Apparatus for transporting growth tray in a vertical growth system

Abstract

The present invention relates to a trolley apparatus 300 for transporting at least one growth tray within a vertical growth system. The trolley apparatus comprises: a platform 312 for receiving a grow

Description

[0001] The invention relates to the transport of a growth tray within a vertical growth system. BACKGROUND

[0002] Vertical farming systems, or vertical growth systems, facilitate the growing of high density crops, typically in controlled indoor environments. A vertical growth system typically includes one or more growth towers for retaining growth trays in multiple layers, and may include additional areas for processing or inspecting the crops grown in the growth trays.

[0003] During a typical growth cycle, it is necessary to transport the growth trays to and from the growth towers for placement or processing. This is typically done by using a manually controlled trolley which can be navigated to the growth tower, situated under the growth tray and raised to carry the growth tray.

[0004] It is desirable to increase the level of autonomy within the system, to facilitate efficient scaling of the vertical growth system. However, the successful integration of autonomy into the collection and transportation of growth trays within vertical growth systems poses several problems.

[0005] Firstly, growth trays are typically large, heavy and asymmetric loads which pose stability issues for towage by typical autonomous mobile robots (AMRs). Secondly, such AMRs are associated with maneuvering error margins. These error margins can compound with each subsequent maneuver, which could lead to inaccurate, unstable placement when collecting a growth tray or cause damage to the growth tray or tower.

[0006] It is the aim of the invention to mitigate one or more of the problems with the prior art. BRIEF SUMMARY OF THE DISCLOSURE

[0007] In accordance with the present inventions there is provided an apparatus, a control system, a trolley apparatus, a load transport system and a docking system as claimed in the appended claims.

[0008] According to an aspect of the invention there is provided an apparatus for transporting a load, the apparatus comprising: a support structure comprising a platform for receiving a load; mounting means for securing the apparatus to a vehicle; a turntable mechanism comprising a first element connected to the support structure and a second element connected to the mounting means, wherein the first element is rotatable with respect to the second element between at least a first position and a second position to enable, in use, independent rotation of the vehicle with respect to the support structure; and a braking system for the turntable mechanism configured to releasably secure the turntable mechanism at each of the first position and second position to prevent, in use, independent rotation of the vehicle with respect to the support structure. The apparatus may be for transporting at least one growth tray within a vertical growth system. That is, the load may comprise at least one growth tray. The platform may be for receiving a growth tray of greater than 100kg, e.g., greater than 300kg.

[0009] Advantageously, a vehicle such as an AMR having a single axis of travel can be used to transport the growth tray, and the growth tray can be reoriented during transportation such that the length of the growth tray is either parallel or perpendicular with the axis of travel to improve stability of the apparatus.

[0010] Optionally, the apparatus comprises a brake actuator configured to engage or release the braking system in response to receiving a brake control signal from a controller of the vehicle. The braking system may comprise a brake disc and an engagement element, wherein the brake actuator is configured to engage the braking system by engaging the engagement element with the brake disc, and release the braking system by releasing the engagement element from the brake disc. The engagement element may comprise a caliper system, or a wedge / pin locking system. The brake disc may be secured or connected to one of the first and second element, and the engagement element may be secured or connected to the other one of the first and second element.

[0011] Optionally, the apparatus comprises an angular feedback sensor for encoding the relative position of the first element and the second element, wherein the angular feedback sensor is configured to communicate the relative position to a controller of the vehicle.

[0012] The apparatus may be a trolley apparatus and the mounting means may be configured to secure the trolley apparatus for propelling or towing by the vehicle. The support structure may further comprise one or more load bearing members extending from the platform and arranged in use to engage with a floor and at least partially bear a weight of the growth tray. The one or more load bearing members may each comprise at least one wheel or castor for engaging with the floor to enable transverse movement of the apparatus. Advantageously, this facilitates the load to be carried by the load bearing members rather than the vehicle. Thus, a greater load can be carried than the capacity of the vehicle dictates.

[0013] Optionally, the turntable mechanism comprises a slewing ring, and the first element and second element comprise an inner ring and an outer ring of the slewing ring.

[0014] Optionally, the first element is connected to the support structure with one or more linear bearings to provide a float between the mounting means and the platform. Each linear bearing may comprise shoulder bolt. One or more of the linear bearings may include a spring. Advantageously, providing a float improves stability over uneven surfaces and prevents any additional load being transmitted directly to the vehicle.

[0015] Optionally, the first position and the second position define substantially orthogonal orientations of the support structure with respect to the vehicle in use.

[0016] Optionally, the apparatus further comprises a load actuator for raising or lowering the platform with respect to the vehicle, in response to receiving a control signal from a controller of the vehicle.

[0017] Optionally, the support structure further comprises a support frame, and the platform is slidably mounted on the support frame to enable linear movement between the platform and support frame along a first axis; and the apparatus comprises a retention mechanism configured to, when engaged, retain the platform at a first position with respect to the support frame along the first axis.

[0018] According to another aspect of the invention there is provided a load transport system, comprising: a vehicle; and an apparatus as disclosed herein, wherein the apparatus is secured to the vehicle via the mounting means. The vehicle may be an autonomous mobile robot, AMR.

[0019] According to another aspect of the invention there is provided a control system for an autonomous mobile robot, AMR, mounted to an apparatus disclosed herein, the control system comprising one or more processors collectively configured to: receive, from an angular feedback sensor of the apparatus, a position signal indicative of a relative position of the first element and the second element of the turntable mechanism being the first position; output a control signal to the braking system of the apparatus to release the braking system; output a control signal to control the AMR to rotate from a first orientation to a second orientation; determine, in dependence on the received position signal, whether the relative position has reached the second position; and when the relative position reaches the second position, control the AMR to cease rotation and output a further control signal to the braking system of the apparatus to engage the braking system.

[0020] According to another aspect of the invention there is provided a trolley apparatus for transporting a load, the trolley apparatus comprising: a platform for receiving a load; a support frame arranged to at least partially bear a weight of the platform and load; wherein the platform is slidably mounted on the support frame to enable linear movement between the platform and support frame along a first axis; and a retention mechanism configured to, when engaged, retain the platform at a first position with respect to the support frame along the first axis. The load may be a growth tray. The trolley apparatus may be for transporting a growth tray within a vertical growth system.

[0021] Advantageously, providing a releasable sliding platform on the trolley apparatus enables the sliding platform to be guided to a specific location when collecting a growth tray to compensate for navigation errors by the trolley apparatus, thereby ensuring the growth tray is centrally loaded on the platform, improving balance of the load and avoiding the compounding of navigation error.

[0022] Optionally, the retention mechanism comprises an actuator configured to move the platform along the first axis to the first position when engaged. Optionally, the actuator comprises one of a linear actuator or a wedged pin mechanism. The trolley apparatus may comprise at least two barriers, or end stops, each defining an end point of a range of motion for the platform along the first axis when the retention mechanism is disengaged. Optionally, the at least two barriers are integrated with the retention mechanism. For example, each disengaged linear actuator may define one of the at least two barriers.

