Apparatus and method for tilling agricultural use areas

Abstract

The present invention relates to an apparatus (10; 10') and a method for cultivating agricultural land. The apparatus (10; 10') includes: at least one elongated crossbeam (12); and a matching walking mechanism (16) with at least one wheel, the crossbeam (12) being capable of circular or linear movement over the land area (N) using the wheel; and at least one field cultivation device (18) positioned or arranged at the crossbeam (12) by means of a robotic arm. Furthermore, the apparatus (10) includes a plurality of housings (24) and a conveying system that is configured at the crossbeam (12) along a longitudinal extension of the crossbeam, wherein, by means of the conveying system (25), at least one housing (24) moves in a particular direction along the longitudinal extension of the crossbeam (12) and can thus be brought to a predetermined position, particularly adjacent to the field cultivation device (18, 19).

Description

Technical Field

[0001] The present invention relates to an apparatus for cultivating agricultural land according to the preamble of claim 1, and a corresponding method for using such apparatus in the method. Background Technology

[0002] It is known from existing technology that agricultural land use is handled using self-propelled machines. These machines can be mobile autonomous field robots, equipped with their own chassis or locomotives and having a relatively compact size. While such field robots can be used with high precision, they suffer from the disadvantage of relatively high cost, which makes cost-effective use problematic. Another drawback arises from the fact that such autonomous or self-propelled field robots are considered vehicles, and in this respect, German legislatures have imposed strict restrictions on their use.

[0003] Self-propelled machines can also be equipped with a gantry system in the form of a crossbeam, wherein a traveling mechanism with rollers is typically located at both ends of the crossbeam, allowing the crossbeam to move longitudinally over the soil or agricultural use area. For example, AT364659B discloses an apparatus for treating agricultural use area using such a bridge-shaped gantry system, which moves laterally along its longitudinal extension by means of wheels running on tracks. A trolley can move along the bridge in its longitudinal direction, serving as a carrier for implements used for field treatment devices such as sowing or weeding. Summary of the Invention

[0004] This invention aims to optimize the treatment of agricultural land use using simple methods and to design it to be more efficient.

[0005] This task is accomplished by the device having the features of claim 1 and by the method having the features of claim 32. Advantageous improvements of the invention are defined in the dependent claims.

[0006] The device according to the invention is used for cultivating agricultural land and includes: at least one elongated crossbeam; and a matching walking mechanism with at least one wheel, the crossbeam being capable of circular or linear movement over the cultivated area using the at least one wheel; and at least one field cultivation device capable of moving or shifting along the crossbeam. Furthermore, the device includes: at least one housing, preferably multiple such housings; and a conveying system disposed at the crossbeam along its longitudinal extension. Using the conveying system, at least one housing moves in a specific direction along the longitudinal extension of the crossbeam and is thus brought to a predetermined position, particularly a predetermined position adjacent to the field cultivation device. This is also suitably possible for multiple housings, which, using the conveying system, are capable of moving along the longitudinal extension of the crossbeam.

[0007] In the context of this invention, the term "box" should be understood as any container suitable for receiving harvested goods or fruit. Such a box can be constructed as a harvesting box, planting box, growing box, or similar box. Suitably, handles or similar objects can be provided on two opposite sides of such a box, allowing it to be gripped. Such a box can suitably be made of plastic or wood, or alternatively, of (light) metal (such as aluminum). In any case, the materials constituting or forming such a box according to the invention are chosen to be sufficiently stable so that not only can the box be lifted by hand when filled with harvested goods, but also contact between multiple adjacent boxes on rollers or similar objects is feasible without bulging or even cracking in the sidewalls of the box. Additionally, it should be noted that, in the context of this invention, the terms "box" and "container" should be understood synonymously. Furthermore, the box or container can also be constructed with rounded or even circular corner areas.

[0008] The "ingenious" aspect of the device according to the invention lies in the fact that a conveying system enables at least one container to be carried or moved along a crossbeam to a predetermined position. For this purpose, the conveying system may have a surrounding conveyor belt and / or roller conveyors on which the container can be placed. The predetermined position (where the container can be carried by the conveying system) is particularly adjacent to a field tillage device positioned or arranged at the crossbeam. If the container is located along the crossbeam in such a position adjacent to the field tillage device, seeds, seedlings, or similar items can be removed from the container by the field tillage device, and thus further tillage can be carried out on the agricultural area, or the harvested material or similar items can be transferred back into the container during harvest.

[0009] In the same manner, the present invention also provides a method for cultivating agricultural land, in which the aforementioned device according to the invention can be used. In any case, this method is characterized by being fully automated and comprising working steps or process steps from sowing or planting plants to their harvest, wherein, during harvesting, a predetermined amount of harvested material (if possible, harvested material from different plants) is mechanically introduced into a container provided for this purpose. Furthermore, the method is characterized by sowing or harvesting different plants on the same agricultural land, wherein, when harvesting is initiated using a field cultivation device, the harvested material from different plants is introduced together into a common container.

[0010] As explained above, the conveying system may include a surrounding conveyor belt on which at least one, preferably multiple, boxes may be placed. Suitably, such a conveyor belt is made of or has such a rubber material on its surface, thereby preventing the boxes from sliding on the conveyor belt.

[0011] For supplementary or alternative locations to conveyor belts, the conveying system can be configured to have a roller conveyor with multiple carrier rollers, each having a horizontal axis of rotation. In this case, at least one housing can be placed onto the carrier rollers of the roller conveyor from above. Optionally, the roller conveyor may also have multiple guide rollers, each having a vertical axis of rotation, wherein the guide rollers are arranged laterally on the roller conveyor and thus limit the roller conveyor to the sides. With the aid of the aforementioned rollers, for a conveying system in the form of a roller conveyor, it is achieved that the movement of at least one housing along the longitudinal extension of the crossbeam can be achieved with minimal rolling resistance.

[0012] This invention relates to a method for processing agricultural land use and / or to a device for this purpose, the device having a crossbeam with a considerable longitudinal extension. Considering its longitudinal extension, the crossbeam is preferably implemented with a lightweight structure, for which structural elements made of aluminum are considered, for example. In principle, the crossbeam can have any length, for example, at least 10 meters or longer, such as 25 meters. Alternatively, for the crossbeam, a length extension greater than 30 meters is also possible.

[0013] Due to the aforementioned design of the crossbeam (which has a considerable longitudinal extension and can be constructed in the form of a gantry system), the following advantages are achieved: when the crossbeam moves, a large soil surface or cultivated area can be covered and thus tilled, and soil compaction on the soil surface or cultivated area is greatly reduced. As a result, less energy is required for post-harvest soil preparation compared to conventional farming, and more carbon dioxide can be stored in the soil.

[0014] According to the invention, the crossbeam may be equipped with at least one field tillage device or application device that can move or be moved along the crossbeam. For example, this mobility can be achieved by means of a so-called trolley or similar device, which is positioned at a corresponding guide rail on the crossbeam.

[0015] According to the invention, the equipment is configured to cultivate an open agricultural area, i.e., an open space, using a crossbeam. In this context, it should be noted again that the equipment according to the invention, together with its crossbeam, can move or travel over the agricultural area using a matching traveling mechanism (which has at least one wheel).

[0016] With the aid of this invention, a highly automated tillage system can be advantageously realized for agricultural use areas, which can be planted with different vegetable crops due to the invention. Here, the crossbeam can either move in a circular track around a fixed central column (the crossbeam is hinged to the fixed central column), or it can move along a straight trajectory on the tilled ground or field surface. In the latter case, a traveling mechanism with wheels is provided at each of the two ends of the crossbeam, and the wheels roll on the tilled ground.

[0017] The present invention also provides a system for cultivating agricultural land, comprising the device explained above, which functions as a base station on the agricultural land. This system further includes at least one movable platform relative to the agricultural land, the platform having at least one field cultivation device mounted on or part of the platform's chassis and used to perform plant planting steps, and the system includes a conveying system mounted on or on the platform's chassis. Here, the platform is separate from the device explained above and is therefore not part of it. At least one, preferably multiple, box can move longitudinally or laterally on the chassis using the conveying system and can therefore be brought to a predetermined position, particularly a predetermined position adjacent to the field cultivation device. The at least one or multiple such platforms can be brought to a position adjacent to a crossbeam, such that the platform can receive the box from the crossbeam, or can return the box to or on the crossbeam, the box then filled with the harvested plant material and located on the platform.

[0018] In an advantageous improvement to the system according to the invention, the platform may be part of a mobile field robot or may be mounted or attached to a tractor or similar device.

[0019] According to the first variant described above, the platform is part of a mobile field robot, wherein a plurality of wheels are mounted on its chassis, enabling the chassis to move over a usable area. At least one of the wheels is equipped with a drive. More preferably, at least one wheel is pivotally or rotatably supported on the chassis about a vertical axis to allow for changes in the direction of travel of the mobile field robot.

[0020] In an advantageous improvement to the system according to the invention based on the first variant, all wheels of the platform or the field robot are pivotable about a vertical axis of rotation, thereby enabling the mobile field robot to move omnidirectionally across the soil of the agricultural use area to be cultivated. The meaning of "omnidirectional" in the context of this invention will be explained separately below.

[0021] In an advantageous improvement of the system according to the invention, based on the second variant mentioned above, the platform chassis is equipped with a coupling device by which the chassis can be mounted or attached to a tractor or similar object. In this case, it is suitable that the coupling device is adapted to and can therefore be mounted on a three-point receiving portion of the tractor.

[0022] In an advantageous improvement to the system according to the invention, the platform chassis is modularly constructed and includes a plurality of elongated, and particularly tubular, plug-in elements. These plug-in elements can be interconnected and disconnected from each other, particularly without the use of special tools, thus making at least one dimension of the chassis variable. This variable dimension of the chassis is preferably the dimension or length of the chassis extending transversely to the tractor's direction of travel. Additionally, it is also possible that the chassis dimension can be changed in or parallel to the tractor's direction of travel and / or also in the vertical direction.

[0023] In an advantageous improvement of the system according to the invention, a control or adjustment device is provided, which enables the control or adjustment of the movement of the mobile robot or the chassis over the usable area and / or the actuation of at least one field tillage device. Preferably, the control or adjustment device is disposed on or adjacent to the chassis or a portion thereof.

[0024] In an advantageous improvement to the system according to the invention, the aforementioned control or regulation device is programmed such that it is possible to determine the average cycle time and / or energy requirements, and on this basis, to verify the reliability of the agriculture-specific process. Further advantages are achieved when the control or regulation device is programmed such that it is capable of performing at least approximate economic calculations for the use or operation of the equipment, the mobile robot, and / or at least one field tillage device placed thereon.

[0025] An advantageous improvement to the system according to the invention includes a transmitting / receiving unit that is technically connected to the control or regulation device, wherein the transmitting / receiving unit enables or receives, either from a remote location, particularly a remote location in the form of a control center, information or data packets for monitoring and / or controlling the operation of the chassis and / or field tillage equipment mounted or disposed on the chassis, and / or the transmitting / receiving unit can transmit such information or data packets to such a remote location. Further advantageously, the transmitting / receiving unit is disposed on or adjacent to the chassis or a portion thereof.

[0026] According to an advantageous improvement of the system according to the invention, at least one trolley can be mounted on the platform at a corresponding guide rail on the chassis, the trolley being movably movable along the longitudinal extension of the platform. Here, at least one field cultivation device is mounted on the trolley, wherein the trolley serves as a carrier for the field cultivation device. This results in the following advantage in the same manner as in the device according to the invention: the field cultivation device mounted or installed on the trolley can then be precisely aligned with its position on the agricultural use area or with the position of the plants used therein due to the movement of the trolley at or along the guide rail.

