WO2022084516A1 - Autonomous robot and method for operating an autonomous robot - Google Patents

Autonomous robot and method for operating an autonomous robot Download PDF

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Publication number
WO2022084516A1
WO2022084516A1 PCT/EP2021/079361 EP2021079361W WO2022084516A1 WO 2022084516 A1 WO2022084516 A1 WO 2022084516A1 EP 2021079361 W EP2021079361 W EP 2021079361W WO 2022084516 A1 WO2022084516 A1 WO 2022084516A1
Authority
WO
WIPO (PCT)
Prior art keywords
gripping
relation
robot system
control unit
parameters
Prior art date
Application number
PCT/EP2021/079361
Other languages
French (fr)
Inventor
Servet COSKUN
Original Assignee
Seasony Ivs
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Seasony Ivs filed Critical Seasony Ivs
Publication of WO2022084516A1 publication Critical patent/WO2022084516A1/en

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Classifications

    • 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
    • A01G9/14—Greenhouses
    • A01G9/143—Equipment for handling produce in greenhouses
    • 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
    • A01G9/029—Receptacles for seedlings
    • A01G9/0299—Handling or transporting of soil blocks or seedlings
    • 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
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A01G9/088—Handling or transferring pots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • 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
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0202—Agricultural and processed food products
    • B65G2201/0211—Fruits and vegetables

Definitions

  • the present invention relates to an autonomous robot and a method for operating an autonomous robot within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers.
  • plants are grown in containers e.g. within buildings and arranged in plant systems on stacked structures such as a plurality of shelf systems being arranged in rows. The plants are thus arranged on plant trays in the stacked structures.
  • This concept reduces land consumption, as the farming is arranged in several layers/lev- els and arranges a farming production being productive all year round.
  • a vertical farm system such as a plurality of shelf systems arranged in rows having plants arranged in vertically stacked layers
  • An autonomous robot system for operating and performing tasks within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within the vertical farm system, the robot system comprising: a motorized vehicle having a power system for driving the motorized vehicle, and a steering system for determining a direction of the motorized vehicle, a control unit arranged for controlling the power system and the steering system, the robot system comprising a first position sensor connected to the control unit, for generating a first set of parameters representing a position and orientation of the robot system in relation to a first point of reference.
  • an autonomous robot which is cost efficient to install and eliminates human labour in retrieving plants from the vertical farm system, in a safe and autonomously controlled manner.
  • the motorized vehicle is preferably a four-wheel equipped vehicle with a built-in power source, such as a rechargeable battery system.
  • the power system comprises a motor, preferably an electric motor driven by the power source, which also powers the steering system, which allows the motorized vehicle to change direction.
  • the vehicle is preferably arranged with omnidirectional wheels. Using omnidirectional wheels, such as mecanum wheels, enables the vehicle to move forward/rearward, sideways, in a stationary rotation, and a combination of sideways and forwards/rearward. It is hereby possible for the vehicle to navigate within a limited space.
  • the robot system further comprises a control unit, such as an onboard computing device for controlling the movement and steering of the motorized vehicle.
  • the control unit is preferably connected to a central server, which may also be arranged as a data storage for the control unit, and for storing control functions and the mapping of the area, in which the robot is to navigate.
  • a central server which may also be arranged as a data storage for the control unit, and for storing control functions and the mapping of the area, in which the robot is to navigate.
  • the control unit In order for the control unit to communicate with the central server, the control unit is arranged with a wireless communication unit, such as a WIFI or GSM unit.
  • the vehicle is equipped with a first position sensor, such as a camera, for capturing images of predefined fixed reference points, and transmitting the images to the control unit for generating a first set of parameters for determining the position of the robot in relation to the reference point.
  • a first position sensor such as a camera
  • the control unit for generating a first set of parameters for determining the position of the robot in relation to the reference point.
  • the robot system is arranged with a number of position sensors, arranged as cameras.
  • the control unit or the central server compares the captured images to images stored (mapping) within the data storage, whereby a first set of parameters is generated, which parameters represent the position and orientation of the vehicle in relation to a specific reference point.
  • the first position sensor captures images of predefined reference points, where information of these reference points are e.g. stored in the data storage connected to the control unit.
  • the position sensors further comprise distance sensors, whereby the distance to the predefined reference point of reference is also known.
  • the first position sensor captures an image of one of the stored reference points recognized by the control unit
  • the exact position and distance to the point of reference is known and the exact position and heading of the robot system within the vertical farm is known.
  • An operator having access to the central server may thus operate the robot via the server via a number of commands.
  • the robot may hereby be provided with a command for extracting a specific plant tray located at a specific shelf system, whereby the robot via the central server and the mapping receives information on the most preferred route, such as the shortest route, to the specific plant tray.
  • the robot system further comprises: a gripping system connected to the control unit, and for gripping a plant tray within the vertical farm system, a height adjustment mechanism, such as a scissor lift, arranged in-between the vehicle and the gripping system, for arranging the gripping system at a predetermined height, and wherein the first position sensor is arranged on the robot system on or in proximity to the gripping system, where the first set of parameters represents a position and orientation of the gripping system in relation to the first point of reference arranged at a predefined position in relation to a specific plant tray.
  • a gripping system connected to the control unit, and for gripping a plant tray within the vertical farm system
  • a height adjustment mechanism such as a scissor lift
  • the robot comprises a height adjustable and extensible gripping system, which is height adjustable and extensible in relation to the motorized vehicle.
  • the robot comprises a height adjustable mechanism, such as a scissor lift, arranged in-between the motorized vehicle and the gripping system.
  • the robot can thus be arranged in a collapsed configuration, where the gripping system is arranged with a minimum distance to the motorized vehicle, and in an extended configuration, where the gripping system is arranged with a maximum distance to the motorized vehicle.
  • the height adjustable mechanism is stepless, so the gripping system may be arranged at any level in-between the minimum and maximum distances.
  • the height adjustable mechanism is in a preferred embodiment arranged as a scissor lift, but may in an alternative embodiment be arranged as any height adjustable mechanism such as actuators (mechanical, electrical, hydraulic or pneumatic) being able to arrange the gripping system at the desired vertical positions in relation to the motorized vehicle.
  • actuators mechanical, electrical, hydraulic or pneumatic
  • the first position sensor is according to the invention arranged on or in proximity to the gripping system.
  • the first position sensor hereby captures images of the point of reference in relation to both the vehicle and also the gripping system. It is hereby possible to use the first position sensor for navigating the vehicle, but also for controlling the gripping mechanism according to the first set of parameters.
  • the exact position of the points of reference within the vertical farm and the exact position of a plant tray in relation to a specific point of reference is known, whereby the robot system, via the points of reference, is able to controllably grip a plant tray via the first set of parameters.
  • the vertical farm system preferably comprises a number of fixed points of reference, and the position of a predefined number of plant trays, such as three plant trays, is known at least with respect to one point of reference.
  • the robot is able to navigate to the desired shelf system, and activate the height adjustment mechanism, such that the gripping system reaches the desired level and is able to grip the requested plant tray.
  • the robot system comprises a second position sensor connected to the control unit, for generating a second set of parameters representing a position and orientation of the robot system in relation to a second point of reference.
  • the robot system comprises a second position sensor, such as a camera, for capturing images of a second reference point, and for generating a second set of parameters therefrom, where the second set of parameters are representative of the position and distance of the robot system in relation to the second point of reference.