[0023] Optionally in the first position, the platform is centred on the support frame. The support frame may comprise one or more load bearing members arranged to engage with a floor. The trolley apparatus may comprise a mounting means for securing the trolley apparatus to a vehicle.

[0024] The trolley apparatus may further comprise a turntable mechanism comprising a first element connected to the support frame and a second element connected to the mounting means, wherein the first element is rotatable with respect to the second element between at least a first position and a second position to enable, in use, independent rotation of the vehicle with respect to the support frame; and a braking system for the turntable mechanism configured to releasably secure the turntable mechanism at each of the first position and second position to prevent, in use, independent rotation of the vehicle with respect to the support frame.

[0025] According to another aspect of the invention there is provided a docking system for a vertical growth system, the docking system comprising: a trolley apparatus as disclosed herein; a racking structure configured to retain a growth tray in a vertical growth tower, the racking structure comprising at least one retaining rack for retaining a growth tray; and a docking guide configured, in use, to engage with the platform of the trolley apparatus as the trolley apparatus enters the racking structure, wherein the engagement causes the platform to slide along the first axis to a central location with respect to the growth tray retained by the retaining rack.

[0026] Optionally, the trolley apparatus comprises at least one engaging member fixed to and extending from the platform, wherein the at least one engaging member is configured to engage with the docking guide in use. The or each engaging member may extend substantially orthogonally from the platform. Optionally, the docking guide comprises a first guide configured to engage with a first side of the at least one engaging member and a second guide configured to engage with a second side of the at least one engaging member. Optionally, each of the first guide and second guide comprise: a first linear portion; and a second angled portion extending from and angled with respect to the first linear portion. Optionally, the first guide and second guide are separated by a first distance at the first linear portion and a second distance at a terminus of the second angled portion, wherein the second distance is greater than the first distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Embodiments of the invention are further described hereinafter with reference to the accompanying drawings, in which:

[0028] FIG. 1 illustrates transport of a growth tray in a vertical growth system;

[0029] FIG. 2 illustrates two possible orientations of a growth tray when transported by an AMR;

[0030] FIG. 3 A illustrates a first view of an apparatus 300 according to an embodiment;

[0031] FIG. 3B illustrates a second view of the apparatus 300 according to an embodiment;

[0032] FIG. 4A illustrates a first view of a turntable mechanism of the apparatus 300 according to an embodiment;

[0033] FIG. 4B illustrates a cross-sectional view of the turntable mechanism of Figure 4A;

[0034] FIG. 5 illustrates a portion of the apparatus 300 according to an embodiment;

[0035] FIG. 6 illustrates a braking system for the apparatus 300 according to an embodiment;

[0036] FIG. 7 illustrates a braking system for the apparatus 300 according to another embodiment;

[0037] FIG. 8A illustrates a first view of a load transport system 800 according to an embodiment;

[0038] FIG. 8B illustrates a second view of the load transport system 800;

[0039] FIG. 9A illustrates a load transport system 800 according to an embodiment in a first orientation;

[0040] FIG. 9B illustrates the load transport system 800 in a second orientation;

[0041] FIG. 10A illustrates a trolley apparatus 1000 according to an embodiment of the invention;

[0042] FIG. 10B illustrates a plan view of the trolley apparatus 1000;

[0043] FIG. 11 illustrates the trolley apparatus 1000 in three configurations;

[0044] FIG. 12 illustrates a docking system 1200 according to an embodiment of the invention;

[0045] FIG. 13 illustrates a schematic illustration of the control architecture for a system according to an embodiment; and

[0046] FIG. 14 illustrates a flow chart of a method according to an embodiment. DETAILED DESCRIPTION

[0047] Embodiments of the present invention provide an apparatus to facilitate the transport of a growth tray within a vertical growth system, for example to facilitate the transport of a growth tray from a growth tower to a processing area within the vertical growth system. The apparatus advantageously facilitates transport via autonomous transportation, for example utilising an autonomous mobile robot (AMR), whilst ensuring stability and accuracy.

[0048] Figure 1 illustrates a portion of a vertical growth system. With reference to Figure 1, a growth tray 104 for use in a vertical growth system is typically a large, asymmetric load. For example, in some vertical growth systems in which the present invention may be applied, the growth tray 104 may have a weight of between 100kg and 200kg when empty, and between 300kg and 700kg when fully loaded with growth matter. The growth tray 104 is typically rectangular in cross section, having a length x and width y. The growth tray 104 has a depth z perpendicular to the page. Typically, the growth tray 104 is asymmetric, with the length x being substantially longer than the width y. For example, the length x may be more than twice its width y. In some examples, the growth tray may have a width y of between 0.7m and 2.5m, such as 1.7m or 1.8m; and a length x of greater than 2.4m, such as between 2.4m and 5m, e.g. 4.2m or 4.3m. In one embodiment, the growth tray has a width of 1.7m and a length of 4.2m.

[0049] As shown in Figure 1, the growth tray 104 is typically retained in a growth tower of the vertical growth system by a racking structure 106 supporting the growth tray 104 at least on each side of its length x. To transport the growth tray 104 out of the growth tower, for example to collect the growth tray 104, a trolley or other support system must be maneuvered beneath the growth tray 104 within the racking structure 106. Practically, this means moving the trolley into the racking structure 106 in a direction parallel to the width y of the retained growth tray 104.

[0050] To introduce autonomy into the transport of the growth trays 104, it may be desirable to tow or otherwise propel such a trolley using an autonomous mobile robot (AMR) 102 or other autonomous vehicle. However, this can pose several practical issues.

[0051] Firstly, as illustrated, cost-effective and stable AMRs 102 typically have freedom of movement along a single axis T. To travel in different directions, the AMR 102 will typically come to a stop and rotate to orient the axis T in the desired direction of travel. Whilst omnidirectional AMRs are also available, these AMRs tend to be more expensive, and thus may not be desirable for use in the vertical growth system.

[0052] When using an AMR 102 with a single axis T of travel, the AMR 102 will need to enter and exit the racking system 106 having the axis T of travel parallel to the width y of the growth tray 104, as shown in Figure 1. The AMR will thus be secured to the growth tray 104 for towing in a configuration where the axis T of travel is fixed perpendicular to the length x of the growth tray 104, which may pose issues with stability. However, due to the orientation in which the growth tray 104 is typically retained in the racking system 106, it is not possible for the AMR 102 to collect the growth tray 104 such that the axis T of travel is parallel to the length x.

[0053] With reference to Figure 2, it is therefore desirable to provide a mechanism for transporting a growth tray 104 by an AMR 102 such that the relative orientation of the growth tray 104 and AMR 102 can be either in a first configuration 202 with the axis of travel T perpendicular to the length x of the growth tray 104, and a second configuration 204 with the axis of travel T parallel to the length x. Furthermore, the mechanism should allow the AMR 102 to be securely fixed to the growth tray 104 and allow the AMR 102 to stably propel the growth tray 104 in each configuration, even when the growth tray 104 is laden with a heavy load, such as a load greater than the capacity of the AMR 102. It is one aim of the present invention to provide a mechanism by which such autonomous transport may be facilitated.