[0027] According to an advantageous improvement of the system according to the invention, regarding the platform, at least one field cultivation device can be mounted on a running trolley by means of a robotic arm or similar device. Such a robotic arm has multiple degrees of freedom and / or multiple arm elements, each arm element having multiple pivot joints, each pivot joint having the resulting degrees of freedom, and the robotic arm can be constructed in the form of an industrial robot with at least two degrees of freedom, and here having two or more pivot arms, each pivot arm capable of pivoting about a vertical or horizontal axis of rotation. Accordingly, with the aid of such a robotic arm, it is possible to position the field cultivation device mounted at the robotic arm with high precision toward or relative to the plants in the agricultural use area.

[0028] According to an advantageous improvement of the system according to the invention, the platform's conveying system may have a driving device that interacts with the housing so as to move the housing in a particular direction along the longitudinal extension of the platform, wherein at least one trolley movable on the platform is disposed at a corresponding guide rail of the platform, and the driving device is disposed at the trolley.

[0029] According to an advantageous improvement, the system according to the invention is configured such that the platform has a height adjustment mechanism that interacts with the conveying system, thereby enabling the vertical distance between the conveying system and the agricultural use area, and thus its vertical height, to be adjusted to a predetermined value. This results in the advantage that if the platform is moved to a position adjacent to the equipment's crossbeam, and there exists a possible height difference between the platform's conveying system and the equipment's or crossbeam's conveying system, this height difference can be balanced by actuating the platform's height adjustment mechanism, by bringing the platform's conveying system to the same vertical height as the equipment's conveying system. In this respect, the predetermined value to which the vertical distance between the platform's conveying system and the agricultural use area is adjusted by the height adjustment mechanism corresponds to the vertical distance or height of the equipment's crossbeam at one end relative to the agricultural use area. In this way, reliable transfer of the container's operation from the equipment's crossbeam to the platform is ensured, and vice versa.

[0030] According to an advantageous improvement of the invention, the conveying system of the device and / or the conveying system of the platform can have a drive mechanism that interacts with the housing and thus moves the housing in a specific direction along the longitudinal extension of the beam or platform. This drive mechanism can be provided or disposed at at least one running trolley, which is disposed at a mating guide rail of the beam or platform and thus movably disposed at the beam or platform along the longitudinal extension of the beam or platform. This means that when the running trolley moves, the housing located on the conveying system can move along the beam or platform in a specific direction by means of the drive mechanism disposed at the running trolley.

[0031] According to the present invention, any process steps of planting can be performed on or over an agricultural area by means of a field cultivation device disposed at the crossbeam or platform of the equipment of the system according to the invention, such as planting and / or harvesting of plants, weeding, targeted irrigation and / or fertilization of plants, pruning of plants and / or targeted treatment or loosening of the soil. Here, it is helpful, if possible, to use a box that can move along the crossbeam or platform of the equipment by means of a conveying system, so as to transport or introduce, for example, seeds or harvested plants.

[0032] Advantageous improvements of the invention are formed by the following features, which, when applicable, are equally applicable not only to the equipment and its crossbeam but also to the platform of the system according to the invention:

[0033] - The crossbeam can be connected at one end to a fixed central post, preferably hingedly via a rotating tilting hinge or a corresponding hinged fork, wherein the other end of the crossbeam has a traveling mechanism that rolls on the soil or cultivated ground. Thus, the crossbeam can move in a circle around a central or central point of rotation formed by the fixed central post. Alternatively, as explained above, it is also possible for the crossbeam to be equipped with traveling mechanisms at both ends, thereby allowing the crossbeam to move linearly or translationally on the soil. And / or:

[0034] - Multiple "running trolleys" along with field tillage devices mounted at the running trolleys can also be installed at the crossbeam or platform, movably along the longitudinal extension of the crossbeam or platform. These multiple "running trolleys" can be movably mounted on the same side of the crossbeam and / or on different sides of the crossbeam, i.e., on opposite sides of the crossbeam (i.e., on the left and right sides). Particularly in cases where multiple such running trolleys along with field tillage devices respectively mounted at the running trolleys are arranged on opposite sides of the crossbeam, it is feasible for the running trolleys or field tillage devices on one side of the crossbeam to move independently of the running trolleys or field tillage devices arranged on the corresponding other or opposite side of the crossbeam. And / or:

[0035] - The field cultivation device can be connected to a beam, a platform, or a moving trolley via a robotic arm. This robotic arm preferably has multiple degrees of freedom and / or multiple arm elements with multiple pivot joints, each possessing a degree of freedom. This advantageously provides the field cultivation device (which can be positioned at the free end of the robotic arm) with flexible mobility of a large radius. Therefore, it is also possible to cultivate or cultivate plants on agricultural land that are not directly adjacent to or below the beam or platform. And / or:

[0036] - The aforementioned robotic arm can be constructed in the form of a SCARA robot. This SCARA robot has four axes and four degrees of freedom in a known manner, thus advantageously providing a large operating radius for field tillage devices that can be mounted at the lower end of the z-axis. And / or:

[0037] - Different types or kinds of field tillage devices can be installed at the running trolley. For example, it is feasible to install different types of such field tillage devices simultaneously at the running trolley. Supplementally or alternatively, according to the invention, one field tillage device can be replaced with another field tillage device at at least one running trolley when needed. For this purpose, according to the invention, a tool changing system is provided at the crossbeam or platform, which allows multiple different types of field tillage devices to be reserved at the crossbeam or platform, and allows one field tillage device to be replaced with another field tillage device at at least one running trolley when needed. For example, such replacement is performed when another crop should be cultivated and / or another tillage process should be carried out. And / or:

[0038] - The aforementioned tool changing system, to a certain extent, forms a "reserve container" for different types of field tillage devices. Suitable for equipping at least one operating trolley with a predetermined type of field tillage device in a desired manner, the tool changing system is also configured to move along the longitudinal extension of the crossbeam. This allows for faster and more flexible replacement of the field tillage device at the selected operating trolley and the robotic arm mounted thereon, where the planned replacement device can also be mounted. And / or:

[0039] - The aforementioned field cultivation device, which can be mounted on the running trolley (or alternatively, directly on the crossbeam), can be, for example, an irrigation applicator, a fertilizer applicator, a manipulator or applicator having at least one vertical axis of rotation or manipulation and with additional peripheral devices disposed thereon, and / or an industrial robot (= manipulator) (DOF, also known as a SCARA robot or Delta robot) with at least two degrees of freedom. If such an applicator or manipulator is equipped with two or more vertical axes of rotation, this means, for example, that it has two or more hinged arms, each of which can pivot about a vertical axis of rotation. Alternatively, it is also possible that such hinged arms can also pivot about a horizontal axis. And / or:

[0040] - At least one secondary crossbeam can be movably or telescopically supported, or rotatably mounted via hinged bearings, in any arrangement (horizontal, vertical, diagonal) at or on the crossbeam that functions as the main crossbeam of the device. In the same manner as at the main crossbeam, at least one traveling trolley along with a field tillage device mounted thereon can also be provided at this secondary crossbeam, which can move in the longitudinal direction of the secondary crossbeam. Alternatively, at least one field tillage device can also be mounted directly at this secondary crossbeam. Therefore, the working radius of the tillage system according to the invention can be advantageously increased without causing further compaction of the tilled surface. And / or:

[0041] According to the invention, soil loosening can be achieved only locally in areas where vegetation has been introduced into the cultivated land or agricultural use area, by means of a beam or platform and a tool or field tillage device mounted on the beam or platform (which can be movably guided along the longitudinal extension of the beam or platform). Movement of the field tillage device relative to the agricultural use area is also achieved with respect to the platform by the platform itself moving over the use area, either as part of a mobile field robot, or as a attachment or mounting point to a tractor. And / or:

[0042] -With the aid of various types of field tillage devices that can be installed at the running trolley (or alternatively: directly at the crossbeam) as explained, all processes of tillage covering or realizing agricultural use areas can be achieved, such as soil treatment (e.g., plowing, loosening), planting, plant protection, irrigation, fertilization, harvesting, and logistics, if possible, for "pick-and-place" methods. And / or:

[0043] -Suitably, each operating trolley is equipped with a tool changing system, which allows for the installation of different types of field tillage devices at the operating trolley associated with the tool changing system, as explained. And / or:

[0044] -Regarding the trolley movably mounted on the crossbeam along its longitudinal extension as explained, it goes without saying that this trolley, together with the field tillage device mounted thereon, moves or shifts along the crossbeam during its movement. The crossbeam's movement can be circular around a central point, or it can be linear or translational along the tilled surface. Thus, plants at any point on the tilled surface, i.e., at each point, can be reached by the field tillage device to carry out the desired tillage or harvesting process. And / or:

[0045] - The conveying system of the equipment or platform is constructed such that it is actuable or effective in both directions of the longitudinal extension of the beam of the equipment or the chassis of the platform. Thus, at least one housing can move along the beam in both directions. With appropriate modifications, this also applies to multiple housings that can be placed on the conveyor belt or roller conveyor of the conveying system.

[0046] Regarding the conveying system provided for the platform of the device or system according to the invention, multiple such conveying systems may also be provided at the crossbeams of the device or at the chassis of the platform. In this case, these multiple conveying systems may be arranged vertically stacked and / or horizontally side by side. For this purpose, appropriate mechanical precautions are taken at the crossbeams of the device or at the chassis of the platform to enable this arrangement of multiple conveying systems.

[0047] - At least one sensor or corresponding sensor package may be installed at the field tillage device and / or its associated operating trolley (which is movably positioned along the beam or platform as explained above). The sensor or sensor package enables workspace monitoring or appropriate identification of plants that can be processed or harvested using the field tillage device. And / or:

[0048] - As part of a mobile field robot, the beam and / or platform are equipped with or fitted with multiple solar panels and have at least one battery storage device electrically connected to the solar panels. Therefore, the battery storage device can be powered or charged during the day using current obtained through the solar panels, thereby covering the energy needs of the beam or mobile field robot and its associated devices. Thus, the battery storage device can also function as a nighttime storage device to ensure the continuous operation of the beam or mobile field robot according to the invention and the devices disposed thereon. In this way, self-sufficient energy supply for the beam or mobile field robot according to the invention and the devices disposed thereon is ensured. For example, a total of 75 solar panels can be installed in two rows along the entire length of the beam. Therefore, 100% energy demand coverage can be achieved, thereby ensuring the aforementioned self-sufficient energy supply for the beam according to the invention together with the devices disposed thereon. And / or:

[0049] - The aforementioned solar panels are preferably mounted above the crossbeam or in the upper region of the crossbeam. Accordingly, these solar panels also provide weather protection for the crossbeam. With appropriate modifications, this also applies to mobile field robots, in which the solar panels can be mounted above the platform chassis. And / or:

[0050] - Along a crossbeam or platform, at least one box is movably guided—this box can be used to carry seeds from a center point to a desired location on the crossbeam for sowing in the field. Alternatively or supplementarily, the box, as its name suggests, can be used to receive the harvested produce removed from the soil of an agricultural area by tools during harvesting and then carried back to the center point along the crossbeam. The aforementioned box can be formed from a conventional standard vegetable box. And / or:

[0051] - Regarding the use of at least one container, this is achieved using a conveying system (preferably integrated into the upper region of the beam or platform): one or more such containers move purposefully along the longitudinal extension of the beam or platform, preferably purposefully in two directions. When the invention is designed as a circular tillage system, this conveying system allows the containers to be transported radially outward from the center, i.e., from a fixed central post, via the beam. With appropriate modifications, this also applies to the opposite direction, i.e., to transporting the containers radially inward, i.e., towards the fixed central post. And / or:

[0052] - In an advantageous improvement of the invention, the beam and / or the conveying system and / or platform of the device may be equipped with a storage bin or roller bin, which can accommodate multiple boxes. Such a bin can accommodate >>10 boxes, for example 10, 20, 30, 40, or 50 such boxes, or even more. And / or:

[0053] - For example, with the present invention, more than 25,000 vegetable plants can be economically grown on an agricultural area of ​​¼ hectare, which is 25% more than in conventional farming. When the present invention is designed as a circular tillage system (in which beams move in a circular motion around a fixed central column), 600 seedlings can be used per day, and a significantly larger harvest can be achieved. Here, selective harvesting can further increase efficiency by, for example, 10% compared to conventional farming. And / or:

[0054] - A device with at least one nozzle can be installed at the crossbeam and / or the platform, by means of which liquid can be introduced or injected into targeted areas of the soil in the agricultural use area. Advantageously, the device is movable along the length of the crossbeam. After the nozzle device reaches a predetermined location on the crossbeam, the targeted introduction of liquid into the soil of the agricultural use area by the at least one nozzle is achieved, for example, via a height adjustment device. The liquid can be water, for targeted irrigation of plants placed in the soil, and / or an aqueous solution containing fertilizer, for targeted fertilization of the plants. And / or:

[0055] - If water is injected or sprayed into the soil using the above-described nozzle device, for example, adjacent to or directly close to the plants to be irrigated, this corresponds to minimum irrigation according to the invention, achieving approximately 80% water savings compared to conventional planting. And / or:

[0056] - This invention enables ecological plant protection without chemical agents, and the incorporation of spot soil preparation or harvest residues with maximum soil conservation and energy efficiency, using appropriate tools or field tillage devices (which, as explained, can be installed at the running trolley). And / or:

[0057] - According to the present invention, the cultivation of agricultural land can be performed fully automatically, for example, from sowing to harvesting. A characteristic of this cultivation method is that different plants can be sown or harvested on the same agricultural land. During this process, different plants can be collected together in a common container when the harvest is introduced, for example, for direct sale to potential consumers. Thus, by means of the present invention, at least one transaction or processing step is saved in the utilization of the introduced harvest, thereby obtaining an attractive market price. And / or:

[0058] - This invention enables targeted farming (so-called "targeted cultivation") on agricultural land, where cultivation is concentrated only at specific planting points where plants are introduced into the soil. Specifically, at these planting points, the plants are sown, irrigated, and, if possible, fertilized, and finally, harvested. This method can replace monoculture and simultaneously promote biodiversity or species diversity. And / or:

[0059] -According to an advantageous improvement of the invention, the planting and harvesting process of plant cultivation can be described as a picking and placing process. Thus, these processes can be performed across crop fields, i.e., for different types and sizes of vegetable plants. For example, a suitable field cultivation device in the form of a grasping tool can be installed at the running trolley, using which lettuce and cabbage of any size, even bulb broccoli, can be harvested. And / or:

[0060] - As explained above, this invention allows for the cultivation of different varieties of plants or vegetables on agricultural land. The notified crops may include: iceberg lettuce, head lettuce and romaine lettuce, purple cabbage and white cabbage (mini), broccoli, kohlrabi, celery, cucumber and zucchini, and squash. In other words, this invention enables and allows for the “mixed cultivation” of plants or vegetables on agricultural land. And / or:

[0061] According to the invention, the harvesting process for plants is preferably automated and, more preferably, carried out at night. This is particularly suitable for situations where, as explained above, different varieties of plants or vegetables are grown on agricultural land. Here, these different varieties or plants can be introduced directly from the field into the containers during harvesting, which can then be transported along beams or platforms as explained. There is a possibility of adding potato containers, onion containers, and carrot containers in a fixed manner, thereby completing the supply to the end customer. And / or:

[0062] -With the help of this invention, many different vegetable crops can be cultivated in the sense of single-point cultivation using integrated field tillage devices or planting tools, or multiple such devices or tools (which may also be simultaneously installed at a running trolley). This can advantageously or at least partially or preferably fully automatically, suitably according to specifications based on corresponding theoretical data regarding the various process steps and their timing sequence in terms of cultivation in agricultural use area. And / or:

[0063] -According to an advantageous improvement of the invention, the crossbeam may be equipped with a control or adjustment device by which the movement of the crossbeam can be appropriately controlled, whether it is circular movement about a center point, or linear or longitudinal movement along the cultivated agricultural area, and / or the movement or operation of the field cultivation device placed thereon. And / or:

[0064] -Suitably, the aforementioned control or adjustment device can be programmed in such a way that different operations on the crossbeam and / or the field tillage device mounted on the crossbeam and / or different operations regarding the transport of the box along the crossbeam can be implemented in a controlled manner, i.e., in an regulated manner. With appropriate modifications, this also applies to the platform of the system according to the invention. And / or:

[0065] - In an advantageous improvement of the invention, the calculated average cycle time, estimated energy demand, and / or agriculture-specific process reliability can also be verified using the aforementioned control or regulation device. And / or:

[0066] - In an advantageous improvement of the invention, the aforementioned control or adjustment device can be programmed in such a way that at least an approximate economic calculation for the use or operation of the beam or platform according to the invention can also be performed using the control or adjustment device. With appropriate modifications, this also applies to corresponding improvements to the method according to the invention. And / or:

[0067] - In an advantageous improvement of the invention, as part of a mobile field robot, the beam or platform may be equipped with a transmitter / receiver unit that is technically connected to a control or regulation device. With the aid of this transmitter / receiver unit, information or data packets can be received from or / or transmitted to a remote location (e.g., a remote location in the form of a control center for monitoring and / or controlling the operation of the beam according to the invention). Suitably, in the design of the invention as a circular tillage system, this transmitter / receiver unit can be positioned at a fixed central post, preferably in the upper region of the fixed central post, thereby achieving good transmission or reception power for the data to be transmitted from and / or to the remote location. And / or:

[0068] -According to an advantageous improvement of the invention, the plants to be cultivated can be directly treated using a field cultivation device located at the running trolley or at a crossbeam or platform. This treatment may involve appropriately cutting or separating the plants using the field cultivation device or tools suitable for this construction, and / or separating inedible biological material from the plants. In the context of this invention, the term "inedible biological material" should be understood as the gradually dying biological material of the plants to be cultivated, which may result from decay, pests, or lack of nutrients and / or water. And / or:

[0069] According to the invention, in order to improve the quality of the harvest, inedible biological material is separated from the plant to be harvested. This separation of inedible biological material can be carried out at a stage in which the plant (e.g., broccoli) remains in the agricultural use area. Alternatively or supplementarily, the separation of inedible biological material can also be carried out during the process of the plant being removed from the soil at harvest. In any case, this cutting of the plant and / or separation of inedible biological material is supported by a preferably optical sensor, which, as explained above, can be equipped with a field tillage device or associated operating trolley, and thus the sensor is used to detect the plant and its position and / or size. And / or:

[0070] - According to the present invention, the separation of inedible biological material as explained above can also be seen in this context, i.e., the remaining healthy plant or plant parts are thus protected, and positive plant protection is achieved in this respect. In the same way, growth is promoted by influencing the leaves and encouraging the remaining healthy plant or plant parts to grow new shoots. And / or:

[0071] - Algorithms for new processes or process steps can be implemented on the software side of the control or regulation device. Therefore, training data for neural networks can be reliably generated, especially weather-independently, with the help of this invention. If the same plants at the same location are recorded daily using sensors or cameras configured for this purpose, the cost of plant shading is reduced. Another advantage is that monitoring can be effectively performed in later growth stages of the plants to be cultivated after cascading. This aspect applies in the same manner to the operation of the beam according to the invention and also to the method of the corresponding construction according to the invention. And / or:

[0072] -According to an advantageous improvement of the invention, the crossbeams (i.e., the main crossbeam and / or the secondary crossbeam) may be equipped with one or more drag chains, which, in addition to receiving electrical lines, also guide irrigation lines and / or lines for fertilizers (e.g., organic fertilizers). And / or:

[0073] -According to an advantageous improvement of the invention, weeds in the planting area of ​​agricultural use can also be removed by means of a field tillage device. Here, the weeds can be removed from the soil by means of a suitable grasping arm and then introduced into a box located adjacent to it on a beam or platform. The removed weeds can then be transported away via the beam or platform using the box, so that the weeds no longer multiply or lie loosely around the agricultural use area. And / or:

[0074] - A significant advantage is also derived from the high degree of automation in the cultivation of agricultural land according to the invention, and the associated precision achieved through visual servoing, namely, the ability to completely replace chemically synthesized plant protectants. Relatedly, there is also the advantage of saving substantial amounts of water through selective, precise irrigation. This water saving rate can be approximately 80% compared to conventional vegetable cultivation. And / or:

[0075] - For the wheels of the traveling mechanism located at at least one end of the crossbeam, they can be configured in the sense of a tillage system to at least slightly compact the travel path on the surface of the agricultural use area, or to have a corresponding fixed structure. Thus, when the crossbeam moves, the wheels roll on this (circular or straight-lined) travel path, so that even in rainfall, the use of the crossbeam according to the invention is not negatively affected or interrupted. Accordingly, the invention also advantageously achieves weather independence for tillage of agricultural use areas. And / or:

[0076] - A preferably triangular film, radially expanded or spread from the outside inwards onto the agricultural use area using a movable trolley positioned on the crossbeam, can be deployed, similar to a roller blind, using a trolley that can be used to improve climatic conditions for the plants located on the agricultural use area when needed. And / or:

[0077] - The crossbeam may be equipped with a telescopic mechanism, by which the length of the crossbeam in its longitudinal extension direction can be changed. Therefore, the length of the equipment can be individually adapted to the conditions of the agricultural area to be cultivated. This also applies to the operation or use of the equipment according to the invention. And / or:

[0078] -If the crossbeam is connected to a fixed central post from one end and is constructed in this respect as part of a circular tillage system, further advantages of the invention are obtained through the following aspects:

[0079] Related to the aforementioned telescopic mechanism, the length variation achievable by the telescopic mechanism of the crossbeam also occurs during or around the rotational movement of the crossbeam around a fixed central column, thereby allowing the crossbeam to sweep across and cultivate the tilled surface according to the invention, the tilled surface being constructed, for example, into a rectangular shape or into a shape with any number of corners (such as trapezoids and polygons). And / or:

[0080] At least one sensor can be installed at a fixed central post, which can be used to detect the movement of the crossbeam and the running trolleys (or multiple such trolleys) mounted on the crossbeam, along with the associated field tillage equipment. This sensor is preferably a sensor package and includes multiple individual sensors, which can, for example, achieve "omnidirectional monitoring," i.e., monitoring within a 360° angular range around the fixed central post. Alternatively or supplementarily, the sensors can be pivotally mounted at the fixed central post, thereby being oriented in the direction of the crossbeam to detect the position of the crossbeam and, in particular, the position of the running trolleys mounted on the crossbeam under the associated field tillage equipment. And / or:

[0081] A base terminal can be installed in or adjacent to a fixed central column, utilizing which the required field logistics can be achieved. This means that, for example, the provision or distribution of seeds and / or the reception or removal of harvested materials can be achieved using the base terminal, preferably through the aforementioned housing. By using this housing, which can be transported along a beam in both directions, seeds can be transported from the base terminal to the corresponding operating trolley along with the field tillage device located at the operating trolley, and / or the harvested materials brought from the agricultural use area or cultivated soil can then be brought back to the base terminal. Thus, the present invention achieves a high degree of integration for a system used for tilling agricultural use areas, and for the first time combines the advantages of conventional large and small field robots. And / or:

[0082] The beam has at least two degrees of freedom at one end, which is centrally supported at a fixed central column, so that the beam can also be installed in sloping terrain.