  • the second position sensor is preferably arranged on the vehicle, such that the first position sensor determines a position of the gripping system in relation to a plant tray and the second position sensor determines a position of the robot system within the vertical farm.
  • the first and/or second position sensor is a fiducial camera and the first and/or second point of reference is a fiducial marker, such as an Arllco marker.
  • the first and second position sensors are according to a further embodiment of the invention arranged as fiducial cameras and the points of reference are arranged as fiducial markers, such as Arllco markers.
  • the robot system utilizes fiducial markers (landmarks) that are placed artificially into the field (vertical farm), which fiducial markers are images that the application/control unit can easily recognize.
  • the robot system “sees” a fiducial marker, it can determine where the fiducial camera is located with respect to that marker and how it is oriented.
  • the control unit is arranged with a computer vision software, which determines the relative location and orientation of the position sensors compared to the fiducial markers.
  • fiducial markers can also provide additional information such as information of a nearby shelf system, plant tray and/or another nearby fiducial marker for further guidance of the robot system. It is preferred that the fiducial markers are arranged as a square and utilize a unique pattern that is easy for the computer vision software to recognize as a fiducial marker, but it is also preferred that the marker is asymmetrical. It is not necessary that the overall marker is asymmetrical, but it is important that there is some aspect of the marker that makes it possible for the vision software to determine which way the marker is oriented.
  • Each first fiducial markers is preferably associated with a specific shelf, having a number of plant trays arranged thereon, such as three plant trays, and each second fiducial marker is preferably associated with a specific shelf system having a number of shelfs.
  • the captured images of the fiducial markers do not represent a square.
  • the captured images show an image of a distorted fiducial marker and the computer vision software is able to analyse the image and calculate the location and orientation of the position sensors, and hereby the robot system, in relation to the fiducial marker.
  • the gripping system comprises at least two gripping arms, arranged for gripping the plant tray at opposites sides thereof, the gripping arms being moveable arranged on the gripping system in a horizontal plane, and being controlled by the control unit dependent on the first set of parameters.
  • the gripping system is arranged with at least two gripping arms, arranged for gripping the plant tray at opposite sides, and the arms being moveable arranged in the gripping system in a horizontal plane in a longitudinal direction of the arms.
  • the arms are preferably individually arranged with an electric motor, which drives the movement of the gripping arms, e.g. via spindle mechanism.
  • the height adjustment mechanism arranges the gripping system with the gripping arms at a desired vertical level and the gripping arms may slide outwards from the gripping system in a horizontal plane, such that the gripping arms can connect with the specific plant tray, arranged on the shelf system.
  • the gripping arms are preferably arranged with a locking system having a number of locking members for engagement with a number of cooperating locking elements arranged on the plant tray.
  • the locking elements and locking members automatically connect to each other such that when the plant tray is removed from the shelf system, the plant tray is securely supported by the gripping system in order to avoid any dropping of the plant tray.
  • the locking members are preferably located on an underside of the gripping arms, and the locking elements are preferably arranged on an upper side of the plant tray.
  • the gripping arms are able to grip the plant tray from above, instead of gripping the plant tray sideways or from below.
  • the gripping arms are in a preferred embodiment arranged in the gripping system with an intermediate distance, which approximately corresponds to the width of the plant tray, such that the gripping arms are arranged to grip the plant tray at the sides thereof.
  • the arms may in an alternative embodiment be arranged with a shorter intermediate distance, such that the arms may grip the plant tray at a middle part.
  • the gripping arms are in a preferred embodiment arranged on a frame, which is connected to the height adjustment mechanism. This provides a modular robot system where the individual parts of the system can be exchanged.
  • the frame is preferably substantially U-shaped and defines an opening, such that the plant tray may be accommodated within the opening.
  • the gripping arms are arranged on each side of the opening respectively and arranged slidably displaceable in a horizontal direction, in such a way that the arms can slide outwards in relation to the frame and the opening, grab a plant tray and retract the plant tray from the shelf system into the opening of the U-shaped frame.
  • the locking members are arranged on the gripping arms such that the locking members may be displaced in a longitudinal direction of the gripping arm. It is hereby possible for the locking system to be adapted to various sizes of plant trays.
  • the locking members may in a further embodiment be connected to the control unit and hereby by automatically adjustable by the control unit, depending on the size of the plant tray.
  • the gripping arms are arranged individually sideways adjustable in the gripping system such that plant trays of varying width can all be operated with the robot system.
  • the sideways movement may in an embodiment be performed by an electric motor connected to the control system, such that that system automatically adjusts the distance between the gripping arms to the width of the plant tray dependent on the first set of parameters.
  • a method for operating an autonomous robot system within a vertical farm system comprising the following steps:
  • the method comprises the following further steps:
  • the above-defined method provides a method for a robot system to navigate and operate autonomously within the vertical farm system.
  • the system automatically captures images of first fiducial markers and generates a first set of parameters representing the exact position, distance, and orientation of the robot system in relation to the first fiducial marker.
  • the robot system is able to automatically navigate and operate within the vertical farm.
  • the robot system comprises: a gripping system connected to the control unit, and for gripping a plant tray within said vertical farm system, a height adjustment mechanism, such as a scissor lift, arranged in-between the vehicle and the gripping system, for arranging the gripping system at a predetermined height, and where the first position sensor is arranged on the robot system, on or in proximity to the gripping system, where the first set of parameters represents a position and orientation of the gripping system in relation to the first fiducial marker being arranged at a predefined position and orientation in relation to a specific plant tray, where the method comprises the following further step:
  • the first position sensor is arranged on or in proximity to the gripping system for capturing images of the first fiducial marker in relation to the gripping system. It is hereby possible to use the first position sensor for navigating the vehicle, but also for controlling the gripping mechanism according to the first set of parameters.
  • the gripping system comprises at least two gripping arms, arranged for gripping the plant tray at opposites sides thereof, the gripping arms being moveable arranged on the gripping system in a horizontal plane, and being controlled by the control unit dependent on the first set of parameters, such that if the gripping arms are within a specific range of location and orientation in relation to the first fiducial marker, the control unit controls the gripping arms for gripping a specific plant tray.
  • the first position sensor captures images of the first fiducial marker, which is associated with a specific number of plant trays, such as three plant trays, arranged in proximity to the fiducial marker and the control unit generate the first set of parameters, from which the control unit is able to control the operation of the gripping arms, and control the gripping arms into engagement with the plant tray.
  • the method further comprises: • if depending on the first set of parameters, the gripping system or the gripping arms are outside a specific range of location and orientation parameters in relation to the first fiducial marker, the control unit controls the gripping system or gripping arms, dependent on the sensed first set of parameters, into a specific location and orientation in relation to the first fiducial marker, being within the specific range.
  • the first set of parameters are outside a specific predefined range.
  • the control system is able from the captured image of the fiducial marker and the generated first set of parameters to calculate the needed adjustment of the robot system in relation to the fiducial marker for the gripping system to be correctly aligned with the requested plant tray. If the first set of parameters is outside a predefined range, the robot system readjusts its position and preferably performs another reading of the fiducial marker. It the first set of parameters are still outside the specific range, the robot system performs another adjustment.
  • the robot system comprises a second position sensor connected to the control unit for generating a second set of parameters, constituting location and orientation information of the robot system in relation to a second point of reference being a second fiducial marker, where the second set of parameters are also representative of the position and orientation of the robot system in relation to the first fiducial marker.
  • the robot system is able to navigate within the vertical farm system via the second set of parameters.