[0054] With reference to Figures 3A and 3B, there is shown an apparatus 300 for transporting a growth tray 104 within a vertical growth system according to an embodiment of the invention. The apparatus 300 is a trolley apparatus arranged to support and transport the growth tray 104. A cartesian (x,y,z) frame of reference is defined relative to the apparatus 300 as shown. The apparatus 300 comprises a support structure 310 having a platform 312 for receiving the growth tray 104. The platform 312 defines an area in the (x, y) plane having a length along the x dimension as shown in Figure 3A and a width along the y dimension as shown in Figure 3B. The z dimension is therefore defined as normal to the platform 312, which in use is also normal to the ground.

[0055] The platform 312 is arranged to support the growth tray 104 from below with the length of the growth tray 104 aligned along the x dimension of the platform 312 and the width of the growth tray 104 aligned along the y dimension of the platform 312. Thus, the area of the platform 312 in the (x,y) plane should be sufficient to stably support the growth tray 104 in this orientation. In some embodiments, the platform 312 has the same dimensions in the (x,y) plane as the growth tray 104, however this is not necessary. The platform 312 may have a smaller area than the growth tray 104. For example, a platform 312 of dimensions 3m x 1.7m can be sufficient to support a growth tray 104 of dimensions 4.2m x 1.7m. In this example, the length of the growth tray 104 will extend slightly from each side of the x dimension of the platform 312 when carried. The support structure 310 should be capable of bearing the weight of the growth tray 104, and thus the support structure 310 is arranged to receive a weight of greater than 300kg in some embodiments, such as between 300kg and 700kg. For example, the support structure 310 may be formed from metal or a fibre reinforced material.

[0056] The support structure 310 in the illustrated embodiment comprises a lower portion 316 on which the platform 312 is supported. The lower portion 316 comprises four load bearing members 314 extending beneath the platform 312 for engaging with the floor to bear a weight of the growth tray. In the illustrated embodiment, each of the load bearing members 314 comprises three wheels 314a to interface with the floor to enable transverse movement of the apparatus 300 along the (x, y) plane. In alternative embodiments, the lower portion 316 may comprise a different number of load bearing members 314 such as three, or five. Further, each load bearing member 314 may comprise a different number of wheels 314a or castors 314a, such as one, two or four. The overall arrangement of the lower portion 316 facilitates the support structure 310 to bear the weight of the growth tray 104 and provide freedom of movement of the apparatus 300 in any direction along the (x,y) plane when propelled.

[0057] The platform 312 is attached to the lower portion 316 through one or more vertical supports 318. The apparatus 300 may comprise a load actuator (not shown) for raising or lowering the platform 312 along the vertical supports 318 with respect to the lower portion 316 in order to collect the growth tray 104 from the racking structure 106. In use, the apparatus 300 can be navigated beneath the growth tray 104 in the racking structure 106, and the load actuator controlled to raise the platform 312 to contact the growth tray 104 and lift the growth tray 104 from the racking structure 106. Once the growth tray 104 is supported by the platform 312, the apparatus 300 can be navigated back out of the racking structure 106 carrying the growth tray 104.

[0058] The apparatus 300 comprises mounting means 320 for securing the apparatus to a vehicle. The mounting means 320 may be particularly for securing the apparatus to an AMR located beneath the platform 312, as will be described with reference to Figures 8A and 8B. The mounting means 320 may for example comprise a mounting plate for securing the apparatus 300 to the vehicle using one or more fixtures such as bolts or the like. In this way, the apparatus 300 can be towed or otherwise propelled by the vehicle once attached. The mounting means 320 is attached to the support structure 310 via a turntable mechanism 330 to facilitate relative rotation between the mounting means 320 and the support structure 310, and thus relative rotation between the attached vehicle and the support structure 310 in use. The axis of rotation is along the z dimension, i.e., normal to the ground.

[0059] In the illustrated embodiment, the provision of load bearing members 314 on the lower portion 316 enables the transport of larger and heavier loads than the ordinary capacity of the vehicle to which the apparatus 300 is attached, as the load bearing members 314 support the weight of the growth tray 104. However, in other embodiments the apparatus 300 may not comprise load bearing members 314. In such embodiments, the weight of the platform 312 may be entirely carried by the vehicle.

[0060] Figure 4A illustrates a plan view of the turntable mechanism 330 in the (x, y) plane, and Figure 4B illustrates a cross-sectional view of the turntable mechanism 330 in the (x,z) plane. The turntable mechanism 330 comprises a first element 402 and a second element 404, wherein the first element 402 is rotatable with respect to the second element 404 about the z axis of rotation normal to the (x,y) plane. The first element 402 is otherwise secured to the second element 404 along all other axes of movement. To achieve this, the turntable mechanism 330 may comprise a rotary bearing such as a slewing ring, as is visible in Figure 4B. In the illustrated embodiment, the first element 402 comprises an outer ring of the slewing ring and the second element 404 comprises an inner ring of the slewing ring, but in other embodiments these elements may be reversed, with the first element 402 being interior to the second element 404.

[0061] The first element 402 is connected to or otherwise fixed with respect to the support structure 310 and the second element 404 is connected to or otherwise fixed with respect to the mounting means 320. Thus, the rotation facilitated by the turntable mechanism 330 allows the support structure 310 to be rotated about the axis normal to the (x,y) plane with respect to the vehicle, when mounted.

[0062] In particular, the first element 402 is rotatable with respect to the second element 404 between at least a first position and a second position to enable rotation of the vehicle with respect to the support structure 310 between at least two relative orientations, as will be shown in Figures 7A and 7B. The first position and the second position define substantially orthogonal orientations of the support structure 310 with respect to the vehicle in use. In one embodiment, the rotation is between four positions defining four relative orthogonal orientations.

[0063] In some embodiments, the turntable mechanism 330 is driven. This may be the case particularly in embodiments where the apparatus 300 does not comprise any load bearing members 314 and so the weight of the platform is borne by the attached vehicle. In a driven example, the turntable mechanism 330 may comprise an actuator configured to actuate either the first element 402 or the second element 404 to rotate about the axis of rotation. In other examples, the turntable mechanism 330 may be passive and the relative rotation may be provided by the vehicle attached to the apparatus 300. That is, the independent rotation of the vehicle causes the mounting means 320 and thus the second element 404 to correspondingly rotate with respect to the first element 402. This is particularly facilitated when the load bearing members 314 support the weight of the platform 312 and growth tray 104, as the vehicle can be free to rotate independently.

[0064] The turntable mechanism 330 comprises an angular feedback sensor (not shown) for encoding a relative position or angle of the first element 402 and second element 404. The angular feedback sensor may be integrated with the slewing ring, or may be provided as an external component and mounted on the slewing ring.

[0065] Figure 5 illustrates a side view of a portion of the apparatus 300 for connecting the vehicle to the support structure 310. The view shown in Figure 5 includes a side view of the turntable mechanism 330 and the mounting means 320.

