Vertical agricultural system

Abstract

The invention provides an agricultural system (2) comprising a frame structure (100) for accommodating growing frames (3), and comprising a growing frame elevator (20), in which: the frame structure (100) comprises vertical column profiles (102) defining a plurality of columns (105) in which a plurality of growing frames (3) are stored stack by stack in the form of a vertical stack, each column being defined by four column profiles (102); the growth frame elevator is configured to move in two horizontal directions perpendicular to each other over the row (105) and comprises a vertically movable lifting frame (22) for releasable attachment to an upper section of the growth frame (3), such that the growth frame (3) can be removed from the growth frame stack or the growth frame can be added into the growth frame stack; each growing frame comprises a root section (4) and a product section (5) separated by a cultivation plate (6); wherein a nozzle panel (7) is arranged at one side of each column (105) of the plurality of columns in rows, each nozzle panel comprising a plurality of nozzles (8) facing the root section (4) of the stack of growth frames in the corresponding column; and the root section (4) of the stack of growth frames and the nozzle panel (7) form a root chamber (9) to which water can be supplied via the nozzle (8).

Description

Technical Field

[0001] The present invention relates to a vertical farming system, a growing frame for use in a vertical farming system, and a method of forming a root chamber in a vertical farming system. Background Art

[0002] FIG. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and FIGS. 2, 3, and 4 disclose three different prior art container handling vehicles 201, 301, 401 suitable for operating on the system 1.

[0003] The frame structure 100 includes upright members 102 and a storage volume that includes storage rows 105 arranged in rows between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as bins) are stacked one on top of another to form stacks 107. The members 102 can typically be made of metal (such as extruded aluminum profiles).

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a horizontal grid-based track system 108 (i.e., a track grid) disposed across the top of the frame structure 100 on which a plurality of container handling vehicles 201, 301, 401 can operate to lift storage containers 106 from the storage rows 105 and lower the storage containers 106 into the storage rows, and also to transport the storage containers 106 above the storage rows 105. The track system 108 includes: a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel tracks 111 disposed perpendicular to the first set of tracks 110 to guide the container handling vehicles 201, 301, 401 to move in a second direction Y perpendicular to the first direction X. The containers 106 stored in the rows 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the track system 108. The container handling vehicles 201, 301, 401 can move laterally above the storage rows 105, i.e., laterally in a plane parallel to the horizontal X-Y plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the storage containers during the process of lifting the containers out of the rows 105 and lowering the containers into the rows. The stacks 107 of the containers 106 are typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a, and a first set of wheels and a second set of wheels 201b, 201c, 301b, 301c, 401b, 401c, which enable the container handling vehicles 201, 301, 401 to move laterally in the X direction and the Y direction, respectively. In FIGS. 2, 3, and 4, two wheels in each set of wheels are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage two adjacent tracks of the first set of tracks 110, and the second set of wheels 201c, 301c, 401c are arranged to engage two adjacent tracks of the second set of tracks 111. At least one set of the wheels 201b, 201c, 301b, 301c, 401b, 401c can be raised and lowered so that the first set of wheels 201b, 301b, 401b and / or the second set of wheels 201c, 301c, 401c can engage the corresponding set of tracks 110, 111 at any time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device 404 (see FIG. 4) for vertically transporting the storage container 106 (i.e., the container lifting device), such as lifting the storage container 106 from the storage row 105 and lowering the storage container 106 into the storage row. The lifting device 404 includes a lifting frame 404d, which includes a container connector 404b and guide pins 404c adapted to engage the storage container 106. The lifting frame 404d can be lowered from the vehicles 201, 301, 401 so that the position of the lifting frame 404d relative to the vehicles 201, 301, 401 can be adjusted in a third direction Z orthogonal to the first direction Y and the second direction X. In FIG. 2, the lifting device of the container handling vehicle 201 is located within the vehicle body 201a.

[0008] To raise or lower the lifting frame 404d (and optionally the connected storage container 106), the lifting frame 404d is suspended by a lifting belt 404a from a belt drive assembly. In this belt drive assembly, a plurality of lifting belts are typically wound around / unwound from at least one rotating lifting shaft or reel arranged in the container handling vehicle. Various designs of the belt drive assembly are described, for example, in WO 2015 / 193278 A1, WO 2017 / 129384 A1, and WO 2019 / 206438 A1.

[0009] Conventionally, and for the purposes of the present application, Z = 1 identifies the uppermost layer available for the storage containers below the tracks 110, 111, i.e., the layer immediately below the track system 108, Z = 2 identifies the second layer below the track system 108, Z = 3 identifies the third layer, and so on. In the exemplary prior art disclosed in FIG. 1, Z = 8 identifies the bottommost layer of the storage containers. Similarly, X = 1…n and Y = 1…n identify the positions of each storage column 105 in the horizontal plane. Thus, as an example, and using the Cartesian coordinate system X, Y, Z shown in FIG. 1, it can be said that the storage container identified as 106’ in FIG. 1 occupies the storage position of X = 17, Y = 1, Z = 6. It can be said that the container handling vehicles 201, 301, 401 travel in the layer Z = 0, and each storage column 105 can be identified by its X coordinate and Y coordinate. Thus, the storage containers extending above the track system 108 shown in FIG. 1 are also referred to as being arranged in the layer Z = 0.

[0010] The storage volume part of the frame structure 100 is generally referred to as a grid, where the possible storage positions within the grid are called storage units. Each storage column can be identified by its position in the X direction and the Y direction, while each storage unit can be identified by the container number in the X direction, the Y direction, and the Z direction.