  • the second fiducial markers are typically arranged in relation to entire shelf systems having a number of shelfs with a number of plant trays thereon. Therefore, a second fiducial marker arranged e.g. at an end of a shelf system provides the control unit with information on the location and orientation of the robot system in relation to that specific fiducial marker and further with information on the type of first fiducial markers arranged on the shelfs in the shelf system, where the first fiducial markers are associated with a specific number of plant trays.
  • Fig. 1 is a perspective view of the autonomous robot system.
  • Fig. 2 is a perspective view of the autonomous robot system.
  • Fig. 3 is a perspective view of the autonomous robot system in a collapsed state.
  • Fig. 4A is a perspective view of the robot system in a vertical farm environment.
  • Fig. 4B-4C are views from the first position sensor.
  • Fig. 5A is a perspective view of the robot system in a vertical farm environment.
  • Fig. 5B is a view from the first position sensor.
  • Fig. 6 shows an enlarged perspective view of the gripping system.
  • Fig. 7 shows an enlarged perspective view of the locking system.
  • Fig. 1 shows a perspective view of the autonomous robot system 10.
  • the robot system 10 comprises a motorized vehicle 12 having a number of wheels 16 for moving the vehicle.
  • the wheels 16 are preferably omnidirectional wheels, such as mecanum wheels, whereby the robot system 10 is able to navigate within a very limited space.
  • the vehicle 12 having mecanum wheels is thus able to move forward/rearward, sideways, in a stationary rotation, and a combination of sideways and forwards/rearward, in a vertical farming environment where a number of shelf systems are arranged in close proximity.
  • the motorized vehicle 12 comprises a vehicle housing 14, which incorporates a power system, such as a rechargeable battery for powering the vehicle’s motor, such as an electrical motor.
  • the wheels 16 of the vehicle 12 are part of the steering system for navigation the vehicle 12.
  • the robot system 10 comprises a height adjustment mechanism 32, which in the illustrated embodiment is a scissor lift. Arranging the height adjustable mechanism 32 as a scissor lift has the advantage that the robot system 10 can be collapsed to a minimum and extended in a vertical direction according to the length of the lift.
  • the vehicle housing 14 further comprises a control unit arranged for controlling the power system, the steering system, the height adjustment mechanism 32 and the gripping system 20.
  • the height adjustment mechanism 32 is arranged with an actuator 34 such as a mechanical, electrical, hydraulic or pneumatic actuator 34, which is connected to the control unit within the vehicle housing 14.
  • an actuator 34 such as a mechanical, electrical, hydraulic or pneumatic actuator 34, which is connected to the control unit within the vehicle housing 14.
  • the robot system 10 further comprises a gripping system 20, which enables the robot system 10 to grab a plant tray 30, having a number of plants (not shown), from a shelf system and retract the plant tray 30.
  • the gripping system 20 is illustrated with a substantially U-shaped frame 24 having an opening 26, which is sized to be able to accommodate a plant tray 30, having a number of pants, such that the plant tray 30 is accommodated within the boundary of the robot system 10.
  • the U-shaped frame 24 is on each side of the opening 26 arranged with a gripping arm 22, which is arranged horizontally slidable to and from the opening 26.
  • the gripping arms 22 are arranged in the gripping system 20, with an intermediate distance, which is slightly smaller than the width of the plant tray 30.
  • the gripping arms can grab the plant tray 30 at the upper surface of the plant tray 30 in the vicinity of the edge of the tray 30.
  • each arm 22 comprises a small electrical motor (not shown), which is connected to the control unit, such that the control unit can control the extension and retraction of the gripping arms 22, in relation to the U-shaped frame 24.
  • the gripping system 20 comprises a first position sensor 28, such as a vision sensor, arranged as a camera.
  • the first position sensor is arranged for capturing images of a fiducial marker arranged on a specific shelf, which shelf has a number of plant trays 30.
  • the sensor transmits the images to the control unit for generating a first set of parameters representative of the position and orientation of the first position sensor, in relation to the first fiducial marker, for determining whether the gripping arms 22 are correctly aligned with a specific plant tray 30.
  • the control unit activates the power and steering system to navigate the motorized vehicle 12 into a correct position. If a correct position is accomplished, the control unit activates the electric motors of the gripping arms 22, which extend over the plant tray 30 for interconnection.
  • the robot system 10 comprises a second position sensor 18, arranged as a vision sensor, such as a camera, which captures images of second fiducial markers and transmits the captured images to the control unit, for generating a second set of parameters, for determining the position and the heading of the robot in relation to the second fiducial marker, in order for the robot system 10 to autonomously navigate within the vertical farm system.
  • the second fiducial markers are preferably arranged on a shelf system, e.g. at an end thereof.
  • the second fiducial markers represent information on the specific shelf system including information on which first fiducial markers are associated with the shelfs, and where plant trays 30 are arranged on each shelf.
  • the second fiducial markers may further represent information of other second fiducial markers arranged on other shelf systems within the vertical farm.
  • the height adjustment system 32 is arranged in an elevated position, which is not a fully elevated position, such that the gripping system 20 is arranged between a completely collapsed position and a fully retracted position.
  • the gripping arms 22 are extended over and connected to a plant tray 22 arranged in a shelf system (not shown).
  • Fig. 2 shows the robot system 10 according to figure 1, where the gripping arms 22 are arranged in a fully retracted position.
  • the plant tray 30, as shown in the figure is fully accommodated within the opening 26 of the U-shaped profile.
  • the plants (not shown) arranged in the plant tray 30 are accommodated within the frame structure of the U-shaped profile, and thus prevented from falling of the plant tray 30 or collide with any objects outside the frame 24.
  • Fig. 3 shows the robot system 10 according to figure 1 and 2, where the height adjustment mechanism 32 is arranged in a fully collapsed configuration.
  • the fully collapsed configuration is preferably used in a transport mode of the robot system 10, where the robot system 10 is navigated within the vertical farm system.
  • the fully retracted configuration ensures the best possible stability of the plants arranged on the plant tray.
  • Fig. 4A shows a perspective view of the robot system in a vertical farm environment.
  • the robot system corresponds to the robot system as described in relation to figures 1-3.
  • the robot system 10 is illustrated in a position, in which it is located between to neighbouring shelf systems 46,46’.
  • Each shelf system 46,46’ comprises a number of shelfs 48, where each shelf 48 comprises three plant trays 30, having a number of plants.
  • each shelf 48 is associated with a first fiducial marker 42 being an Arllco marker.
  • the first fiducial markers 42 are arranged above the specific shelf 48 and are associated with the three plant trays 30 arranged onto the shelf below.
  • the first fiducial markers 42 may be arranged differently in relation to the specific shelf 48.
  • Each first fiducial marker 42 may be associated with a different number of plant trays 30 such as fewer or more plant trays 30.
  • the plant trays 30 are arranged on each shelf 48 at a specific known location in relation to the first fiducial marker 42, such that when the robot system knows its location in relation to the first fiducial marker 42, the position of the robot system is also known in relation to each plant tray 30.
  • the shelf systems 46,46’ comprise a second fiducial marker 44 arranged at an end of the shelf systems 46,46’, such that the second position sensor 18 can capture images of the second fiducial marker and transmit the captured images to the control unit for generating the second set of parameters.
  • the second fiducial markers 44 are located on the shelf systems 46,46’ at specific locations, such that when the robot system 10 knows its location in relation to the second fiducial marker 42, the position of the robot system 10 is also known in relation to each of the associated shelf system 46,46’ and the shelfs 48 thereon.
