Gripper, system and method for manipulating plants or plant containers

Abstract

SUMMARY OF THE DISCLOSURE Grippers, systems and methods for manipulating plants or plant containers are provided. [Solution] The present invention relates to a gripper, system and method for manipulating plants or plant containers in a vertical farming facility, the gripper including a gripper head with a first gripping element and a second gripping element, the gripper head being transported between a clamping position in which the first gripping element and the second gripping element are positioned close to each other to clamp a plant or plant container therebetween, and a release position in which the first gripping element and the second gripping element are positioned away from each other to release the plant or plant container.

Description

[Technical field]

[0001] The present invention relates to a gripper for manipulating plants or plant containers. Traditionally, the plant is grown by farmers in field cultivation. For this reason, certain environmental conditions are essential for successful cultivation. Specifically, the soil must be rich in humus and therefore must provide sufficient amounts of nutrients. Additionally, the soil as well as the surrounding air must provide sufficient moisture to promote plant growth. In addition, sufficient heat dissipation must be ensured. Additionally, it is important to note that cultivation of plants is closely linked to the provision of sufficient area. [Background technology]

[0002] The world's population, and therefore the demand for adequate food, is constantly increasing. At the same time, due to anthropogenic industrial emissions and other human interference in the natural planetary system on a global scale, the climate is undergoing long-term changes, particularly unfavorable changes from the standpoint of plant cultivation, namely heat waves and water shortages, but also shortages of soil nutrients as a result of monoculture and others, are some of the difficult phenomena and examples of the most likely deterioration of cultivation conditions that farmers are currently facing and will face periodically in the future. Scientific evidence indicates that unfavourable agricultural conditions continue and that disastrous events are occurring even more frequently at a time when stable, predictable and controllable growing conditions are in fact necessary for optimal agricultural yields.

[0003] One approach to solving this problem can be found in so-called indoor or vertical farming techniques, where crops are grown in vertically stacked layers placed inside buildings, containers or the like. This technology incorporates controlled environment agriculture to optimize plant growth and increase crop yields, leading to reduced agricultural land use. Furthermore, vertical farming can reduce human interference in the cultivation process through automation, which increases overall functionality since machines do not need to sleep or rest, are not affected by emotional fluctuations, and are therefore much less prone to mistakes. Automation is expected to increase over time with developments in machine learning and artificial intelligence. Vertical farming also has the parallel advantage of reducing transportation labor since cultivation can be carried out in urban areas, closer to the consumer, thereby reducing pollution and costs of extra transportation.

[0004] However, a current drawback of this approach is that vertical farming is associated with significant energy consumption compared to classical field cultivation due to the fact that lighting, climate control and nutrients must be provided entirely artificially. As a result, vertical farming can only become a solution to the aforementioned challenges if energy consumption and costs are reduced and the degree of automation and crop yield is significantly increased. Summary of the Invention [Problem to be solved by the invention]

[0005] It is an object of the present invention to provide a gripper, system and method for manipulating plants or plant containers that addresses the aforementioned problems and shortcomings. [Means for solving the problem]

[0006] The object of the present invention is achieved by a gripper for manipulating plants or plant containers in a vertical farming facility, the gripper comprising a gripper head with a first gripping element and a second gripping element, the first gripping element comprising two first lateral holding arms and the second gripping element comprising two second lateral holding arms, the gripper head being capable of being transported between a clamping position in which the first gripping element and the second gripping element are placed close to each other to clamp a plant or plant container therebetween and a release position in which the first gripping element and the second gripping element are placed away from each other to release the plant or plant container.