[0011] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 when transporting the storage container 106 across the track system 108. The storage space may include a cavity arranged inside the vehicle bodies 201a, 401a, as shown in FIGS. 2 and 4 and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, the contents of which are incorporated herein by reference.

[0012] FIG. 3 shows an alternative configuration of the container handling vehicle 301 with a cantilever structure. Such a vehicle is described in detail, for example, in NO317366, the content of which is also incorporated herein by reference.

[0013] The occupied area of the cavity-type container handling vehicle 201 shown in FIG. 2 may cover an area that is approximately equal in size to the lateral extent of the storage column 105 in the X direction and the Y direction, as described, for example, in WO2015 / 193278A1, the content of which is incorporated herein by reference. The term “lateral” as used herein may refer to “horizontal”.

[0014] Alternatively, the occupied area of the cavity-type container handling vehicle 401 may be larger than the lateral area defined by the storage column 105, as shown in FIGS. 1 and 4 and disclosed, for example, in WO2014 / 090684A1 or WO2019 / 206487A1.

[0015] The lateral area defined by the storage columns is equal to the lateral area defined by the grid cells 122 of the track system 108. The lateral area of the grid cell includes the access opening 112 and an area that is half of the width of the track at the periphery of the access opening.

[0016] The track system 108 generally includes tracks having grooves in which the wheels of the vehicle run. Alternatively, the tracks can include upwardly projecting elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as guide rails. Each track can include one guide rail, or each of the tracks 110, 111 can include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) can include one guide rail, and each track in another perpendicular direction (e.g., the Y direction) can include two guide rails. Each of the tracks 110, 111 can also include two guide rail members fastened together, with each guide rail member providing one of the pair of guide rails provided by each track.

[0017] WO2018 / 146304A1 (the content of which is incorporated herein by reference) shows a typical configuration of the track system 108, which includes tracks and parallel guide rails in the X and Y directions.

[0018] In the frame structure 100, most of the columns 105 are storage columns 105, i.e., columns 105 in which storage containers 106 are stored in the form of stacks 107. However, some of the columns 105 can have other purposes. In FIG. 1, columns 119 and 120 are such dedicated columns used by the container handling vehicles 201, 301, 401 to unload and / or pick up the storage containers 106, such that the storage containers can be transported to an access station (not shown), where the storage containers 106 can be accessed from outside the frame structure 100, or removed from or moved into the frame structure 100. In the art, such locations are generally referred to as "ports", and the columns in which the ports are located can be referred to as "port columns" 119, 120. The transportation to the access station can be in any direction (i.e., horizontal, inclined, and / or vertical). For example, the storage container 106 can be placed in a random or dedicated column 105 within the frame structure 100, and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transportation to the access station. The transportation from the port to the access station may require movement in various different directions by means such as a delivery vehicle, a cart, or other transportation lines. It should be noted that the term "inclined" refers to the transportation of the storage container 106 having a generally transport orientation in a direction between horizontal and vertical.

[0019] In FIG. 1, the first port column 119 can be, for example, a dedicated offloading port column at which container handling vehicles 201, 301, 401 can offload storage containers 106 to be transported to a storage or transfer station, and the second port column 120 can be a dedicated pick-up port column at which container handling vehicles 201, 301, 401 can pick up storage containers 106 that have been transported from a storage or transfer station.

[0020] The storage station can generally be a pick-up station or a stocking station at which product items are removed from or positioned into the storage container 106. In the pick-up or stocking station, the storage container 106 is generally not removed from the automated storage and retrieval system 1 but is returned to the frame structure 100 again after access. The ports can also be used to transfer the storage container to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transport vehicle (e.g., a train or a truck), or to a production facility.

[0021] A conveyor system including conveyors is generally employed to transport the storage containers between the port columns 119, 120 and the storage station.

[0022] If the port columns 119, 120 and the storage station are at different heights, the conveyor system can include a lifting device having a vertical component for vertically transporting the storage container 106 between the port columns 119, 120 and the storage station.

[0023] The conveyor system can be arranged to transfer the storage container 106 between different frame structures, as described, for example, in WO2014 / 075937A1, the content of which is incorporated herein by reference.

[0024] When accessing a storage container 106 stored in one of the multiple columns 105 disclosed in FIG. 1, one of the multiple container handling vehicles 201, 301, 401 is instructed to retrieve the target storage container from the location of the target storage container 106 and transport the target storage container to the unloading port column 119. This operation involves: moving the container handling vehicles 201, 301, 401 to a position above the storage column 105 where the target storage container 106 is located; using the lifting device 404 of the container handling vehicles 201, 301, 401 to retrieve the storage container 106 from the storage column 105; and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are located above the target storage container 106, this operation also involves: temporarily moving the storage containers located above before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle that will subsequently be used to transport the target storage container to the unloading port column 119, or using one or more other collaborative container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 can have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. After removing the target storage container 106 from the storage column 105, the temporarily removed storage container 106 can be repositioned back to the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to other storage columns 105.

[0025] When a storage container 106 is to be stored in a column 105, one of the container handling vehicles 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 in which the storage container is to be stored. After removing any storage containers 106 located at or above the target position within the stack 107, the container handling vehicles 201, 301, 401 position the storage container 106 at the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to other storage columns 105.