[0066] The apparatus 300 further comprises a braking system. The braking system is configured to releasably secure the turntable mechanism 330 at each of the first position and second position to prevent the relative rotation when engaged. The braking system comprises a brake disc 510, partially visible in Figures 5 and 4B.

[0067] In the illustrated embodiment, the brake disc 510 and second element 404 of the turntable mechanism 330 are bolted or otherwise secured to the mounting plate of the mounting means 320, as can be seen clearly in Figure 4B. The first element 402 of the turntable mechanism 330 is provided with a plurality of linear bearings 520 for connection to the support structure 310. The linear bearings 520 advantageously provide a float along the z axis, normal to the ground, between the mounting means 320 and the support structure 310, and thus enable a small amount of freedom of movement along the z axis between the vehicle and the support structure 310 when attached. This can be advantageous to improve the stability of the platform 312 during transport when the vehicle is traversing uneven ground, and prevent the load carried by the platform 312 being transferred directly to the vehicle, which may have a lower weight capacity. Each of the linear bearings 520 may comprise a shoulder bolt or another bearing providing equivalent functionality. In some embodiments, each linear bearing 520 may include a spring to vary the proportion of load between the support structure 310 and the vehicle.

[0068] Turning to Figures 6 and 7 there are illustrated two example braking systems for use with the apparatus 300.

[0069] Figure 6 illustrates a wedge or pin type braking system 600. The braking system 600 comprises a brake disc 510 fixed to the mounting means 320 as described with reference to Figure 5. The brake disc 510 comprises at least two slots 602 at predetermined locations about the brake disc 510. The locations of the slots 602 define the first and second relative positions of the turntable mechanism. Thus, additional slots 602 define additional relative positions for the turntable mechanism 330. In the illustrated braking system 600, there are provided four slots 602 spaced apart about the disc 510 by approximately 90 degrees. These four slots 602 therefore define four orthogonal relative positions of the elements of the turntable mechanism 330 about the axis of rotation, and thus four orthogonal orientations of the vehicle with respect to the support structure 310 of the apparatus 300.

[0070] The braking system 600 comprises an engagement element 604 in the form of a wedge which can be pushed into each of the slots 602 when the braking system 600 is engaged. The braking system 600 comprises a brake actuator (not shown) configured to engage or release the braking system 600 by pushing or retracting the engagement element 604 into or out of the slot(s) 602. The engagement element 604 and brake actuator are located on the support structure 310, and thus when the braking system 600 engages the engagement element 604 with a slot 602 of the brake disc 510, rotation of the turntable mechanism 330 is prevented and the orientation of the vehicle with respect to the support structure 310 is fixed.

[0071] Figure 7 illustrates a caliper type braking system 700. As with the braking system 600, the system 700 comprises a brake disc 510 and an engagement element 702. The engagement element of the braking system 700 is a caliper 702 disposed on the support structure 310. When the braking system 700 is engaged, the caliper 702 is actuated to clamp the brake disc 510 to prevent relative rotation between the support structure 310 and the vehicle. When the braking system 700 is released, the caliper 702 is released from the brake disc 510 to enable relative rotation between the vehicle and support structure 310 via the turntable mechanism 330. The caliper type braking system 700 can thus facilitate any number of relative orientations between the vehicle and the support structure 310, as there is no need to define discrete braking positions between the caliper 702 and the brake disc 510.

[0072] Other braking systems can also be envisaged in other embodiments, such as an electromagnetic braking system.

[0073] With reference to Figures 8A and 8B, there is illustrated a load transport system 800 according to an embodiment of the invention. The load transport system 800 comprises the apparatus 300 and a vehicle 810. The vehicle 810 in the illustrated embodiment is an AMR 810, such as an Omron LD-250 or other AMR 810 having similar functionality.

[0074] The AMR 810 is secured to the apparatus 300 via the mounting means 320. In particular, the AMR 810 is located beneath the platform 312 along the z dimension and the load bearing members 314 of the support structure 310 extend around the AMR 810 to contact the ground on opposing sides of the AMR 810. The mounting means 320 secures the support structure 310 to an upper surface of the AMR 810. In the illustrated example wherein the apparatus 300 is a trolley apparatus comprising load bearing members 314, the AMR 810 can propel or tow the trolley apparatus 300 along the (x,y) plane without bearing a full load of the growth tray 104 loaded on the platform 312.

[0075] In some embodiments, the load transport system 800 may comprise the trolley apparatus 1000 as will be described with reference to Figures 10 to 12 in place of the apparatus 300 attached to the vehicle 810.

[0076] With reference to Figure 9A, the load transport system 800 is shown in plan view in the first orientation. In the first orientation, the axis T of linear movement of the vehicle 810 is parallel to the y axis, thus parallel to the shorter width of the platform 312. In this first orientation, the load transport system 800 can be navigated into the racking structure 106 to collect the growth tray 104 and navigated out of the racking structure 106 with the growth tray 104 as shown in Figure 1 and the first configuration 202 of Figure 2. The growth tray 104 can thus be collected in a correct alignment with the platform 312.

[0077] Once the load transport system 800 is released from the racking structure 106, the first orientation is not optimal for transporting the growth tray 104 about the vertical growth system as the length of the growth tray 104 will be oriented perpendicular to the axis T of linear movement of the vehicle 810.

[0078] Thus, the load transport system 800 can utilise the turntable mechanism 330 of the apparatus 300 to rotate the vehicle 810 with respect to the support structure. The rotational arrows indicate the direction of rotation of the vehicle 810 with respect to the apparatus 300. In the illustrated embodiment, the rotation is achieved by releasing the braking system of the apparatus 300 and rotating the vehicle 810. The rotation of the vehicle 810 causes the mounting means 320 and second element 404 to rotate in the illustrated direction with respect to the support structure 310 and first element 402.

[0079] In Figure 9B, the load transport system 800 is shown in the second orientation following relative rotation, wherein the axis T of linear movement of the vehicle 810 is parallel to the x axis, as in the second configuration 204 of Figure 2. The vehicle 810 is then free to move along an axis parallel to the length of the supported growth tray 104, which provides improved stability during transportation.

[0080] The illustrated flexibility of orientation would not be possible without the turntable mechanism 330 of the apparatus 300 as the limited motion of typical AMRs provide a restricted axis T of linear movement. Thus, the apparatus 300 advantageously facilitates the flexible reorientation of the growth tray 104 with respect to the AMR during transportation whilst ensuring a secure connection to the AMR and structural support for the large load defined by the growth tray 104. Further, various components of the apparatus 300 can be directly controlled by the AMR, as will be described with reference to Figure 13, facilitating full autonomy of the transport process within the vertical growth system.

[0081] When introducing autonomy into the transport of growth trays 104, navigation accuracy can pose several issues. It is important that a trolley apparatus such as the apparatus 300 is navigated to collect the growth tray 104 such that the platform 312 is accurately centred beneath the growth tray 104. If the growth tray 104 is collected off center from the platform 312, this can introduce instability to the loaded system. Furthermore, accurate navigation into and out of the racking structure 106 is important in order to avoid collision of the growth tray 104 or apparatus 300 with elements of the racking structure 106 which could cause damage. Typical AMRs are associated with a margin of navigation error. Such a margin, even if small, can be compounded with each additional maneuver and lead to the above-mentioned problems.