[0083] Given the considerable longitudinal extension of the crossbeam explained above, the present invention should be understood, literally or in a dual sense, as a bridge technology, because: the considerable longitudinal extension of the crossbeam and the use of an applicator or tool for tillage placed on the crossbeam, combined with the characteristic movement of the crossbeam over the agricultural use area to be tilled, result in the aforementioned advantages of the present invention compared to the prior art.

[0084] In the context of this invention, the terms or features “field cultivation device” and “field treatment device” should be understood synonymously.

[0085] When performing the method according to the invention and / or using the equipment or system according to the invention, the plant planting process steps can be configured to be performed either when the equipment or platform is stopped, or during horizontal movement of the equipment or platform relative to the agricultural use area, wherein the horizontal movement has a speed of 10 m / s or less. For the latter case, it is advantageous that the speed is significantly less than 10 m / s, for example only 5 m / s, more preferably up to 1.5 m / s (which corresponds to the walking speed of a person). The stopping of the equipment or platform, or its horizontal movement relative to the agricultural use area at a very moderate speed as explained, is advantageous in terms of the execution of the plant planting process steps, namely, that the equipment or platform is located in a specific area of ​​the agricultural use area to be cultivated. This results in the advantage that the plant planting process steps selected in the specific area of ​​the use area can be selectively performed by the equipment or platform (with at least one field cultivation device placed at the equipment or platform) with surgical precision regarding individual plants, individual plant components, or individual planting locations. Only after at least one selected process step or multiple method steps have been implemented or completed in the predetermined area of ​​the area to be cultivated, the device or platform then moves further, either on its own wheels or, in the case of a platform according to a second variant thereof, by means of a tractor or similar vehicle provided for this purpose, to the next predetermined area of ​​the agricultural area to be cultivated, preferably adjacent to it, in which the device then performs the process step of reselecting and planting at least one plant.

[0086] It goes without saying that, without departing from the scope of the invention, the features mentioned above and those to be explained below can be used not only in the combinations given therefor, but also in other combinations or individually. Attached Figure Description

[0087] The present invention is schematically illustrated in the accompanying drawings with reference to preferred embodiments and will be described in detail below.

[0088] Here:

[0089] Figure 1 A perspective view and an enlarged view of a portion thereof of the device according to the invention, showing a crossbeam with a circular motion around a central point;

[0090] Figure 2 Show Figure 1 Another perspective view of the device;

[0091] Figure 3 Show Figure 1 A top view of the equipment;

[0092] Figure 4 Show Figure 1 or Figure 2 A side view of the device;

[0093] Figure 5 Show Figure 1 Another perspective view of the device;

[0094] Figure 6 It is shown that Figure 1 A perspective view of a portion of the field tillage equipment;

[0095] Figure 7 Showing when the field tillage device is installed Figure 1 At the crossbeam of the equipment Figure 6 A perspective view of a field cultivation device;

[0096] Figure 8 Show Figure 7 Side view of a field cultivation device;

[0097] Figure 9 Show Figure 1 A side view of a portion of the crossbeam and the associated conveying system, together with the housing housed within the conveying system.

[0098] Figure 10 Show Figure 1 A perspective view of a portion of the crossbeam along with several boxes housed within it;

[0099] Figure 11 Show Figure 7 Another perspective view of the field cultivation equipment;

[0100] Figure 12 , Figure 13 The following schematically shown side views are strongly simplified views of the crossbeam together with the conveyor system with rollers mounted on the crossbeam, which can be adjusted variably in terms of its inclination relative to the horizontal line.

[0101] Figure 14 The upper region of a fixed central pillar is shown. Figure 1 It is part of the equipment and the crossbeam is hinged to the fixed central column;

[0102] Figure 15 , Figure 16 Show each Figure 14 Side view of the central column;

[0103] Figure 17 The traveling mechanism is shown at one end of the crossbeam;

[0104] Figure 18 , Figure 19Perspective views of a device according to another embodiment of the invention are shown, wherein the crossbeam can move along the tilled ground or in a straight line on the tilled ground;

[0105] Figure 20 A perspective view of a platform, or mobile field robot, is shown as part of a system according to the invention for cultivating agricultural land.

[0106] Figure 21 Show Figure 20 An enlarged view of a portion of the field robot;

[0107] Figure 22 A perspective view of a platform that can be mounted on a tractor is shown, which is part of a system according to the invention for cultivating agricultural land.

[0108] Figure 23 Show Figure 23 A side view of the platform; and

[0109] Figure 24 Show Figure 20 Field robots and Figures 1 to 19 A perspective view of a portion of the equipment, which is part of a system according to the invention for cultivating agricultural land. Detailed Implementation

[0110] The following reference Figures 1 to 24 This explains preferred embodiments of the apparatus 10, 10', corresponding methods, and systems according to the invention, so as to cultivate agricultural land area N (refer to...) Figure 11 , Figure 19 The same features in the accompanying drawings are given the same reference numerals. It should be noted separately in this regard that the drawings are shown only simplified and, in particular, not to scale.

[0111] Figure 1 A perspective view of the device 10 according to the invention in accordance with a first embodiment is shown, wherein a crossbeam 12 is hinged at one end to a fixed central column 14. At the other end of the crossbeam 12, i.e., the end opposite to the central column 14, a traveling mechanism 16 with wheels is provided, the wheels rolling on the ground.

[0112] exist Figure 1 Some areas of the device 10 according to the invention are circled in the diagram and shown again in magnification adjacent to these areas. Details of these magnified areas are explained in separate figures below.

[0113] The crossbeam 12 is hinged to the fixed central column 14, allowing the crossbeam 12 to move around the central column 14 along a circular track.

[0114] The hinge of the crossbeam 12 at the fixed central column 14 can have a rotation-tilting hinge 17 with a horizontally extending axis of rotation. Figure 8 This allows the end of the crossbeam 12 opposite the central column 14 (where the traveling mechanism 16 is located) to pivot relative to the central column 14. This enables compensation for soil unevenness or the use of the device 10 according to the invention on or in undulating terrain. In other words, during operation of the device 10 according to the invention, the crossbeam 12 of the device 10 can also travel on or be used on inclined planes due to the rotation-tilting hinge 17.

[0115] Figure 2 Shown in another perspective Figure 1 Device 10. It can be seen that a secondary crossbeam 13 is provided at its free end at the crossbeam 12 (in its function as a main crossbeam). This secondary crossbeam 13 is telescopically adjustable relative to the main crossbeam 12. This means that a guide device (not shown), preferably with a motor, is provided at the main crossbeam 12, thereby allowing the secondary crossbeam 13 to be adjusted in length relative to the main crossbeam 12. Figure 4 In the middle (at the right edge of the image), this retractable adjustment of the sub-beam 13 is also indicated by the corresponding double arrow.

[0116] At least one field cultivation device 18 is installed at the crossbeam 12, and the field cultivation device is movable along the crossbeam 12. For this purpose, a trolley 20 is provided. Figure 6 The running trolley is guided by guide rail 22 ( Figure 7 It is placed at the crossbeam 12 and can be moved longitudinally along the crossbeam 12.

[0117] The adjustment or movement of the trolley 20 along the crossbeam 12 can be achieved using appropriate motor devices.

[0118] Multiple field cultivation devices 18 are installed at the crossbeam 12. This can be understood in that the field cultivation devices 18 are installed on both sides of the crossbeam 12 (see...). Figure 16 ( ), and / or, multiple field tillage devices 18 are respectively arranged on the same side of the crossbeam 12, such as, for example, by means of Figure 2 As indicated. It should be noted separately in this regard that each individual field tillage device 18 can be equipped with a running trolley 20, by means of which the field tillage device 18 can move longitudinally along the crossbeam 12.

[0119] The field cultivation device 18 can be connected to the crossbeam 12 or the corresponding running trolley 20 by means of a preferred articulated robotic arm 23. This is achieved through... Figure 6 and Figure 7 This indicates that the robotic arm 23 has multiple degrees of freedom and preferably has multiple arm elements that are hinged together, by which the flexible movement of the field tillage device 18, located at the free end of the robotic arm 23, can be achieved in space. This also includes the vertical adjustability of the robotic arm 23, so that the working height of the field tillage device 18 or its distance from the soil can be changed as needed. For example, in Figure 6 In the diagram, this vertical adjustability is indicated by a corresponding double arrow.

[0120] The device 10 includes a tool changing system W, which allows different field cultivation devices to be installed on the robotic arm 23 according to the purpose of use of the agricultural area N or the type of treatment to be performed.

[0121] exist Figure 6 The diagram illustrates a simplified form of the aforementioned tool changing system W, which includes a retaining plate 50 positioned on the running trolley 20, where at least one additional tillage device 19 can be pre-held. If, for example, it is desired to replace, tillage device 18 already mounted at the free end of the robotic arm 23, with tillage device 19, tillage device 18 can be "dropped" in its free position on the retaining plate 50, thereby allowing another tillage device 19 to be mounted at the free end of the robotic arm 23. This other tillage device 19 is then used to perform another plant planting process step.

[0122] If one or more field tillage devices are placed or arranged on the retaining plate 50, the retaining plate 50 then functions as a "parking area".

[0123] Furthermore, it should be noted that a field cultivation device 18 can also be installed at the secondary crossbeam 13. This can be achieved using a trolley 20 or a robotic arm 23, or without using a trolley or robotic arm.

[0124] The replacement of the field tillage devices 18, 19 at the free end of the robotic arm 23, as explained above, is preferably performed fully automatically. In any case, such replacement of one field tillage device with another is typically used to prepare for a change in the plant cultivation process steps, which are used to cultivate the plants P planted on the area N in use.

[0125] The device 10 according to the invention includes a housing 24 (see...) Figure 9 Preferably, a plurality of such boxes 24, and a conveying system 25 provided along the longitudinal extension of the crossbeam 12 (see Figure 10 , Figure 11With the aid of this conveying system 25, at least one box 24 can move along the crossbeam 12. Suitably, as by means of... Figure 10 As shown in the perspective view of the crossbeam 12, the conveying system 25 can accommodate multiple such boxes 24.

[0126] The conveying system 25 is suitably located on the upper side of the crossbeam 12, or integrated into the upper region of the crossbeam 12.

[0127] The conveying system 25 can be configured as a conveyor belt system. In this case, a (not shown) winding conveyor belt is provided, on which the housing 24 can be placed. As the conveyor belt winds around, the housing 24 is moved or transported to a predetermined position, preferably adjacent to the field tillage device 18 located at the crossbeam 12.

[0128] Alternatively or supplementally, the conveying system 25 may be equipped with a roller conveyor 26 having a plurality of carrier rollers 27, each having a horizontal axis of rotation. Figure 9 The conveyor system 25 shown includes such a roller conveyor 26, in which two carrier rollers 27 can be seen.

[0129] Alternatively, it is feasible for roller conveyor 26 to also have a plurality of (not shown) guide rollers, each having a vertical axis of rotation. These guide rollers are arranged laterally at roller conveyor 26 and thus limit roller conveyor 26 to the sides.

[0130] In any case, the box 24 can be placed on the carrying roller 27 of the roller conveyor 26 from above, wherein the movement of the box 24 along the longitudinal extension of the beam 12 through contact with a single roller of the roller conveyor 26 can be achieved with only a small rolling resistance.

[0131] Figure 10 and Figure 11 The perspective view shows that the roller conveyor 26 of the conveyor system 25 is arranged along the longitudinal extension of the crossbeam 12. In this respect, at least some of the rollers of the roller conveyor 26, preferably one or more carrier rollers 27, can be driven by a motor so as to achieve targeted transport of the box 24 along the crossbeam 12 on the roller conveyor 26 in a desired direction.

[0132] Regarding the aforementioned roller conveyor 26 of the conveyor system 25, it can be noted separately that the roller conveyor 26, in the sense of the present invention, fulfills the function of a storage container or roller storage container. In any case, the roller conveyor 26, in the sense of its function as a storage container or roller storage container, serves the purpose of accommodating, or in which, a plurality of boxes 24, i.e., along the longitudinal extension of the crossbeam 12, can be received.

