Docking system, vehicle system for cultivation environment

Abstract

Modular vehicle system comprising a modular vehicle for driving in a cultivation environment and an implement, further comprising a docking system having an implement module and a docking module, wherein the modular vehicle comprises a vehicle base that is provided with a receiving space for receiving the docking module of the docking system, and wherein the implement is provided with the implement module of the docking system, wherein the implement and the vehicle are engaged to each other with the docking system.

Description

[0001] Title: Docking system, vehicle system for cultivation environment

[0002] The disclosure relates to a vehicle system for use in agriculture, horticulture, orchards, vineyards, park grounds, sports grounds, recreation grounds etc. In such environments, in general referred to as cultivation environments, automation or semi-automation of operations may be more and more envisaged. Such environments may be considered semi-structured in that there may be some sort of structuring, e.g. rows of plants in a greenhouse, or rows of trees in an orchard, but there may be a large part that can provide for unstructured or unexpected aspects, such as organic waste or uneven ground etc.

[0003] Such a semi-structured environment is opposed to the environment of warehouses. Warehouses are fully structured and organized providing for more or fully predictability. As an example for a semi-structured environment, a greenhouse can be taken, but, other environments are possible as well, such as a tent or canvas over a part of a field or a recreation ground or sports grounds or orchards or vineyards etc. In general these environments are referred to in this disclosure as cultivation environments.

[0004] Greenhouses on the other hand are facilities in which plants, vegetables, fruit etc. are grown, to which generally will be referred as crops. Growth thereof inevitably results in a changing, more chaotic, more dirty and less predictable environment, e.g. during the different phases of growth. Also, growth of crops in a greenhouse requires the right environmental conditions during the growth. The environmental conditions in a greenhouse, such as e.g. temperature, humidity, pesticides, herbicides, nutrition, light, cleaning, maintenance, harvesting, etc. are variable and adaptable. Although crops in a greenhouse are usually arranged in rows with accessible pathways in between, a greenhouse is, at best, a semistructured environment. Similar considerations apply for other cultivation environments such as sports grounds, recreation grounds, orchards, vineyards, parks and other crop growing fields.

[0005] Providing the optimal environmental conditions for the growth of the crops, plants, trees etc., requires a lot of hand labor and / or different types of equipment. Equipment can be stationary, e.g. hanging from the ceiling, or connected to supports in which the crops are grown. It is also known to provide moving equipment, e.g. a picking robot vehicle that can drive up and down a pathway. Such robot vehicle can be semi-autonomously in that it may drive autonomous up and down a single pathway, but it cannot change pathways without external, typically human, interference. Different types of such robot vehicles may be needed, e.g. for harvesting, leaf cutting, UVC-lighting. This requires not only many investments, but handling and organizing of these different types of robot vehicles becomes complex in such a semi-structured environment as a greenhouse.

[0006] There is therefore a need for a more versatile system for operating in a cultivation environment, such as a greenhouse, a recreation ground, a park ground, an orchard, a vineyard, a sports ground, a horticulture environment, an agriculture environment etc..

[0007] To that end, one aspect of the disclosure is to provide a docking system comprising a docking module arranged to be mounted to a vehicle base for driving in a cultivation environment and an implement module arranged to be mounted to an implement, wherein the implement module is removable engageable to the docking module by means of an engagement system, wherein the engagement system comprises a box element and a receiving element, wherein the box element is receivable in the receiving element; wherein the box element and / or the receiving element are provided with at least one pen and at least one engageable hook, such that, when the implement module is engaged to the docking module, the box element is received in the receiving element and the at least one pen is engaged by the at least one hook. By providing a docking system with a docking module for mounting to the vehicle base and an implement module for mounting to the implement, the implement with implement module can be removable mounted to the vehicle base with docking module. As such, a modular and versatile system can be obtained allowing a vehicle base to be coupled with various implements, each implement provided with an implement module removable engageable to the docking module of the vehicle.

[0008] By providing such a docking system a modular vehicle system is obtained. The modular vehicle system comprises a modular vehicle for driving in a cultivation environment and an implement, wherein the modular vehicle comprises a vehicle base that is provided with a receiving space for receiving the docking module of the docking system, and wherein the implement is provided with the implement module of the implement system, wherein the implement and the vehicle are engaged to each other with the docking system.

[0009] Such a docking system allows a farmer or operator in a cultivation environment to invest in a single or limited number of vehicle bases instead of many dedicated vehicles. Such a modular vehicle, comprising a vehicle base configured to receive the docking module of the docking system, can be used to couple various dedicated implements to it, wherein each implement can be dedicated for another task of the operations in the cultivation environment. By removable engaging the implement to the vehicle base, exchanging one implement and replacing it for another implement can be done relatively easy. Such a modular system gives more flexibility and more economical room to invest in various types of implements. The docking system allows to make every implement compatible with every vehicle base. Users can easily switch between different implements on a single vehicle base, or they can use one implement on another vehicle base.

[0010] Advantageously, the vehicle base can be autonomous or semi- autonomous. By providing an autonomous or semi-autonomous vehicle base, automation of the operations in a cultivation environment might be achieved.

[0011] Advantageously, the docking system comprises a box element and a receiving element wherein the box element is receivable in the receiving element. The implement module can comprise a box element or can comprise a receiving element. The docking module can comprise a box element or can comprise a receiving element. When the implement module comprises a box element, the docking module comprises a receiving element, wherein the box element is receivable in the receiving element. Alternatively, when the implement module comprises a receiving element, the docking module comprises the box element, wherein the box element is receivable in the receiving element.

[0012] The box element may comprise a box-shaped housing having side walls and a transverse wall closing an opening between the side walls at one end thereof. The box element may also be provided as a cylindrical-shaped housing having a cylindrical wall closed at one side with a transverse wall. The transverse wall can be a bottom side or a top side, the opposite side thereof may be configured to mount to the implement or to the vehicle. The box-shaped housing may be provided with engagement elements. The box element may be a single component that, as a whole, is fully or partially receivable in the receiving element. In view of the receivable character of the box element, it may also be denoted as protruding element. The receiving element may be a single component having side walls that are closed at one end with a transverse wall. The box element and / or the receiving element may thus be embodied as a single component, for example comprising a casing or a housing to which the respective engagement elements are provided. As such, the housing of the receiving element may provide for a cavity in which the box element can be fully or partially received. The receiving element can be provided with engagement elements corresponding with the engagement elements of the box element. The receiving element can be mounted to the vehicle or to the implement, preferably its transverse wall is configured to mount to either one of the vehicle and the implement. By providing the box element and / or the receiving element as a single component, engagement of the box element and of the receiving element to each other, can be done in a simple and reliable manner.

[0013] Further, the docking system comprises engagement elements, preferably at least one pen engageable to at least one corresponding hook. The box element is provided with at least one engagement element and the receiving element is provided with at least one engagement element. When the box element is received in the receiving element, the engagement elements are, advantageously, engaged to couple the box element to the receiving element, and thus, to couple the implement module to the docking module.

[0014] The engagement elements are advantageously embodied as at least one pen engageable to at least one corresponding hook, but various types of engagement elements, not only mechanical, but also electrical or magnetic engagement elements are possible. The box element can be provided with the at least one pen or with the at least one hook. The receiving element can be provided with the at least one pen or with the at least one hook. When the box element is provided with the at least one pen, then the receiving element is provided with the at least one corresponding hook. Alternatively, if the box element is provided with the at least one hook, then the receiving element is provided with the at least one pen. The engagement elements are configured to transverse loads and / or moments from the implement to the vehicle, in particular during use of the implement. For example, when the implement is a robot arm for cutting leaves from a plant, during advancement of the vehicle and / or during movement of the robot arm, the robot arm may be subject to loads that may result in an overturning moment at the position of the engaged engagement elements. The engagement elements need be configured sufficiently stiff and strong such that they can withstand relative high overturning moments due to e.g. external loads and / or relatively high forces e.g. due to heavy weight of an implement or rough handling of an implement.