[0082] With reference to Figures 10A and 10B there is shown a trolley apparatus 1000 for transporting a growth tray within a vertical growth system according to one embodiment.

[0083] The trolley apparatus 1000 comprises a platform 1010 for receiving a growth tray. The platform 1010 has an equivalent size and configuration to the platform 312 of the apparatus 300, and defines an area in the (x,y) plane for receiving the growth tray. The trolley apparatus 1000 will be described with reference to an equivalent (x,y,z) co-ordinate system to the apparatus 300.

[0084] The trolley apparatus 1000 further comprises a support frame 1020 arranged to bear a weight of the platform 1010 and growth tray. The support frame 1020 comprises a lower portion 1022, load bearing members 1024 and vertical supports 1026, which may be equivalent to the lower portion 316, load bearing members 314 and vertical supports 318 of the apparatus 300.

[0085] The platform 1010 of the trolley apparatus 1000 is not fixed with respect to the vertical supports 1026. The support frame 1020 comprises an upper portion 1028 mounted on the vertical supports 1026 for connection to the platform 1010. The upper portion 1028 comprises at least two guides, e.g., rails, aligned along the x axis.

[0086] The platform 1010 is slidably mounted on the rails of the upper portion 1028 of the support frame 1020 to enable linear movement between the platform 1010 and the support frame 1020 along the x axis. Thus, the relative position of the platform 1010 on the support frame 1020 along the x axis can be adjusted by sliding the platform 1010 along the rails. The platform 1010 is mounted such that the only freedom of movement is along the x axis, i.e., the platform 1010 is fixed to the upper portion 1028 via the rails along the y axis and z axis.

[0087] The trolley apparatus 1000 further comprises a retention mechanism 1030. The retention mechanism 1030 is configured to retain the platform 1010 at a first fixed position with respect to the support frame 1020 along the x axis when engaged. The retention mechanism 1030 may comprise for example at least one linear actuator, a wedged pin mechanism or a caliper system arranged to engage with an element of the platform 1010 to prevent movement of the platform 1010 along the rails.

[0088] In the embodiment of Figure 10B, the retention mechanism 1030 comprises two linear actuators mounted on the support frame 1020 and arranged to engage with opposite sides of a member 1014 of the platform 1010. Although illustrated as engaging with the same member 1014, in other embodiments each linear actuator may engage with a different member of the platform 1010. When the retention mechanism 1030 is disengaged, the linear actuators are moved in opposite directions along the x axis to release the member 1014 and allow linear motion of the platform 1010 along the rails. When the retention mechanism 1030 is engaged, the linear actuators are moved towards each other to engage with the member 1014 and secure the platform 1010 in the first fixed position.

[0089] In this embodiment, the linear actuators of the retention mechanism 1030 also act to move the platform 1010 along the rails to the first fixed position when engaged. Thus, engagement of the retention mechanism 1030 serves a dual purpose of (a) adjusting the position of the platform 1010 with respect to the support frame 1020 and (b) securing the platform 1010 at the first fixed position with respect to the support frame 1020.

[0090] The trolley apparatus 1000 may also comprise any of the features described with reference to the apparatus 300 according to some embodiments. For example, the platform 1010 and support frame 1020 can together constitute the support structure 310 of the apparatus 300 and in that way be integrated with any of the turntable mechanism 330, braking system and mounting means 320 of the apparatus 300 as described with reference to preceding Figures.

[0091] Figure 11 illustrates the trolley apparatus 1000 of Figures 10A and 10B having the platform 1010 at three different positions with respect to the support frame 1020. In the central position 1120, a midpoint of the platform 1010 along the x axis is aligned with a midpoint of the support frame 1020 along the x axis. That is, the platform 1010 is centred on the support frame 1020. The central position 1120 corresponds to the first fixed position, i.e., the position in which the trolley apparatus 1000 is retained by the retention mechanism 1030 when engaged.

[0092] In the left position 1110, the platform 1010 is offset to the left of the support frame 1020 along the x axis. In the right position 1130, the platform 1010 is offset to the right of the support frame 1020 along the x axis.

[0093] The left position 1110 and the right position 1130 may define two end points of the range of motion of the platform 1010 with respect to the support frame 1020 when the retention mechanism 1030 is disengaged. The platform 1010 is prevented from moving beyond the end points 1110, 1130 by a barrier system (not shown) on the support frame 1020. The barrier system comprises at least two barriers for engaging with the platform 1010 at each end point of the range of motion to prevent further movement of the platform 1010 along the rails.

[0094] In some embodiments, the at least two barriers are integrated with the retention mechanism 1030. For example, each of the linear actuators may provide a barrier. When the retention mechanism 1030 is disengaged, the linear actuators are each retracted to a position each defining an end point of the range of motion for the platform 1010 with respect to the support frame 1020.

[0095] Alternatively, the barriers may be provided as separate components to the retention mechanism 1030 on the support frame 1020.

[0096] The sliding top feature provided by the platform 1010 of the trolley apparatus 1000 can be utilised to effectively ensure the platform 1010 is centered with respect to a growth tray 104 during collection.

[0097] With reference to Figure 12, there is shown a docking system 1200 for a vertical growth system including the trolley apparatus 1000.

[0098] The docking system 1200 comprises a racking structure 1210 configured to retain a growth tray 104 as previously described with reference to Figure 1. The racking structure 1210 is a vertical growth tower comprising a retaining rack for supporting the growth tray 104 on each side of its length.

[0099] The docking system 1200 further comprises a docking guide 1220. The docking guide 1220 acts to engage with the platform 1010 of the trolley apparatus 1000 as the trolley apparatus 1000 is navigated into the racking structure 106. When the docking guide 1220 engages with the platform 1010, it t causes the platform 1010 to slide along the rails of the upper portion 1028 to a predefined location beneath the retained growth tray 104, in particular a central location with respect to the growth tray 104 to ensure the growth tray 104 is loaded centrally on the platform 1010. In this way, even if the trolley apparatus 1000 is not correctly centered when approaching the racking structure 106, by releasing the retention mechanism 1030, the platform 1010 is allowed to be guided along the rails by the docking guide 1220 for correct alignment with the retained growth tray 104.

[0100] This can be particularly advantageous when the trolley apparatus 1000 is autonomously driven, e.g., by an AMR, as the docking guide 1220 in conjunction with the released platform 1010 is able to correct for any margin of error in maneuvering the AMR into the racking structure 1210. Once the growth tray 104 is loaded onto the platform 1010 and the trolley apparatus 1000 is navigated away from the racking structure 1210, the retention mechanism 1030 can be actuated to move and secure the platform 1010 and loaded growth tray 104 back to the central position 1120 with respect to the support frame 1020.