  • the second fiducial markers 44 are preferably associated with information of other second fiducial markers arranged on other shelf systems 46,46’ for further manoeuvring.
  • the robot system in fig. 4A is shown in a non-aligned position with respect to the shelf system 46 from which a specific plant tray 30 is to be retracted.
  • the robot system is illustrated positioned in an angle 50 with respect to the shelf system 46.
  • the first position sensor 28 captures images of the first fiducial markers 42 within the camera view.
  • the control unit recognises the fiducial marker 42, which represents the “right” shelf 48’ having the requested plant tray 30.
  • Fig. 4B shows the captured image from the first position sensor 28, in the position illustrated in fig. 4A.
  • Fig. 4A shows the “right” fiducial marker 42 arranged on the shelf 48 above the “right” shelf 48’.
  • the computer vision software recognises the “right” fiducial marker 42 and marks out the fiducial corner points (P1-P4) 52-52’”.
  • the computer vision software recognises that the fiducial corner points 52-52’” do not represent a square, where the lines between the fiducial corner points 52-52’ and 52’-52’” are not all horizontal and/or the lines between fiducial corner points 52-52’” and 52’-52” are not vertical. Therefore, the computer vision software recognises that the robot system 10 is not positioned in parallel (or the correct height) with the shelf system 46, and is positioned at an angle 50 in relation to the shelf system 46.
  • the computer vision software in the same way recognises that the height is not correct and calculates the offset.
  • Fig. 4C shows a correct position of the fiducial corner points 52-52’” and the computer vision software calculates the angle 50, which the robot system has to correct in order to be parallel (and in the correct height) with the shelf system 46, such that the fiducial corner points 52-52’” are positioned as illustrated in fig. 4C.
  • Fig. 5A shows a perspective view of the robot system 10 in a vertical farm environment, where the robot system 10 is positioned parallel with the shelf system 46 and the gripping system is arranged via the height adjustment mechanism in a level corresponding to the level of the “right” shelf 48’ and the requested plant tray 30.
  • the robot has been repositioned in relation to fig. 4A and is now correctly aligned with the shelf system 46.
  • the first position sensor 28 preferably reads the first fiducial marker 42 for the generation of a new first set of parameters.
  • the sensor 28 reads the first fiducial marker 42 as illustrated in fig. 5B and the first set of parameters is within a specific range, the control unit activates the gripping system 20 for gripping the requested plant tray 30.
  • Fig. 6 shows an enlarged perspective view of the gripping system 20.
  • the figure shows a left side of the gripping system 20 comprising the U-shaped frame and the left gripping arm 22, which is shown connected to the left side of a plant tray 30.
  • the gripping arm 22 is connected to the frame via intermediate slide rails (not shown) in order for the gripping arm to be extended/retracted in relation to the frame 24.
  • the frame is in the shown embodiment arranged with a longitudinal groove and the gripping arm 22 is arranged with a projection being slidable accommodated within the groove, for supporting the movement of the gripping arms 22.
  • the projection and the groove comprise a gripping arm sensor system 36, which senses if the gripping arms 22 are in the retracted position and transmits the information to the control unit. If the arms 22 are not in the retracted position, the control unit can be programmed such that the robot system 10 cannot manoeuvre from the present vehicle position.
  • Fig. 7 shows an enlarged perspective view of the locking system.
  • the illustration shows one possible embodiment of the connection between the left gripping arm 22 and the left side of the plant tray 30.
  • the gripping arm 22 and the plant tray 30 are shown in a non-connected configuration.
  • the gripping arm 22 comprises a number of locking elements 38 (preferable two), where only the outermost locking element 38 is shown, and the plant tray preferable comprises a corresponding number of locking elements 40 arranged at a side edge of the plant tray.
  • the locking system is in a preferred embodiment provided with an electrical circuit (not shown) arranged for establishing a closed electrical circuit through the locking members 38, when the locking members 38 are engaged with the locking elements 40.
  • the locking system is connected to the control system, such that it can be detected if the gripping arms 22 and the plant tray 30 are not correctly connected. List of reference numbers

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Abstract

The present invention relates to an autonomous robot system for operating and performing tasks within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within the vertical farm system. The robot system comprises a motorized vehicle having a power system for driving the vehicle and a steering system for determining a direction of the motorized vehicle, and a control unit arranged for controlling the power system and the steering system. The robot system comprises a first position sensor connected to the control unit, for generating a first set of parameters representing a position and orientation of the robot system in relation to a first point of reference.

Description

Autonomous robot and method for operating an autonomous robot.
TECHNICAL FIELD
The present invention relates to an autonomous robot and a method for operating an autonomous robot within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers.
BACKGROUND OF THE INVENTION
Traditionally, agricultural farming has been outdoor and land based, taking up huge areas of land. However, such traditional agriculture is due to drought, pollution or environmental changes associated with a certain risk. Such traditional agriculture also requires a huge amount of work labour, which makes traditional farming a cumbersome business.
Within the recent years, vertical farming has been evolving more and more such that a variety of plants can be grown indoors in urban environments.
In vertical farming, plants are grown in containers e.g. within buildings and arranged in plant systems on stacked structures such as a plurality of shelf systems being arranged in rows. The plants are thus arranged on plant trays in the stacked structures.
This concept reduces land consumption, as the farming is arranged in several layers/lev- els and arranges a farming production being productive all year round.
These vertical farming environments are high tech, such that the plant systems are supplied with monitoring, temperature control, artificial light, irrigation, and nutrients for the crops.
Due to the arrangement of plant trays in long rows and at several layers/levels, typically more than several meters, the work task of retrieving the plant trays from the shelf systems is troublesome and typically requires a lift or similar system, for the employees to be able to retrieve the plant trays. These work tasks require expensive equipment, are time consuming due to the work labour and expose the employees to the risk of injury.
It is an object of the present invention to provide an autonomous robot and a method for operating the autonomous robot and performing tasks within a vertical farm system, such as a plurality of shelf systems arranged in rows having plants arranged in vertically stacked layers, where the requirement of expensive lift systems, human labour and the risk of human injury is avoided.
The above object and advantages, together with numerous other objects and advantages, which will be evident from the following description of the present invention, are according to a first aspect of the present invention obtained by:
An autonomous robot system for operating and performing tasks within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within the vertical farm system, the robot system comprising: a motorized vehicle having a power system for driving the motorized vehicle, and a steering system for determining a direction of the motorized vehicle, a control unit arranged for controlling the power system and the steering system, the robot system comprising a first position sensor connected to the control unit, for generating a first set of parameters representing a position and orientation of the robot system in relation to a first point of reference.
Hereby is defined an autonomous robot, which is cost efficient to install and eliminates human labour in retrieving plants from the vertical farm system, in a safe and autonomously controlled manner.
The motorized vehicle is preferably a four-wheel equipped vehicle with a built-in power source, such as a rechargeable battery system. The power system comprises a motor, preferably an electric motor driven by the power source, which also powers the steering system, which allows the motorized vehicle to change direction. In order for the motorized vehicle to have a maximum degree of freedom to move and navigate between the plurality of shelf systems, the vehicle is preferably arranged with omnidirectional wheels. Using omnidirectional wheels, such as mecanum wheels, enables the vehicle to move forward/rearward, sideways, in a stationary rotation, and a combination of sideways and forwards/rearward. It is hereby possible for the vehicle to navigate within a limited space.
