System for operating a work head in a vertical farming facility

Abstract

A system for operating a work head within a vertical farming facility is provided. [Solution] The present invention relates to a system for manipulating a working head within a vertical farming facility, the system including a cantilever and a beam, the beam connected to the cantilever, the cantilever arranged primarily horizontally and including a cantilever axis, the beam arranged primarily vertically and including a beam axis, the cantilever being movable within the vertical farming facility, and a gripper including the working head being movably connected to the beam and configured to manipulate plants and / or plant containers.

Description

[Technical field]

[0001] The present invention relates to a system for operating a working head in a vertical farming facility in which plants can be grown. 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 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, importantly, plant cultivation 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 a significant energy consumption compared to classical field cultivation due to the fact that lighting, climate control and nutrition must be provided entirely by technological means. 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 system that addresses at least some of the aforementioned problems and shortcomings. [Means for solving the problem]

[0006] The object of the present invention is achieved by a system for operating a work head in a vertical farming facility, the system comprising a cantilever and a beam, the beam being connected to the cantilever. and a cantilever arranged primarily horizontally and including a cantilever axis, a beam arranged primarily vertically and including a beam axis, the cantilever being movable within the vertical farming facility, and a gripper including a working head being movably connected to the beam and configured to manipulate plants and / or plant containers.

[0007] According to the present invention, plants and / or plant containers can be transported to designated locations within a vertical farming facility, such as a container or greenhouse. The systems of the present invention include cantilevers and beams, with the cantilever itself being viewed as a special type of beam. The cantilevers and beams feature different spatial alignments to increase the range of motion of the system. Both can feature a body that can be made from a single metal, steel, or another alloy for increased strength and / or hardness. They can have various cross sections and be formed, for example, as double T-beams. However, other materials and cross sections are contemplated, for example, to save money or increase the quality and / or life of the parts utilized. And it is further considered that the cantilevers and beams have a main direction of extension in the cantilever axis and beam axis, respectively, and their cross sections are, if necessary, not constant along the main direction of extension. In other words, the cantilevers and beams may each include multiple sections, the multiple sections having different profiles or cross sections. The cantilevers and beams can have a telescopic design and therefore can change length. Such a system with two non-parallel compositions, both with different orientations in space, can facilitate operation by allowing plants and / or plant containers to be transported to an infinite number of positions within a vertical farming facility. The net relative motion between the cantilever and the beam can increase the utility of the system by making it more nimble or flexible so to speak. Furthermore, the mobility of the beam relative to the cantilever can increase the energy efficiency of the system, as in some circumstances it may be sufficient to move only the beam rather than the entire system. Moreover, the gripper that is movably mounted to the beam may include multiple arms that are rotatably connected to each other, thus increasing the flexibility of the system by increasing the number of degrees of freedom of the system. Multiple arms also enable the system to catch rounded corners on plants and / or plant containers. The present invention can ensure a compact design and therefore take up less facility and working space.

[0008] The working head can have a number of working elements which can be used interchangeably. For example, the working head can be designed as a gripper head, the most remote components of the gripper ensuring a firm connection to the plants and / or plant containers and transporting them from one point to another within the vertical farming facility. The working head can also be a sensor such as a camera that detects the color, shape, size, maturity, etc. of the plant. Furthermore, the working head can be a sprayer capable of spraying liquid or gas, for example, to promote plant growth, health and lifespan or to avoid undesirable phenomena such as spoilage or bacterial spread. The working head may also include a cleaning unit and / or an electronic stimulant for enhancing plant growth by means of electrical impulses. It is further contemplated that the working head is a contact unit that enhances plant growth by physical contact with the plant. All working elements can be stored in a dedicated toolbox, from which the required working element can be taken and placed on the gripper. Installation of the work head can be done fully automatically by the system, or manually by a technician, or a combination of both. After operation, each work head can be returned to the toolbox for storage.

[0009] In an embodiment of the invention, the cantilever comprises a first free end and a first connected end, and / or the beam comprises a second free end and a second connected end, the beam being connected to the cantilever via the second connected end. The cantilevers and beams may be formed elongated, each including exactly two ends. The ends may be defined, for example, as the last 10% or 20% or 30% in length relative to the overall length of the cantilever and beam. The ends, particularly the connecting ends, can be used to connect other bodies or devices on which the system may operate, such as pedestal bearings that can move the system along a desired motion path. The edge portion may include an outer surface, an interior volume, and in particular an end surface, the end surface being disposed perpendicular to an adjacent surface. The free end can be free in that it is not attached to a surrounding body and is movable through space, but the free end can also be connected to a surrounding object and therefore fixed in space. Further, it is contemplated that the free end may be at least partially fixed to an adjacent item and still be movable through space.