[0007] According to the present invention, plants or plant containers can be transported to designated locations within a vertical farming facility, such as containers. The gripper head, which comprises two gripping elements, ensures that the plant or plant container is securely clamped before being transferred. A secure clamping can be ensured by designing the gripping elements such that they are movable towards each other. Improved clamping can be achieved in a number of ways. The gripper heads can be manufactured using certain materials, such as rubber, for example, to maximize the coefficient of friction between the contacting objects or materials. Another object made of a selected material, such as rubber, is attached to the gripping element to maximize friction. Also, gripping elements of different sizes and geometries can be used to enhance clamping when designing the gripping elements. Once a rigid attachment between the gripper head and the plant or plant container is achieved, transports can be performed along different spatial axes, especially at different heights, within the vertical farming facility. By means of corresponding sensors, actors and electronic control units, the clamped plants can be optimally moved to a predefined location by surrounding the physical obstruction. Once the plants reach their predefined destination, the gripper heads can be transferred from the clamping position to a releasing position by moving the gripping elements away from each other and releasing the previously clamped plants or plant containers. Although not limited to vertical farming, the present invention can also be used to improve traditional field cultivation of plants. Generally speaking, the efficiency can be increased with grippers to the extent that the overall energy balance of vertical farming together with the final process is better than the energy balance of traditional field farming, so that the above-mentioned general problems and drawbacks of field farming can be solved, at least to some extent.

[0008] According to the invention, the two first lateral support arms have protruding free ends, which are preferably spaced apart from each other along the lateral direction. To lift any three-dimensional body, one can place a support or holding arm precisely under the center of gravity of the considered body and lift the support or holding arm, thereby lifting the body. However, any lateral force can cause the body to tilt. To lift and transport more solids more safely, at least two holding arms are required, and according to the invention at least two holding arms are required so that the plant or plant container to be lifted is placed between the two first holding arms. The first gripping element may be formed like a table fork, which traditionally includes four tines, with the two middle tines being omitted, leaving only the two outer tines. The two first holding arms are each movable simultaneously along two opposite sides of the plant or plant container to a predetermined desired position. Just at that location, at least a part of a plant or plant container can be formed directly on each holding arm. The first gripping element with its two first holding arms is then raised, thereby lifting the plant or plant container in a manner similar to a forklift lifting a pallet. It is contemplated that the lateral space between the two first retention arms is variable. In other words, the gripping element can be designed similarly to pliers in order to clamp the plant or plant container between its two first holding arms. The holding arms may also be arranged parallel to each other, converging or diverging. The holding arms may also be curved, depending on the exact geometry of the plant (container).

[0009] Additionally, the two second lateral support arms have protruding free ends, the free ends of the two second lateral support arms being spaced apart from each other along the lateral direction. The above configurations, advantages and technical effects of the first gripping element also apply to the second gripping element. In an embodiment of the invention, the first gripping element and the second gripping element may be formed identically, whereby a plant or plant container may be clamped between the gripping elements. Particularly preferred are embodiments in which the second gripping element is configured to be movable so as to be able to squeeze the plant or plant container.

[0010] In an embodiment of the invention, the first gripping element and the second gripping element are movable relative to each other along a vertical direction transverse to the lateral direction to transport the gripping head between the clamping position and the release position. The mobility of the gripping elements relative to each other ensures clamping and release of the plant or plant container. In an advantageous arrangement, the direction of movement of one or both gripping elements is directed along a vertical axis during clamping, such as while holding a plant container arranged on a tray. It is important to note that the vertical direction as defined in the present invention is oriented relative to the lateral direction and does not necessarily correspond to a fixed vertical direction oriented perpendicular to the ground. Thus, the vertical direction can be tilted with respect to an axis perpendicular to the horizontal ground, for example, during the release of a plant or plant container at its target position. Tilting of the plants (containers) at their end positions may be desirable to improve heat dissipation conditions for multiple plants or plant containers.

[0011] According to the invention, the first gripping element is a top gripping element and the second gripping element is a bottom gripping element, the top gripping element being movable along a vertical direction relative to the bottom gripping element. It is possible that only one of the gripping elements, the top gripping element, is movable while the other, the bottom gripping element, remains stationary during clamping and / or release. It is also conceivable that both gripping elements are movable in order to realise the clamping function of the gripper.