The robot system further comprises a control unit, such as an onboard computing device for controlling the movement and steering of the motorized vehicle. The control unit is preferably connected to a central server, which may also be arranged as a data storage for the control unit, and for storing control functions and the mapping of the area, in which the robot is to navigate. In order for the control unit to communicate with the central server, the control unit is arranged with a wireless communication unit, such as a WIFI or GSM unit.
In order for the robot to autonomously navigate within the vertical farm system, the vehicle is equipped with a first position sensor, such as a camera, for capturing images of predefined fixed reference points, and transmitting the images to the control unit for generating a first set of parameters for determining the position of the robot in relation to the reference point. Preferably, the robot system is arranged with a number of position sensors, arranged as cameras.
The control unit or the central server compares the captured images to images stored (mapping) within the data storage, whereby a first set of parameters is generated, which parameters represent the position and orientation of the vehicle in relation to a specific reference point. The first position sensor captures images of predefined reference points, where information of these reference points are e.g. stored in the data storage connected to the control unit. The position sensors further comprise distance sensors, whereby the distance to the predefined reference point of reference is also known.
Hereby, when the first position sensor captures an image of one of the stored reference points recognized by the control unit, the exact position and distance to the point of reference is known and the exact position and heading of the robot system within the vertical farm is known.
An operator having access to the central server may thus operate the robot via the server via a number of commands. The robot may hereby be provided with a command for extracting a specific plant tray located at a specific shelf system, whereby the robot via the central server and the mapping receives information on the most preferred route, such as the shortest route, to the specific plant tray.
According to a further embodiment of the first aspect of the invention, the robot system further comprises: a gripping system connected to the control unit, and for gripping a plant tray within the vertical farm system, a height adjustment mechanism, such as a scissor lift, arranged in-between the vehicle and the gripping system, for arranging the gripping system at a predetermined height, and wherein the first position sensor is arranged on the robot system on or in proximity to the gripping system, where the first set of parameters represents a position and orientation of the gripping system in relation to the first point of reference arranged at a predefined position in relation to a specific plant tray.
In order for the robot to extract plants being shelved in the vertical farming system, the robot comprises a height adjustable and extensible gripping system, which is height adjustable and extensible in relation to the motorized vehicle. The robot comprises a height adjustable mechanism, such as a scissor lift, arranged in-between the motorized vehicle and the gripping system. The robot can thus be arranged in a collapsed configuration, where the gripping system is arranged with a minimum distance to the motorized vehicle, and in an extended configuration, where the gripping system is arranged with a maximum distance to the motorized vehicle. The height adjustable mechanism is stepless, so the gripping system may be arranged at any level in-between the minimum and maximum distances. The height adjustable mechanism is in a preferred embodiment arranged as a scissor lift, but may in an alternative embodiment be arranged as any height adjustable mechanism such as actuators (mechanical, electrical, hydraulic or pneumatic) being able to arrange the gripping system at the desired vertical positions in relation to the motorized vehicle.
The first position sensor is according to the invention arranged on or in proximity to the gripping system. The first position sensor hereby captures images of the point of reference in relation to both the vehicle and also the gripping system. It is hereby possible to use the first position sensor for navigating the vehicle, but also for controlling the gripping mechanism according to the first set of parameters.
The exact position of the points of reference within the vertical farm and the exact position of a plant tray in relation to a specific point of reference is known, whereby the robot system, via the points of reference, is able to controllably grip a plant tray via the first set of parameters. The vertical farm system preferably comprises a number of fixed points of reference, and the position of a predefined number of plant trays, such as three plant trays, is known at least with respect to one point of reference.
As the specific shelf system, in which the plant tray is located, and the specific level of the shelf and the plant tray within the shelf system is known, the robot is able to navigate to the desired shelf system, and activate the height adjustment mechanism, such that the gripping system reaches the desired level and is able to grip the requested plant tray.
According to a further embodiment of the first aspect of the invention, the robot system comprises a second position sensor connected to the control unit, for generating a second set of parameters representing a position and orientation of the robot system in relation to a second point of reference.
The robot system comprises a second position sensor, such as a camera, for capturing images of a second reference point, and for generating a second set of parameters therefrom, where the second set of parameters are representative of the position and distance of the robot system in relation to the second point of reference. The second position sensor is preferably arranged on the vehicle, such that the first position sensor determines a position of the gripping system in relation to a plant tray and the second position sensor determines a position of the robot system within the vertical farm.
According to a further embodiment of the first aspect of the invention, the first and/or second position sensor is a fiducial camera and the first and/or second point of reference is a fiducial marker, such as an Arllco marker.
The first and second position sensors are according to a further embodiment of the invention arranged as fiducial cameras and the points of reference are arranged as fiducial markers, such as Arllco markers. In order for the control unit to determine the position of the vehicle within the field of the vertical farm, the robot system utilizes fiducial markers (landmarks) that are placed artificially into the field (vertical farm), which fiducial markers are images that the application/control unit can easily recognize. When the robot system “sees” a fiducial marker, it can determine where the fiducial camera is located with respect to that marker and how it is oriented.
The control unit is arranged with a computer vision software, which determines the relative location and orientation of the position sensors compared to the fiducial markers.
In addition to providing information about the relative position of the robot system with respect to the fiducial marker, fiducial markers can also provide additional information such as information of a nearby shelf system, plant tray and/or another nearby fiducial marker for further guidance of the robot system. It is preferred that the fiducial markers are arranged as a square and utilize a unique pattern that is easy for the computer vision software to recognize as a fiducial marker, but it is also preferred that the marker is asymmetrical. It is not necessary that the overall marker is asymmetrical, but it is important that there is some aspect of the marker that makes it possible for the vision software to determine which way the marker is oriented.
Each first fiducial markers is preferably associated with a specific shelf, having a number of plant trays arranged thereon, such as three plant trays, and each second fiducial marker is preferably associated with a specific shelf system having a number of shelfs.
If the position sensors are not correctly positioned in front of the fiducial markers, the captured images of the fiducial markers do not represent a square. The captured images show an image of a distorted fiducial marker and the computer vision software is able to analyse the image and calculate the location and orientation of the position sensors, and hereby the robot system, in relation to the fiducial marker.
According to a further embodiment of the first aspect of the invention, the gripping system comprises at least two gripping arms, arranged for gripping the plant tray at opposites sides thereof, the gripping arms being moveable arranged on the gripping system in a horizontal plane, and being controlled by the control unit dependent on the first set of parameters.
The gripping system is arranged with at least two gripping arms, arranged for gripping the plant tray at opposite sides, and the arms being moveable arranged in the gripping system in a horizontal plane in a longitudinal direction of the arms. The arms are preferably individually arranged with an electric motor, which drives the movement of the gripping arms, e.g. via spindle mechanism.
The height adjustment mechanism arranges the gripping system with the gripping arms at a desired vertical level and the gripping arms may slide outwards from the gripping system in a horizontal plane, such that the gripping arms can connect with the specific plant tray, arranged on the shelf system.
In order for the gripping arms to grip the plant tray in a secure manner, the gripping arms are preferably arranged with a locking system having a number of locking members for engagement with a number of cooperating locking elements arranged on the plant tray. Hereby, when the locking members engage with the locking elements, the locking elements and locking members automatically connect to each other such that when the plant tray is removed from the shelf system, the plant tray is securely supported by the gripping system in order to avoid any dropping of the plant tray.