[0010] The vertical farming facility includes a first facility wall to which the cantilever is connected via a first connection end, the cantilever being capable of translational movement vertically relative to the first facility wall. The length of the cantilever may be such that the maximum possible area of ​​the vertical farming facility along the cantilever axis may be achieved by the system. The length of the cantilever is approximately equal to or equal to the width of the vertical farming facility, or even slightly longer than said width of the vertical farming facility, and the cantilever axis is parallel to said width of the vertical farming facility. The vertical farming facility has a rectangular shape in area, but is not limited to a rectangular shape. The cantilever, arranged perpendicular to the first facility wall and configured to be movable perpendicular to the cantilever axis, can cover the entire area of ​​the vertical farming facility. Such a system requires only a simple electronic control unit as the need for complex movements is eliminated or at least reduced, and the cantilever only needs to move along two opposing directions of a single axis.

[0011] According to the invention, the cantilever is connected to a first facility wall by means of a first wall rail. The first wall rail is straight along a main extension direction of the first wall rail and parallel to the first facility wall, while the first wall rail is rigidly connected to the first facility wall. Furthermore, different cross sections for the first wall rail are contemplated. The cross section of the first wall rail is configured such that a form fit is formed between the first wall rail and the first connection end. The form fit can prevent the cantilever from being pulled away from the first wall rail. The first wall rail may include a C-shaped cross section similar to a curtain rail found in a typical household, with three rectangular sides closed and a fourth side that is partially open, particularly the middle portion. Compared to a curtain rail, the partially open side faces downward along a vertical direction, and the first wall rail can be rotated by an angle of 90 degrees so that the partially open side of the cross section faces horizontally, in particular laterally parallel to the cantilever axis. The first wall rail may thus be attached to the first facility wall, for example by bolts. In this manner, the cantilever can be releasably or non-releasably connected to the first wall rail. It is also conceivable to provide a combination of form-fit and pressure-fit between the first wall rail and the first connecting end. Such embodiments can be found, for example, on both sides of a drawer, where, for their shape, two corresponding and / or complementary rails slide along each other using balls or globules and, optionally, a lubricant such as grease.

[0012] In this embodiment, the cantilever includes a first guide rail arranged parallel to the cantilever axis, and the beam is capable of translational movement along the first guide rail. The first guide rail may be a separate component and conveniently be connected to the top surface of the cantilever. It is also conceivable that the first guide rail is connected to a side of the cantilever. Additionally, the first guide rail may be formed as a single piece with the cantilever. For example, the cantilever can be manufactured from an elongated block of metal, for example a metal block comprising aluminum, and machined or engraved with a suitable shape, said shape acting as the rail. Alternatively, the cantilever can be manufactured by casting, with the final cantilever including a rail-like elongated notch. In addition, the first guide rail includes a limiter at the first free end as well as at the first connecting end that prevents the beam, which can move along the first guide rail, from exceeding a certain position along the first guide rail on both sides. That way the beam can be safely guided without the risk of derailing over one of the cantilever ends. Such a restrictor may also be formed as a single piece with the cantilever.

[0013] The cantilever is pivotally connected to the first facility wall. By pivoting the cantilever, the need for extra linear movement of the cantilever can be eliminated. The cantilever may be rotatably fixed at a first connection end, for example to a first facility wall or facility ground, for example using a hinge joint, and may pivot back and forth like a door or automobile windshield wiper. In that way, large area vertical farming facilities can be provided generally or specifically supplied with plants and / or plant containers. The area provided correlates with the length of the cantilever, for example the width of the facility embodied by the second facility wall defines the extent of the cantilever length.