[0026] To monitor and control an automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within a frame structure 100, the contents of each storage container 106, and the movement of container handling vehicles 201, 301, 401, such that the required storage container 106 can be delivered to the required position at the required time and the container handling vehicles 201, 301, 401 do not collide with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0027] Vertical farming using a cube storage system is known. An example of such a vertical farming system is described in EP 3326452 A1, where boxes containing plants / crops are arranged in stacks, and where individual boxes can be removed or inserted by a load handling device running on a track at the top of a storage grid. The prior art systems also include a lighting system, which includes a controller and lighting devices arranged above each box. The controller can control the spectrum of the emitted light. A similar prior art system with stacked boxes is disclosed in EP 3282830 A1.

[0028] WO 2019 / 109006 A1 discloses a vertical farming system with a growth frame having two cultivation plates for growing plants / crops. The root sides of the cultivation plates share the same root chamber. The growth frame is complex and includes, for example, an internal flow control system and external LED lights.

[0029] For vertical farming, systems with boxes 106 in the form of stacks 107 are technically challenging because the plants arranged in each box 106 require both light and water to survive. Additionally, due to the compactness of the stacks 107, any maintenance of equipment related to lighting and / or irrigation can become difficult.

[0030] Accordingly, it is an object of the present invention to provide a vertical farming system that enables easy access to and handling of plants / crops in a single growth frame and simplifies the maintenance of equipment related to lighting and / or irrigation.

[0031] A further object is to provide a simple and cost - effective growth frame for plants / crops. Summary of the Invention

[0032] The present invention is defined in the appended claims and the following:

[0033] In a first aspect, the present invention provides an agricultural system that includes a frame structure for accommodating a growth frame and includes a growth frame lift, wherein:

[0034] The frame structure includes vertical column profiles that define a plurality of columns, and a plurality of growing frames are stored one on top of another in a vertical stack in these columns, with each column being defined by four column profiles;

[0035] The growing frame elevator is configured to move in two mutually perpendicular horizontal directions above the columns, and the growing frame elevator includes a vertically movable lifting frame for releasably attaching to the upper section of the growing frame, such that a growing frame can be removed from or added to the growing frame stack;

[0036] Each growing frame includes a root section and a product section separated by a cultivation plate; wherein,

[0037] At one side of each column in a row of a plurality of columns, a nozzle panel is arranged, and each nozzle panel includes a plurality of nozzles facing the root section of the growing frame stack in the corresponding column; and

[0038] The root section of the growing frame stack and the nozzle panel form a root chamber, and water can be supplied to the root chamber via the nozzles.

[0039] The agricultural system can also be referred to as a vertical agricultural system.

[0040] In an embodiment of the agricultural system, the cultivation plate can be vertical. The cultivation plate can be inclined relative to the vertical direction by up to 15 degrees.

[0041] The height of each nozzle panel can be substantially equal to the height of the vertical column profiles. The height of each nozzle panel can be at least equal to the height of two growing frames stacked one on top of another, and preferably, the height of each nozzle panel is equal to the height of at least three or at least four growing frames stacked one on top of another.

[0042] The width of each nozzle panel can be equal to or greater than the width of the root section of the growing frame. Each nozzle panel can enclose the side of the column where the nozzle panel is arranged.

[0043] In an embodiment of the agricultural system, each growing frame can include opposite vertical sides that include portions extending on opposite sides of the root section. The portions extending on opposite sides of the root section can alternatively be referred to as root portions.

[0044] In other words, these vertical sides can include portions arranged to define or delimit opposite sides of the root section. The portions extending on opposite sides of the root section can extend from the cultivation plate to the corresponding nozzle panel and / or to the column profile where the nozzle panel is arranged.

[0045] In an embodiment of the agricultural system, each vertical side has an edge that is adjacent to the corresponding column profile when arranged in a column defined by the corresponding column profile.

[0046] In an embodiment of the agricultural system, each vertical side of the first growth frame includes an upper edge that is arranged to support the lower edge of each vertical side of the second growth frame stacked on top of the first growth frame.

[0047] In an embodiment of the agricultural system, at least one growth frame or each growth frame may include a horizontally extending frame portion that may be arranged above the root section. The frame portion may be a substantially horizontal or transverse plate element. In other words, the frame portion may extend horizontally from the cultivation plate towards the nozzle panel.

[0048] In an embodiment of the agricultural system, at least the upper growth frames in the growth frame stack include a horizontally extending frame portion that may be arranged above the root section. The frame portion may be a substantially horizontal or transverse plate element. In other words, the frame portion may extend horizontally from the cultivation plate towards the nozzle panel arranged at one side of the column.

[0049] In an embodiment of the agricultural system, the root section of each growth frame may be restricted and / or defined by a horizontally extending frame portion arranged above the root section.

[0050] In an embodiment of the agricultural system, the horizontally extending frame portion may be a cantilevered extension of the cultivation plate. The horizontally extending frame portion may extend from the cultivation plate above the root section. When the growth frame is arranged in a column, the horizontally extending frame portion may extend from the vertical cultivation plate towards the nozzle panel arranged at one side of the column. The horizontally extending frame portion may be a horizontal plate element. The length that the horizontally extending frame portion extends may be substantially equal to the distance between the cultivation plate of the growth frame arranged in the column and the nozzle panel at one side of the column.

[0051] In an embodiment of the agricultural system, the root chamber may be divided into a plurality of root chamber sections by the horizontally extending frame portion. In this way, the upper part of the root chamber is closed by the horizontal frame portion, regardless of the number of growth frames in the stack.