[0133] The following uses Figure 12 and Figure 13 As demonstrated, the roller conveyor 26 of the conveyor system 25 can be adjusted in terms of its positioning or inclination relative to the horizontal line H. This is explained in detail below:

[0134] The roller conveyor 26 of the conveyor system 25 is received in a pivotable retainer (not shown), the position of which relative to the horizontal line H can be changed or adjusted. To adjust the inclination of the roller conveyor 26, the device 10 includes individual devices by which the retainer for the roller conveyor 26 can be manipulated accordingly to achieve a change in position for the desired inclination of the roller conveyor 26. This allows the roller conveyor 26 to be adjusted to a position in which its longitudinal extension forms an angle with respect to the horizontal line H and thus extends "tilted". Therefore, if a box 24 is placed on the tilted roller conveyor 26, the box 24 automatically moves towards the lower end of the roller conveyor 26 due to gravity and without a separate drive. This also applies to multiple boxes 24 in the same manner.

[0135] Figure 12 and Figure 13 The diagrams can be respectively involved Figure 1 In one embodiment, a fixed central column 14 (not shown here) is located at the left end of the crossbeam 12.

[0136] Figure 12 In addition, a field cultivation device 18 is shown, which is mounted on a crossbeam 12 by means of a robotic arm 23. For the sake of simplicity, the associated operating trolley is not shown here.

[0137] Reference Figure 12 In the illustration, it should be noted that roller conveyor 26 is adjusted such that its longitudinal axis forms an angle "α" with the horizontal line H, and thus the end of roller conveyor 26 shown on the right side of the image area descends. Therefore, the box 24 placed on roller conveyor 26 moves automatically from left to right on the carrying roller 27 due to gravity, as... Figure 12 As indicated by the arrow, the box 24 can move from the fixed central column 14 to the opposite end of the roller conveyor 26.

[0138] The roller conveyor 26 is equipped with an actuable stop element 28, suitably located adjacent to the field tillage device 18. The function of this stop element 28 is now based on: if the housing 24 moves towards the lower end of the roller conveyor 26 due to gravity (in... Figure 12Moving from left to right, the stop element 28 is actuated or manipulated precisely at the point when the housing 24 reaches the position of the field tillage device 18. Thus, the housing 24 is blocked on the roller conveyor 26 and therefore "stops" at the position of the field tillage device 18. In this way, it is possible to bring the housing 24 to a predetermined position, which, for example and as explained, can correspond to the position of the field tillage device 18, even in the case of a passive roller conveyor 26 (whose roller elements do not have separate drives).

[0139] It goes without saying that the roller conveyor 26 may be equipped with multiple such stop elements 28 along its longitudinal extension. These individual stop elements 28 may be arranged at the positions of the adjacent field tillage devices 18. This achieves that if the roller conveyor 26 is set at an angle with its longitudinal axis relative to the horizontal line H, as explained, the actuation of the stop elements 28 can stop each box 24 adjacent to the selected field tillage device 18 on the roller conveyor 26.

[0140] Figure 13 Another possible position of the roller conveyor 26 is shown, in which the longitudinal axis of the roller conveyor forms an angle "β" with the horizontal line H, and thus the roller conveyor 26 tilts downward toward the fixed central column 14 (not shown here). This allows the box 24, placed on the roller conveyor 26, to move automatically from right to left due to gravity. This movement can be made, for example, after a harvesting process (in which the harvested material has been introduced from the usable area N into the box 24 by means of a field tillage device 18 mounted on a robotic arm) has ended, and then the box 24 should be transported back toward the fixed central column 14. Figure 12 The same method is explained, so that roller conveyor 26 is in the opposite direction (e.g.) Figure 13 The tilting (as shown in the diagram) can also cause the box 24 located on the roller conveyor 26 to stop in a targeted manner by actuating the stop element 28. For example, such a stop element 28 may be adjacent to a storage bin or roller bin into which the box 24 is transferred for further logistics of the harvest introduced therein.

[0141] In this regard, it should be noted separately that the pivotable implementation of the roller conveyor 26 (whereby, as explained, the longitudinal axis of the roller conveyor can be angled with the horizontal line and thus the roller conveyor 26 can be “tilted”) can also be combined with the feature that at least one of the carrier rollers 27 of the roller conveyor 26 is equipped with a motor drive.

[0142] According to another variation of the conveying system 25, the conveying system has a drive device 21, which can be located at the running trolley 20. This drive device 21 greatly simplifies the process. Figure 6 As shown in the figure, that is, in the form of bars, the bars can be respectively positioned laterally on the running trolley 20.

[0143] The aforementioned drive device 21 is used to interact with the housing 24 located on the conveying system 25. For example, Figure 6 The rod of the drive device shown can be telescopically and vertically extended upwards, thereby interacting specifically with the housing located on the conveyor system 25. In this case, the housing 24 moves or is "dragged" along the crossbeam 12 in the same manner as the trolley 20 due to its interaction with the drive device 21, while the trolley 20 is in motion (where the drive device 21 is positioned or located).

[0144] exist Figure 8 In the middle, the driving device 21—for example in the form of the rod (which can be retractably moved vertically upward and thus can interact with the housing 24)—is also shown in a greatly simplified manner and symbolically on the side of the running trolley 20.

[0145] By strategically retracting or withdrawing the telescope-shaped rod, the interaction between the drive unit 21 and at least one housing 24 can be cancelled again when needed. In this case, the trolley 20, where the drive unit 21 is located, can move along the longitudinal extension of the crossbeam 12 without causing the housing 24 to move or "drag" due to the drive unit 21.

[0146] If the present invention is equipped with the drive device 21 as explained above, the following advantages are obtained: for the movement of the housing 24 along the longitudinal extension of the beam 12, no additional drive is required for the roller conveyor 26 of the conveying system 25. For example, this means that all the rollers of the roller conveyor can be "passive," i.e., without a drive, because the desired movement of at least one housing 24, preferably multiple such housings 24, can be achieved solely by the drive device 21.

[0147] Using the conveying system 25 explained above, whether in the form of a conveyor belt system (not shown) or a roller conveyor 26, it is thus achieved that at least one box 24, preferably multiple such boxes 24, can always be moved to a predetermined position on the beam 12, in which it can then interact with the field tillage devices 18, 19 mounted on the robotic arm 23.

[0148] A first sensor 30 may be installed at the upper end of the fixed central column 14.

[0149] For example, device 10 may have a reservoir for water, fertilizer, or similar substances (not shown) adjacent to a fixed central column 14. In this respect, the reservoir may also be connected to an external pump to refill it with fresh water, thus ensuring the continuous operation of device 10.

[0150] The aforementioned memory can be placed on or on the crossbeam 12, so that the memory moves together with the crossbeam 12 around the fixed central column 14.

[0151] The device 10 may also be equipped with its own (not shown) pump. With this pump, water or liquid fertilizer can be delivered from the aforementioned water reservoir in the form of nozzles toward the field cultivation device, thereby enabling targeted irrigation and / or fertilization of the plants.

[0152] The first sensor 30 can be used to monitor a selected area of ​​the agricultural use area N and / or the position of the crossbeam 12 relative to the fixed central post 14. In this respect, the first sensor 30 is also referred to as a "global sensor" in the sense of the present invention.

[0153] A second sensor 32 may be installed at at least one field cultivation device 18 (see...) Figure 6 , Figure 16 The second sensor 32 is used to detect areas or spaces directly adjacent to or below the agricultural use area of ​​the field cultivation device 18, in order to obtain information related to the plants planted on the agricultural use area N. In this respect, the first sensor 30 is also referred to as a "local sensor" in the sense of the present invention.

[0154] The areas detected by the first sensor 30 or the second sensor 32 are marked with "R" in the accompanying drawings (see Figure 1). Figure 2 , Figure 3 , Figure 5 , Figure 6 , Figure 11 , Figures 14 to 16 , Figure 19 This can be understood as a "monitoring area" according to the present invention. This means that, with the aid of sensors 30, 32, not only can the flat surface (e.g., the soil of the agricultural use area N) be detected, but also the space above the flat surface can be detected. Therefore, the position of the crossbeam 12, the position of the corresponding field cultivation device 18 placed on the crossbeam, and the position of the plant P, as well as, for example, the growth and / or shaping of the plant, can also be detected.

[0155] The transmitting / receiving unit 36 ​​and / or the weather station 34 can be mounted in the upper region of the fixed central column 14. This is in Figure 2 In the perspective drawing and according to Figure 14 and Figure 15It is shown in the side view.

[0156] Furthermore, the device 10 according to the invention also includes a control or adjustment device 38, which can also be mounted at a fixed central column 14 and... Figure 14 or Figure 15 The control or adjustment device 38 is symbolically represented in a simplified rectangular form. It is connected to the sensors 30 and 32, and to the transmitting / receiving unit 36 ​​in a signal technology manner.

[0157] The control or adjustment device 38 can be used to control the circular movement of the crossbeam 12 around the fixed central column 14 and / or to control the operation or movement of each field tillage device 18. This can also be achieved by adjusting the method of the adjustment loop, i.e., by adjustment.

[0158] Using the transmitting / receiving unit 36, information can be transmitted to the device 10 according to the invention or received from a remote (not shown) control center, wherein such information includes data for the operation of the device 10 according to the invention or data for the execution of the method according to the invention. For example, according to the invention, such information may include theoretical data for the operation of the device 10 and the devices disposed at the device, wherein the operation of the various devices and / or the circular movement of the beam 12 around the fixed central column 14 can also be performed in an adjustable manner.

[0159] In the same manner, the information obtained by the sensors 30, 32 with respect to the monitored space R thus detected can be transmitted to a remote control center via the transmitter / receiver unit 36 ​​for further evaluation of the operation of the device 10 according to the invention.

[0160] Figure 11 This demonstrates the application of the invention in spot farming of an agricultural area N, also known as "spot farming." As explained above, the monitoring space detected by the second sensor 32 is designated "R." Thus, the sensor 32 can detect or probe the plant P located in this monitoring space R, and this information can then be transmitted to the control or regulation device 38.

[0161] Figure 17 A traveling mechanism 16 is shown located at the end of the crossbeam 12. This traveling mechanism 16 may be equipped with a motor that drives at least one wheel of the traveling mechanism 16. Through the contact of the driven wheel with the ground below it, a torque is generated on the crossbeam 12 about a fixed central column 14, thus causing the crossbeam 12 to move in a circular motion about the support 14 in a desired direction. Figure 17 In Chinese, motors are marked with "M" and are represented solely by a rectangular symbol for simplicity.

[0162] The circular trajectory generated when the crossbeam 12 moves around the fixed central column 14 Figure 5 It is marked with "F".

[0163] and Figure 17 The illustrations shown are different. The walking mechanism 16 can be configured to be a tracked walking mechanism instead of a wheeled one.

[0164] According to another (not shown) alternative, the walking mechanism 16 can be configured to have a running track or to be a track system, wherein the wheels do not roll on natural arable land, but instead roll on running tracks arranged on the arable land.

[0165] The two variations of the walking mechanism 16 described above share the following advantages: the device 10 according to the invention is less sensitive to rain in the open when used on an agricultural area N, and thus achieves improved weather insensitivity.

[0166] The device 10 according to the invention includes at least one basic terminal 29 (see Figure 4 The base terminal 29 is disposed adjacent to the fixed central post 14. The base terminal 29 is used for the purpose of realizing the required field logistics. This means that, for example, seeds can be provided or distributed and / or harvested or received by means of the base terminal 29, preferably by means of the box 24 mentioned above.