[0014] In this embodiment, the beam includes a second guide rail arranged parallel to the beam axis, and the gripper is movable along the second guide rail. The above mentioned effects and advantages of the first guide rail also apply to the second guide rail, taking into account the different orientations of the beams and cantilevers. The second guide rail may be a separate component and connected to the side of the beam. It is conceivable that the second guide rail is formed in one piece with the beam. For example, the beam, similar to a cantilever, can be manufactured from an elongated block of metal, for example a block of metal comprising aluminum, and machined into the appropriate shape to act as the rail. Alternatively, the beams can be manufactured by casting, with the final beam including rail-like slots. In addition, the second guide rail includes limiters on both sides at the second free end as well as the second connecting end that prevent the gripper, which can move along the second guide rail, from exceeding certain positions on both sides. That way the gripper can be safely guided over one of the sides of the beam without the risk of derailing. Such a restrictor may also be formed as a single piece with the beam. The gripper may be connected to the second guide rail by means of a base member which may form a proximate part of the gripper.

[0015] According to the present invention, a vertical farming facility comprises a vertically arranged planting wall, the planting wall comprising grooves and / or openings into which plants and / or plant containers can be inserted. The planting wall can be used on both sides by inserting plants or plant containers on both sides of each wall. Plants and / or plant containers can be inserted and removed from the planting wall at different heights and 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 openings in the planting wall, which can feature a number of cross-sections, such as rectangular, circular or oval. Alternatively, the plants and / or plant containers can be inserted into grooves that extend horizontally at different heights, parallel to the facility ground, or vertically, perpendicular to the facility ground. The plants and / or plant containers may be mechanically stabilized, in particular by foam materials disposed in, on or around the openings, or grooves, or a combination thereof. The plants and plant containers can be inserted at an angle, that is to say in a tilted position relative to the respective planting wall. It is further contemplated, and preferably, that the planting walls are designed to allow liquid to flow through them to provide nutrient solution to the plants. In such an embodiment of the invention, the plant container may include a recess so that the nutrient solution can be conveniently distributed to the plant.

[0016] According to the invention, the cantilever is movable within a plate arranged below the planting wall. The planting wall is then positioned to float within the vertical farming facility. The planting wall can be connected, for example, to a facility ceiling or a facility wall. The planting walls are of equal size and geometry and are all positioned at the same height. Specifically, the vertical distance between the facility ground and the lower edge of the planting wall is preferably longer than the vertical dimension of the cantilever. That way the cantilever can move under the planting wall without colliding with it. Regardless of whether the cantilever is rotatably or linearly movable attached to the wall, the cantilever can move without any hindrance.

[0017] According to the invention, the planting walls are individually movable along an axis parallel to the cantilever axis. A smaller facility can be built and used using movable planting walls. All planting walls are arranged parallel to each other. In this embodiment, all of the planting walls can be moved towards each other while remaining parallel without damaging the plants and / or plant containers by squeezing them between the planting walls until they are almost in physical contact. The planting walls of one or one bundle can then be moved away so that only two planting walls are clearly apart from each other, said two planting walls building a passage between them. Such a configuration requires less space so that smaller vertical farming facilities can be built with movable planting walls. The planting walls are slidable parallel to one another, in other words by keeping a vertical distance from one another. The general mobility of the planting wall can help to optimize the movement of the system, and in particular the gripper head, for example by reducing the distance between the target planting wall and the gripper head. The planting wall is movable along an axis parallel to the cantilever axis. In such a configuration, the cantilevers can, for example, be positioned under all the planting walls at the same time. Each planting wall can then be worked along its entire width by lateral movement of the cantilever.

[0018] In this embodiment, the beams are at least partially transportable between the planting walls. At least two different configurations are possible. First, the cantilever is positioned parallel to the planting wall and can be longer than the main length of the planting wall. In other words, the cantilever can protrude at least partially into the planting wall. Inserting the plant and / or plant container into the planting wall may begin with arranging the beam at a first free end of the cantilever that protrudes into the planting wall. The cantilever can then be moved laterally / perpendicularly to the cantilever axis to a position between two specific planting walls without the beam colliding with the planting walls. Once the cantilever is in the target position, the beam can then be moved along the cantilever axis towards the first connection end of the cantilever. In that way, a gripper connected to the beam can work in a passage on two planting walls or on at least one side of each planting wall facing the gripper at the target position. After completely working one side of each planting wall, the beam can be driven back to the first free end of the cantilever. Finally, the cantilever can be moved further perpendicular to the cantilever axis and insertion of plants and / or plant containers in adjacent passages can be initiated anew by moving the beam along the cantilever axis. Second, the cantilever can be positioned perpendicular to the planting wall. It is contemplated that inserting the plants and / or plant containers into the planting wall may begin with placing the beam at the first connected end of the cantilever. Moving the cantilever perpendicular to the cantilever axis then ensures parallel movement of the beam / gripper relative to at least one planting wall. Once the target planting wall is fully worked, the cantilever can be moved back parallel to the main length of the planting wall, yet beyond the end of the planting wall, so that the cantilever and planting wall do not overlap in plan view. The beam, together with the gripper, can then be moved along the cantilever axis to the next position without the beam colliding with the planting wall. The insertion can be started anew by moving the cantilever perpendicular to the cantilever axis and between the two planting walls parallel to the two planting walls representing the next passage. In the first above arrangement, the position of the cantilever is fixed and the beam is moved while insertion of the plant and / or plant container occurs, whereas in the second arrangement, the position of the beam relative to the cantilever is fixed and insertion of the plant / plant container occurs while the cantilever is moved.