[0012] In an embodiment of the invention, the upper gripping element comprises an upper retaining means to which two first lateral retaining arms are connected, the upper retaining means being angled or curved. The two first retaining arms may be formed separately from the upper retaining means. Alternatively, the two first lateral retention arms and the upper retention means may be formed as a single piece, i.e. integrally. Particular shapes of the upper retention means, for example angled or curved shapes, may be desirable to suit the particular requirements of an application. Additionally, the top gripping element as well as the bottom gripping element can be made from sheet metal which is easily curved. Also, the use of sheet metal, as opposed to a bulky body, allows for more economical manufacture.

[0013] According to the invention, the gripper comprises an articulated arm which supports, preferably rotatably supports, the gripper head, the articulated arm being pivotally connected to a further articulated arm which is supported by a base element, the articulated arm and / or the further articulated arm being pivotable about at least two independent spatial axes. The multiple articulated arms connected to each other and supporting the gripper head can move, rotate and / or pivot along and about all three spatial axes. The base member that indirectly supports the gripper head can be stationary or movable within the vertical farming facility, thereby increasing the number of degrees of freedom for the gripper head.

[0014] Another object of the invention is a system including a gripper according to one of the previous embodiments and a plant container, the plant container including a base element providing a cavity for a plant and at least two rim portions. It is contemplated that the plant container may be formed into a number of different configurations. The base member may be enlarged or may include a recess. The base member can be elongated with a relatively small cross-section or wide with a relatively large cross-section. Additionally, the base member may have a polygonal or circular cross-section or a combination thereof. The volume of the cavity can depend on the wall thickness of the base member and provides space for the potting soil necessary to provide sufficient amounts of nutrients and moisture to the plants. The rim portion disposed on the base member serves to promote and improve the connection between the gripper and the plant container, and thus acts as a means to ensure safe transport to a predetermined position within the vertical farming facility. The at least two rim portions may be located anywhere on the exterior of the plant container, specifically at ends of the base member relative to a longitudinal axis of the plant container. The plant container can be made from plastic or biodegradable materials.

[0015] In an embodiment of the system, two rim portions extend outwardly from opposite sides of the base element, and preferably the rim portions are part of a single piece peripheral rim of the base element. The base member and rim are a one-piece element manufactured, for example, by injection molding. The pellets utilized in manufacturing the plant containers can also contain dyes for multiple colors. The outwardly directed extensions of the rim act as protrusions and can act as a connection means to the gripper. The rim may be disposed perpendicular to the longitudinal axis of the plant container or may be at least partially angled relative to the longitudinal axis. The rim may include different portions, the demarcation of the different portions may be set at transition spots such as corners of the plant container.

[0016] According to the invention, in the clamping position the rim portion of the base element is clamped between the first and second gripping elements to connect the plant container to the gripper. It is possible that only some of the rim portions are clamped by the gripping elements in the clamping position, whereas others do nothing. Regardless of how the rim and its portions are precisely formed, the base member configuration can be determined independent of the clamping force by clamping only the rim portion and therefore focusing the clamping force only on the rim in order to create a sufficiently secure connection between the gripper and the plant container. The rim is located at the top of the container because such a location provides better access to the container by the gripper. Moreover, if the gripper can clamp the container at the end or head of the base member, it is even more possible to insert the container to a particular depth in the orifice.

[0017] In an embodiment of the invention, a system includes a vertical farming facility, the vertical farming facility including a planting wall, particularly a substantially vertical planting wall, the planting wall including a plurality of orifices, particularly grooves, into which plants or plant containers can be inserted. The vertical farming facility includes multiple planting walls that can be movably formed to achieve more compact facilities. The mobility of the planting wall can also serve to optimize the movement of the gripper (head), for example by reducing the distance between the target planting wall and the gripper head. A planting wall can be used on both sides by inserting plants or plant containers on both sides of the wall. Plants or plant containers can be inserted and removed from the planting wall at different heights along the entire width of the wall in order to optimally use the wall area for plant cultivation. Plants or plant containers can be deployed within dedicated orifices in the planting wall, which can feature a multitude of geometries. The plant or plant container may be mechanically stabilized, specifically by a foam material disposed in, on or around the orifice or a combination thereof. The plants and plant containers can be inserted at an angle, in other words in a tilted position relative to the respective planting wall. The planting walls are designed to allow liquid to flow through them, providing nutrient solution to the plants. In an embodiment of the invention, the plant container includes a recess to allow the nutrient solution to be conveniently distributed to the plant.