[0015] The docking system may be embodied in various ways. One of the docking module and the implement can be embodied as the box element, wherein the other one of the docking module and the implement module can be embodied as the receiving element. One of the box element and the receiving element can be provided with at least one pen as engagement element, wherein the other one of the box element and the receiving element may then be provided with the at least one hook as an engagement element. So, the implement module can be provided as a box element with at least one pen, engageable to the docking module embodied as a receiving element with a hook to engage with the pen. The implement module can be embodied as a receiving element with a hook in which the box element of the docking module is receivable. The docking module then may be provided with a pen engageable to the hook of the receiving element of the implement module. The implement module can be provided as a box element with at least one hook, receivable in the receiving element of the docking module having at least one pen engageable to the hook. Alternatively, the implement module can be provided as the receiving element with at least one pen in which the box element of the docking module is receivable having at least one hook to engage with the pen. So, many configurations are possible.

[0016] Advantageously, the box element and the receiving element have corresponding shapes such that they easily fit into each other. The box element may for example be provided with chamfered edge to facilitate entry of the box element in the receiving element. Alternatively and / or additionally, the receiving element may also be provided with chamfered edge to make entry of the box element into the receiving element easier. For example, the box element may One of the box element and the receiving element can be provided with at least one pen as engagement element. The at least one pen may extend outwardly of the box element to engage with a hook of the receiving element when the box element is received in the receiving element. Alternatively, the at least one pen may extend inwardly from the receiving element to engage with a hook of the box element when the box element is received in the receiving element. Optionally, at least two pens are provided, extending at opposite sides of the box element or the receiving element. Alternatively and / or additionally, the at least one pen extends from one side of one of the box element and the receiving element and is configured to protrude through a wall of the other one of the box element and the receiving element, wherein the other one of the box element and the receiving element is provided with the at least one hook to engage with the protruding pen. Such a single through-pen extending from one side to the other side of the box element or the receiving element, allows an improved load transfer from the implement to the vehicle base. Advantageously, load transfer between the implement and the vehicle base may be done at four engagement positions with respect to the box element and the receiving element. For example, two sets of two opposite engagement positions, wherein the opposite engagement positions are preferably in line with each other, e.g. by a single through-pen, or by two oppositely extending pens. At a distance of the first set of opposite engagement positions, a second, similar set can be provided. Preferably, the four engagement positions, or more preferably, the two sets of two opposite engagement positions are positioned as far as possible from each other a strong connection between the implement module and the docking module can be obtained, as well as allowing to position the implement module with respect to the docking module. Also, four engagement positions provide for a symmetric design and allows two hooks at one side to be actuated simultaneously. Each engagement position also comprises a hook to engage with the associated pen at the respective engagement position. Alternatively, three, five or six engagement positions may be possible.

[0017] Further, the docking system may comprise an actuation mechanism configured to actuate the at least one hook over the at least one pen to engage the at least one hook and the at least one pen. By providing an actuation mechanism that actuates the engagement of the hook with the pen, the engagement can be done in a controlled manner. Also, by providing such an actuation mechanism, automation of the engagement process may be facilitated. Advantageously, the actuation mechanism is configured to engage and to disengage the hooks to and from the pens. As such, the coupling of the implement module to the docking module can be done in a reliable and controlled manner. Optionally, sensors can be provided to detect whether the implement module is engaged to the docking module. Such sensor to detect the presence of an implement module can be e.g. a mechanical sensor or a pressure sensor or an optical sensor detecting mechanically or optically whether the implement module is present. For example, such implement detection sensor can be extended when there is no implement module present and can be pushed to a retracted position when an implement module is present, box element is received in the receiving element. Alternatively and / or additionally, a sensor can be provided to detect whether the engagement system is locked.

[0018] Advantageously, the actuation mechanism may provide for a two- stage actuation from an unlocked stage in which the implement module is disengaged from the docking module to an intermediate stage in which the implement module is engaged to the docking module further to a locked stage in which the implement module is locked to the docking module. For example, the actuation mechanism may provide for a two-stage actuation from an unlocked stage in which the hook is disengaged from the pen to an intermediate stage in which the hook is engaged to the pen in a first step and further to a locked stage in a second step. In a first step, the actuation mechanism may actuate the hooks from the unlocked stage, in which the hooks are free from the associated pens, to an intermediate stage, in which the hooks are engaged with the pens. Further, in a second step, the actuation mechanism moves towards a locked stage of the implement module with the docking module. This two-step actuation may be done in a single, smooth, continuous movement, or may be done in, e.g. two, discrete movement steps. As such, the intermediate stage can be or cannot be discretely detected during actuation. Preferably, the actuation mechanism moves in a linear movement, and more preferably, the two-stage actuation is done in the same linear movement providing for a continuous movement. In the intermediate stage, the hooks may be engaged to the pens to obtain mechanical locking, so that the implement module and the docking module are mechanically locked in the intermediate stage. In the locked stage, the hooks may be moved further over the pens than in the intermediate stage for a more firm mechanical locking. Additionally and / or alternatively, the docking module may comprise an electrical connector element configured to connect with a corresponding electrical connector element of the implement module. Advantageously, in the second actuation step, one electrical connection element is moved towards the other electrical connection element to engage and to form an electrical connection between the implement module and the docking module. In the locked stage, an electrical connection between the implement module and the docking module may be established, so that after mechanical locking in the intermediate stage, there is electrical locking in the locked stage. Alternatively, if for example no electric connection is to be established, mechanical locking may be obtained over the two stages, or a single actuation stage may suffice to establish sufficient mechanical locking. Disengagement of the implement module and the docking module can be obtained by the same actuation mechanism, for example by reversely performing the actuation movement. Firstly, movement from the locked stage to the intermediate stage, and secondly, from the intermediate stage to the unlocked stage. So, the hooks may first be loosened from the pens towards an intermediate stage, and further be moved away from the pens to the unlocked stage in which they are free from the pens. When an electric connector is provided, in a first step the electric connector elements can be disconnected, while the docking module and the implement module remain connected in this step and the mechanical locking of the hooks and the pens remains. In the first step, the electrical connector element mounted to the docking module can be disconnected and moved away from the electrical connector element of the implement module, to undo the electrical connection. In the second step, the docking module and the implement module may then be mechanically disconnected by removing the hooks from the pens. This two-stage linear movement can be done smoothly and continuously in a single step, or can be done discretely in two steps. By providing a two-stage linear actuation movement, continuously or discretely, the actuation can be done with a single actuator, allowing a rather simple actuation mechanism. Further, it may allow that the docking module and the implement module are mechanically connected before providing for the electrical connection. Vice versa, the electric connector can be disconnected first while the docking module and the implement module still remain mechanically connected. This allows a secure electrical connection and disconnection. Instead of a two-stage linear actuation movement, it may be envisaged that a subsequent rotational and linear actuation movement is possible to move the implement module from the disengaged to the engaged to the locked position with respect to the docking module.