[0167] Basic terminal 29 greatly simplifies the process. Figure 4 As shown in the side view. To avoid hindering the full and sustained rotation of the crossbeam 12 around the fixed central column 14 in the same direction, the base terminal 28 can be configured to be operatively connected to the crossbeam 12 and positioned on the opposite side of the support 14. This is in Figure 4 The dotted line indicates this. This means that as the crossbeam 12 rotates around the fixed central column 14, the base terminal 29 rotates accordingly. Depending on the size and weight of the base terminal 29, it may be equipped with rollers or wheels on its underside, which contact the ground and roll on the ground.

[0168] The meaning of "alternative to basic terminals" is as follows: Figure 4 The reference numeral "29" in the attached diagram can also refer to a logistics vehicle used for example to transport seeds to beam 12 and / or for direct sale to customers (delivery service). In the latter case, this means that the container 24 filled with the harvest is then loaded onto the logistics vehicle 29 and transported to the end customer without any intermediate stops.

[0169] exist Figure 18 and Figure 19 The image shows a second embodiment of the device 10' according to the invention. This embodiment includes a crossbeam 12, with a walking mechanism 16 equipped with wheels arranged at each end of the crossbeam. This enables the device 10' and the associated crossbeam 12 to move longitudinally or linearly over the agricultural work area N.

[0170] At least one wheel of the traveling mechanism 16 may be equipped with a motor, or at least coupled to a motor. Preferably, multiple wheels of the traveling mechanism 16 are provided with motor drives, suitably on both sides of the elongated crossbeam 12.

[0171] According to Figure 18 and Figure 19 According to a second embodiment of the device 10' of the present invention, and based on a modification (not shown), the traveling mechanism located at each of the two ends of the crossbeam 12 is equipped with wheels, which are pivotable about a vertical axis of rotation. Therefore, the crossbeam 12 of this embodiment can move omnidirectionally across the soil of the agricultural use area N to be cultivated.

[0172] In the context of this invention, the feature "omnidirectional" should be understood as mobility or traversability in any desired direction. Thus, in addition to purely linear or translational motion, "tilting" travel is also possible, i.e., diagonal travel, and / or similarly, rotation in place and / or circumduction. This applies not only to the aforementioned device 10', but also in the same way to the platform 101 of the system according to the invention, which is explained separately below.

[0173] A cable reel 40 can be installed on one side of the crossbeam 12. Corresponding supply lines for current and / or for media (such as water, fertilizer) used for cultivating the area N can be guided on this cable reel 40. Accordingly, current, water, and / or fertilizer can be supplied to the crossbeam 12 of the device 10' via this cable reel 40 and the associated supply lines.

[0174] In a second embodiment of the device 10' according to the invention, a plurality of field tillage devices 18 are also provided at the crossbeam 12, preferably on both sides of the field tillage devices. The operating principle of these field tillage devices 18 and the possible manipulations by the control or adjustment device 38 are implemented in the same manner as in the first embodiment of the device 10 according to the invention, so as to avoid repetition, please refer to the above explanation.

[0175] Furthermore, it can be pointed out that, according to Figure 18The second embodiment of the device 10' according to the invention is further equipped with a conveying system 25 in the form of a roller conveyor 26. The targeted movement of at least one housing 24, preferably multiple such housings 24, on the roller conveyor 26 and thus along the crossbeam 12 can be achieved by having at least one carrier roller 27 of the roller conveyor 26 equipped with a motor drive and / or adjusting the inclination of the roller conveyor 26 relative to the horizontal line H. To avoid repetition, reference is made to this aspect for... Figure 12 and Figure 13 The interpretations, with appropriate modifications, also apply to [the following]: Figure 18 and Figure 19 The second implementation method.

[0176] To supply electrical energy, the devices 10, 10' according to the invention may be equipped with at least one battery storage device B. Figure 8 As illustrated, the battery accumulator B can be placed in the lower region of the fixed central column 14. In any case, the battery accumulator B is used to supply energy or current to different devices within the equipment. For simplicity, the necessary supply lines from the battery accumulator unit B to the individual consumers are not shown.

[0177] In the two embodiments of the device 10, 10' according to the present invention, a plurality of solar panels S are arranged on the upper side of the crossbeam 12 (see above). Figure 2 ; Figure 18 and Figure 19 These solar panels S are electrically connected to a battery storage unit B and are used to repeatedly charge the battery storage unit B using electrical energy obtained through solar radiation. In this way, the invention ensures a self-sufficient energy supply.

[0178] The solar panel S is appropriately sized to shield the overhead conveyor system 25 and the housing 24 in which it is received or transported, for example, from rainwater or the intrusion of dust and dirt. This is, for example, in... Figure 2 , Figure 3 , Figure 5 , Figure 18 and Figure 19 As shown in the diagram.

[0179] The following is for reference. Figure 20-24 Different embodiments of the system 100 and related components according to the present invention are shown and explained, which can be used to cultivate agricultural land area N.

[0180] In this system 100 (see...) Figure 24 The device 10, 10', which is referred to above, uses a device. Figure 1-19The following is an explanation of the system 100 according to the invention, in which the devices 10, 10' fulfill the function of a base station on an agricultural use area N, as explained in detail below.

[0181] The system 100 according to the invention includes at least one platform 101, 101' with at least one field tillage device 18, 19, which is disposed at or a portion thereof on the chassis 111 of the platform 101, 101' and at least one plant planting process step can be performed by means of the field tillage device.

[0182] Regarding the aforementioned platforms 101, 101', it can be further noted that the field tillage devices 18, 19 can be mounted on the running trolley 20 at the relevant chassis 111, if possible, when using the robotic arm 23. In this respect, this arrangement of the field tillage devices 18, 19 is consistent with... Figure 6 Corresponding to the placement of field cultivation equipment, in order to avoid duplicate references for Figure 6 Explanation.

[0183] A conveying system 125 is installed on the chassis 111 or part thereof of the platform 101, 101' (see Figure 21 Using the conveying system, at least one housing 24 can move in the longitudinal and / or lateral directions of the chassis 111 and thus can be carried to a predetermined position, particularly a position adjacent to the field tillage devices 18, 19.

[0184] In association with the system 100 according to the invention, an important feature is that the platforms 101, 101' can be brought into a position adjacent to the crossbeam 12 of the equipment 10; 10', such that the platforms 101, 101' can receive the boxes 24 from the crossbeam 12, or these boxes 24, which are now filled with the harvest of plant P and located on the platform, can be returned to the crossbeam 12 or onto the crossbeam.

[0185] exist Figure 20 and Figure 21 The image shows the platform 101 according to the first variant.

[0186] According to Figure 20 In the first variant, platform 101 is part of a mobile field robot, wherein a plurality of wheels 112 are mounted on its chassis 111, and the field robot 101 can move or travel over a usable area N using the wheels. For the purposes of the following discussion, platform 101 according to this first variant will also be referred to simply as "mobile field robot 101".

[0187] At least one wheel 112 of the mobile field robot 101 is pivotally or rotatably supported on the chassis 111 about a vertical axis so as to enable the mobile field robot 101 to change its direction of travel.

[0188] The chassis 111 of the field robot 101 is modularly constructed. In detail, the chassis 111 consists of a plurality of elongated, and especially tubular, plug-in elements 114, which are connected or fixed to corresponding L-shaped bases 115 in the corner areas of the chassis 111.

[0189] The plug-in element 114 (which, as explained above, is a component of the chassis 111 of the field robot 101) is known, for example, from the field technology and can be constructed as a single-point beam or a multi-point beam. According to... Figure 20 , 21 In the embodiment shown, these plug-in elements 114 are each configured as a 2-point beam.

[0190] The plug-in elements 114 of the chassis 111 are characterized in that they can be connected to and disengaged from each other, particularly without the use of special tools, thus enabling a simple and quick change of at least one dimension of the chassis. This changeable dimension of the chassis 111 can be achieved transversely and / or longitudinally along its longitudinal axis, and / or also along its height axis, i.e., in the vertical direction.

[0191] A total of four wheels 112 are mounted on the chassis 111 of the field robot 101. The aforementioned L-shaped bases 115 are used to support the wheels 112. Accordingly, these L-shaped bases 115 respectively fulfill the function of wheel suspension elements.

[0192] Therefore, in the installed state of the field robot 101, the various bases 115 for supporting the corresponding wheels 112 and the multiple plug-in elements 114 fixed at the bases 115 are components of the chassis 111.

[0193] Regarding the wheels 112 of the field robot 101, it can be noted that at least two such wheels can be configured to pivot about a vertical axis of rotation. Therefore, it is possible that these wheels 112 can pivot relative to the base 115, and thus enable changes in direction for the mobile field robot 101 as it moves on the foundation or soil.

[0194] If all four wheels 112 of the field robot 101 can pivot about a vertical axis of rotation, then the field robot 101 can therefore move or travel from a specific position in any direction, especially over the agricultural area N, without being limited in terms of turning circles. Thus, the omnidirectional mobility of the field robot 101 is ensured. Regarding the feature of "omnidirectionality," please refer to the explanation already provided above to avoid repetition.

[0195] At least one wheel 112 of the mobile field robot 101 may be equipped with a motor (not further specified), such as a hub motor. Preferably, all of the wheels 112 of the field robot 101 are equipped with such motor drives.

[0196] according to Figure 20 and Figure 21 The illustration shows two box elements 124 mounted on each longitudinal side of the chassis 111 of the field robot 101. In this regard, these box elements 124 can be configured to connect to plug elements 114 via appropriate fixing points.

[0197] For the illustrated field robot 101, the housing element 124 serves the purpose of receiving or housing equipment components that are essential for the operation of the field robot 101. These equipment components may be:

[0198] - One or more of these batteries;

[0199] - Sensing devices, such as those in the form of cameras;

[0200] - Electrical and / or electronic components, for example, in the form of control or regulation devices;

[0201] - Applicators or field cultivation devices 18, 19, which can be used to perform the process steps of planting plants; and / or

[0202] - GPS sensor.

[0203] exist Figure 20 As indicated by the corresponding reference numerals in the diagram, the housing element 124 may accommodate a transmitter / receiver unit 140, a weather station 141, a control or regulation device 142, and / or a battery 143.

[0204] Regarding the features of battery 143, it can be pointed out that, in the same manner for the purposes of this invention, battery can also refer to a storage battery that can be repeatedly charged in a known manner.

[0205] Given the mounting configuration of the chassis 111, the enclosure element 124 is preferably positioned on its outer side at the insertion element 114. This ensures good accessibility for the enclosure element 124, for example, for maintenance or repair purposes.

[0206] In the mobile field robot 101, it is possible to install field tillage devices 18, 19 at the mobile field robot, such as those used in... Figure 6 and Figure 7 As already shown and explained in the text. Figure 20 , 21 The illustrations show the field robot 101 when the field tillage device 18 is mounted on the chassis 111 of the field robot 101 by means of the robot arm 23 and the associated running vehicle 20.

[0207] For according to Figure 20 and Figure 21 As can be seen from the illustrations, or alternatively, it can be pointed out that the field tillage devices 19, 19 may also be mounted on the outside of the chassis 111. Multiple field tillage devices 18, 19 may also be mounted on multiple sides of the chassis 111, especially when using the trolley 20, for example, on opposite sides of the chassis 111.

[0208] Regarding Figure 6 and Figure 7 In connection with the field tillage devices 18, 19 shown and explained, it can be further noted that the field tillage devices 18, 19 can be installed in the same manner according to Figure 1-19 The equipment 10, 10' at the crossbeam 12, and installed according to Figure 20 , 21 The mobile field robot 101. In this context, the field tillage devices 18, 19 have the following advantages according to the invention: on the one hand, the same components can be used with respect to the devices 10, 10' and on the other hand, the same spare components can be used when needed.

