Apparatus and method for tillage in the agricultural field

Abstract

The present invention relates to an assembly (10; 10') and a method for the management of an agricultural area, the assembly (10; 10') comprising at least an elongated truss (12) and an associated chassis (16) with at least one wheel enabling the truss (12) to be moved in a circular or linear manner over a usable area (N), and at least one field management device (18) attached or provided to the truss (12) by a robotic arm. The assembly (10) also comprises a number of crates (24) and a conveyor system provided to the truss (12) along its longitudinal extension, at least one crate (24) being movable in a specific direction by the conveyor system (25) along the longitudinal extension of the truss (12) and transportable to a predetermined position, in particular adjacent to a field management device (18, 19).

Description

Technical Field

[0001] The present invention relates to an assembly for the management of an agricultural area according to the first part of claim 1 and to a corresponding method in which the assembly can be used.

Background Art

[0002] According to the prior art, it is known that an agricultural area can be managed with the assistance of self-propelled machines. These machines are autonomous mobile field robots equipped with their own chassis or underbody and can have relatively small dimensions. Such field robots are already available for use with high precision, but they have the disadvantage of being relatively costly, making cost-effective use difficult. Such autonomous or self-propelled field robots are considered vehicles, and in this regard, there are further disadvantages in Germany due to strict regulations by the legislature regarding their use.

[0003] A gantry system in the form of a truss may also be equipped on a self-propelled machine. A chassis with rollers is usually attached to both ends of the truss so that the truss can move longitudinally over the ground or an agricultural area. For example, according to Patent Document 1, an assembly for the management of an agricultural area having such a gantry system in the form of a bridge is known, which is moved perpendicular to its longitudinal extension by wheels running on rails. The carriage is movable along the bridge in the longitudinal direction of the bridge and acts as a tool carrier for a field cultivation device (for example, for planting or weeding).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] The object of the present invention is to optimize and make more efficient the management of the agricultural area by simple means.

[0006] This object is achieved by an assembly having the features of claim 1 and by a method having the features of claim 32. Advantageous further developments of the invention are defined in the dependent claims.

[0007] The assembly according to the invention is used for the management of an agricultural area and comprises at least one elongated truss, and a related chassis having at least one wheel by which the truss can be moved circularly or linearly over the agricultural area, and at least one field management device movable or displaceable along the truss. The assembly should also include at least one crate, preferably a plurality of such crates, and a conveyor system provided on the truss along its longitudinal extension. At least one crate can be moved by the conveyor system in a specific direction along the longitudinal extension of the truss to a predetermined position adjacent to the field management device in particular. This is also appropriately possible for a plurality of crates movable along the longitudinal extension of the truss by the conveyor system.

[0008] For the purposes of the present invention, the feature "crate" means any container suitable for holding crops or fruits. Such crates can be designed as harvesting crates, plant crates, greenhouse crates, etc. Conventionally, handles, etc. may be provided on two opposite sides of such a crate, whereby the crate can be grasped. Advantageously, such a crate can be made of plastic or wood, or alternatively (lightweight) metal, for example aluminum. In any case, the material from which the crate is constructed or formed according to the present invention is sufficiently stable to ensure that both lifting the crate by hand when it is filled with crops and the contact of a number of adjacent crates on a roller conveyor, etc. are possible without causing bulging or even cracking of the side walls of the crate.

[0009] Furthermore, for the purposes of the present invention, it is noted here that the terms "crate" and "container" should be understood as synonymous. Even further, the crate or container may be rounded or even more rounded in the corner regions.

[0010] The "pizzaz" of the assembly of the present invention lies in enabling at least one crate to be positioned or moved to a predetermined position along the truss by means of a conveyor system. For this purpose, the conveyor system may have either a circulating conveyor belt on which the crate can be placed and / or a roller table. In particular, the predetermined position where the crate can be carried in by the conveyor system is adjacent to a field management device attached to or provided on the truss. When the crate is located along the truss in a position adjacent to the field management device, seeds, seedlings, etc. can be taken out of the crate by the field management device for further management in the agricultural area, or harvested crops, etc. can be returned to the crate at the time of harvest.

[0011] Similarly, the present invention also defines a method for the management of an agricultural area in which the assembly of the present invention can be employed. In any case, the method is characterized in that it is executed fully automatically, it involves work steps or crop management processing steps from the sowing or seeding of plants to their harvest, and at the time of harvest, a predetermined amount of harvested crop, and optionally also various plants, are mechanically introduced into a crate provided for this purpose. The method is also characterized in that different crops are planted or harvested in the same agricultural area, and when the crops are harvested by the field management device, the crops from different plants are placed together in a common crate.

[0012] As described above, the conveyor system may comprise a circulating conveyor belt on which at least one crate, preferably a plurality of crates, can be placed. It is advantageous for the conveyor belt to be made of a rubber-like material or to have such a rubber-like material on its surface, thereby preventing the crate from slipping on the conveyor belt.