[0101] To provide the engagement between the docking guide 1220 and the platform 1010, the trolley apparatus 1000 comprises two engaging members 1012 fixed to and extending from the platform 1010 normal to the surface defined by the platform 1010. The engaging members 1012 are each arranged to contact a respective part of the docking guide 1220 when the trolley apparatus 1000 is navigated into the racking structure 1210.

[0102] In the illustrated docking system 1200, the docking guide 1220 comprises a first guide 1222 configured to engage with a first of the engaging members 1012 and a second guide 1224 configured to engage with a second of the engaging members 1012. The first guide 1222 is arranged to a propel the platform 1010 in a first direction along the rails when engaged, and the second guide 1224 is configured to propel the platform 1010 in a second opposite direction. In other embodiments, the first guide 1222 and second guide 1224 may be arranged to engage with opposite sides of the same engaging member 1012. Thus, in some embodiments, only a single engaging member 1012 may be provided on the trolley apparatus 1000. The first guide 1222 and the second guide 1224 are tapered to gradually urge the platform 1010 to the predefined location as the trolley apparatus 1000 enters the racking structure 1210.

[0103] To provide this tapering, each guide comprises a linear portion 1226 and an angled portion 1228. The linear portion 1226 of each guide is parallel and separated by a first distance. The first distance is defined such that when the engaging member(s) 1012 of the platform 1010 are engaged with the linear portion 1226 of each guide, the platform 1010 is correctly centered at the predefined location with respect to the retained growth tray 104.

[0104] The angled portion 1228 of each guide extends from and and is angled with respect to the linear portion 1226 such that the angled portion 1228 of each guide diverges in a direction away from the racking structure 1210. The first guide 1222 and second guide 1224 are separated by a second distance at a terminus of the angled portions 1228, wherein the second distance is greater than the first distance. The angled portions 1228 are thus able to catch and engage with the engaging members 1012 even when the trolley apparatus 1000 is misaligned.

[0105] The angled portions 1228 of the guides are angled to provide more than 10mm displacement, i.e., the second distance is at least 10mm greater than the first distance. For example, the guides may be angled to provide displacement in the range of 20mm-100mm. This level of displacement is typically sufficient to account for the margin of maneuvering error for a typical AMR, which is in the region of 5-10mm. For example, the guides may be angled to provide a 20mm, 40mm or 50mm displacement.

[0106] With reference to Figure 13 there is shown a schematic illustration of the control architecture for a system 1300 according to the claimed invention. The system 1300 facilitates autonomous control of transport of the growth tray 104 within a vertical growth system by an AMR or other vehicle 810. In the illustrated example, the system 1300 is implemented on an AMR or other vehicle 810 connected to the apparatus 300 as described with reference to Figures 3 to 9. As discussed, in some embodiments the apparatus 300 may further comprise the releasable sliding platform as described with reference to Figures 10 to 12. The two embodiments may be combined by implementing the support frame 1020 and platform 1010 as the support structure 310 of the apparatus 300.

[0107] The system 1300 comprises a control system 1310 for an AMR or other vehicle 810. The control system 1310 may be at least partially implemented locally on the vehicle 810 connected to the apparatus 300 via the mounting means 320. The control system 1310 comprises at least one processor 1312 which operably executes computer-readable instructions, and one or more memory devices 1314. The memory 1314 is electrically coupled to the processor 1312. The memory 1314 is configured to store instructions, and the processor 1312 is configured to access the memory 1314 and execute the instructions stored thereon.

[0108] The control system 1310 comprises at least one input 1316 for receiving signals and at least one output 1318 for communicating signals to other components of the system 1300. The input 1316 and output 1318 may comprise an electrical input and output for receiving wired connections to external components. Alternatively or additionally, the input 1316 and output 1318 may comprise at least one wireless communication module for communicating signals using a wireless protocol such as Bluetooth, Wi-Fi, ZigBee, NFC or a cellular communication protocol.

[0109] The system 1300 comprises an angular feedback sensor 1302 as described with reference to Figure 4 for encoding the relative position of the first element 402 and the second element 404 of the turntable mechanism 330. The angular feedback sensor 1302 is arranged to communicate a position signal 1352 indicative of the relative position to the control system 1310 of the vehicle 810.

[0110] The system further comprises a brake actuator 1304 configured to engage or release the braking system 600 or 700. The brake actuator 1304 is communicatively coupled to the control system 1310 and arranged to receive a brake control signal 1354 from the control system 1310. Upon receiving the brake control signal 1354, the brake actuator is arranged to engage or release the braking system for the turntable mechanism.

[0111] The system 1300 further comprises a load actuator 1306 for raising or lowering the platform 312, 1010 with respect to the vehicle 810 along the z axis. The control system 1310 is configured to output a load actuation signal 1356 to cause the load actuator 1306 to raise or lower the platform to collect or deposit a growth tray 104.

[0112] As will be described further with respect to Figure 14, as part of an autonomous transport protocol the control system 1310 is arranged to determine whether to engage or release the braking system depending on the position signal 1352 received from the angular feedback sensor 1302. In this way, the vehicle 810 can control the relative orientation of the support structure 310 and the vehicle 810 when transporting the growth tray 104 within the vertical growth system.

[0113] In some embodiments wherein the apparatus 300 includes the releasable sliding platform of Figures 10 to 12, the system 1300 comprises the retention mechanism 1030. The control system 1310 is configured to output a platform control signal 1358 to engage or release the retention mechanism 1030, in order to allow or restrict freedom of movement of the platform 1010. For example, the control system 1310 may output a first platform control signal 1358 prior to entering the racking structure 1210 to allow the platform 1010 to be guided by the docking guides 1220. Upon exiting the racking structure 1210, the control system 1310 may output a second platform control signal 1358 to engage the retention mechanism 1030 to move and retain the platform 1010 back at the central position 1120 with respect to the support frame 1020.

[0114] Each of the angular feedback sensor 1302, load actuator 1306, brake actuator 1304 and retention mechanism 1030 may be connected to the control system 1310 via a wired or wireless connection. Wired connections for each component may therefore be integrated with the apparatus 300. In some embodiments, the load actuator 1306, brake actuator 1304 and retention mechanism 1030 may be further configured to receive a respective control signal from a manual controller mounted on the apparatus 300, to allow a user to control each component separately from the vehicle in case of error in the automation.

[0115] With reference to Figure 14, there is illustrated a flow chart of a method 1400 of transporting a growth tray 104 within a vertical growth system. The method 1400 may be performed by the load transport system 800, in particular at least in part by the control system 1310 of the vehicle 810 when towing the apparatus 300. In the illustrated method, the apparatus 300 further comprises the features of the trolley apparatus 1000.

[0116] In step 1402, the load transport system 800 is located in a position ready to enter a racking structure 1210 in which a growth tray 104 is retained. For example, the load transport system 800 may have been previously navigated to the racking structure 1210. In step 1402, the load transport system 800 is in the first orientation as shown in Figure 9A, wherein the axis T of travel of the vehicle 810 is along the shorter y axis of the apparatus 300 for entry to the racking structure 1210.

[0117] In step 1404, the control system 1310 outputs the first platform control signal 1358 to release the retention mechanism 1030 and allow the platform 1010 freedom of movement along the x axis.