[0018] According to the invention, the gripper is configured to remove or place a plant or plant container from or into an orifice in the planting wall. The above advantageous embodiments of the gripper and system also apply to grippers configured to remove plants or plant containers from or place them into orifices in a planting wall.

[0019] Another subject of the invention is a method for manipulating plants or plant containers in a vertical farming facility, in which the plant or plant container is removed from a tray by a gripper according to one of the above embodiments in a first step and the removed plant or plant container is placed by the gripper in a second step in a planting wall, in particular in an orifice of a substantially vertical planting wall.

[0020] The method of the present invention provides the same advantages as those described in connection with the gripper and system above. Any examples and embodiments described for the gripper and system also apply to the method and vice versa.

[0021] The supply of plants to the vertical farming facility can be stockpiled, specifically using trays on which the plants and / or plant containers are placed. The trays can be collected at a seedling station near the entrance of the vertical farming facility, the seedling station being within the range of motion of the gripper, specifically inside the vertical farming facility. In a first step, the individual plants or plant containers are connected to a gripper and can be transported sequentially, i.e. one by one, to the planting wall. It is also conceivable that the plants or plant containers are transported in trays near the target planting wall prior to the first step and only afterwards the plants or plant containers are removed individually from the trays. In a second step, a plant or plant container is inserted into a dedicated orifice in the planting wall.

[0022] According to the invention, the gripper head is transferred from the release position to the clamping position during a first step, and the gripper head is transferred from the clamping position to the release position during a second step. It is possible to divide the first step into two actions. The transition from the released position to the clamped position can be considered the first action of the first step. Moreover, lifting the clamped plant or plant container from the tray can be considered a second movement of the first step. Similarly, the second step could be divided into two actions. The insertion of the plant or plant container into the planting wall may be construed as the first act of the second step, whereas the subsequent transition from the clamped position to the released position may be considered as the second act of the second step.

[0023] In an embodiment of the invention, the plant or plant container is removed from the planting wall by the gripper in a third step and is removed by the gripper in a fourth step. Analogous to the first step, it is possible to divide the third step into two actions: tightening and removing. After the plants have reached their required and / or planned maturity, the plants can be removed from the wall. For this purpose, in a first action of the third step, the gripper can be transported to ensure the connection between the gripper and the plant or plant container by transitioning the gripper from a release position to a clamping position. In a second act of the third step, the plants or plant containers may be lifted and / or removed from the planting wall. After the third step is completed, a fourth step of removing the plant or plant container can be performed. After the plants or plant containers are removed from the planting wall, it is conceivable that the plants or plant containers are collected in a dedicated storage or collection means before they leave the vertical farming facility.

[0024] These and other characteristics, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention. The description is given for the sake of example only, without limiting the scope of the invention. The reference figures quoted below refer to the attached drawings. [Brief description of the drawings]

[0025] [Figure 1] 1 illustrates a gripper head in a release position according to a first embodiment of the present invention. [Diagram 2] 13A and 13B illustrate diagrammatically a gripper head together with a plant container and a plant therein in a release position according to a second embodiment of the present invention; [Diagram 3] 3 illustrates diagrammatically the arrangement depicted in FIG. 2 in a clamped position; [Figure 4] Illustrated is a tray with two plant containers therein. [Diagram 5] 1 illustrates, in a perspective view, a schematic representation of an embodiment of a vertical farming facility according to the invention; [Figure 6] 6 illustrates a gripper grabbing a tray from a seedbed station of the vertical farming facility depicted in FIG. [Figure 7] 6 illustrates a gripper deploying plant containers into a planting wall within the vertical farming facility depicted in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The present invention will be described with respect to particular embodiments and with reference to certain drawings but the invention is not limited thereto but only by the claims. The drawings described are non-limiting. In the drawings, the size of some of the elements may be exaggerated and not drawn on scale for illustrative purposes.