[0019] The cantilever includes a support element, preferably a wheel, rotatably connected to the first free end, the support element supporting the cantilever, preferably relative to the facility ground. This cantilever can then be connected to the facility wall so that it floats slightly above the facility ground. The cantilever is allowed to drift only 25%-50% of the cantilever's vertical extension. In other words, the vertical distance between the facility ground and the lower edge of the cantilever can span a quarter or half of the vertical extension of one of the cantilevers. Depending on the length of the cantilever, the weight of the beam and the weight of the gripper, etc., different amounts of bending of the cantilever are possible. In particular, the free end of the cantilever may be at risk of colliding with the facility ground. For this purpose, in order to avoid the cantilever coming into physical contact with the facility ground and being damaged, a support element, in particular a wheel, can be attached to the cantilever. The wheel can be rotatably connected to the end face of the cantilever, for example by tightening a bolt, to support the cantilever and prevent excessive bending of the cantilever. In this embodiment, the cantilever may be rotatably mounted to the facility wall. The wheels can also enhance the pivoting movement of the cantilever.

[0020] According to the invention, the cantilever comprises a further support element, preferably a further wheel, rotatably connected to the first connection end, the support element being guided by a second wall rail, the further support element being guided by the first wall rail, the first wall rail and the second wall rail being parallel to each other. The cantilever is disposed perpendicular to the planting wall and the facility wall. Additionally, the cantilever extends from the first facility wall to the second facility wall. Each wheel may be rotatably connected to an end face of a cantilever, one end face being disposed at the first free end and the other end face being disposed at the first connecting end. That way the cantilever can be supported on both sides and bending can be conveniently limited. Both wall rails may have a cross section resembling a U-like shape. In other words, the wall rail may be formed into a rectangle, the top side of which is open and directed upwards, two side sides extend vertically and act as side panels for the wheels, and a fourth / bottom side on which the wheels may rest, which supports the wheels and thus carries at least a portion of the weight of the cantilever. Due to the open top of the wall rail, the cantilever mounted wheels can be placed into the wall rail from top down.

[0021] In this embodiment, the beam includes a shelf with a shelf surface upon which plants and / or plant containers may be placed. The shelves are connected directly to the beams. Shelves that include horizontally disposed shelf surfaces are particularly preferred. A tray capable of storing multiple plants and / or plant containers can be placed above the shelf surface. The shelves can therefore act as temporary storage surfaces. The close proximity between the grippers and the shelves, both of which are connected to the beams, increases the efficiency of the system since the distance between the plants and their final position on the planting wall can be reduced. Higher efficiencies can be achieved due to the possibility of inserting more plants into the planting wall within a given time interval. Alternatively, the efficiency can be higher due to the added possibility of reducing the time to insert one plant into the planting wall since the path taken is shorter.

[0022] According to the invention, the cantilever and the beam each include at least one individual drive unit capable of moving the cantilever, the beam and the gripper, respectively. Many drive units for moving the parts are possible. Additionally, the drive unit utilized may include gears. The pivotable cantilever may be driven, for example, using a worm drive. On the other hand, a linearly movable cantilever can be driven by a linear drive, for example by a ball screw drive. The gripper is movable along a second guide rail on the beam, also by means of a linear drive. Alternatively, the gripper can be driven by an electric motor, which means that it uses a rotary motion via a belt or chain or rope, comparable to a typical building elevator, that can control two opposing movements along a vertical axis. Finally, the beam can be moved along the cantilever's first guide rail using a linear drive.