[0019] The actuation mechanism preferably comprises an actuator. Preferably, the actuator is implemented to the docking module. The actuator can be any type of actuation element that moves the hooks to and / or from the pens, and / or that moves an electrical connection element to its associated electrical connection element. The actuator can be a linear actuator, powered by electric, hydraulic or pressurized air, or any other power source. Alternatively and / or additionally, a rotary actuator can be provided. Alternatively, the actuation mechanism may be powered remotely, e.g. by an actuator provided in the vehicle that engages with the actuation mechanism, and, as such, moves the actuation mechanism. It is to be understood, that, alternatively, the actuation mechanism may be provided to the implement module to actuate engagement elements towards and / or from a locked stage with the docking module.

[0020] The actuation mechanism may comprise a sled to which the at least one hook is connected. The actuator of the actuation mechanism may then actuate the sled, and by moving the sled, the hooks are moved as well. This further may simplify the actuation mechanism and allows to actuate all hooks simultaneously with a single actuator in a linear actuation movement. When the sled is in its most forward position it can be said that the sled, and the engagement elements connected thereto, are in the locked stage. The most forward position is to be seen along a direction of movement of the hooks towards the pen, i.e. in a direction of movement towards the locked stage.

[0021] The hooks may be provided movable with respect to the sled, for example the hooks may be provided translatable with respect to the sled. As such, when being actuated from the unlocked stage to the intermediate stage further to the locked stage, it may be obtained that during the first actuation step the hook is translated with respect to the sled until the intermediate stage is reached. In the same or in a further actuation step, the hooks may be rotated or further pushed over the pens to lock. So, mechanical locking may already be obtained after the first actuation step, or may be obtained after the two actuation stages. In an example, a biasing element can be provided between the hook and the docking module, such that in the second step of the two-stage actuation from the intermediate stage to the locked stage the biasing element is being compressed to bias the hook with respect to the pen. The biasing element may be a spring that is being compressed in the second actuation step, and released in the first actuation step. Alternatively, the biasing element may be biased towards the locked stage, also referred to as “normally closed”. Then, the biasing element is compressed in the unlocked stage, and is being released towards the locked stage. When unlocking, the actuation mechanism moves the sled to disengage the hooks from the pens, and the biasing element is being compressed.

[0022] The hooks may be for example provided with a rib that is translatable in a groove of the sled, at the end of the first actuation step, the rib may abut an end of the groove wherein the hook can be engaged to the pen. Other translatable connections of the hook with respect to the sled can be envisaged, e.g. a carriage over a rail or a pinion over a rack etc.

[0023] By providing a biasing element between the hooks and the docking module, a secure mechanical connection between the docking module and the implement module can be obtained. Such secure connection can then be maintained during movement of the vehicle to which an implement is connected by means of the docking system, in the cultivation environment, such as a greenhouse, which can have an irregular or bumpy surface. By providing the biasing element, that preferably is biased towards the locked stage, the secure connection can be maintained also when irregularities or bumps during the drive movement of the vehicle may occur. Also, with a biasing element biased towards the locked stage, in case of a calamity, such as loss of power, the hooks are being pushed towards the pens to maintain the locked stage.

[0024] By providing an actuation mechanism that is configured to actuate towards engagement and to actuate towards disengagement, in case of failure, such as power loss or otherwise, the then actual position is maintained. Thereto, a manual unlocking mechanism can be provided, such that, in case of failure, the actuation mechanism can be pushed away to free the hooks from the pens such that the implement module can be removed from the docking module. Such manual unlocking mechanism can for example be a bolt that can be operated to push the sled away towards the disengaged position.

[0025] When an electric connector is provided, the electrical connection can advantageously be established by the actuation mechanism in the same or proceeding linear movement as to mechanically connect the implement module with the docking module. Advantageously, one electric connector element is mounted to the sled, and is, together with the movement of the sled by the actuator of the actuation mechanism, being moved towards the corresponding electric connector element. The electric connector may establish electrical connection between the docking module and the implement module, and optionally, may also establish data connection, safety lines etc. Advantageously, the electric connector is self-aligning comprising at least one, preferably two, pins that are arranged with some play allowing some searching and aligning of the pins into the corresponding openings of the associated electric connector element. As such, a misalignment of about + / - 1 - 10 mm may be corrected for, preferably about 2,5 mm.

[0026] Optionally, a sensor may be provided to detect whether the docking module and the implement module are in locked stage. Such sensor may detect whether the engagement system is locked. For example, such locked detection sensor may be an optical sensor which view can be blocked when the sled moves before the sensor in its most forward position of the sled, thus in the locked stage. Alternative embodiments of such a locked detection sensor are possible, e.g. a mechanical sensor that can be pushed away by the sled in the most forward position, namely in the locked stage, or a mechanical sensor detecting when a part of the sled abuts the sensor, or a pressure sensor that is being compressed, or released, by the sled in the most forward position.. Alternatively, the sensor may be an optical sensor detecting a position of the sled. The sensor to detect the locked position is configured to give a locked detected’ signal only when it is practically impossible to remove the implement module from the docking module. Such sensor for example may give a signal to the vehicle base that may be allowed to drive only when this sensor has given a ‘detected’ signal. Providing such sensor may give a security to the user that the implement module is secured to the docking module during operation of the vehicle.

[0027] Advantageously, the at least one hook has a contact surface to contact the associated pen to be in the engaged position, and further, in the locked position. The contact surface preferably is an inclined surface, wherein the inclined surface tapers towards a base of the hook. By providing such inclined contact surface, the pen may enter a receiving funnel narrowing towards the base of the hook, thus providing more firm contact when the hook advances towards the pen by the actuator. By providing such inclined contact surface, play free locking of the hook with respect to the pen can be obtained. Such play free locking may ensure that the implement module and the docking module remain securely connected despite shaking, rattling, or other relative movement during the movement of the vehicle base and / or the operation of the implement. The biasing element optionally provided between the docking module and the hook may further provide that the hook may remain pressed forwardly such that the hook remains in contact with the pen. To optimally engage the hook with the pen, an optimal angle of the inclined contact surface may be considered. Advantageously, such inclination angle of the contact surface with respect to a linear actuation direction is between 3 - 30 degrees, preferably about 15 degrees or lower. Such inclination angle provides that a friction force between the contact surface and the pen is larger than a horizontal force, preferably is always larger than a horizontal force to prevent moving of the hook away from the pen. Such a hook may obviate in the locked position pulling the implement module away from the docking module in a vertical direction. Also, such a hook may, in the locked position, obviate translational movement in a horizontal plane, as well as may minimize rotation around a vertical axis.

[0028] To further reduce rotation around the vertical axis between the implement module and the docking module, in locked position, the implement module and the docking module tightly fit with respect to each other. As such, the box element and the receiving element may both be provided with a plate extending outwardly in a direction transverse to a height of the box element and the receiving element respectively. When position the implement module to the docking module, or when inserted the box element in the receiving element or placing the receiving element over the box element, these plates abut against each other. Further, these plates may be provided with precise alignment elements namely respective plate frames that tightly fit into each other to provide for a precise alignment. Advantageously, these plate frames tightly fit to each other in a polygonal manner, e.g. rectangular, to minimize rotation of the implement module with respect to the docking module around a vertical axis. Alternatively and / or additionally, precise alignment may be obtained by various corresponding alignment elements, such as protrusions fitting in corresponding recesses. The protrusions and recesses may be provided on either one of the implement module and the docking module. Preferably two, optionally three, asymmetrically positioned protrusion, at a distance from each other, are provided as to provide for final and precise alignment and to, preferably eliminate, at least reduce, play in the engagement of the implement module to the docking module. The protrusions and corresponding recesses are shaped as to tightly fit into each other for precise alignment. Such protrusions and corresponding recesses may have a limited height and depth, e.g. between 2 - 5 mm. By providing such precise alignment, preferably any play in rotation of the implement module with respect to the docking module around a vertical axis can be eliminated. Basic alignment can be provided by e.g. corresponding shapes of the box element and the receiving element, e.g. chamfered edges etc. Then, play in rotational direction around a vertical axis may be limited to about 3 degrees. With the precise alignment elements, this final play may be reduced, preferably eliminated. Optionally, the precise alignment elements may also eliminate a final play in a longitudinal direction of the docking module. Preferably, the precise alignment elements are provided to an upper side of the docking module and an upper side of the implement module, e.g. the plates abutting each other when engaged, as to minimize any additional height.