[0027] When an indefinite or definite article such as "a", "an" or "the" is used when referring to a singular noun, this includes a plural of that noun unless some other specific statement is made.

[0028] Moreover, the terms first, second, third, etc. in the description and claims are used to distinguish between similar elements and are not necessarily used to describe a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operating in sequences other than those set forth herein.

[0029] In FIG. 1, a gripper head 1 ′ of the present invention is shown for manipulating plants 2 ′ or plant containers 2 in a vertical farming facility 20 . This gripper head 1 ′ then forms the most distant part of the gripper 1 and can be connected in a movable arrangement to a plant 2 ′ or to a plant container 2 . More specifically, the gripper head 1 ′ comprises a first gripping element 3 and a second gripping element 4 . Both the first gripping element 3, the second gripping element 4 are manufactured from sheet metal and are curved and angled.

[0030] The first gripping element 3 comprises two first lateral retaining arms 3', each of which comprises a distal free end and a proximal end, which is connected to an upper retaining means 3''. The first lateral retention arms 3' are spaced apart from one another and arranged parallel to one another. The free end is at least partially tapered, which facilitates positioning around the plant container 2 .

[0031] Similarly, the second gripping element 4 comprises two second lateral retaining arms 4', each of which comprises a distal free end and a proximal end, the proximal end being connected to a bottom retaining means 4''. The second lateral retention arms 4' are spaced apart from one another and arranged parallel to one another. The free end is at least partially tapered, which facilitates positioning around the plant container 2 .

[0032] The first gripping element 3 and the second gripping element 4 are very similar in shape and size. The first gripping element 3 and the second gripping element 4 differ only in one direction of bending. In other words, their manufacture is nearly identical in all but one manufacturing step. The first gripping element 3 and the second gripping element 4 are arranged parallel to each other and each one is connected to an articulated arm 8 by means of two bolts. The articulated arm 8 rotatably supports the gripper head 1'.

[0033] In FIG. 2 a gripper head 1' according to a second embodiment of the invention is shown diagrammatically in a side view. Also depicted is a plant 2' arranged within a large, elongated plant container 2. The longitudinal axis A of the plant container 2 is arranged parallel to the vertical direction V. The plant container 2 includes a base element 2″ made from polyethylene, although other plastics or biodegradable materials may be utilized as raw materials for producing the plant container 2. The base element 2" defines a cavity 2"' inside it which can be filled with potting soil together with a plant 2'. The plant 2 ′ protrudes at least partially beyond the top 2 ″″ of the plant container 2 . Furthermore, on each of the four sides of the plant container 2, one recess each is formed to save material and therefore weight and cost. Most importantly, the recesses can conveniently provide water or an aqueous solution containing nutrients to the plant container 2 and the potting soil. Moreover, a peripheral rim 9 is formed at the higher end relative to FIG. 2 of the plant container 2 . The rim 9 includes four rim portions 9', each rim portion 9' being disposed on one side of the base member 2''. Additionally, rims 9 extend outwardly from all four sides of the base member 2" and protrude into the base element 2". The rim 9 or rim portion 9 ′ is arranged largely perpendicular to the longitudinal axis A.

[0034] The gripper head 1' in the released position is shown in Figure 2, meaning that the first gripping element 3 and the second gripping element 4 are spaced apart from each other in the vertical direction V, the first gripping element 3 being configured to be movable and acting as an upper gripping element, whereas the second gripping element 4 is immovable and acts as a bottom gripping element. The term release position refers in other words to the situation in which the rim 9 is not clamped between the two first lateral retention arms 3' of the first gripping element 3 and the two second lateral retention arms 4' of the second gripping element 4. A gap is formed between the head 2'''' and the two first lateral retaining arms 3', while the second lateral retaining arms 4' support a rim 9 on two opposite sides of the plant container 2, each of the second lateral retaining arms 4' supporting a rim portion 9'.