[0209] according to Figure 21 The illustration shows that the field robot 101 is also equipped with a conveying system 125, which is located at or part of the chassis 111. In the embodiment shown here, the conveying system 25 is located on the upper side of the two bases 115.

[0210] In the mobile field robot 101, the conveying system 125 may be equipped with a surrounding conveyor belt 152 and serves the purpose of allowing at least one or more housings 24 to move in the longitudinal or transverse direction of the chassis 111 and thus be brought to a predetermined location, particularly adjacent to the field tillage devices 18, 19 mounted on the field robot 101. In this regard, it is self-evident that multiple such housings 24 can be placed from above onto the conveyor belt 152.

[0211] The conveyor belt 152 is suitably made of rubber material or has such rubber material on its surface. This has the advantage of preventing the housing 24 from sliding on the conveyor belt 152.

[0212] For the housing 24, the possible directions of movement using the conveyor system 125 and its conveyor belt 152 are as follows: Figure 21 The symbol is represented by a double arrow and marked with "154".

[0213] Alternatively to the conveyor belt 152 shown, the conveyor system 125 in the field robot 101 may also have (not shown) a roller conveyor with multiple carrier rollers, each having a horizontal axis of rotation, as also according to Figure 1-19 The situation is similar to that in the crossbeam 12 of devices 10, 10'. In this respect, one or more housings 24 can then be placed on the roller conveyor from above in the same manner as in the conveyor belt 152. Regarding this roller conveyor, for example, in terms of its drive, at this point, to avoid repetition, refer to the explanation of devices 10, 10' according to the invention.

[0214] exist Figure 22 and 23 In the diagram, the platform 101' (which is part of the system 100 according to the invention) is shown according to a second variant, namely in Figure 22 Shown in perspective and in Figure 23 It is shown in its side view.

[0215] According to a second variant of platform 101', the chassis 111 of the platform is equipped with a coupling device 153, by which the chassis 111 can be mounted or attached to a tractor (not shown) or a comparable traction machine. The coupling device 153 is suitably adapted to, and can therefore be mounted on, a three-point receiving portion of the tractor.

[0216] In accordance with Figure 20 and Figure 21 In the same way in the first variant, according to Figure 22 or Figure 23A second variant of platform 101', together with its chassis 111, is modularly constructed and includes a plurality of elongated, and particularly tubular, plug-in elements 114, which can be interconnected and disconnected, especially without the use of special tools. Therefore, it is possible that at least one dimension of chassis 111 is variable. Preferably, this variable dimension of chassis 111 is its length, which extends transversely to the tractor's travel direction. Alternatively or supplementarily, the variable dimension of the chassis may also be the width of chassis 111 extending in the tractor's travel direction and / or the height of chassis 111 extending in the vertical direction.

[0217] In the second variant of platform 101' (which, as explained above, can be attached to a tractor or similar device), according to Figure 22 The diagram shows four plug-in elements 114 mounted side-by-side, i.e., in a row. In the central region of the resulting chassis 111, between the second and third plug-in elements 114, the platform 101' includes a coupling device 153 (see [reference needed]). Figure 23 The coupling device is adapted to a three-point receiving section known from a tractor or comparable machine. Accordingly, the platform 101' can be mounted at the three-point receiving section of, for example, a tractor (not shown) by means of the coupling device 153.

[0218] Furthermore, in the platform 101' according to the second variant, two running trolleys 20 are provided in the middle area of ​​the chassis 111, the running trolleys being connected to a corresponding robotic arm 23 and a corresponding field tillage device 18 placed therein.

[0219] In the upper region of the platform 101' according to the second variant, i.e., above the chassis 111 and the associated connecting element 114, a conveyor system 125 with a surrounding conveyor belt 152 is arranged in the same manner as in the devices 10, 10' and the mobile field robot 101. Accordingly, when the housing is placed on the conveyor belt 152, the housing 24 can move in two directions, said directions being... Figure 22 The number 154 is symbolized by a double arrow.

[0220] Regarding the operating principles of the field tillage device 18 and the conveying system 125 (which are set in the platform 101' according to the second variant), it should be emphasized that their operating principles and advantages are no different from those of the devices 10, 10' or the mobile field robot 101, and in this regard, reference can be made to the preceding explanation to avoid repetition.

[0221] Figure 24The perspective view now shows a system 100 according to the invention, in which device 10 (or device 10') and mobile field robot 101 interact with each other. Figure 24 In the illustration, for simplicity, devices 10 and 10' (the device may be based on...) Figure 1-19 The implementation method is simplified in principle and is only partially shown.

[0222] In relation to the system 100 according to the invention, devices 10, 10' fulfill the function of a base station on agricultural land use area N. In the sense of the invention, this means that, on the one hand, the container 24 can be specifically transferred to the mobile field robot 101 using the device 10. For this purpose, as... Figure 24 As shown, the mobile field robot 101 can be positioned at the end of the beam 12 such that at least one box 24, preferably multiple such boxes 24, can then be transferred from the beam 12 to the field robot 101 by operating the conveyor system 25. These boxes 24 can be provided from the storage or roller storage of the device 10 (or from the roller conveyor 26 of the conveyor system 25).

[0223] As explained, the box 24 obtained by the field robot 101 from the crossbeam 12 of the device 10 can be, for example, an empty box 24, or a box 24 containing seeds, which are then sown or seeded on the agricultural use area N by the mobile field robot 101 and the field tillage devices 18, 19 mounted on the mobile field robot.

[0224] After the field robot 101 obtains at least one housing 24, preferably multiple such housings 24, from the beam 12 of the device 10 as explained, the field robot can then leave the device 10 again and carry out its work “independently” or autonomously. In this regard, it should be noted that the method according to the invention can be performed not only by the devices 10, 10', but also by the mobile field robot 101 described herein.

[0225] Regarding the system 100 according to the invention, it should also be noted that when the mobile field robot 101, after performing the plant planting process steps, introduces the harvested plant P into the box 24 located on the field robot 101, it can re-move to a position adjacent to the end side of the beam 12 of the device 10, as it is in Figure 24 As shown in the diagram. This is then carried out so that the field robot 101 returns the boxes 24 filled with harvested material to the crossbeam 12 of the equipment 10, so that these boxes can thus reach the storage or roller storage of the equipment 10 via the conveyor system 25 (or on the roller conveyor 26). Subsequently, these boxes 24 filled with harvested material are further processed, for example, loaded onto transport vehicles, such as in combination with Figure 4 It has already been explained.

[0226] As explained above, at least one conveying system can be provided not only in devices 10, 10' but also in the mobile field robot 101. If possible, devices 10, 10' and / or the mobile field robot 101 or platform 101' can be equipped with multiple such conveying systems according to their second variant, which can be arranged vertically stacked and / or horizontally side-by-side. In any case, using such conveying systems 25, 125 ensures that at least one housing 24, preferably multiple such housings 24, can always move to a predetermined position on the crossbeam 12 of device 10, 10' or the chassis 111 of field robot 101, where it can interact with the field tillage devices 18, 19 mounted on the robot arm 23. In the context of this invention, this interaction can be understood as either the targeted removal of items, such as seeds, seedlings, or saplings, from the container 24 by the tillage devices 18, 19, or the targeted introduction of the harvested material into the container 24 by the tillage devices 18, 19 during the harvesting process. As explained above, the harvested material can also originate from different plants or varieties, i.e., in cases where "mixed planting" of plants or vegetables is carried out on the agricultural land area N. Therefore, it is possible, with the aid of this invention, to introduce the harvested material of different plants P into a common container 24 provided for this purpose.

[0227] If, during the harvesting process, the containers 24 on the conveyor system 25 of devices 10, 10' or platforms 101, 101' are completely filled with harvested material, this filling level can be detected by appropriate sensors according to the invention. In this case, with respect to device 10, these filled containers 24 can be moved by means of the conveyor system 25 to a storage or roller storage location (or roller conveyor 26), where the filled containers 24 can be transferred, for example, to a transport vehicle for further processing or logistics. With respect to the mobile field robot 101, in this case (i.e., when a filled container 24 is detected), the field robot 101 moves again to the end of the crossbeam 12 of devices 10, 10' as explained, so that the filled containers 24 on the field robot 101 can be returned to the crossbeam 12 of devices 10, 10'. Thus, devices 10, 10' fulfill or take over the function of the base station. The same applies to platform 101' according to the second variant, which is attached to the tractor.

[0228] The empty container 24 can then be (re-)provided on the roller conveyor 26 of the conveyor system 25, and / or transferred from the storage or roller storage of the conveyor system 25 (or from the roller conveyor 26) to the mobile field robot 101, so that further plant planting process steps can be carried out by the equipment 10, 10' and / or platform (e.g., in the form of the mobile field robot 101).

[0229] The above explanation of the system 100 according to the invention (which is given for the example of the use of the platform according to the first variant in the form of a mobile field robot 101) is also applicable, with appropriate modifications, to the second variant of the platform 101', which can be attached to a tractor or similar device. In related terms, the platform 101' can be moved to a position adjacent to the crossbeam 12, where the container 24 can be transferred from the crossbeam 12 to the platform 101' or onto the platform, or, however, the container filled with harvest can be received from the direction of the platform 101' on the crossbeam 12. With respect to the platform 101' according to the second variant, it is understood that this is achieved by means of a tractor (on which the platform 101' according to the second variant is positioned or attached) to move to this position adjacent to the crossbeam 12 of the devices 10, 10'.

[0230] Finally, it should be emphasized that the system 100 according to the invention can also be equipped with multiple platforms 101, 101'. This means that multiple mobile field robots 101 can be used, which can move individually—preferably alternately—to positions adjacent to the crossbeam 12 in order to receive the housing 24 from or deliver the housing 24 to the crossbeam 12. With appropriate modifications, this also applies to multiple different platforms 101' according to the second variant, which can be mounted on different tractors or similar vehicles.

[0231] List of reference numerals

[0232] 10,10' equipment

[0233] 12 (Main) Crossbeams

[0234] 13 crossbeams

[0235] 14 Fixed central pillar

[0236] 15. Walking mechanism (with wheels)

[0237] 17 Rotating joint

[0238] 18, 19 (multiple) field cultivation devices

[0239] 20 running trolleys

[0240] 21 drive device

[0241] 22 guide rails

[0242] 23 robotic arms

[0243] 24 (multiple) boxes

[0244] 25 Conveying System

[0245] 26 roller conveyors

[0246] 27 (or more) carrier rollers

[0247] 28 Stopping elements

[0248] 29 Basic Terminals

[0249] 30 First Sensor

[0250] 32 Second Sensor

[0251] 34 weather stations

[0252] 36 Transmit / Receive Units

[0253] 38 Control or regulating devices

[0254] 40 cable reel

[0255] 50 retaining plate

[0256] 100 system

[0257] The 101 platform is part of a mobile field robot.

[0258] The 101' platform is used for attaching or mounting to a tractor.

[0259] 111 chassis

[0260] 112 wheels

[0261] 114 Connector Components

[0262] 115L-shaped substrate

[0263] 124 boxes of components

[0264] 125 Conveying System (Conveying System for Platforms 101 and 101')

[0265] 133 Retention Plate or "Parking Area"

[0266] 140 Transmit / Receive Units

[0267] 141 Weather Station

[0268] 142 Control or regulating device

[0269] 143 battery

[0270] 152-circle conveyor belt

[0271] 153 Coupling Device

[0272] 154 Movement direction (for housing 24)

[0273] B Battery Storage

[0274] F Driving trajectory

[0275] H horizontal line

[0276] M motor

[0277] N agricultural use area

[0278] P (multiple) plants

[0279] R is the monitoring area (the monitoring area of ​​the first or second sensor 30, 32).