[0029] Further, these plates respectively mounted to the implement module and the docking module, may be used to connect the implement module to the implement and to connect the docking module to the vehicle base. Thereto, the vehicle base may be provided with a receiving space in which the docking module can be received. Advantageously, the receiving space extends into the interior of the vehicle base, such that the docking module can be received approximately inside of the vehicle. By providing the receiving space in the vehicle base, the additional height to the vehicle base by the docking module can be limited, allowing a more stable connection of the implement with the implement module to the vehicle base. Advantageously, insertion of the docking module in the receiving space results in a substantially flush upper side of the vehicle base to limit or minimize additional height of the vehicle base.

[0030] Advantageously, the implement may be provided with a seat to which the implement module can be mounted. Specifications of the seat, e.g. dimensions, shape etc. may be provided to the implement manufacturer such that an implement module can be easily mounted to the implement. As such, by providing such seat, an implement manufacturer may modularize his implements to allow them to be easily and removably engageable to a vehicle with the corresponding docking module. In a further modularization, an intermediate module can be provided between the implement module and the implement itself. Such an intermediate module may at one side be mounted to the implement module and at another side be configured to releasable receive an implement. This allows easy and fast connection and disconnection of, relatively light, implements, which may be done manually. Also, this may facilitate the use of a so-called “side-shift module”, namely an articulated arm that is provided with an implement module to engage with the docking module of the vehicle base at a lower side thereof, and that is provided with such an intermediate module at an end of the articulated arm to receive an implement. Alternatively, at the end of the articulated arm a docking module can be provided to receive an implement module of the implement. More heavy implements

[0031] Advantageously, the docking system may be provided with a control unit. Preferably, the docking module comprises the control unit. Such control unit may be configured to control the movement of the vehicle and / or to control the operations of the implement. Also, the control unit may receive and / or process signals from the sensors provided to the docking system. The control unit may give instructions to the actuator of the actuation mechanism and / or may be connected to the electric connector to receive / send data from / to the implement module. For example, the control unit may receive signals from the implement module detection sensor and / or from the locked detection sensor. Advantageously, only when both sensors give a signal allowing the control unit to process that the implement module is detected and that it is in the locked stage, the control unit may release the drive unit of the vehicle and / or the operations of the implement. As such, a safe and secure operation of the vehicle with the implement can be ensured.

[0032] Advantageously, every implement with a connected implement module has a unique identification code, which may be stored in the electric connector element of the implement module. The control unit may collect data from the implement and / or the implement operations, as well as may collect data from the vehicle and / or the vehicle movements. In an example, the control unit may communicate with the “cloud”. When the implement module then is coupled to the docking module in the locked position in which the electric connector connection is also estabhshed, this unique identification code can be detected by the control unit. Based on this unique implement identification code, the control unit may for example give instructions to the implement for the operations and / or to the vehicle base for driving in the cultivation environment. This swiftly allows to exchange implements from the vehicle base and to allow swift operations with the next implement. Thus a modular, plug-and-play system can be obtained for operation in cultivation environments, such as greenhouses. By providing the control unit to the docking system, the vehicle base can remain quite simple and complex communication between implement and vehicle can be obviated. The vehicle base then can be rather simplistic in that it comprises a drive, but no control for the drive. The control of the drive is provided by the control unit of the docking system.

[0033] The invention further relates to a vehicle base provided with a receiving space for receiving the docking module of the docking system.

[0034] The invention further relates to a modular vehicle comprising such a vehicle base and a docking module.

[0035] The invention further relates to an implement provided with a seat for connecting with the implement module of the docking system.

[0036] There is further provided a modular vehicle system comprising a modular vehicle for driving in a cultivation environment and an implement, further comprising a docking system, wherein the modular vehicle comprises a vehicle base that is provided with a receiving space for receiving the docking module of the docking system, and wherein the implement is provided with the implement module of the implement system, wherein the implement and the vehicle are engaged to each other with the docking system

[0037] Further advantageous embodiments are represented in the subclaims.

[0038] These and other aspects will further be elucidated with reference to the drawing comprising figures of exemplary embodiments. In the drawing shows:

[0039] Figures la - Id show four embodiments of a modular vehicle system with a docking system according to an aspect of the disclosure;

[0040] Figure 2 shows a perspective view of a vehicle base with a docking module according to the disclosure;

[0041] Figure 3 shows a perspective view of the docking module of figure 2 and the implement module;

[0042] Figure 4 shows a detail of the implement module and the docking module;

[0043] Figure 5 shows a perspective view of a detail of the docking module of figure 2;

[0044] Figures 6a, 6b, 6c show the unlocked, intermediate and locked stage respectively of the actuation mechanism;

[0045] Figure 7 shows a side view of a detail of a hook and a pen.

[0046] It is noted that corresponding elements are designated with the same or corresponding reference signs. The figures are given by way of exemplary embodiments only and are not limiting the disclosure. Further, the figures are not to scale, and no dimensions can be taken from them.

[0047] Figures la - Id show schematic representations in front view of four embodiments of a modular vehicle system 1 according to an aspect of the invention. The modular vehicle system 1 comprises a modular vehicle 2 for driving in a cultivation environment, such as a greenhouse. Typically for such environments is that they are, at best, semi-structured. Some irregularities or impredictabilities may be expected in such an environment. The modular vehicle 2 comprises a vehicle base 3 for driving in the agriculture environment. The vehicle base 3 comprises a body 4 and a number of wheels 5. The modular vehicle system 1 further comprises an implement 6 that is here mounted to the vehicle 2. The implement 6 and the vehicle 2 are engaged to each other by means of a docking system 10. The docking system 10 comprises a docking module 11 arranged to be mounted to the vehicle base 3 and an implement module 12 arranged to be mounted to the implement 6. The implement module 12 and the docking module 11 are removable engageable to each other by means of an engagement system 13. The engagement system 13 comprises a box element 100 and a receiving element 110. The box element 100 is receivable in the receiving element 110. The engagement system 13 further comprises engagement elements 120 which are provided to the box element 100 and to the receiving element 110, such that when the box element 100 is received in the receiving element 110, the engagement elements 120 are engaged to each other. The box element 100 and the receiving element 110 are provided with corresponding engagement elements, for example a pen and an associated hook engageable to the pen. In this embodiment of figure la, the box element 100 is provided with pens 122 and the receiving element 110 is provided with associated hooks 122.

[0048] In the example of figure la the box element 110 is provided with at least one set of two outwardly extending pens 122, although it can also be embodied as a single through-pen 122 extending from one side of the box element to the other side of the box element 110. Here, the receiving element 110 is provided with at least two associated hooks 122 that can engage with the outwardly extending pens 122. The pens 122 may extend through a wall of the receiving element 110, for example in the wall of the receiving element 110 an upward slit may be provided via which the pens can be lowered during mounting of the box element 100 inside of the receiving element 110. Here, the implement module 12 comprises the box element 100, and the docking module 11 comprises the receiving element 110. The box element 100 is denoted as such in view of a largely box element shaped structure, although it may be appreciated that the box element shaped structure 100 can be partially open.