[0052] The nozzle panel may include at least one nozzle for each root chamber section. In other words, the root chamber sections may be separated by the horizontally extending frame portion. In other words, the root chambers in the column are divided into a plurality of root chamber sections by the horizontally extending frame portions of the growth frames stacked in the column.

[0053] In an embodiment of the agricultural system, the horizontally extending frame portion may include drainage holes to allow excess water in the growth chamber section to drain towards the bottom of the growth frame stack, that is, to reach the bottom of the root chamber.

[0054] In other words, the drain holes allow water in the growth chamber section to drain into the lower growth chamber section. In an embodiment of the storage system, the uppermost growth frame may include a horizontally extending frame portion without drain holes, while the growth frames stacked below the uppermost growth frame include drain holes.

[0055] In an embodiment of the agricultural system, at least the upper growth frames in the growth frame stack may include horizontally extending frame portions.

[0056] In an embodiment of the agricultural system, each nozzle panel may extend between two column profiles that define the corresponding column in which the nozzle panel is located. In other words, each nozzle panel may extend between two of the four column profiles that define the corresponding column in which the nozzle panel is located.

[0057] Each nozzle panel may be connected to the two column profiles between which the nozzle panel is disposed. This connection may be waterproof to prevent water from seeping between the edge of the nozzle panel and the column profiles.

[0058] In an embodiment of the agricultural system, the nozzles are flush with the inner surface of the nozzle panel, i.e., flush with the surface of the nozzle panel facing the growth chamber.

[0059] In an embodiment, the agricultural system may include a lighting device configured to provide light to the product section.

[0060] In one embodiment of the agricultural system, at least one lighting device may be disposed at one side of each column in a row of multiple columns having nozzle panels, the side being opposite the corresponding nozzle panel, and the at least one lighting device facing the product section of the growth frame stack in the corresponding column.

[0061] In one embodiment of the agricultural system, a lighting frame may be disposed at one side of each column in a row of multiple columns having nozzle panels, the side being opposite the corresponding nozzle panel, and the lighting frame may include at least one lighting device facing the product section of the growth frame stack in the corresponding column.

[0062] In an embodiment of the agricultural system, each lighting frame may extend between two column profiles that define the corresponding column in which the lighting frame is located. In other words, each lighting frame may extend between two of the four column profiles that define the corresponding column in which the lighting frame is located.

[0063] In an embodiment of the agricultural system, the framework structure may include an orbital system disposed above the columns, the orbital system including a first set of parallel tracks and a second set of parallel tracks forming an orbital grid, and the growing frame elevator includes a wheel assembly configured to move the growing frame elevator along either the first set of parallel tracks or the second set of parallel tracks, the wheel assembly including at least four wheels.

[0064] In an embodiment of the agricultural system, the cross-section of each column profile includes a hollow central section and at least two corner sections, each corner section including two mutually perpendicular growing frame guides for receiving a corner of the growing frame.

[0065] In an embodiment of the agricultural system, the width of each nozzle panel may be such that the nozzle panel can be disposed between the central sections of two adjacent column profiles.

[0066] In an embodiment of the agricultural system, nozzle panels are disposed at one side of each column in a first arrangement and a second arrangement, the first arrangement and the second arrangement being parallel to each other and separated by a third arrangement that does not accommodate growing frames. Each column in the third arrangement may have lighting frames disposed on opposite sides thereof, the lighting frames providing light to the product sections of the growing frames stacked in the first arrangement and the second arrangement.

[0067] In an embodiment of the agricultural system, the cultivation plate of each growing frame may include a plurality of holes or recesses for receiving growing trays or mesh pots in which plants can be cultivated. These holes / recesses extend through the cultivation plate between the root section and the product section.

[0068] In an embodiment, the agricultural system may include an access station where a growing frame can be placed for controlling, processing, and / or harvesting the product. The access station may be arranged to allow access to the growing frame by a human or robotic operator.

[0069] In an embodiment, the agricultural system may include a column through which the growing frame can be transported to or from the access station. The column may be referred to as a port column.

[0070] In a second aspect, the present invention provides a growing frame for use in an agricultural system according to any embodiment of the first aspect. The growing frame includes a support frame and a cultivation plate separating the root section and the product section of the growing frame, the support frame including two vertical sides, the cultivation plate being mounted between the two vertical sides, the two vertical sides extending on opposite sides of the root section and on opposite sides of the product section. The two vertical sides are disposed in respective vertical planes perpendicular to the vertical plane in which the cultivation plate is located.

[0071] In an embodiment of the growth frame, the vertical sides may include portions extending on opposite sides of the root section to provide vertical liquid barriers at opposite sides of the root section.

[0072] In an embodiment of the growth frame, each vertical side may include an upper edge and a lower edge. The upper edge and the lower edge are configured such that the upper edge of the first growth frame can support the lower edge of the second growth frame stacked on top of the first growth frame.

[0073] The upper edge of the vertical side or the upper edge of the support frame may include a connecting recess for releasably connecting to the lifting frame.

[0074] The vertical sides extending on opposite sides of the root section of the first growth frame may extend vertically such that the upper edges of these vertical sides interact with the lower edges of the vertical sides extending on opposite sides of the root section of the second growth frame stacked on top of the first growth frame.

[0075] In an embodiment of the growth frame, the portions of the vertical sides extending on opposite sides of the product section include openings that allow air to pass freely through the product section. The openings may account for more than 50%, more than 60%, or more than 70% of the sides defined by the vertical sides extending on opposite sides of the product section.

[0076] In an embodiment, the growth frame may include a plate element extending horizontally above the root section. The plate element may have drainage holes.