[0035] In FIG. 3 the arrangement depicted in FIG. 2 and including the gripper head 1' together with the plant container 2 and the plant 2' is shown in a perspective view. Furthermore, the entire arrangement is shown in the clamped position. The second lateral retention arm 4' supported two opposing rim portions 9' whilst the first lateral retention arm 3' moved downwards in a vertical direction V, thereby clamping the rims 9'. In FIG. 3 it is clear that the first lateral retention arm 3′ and the second lateral retention arm 4′ are each offset in a lateral direction L, which is perpendicular to the vertical direction V.

[0036] In such a clamping position, the plant container 2 together with the plant 2' can be transported by the gripper 1 to a target position within the range of motion of the gripper 1, specifically to a planting wall 20' according to one embodiment of the present invention, as described further below.

[0037] In FIG. 4, one embodiment of a tray 20'' according to the present invention is shown. As shown in FIGS. 2 and 3, two plant containers 2 are placed in a tray 20 ″, which can be made from the same plastic as the plant containers 2 . The size and geometry or general three-dimensional design of the tray 20" and the plant container 2 match each other so that the plant container 2 can be inserted into the dedicated cavity of the tray 20" without too much clearance. However, one essential requirement in a configuration including a tray 20" and a plant container 2 is that the plant container 2 protrudes sufficiently beyond the top edge of the tray 20" for the inventive gripper 1 or gripper head 1' to connect to the rim 9 by a clamping means and thereby smoothly and / or automatically remove or grip the plant container 2. It is also conceivable to lift the plant container 2 from the tray 20'' by at least partially supporting the rim 9 and simply pushing it up. In other words, fastening may not be absolutely necessary to lift the plant container 2, but may be absolutely necessary for subsequent movements such as transporting it along the three spatial axes and about the spatial axes and deploying the plant container 2 at a predefined position inside the vertical farming facility 20.

[0038] In FIG. 5, an embodiment of a vertical farming facility 20 formed as a container is shown. FIG. 5 further illustrates the gripper 1 disposed inside a container 20 . The gripper 1 includes a gripper head 1' and an articulated arm 8 which rotatably supports the gripper head 1'. Furthermore, the articulated arm 8 is pivotally connected to a further articulated arm 8 ′ which is supported by a base member 10 , the base member 10 being fixed to a container 20 . However, it is contemplated that in an arrangement such as that shown in FIG. 5, the base member 10 is rotatably connected to the container 20 . In general, rotation of the gripper head 1' about all three spatial axes can be performed. It should be understood that dimensions of any configuration of gripper 1 shown in FIG. 5 are approximate rather than bearing actual measurement and / or proportional to other illustrated objects.

[0039] FIG. 5 further illustrates a planting wall 20', a seedbed station 20''' which at first glance resembles a desk or workbench, the seedbed station 20''' being positioned near the entrance of the container 20, and finally a tray 20'' disposed on the horizontal surface of the seedbed station 20'''. The seedbed station 20''' includes multiple surfaces that allow multiple trays 20'' to be placed on the surface of the seedbed station 20'' at one time.

[0040] The planting walls 20' are arranged parallel to each other and are configured to be movable such that the planting walls 20' remain parallel to each other during movement. The planting wall 20' is covered on both sides with a foam material 20'''', which helps to ensure mechanical stability of the plant 2' or plant container 2 inserted within the planting wall 20'. The planting wall 20' as well as the foam material 20'''' include a plurality of overlapping openings for the plants 2' or plant containers 2 to be inserted therein. It is contemplated that each side of the planting wall 20' may include a number of horizontally extending grooves at different heights. In other words, each groove is disposed parallel to the ground or container floor. Alternatively, the grooves may be arranged vertically, in other words upright on the ground or container floor. In either case, the openings in the foam material 20'''' are positioned in an overlapping manner relative to the grooves.