The locking members are preferably located on an underside of the gripping arms, and the locking elements are preferably arranged on an upper side of the plant tray. Hereby, the gripping arms are able to grip the plant tray from above, instead of gripping the plant tray sideways or from below.
The gripping arms are in a preferred embodiment arranged in the gripping system with an intermediate distance, which approximately corresponds to the width of the plant tray, such that the gripping arms are arranged to grip the plant tray at the sides thereof. The arms may in an alternative embodiment be arranged with a shorter intermediate distance, such that the arms may grip the plant tray at a middle part.
The gripping arms are in a preferred embodiment arranged on a frame, which is connected to the height adjustment mechanism. This provides a modular robot system where the individual parts of the system can be exchanged.
In order for the plant tray to be safely accommodated in the gripping system, the frame is preferably substantially U-shaped and defines an opening, such that the plant tray may be accommodated within the opening. The gripping arms are arranged on each side of the opening respectively and arranged slidably displaceable in a horizontal direction, in such a way that the arms can slide outwards in relation to the frame and the opening, grab a plant tray and retract the plant tray from the shelf system into the opening of the U-shaped frame.
Preferably, the locking members are arranged on the gripping arms such that the locking members may be displaced in a longitudinal direction of the gripping arm. It is hereby possible for the locking system to be adapted to various sizes of plant trays.
The locking members may in a further embodiment be connected to the control unit and hereby by automatically adjustable by the control unit, depending on the size of the plant tray. Preferably, the gripping arms are arranged individually sideways adjustable in the gripping system such that plant trays of varying width can all be operated with the robot system. The sideways movement may in an embodiment be performed by an electric motor connected to the control system, such that that system automatically adjusts the distance between the gripping arms to the width of the plant tray dependent on the first set of parameters.
According to a second aspect of the present invention, the above objects and advantages are obtained by:
A method for operating an autonomous robot system within a vertical farm system, the method comprising the following steps:
• providing an autonomous robot system,
• manoeuvring the robot system to a desired location within the vertical farm system, the desired location comprising a number of plant trays and a first fiducial marker, such as an Arllco marker, arranged in a specific position and orientation in relation to the number of plant trays, the method comprises the following further steps:
• sensing the first fiducial marker with the first position sensor and generating a first set of parameters representing a position and orientation of the robot system in relation to the first fiducial marker,
• controlling the robot system in relation to the first fiducial marker with the control unit, dependent of the first set of parameters.
The above-defined method according to the invention provides a method for a robot system to navigate and operate autonomously within the vertical farm system. The system automatically captures images of first fiducial markers and generates a first set of parameters representing the exact position, distance, and orientation of the robot system in relation to the first fiducial marker. As the first fiducial markers represent specific information of a number of nearby or remote plant trays, nearby shelf systems and/or location information of a number of second fiducial markers, the robot system is able to automatically navigate and operate within the vertical farm.
According to a further embodiment of the second aspect of the invention, the robot system comprises: a gripping system connected to the control unit, and for gripping a plant tray within said vertical farm system, a height adjustment mechanism, such as a scissor lift, arranged in-between the vehicle and the gripping system, for arranging the gripping system at a predetermined height, and where the first position sensor is arranged on the robot system, on or in proximity to the gripping system, where the first set of parameters represents a position and orientation of the gripping system in relation to the first fiducial marker being arranged at a predefined position and orientation in relation to a specific plant tray, where the method comprises the following further step:
• controlling the gripping system in relation to the first fiducial marker with the control unit, dependent of the first set of parameters, such that if the gripping system is within a specific range of location and orientation in relation to the first fiducial marker, the control unit controls the gripping system for gripping a specific plant tray.
In the method according to the invention, the first position sensor is arranged on or in proximity to the gripping system for capturing images of the first fiducial marker in relation to the gripping system. It is hereby possible to use the first position sensor for navigating the vehicle, but also for controlling the gripping mechanism according to the first set of parameters.
According to a further embodiment of the second aspect of the invention, the gripping system comprises at least two gripping arms, arranged for gripping the plant tray at opposites sides thereof, the gripping arms being moveable arranged on the gripping system in a horizontal plane, and being controlled by the control unit dependent on the first set of parameters, such that if the gripping arms are within a specific range of location and orientation in relation to the first fiducial marker, the control unit controls the gripping arms for gripping a specific plant tray.
In order for the robot system to automatically control the moveable gripping arms, the first position sensor captures images of the first fiducial marker, which is associated with a specific number of plant trays, such as three plant trays, arranged in proximity to the fiducial marker and the control unit generate the first set of parameters, from which the control unit is able to control the operation of the gripping arms, and control the gripping arms into engagement with the plant tray.
According to a further embodiment of the second aspect of the invention, the method further comprises: • if depending on the first set of parameters, the gripping system or the gripping arms are outside a specific range of location and orientation parameters in relation to the first fiducial marker, the control unit controls the gripping system or gripping arms, dependent on the sensed first set of parameters, into a specific location and orientation in relation to the first fiducial marker, being within the specific range.
If the gripping system is not correctly aligned with a requested plant tray, the first set of parameters are outside a specific predefined range. The control system is able from the captured image of the fiducial marker and the generated first set of parameters to calculate the needed adjustment of the robot system in relation to the fiducial marker for the gripping system to be correctly aligned with the requested plant tray. If the first set of parameters is outside a predefined range, the robot system readjusts its position and preferably performs another reading of the fiducial marker. It the first set of parameters are still outside the specific range, the robot system performs another adjustment.
According to a further embodiment of the second aspect of the invention, the robot system comprises a second position sensor connected to the control unit for generating a second set of parameters, constituting location and orientation information of the robot system in relation to a second point of reference being a second fiducial marker, where the second set of parameters are also representative of the position and orientation of the robot system in relation to the first fiducial marker.
With the above defined method for operating the robot system, the robot system is able to navigate within the vertical farm system via the second set of parameters. The second fiducial markers are typically arranged in relation to entire shelf systems having a number of shelfs with a number of plant trays thereon. Therefore, a second fiducial marker arranged e.g. at an end of a shelf system provides the control unit with information on the location and orientation of the robot system in relation to that specific fiducial marker and further with information on the type of first fiducial markers arranged on the shelfs in the shelf system, where the first fiducial markers are associated with a specific number of plant trays.
Fig. 1 is a perspective view of the autonomous robot system.
Fig. 2 is a perspective view of the autonomous robot system. Fig. 3 is a perspective view of the autonomous robot system in a collapsed state.
Fig. 4A is a perspective view of the robot system in a vertical farm environment.
Fig. 4B-4C are views from the first position sensor.
Fig. 5A is a perspective view of the robot system in a vertical farm environment.
Fig. 5B is a view from the first position sensor.
Fig. 6 shows an enlarged perspective view of the gripping system.
Fig. 7 shows an enlarged perspective view of the locking system.
The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The invention may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the scope of the invention to those skilled in the art. Similar reference numerals refer to similar elements. Similar elements will thus not be described in detail with respect to the description of each figure.
Fig. 1 shows a perspective view of the autonomous robot system 10. The robot system 10 comprises a motorized vehicle 12 having a number of wheels 16 for moving the vehicle. The wheels 16 are preferably omnidirectional wheels, such as mecanum wheels, whereby the robot system 10 is able to navigate within a very limited space. The vehicle 12 having mecanum wheels is thus able to move forward/rearward, sideways, in a stationary rotation, and a combination of sideways and forwards/rearward, in a vertical farming environment where a number of shelf systems are arranged in close proximity. The motorized vehicle 12 comprises a vehicle housing 14, which incorporates a power system, such as a rechargeable battery for powering the vehicle’s motor, such as an electrical motor. The wheels 16 of the vehicle 12 are part of the steering system for navigation the vehicle 12. The robot system 10 comprises a height adjustment mechanism 32, which in the illustrated embodiment is a scissor lift. Arranging the height adjustable mechanism 32 as a scissor lift has the advantage that the robot system 10 can be collapsed to a minimum and extended in a vertical direction according to the length of the lift.