[0077] The plate element may be an integral part of the support frame or the cultivation plate.

[0078] In an embodiment, the growth frame may have a cubic shape or a cuboid shape.

[0079] In an embodiment of the growth frame, the cultivation plate may include a plurality of holes for accommodating a growth tray or a mesh pot in which plants can be cultivated. These holes extend through the cultivation plate between the root section and the product section.

[0080] In a third aspect, the present invention provides a frame structure for an agricultural system according to any embodiment of the first aspect, wherein:

[0081] The frame structure includes vertical column profiles defining a plurality of columns in which a plurality of growth frames can be stored one on top of another in a vertical stack, each column being defined by four vertically extending column profiles; and

[0082] A nozzle panel is arranged at one side of each column in a row of a plurality of columns, each nozzle panel including a plurality of nozzles facing the internal space of the corresponding column.

[0083] In an embodiment, the framework structure includes a lighting framework that is disposed at one side of each of a plurality of rows of columns having nozzle panels, the side being opposite to the corresponding nozzle panel, and the lighting framework includes at least one lighting device facing the internal space of the corresponding column.

[0084] In an embodiment, the framework structure may include an orbital system disposed above the columns, and the orbital system includes a first set of parallel tracks and a second set of parallel tracks that form an orbital grid.

[0085] The framework structure according to the third aspect may include any features of the framework structure of the agricultural system according to the first aspect.

[0086] In a fourth aspect, the present invention provides a method for providing a root chamber in an agricultural system, the agricultural system including a framework structure and a growing frame elevator,

[0087] The framework structure includes vertical column profiles that define a plurality of columns, and the growing frames are stored one on top of another in a vertical stack in these columns, and each column is defined by four vertically extending column profiles;

[0088] The growing frame elevator is configured to move in two horizontal directions perpendicular to each other above the columns, and the growing frame elevator includes a vertically movable lifting frame for releasably attaching to an upper section of the growing frame, so that a growing frame can be taken out from the growing frame stack or a growing frame can be added to the growing frame stack;

[0089] Each growing frame includes a root section and a product section separated by a cultivation plate; wherein,

[0090] A nozzle panel is disposed at one side of each of a plurality of rows of columns, and each nozzle panel includes a plurality of nozzles facing the root section of the growing frame stack in the corresponding column; and

[0091] The method includes the following steps:

[0092] - Lowering a plurality of growing frames (one by one) into the columns by using the growing frame elevator; and

[0093] - Forming a root chamber defined by the root section of the growing frame and the corresponding nozzle panel.

[0094] The method according to the fourth aspect may include any features of the embodiments of the agricultural system according to the first aspect, the growing frame according to the second aspect, or the framework structure according to the third aspect.

[0095] The term "agricultural product" shall be construed broadly to include any plant species or crop suitable for a hydroponic cultivation system using a growth medium, such as mushrooms, herbs, medicinal plants, ornamental plants, and common crops / plants, etc. Description of the Drawings

[0096] The embodiments of the present invention will be described in detail below only by way of example and with reference to the following drawings:

[0097] Figure 1 is a perspective view of the frame structure of an automatic storage and retrieval system of the prior art.

[0098] Figure 2 is a perspective view of a container handling vehicle of the prior art, which has a cavity with an internal arrangement for carrying a storage container therein.

[0099] Figure 3 is a perspective view of a container handling vehicle of the prior art, which has a cantilever for carrying a storage container thereunder.

[0100] Figure 4 is a perspective view of a container handling vehicle of the prior art seen from below, which has a cavity with an internal arrangement for carrying a storage container therein.

[0101] Figures 5 to 8 is a side perspective view of an exemplary agricultural system according to the present invention.

[0102] Figures 9 to 11 is for use in Figures 5 to 8 an exemplary growth frame for use in an agricultural system.

[0103] Figures 12 to 15 is Figures 5 to 8 a top perspective view of the agricultural system in

[0104] Figure 16 to Figure 19 are a plurality of views showing the details of the agricultural system in Figures 5 to 8 Detailed Description of the Embodiments

[0105] Hereinafter, the embodiments of the present invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the present invention to the subject matter depicted therein.

[0106] The present invention is an automated agricultural system for growing crops / bio - species (such as plants). Exemplary embodiments of the agricultural system of the present invention and its various features are shown in Figure 5 to Figure 19.

[0107] The agricultural system 2 includes a frame structure 100, a plurality of growth frames 3, and a growth frame elevator 20, see Figures 5 to 8 .

[0108] ​The frame structure 100 includes vertical column profiles 102 that define a plurality of columns 105 in which the growing frames 3 can be stored one on top of the other in a vertical stack. Each column is defined by four column profiles 102. Above the columns 105, a track system 108 is arranged. The track system has a first set of parallel tracks 110 and a second set of parallel tracks 111 that form a track grid on which the growing frame elevator 20 can move in two horizontal directions perpendicular to each other.

[0109] The growing frame elevator 20 has a vertically movable lifting frame 22 for releasably attaching to the upper section of the growing frame 3, such that a growing frame 3 can be removed from or added to the growing frame stack, see Figure 14 . In the exemplary agricultural system 2, the growing frame elevator 20 is a vehicle that includes a wheel assembly configured to move the growing frame elevator along either the first set of parallel tracks 110 or the second set of parallel tracks 111. The wheel assembly includes two sets of wheels, each set of which has four wheels 21.