[0049] Optionally, the box element 100 and / or the receiving element 110 can be provided with an outwardly extending plate or skirt 123. Here, the receiving element 110 is provided with an outwardly extending skirt 123 with which it can be connected to the vehicle base 3. The vehicle base 3 is provided with a receiving space 7 in which the docking module 11, here embodied as the box element 100, can be received.

[0050] The box element 100 and the receiving element 110 preferably have corresponding shapes to fit into each other. The corresponding shapes may also provide for some positioning with respect to each other.

[0051] Figure lb shows an alternative embodiment, in which the docking module 11 is embodied as a box element shaped structure 100 that can be received in the receiving space 7 of the vehicle base 3. The box element 100 is also provided with an outwardly extending skirt 123 with which it can be connected to the vehicle base 3. The implement module 12 is here provided as a receiving element 110 in which the box element 100 can be received. Or, put differently, the receiving element 110 is positioned over the box element 100 to fit, at least partially, around the box element 100. The engagement elements 120 comprise pens 122 outwardly extending from the box element 100 and associated hooks 121 connected to the receiving element 110 that can engage the pens 122. Here, the receiving element 110 also comprises an outwardly extending plate or skirt 124. When mounting the implement module 12 to the docking module 11, the skirt 124 of the implement module 12 may abut against the skirt 123 of the docking module 11. This abutment may for example indicate a proper fitting of the implement module 12 to the docking module 11. Figure 1c shows a further embodiment of a docking system 10 according to the disclosure. Here, the docking module 11 comprises a receiving element 110 to be received in the receiving space 7 of the vehicle base 3. The receiving element 110 is provided with an outwardly extending plate or skirt 123 with which it may be connected to the vehicle base 3. The implement module 12 is embodied as a box element shaped structure 100 that can be inserted into the receiving element 110. The implement module 12 embodied here as box element 100 is provided with an outwardly extending plate or skirt 124 that may abut the skirt of the docking module 11 when the implement module 12 is fitted to the docking module 12. The engagement elements 120 are provided as inwardly extending pens 122 extending from a wall of the receiving element 110 into an interior of the receiving element 110. Inside of the box element shaped structure 100 corresponding hooks 121 are provided that can engage with the associated pens 122. Instead of two inwardly protruding pens 122, a single pen 122 can be provided extending from one wall of the receiving element 110 to the opposite wall of the receiving element 110. Walls of the box element 100 can be provided with slits at appropriate positions allowing the pen 122 to slide into such that the pen 122 can engage with the associated hooks 121.

[0052] Figure Id shows yet another embodiment of the docking system 10 according to the disclosure. Here, the docking module 11 is embodied as the box element shaped structure 100 receivable in the receiving space 7 of the vehicle base. The docking module 11 can optionally be provided with an outwardly extending plate or skirt 123 with which it can be connected to the vehicle base 3. However, such plate 123 is optional and other connection means can be envisaged. The implement module 12 here comprises the receiving element 110 to be fitted over the box element 100 of the docking module 11. The implement module 12 can optionally be provided with the outwardly extending plate or skirt 124 that abuts the skirt 123 of the docking module 11 when the implement module 12 is mounted to the docking module 11. The engagement elements 120 here comprise at least one set of inwardly protruding pens 122 from a wall of the receiving element into an interior of the receiving element 110, or a single pen 122 extending from one wall to an opposite wall. The box element 100 at an inside thereof or at an outside thereof is provided with corresponding hooks 121 that can engage with the pen 122 when the implement module 12 is mounted to the docking module 11.

[0053] The box element 100 and the receiving element 110 are provided as a single component comprising a casing or a housing, or otherwise a structure, to which the respective engagement elements 120, 121 are provided. The casing or housing or structure otherwise may be provided with one or more walls, an upper side and / or a bottom side as described in this specification. By providing the box element 100 and the receiving element 110 as a single component respectively, the modularity of the docking system can thus be enhanced.

[0054] It is noted that in the schematic representations of figures la - Id dimensions are not to scale and that distances between parts are exaggerated.

[0055] Figure 2 shows an example of a modular vehicle 2 comprising a vehicle base 3 and wheels 5. Here, four wheels 5 are provided to the vehicle base 3. The vehicle base 3 has a front bumper 8 and a rear bumper 8, but it is noted that these bumpers are optional. The vehicle base 3 is provided with a receiving space 7 extending over approximately a length of the vehicle base 3. Of course, the receiving space 7 may be shorter. The receiving space 7 can be rectangular open in which the docking module can be received. The receiving space 7 is here filled with the docking module 11.

[0056] Advantageously, the receiving space extends in a longitudinal direction of the vehicle base, typically being the driving direction. The docking module 11 mounted into the receiving space preferably also extends in longitudinal direction of the vehicle base 3. When the docking module 11 comprises, as is shown here, a receiving element 110, the receiving element preferably extend in longitudinal direction as well. This allows to optimally use the available space in the vehicle base, and / or to provide for an optimal load transfer considering the driving direction.

[0057] The docking module 11 is shown without vehicle base 3 in figure 3. In figure 3 the implement module 12 is shown in a position above the docking module 11 in which it can be inserted into the docking module 11. To couple the implement module 12 with the docking module 11 the implement module 12 approaches the docking module 11 from above and is lowered towards the docking module 11 in a straight, downward movement. In use, it is understood that the implement module 12 is mounted to an implement and that the docking module 12 is mounted to a vehicle base 3, and that the implement 6 is being coupled to the vehicle base in the manner described above.

[0058] The implement module 12 is here embodied as a single component with a box shaped structure 100. The box shaped structure 100 comprises a casing or housing having four side walls 125 and a bottom 126, two longitudinal side walls 125a and 125b and two transverse side walls 125c and 125d. A top side 127 of the box element 100 is open to allow connection with one of the vehicle and the implement. At the top side 127 of the box element 100, an outwardly extending plate or skirt 124 is provided. Here, the plate 124 extends outwardly in a plane transverse to a direction of the side walls 125 of the box element 100, and the plate 124 extends over the circumference of the top side 127 from the side walls 125 outwardly. When being inserted in the docking module 11, the plate 124 abuts the docking module 11.

[0059] Further, it can be seen that a transition 128 between the bottom 126 and the side walls 125 is chamfered. Here, the transition 128 between each side wall 125 and the bottom 126 is chamfered. Alternatively, it may be envisaged that mainly the transition 128 between the longitudinal side walls 125a, 125b and the bottom 126 is chamfered, while the transition 128 between the transverse side walls 125c, 125d and the bottom 126 may be rectangular, or vice versa. A chamfered transition 128 between the side walls 125 and the bottom 126 may facilitate insertion of the box element 100 into the docking module 11.

[0060] The implement module 12 is at one of its transverse side walls 125c or 125d also provided with an electric connector element 130. The docking module 11 is provided with a corresponding electric connector element 131, visible in figure 6. Coupling of both electric connector elements 130 and 131 establishes an electric and / or data connection between the implement module 12 and the docking module 11.

[0061] The implement module 12 further comprises as engagement elements two pens 122 for engagement with the docking module 11. In figure 4 it can be seen that the pens 122 are through-pens in that they extend from one longitudinal side wall 125a to the other opposite longitudinal side wall 125b. The pens 122 further extend outwardly from these longitudinal side walls 125a, 125b such that they extend at an outside of the box element 100. The pens 122 are positioned at a distance from each other, which is optimally to provide for a firm mechanical positioning of the implement module with respect to the docking module and to provide for an optimal load transfer from the implement 6 to the vehicle 2. As can be seen in figure 4, an underside of the plate 124 is provided with a frame 134.