The vehicle housing 14 further comprises a control unit arranged for controlling the power system, the steering system, the height adjustment mechanism 32 and the gripping system 20.
To activate the height adjustment of the robot system 10, the height adjustment mechanism 32 is arranged with an actuator 34 such as a mechanical, electrical, hydraulic or pneumatic actuator 34, which is connected to the control unit within the vehicle housing 14.
The robot system 10 further comprises a gripping system 20, which enables the robot system 10 to grab a plant tray 30, having a number of plants (not shown), from a shelf system and retract the plant tray 30. The gripping system 20 is illustrated with a substantially U-shaped frame 24 having an opening 26, which is sized to be able to accommodate a plant tray 30, having a number of pants, such that the plant tray 30 is accommodated within the boundary of the robot system 10. The U-shaped frame 24 is on each side of the opening 26 arranged with a gripping arm 22, which is arranged horizontally slidable to and from the opening 26. The gripping arms 22 are arranged in the gripping system 20, with an intermediate distance, which is slightly smaller than the width of the plant tray 30. Hereby, the gripping arms can grab the plant tray 30 at the upper surface of the plant tray 30 in the vicinity of the edge of the tray 30.
Preferably, each arm 22 comprises a small electrical motor (not shown), which is connected to the control unit, such that the control unit can control the extension and retraction of the gripping arms 22, in relation to the U-shaped frame 24.
In order for the control unit to correctly position the gripping mechanism 20 in relation to the specific plant tray 30, which is to be retracted, the gripping system 20 comprises a first position sensor 28, such as a vision sensor, arranged as a camera. The first position sensor is arranged for capturing images of a fiducial marker arranged on a specific shelf, which shelf has a number of plant trays 30. The sensor transmits the images to the control unit for generating a first set of parameters representative of the position and orientation of the first position sensor, in relation to the first fiducial marker, for determining whether the gripping arms 22 are correctly aligned with a specific plant tray 30. If the gripping arms 22 are not correctly aligned and/or if the distance from the gripping arms 22 to the plant tray 30 is not correct, the control unit activates the power and steering system to navigate the motorized vehicle 12 into a correct position. If a correct position is accomplished, the control unit activates the electric motors of the gripping arms 22, which extend over the plant tray 30 for interconnection.
The robot system 10 comprises a second position sensor 18, arranged as a vision sensor, such as a camera, which captures images of second fiducial markers and transmits the captured images to the control unit, for generating a second set of parameters, for determining the position and the heading of the robot in relation to the second fiducial marker, in order for the robot system 10 to autonomously navigate within the vertical farm system. The second fiducial markers are preferably arranged on a shelf system, e.g. at an end thereof. The second fiducial markers represent information on the specific shelf system including information on which first fiducial markers are associated with the shelfs, and where plant trays 30 are arranged on each shelf. The second fiducial markers may further represent information of other second fiducial markers arranged on other shelf systems within the vertical farm.
In the shown embodiment in figure 1 , the height adjustment system 32 is arranged in an elevated position, which is not a fully elevated position, such that the gripping system 20 is arranged between a completely collapsed position and a fully retracted position. The gripping arms 22 are extended over and connected to a plant tray 22 arranged in a shelf system (not shown).
Fig. 2 shows the robot system 10 according to figure 1, where the gripping arms 22 are arranged in a fully retracted position. When the gripping arms 22 are arranged in the retracted position, the plant tray 30, as shown in the figure, is fully accommodated within the opening 26 of the U-shaped profile. Hereby, the plants (not shown) arranged in the plant tray 30 are accommodated within the frame structure of the U-shaped profile, and thus prevented from falling of the plant tray 30 or collide with any objects outside the frame 24.
Fig. 3 shows the robot system 10 according to figure 1 and 2, where the height adjustment mechanism 32 is arranged in a fully collapsed configuration. The fully collapsed configuration is preferably used in a transport mode of the robot system 10, where the robot system 10 is navigated within the vertical farm system. The fully retracted configuration ensures the best possible stability of the plants arranged on the plant tray.
Fig. 4A shows a perspective view of the robot system in a vertical farm environment. In figure 4A, the robot system corresponds to the robot system as described in relation to figures 1-3.
The robot system 10 is illustrated in a position, in which it is located between to neighbouring shelf systems 46,46’. Each shelf system 46,46’ comprises a number of shelfs 48, where each shelf 48 comprises three plant trays 30, having a number of plants. As shown in the figure, each shelf 48 is associated with a first fiducial marker 42 being an Arllco marker. The first fiducial markers 42 are arranged above the specific shelf 48 and are associated with the three plant trays 30 arranged onto the shelf below. The first fiducial markers 42 may be arranged differently in relation to the specific shelf 48. Each first fiducial marker 42 may be associated with a different number of plant trays 30 such as fewer or more plant trays 30.
The plant trays 30 are arranged on each shelf 48 at a specific known location in relation to the first fiducial marker 42, such that when the robot system knows its location in relation to the first fiducial marker 42, the position of the robot system is also known in relation to each plant tray 30.
The shelf systems 46,46’ comprise a second fiducial marker 44 arranged at an end of the shelf systems 46,46’, such that the second position sensor 18 can capture images of the second fiducial marker and transmit the captured images to the control unit for generating the second set of parameters. The second fiducial markers 44 are located on the shelf systems 46,46’ at specific locations, such that when the robot system 10 knows its location in relation to the second fiducial marker 42, the position of the robot system 10 is also known in relation to each of the associated shelf system 46,46’ and the shelfs 48 thereon. The second fiducial markers 44 are preferably associated with information of other second fiducial markers arranged on other shelf systems 46,46’ for further manoeuvring. The robot system in fig. 4A is shown in a non-aligned position with respect to the shelf system 46 from which a specific plant tray 30 is to be retracted. The robot system is illustrated positioned in an angle 50 with respect to the shelf system 46.
Assuming that the robot system 10 is given the task of removing the middle plant tray 30 from the shelf having the reference number 48’, the first position sensor 28 captures images of the first fiducial markers 42 within the camera view. When the first position sensor 28 captures images of the “right” first fiducial marker 42 (shown in fig. 4B), the control unit recognises the fiducial marker 42, which represents the “right” shelf 48’ having the requested plant tray 30.
Fig. 4B shows the captured image from the first position sensor 28, in the position illustrated in fig. 4A. Fig. 4A shows the “right” fiducial marker 42 arranged on the shelf 48 above the “right” shelf 48’. The computer vision software, as described earlier in the application, which is associated with the control unit, recognises the “right” fiducial marker 42 and marks out the fiducial corner points (P1-P4) 52-52’”. The computer vision software recognises that the fiducial corner points 52-52’” do not represent a square, where the lines between the fiducial corner points 52-52’ and 52’-52’” are not all horizontal and/or the lines between fiducial corner points 52-52’” and 52’-52” are not vertical. Therefore, the computer vision software recognises that the robot system 10 is not positioned in parallel (or the correct height) with the shelf system 46, and is positioned at an angle 50 in relation to the shelf system 46.