[0110] The wheel assembly of the exemplary growing frame elevator 20 is similar to the wheel assemblies of the prior art vehicles 201, 301, 401 described in the background section. In other embodiments, the growing frame elevator 20 can alternatively be moved by any other suitable means, such as being part of a gantry lift structure arranged above the columns 105. In embodiments where the growing frame elevator 20 does not move using wheels, the frame structure does not need to have the track system 108 arranged on top of the column profiles 102.

[0111] Details of the exemplary growing frame 3 are shown in Figures 9 to 11 . The growing frame 3 is shaped like a rectangular cuboid and includes a support frame 15 and a cultivation plate 6. The cultivation plate 6 separates the root section 4 and the product section 5 of the growing frame 3. The cultivation plate has a plurality of holes 27 for receiving growing trays or mesh pots 32, see Figure 7, the plant 28 can be planted in the growing tray or the mesh pot. The growing tray and the mesh pot are known in the fields of hydroponics and vertical farming, see for example WO 2019 / 109006A1. The support frame 15 includes two vertical sides 10, and the cultivation plate 6 is installed between the two vertical sides. The two vertical sides are interconnected by a crossbar 26 and extend on opposite sides of the root section 4 and the product section 5. The inner side of each vertical side 10 has a guide rail 29 into which the cultivation plate 6 is inserted or fastened. Alternatively, the growing frame 3 can include a plurality of guide rails 29 such that the distance between the cultivation plate 6 and the lighting device 13 (see below) can be changed as needed. The vertical sides extend vertically such that when two growing frames 3 are stacked on top of each other, the upper edge 30 of the vertical side 10 interacts with the lower edge 31 of the vertical side of the second growing frame 3. The cultivation plate 6 in the illustrated embodiment is vertical. However, in an alternative embodiment, the cultivation plate 6 can be slightly inclined relative to the vertical direction by up to 15 degrees.

[0112] The part 10a of the vertical side 10 (which can also be referred to as the root part) extends on opposite sides of the root section 4 to provide a vertical liquid barrier at opposite sides of the root section 4. The part 10b of the vertical side 10 that extends on opposite sides of the product section 5 (which can also be referred to as the product part) has openings 17 that allow air to freely pass through the product section 5, thereby enabling ventilation. Each 10 has an edge 19 that is adjacent to the corresponding column profile 102 when the growing frame 3 is arranged in the column 105. The edge 19 is arranged close to the corresponding column profile 102, but generally there is a small gap 33 between them. In an alternative embodiment, the edge 19 can include, for example, a brush seal to close the gap when needed.

[0113] The cultivation plate 6 also includes a substantially horizontal plate element (i.e., a horizontally extending frame portion) 11 that extends above the root section 4, and the plate element 11 includes drain holes 12. In other embodiments, the horizontal plate element can be a separate element or part of the support frame 15.

[0114] To enable the growing frame 3 to be lifted and lowered by the growing frame lift 20, the upper edge 30 of the support frame 15 includes connection recesses 16 to which the lift frame 22 can be releasably attached. The lift frame 22 is similar to the prior art lift frame 404d described in the background section above, and the connection recesses 16 can be releasably connected to the corresponding connectors 404b, as shown in FIG. 4.

[0115] At one side of each column 105 in which the growth frames are stacked, a nozzle panel 7 is arranged. Each nozzle panel 7 includes a plurality of nozzles 8 and a pipe 18 for supplying water to the nozzles 8. The nozzles are arranged to face the root section 4 of the stack of growth frames 3 in the corresponding column. In this way, the root section 4 of the stack of growth frames and the nozzle panel 7 form a root chamber 9 into which water can be supplied via the nozzles 8. Portions 10a extending on opposite sides of the root section 4 of the stack of growth frames 3 provide vertical walls of the root chamber 9.

[0116] In an exemplary agricultural system, the cross-section of each column profile 102 includes a hollow central section 23 and at least two corner sections 24. Referring Figure 16 to FIGS. 19, each corner section 24 includes two mutually perpendicular growth frame guides 25 for receiving the corners of the growth frames 3. In the illustrated embodiment, the growth frame guides 25 are in the shape of a plate, web or flange. The width of each nozzle panel 7 is such that the nozzle panel 7 can be arranged between the central sections 23 of two adjacent column profiles 102 without intersecting the plane D of the adjacent growth frame guides 25, whereby the nozzle panel 7 can be connected to the column profile without interfering with the growth frames 3, the corners of which are received in the corner sections 24 including the adjacent growth frame guides 25. In the illustrated embodiment, the nozzles 8 are substantially flush with the inner surface of the nozzle panel 7 such that the plate element 11 can be adjacent to the nozzle panel without being obstructed by the nozzles 8 during vertical movement into or out of the column. However, in an alternative embodiment, the nozzles 8 can extend beyond the plane of the adjacent growth frame guides 25, i.e., into the rectangular cross-sectional area of the column defined by these column profiles. In these alternative embodiments, the horizontal plate element 11 can, for example, include a recess configured such that the nozzles 8 do not obstruct the vertical movement of the growth frames 3 within the column 105. Optionally, the recess cooperates with a flange on the nozzle panel to close the recess when the growth frame is in the column, or the horizontal plate element 11 can be made of an elastic material so as to be deformable when passing over the nozzles.