[0118] In step 1406, the load transport system 800 is navigated into the racking structure 1210 beneath the retained growth tray 104. The docking guides 1220 act to guide the platform 1010 to be centered along the x axis with respect to the retained growth tray 104 as the load transport system 800 enters the racking structure 1210 travelling in a direction along the y axis.

[0119] In step 1408, the control system 1310 outputs the load actuation signal 1356 to cause the load actuator 1306 to raise the platform 1010 to collect the growth tray 104.

[0120] In step 1410, the load transport system 800 is navigated back out of the racking structure 1210 carrying the growth tray.

[0121] In step 1412, the control system 1310 outputs the second platform control signal 1358 to engage the retention mechanism 1030 and move the platform 1010 back to the central position 1120 with respect to the support frame 1020. Now, the growth tray 104 is ensured to be centrally supported by the trolley apparatus 1000.

[0122] In step 1414, the control system 1310 receives from the angular feedback sensor 1302 the position signal 1352 indicative of the relative position of the first element 402 and the second element 404 of the turntable mechanism being the first position corresponding to the orientation of Figure 9A.

[0123] In step 1416, the control system 1310 outputs a control signal to the brake actuator 1304 of the apparatus to release the braking system and allow relative rotation between the vehicle 810 and the support structure 310.

[0124] In step 1418, the vehicle 810 is rotated from the first orientation shown in Figure 9A to the second orientation shown in Figure 9B.

[0125] In step 1420, the control system 1310 determines in dependence on the received position signal 1352, whether the relative position of the first element 402 and second element 404 has reached the second position as shown in Figure 9B.

[0126] In step 1422, when the relative position reaches the second position, the control system 1310 controls the vehicle 810 to cease rotation and outputs a further brake control signal 1354 to the brake actuator 1304 to engage the braking system and prevent further relative rotation of the turntable mechanism 330. Thus, the length of the growth tray 104 will be aligned with the axis T of travel of the vehicle 810 as in Figure 9B, providing a stable orientation for transporting the growth tray 104 to a processing area.

[0127] The method 1400 can be divided into a first method 1430 and a second method 1440. The first method 1430 is for docking the apparatus within a racking structure and utilises the sliding platform features described with reference to the embodiment of Figures 10 to 12. Thus, to implement this first method, the apparatus used does not always require the turntable mechanism. Thus, the first method 1440 can be implemented with the trolley apparatus 1000 without the additional features of Figures 3 to 9. The second method 1440 is for adjusting the orientation of the loaded growth tray 104 with respect to the vehicle 810 using the turntable mechanism 330. Thus, to implement the second method, the apparatus does not always require the sliding platform 1010 of Figures 10 to 12. The second method can be implemented using the trolley apparatus 300 without the additional features of Figures 10 to 12.

[0128] However, in some embodiments the turntable mechanism may also be utilised during the docking method 1430. For example, the braking system may be released to allow relative rotation between the vehicle and support structure during docking in steps 1404 and 1406. This allows for angular inaccuracies in docking to be corrected by interaction with the docking guides 1220.

[0129] The first and second methods may thus be performed independently, however together the method 1400 provides a holistic autonomous method for collecting and transporting a growth tray 104 in a secure and balanced manner.

[0130] It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

[0131] Throughout the description and claims of this specification, the words “comprise” and “contain” and variations of them mean “including but not limited to”, and they are not intended to (and do not) exclude other moieties, additives, components, integers or steps. Throughout the description and claims of this specification, the singular encompasses the plural unless the context otherwise requires. In particular, where the indefinite article is used, the specification is to be understood as contemplating plurality as well as singularity, unless the context requires otherwise.

[0132] Features, integers, characteristics, compounds, chemical moieties or groups described in conjunction with a particular aspect, embodiment or example of the invention are to be understood to be applicable to any other aspect, embodiment or example described herein unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

[0133] The reader's attention is directed to all papers and documents which are filed concurrently with or previous to this specification in connection with this application and which are open to public inspection with this specification, and the contents of all such papers and documents are incorporated herein by reference.

Claims

What is claimed is:

1. A trolley apparatus for transporting a growth tray within a vertical growth system, the trolley apparatus comprising:a platform for receiving a growth tray;a support frame arranged to at least partially bear a weight of the platform and growth tray;wherein the platform is slidably mounted on the support frame to enable linear movement between the platform and support frame along a first axis; anda retention mechanism configured to, when engaged, retain the platform at a first position with respect to the support frame along the first axis.

2. The trolley apparatus of claim 1, wherein the retention mechanism comprises an actuator configured to move the platform along the first axis to the first position when engaged.

3. The trolley apparatus of claim 2, wherein the actuator comprises one of a linear actuator or a wedged pin mechanism.

4. The trolley apparatus of any one of claims 1 to 3, wherein the trolley apparatus comprises at least two barriers each defining an end point of a range of motion for the platform along the first axis when the retention mechanism is disengaged.

5. The trolley apparatus of claim 4, wherein the at least two barriers are integrated with the retention mechanism.

6. The trolley apparatus of any one of claims 1 to 5, wherein in the first position, the platform is centred on the support frame.

7. The trolley apparatus of any one of claims 1 to 6, wherein the support frame comprises one or more load bearing members arranged to engage with a floor.

8. The trolley apparatus of any one of claims 1 to 7, further comprising a mounting means for securing the apparatus to a vehicle.

9. The trolley apparatus of any one of claims 1 to 8, further comprising a turntable mechanism comprising a first element connected to the support frame and a second element connected to the mounting means, wherein the first element is rotatable with respect to the second element between at least a first position and a second position to enable, m use, independent rotation of the vehicle with respect to the support frame; anda braking system for the turntable mechanism configured to releasably secure the turntable mechanism at each of the first position and second position to prevent, in use, independent rotation of the vehicle with respect to the support frame.

10. A docking system for a vertical growth system, comprising:a trolley apparatus according to any one of claims 1 to 9; anda racking structure configured to retain a growth tray in a vertical growth tower, the racking structure comprising at least one retaining rack for retaining a growth tray; anda docking guide configured, in use, to engage with the platform of the trolley apparatus as the trolley apparatus enters the racking structure, wherein the engagement causes the platform to slide along the first axis to a central location with respect to the growth tray retained by the retaining rack.

11. The docking system of claim 10, wherein the trolley apparatus comprises at least one engaging member fixed to and extending from the platform, wherein the at least one engaging member is configured to engage with the docking guide in use.

12. The docking system of claim 10, wherein the docking guide comprises a first guide configured to engage with a first side of the at least one engaging member and a second guide configured to engage with a second side of the at least one engaging member.

13. The docking system of claim 12, wherein each of the first guide and second guide comprise:a first linear portion; anda second angled portion extending from and angled with respect to the first linear portion.

14. The docking system of claim 13, wherein the first guide and second guide are separated by a first distance at the first linear portion and a second distance at a terminus of the second angled portion, wherein the second distance is greater than the first distance.

