with a receiving bush (6) arranged at a first distal end (5), into which the tool (3) can be inserted; - a first actuator (9) arranged in the housing (4), via which a torque can be transmitted to a shaft (11) of the tool (3) by means of a coupling element (10}; locking element designed as a hollow cylindrical sleeve (13), via which a tool (3) inserted into the tool changing device (1) can be fixed in position in the axial direction, the hollow cylindrical sleeve (13) being arranged coaxially around the first actuator (9) and with it is connected rotationally fixed, the locking element (13) being actuable by a second actuator (14) which is positioned axially adjacent to the first actuator (9) in the housing (4).

Tool changing device (1) according to Claim 1, in which the receiving bush (6) is of cone-shaped design.

Tool changing device (1) according to claim 1 or 2, wherein the housing (4) comprises at its head face (16) forming the first distal end (5) an axially extending bore (17) which is fitted with a pin ( 18) can be engaged by the tool (3); and/or wherein the first actuator (9), and preferably the second actuator (14), are formed by an electric motor.

Tool change device (1) according to one of the preceding claims, in which the coupling element (10) is connected via a shaft (12) to the first actuator (9) in the form of an electric motor and is positioned in the receiving bush (6) in such a way. that it can be coupled to a correspondingly designed coupling element (23) of the tool (3) that can be connected to the tool changing device (1).

Tool changing device (1) according to one of the preceding claims, in which the hollow cylindrical sleeve (13) at the first distal end (5) of the housing (4)

oriented end thereof comprises at least one, preferably at least two locking pin (15) extending transversely of the longitudinal axis thereof, via which the tool changing device (1) can be locked with the tool (3).

Plant cultivation tool (3) for use with a tool changing device (1) according to one of the preceding claims, comprising: - a tool head (19), via which the tool (3) can be coupled to the tool changing device (1), wherein the tool head (19) has a plug-in element (20) designed to correspond to the receiving bush (8) of the housing (4) of the tool change device (1), and - a coupling element designed to correspond to the coupling element (10) of the tool change device (1) (23), which is arranged at a distal end of the stabbing element (20) and can be coupled to the coupling element (10) of the tool changing device (1) in such a way that a torque through the first actuator (9) of the tool changing device (1) can be transferred to a shaft (11) of the tool (3), which is connected to the coupling element (23) in a rotationally fixed manner and extends axially from the distal end of the stabbing element (20) to a working unit (24) of the tool ( 3) extends and drives it.

Tool (3) according to claim 8, wherein the stabbing element (20) has a conical shape; and/or wherein the tool head (19) comprises a pin (18) arranged axially parallel to the insertion element (20), which pin can be inserted into the axially extending bore (17) of the housing (4) of the tool changing device (1).

Tool (3) according to claim 6 or 7, wherein the insertion element (20) has at least one, preferably at least two L-shaped grooves (22) on a lateral surface (21), which are connected to the at least one locking pin. (15) of the hollow cylindrical sleeve (13) can be engaged.

Tool (3) according to one of the preceding claims 6-8, wherein the coupling element (23) is axially biased via a pressure element; and/or in which it comprises between the tool head (19) and the work unit (24) two grooves (26) extending transversely of its longitudinal axis, via which the tool (3) can be lowered in a holding device (27).

A tool (3) according to any one of the preceding claims 6-9, wherein the working unit (24) is optionally interchangeable and selected from the series comprising a gripper, a plough, a compiler and/or a gripping hand.

11. Light strip for use in a fully automatic plant cultivating device (2), comprising a plurality of light-emitting diodes, which can be controlled separately such that separate areas of a bed (29) and/or separate cultivating containers (36) can be illuminated individually.

12. Fully automatic plant cultivating device (2), comprising a mobile portal (8), to which a tool changing device (1) according to one of the preceding claims 1-5 is mounted in a mobile manner, as well as at least one tool (3) according to one of the preceding claims 6 -10.

13. Fully automatic plant cultivating device {2) according to claim 12, further comprising at least one sensor unit (33) arranged on the gantry (8), via which parameters relevant to plant cultivation can be determined.

Fully automatic plant cultivating device (2) according to claim 12 or 13, further comprising at least one camera unit (35) arranged in the portal (8), via which a bed (29) and/or individual cultivating containers (36) can be inspected .

Fully automatic plant cultivating device (2) according to one of the preceding claims 12-14, further comprising at least one watering unit (34) arranged on the gantry (8); and/or further comprising a light strip according to claim 11.

Fully automatic plant cultivating device (2) according to one of the preceding claims 12-15, further comprising a frame (31), which can optionally be positioned above a bed (29); or further comprising a frame (31), which can optionally be positioned above a bed (29), wherein the frame (31) comprises a holding device (27) for storing the tools (3).

Fully automatic plant cultivating device (2) according to one of the preceding claims 12-16, wherein the frame (31) and/or the plant cultivating device (2) comprises a support plate (37) for several cultivating containers (36).

Fully automatic plant cultivating device (2) according to one of the preceding claims 12-17, further comprising a lift (39), via which the portal (8) can be moved in height.