[0023] 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]

[0024] [Figure 1a] FIG. 1 illustrates a first perspective view of an embodiment of an inventive system for transporting grippers within a vertical farming facility. [Figure 1b] FIG. 1a shows the system and vertical farming facility in a second perspective view. [Figure 2a] It shows a system for taking a tray of plant containers and placing them on a shelf. [Figure 2b] 2a depicts the system of FIG. 2a approaching a planting wall for inserting a plant container therein. [Figure 2c] FIG. 2a and FIG. 2b show the system of FIG. 2a and FIG. 2b immediately prior to the insertion of a plant container. [Figure 2d] 2a, 2b and 2c show the system during insertion of a plant container into the planting wall. [Diagram 3] A tray is shown with two plant containers therein. [Figure 4] 1 shows a first embodiment of a gripper head in a release position. [Figure 5a] FIG. 13 shows a side view of a second embodiment of a gripper head with a plant container and a plant therein in a release position. [Figure 5b]5b shows the gripper head of FIG. 5a in a perspective view with a plant container and a plant therein in a clamping position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] 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.

[0026] 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.

[0027] 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. The terms so used are interchangeable under appropriate circumstances, and the embodiments of the invention described herein are capable of operating in sequences other than those described and / or illustrated herein.

[0028] In figures 1a and 1b a system 100 for transporting grippers 1 in a vertical farming facility 20 is shown in two different perspective views. The vertical farming facility 20 is a container, but alternatively, the vertical farming facility 20 can be a greenhouse.

[0029] The system 100 includes a cantilever 10 that is horizontally disposed and parallel to the facility ground 24 . The system 100 further includes a beam 30 that is vertically disposed and perpendicular to the facility ground 24 and the cantilever 10 . Furthermore, the system 100 includes a gripper 1 for manipulating the plant 2 ′ and / or the plant container 2 . This gripper 1 in turn has five different components, namely a gripper head 1' for clamping and manipulating plants 2' and / or plant containers 2, an articulated arm 8 rotatably connected to the gripper head 1', a further articulated arm 8' rotatably connected to the articulated arm 8, a base member 8" supporting the further articulated arm 8', and finally a shelf 39. The most distant component of the gripper 1 is therefore the gripper head 1'. Similarly, the closest component of the gripper 1 is the base member 8''.

[0030] The system 100, as shown in Figures 1a and 1b, is not operational. In other words, the vertical farming facility 20 is stopped and the system 100 is in a parking position. More specifically, the system 100 is positioned near the first facility wall 22 and disposed within the vertical farming facility 20 to facilitate installation of legs and free movement within the vertical farming facility 20 for potential activities such as repairs, maintenance or overhauls. In the parking position, the cantilever 10 is arranged parallel to the first facility wall 22 , thereby taking up little space and, in particular, not protruding into the volume of the facility and not obstructing the inner rooms of the vertical farming facility 20 .

[0031] The system 100 is connected to a first facility wall 22 of a vertical farming facility 20 via a cantilever 10 . The cantilever 10 is indirectly connected to the first facility wall 22 by means of a first wall rail 23, which is fixed to the first facility wall 22 using bolting. The first wall rail 23 is formed straight and is disposed parallel to the facility ground surface 24 .

[0032] 1a and 1b also depict a seedbed station 20''' located at the entrance of the vertical farming facility 20. The seedbed station 20"' resembles a work bench and includes a surface upon which to place the trays 20". For purposes of illustration, a single tray 20'' is shown placed on one of the surfaces of the seedbed station 20'''. The tray 20 ″ can contain a plurality of plants 2 ′ and / or plant containers 2 . Furthermore, the seedling station 20''' picks up the trays 20'' with plants 2' and / or plant containers 2 therein, places them on the shelves 39, transports them to the planting wall 20', and finally acts as a temporary storage means for the trays 20'' before inserting them into the planting wall 20'.