[0280] S Solar Panel

[0281] W tool replaces system

Claims

1. An apparatus (10; 10′) for cultivating an agricultural land area (N), said apparatus comprising: At least one elongated crossbeam (12) and a matching walking mechanism (16) with at least one wheel, the crossbeam (12) being able to move in a circle or in a straight line over the working area (N) using the at least one wheel; At least one field tillage device (18, 19) is capable of moving or shifting along the crossbeam (12). At least one box (24), and Multiple trolleys (20) are disposed on the crossbeam (12), the trolleys being positioned on corresponding guide rails (22) of the crossbeam (12) and thus capable of moving along the crossbeam (12) in the direction of its longitudinal extension, wherein, At least one field cultivation device (18, 19) is installed at the corresponding running trolley (20), and thus the running trolley (20) serves as a carrier for the field cultivation device (18, 19). Its features are, A conveying system (25) is provided at the crossbeam (12) along the longitudinal extension of the crossbeam, wherein, by means of the conveying system (25), at least one box (24) can move in a specific direction along the longitudinal extension of the crossbeam (12) and thus can be brought to a predetermined position adjacent to the field tillage device (18, 19). Different types of field tillage devices (18, 19) are simultaneously installed at at least one running trolley (20), and thus the running trolley (20) serves as a carrier for these different types of field tillage devices (18, 19), and The plurality of running trolleys (20) together with at least one field tillage device (18, 19) located at the running trolleys are positioned on the opposite side of the crossbeam (12).

2. The device (10; 10′) according to claim 1, characterized in that, The beam (12) and / or the conveying system (25) are equipped with a storage bin or roller bin, which can accommodate multiple boxes (24) or similar items.

3. The device (10; 10′) according to any one of the preceding claims, characterized in that, The conveying system (25) has a roller conveyor (26) with a plurality of carrier rollers (27), each of which has a horizontal axis of rotation, wherein at least one housing (24) can be placed on the carrier rollers (27) of the roller conveyor (26).

4. The device (10; 10′) according to claim 3, characterized in that, The roller conveyor (26) also has a plurality of guide rollers, each having a vertical axis of rotation, wherein the guide rollers are arranged laterally on the roller conveyor (26) and thus limit the roller conveyor (26) to the side.

5. The device (10; 10′) according to claim 3, characterized in that, At least one roller of the roller conveyor (26) is driven by a motor so as to enable the transport of the box (24) along the crossbeam (12) in the desired direction.

6. The device (10; 10′) according to claim 3, characterized in that, The motor-driven rollers consist of a carrier roller (27).

7. The device (10; 10′) according to claim 1 or 2, characterized in that, The plurality of trolleys (20) together with the field tillage devices (18, 19) mounted on the trolleys are able to move independently of each other.

8. The device according to claim 1 or 2, characterized in that, The conveying system (25) has a drive device (21) that can interact with the housing (24) so ​​as to move the housing (24) in a particular direction along the longitudinal extension of the crossbeam (12), wherein at least one running trolley (20) that can move movably along the longitudinal extension of the crossbeam (12) is disposed at a corresponding guide rail (22) of the crossbeam (12), and the drive device (21) is disposed at the running trolley.

9. The device (10; 10′) according to claim 1 or 2, characterized in that... A tool changing system (W) wherein multiple different field tillage devices (18, 19) can be placed or received at the tool changing system (W) or in the tool changing system, and when needed, one field tillage device (18, 19) can be replaced with another field tillage device (18, 19) at at least one robotic arm (23).

10. The device (10; 10′) according to claim 1 or 2, characterized in that... A control or adjustment device (39) is available to control or adjust the movement of the crossbeam (12) over the usable area (N) and / or the actuation of at least one field tillage device (18, 19), wherein a transmitter / receiver unit (36) connected to the control or adjustment device (38) in signal technology is available to receive, or receive from, information or data packets for monitoring and / or controlling the operation of the crossbeam (12) and / or the field tillage devices (18, 19) placed or set on the crossbeam and / or transmit the information or data packets to such a remote location.

11. The device (10; 10′) according to claim 1, characterized in that, The equipment includes multiple enclosures (24).

12. The device (10; 10′) according to claim 11, characterized in that, Using the conveying system (25), the plurality of boxes (24) can move in a specific direction along the longitudinal extension of the crossbeam (12) and thus can be brought to a predetermined position adjacent to the field tillage device (18, 19).

13. The device (10; 10′) according to claim 2, characterized in that, The storage or roller storage facility can accommodate more than 10 boxes (24).

14. The device (10; 10′) according to claim 13, characterized in that, The storage or roller storage facility can accommodate more than 20 boxes (24).

15. The device (10; 10′) according to claim 14, characterized in that, The storage or roller storage facility can accommodate more than 50 boxes (24).

16. The device (10; 10′) according to claim 9, characterized in that, The tool replacement system is located or installed at the crossbeam (12).

17. The device (10; 10′) according to claim 9, characterized in that, The tool changing system (W) is positioned on the corresponding guide rail (22) of the crossbeam (12) and is therefore able to move along the crossbeam (12) in the direction of the longitudinal extension of the crossbeam.

18. The device (10; 10′) according to claim 10, characterized in that, The remote location is structured in the form of a control center.

19. The device (10; 10′) according to claim 10, characterized in that, The transmitting / receiving unit (36) is mounted on the crossbeam (12).

20. A method for cultivating agricultural land area (N), wherein, The method is executed fully automatically and includes relevant plant cultivation process steps from sowing or planting the plant to harvesting the plant, wherein, during the harvesting process, a predetermined amount of harvested material is introduced by machine into a container (24) provided for this purpose, characterized in that... Different plants (P) are sown or harvested in a mixed-cropping manner on the same agricultural use area (N), wherein the planting and harvesting processes are constructed as picking and placing processes, and these picking and placing processes are performed across the crop field, i.e., for different types and sizes of vegetable plants, wherein when harvesting is introduced by means of field tillage devices (18, 19), the harvests of different types of plants (P) are introduced together into a common container (24), and Fixed-point cultivation is carried out on the agricultural use area (N), in which the cultivation of the use area (N) is concentrated only on the target planting point, where plants are introduced into the soil, and where the sowing, irrigation and / or harvesting of mature plants are carried out.

21. The method according to claim 20, characterized in that, Inedible biological substances are isolated from plants awaiting harvest.

22. The method according to claim 20 or 21, characterized in that, An agricultural area (N) is cultivated using different varieties of plants or vegetables, which consist of a group including iceberg lettuce, head lettuce and romaine lettuce, purple cabbage and white cabbage (mini), broccoli, kohlrabi, celery, cucumber, zucchini and / or squash, thereby thus carrying out mixed planting of plants or vegetables on the agricultural area (N).

23. The method according to claim 20 or 21, characterized in that, The method is performed using the device (10; 10′) according to any one of claims 1 to 19.

24. The method according to claim 20 or 21, characterized in that, The method is performed using at least one field tillage device (18; 19) in the case of using at least one platform (101, 101′) movable relative to the agricultural use area (N), the field tillage device being disposed on the chassis (111) or a portion thereof of the platform (101, 101′), and using the field tillage device to perform at least one plant planting process step, wherein a conveying system (125) is disposed on the chassis (111) or a portion thereof of the platform (101, 101′), using the conveying system to move at least one box (24) in the longitudinal and / or transverse directions of the chassis (111) of the platform (101, 101′) and thus be brought to a predetermined position.

25. The method according to claim 24, characterized in that, The method is performed using equipment (10; 10′), which is equipment for cultivating an agricultural area (N) and includes at least one elongated crossbeam (12) and a matching walking mechanism (16) with at least one wheel, the crossbeam (12) being capable of circular or linear movement over the area (N) using the at least one wheel; and bringing the platform (101, 101′) adjacent to the crossbeam (12) of the equipment (10; 10′) into a position such that the box (24) is then either transferred from the crossbeam (12) to the platform (101, 101′) or returned from the platform (101, 101′) to the crossbeam (12).

26. The method according to claim 21, characterized in that, Here, a field tillage apparatus (18, 19) of any one of claims 1 to 19 is used to separate inedible biological material from plants awaiting harvest.

27. The method according to claim 21, characterized in that, The separation of inedible biological material is carried out during the following stage of the plant, i.e., during which the plant is still placed in the agricultural use area (N).

28. The method according to claim 21, characterized in that, The separation of inedible biological material takes place during the process of removing plants from the soil at harvest.

29. The method according to claim 21, characterized in that, This cutting of plants and / or separation of inedible biological material is supported by sensors, the field tillage apparatus (18, 19) of the device (10; 10′) according to any one of claims 1 to 19 or the associated running trolley (20) is equipped with said sensors, and the plants and their location and / or size are thus detected using said sensors.

30. The method according to claim 29, characterized in that, The sensor is constructed as an optical sensor.

31. The method according to claim 24, characterized in that, Using the conveying system, at least one container (24) moves in the longitudinal and / or transverse directions of the chassis (111) of the platform (101, 101') and is thus brought to a predetermined position adjacent to the field tillage device (30, 31a, 31b).

32. A system (100) for cultivating agricultural land area (N), said system comprising: The device (10; 10′) according to any one of claims 1 to 19, wherein the device fulfills the function of a base station in agricultural use areas, and At least one platform (101, 101') movable relative to the agricultural use area (N), the platform being separately arranged from the equipment (10, 10') and having at least one field cultivation device (18; 19), the field cultivation device being mounted on the chassis (111) or a portion thereof of the platform (101, 101') and being capable of performing the process steps of planting plants using the field cultivation device. A conveying system (125) is provided on the chassis (111) or a portion thereof of the platform (101, 101'), by means of which at least one container (24) can move in the longitudinal and / or lateral directions of the chassis (111) and thus can be carried to a predetermined position. The platform (101, 101') is able to be brought into a position adjacent to the crossbeam (12) of the device (10; 10'), such that the platform (101, 101') can receive the box (24) from the crossbeam (12), or can return the box (24) to or onto the crossbeam (12) such that the box is then filled with the harvested plant (P) and located on the platform (101, 101'), and The platform is part of a mobile field robot (101), and a plurality of wheels (112) are provided on the chassis (111) of the platform. The field robot (101) can move over a usable area (N) using the wheels. At least one wheel (112) is provided with a drive. At least one wheel (112) is pivotally or rotatably supported on the chassis (111) about a vertical axis so that the mobile field robot (101) can change its direction of travel.

33. The system (100) according to claim 32, characterized in that, The chassis (111) of the platform (101, 101') is modularly constructed and includes a plurality of elongated plug-in elements (114) that can be connected to each other and disengaged from each other, such that at least one dimension of the chassis (111) can be changed.

34. The system (100) according to claim 32 or 33, characterized in that, Regarding the platform (101, 101'), at least one running trolley (20) is disposed at a corresponding guide rail (22) on the chassis (111), the at least one running trolley being movably movable on the platform (101, 101') along a longitudinal extension of the platform, wherein at least one field tillage device (18, 19) is disposed at the running trolley (20), and thus the running trolley (20) serves as a carrier for the field tillage device (18, 19).

35. The system (100) according to claim 32 or 33, characterized in that, The conveying system (125) has a drive device (21) that can interact with the housing (24) to move the housing (24) in a particular direction along the longitudinal extension of the platform (101, 101'), wherein at least one trolley (20) movable on the platform (101, 101') is disposed at a corresponding guide rail (22), and the drive device (21) is disposed at the trolley.

36. The system (100) according to claim 32, characterized in that, Using the conveying system, at least one housing (24) can move in the longitudinal and / or transverse directions of the chassis (111) and thus can be carried to a predetermined position adjacent to the field tillage device (18, 19).

37. The system (100) according to claim 33, characterized in that, The plug element (114) is configured as a tube.

38. The system (100) according to claim 33, characterized in that, The plug-in elements (114) can be connected to each other and disconnected from each other without the use of special tools, thus allowing at least one dimension of the chassis (111) to be changed.

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