15. An apparatus for transporting a growth tray within a vertical growth system, the apparatus comprising:a support structure comprising a platform for receiving a growth tray;mounting means for securing the apparatus to a vehicle;a turntable mechanism comprising a first element connected to the support structure and a second element connected to the mounting means, wherein the first element is rotatable with respect to the second element between at least a first position and a second position to enable, in use, independent rotation of the vehicle with respect to the support structure; anda braking system for the turntable mechanism configured to releasably secure the turntable mechanism at each of the first position and second position to prevent, in use, independent rotation of the vehicle with respect to the support structure.

16. The apparatus of claim 15, wherein the platform is for receiving a growth tray of greater than 100kg.

17. The apparatus of claim 15 or 16, wherein the apparatus comprises a brake actuator configured to engage or release the braking system in response to receiving a brake control signal from a controller of the vehicle.

18. The apparatus of claim 17, wherein the braking system comprises:a brake disc; andan engagement element, wherein the brake actuator is configured to engage the braking system by engaging the engagement element with the brake disc, and release the braking system by releasing the engagement element from the brake disc.

19. The apparatus of any one of claims 15 to 18, wherein the apparatus comprises an angular feedback sensor for encoding the relative position of the first element and the second element, wherein the angular feedback sensor is configured to communicate the relative position to a controller of the vehicle.

20. The apparatus of any one of claims 15 to 19, wherein the apparatus is a trolley apparatus and wherein the mounting means is configured to secure the trolley apparatus for propelling by the vehicle.

21. The apparatus of claim 20, wherein the support structure further comprises one or more load bearing members extending from the platform and arranged in use to engage with a floor and at least partially bear a weight of the growth tray.

22. The apparatus of claim 21, wherein the one or more load bearing members each comprise at least one wheel or castor for engaging with the floor to enable transverse movement of the apparatus.

23. The apparatus of any one of claims 15 to 22, wherein the turntable mechanism comprises a slewing ring, and wherein the first element and second element comprise an inner ring and an outer ring of the slewing ring.

24. The apparatus of any one of claims 15 to 23, wherein the first element is connected to the support structure with one or more linear bearings to provide a float between the mounting means and the platform.

25. The apparatus of any one of claims 15 to 24, wherein the first position and the second position define substantially orthogonal orientations of the support structure with respect to the vehicle in use.

26. The apparatus of any one of claims 15 to 25, further comprising a load actuator for raising or lowering the platform with respect to the vehicle, in response to receiving a control signal from a controller of the vehicle.

27. The apparatus of any one of claims 15 to 26, wherein the support structure further comprises a support frame, and wherein the platform is slidably mounted on the support frame to enable linear movement between the platform and support frame along a first axis; anda retention mechanism configured to, when engaged, retain the platform at a first position with respect to the support frame along the first axis.

28. A load transport system, comprising:a vehicle; andthe apparatus of any one of claims 15 to 27, wherein the apparatus is secured to the vehicle via the mounting means.

29. The load transport system of claim 28, wherein the vehicle is an autonomous mobile robot, AMR.

30. A control system for an autonomous mobile robot, AMR, mounted to an apparatus according to any one of claims 15 to 27, the control system comprising one or more processors collectively configured to:receive, from an angular feedback sensor of the apparatus, a position signal indicative of a relative position of the first element and the second element of the turntable mechanism being the first position;output a control signal to the braking system of the apparatus to release the braking system;output a control signal to control the AMR to rotate from a first orientation to a second orientation;determine, in dependence on the received position signal, whether the relative position has reached the second position; andwhen the relative position reaches the second position, control the AMR to cease rotation and output a further control signal to the braking system of the apparatus to engage the braking system.Application No: GB2313429.9Examiner: Hayley YatesClaims searched: 1-14Date of search: 22 February 2024Patents Act 1977: Search Report under Section 17Documents considered to be relevant:Category Relevant to claims Identity of document and passage or figure of particular relevance X 1,4, 7 &8 EP 3259982 Al (B&A AUTOMATION BVBA) see figure 1 and paragraph [0070] X 1-4, 6-8 US 2019 / 0150375 Al (MIYAHARA et al.) see figures 4a-f}, 5 and paragraphs [0054-0056]} X 1,4, 6 &7 CN 107173223 A (JIN YINGZI) see figure 22 v A 1, 4, 6-8 CN 113940265 A (BEIJING CAU FUTONG GARDENING CO LTD) see figure 4 X 1,4, 6 &7 CN 115708477 A (INST OF INDUSTRIAL CROP YUNNAN ACADEMY OF AGRICULTURAL SCIENCES) see figures 3 &4 v A 1,6&7 CN 219566544 U (JIQING TECH SHANGHAI CO LTD) see figures 1 &2 X 1-3, 6-8 CN 116040218 A (UNIV NINGXIA;) see figures 3 &4 X 1,4,7& 8 BE 1026369 Al (B&A AUTOMATION BVBA) see figures 5 &6 A - CN 116281225 A (HUZHOU TEACHERS COLLEGE) see figure 1Categories:X Document indicating lack of novelty or inventive step A Document indicating technological background and / or state of the art. Y Document indicating lack of inventive step if P Document published on or after the declared priority date but combined with one or more other documents of same category'. before the filing date of this invention. & Member of the same patent family E Patent document published on or after, but with priority date earlier than, the filing date of this application.Field of Search:International Classification:Subclass Subgroup Valid From A01G 0031 / 06 01 / 01 / 2006 A01G 0009 / 14 01 / 01 / 2006Application No: GB2313429.9Examiner: Hayley YatesClaims searched: 15-30Date of search: 27 February 2024Patents Act 1977Further Search Report under Section 17Documents considered to be relevant:Category Relevant to claims Identity of document and passage or figure of particular relevance A A A A A - CN 111512944 A (CHENGDU ACAD AGRICULTURE &FORESTRY SCIENCES) see figures 1 &2 WO 2019 / 042131 Al (BEIJING ELECTRIC VEHICLE CO LTD) see figure 1 CN 114834808 A (ZHEJIANG GALAX1S TECH GROUP CO LTD) see figure 3 CN 214058983 U (JINGMEN 53 JINLI COLOR PRINTING PACKAGE CO LTD) see figure 1 CN 210619206 U (ANHUI INST INFORMATION TECH) see figures 1-4Categories: X Document indicating lack of novelty or inventive step A Document indicating technological background and / or state of the art. Y Document indicating lack of inventive step if combined with one or more other documents of same category. P Document published on or after the declared priority date but before the filing date of this invention. & Member of the same patent family E Patent document published on or after, but with priority date earlier than, the filing date of this application.Field of Search:Search of GB. EP, WO &US patent documents classified in the following areas of the UKCX :Worldwide search of patent documents classified in the following areas of the TPC____________A01G; B65G_______________________________________________The following online and other databases have been used in the preparation of this search reportWPI, EPODOC; SEARCH-PATENTInternational Classification:Subclass Subgroup Valid From A01G 0031 / 06 01 / 01 / 2006Subclass Subgroup Valid From A01G 0009 / 14 01 / 01 / 2006

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