[0033] The planting walls 20 ′ are arranged parallel to one another and extend along the main length direction M of the vertical farming facility 20 . The planting walls 20' are of equal shape and size and are connected to the vertical farming facility 20 so that the planting walls 20' float. In other words, there is a vertical distance between the facility ground 24 and the lower edge of each planting wall 20'. Moreover, the planting wall 20' is configured to be movable. In this embodiment as depicted in all figures shown in this disclosure, the planting walls 20' are movably transferred towards each other, specifically while remaining parallel. In other words, the planting wall 20 ′ can be moved vertically to the first wall rail 23 individually. However, it is also conceivable to configure the planting walls 20' such that they are movable parallel to the first wall rail 23, while the distance between the planting walls 20' remains unchanged. Furthermore, in other embodiments, a combination of parallel and perpendicular movement of the planting wall 20' relative to the first facility wall 22 or the first wall rail 23 is contemplated. Moreover, the planting wall 20' is covered on both sides with a foam material 20'''' which allows the plants 2' and / or plant containers 2 to be easily and securely inserted into the planting wall 20'. The grooves formed in the foam material 20'''' are then configured to accommodate the plants 2' and / or plant containers 2, and the grooves are positioned in an overlapping manner with respect to the holes in the planting wall 20', thereby ensuring that the plants 2' and / or plant containers 2 are simultaneously inserted into the foam material 20'''' and the planting wall 20'. The grooves are disposed perpendicular to the facility ground surface 24 , however, the grooves can also be disposed parallel to the facility ground surface 24 . Also a combination of vertical and parallel grooves is possible. The grooves may be replaced by other types of openings in the foam material 20'''', such as circular, oval, rectangular, etc. In either case, the holes in the planting wall 20' and the openings in the foam material 20'''' are aligned in an overlapping manner.

[0034] More features, structural attributes and detailed functions of system 100 are further explained in the figures described below in conjunction with FIGS. 1a and 1b.

[0035] FIG. 2a illustrates diagrammatically the picking up by the system 100 of a tray 20'' with plants 2' and plant containers 2 therein. For simplicity and clarity, only one plant container 2 with a plant 2' therein is visible. In FIG. 2 a , the gripper head 1 ′ is in the process of picking up a tray 20 ″ and placing it on a shelf 39 . In order for the gripper head 1' to properly approach the seedbed station 20"' and pick up the trays 20" without getting confused, a certain degree of mobility and flexibility of the system 100 is required. In other words, movement of the system 100 about and along different spatial axes is required. For this purpose, the beam 30 can move on either side along a first guide rail 18 of the cantilever 10 , the first guide rail 18 being arranged parallel to the cantilever axis 12 . In other words, the beam 30 can move back and forth.

[0036] The beam 30 includes a second free end 34 and a second connecting end 36 . The connection between the cantilever 10 and the beam 30 occurs via a second connection end 36 of the beam 30 . Furthermore, to ensure sufficient mobility and / or flexibility of the system 100, the gripper 1 is movably connected to a vertically disposed beam 30 via a base member 8″ and can be linearly driven on both sides along the beam axis 32. In other words, the gripper 1 can move up and down. The movement of the gripper 1 takes place along a second guide rail 38 .

[0037] The limiter 5 defines the beginning and the end of the first 18 and second 38 guide rails. The limiters 5 are arranged at the first free end 14 and the first connected end 16 of the cantilever 10 and at the second free end 34 and the second connected end 36 of the beam 30 . The limiter 5 limits the range of motion of the beam 30 in the first guide rail 18 and the range of motion of the gripper 1 in the second guide rail 38 .

[0038] Once the system 100 has picked up the tray 20" and placed it on the shelf surface 39', the system 100 can begin to transport the tray 20" towards the planting wall 20'. In FIG. 2b the system 100 is shown en route to a planting wall 20'. For this reason, the beam 30 itself moves away from the first free end 14 along the first guide rail 18 towards the first connected end 16 of the cantilever 10 .

[0039] The embodiment of the cantilever 10 shown in this figure has two degrees of freedom of movement. The cantilever 10 is capable of rotating about a pivot axis P and also of moving linearly along the first wall rail 23 . This embodiment of the cantilever 10 is floating, meaning that there is no physical contact between the facility ground 24 and the cantilever 10 . The cantilever 10 can in principle be supported against bending at least in part by a wheel 19 connected to the cantilever 10 at the first free end 14 . However, when a combination of both rotational and translational types of motion is close, the physical contact between the wheels 19 and the facility ground 24 creates too much friction to work, thereby impeding the movement of the cantilever 10 .