If the gripping system is not aligned in height with the “right” shelf 48’, the computer vision software in the same way recognises that the height is not correct and calculates the offset.
Fig. 4C shows a correct position of the fiducial corner points 52-52’” and the computer vision software calculates the angle 50, which the robot system has to correct in order to be parallel (and in the correct height) with the shelf system 46, such that the fiducial corner points 52-52’” are positioned as illustrated in fig. 4C.
Fig. 5A shows a perspective view of the robot system 10 in a vertical farm environment, where the robot system 10 is positioned parallel with the shelf system 46 and the gripping system is arranged via the height adjustment mechanism in a level corresponding to the level of the “right” shelf 48’ and the requested plant tray 30. In this illustration, the robot has been repositioned in relation to fig. 4A and is now correctly aligned with the shelf system 46.
In this position, the first position sensor 28 preferably reads the first fiducial marker 42 for the generation of a new first set of parameters. In the first position, the sensor 28 reads the first fiducial marker 42 as illustrated in fig. 5B and the first set of parameters is within a specific range, the control unit activates the gripping system 20 for gripping the requested plant tray 30.
Fig. 6 shows an enlarged perspective view of the gripping system 20. The figure shows a left side of the gripping system 20 comprising the U-shaped frame and the left gripping arm 22, which is shown connected to the left side of a plant tray 30. The gripping arm 22 is connected to the frame via intermediate slide rails (not shown) in order for the gripping arm to be extended/retracted in relation to the frame 24. The frame is in the shown embodiment arranged with a longitudinal groove and the gripping arm 22 is arranged with a projection being slidable accommodated within the groove, for supporting the movement of the gripping arms 22. The projection and the groove comprise a gripping arm sensor system 36, which senses if the gripping arms 22 are in the retracted position and transmits the information to the control unit. If the arms 22 are not in the retracted position, the control unit can be programmed such that the robot system 10 cannot manoeuvre from the present vehicle position.
Fig. 7 shows an enlarged perspective view of the locking system. The illustration shows one possible embodiment of the connection between the left gripping arm 22 and the left side of the plant tray 30. The gripping arm 22 and the plant tray 30 are shown in a non-connected configuration. The gripping arm 22 comprises a number of locking elements 38 (preferable two), where only the outermost locking element 38 is shown, and the plant tray preferable comprises a corresponding number of locking elements 40 arranged at a side edge of the plant tray. The locking system is in a preferred embodiment provided with an electrical circuit (not shown) arranged for establishing a closed electrical circuit through the locking members 38, when the locking members 38 are engaged with the locking elements 40. The locking system is connected to the control system, such that it can be detected if the gripping arms 22 and the plant tray 30 are not correctly connected. List of reference numbers
10 Autonomous robot system
12 Motorized vehicle
14 Vehicle housing
16 Wheels
18 Second position sensor
20 Gripping system
22 Gripping arms
24 Frame
26 Opening
28 First position sensor
30 Plant tray
32 Height adjustment mechanism
34 Actuator
36 Gripping arm sensor system
38 Locking member
40 Locking element
42 First fiducial marker
44 Second fiducial marker
46,46’ Shelf system
48, 48’ Shelf
50,50’ Angle
52-52’” Fiducial corner points

Claims

1. An autonomous robot system for operating and performing tasks within a vertical farm system, such as rows of shelf systems having plants arranged in vertically stacked layers and for arranging and/or retrieving a plant tray within said vertical farm system, said robot system comprising: a motorized vehicle having a power system for driving said vehicle and a steering system for determining a direction of said motorized vehicle, a control unit arranged for controlling said power system and said steering system, said robot system comprising a first position sensor connected to said control unit, for generating a first set of parameters representing a position and orientation of said robot system in relation to a first point of reference.
2. Autonomous robot system according to claim 1 , wherein said robot system further comprises: a gripping system connected to said control unit, and for gripping a plant tray within said vertical farm system, a height adjustment mechanism, such as a scissor lift, arranged in-between said vehicle and said gripping system, for arranging said gripping system at a predetermined height, and wherein said first position sensor is arranged on said robot system on or proximate said gripping system, where said first set of parameters represents a position and orientation of said gripping system in relation to said first point of reference arranged at a predefined position in relation to a specific plant tray.
3. Autonomous robot system according to claim 1 or 2, wherein said robot system comprises a second position sensor connected to said control unit, for generating a second set of parameters representing a position and orientation of said robot system in relation to a second point of reference.
4. Autonomous robot system according to any of the previous claims, wherein said first and/or second position sensor is a fiducial camera and said first and/or second point of reference is a fiducial marker, such as an Arllco marker.
5. Autonomous robot system according to claim 4, wherein said gripping system comprises at least two gripping arms, arranged for gripping said plant tray at opposites sides thereof, said gripping arms being moveable arranged on said gripping system in a horizontal plane, and being controlled by said control unit dependent on said first set of parameters.
6. A method for operating an autonomous robot system within a vertical farm system, said method comprising the following steps:
• providing an autonomous robot according to any of claims 1-5,
• maneuvering said robot system to a desired location within said vertical farm system, said desired location comprising a number of plant trays and a first fiducial marker, such as an Arllco marker, arranged in a specific position and orientation in relation to said number of plant trays, said method comprising the following further steps:
• sensing said first fiducial marker with said first position sensor and generating a first set of parameters representing a position and orientation of said robot system in relation to said first fiducial marker,
• controlling said robot system in relation to said first fiducial marker with said control unit, dependent of said first set of parameters.
7. Method according to claim 6, wherein said robot system comprises: a gripping system connected to said control unit, and for gripping a plant tray within said vertical farm system, a height adjustment mechanism, such as a scissor lift, arranged in-between said vehicle and said gripping system, for arranging said gripping system at a predetermined height, and where said first position sensor is arranged on said robot system on or proximate said gripping system, where said first set of parameters represents a position and orientation of said gripping system in relation to said first fiducial marker being arranged at a predefined position and orientation in relation to a specific plant tray wherein said method comprises the following further step:
• controlling said gripping system in relation to said first fiducial marker with said control unit, dependent on said first set of parameters, such that if said gripping system is within a specific range of location and orientation in relation to said first fiducial marker, said control unit controls said gripping system for gripping a specific plant tray.
8. Method according to claim 7, wherein said gripping system comprises at least two gripping arms, arranged for gripping said plant tray at opposites sides thereof, said gripping arms being moveable arranged on said gripping system in a horizontal plane, and being controlled by said control unit dependent on said first set of parameters, such that if said gripping arms are within a specific range of location and orientation in relation to said first fiducial marker, said control unit controls said gripping arms for gripping a specific plant tray.
9. Method according to claim 7 or 8, said method further comprising:
• if depending on said first set of parameters, said gripping system or said gripping arms are outside a specific range of location and orientation parameters in relation to said first fiducial marker, said control unit controls said gripping system or gripping arms dependent on said sensed first set of parameters into a specific location and orientation in relation to said first fiducial marker, being within said specific range.
10. Method according to any of claims 6-9, wherein said robot system comprises a second position sensor connected to said control unit for generating a second set of parameters, constituting location information of said robot system in relation to a second point of reference being a second fiducial marker, where said second set of parameters is also representative of said position and orientation of said robot system in relation to said first fiducial marker.
PCT/EP2021/079361 2020-10-23 2021-10-22 Autonomous robot and method for operating an autonomous robot WO2022084516A1 (en)

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