[0062] The docking module 11 shown in figure 3 comprises the receiving element 110 in which the box element 100 of the implement module 12 is receivable. The docking module 11 here is provided as a single component with a recess as receiving element and with a plate or skirt 123 extending transversely with respect to a depth of the receiving element. The receiving element 110 here comprises a casing having a depth to receive the box element 100. The plate 123 is configured to be mounted to the vehicle base 3 to the receiving opening 7 of the vehicle base 3. An upper side of the plate 123 is provided with a frame 133 as can be seen in figure 3, and in figure 4.

[0063] Figure 3 further shows a box element 140 adjacent the receiving element 110 of the docking module 11. This box element 140 contains the control unit of the docking system 10. The control unit is configured to control the vehicle 2 and / or the implement 6 when the implement 6 is engaged to the vehicle 2. By providing the control unit to the docking module 11, the vehicle base 3 can be rather simple. This allows the docking module 11 to be mounted to various types of vehicle bases 3, wherein the vehicle bases 3 only require a suitable receiving space 7 to receive the docking module 11.

[0064] The receiving element 110 comprises a casing having side walls 135 and a bottom 136, two longitudinal side walls 135a, 135b and two transverse side walls 135c, 135d. An upper end 137 of the side walls 135 is chamfered, providing for an inclined transition between the side walls 135 and the plate 123. This chamfered upper end 137 also provides for a searching function when the implement module 12 approaches the docking module 11 for finding the receiving elementllO in which it can be inserted. The chamfer of the upper end 137 of the docking module 11 is preferably the same as the chamfered transition 128 of the box element 100 of the implement module 12 which may improve the searching functionality. Blocks 138, of a suitable plastic material to reduce shocks and / or impact and / or to reduce scratching and / or wear, are mounted to the chamfered upper end 137. The chamfered ends, both of the receiving element and of the box element, and / or the corresponding shapes of the box element and the receiving element provide for a basic alignment. The basic alignment may reduce any play in rotational direction around a vertical axis to about 3 degrees and / or may reduce any play in translation along a longitudinal direction of the box element to about 1 - 3 mm. Figure 4 illustrates a final and precise alignment of the implement module with respect to the docking module. The implement module and the docking module are provided with precise alignment elements that tightly fit to or into each other to provide for the precise alignment and to, preferably eliminate, at least largely reduce, any play left in the system by the basic alignment. Here, the precise alignment elements comprise the frame 133 provided on the upper side 123 of the receiving element and the corresponding frame 134 provided at an under side of the plate 124 of the box element. The frame 133 of the docking module is configured to tightly receive the frame 134 of the implement module. The corresponding frames 133, 134 may be polygonal shaped and / or may extend fully or partially around a circumference of the box element and / or the receiving element. Here, the corresponding frames 133, 134 extend over an entire circumference, but it can be envisaged that e.g. only engagement in corners may suffice. Since the frames 133, 134 are polygonal, here rectangular, this allows for fine or precise alignment of the implement module with respect to the docking module and / or allows to limit or prevent rotation of the implement module 12 with respect to the docking module 11. As can be seen in figure 4, corners of the frame 134 fit into corners of the frame 133. The corresponding frames 133, 134 is preferably made of any suitable plastic material so that any abutment shocks can be absorbed or reduced. Additionally and / or alternatively, the precise alignment elements may be at least two protrusions fitting in corresponding recesses. Such corresponding protrusions and recesses for precise alignment may be in addition to the frames 133, 134 or instead of the frames 133, 134. Advantageously, they are limited in height and may be provided within a height of the frames 133, 134 if present, or, at least partially, within the plates 123, 124 when e.g. the frames 133, 134 are not present.

[0065] Further, the two opposite side walls 135a, 135b of the receiving element 110 are provided with slits 139 in which the pens 122 can be inserted allowing the pens 122 to protrude to the side walls 135a, 135b and to engage with hooks 121 of the docking module 11.

[0066] Further shown in figure 3 is an actuation mechanism 150 configured to actuate the engagement elements 120, here the hooks 121 and the pens 122, to engage with each other. The actuation mechanism 150 is shown in more detail in figure 5 and is explained in connection with figure 5.

[0067] In the perspective view of figure 5 it can also be seen that an under side of the plate 123 extending outwardly and circumferentially from the receiving element 110 is provided with a seal 141 such that when the docking module 11 is mounted to the vehicle base 3 the seal 141 may prevent dust, dirt, fluids etc. to enter into the receiving space 7 of the vehicle base 3.

[0068] The actuation mechanism 150 comprises a sled 151 to which the hooks 121 are connected. The hooks 121 are slidable connected to the sled 151. Thereto, the sled 151 is provided with grooves 152 and the hooks 121 are provided with a rib 153 that can slide in the groove 152. The sled 151 is being actuated by an actuator 154. The actuator 154 is here mounted underneath the sled 151 to safe space, but can be mounted at other locations to actuate the sled 151. The actuator 154 is at one end 155 connected to the docking module 11, here with a bracket 156. At another end 157, the actuator 154 is connected to the sled 151. Operation of the actuator 154, extension or contraction, moves the sled 151 with respect to the docking module 11.

[0069] The hooks 121 are movable over a rod 160. The rod 160 is fixedly connected to the docking module 11. Two rods 160 are provided, one at each side of the receiving element 110 of the docking module. The rods 160 extend in longitudinal direction of the receiving element 110. Here, the rod 160 is fixedly connected to the docking module 11 at three positions. At a first position 161, the rod 160 is fixedly mounted to a flange 142 of the docking module 11. At a second position 162, the rod 160 is connected to a rib 143 of the receiving element 110. The second position 162 is adjacent a first slit 139 in which the pen 122 can be received. At a third position 163, the rod 160 is connected to a further rib 144 of the docking module 11. The third position is adjacent a second slit 139 in which the pen 122 can be received.

[0070] The hooks 121 are provided with a cylindrical sleeve 165 in which the rod 160 is slidable. As such, the hooks 121 can move over the rod 160 when the sled 151 is being actuated. Further, between the movable sled 151 and the stationary docking module 11, a biasing element 170 is provided. Each hook 121 has an associated biasing element 170. The biasing element 170 is here a spring mounted over the rod 160 and at one end connected to the rod 160 with a washer 164.

[0071] At the end 155 of the actuator 154 a bolt 158 is provided for manual operation of the actuator 154 and / or the sled 151. In case of failure of the actuator 154 and / or in case of power interruption, the position of the sled 151 with respect to the docking module 11 remains, since the actuator 154 is being used for actuation of the sled to and from the docking module 11. Then, the bolt 158 can be operated manually to undo the engagement of the hooks 121 with the pens 122 and to be able to remove the implement 6 from the vehicle base 3. The manual operable bolt 158 can be reached through a side of the vehicle base 3.

[0072] The docking module 11 further is provided with a door 171 to protect the electrical connector element 131 mounted to the sled 151 from water, dust, dirt or other environmental contamination when there is no implement module 12 engaged to the docking module 11. In case the docking module 11 is empty, the door 171 is closed such that ingress of water, dust, dirt in the receiving space 7 can be avoided. The door 171 can be provided with arms which arms are pushed away by the implement module 12 when the implement module 12 is lowered into the docking module 11, thereby opening the door 171 to allow the electrical connector element 131 of the docking module 11 to couple with the electrical connector element 130 of the implement module 12. Alternatively, the door 171 can be pushed away by the electrical connector element 131 for example in a second step of the actuation from an intermediate stage to a locked stage, as explained below. Then, the electrical connector element 131 is taken along by the actuation mechanism 150, preferably by the sled 151 of the actuation mechanism 150 and brought towards the electrical connector element 130 of the implement module 12 to mate therewith and to establish an electrical connection. During advancement of the electrical connector element 131 the door 171 is being pushed away to allow the electrical connector element 131 to reach the electrical connector element 130 of the implement module.