[0040] In FIG. 2c the system 100 is shown just prior to the start of inserting the plant container 2. The gripper 1 is positioned at least partially between two planting walls 20' (hereinafter referred to as the aisle 25). The gripper 1 has just taken a plant container 2 and inserted it through the foam material 20'''' into one of the adjacent planting walls 20'. The cantilever 10 is disposed perpendicular to the planting wall 20 ′ and the first wall rail 23 . The gripper 1 can work on planting walls 20' of different heights by first sliding up along the beam 30 and then extending using its articulated arm 8 and a further articulated arm 8'. The beam 30 together with the gripper 1 is positioned in the passage 25 between the two planting walls 20 ′ so that two different walls 20 ′ can be worked on in the system without the need to move the beam 30 along the cantilever 10 .

[0041] The cantilever 10 is positioned below the planting wall 20'. In other words, there is a vertical distance between the lowest edge of the planting wall 20' and the facility ground 24, said vertical distance being higher than the maximum height of the cantilever 10 so that the cantilever 10 can move freely under the planting wall 20' without colliding.

[0042] The planting wall 20' extends along a main length direction M. To insert the plant container 2 with the plant 2' therein along its entire main length M into the planting wall 20', it is sufficient to move the cantilever 10 laterally in the direction M. Once the two planting walls 20' on either side of the beam 30 have been fully worked with plants 2', the cantilever 10 returns to the starting position 23'. In the starting position 23', the beam 30 is allowed to move gradually towards the first free end 14 of the cantilever 10 without colliding with the planting wall 20' until the beam 30 reaches the next passage 25. If necessary, the next planting wall 20' to be worked on can be moved so that the beams 30 can be transferred in the direction M between the planting walls 20'. After completely working the planting wall 20' in the current pass 25, the cantilever 10 can return to the starting position 23' again and start again in the next pass 25, allowing the beam 30 to move further the next increment towards the first free end 14.

[0043] In FIG. 2d the system 100 is shown while depicting a plant container 2 with a plant 2' therein within a planting wall 20'. For this purpose, the gripper head 1' inserts the plant container 2 through the foam material 20'''' into said planting wall 20', thereby mechanically fixing the plant container 2 within the planting wall 20'. The plant container 2 is inserted such that the plant 2' and / or the plant container 2 is at an angle to the planting wall 20' and / or the foam material 20''''. Regardless of the final inclination, the plants 2' are at least partially oriented towards the ceiling of the vertical farming facility 20, where suitable lighting devices are arranged for sufficient heat dissipation of the plants 2' and therefore for successful cultivation.

[0044] In FIG. 3, an embodiment of a tray 20'' is shown. Two plant containers 2 are placed in a tray 20 ″, which may 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 gap. However, one essential requirement for the design of the tray 20" and the plant container 2 is that the plant container 2 protrudes sufficiently beyond the top edge of the tray 20" for the gripper 1 or gripper head 1' to pick up or catch the plant container 2 without obstructing it and / or automatically.

[0045] In FIG. 4 a first embodiment of a gripper head 1 ′ for manipulating plants 2 ′ or plant containers 2 in a vertical farming facility 20 is illustrated. The gripper head 1' forms the most distant part of the gripper 1 and can be connected to a plant 2' or a plant container 2 in a movable arrangement. 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.

[0046] The first gripping element 3 comprises two first lateral retaining arms 3', each of which comprises a distal free end and a proximal end, the proximal ends being 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 .

[0047] 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 ends 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 .

[0048] 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 every respect except for one manufacturing step. The first gripping element 3 and the second gripping element 4 are arranged parallel to each other and are both connected to an articulated arm 8 by means of two bolts. The articulated arm 8 rotatably supports the gripper head 1'.

[0049] In figure 5a a gripper head 1' according to a second embodiment is shown 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 comprises a base element 2″ made from polyethylene, although it is conceivable to utilize other plastics as raw material 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 allow for the provision of 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 of the plant container 2 relative to FIG. 5a. The rim 9 includes four rim portions 9', each rim portion 9' being disposed on one side of the base member 2''. In addition, rims 9 extend outwardly from all four sides of the base member 2" and project laterally therefrom. The rim 9 or rim portion 9 ′ is arranged largely perpendicular to the longitudinal axis A.

[0050] The gripper head 1' in the released position is shown in Figure 5a, 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. Rather, a gap is formed between the head 2'''' and the two first lateral retaining arms 3', while the second lateral retaining arms 4' support the rim 9 on two opposite sides of the plant container 2, each of the second lateral retaining arms 4' supporting a respective rim portion 9'.