[0041] In addition, the planting wall 20' is designed to allow an aqueous solution to flow through the planting wall 20' and deliver nutrients necessary for the growth of the plant 2' to the plant 2' and / or plant container 2 inserted within the wall 20'. Therefore, ensuring physical contact between the plant 2' and the aqueous solution is important for successful cultivation. For this purpose, a suitable plant container design is essential, for example as shown in Figures 2 and 3.

[0042] FIG. 6 illustrates the first step of the method of the invention. The gripper 1 grasps a plant container 2 with a plant 2' therein from a tray 20'' arranged on one of the surfaces of the seedbed station 20'''. Alternatively, before carrying out the first step of the method, the tray 20'' can be picked up by the gripper 1 from the seedbed station 20''' and transported somewhere within the container 20 and placed in a more suitable location. In other words, the seedbed station 20''' can be interpreted as a temporary storage before the first step of the method is carried out. Following the first step, the removed plant 2' or plant container 2 is placed by the gripper 1 in an orifice of a vertical planting wall 20' in a second step, as shown in FIG. For this purpose, the gripper head 1' inserts the plant 2' and / or plant container 2 through the foam material 20'''' and into the planting wall 20', thereby mechanically fixing the plant 2' and / or plant container 2 within the planting wall 20'. Advantageously, the plant 2' and / or plant container 2 is inserted such that the plant 2' and / or plant container 2 has an angle with respect to the planting wall 20' or foam material 20''''. Preferably, regardless of the final inclination of the plant 2', the leaves of the plant are at least partially directed towards the ceiling of the container 20 and a suitable lighting device is positioned to provide sufficient heat dissipation to the plant 2' and therefore successful cultivation.

[0043] During a first step of the method, the connection between the gripper 1 and the plant 2' or plant container 2 is realised by clamping. After completion of the second step of the method, the gripper head 1 ′ releases the plant 2 ′ or the plant container 2 .

[0044] After successful cultivation, the plants 2' or plant containers 2 are removed from the planting wall 20' by the gripper 1 in a third step and placed on the tray 20'' by the gripper 1 in a fourth step. [Explanation of symbols]

[0045] 1 Gripper 1' Gripper head 2 plant containers 2' plant 2” Base Element 2”’ hollow 2”” head 3 First gripping element 3' First Lateral Retention Arm 3” upper retention means 4 Second gripping element 4' Second Lateral Retention Arm 4” bottom retention means 8 Jointed Arm 8' Extra Articulated Arm 9 Rims 9' Rim 10 Base member 20 Vertical farming facilities, containers 20' planting wall 20” Tray 20"' Nursery Station 20”” Foam Material L Horizontal V vertical direction A Longitudinal axis

Claims

1. a vertical farming facility (10); a plant container (2) comprising a base element (2") providing a cavity (2"') for a plant (2') and at least two rim portions (9') extending outwardly from opposite sides of the base element (2"), preferably the rim portions (9') being part of a single-piece peripheral rim (9) of the base element (2"); A gripper (1) for manipulating a plant (2') or a plant container (2) in the vertical farming facility (10), the gripper (1) comprising a gripper head (1') with a first gripping element (3) and a second gripping element (4), the first gripping element (3) comprising two first lateral holding arms (3'), the second gripping element (4) comprising two second lateral holding arms (4'), the gripper head (1') being configured to grip the plant (2') between the first gripping element (3) and the second gripping element (4). a gripper (1) that can be transferred between a clamping position in which the first gripping element (3) and the second gripping element (4) are brought close to each other to clamp a plant (2') or a plant container (2), and a release position in which the first gripping element (3) and the second gripping element (4) are brought apart to release a plant (2') or a plant container (2), and in the clamping position the rim portion (9') of the base element (2") is clamped between the first gripping element (3) and the second gripping element (4) to connect the plant container (2) to the gripper (1); A system (100) comprising:

2. 2. The system (100) according to claim 1, wherein each of the two first lateral support arms (3') has a protruding free end, and the free ends of the two first lateral support arms (3') are spaced apart from each other along the lateral direction (L).