[0073] The actuation mechanism 150 provides for the actuation of the hooks 121 over the pens 122. The actuation mechanism 150 can provide for a two-step actuation, as shown in figures 6a, 6b, 6c. Figure 6a shows the actuation mechanism 150 in an unlocked stage, in which the hooks 121 are free from the pens 122. Figure 6b shows an intermediate stage, in which the hooks 121 are engaged to the pens 122 and figure 6c shows a locked stage, in which the hooks 121 are locked over the pens 122 and the electrical connector elements 131 and 130 are coupled. The various components of the docking module 11 and the actuation mechanism 150 are the same as in figure 5 and are denoted with the same reference numbers. Additionally, a cable tree 159 is visible that guides electrical and / or data cables to the electrical connector element 131 of the docking module 11.

[0074] In the unlocked stage of figure 6a, the hooks 121 are at a distance from the slits 139 in which the pens 122 of the implement module 12 are to be received. The electrical connector element 131 of the docking module 11 is at a distance from the receiving element 110 and the door 171 is closed to protect the electrical connector element 131. The biasing element 170 is being compressed and biased towards the locked stage. In this position, the implement module 12 can be lowered into the receiving element 110. In an embodiment, by lowering the implement module 12 into the receiving element, arms of the door 171 can be pushed away and the door 171 can be opened, allowing the electrical connector element 130 of the implement module 12 to be accessible. In another embodiment, the door 171 is being pushed open by the electrical connector element 131 movement of the sled 151 towards the locked stage, as can be seen in fig. 6b. When the implement module 12 is in the docking module 11, the presence of the implement module 12 can be detected by a sensor 172. The sensor 172 is here a mechanical sensor detecting whether the implement module 12 is in the docking module 11. For example, the docking module 11 may thereto be provided with a lip 176 that is away from the sensor 172 when the docking module is without implement module. By lowering the implement module 12 into the docking module 11, the lip 176 is being pushed away or aside by the implement module 12 towards the sensor 172. The sensor 171 can be a mechanical sensor detecting contact with the lip 176, or can be an optical sensor detecting the presence of the lip 176 when its view is obstructed. When the implement module 12 is inside the docking module 11, the sensor 172 provides a detection signal to the control unit in the box element 140. Only when a “implement module detected” detection signal is obtained, so, when the implement module 12 is in the docking module 11, the control unit may send a control signal to the actuator 154 to be operated.

[0075] In figure 6b, the door 171 is shown open and the pens 122 are in the slits 139 of the receiving element. When the actuator 154 is being operated, the actuator 154 may pull the sled 151 towards the receiving element 110 in the direction of its end 155. In a first step, the hooks 121 may be taken along by the sled 151 due to the rib 153 of the hook 121 sliding in the groove 152. When the rib 153 has reached an end of the groove 152, the hook 121 can be taken along by the movement of the sled 151. In the intermediate stage, shown in figure 6b, the hooks 121 are engaged to the pens 122, but the electrical connector element 131 is at a distance of the electrical connector element 130 of the implement module. In this position too, the implement module 12 is tightly fitted to the docking module 11, by basic and precise alignment, ensuring accurate and precise alignment of the implement module with respect to the docking module. In this position, a stable mechanical positioning is already obtained, allowing in a second step to connect the electrical connector elements 131 and 130.

[0076] In the second step, the actuator 154 may further pull the sled 151 towards its end 155, thereby optionally further releasing the springs 170 that are biased towards the locked stage. By releasing the springs 170, the hooks 121 may further and / or more firmly be pushed over the pens 122 to reliable lock the pens 122, also when the vehicle 2 has a bumpy ride and / or the vehicle 2 or the implement 6 meets irregularities or other obstacles during their operations. However, alternatively, in the intermediate stage, the hooks 121 and the pens 122 may already be firmly engaged and may be biased towards each other by the biasing element 170. Then, in the second step of the actuation, the actuator 154 may further pull the sled 151 to a more forward position thereby moving the electrical connector element 131 of the docking module 11 to the electrical connector element 130 of the implement module 12 to mate with each other and form an electrical and / or data connection. Due to the further actuation of the actuator 154, the electrical connector element 131 may thus be brought towards the electrical connector element 130 to establish an electrical and / or data connection between the implement module 12 and the docking module 11, as shown in figure 6c. The electrical connector element 131 comprises in this embodiment two pins 173 that fit in corresponding openings 174, shown in figure 3, of the electrical connector element 130 of the implement module 12. The pins 173 may be arranged with some play to the electrical connector element 131 to allow for some searching when aligning with the corresponding openings 174, but due to the stable mechanical positioning of the implement module 12 with respect to the docking module 11 in the previous step, a reliable electrical connection can be obtained. The pins 173 and the corresponding openings 174 may be asymmetrically arranged with respect to a symmetry axis of the connector elements 131, 130. This may allow for an improved searching of the pins 173 to the openings 174 and / or to an improved connection.

[0077] To detect that the actuation mechanism 150 is in the locked stage, as shown in figure 6c, a sensor can be provided. This sensor, not shown in the figures, detects whether the sled 151 is moved all the way forward, i.e. along a longitudinal direction of the sled or the receiving element towards the actuator end 155. When the sled 151 is in its most forward position, the sensor detects this position and can give a locked’ signal to the control unit. It is only in the most forward position of the actuation mechanism 150 that the electrical connector elements 131, 130 can be connected. Then, it has become impossible to remove the implement module, and the implement 6 is firmly coupled to the vehicle 2. Such “locked detection” sensor can be a mechanical sensor or an optical sensor or a pressure sensor, detecting the position of the sled. When the sled 151 is detected in the locked position, the control unit may release the vehicle 2 for driving and operations of the implement 6 in the cultivation environment.

[0078] The above described sequence of steps can be done smoothly and continuously in one linear movement by the actuator 154, or can be done discretely in separate steps.

[0079] Removing the implement module from the docking module can be done in reverse order. Then, the actuator 154 pushes the sled 151 away and first the electric connector element 131 is de-coupled from the implement module, as shown in figure 6b, while the hooks 121 remain coupled with the pens 122. This is obtained by the grooves 152 of the sled 151 sliding with respect to the ribs 153 of the hooks allowing the hooks to maintain their position. The implement module 12 then remains in position while the electric connector elements 131 and 130 are de-coupled so there is no relative movement between the implement module 12 and the docking module 11 during unplugging of the connector as this may damage the connector elements 131, 130 during unplugging. By further pushing the sled 151 away, the ribs 153 of the hooks 121 can be taken along the groove 152 of the sled 151 to push the hooks 121 away from the pens 122 and to unlock the pens 122. Also, during this movement, the biasing element 170 may be loaded, e.g. by compression, to bias the hooks 121 towards the pens 122. The implement module 12 can then be lifted upwardly out of the receiving element 110.