[0051] In Fig. 5b the arrangement depicted in Fig. 5a 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' from below, whilst the first lateral retention arm 3' moved downwards in a vertical direction V, thereby clamping the rims 9. In FIG. 5b 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.

[0052] In such a clamping position, the plant container 2 together with the plant 2' can be transferred by the gripper 1 to a target position within the movement range of said gripper 1, in particular to the planting wall 20'. [Explanation of symbols]

[0053] 1 Gripper 1' Working head, 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 5. Limiter 8 Jointed Arm 8' Extra Articulated Arm 8” Base Member 9 Rims 9' Rim 10 Cantilever 12 Cantilever axis 14 First free end 16 First connection end 18 First guide rail 19 Support elements, wheels 20 Vertical Farming Facility 20' planting wall 20” Tray 20"' Nursery Station 20”” Foam Material 22 First Facility Wall 23 1st wall rail 23' starting position 24 Facility Ground 25 Passage 30 Beam 32 Beam axis 34 Second free end 36 Second connection end 38 Second guide rail 39 Shelf 39' shelf 100 Systems L Horizontal V vertical direction A Longitudinal axis P pivot axis M Main length direction

Claims

1. A vertical farming facility (20) comprising a system (100) for operating a working head (1'), The system (100) includes a cantilever (10) and a beam (30); The beam (30) is connected to the cantilever (10), The cantilever (10) includes a first free end (14) and a first connecting end (16); The cantilever (10) is disposed primarily horizontally and includes a cantilever axis (12); The beam (30) is primarily vertically oriented and includes a beam axis (32); The cantilever (10) is movable within the vertical farming facility (20); a gripper (1) including said working head (1') is movably connected to said beam (30) and configured to manipulate plants (2') and / or plant containers (2); The vertical farming facility (20) includes a first facility wall (22) to which the cantilever (10) is connected via the first connection end (16); A vertical farming facility (20) wherein the cantilever (10) can move vertically in translation relative to the first facility wall (22) or is pivotally connected to the first facility wall (22).

2. The beam (30) includes a second free end (34) and a second connecting end (36); 2. The vertical farming facility (20) of claim 1, wherein the beam (30) is connected to the cantilever (10) via the second connection end (36).

3. 3. The vertical farming facility (20) of claim 2, wherein the cantilever (10) is connected to the first facility wall (22) using a first wall rail (23).

4. The cantilever (10) includes a first guide rail (18) arranged parallel to the cantilever axis (12); 2. The vertical farming facility (20) of claim 1, wherein the beam (30) is movable in translation along the first guide rail (18).

5. The beam (30) includes a second guide rail (38) arranged parallel to the beam axis (32); 5. The vertical farming facility (20) of claim 4, wherein the gripper (1) is movable along the second guide rail (38).

6. The vertical farming facility (20) preferably comprises a vertically arranged planting wall (20'), The planting wall (20') includes grooves and / or openings; 2. The vertical farming facility (20) of claim 1, wherein the plants (2') and / or plant containers (2) can be inserted.

7. 7. The vertical farming facility (20) of claim 6, wherein the cantilever (10) is movable within a plate arranged below the planting wall (20').

8. 8. The vertical farming facility (20) of claim 7, wherein the planting walls (20') are individually movable, preferably along an axis parallel to the cantilever axis (12).

9. 7. The vertical farming facility (20) of claim 6, wherein the beams (30) are at least partially transportable between the planting walls (20').

10. the cantilever (10) comprises a support element (19), preferably a wheel (19), rotatably connected to the first free end (14); 2. The vertical farming facility (20) of claim 1, wherein the support element (19) supports the cantilever (10), preferably relative to a facility ground (24).

11. the cantilever (10) comprises a further support element, preferably a further wheel, rotatably connected to the first connection end (16); The support element (19) is guided by a second wall rail (25), The further support element is guided by a first wall rail (23), 11. The vertical farming facility (20) of claim 10, wherein the first wall rail (23) and the second wall rail (25) are parallel to each other.

12. 2. The vertical farming facility (20) of claim 1, wherein the beams (30) include shelves (39) with shelf surfaces (39′) on which plants (2′) and / or plant containers (2) can be placed.

13. 2. The vertical farming facility (20) of claim 1, wherein the cantilever (10) and the beam (30) each include at least one individual drive unit capable of moving the cantilever (10), the beam (30), and the gripper (1).

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