3. 2. The system (100) of claim 1, wherein each of the two second lateral support arms (4') has a protruding free end, and the free ends of the two second lateral support arms (4') are spaced apart from each other along a lateral direction.

4. 2. The system (100) according to claim 1, wherein the first gripping element (3) and the second gripping element (4) are movable relative to each other along a vertical direction (V) transverse to the lateral direction (L) to transfer the gripper head (1') between the clamping position and the release position.

5. 2. The system (100) of claim 1, wherein the first gripping element (3) is an upper gripping element and the second gripping element (4) is a lower gripping element, the upper gripping element being movable along a vertical direction (V) relative to the lower gripping element.

6. 6. The system (100) of claim 5, wherein the upper gripping element comprises an upper holding means (3") to which the two first lateral holding arms (3') are connected, the upper holding means (3") being angled or curved.

7. 2. The system (100) of claim 1, wherein the gripper (1) comprises an articulated arm (8) that supports, preferably rotatably supports, the gripper head (1'), the articulated arm (8) being pivotally connected to a further articulated arm (8') that is supported by a base member (10), the articulated arm (8) and / or the further articulated arm (8') being pivotable about at least two independent spatial axes.

8. 2. The system (100) according to claim 1, wherein the vertical farming facility (20) comprises a planting wall (20'), in particular a substantially vertical planting wall (20'), the planting wall (20') comprising a plurality of orifices, in particular grooves, into which plants (2') or plant containers (2) can be inserted.

9. 9. The system (100) according to claim 8, wherein the gripper (1) is configured to remove a plant (2') or a plant container (2) from or place it into the orifice of the planting wall (20').

10. A method for manipulating a plant (2') or a plant container (2) in a vertical farming facility (20), wherein the plant (2') or the plant container (2) is removed from a tray (20'') by a gripper (1) in a first step, the gripper (1) being a gripper (1) for manipulating the plant (2') or the plant container (2) in the vertical farming facility (10), the gripper (1) comprising a gripper head (1') with a first gripping element (3) and a second gripping element (4), the first gripping element (3) having two second gripping elements (4). the second gripping element (4) comprises one lateral holding arm (3'), the second gripping element (4) comprises two second lateral holding arms (4'), the gripper head (1') being capable of being transferred between a clamping position in which the first gripping element (3) and the second gripping element (4) are placed close to each other to clamp a plant (2') or a plant container (2) therebetween, and a release position in which the first gripping element (3) and the second gripping element (4) are placed apart from each other to release the plant (2') or the plant container (2); said first gripping element (3) is an upper gripping element, said upper gripping element comprises an upper holding means (3"), said upper holding means (3") being angled or curved; The plant container (2) comprises a base element (2") providing a cavity (2"') for a plant (2') and at least two rim portions (9'), the two rim portions (9') extend outwardly from either side of the base element (2"), and preferably the rim portions (9') are part of a single-piece peripheral rim (9) of the base element (2"); In the clamped position, the rim portion (9') of the base element (2") is clamped between the first gripping element (3) and the second gripping element (4) to connect the plant container (2) to the gripper (1); In a second step, the removed plant (2') or plant container (2) is placed by the gripper (1) into an orifice of a planting wall (20'), in particular a substantially vertical planting wall (20').

11. 11. The method according to claim 10, wherein the gripper head (2) is transferred from the release position to the clamping position during the first step, and the gripper head (2) is transferred from the clamping position to the release position during the second step.

12. 12. The method according to claim 11, wherein the plant (2') or plant container (2) is removed from the planting wall (20') by the gripper (1) in a third step and is removed by the gripper (1) in a fourth step.

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