[0080] To provide for secure, preferably play free locking of the hook 121 with respect to the pen 122, the hook 121 is provided with an inclined contact surface 175. An inclination angle alpha of the contact surface 175 is measured with respect to the translation direction of the sled 151, which is likely to coincide with the horizontal direction. The inchnation angle alpha preferably is between 3 - 30 degrees, more preferably around 15 degrees or lower. The inclination angle alpha is provided such that friction between the contact surface 175 and the pen 122 is larger than a horizontal sliding force between the contact surface 175 and the pen 122. Then it can be obviated that a vertical force, e.g. due to bumps or irregularities while driving, can make the hook 121 move horizontally with respect to the pen 122, thereby possibly unlocking the pen 122. So, due to the inclined contact surface, a reliable locking can be ensured. Further, the spring force of the spring 170 pushes the hook 121 towards the pen 122, so the hook 121 and the pen 122 remain in contact in the locked position. The combination of the spring 170 and the inclined contact surface 175 provides that the hook 121 stays in contact with the pen 122, and that the hook 121 cannot be loosened from the pen 122 e.g. due to vibrations, bumps, shaking or other forces acting on the implement during its operations etc. In the above, the docking system has been explained by the configuration as shown in figure la. Mutatis mutandis, the various aspects of the docking system also apply to the configurations of figures lb - Id, but are not repeated for conciseness.

[0081] For the purpose of clarity and a concise description, features are described herein as part of the same or separate embodiments, however, it will be appreciated that the aspects of the disclosure may include embodiments having combinations of all or some of the features described. It may be understood that the embodiments shown have the same or similar components, apart from where they are described as being different.

[0082] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other features or steps than those listed in a claim. Furthermore, the words ‘a’ and ‘an’ shall not be construed as limited to ‘only one’, but instead are used to mean ‘at least one’, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage. Many variants will be apparent to the person skilled in the art which are understood to be comprised within the scope defined in the following claims.

[0083] Reference numbers modular vehicle system 140 box element of control unit modular vehicle 141 seal at under side of plate 123 vehicle base 142 flange of docking module body of the vehicle base 143 rib of docking module wheels 144 rib of docking module implement receiving s ace docking system docking module implement module engagement system 150 actuation mechanism

[0084] 151 sled box element 152 groove in sled receiving element 153 rib of hook engagement elements 154 actuator hook 155 one end of the actuator pen 156 bracket to connect with docking module plate / skirt of the docking module 157 other end of the actuator plate / skirt of the implement module 158 bolt side walls of the box element 159 cable tree bottom of the box element 160 rod top side 161 first position of rod connection transition 162 second position of rod connection

[0085] 163 third position of rod connection electric connector element implement 164 washers module electric connector element docking 165 sleeve of hook module frame of plate docking module frame of plate implement module 170 biasing element side walls docking module 171 door bottom docking module 172 implement detection sensor chamfered upper end side walls 173 pins of the electrical connector docking module element blocks on chamfered upper end 174 openings for the pins slits 175 contact surface

[0086] 176 lip

Claims

Claims1. Docking system comprising a docking module arranged to be mounted to a vehicle base for driving in a cultivation environment and an implement module arranged to be mounted to an implement, wherein the implement module is removable engageable to the docking module by means of an engagement system, wherein the engagement system comprises a box element and a receiving element, wherein the box element is receivable in the receiving element; wherein the box element and / or the receiving element are provided with engagement elements, such that, when the implement module is engaged to the docking module, the box element is received in the receiving element and the engagement elements are engaged to each other.

2. Docking system according to claim 1, wherein the box element and the receiving element have corresponding shapes to fit into each other.

3. Docking system according to claim 1 or 2, wherein the engagement elements comprise at least one pen and at least one engageable hook.

4. Docking system according to claim 2, wherein at least one pen extends from one side of one of the box element and the receiving element and is configured to protrude through a wall of the other one of the box element and the receiving element, wherein the other one of the box element and the receiving element is provided with the at least one hook to engage with the protruding pen.

5. Docking system according to any of the preceding claims, wherein the engagement system comprises at least one pen extending from one side of one of the box element and the receiving element to an opposite side of the other one of the box element and the receiving element.

6. Docking system according to any of the preceding claims, wherein the engagement system comprises two pens extending from one side to anopposite side of one of the box element and the receiving element and configured to protrude through a wall of the other one of the box element and the receiving element, wherein the other one of the box element and the receiving element comprises four hooks, each one hook to engage with a protruding end of the pens.

7. Docking system according to any of the preceding claims, further comprising an actuation mechanism configured to actuate the at least one hook over the at least one pen to engage the at least one hook and the at least one pen.

8. Docking system according to any of the preceding claims, wherein the actuation mechanism is configured to provide a two-stage actuation from an unlocked stage in which the hook is disengaged from the pen to an intermediate stage in which the hook is engaged to the pen in a first step and further to a locked stage in a second step.

9. Docking system according to claim 7 or 8, wherein the actuation mechanism comprises a sled to which the at least one hook is connected.

10. Docking system according to claim 9, wherein the at least one hook is movable connected to the sled, preferably translatable.

11. Docking system according to any of the claims 7 - 10, wherein the actuation mechanism comprises an actuator, preferably to actuate the sled.

12. Docking system according to any of the claims 7 - 11, wherein the actuation mechanism further comprises a biasing element positioned between the at least one hook and the docking module.

13. Docking system according to any of the claims 10 - 12, wherein the at least one hook is provided with a rib that is translatable in a groove of the sled.

14. Docking system according to any of the preceding claims, further comprising an electrical connector comprising a first electric connector element mounted to docking module and a second electric connector element mounted to the implement module, wherein the first and second electricconnector elements are configured to mate with each other to form an electric connection.

15. Docking system according to claim 14 and to claim 9, wherein the first electric connector element is mounted to the sled.

16. Docking system according to claim 15 and to claim 8, wherein in the locked stage the first electric connector element is engaged to the second electric connector element.

17. Docking system according to any of the preceding claims, wherein the at least one hook is provided with a contact surface for engagement with the corresponding pen, wherein the contact surface is inclined with respect to a direction transverse to a longitudinal axis of the pen.

18. Docking system according to claim 17, wherein an inchnation angle of the contact surface is between 3 - 30 degrees, preferably about 15 degrees.

19. Docking system according to any of the preceding claims, wherein the box element further is provided with a plate extending outwardly of the box element in a direction transverse to a height of the box element, wherein the plate is configured to mount to one of an implement and a vehicle.

20. Docking system according to any of the preceding claims, wherein the receiving element further is provided with a plate extending from walls of the receiving element at an opening side thereof, wherein the plate is configured to mount to one of the implement and the vehicle.

21. Docking system according to any of the preceding claims, further provided with precise alignment elements between the docking module and the implement module for precise alignment.

22. Docking system according to claim 21 and claim 20 and claim 19, wherein the precise alignment elements are provided to the respective plates of the docking module and the implement module.

23. Docking system according to any of the preceding claims, wherein the docking module further comprises a control unit for controlling the vehicle and / or for controlling the implement.

24. Vehicle base for driving in a cultivation environment, wherein the vehicle base is provided with a receiving space for receiving the docking module from the docking system of any of the claims 1 - 23.

25. Modular vehicle comprising a vehicle base according to claim 24, and a docking module of the docking system of any of the claims 1 - 23.

26. Implement for performing operations in a cultivation environment, wherein the implement is provided with a seat for receiving the implement module from the docking system of any of the claims 1 - 23.

27. Modular vehicle system comprising a modular vehicle for driving in a cultivation environment and an implement, further comprising a docking system according to any of the claims 1 - 23, wherein the modular vehicle comprises a vehicle base that is provided with a receiving space for receiving the docking module of the docking system, and wherein the implement is provided with the implement module of the implement system, wherein the implement and the vehicle are engaged to each other with the docking system.

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