[0117] In an exemplary agricultural system, each root chamber 9 is divided into a plurality of root chamber sections 9' by horizontal plate elements 11. In this way, the upper layer of the root chamber 9 is at least partially enclosed, regardless of the number of growing frames arranged in the stack. In other words, the plate elements 11 ensure that when one or more growing frames are removed from the growing frame stack, the root chamber 9 does not dehydrate easily. The plate elements 11 also ensure that when the stack is full (i.e., when the maximum number of growing frames 3 are stacked in column 105), water from the nozzles does not overflow from the top of the root chamber 9. Although the plate elements 11 are advantageous, they are not necessary for implementing a functional root chamber, and in other embodiments, the growing frames may not have such plate elements. Alternatively, only the upper growing frames may include the horizontal plate elements 11 to enclose the upper layer of the root chamber 9.

[0118] A plurality of lighting frames 14 are arranged at one side of each column 105, and this side is opposite to the corresponding nozzle panel 7. Each lighting frame 14 is arranged between two adjacent column profiles 102 of the column 105 and includes at least one lighting device 13 configured to provide light to the product section of the growing frame 6. In an alternative embodiment of the agricultural system, the size of the lighting frame 14 and the number of lighting devices 13 may be configured such that only a single lighting frame can provide light to the entire growing frame stack 3. Although the advantage of the present invention is the simple construction of the growing frame 3, in an alternative embodiment, each growing frame 3 may include a lighting device 13 that provides the required light to the corresponding product section.

[0119] The lighting device 13 is configured to emit light of a predetermined wavelength or a predetermined wavelength range in order to optimize the cultivation of crops within the growing frame 3, for example, by optimizing the photosynthesis of plants. The predetermined wavelength range may be between 425 nm and 700 nm, for example, within the wavelength range of 425 nm - 450 nm (blue light range) and / or within the wavelength range of 600 nm - 700 nm (red light range). Examples of suitable lighting devices 13 are incandescent lamps or LEDs.

[0120] In order to be able to access the growing frame 3 for processing and machining, the agricultural system may include a port column (i.e., the port column for moving storage containers discussed in the background art) for transporting the growing frame out of the frame structure and any suitable type of access station (not shown). Suitable access stations may include access stations similar to those described in the background art. Other suitable access stations are disclosed, for example, in EP3326452 A1 and WO2016166311 A1.

[0121] List of reference numerals

[0122] 1 Automated storage and retrieval system of the prior art

[0123] 2 Agricultural system

[0124] 3 Growth framework

[0125] 4 Root section

[0126] 5 Product section

[0127] 6 Cultivation plate

[0128] 7 Nozzle panel

[0129] 8 Nozzle

[0130] 9 Root chamber

[0131] 10 Vertical side

[0132] 11 Plate element, horizontally extending frame part

[0133] 12 Drainage hole

[0134] 13 Lighting device

[0135] 14 Lighting frame

[0136] 15 Support frame

[0137] 16 Connecting recess

[0138] 17 Opening

[0139] 18 Pipe

[0140] 19 Edge

[0141] 20 Growth framework elevator, growth framework lifting vehicle

[0142] 21 Wheel

[0143] 22 Lifting frame, clamping device

[0144] 23 Hollow central section

[0145] 24 Corner section

[0146] 25 Growth framework guide plate

[0147] 26 Cross bar

[0148] 27 Hole

[0149] 28 Plant

[0150] 29 Guide rail

[0151] 30 Upper edge

[0152] 31 Lower edge

[0153] 32 Mesh basin

[0154] 33 Gap

[0155] 100 Frame Structure

[0156] 102 Upright Member of Frame Structure

[0157] 104 Storage Grid

[0158] 105 Column, Storage Column

[0159] 106 Storage Container

[0160] 106’ Storage Container at Specific Position

[0161] 107 Stacking

[0162] 108 Track System

[0163] 110 Parallel Tracks in the First Direction (X)

[0164] 112 Access Opening

[0165] 119 First Port Column

[0166] 120 Second Port Column

[0167] 201 Container Handling Vehicle of the Prior Art

[0168] 201a Body of Container Handling Vehicle 201

[0169] 201b Driving Device / Wheel Device / First Group of Wheels in the First Direction (X)

[0170] 201c Driving Device / Wheel Device / Second Group of Wheels in the Second Direction (Y)

[0171] 301 Cantilever Container Handling Vehicle of the Prior Art

[0172] 301a Body of Container Handling Vehicle 301

[0173] 301b Driving Device / First Wheel Set in the First Direction (X)

[0174] 301c Driving Device / Second Wheel Set in the Second Direction (Y)

[0175] 304 Gripping Device

[0176] 401 Container Handling Vehicle of the Prior Art

[0177] 401a Body of Container Handling Vehicle 401

[0178] 401b Driving Device / First Group of Wheels in the First Direction (X)

[0179] Drive device / grou p of second wheels of 401c in the second direction (Y)

[0180] 404 Gripping device

[0181] 404a Lifting belt

[0182] 404b Gripper

[0183] 404c Guide pin

[0184] 404d Lifting frame

[0185] 500 Control system

[0186] X First direction

[0187] Y Second direction

[0188] Z Third direction

Claims

1. An agricultural system (2) comprising a frame structure (100) for accommodating a growth frame (3), and including a growth frame elevator (20), wherein: The frame structure (100) includes vertical column profiles (102) defining a plurality of columns (105), and a plurality of growth frames (3) are stored one above the other in a vertical stack in said columns, each of said columns being defined by four of said column profiles (102); The growth frame elevator is configured to move in two mutually perpendicular horizontal directions above said columns (105), and the growth frame elevator includes a vertically movable lifting frame (22) for releasably attaching to an upper section of said growth frame (3), such that a growth frame (3) can be removed from the growth frame stack or a growth frame can be added to the growth frame stack; Each of said growth frames includes a root section (4) and a product section (5) separated by a cultivation plate (6); wherein, A nozzle panel (7) is arranged at one side of each column (105) in a row of a plurality of columns, each of said nozzle panels including a plurality of nozzles (8) facing the root section (4) of the growth frame stack in the corresponding column; and The root section (4) of the growth frame stack and the nozzle panel (7) form a root chamber (9), and water can be supplied to the root chamber via said nozzles (8).

2. The agricultural system according to claim 1, wherein, Each of said growth frames includes mutually opposite vertical sides (10), and said mutually opposite vertical sides include portions (10a) extending on opposite sides of said root section (4).

3. The agricultural system according to claim 2, wherein, Each vertical side includes an edge (19) adjacent to the corresponding column profile (102).

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

5. The agricultural system according to any one of the preceding claims, wherein, Each of said growth frames (3) includes a horizontally extending frame portion (11) arranged above said root section.

6. The agricultural system according to claim 5, wherein, The horizontally extending frame portion (11) is a cantilevered extension of the cultivation plate (6).

7. The agricultural system according to claim 5 or 6, wherein, The root chamber (9) is divided into a plurality of root chamber sections (9') by the horizontally extending frame portion.

8. The agricultural system according to any one of claims 5 to 7, wherein, The horizontally extending frame portion (11) includes drain holes (12) to allow excess water in the growth chamber section to drain towards the bottom of the growth frame stack.

9. The agricultural system according to any one of the preceding claims, wherein, Each of said nozzle panels (7) extends between two column profiles (102) defining the corresponding column in which the nozzle panel is located.

10. The agricultural system according to any one of the preceding claims, including lighting means (13) arranged for providing light to the product section.

11. The agricultural system according to claim 10, wherein, A lighting frame (14) is arranged at one side of each column in the row of columns having nozzle panels, said side being opposite to the corresponding nozzle panel, and said lighting frame includes at least one of said lighting means (13) facing the product section of the growth frame stack in the corresponding storage column.

12. The agricultural system according to any one of the preceding claims, wherein, The frame structure (100) includes an orbital system (108) disposed above the columns, the orbital system including a first set of parallel tracks (110) and a second set of parallel tracks (111) forming an orbital grid, and the growth frame elevator (20) includes a wheel assembly configured to move the growth frame elevator along either the first set of parallel tracks (110) or the second set of parallel tracks (111), the wheel assembly including at least four wheels (21).

13. The agricultural system according to any one of the preceding claims, wherein, The cross-section of each of the column profiles includes a hollow central section (23) and at least two corner sections (24), each corner section including two mutually perpendicular growth frame guides (25) for receiving the corners of the growth frame (3).

14. The agricultural system according to claim 13, wherein, The width of each of the nozzle panels (7) is such that the nozzle panel can be disposed between the central sections (23) of two adjacent column profiles (102).

15. A growth frame (3) for use in an agricultural system according to any one of claims 1 to 14, the growth frame including a support frame (15) and a cultivation plate (6) separating the root section (4) and the product section (5) of the growth frame, the support frame (15) including two vertical sides (10), the cultivation plate being mounted between the two vertical sides, the two vertical sides extending on opposite sides of the root section and on opposite sides of the product section.

16. The growth framework according to claim 15, wherein, The portions (10a) of the two vertical sides (10) that extend on opposite sides of the root section (4) provide vertical liquid barriers at opposite sides of the root section.

17. The growth framework according to claim 15 or 16, wherein, The portions (10b) of the two vertical sides (10) that extend on opposite sides of the product section include openings (17) that allow air to freely pass through the product section (5).

18. The growth frame according to any one of claims 15 to 17, including a plate element (11) extending above the root section, the plate element including drainage holes (12).

19. The growth framework according to any one of claims 15 to 18, wherein, The vertical side includes an upper edge (30) having a connection recess (16) for releasably connecting to the lifting frame.

20. A frame structure (100) for an agricultural system according to any one of claims 1 to 14, wherein: The frame structure (100) includes vertical column profiles (102) defining a plurality of columns (105), growth frames (3) being storable one above another in a vertical stack (107) in these columns, each column being defined by four vertically extending column profiles (102); And A nozzle panel (7) is disposed at one side of each column (105) in a row of a plurality of columns, each of the nozzle panels including a plurality of nozzles (8) facing the interior space of the corresponding column.

21. A method of providing a root chamber in an agricultural system, the agricultural system including a frame structure (100) for accommodating growth frames and including a growth frame elevator (20), The frame structure (100) includes vertical column profiles (102) defining a plurality of columns (105), and the growth frames (3) are stored one on top of the other in a vertically stacked form in the columns, each column being defined by four vertically extending column profiles (102); The growth frame elevator is configured to move in two horizontal directions perpendicular to each other above the columns (105), and the growth frame elevator includes a vertically movable lifting frame (22) for releasably attaching to the upper section of the growth frame (3), so that a growth frame can be removed from the growth frame stack or a growth frame can be added to the growth frame stack; Each of the growth frames includes a root section (4) and a product section (5) separated by a cultivation plate (6); wherein, A nozzle panel (7) is arranged at one side of each column (105) in a row of a plurality of columns, each of the nozzle panels including a plurality of nozzles (8) facing the root section (4) of the growth frame stack in the corresponding column, and The method includes the following steps: - lowering a plurality of growth frames (3) into the columns by using the growth frame elevator; and - forming a root chamber (9) defined by the root section of the growth frame and the corresponding nozzle panel.

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