[0013] The conveyor system can be provided to include a roller table having a plurality of carrier rollers each having a horizontal rotation axis, in addition to or as an alternative to the conveyor belt. In this case, at least one crate can be placed on top of the rollers of the roller table. Optionally, the roller table can have a plurality of guide rollers each having a vertical rotation axis, and the guide rollers can be arranged laterally in the roller table to laterally limit the roller table. With the assistance of the above rollers, the conveyor system in the form of a roller table can move at least one crate along the longitudinal extension of the truss with low rolling resistance.

[0014] The present invention focuses on a method for managing an agricultural area and / or an assembly designed for that purpose, which has a truss with a very large longitudinal extension. From the perspective of its longitudinal extension, this truss is preferably of a lightweight construction, for example, made of structural elements made of aluminum. In principle, the truss can be of any length, for example, at least 10 meters or more, about 25 meters in length. Alternatively, a longitudinal extension of more than 30 meters is also possible for the truss.

[0015] Due to the effect of the above design of the truss that can be designed as a gantry system with a very large longitudinal extension, the advantageous effect is that when the truss is moved, a vast area of the ground or agricultural area can be scanned and managed, thereby significantly reducing soil compression in the ground or agricultural area. In this way, less energy is required for land preparation after harvesting, and more CO2 can be stored in the soil than in conventional management.

[0016] According to the present invention, the truss can be equipped with at least one field management device or application that can move or be displaced along the truss. This mobility can be achieved, for example, with the assistance of an auxiliary such as a so-called carriage attached to the relevant guide rail of the truss.

[0017] According to the present invention, it is defined that the truss is used to manage an agricultural area in the open air, that is, in a so-called open space. Against this background, it is repeatedly stated that the assembly of the present invention having the truss is displaceable or movable on this agricultural area with the aid of an associated chassis having at least one wheel.

[0018] With the aid of the present invention, -due to the effect of the present invention- a highly automated management system for an agricultural area in which different vegetable crops can be planted is advantageously realized. In this case, the truss can be moved in a circular path around a fixed central column to which the truss is articulately connected, or can be moved along a straight track on a cultivable area or a field area. In the latter case, the chassis is provided at each end of the truss having wheels that roll on the arable land.

[0019] The present invention also defines a system for the management of an agricultural area, which comprises the above-described assembly and serves as a base station function on the agricultural area. This system also includes at least one platform movable with respect to the agricultural area, and at least one field management device capable of executing crop management processing steps is attached to the chassis of the platform or a part thereof. The system also includes a conveyor system attached to the chassis of the platform or a part thereof. In this case, the platform is provided separately from the above-described assembly and is thus not part of that assembly. At least one crate, preferably a plurality of crates, can be moved by the conveyor system in the longitudinal or transverse direction of the chassis to a predetermined position adjacent to the field management device in particular. At least one platform or a plurality of platforms can be positioned adjacent to the truss such that they can take over the crate from the truss or such that the crate filled with the plant crop and placed on the platform can be returned to the truss or onto the truss.

[0020] In an advantageous development example of the system according to the present invention, the platform is part of a mobile field robot or can be attached or connected to a tractor or the like.

[0021] According to the first modification described above, the platform is part of a mobile field robot, and a plurality of wheels attached thereto are provided on its chassis, whereby the chassis can move on an agricultural area. At least one of the wheels is equipped with a drive unit. Furthermore, in order for the mobile field robot to be able to change its traveling direction, it preferably has at least one wheel mounted on the chassis that can pivot or rotate around a vertical axis.

[0022] In a further advantageous development example of the system of the present invention according to the first modification, all the wheels of the platform or the field robot can pivot around a vertical axis of rotation, whereby the mobile field robot can move in all directions on the ground of the agricultural area to be managed. Hereinafter, how the feature of "all directions" is understood within the scope of the meaning of the present invention will be separately explained.

[0023] In an advantageous development example of the system of the present invention according to the second modification, the chassis of the platform is equipped with a coupling device, whereby the chassis can be attached or connected to a tractor or the like. In this case, it is appropriate for this coupling device to be attachable to such a three-point hitch by being adapted to the three-point hitch of the tractor.

[0024] In an advantageous development example of the system of the present invention, the chassis of the platform is modular and comprises a plurality of elongated and particularly tubular plug-in elements. In particular, these plug-in elements are detachable from each other without using special tools so that at least one of the dimensions of the chassis can be variable. The variable dimension of this chassis is preferably the size or length of the chassis extending perpendicular to the traveling direction of the tractor. Furthermore, it is also possible to change the dimensions of the chassis in the traveling direction of the tractor or parallel to and / or even in the vertical direction with respect to the traveling direction of the tractor.

[0025] In a further advantageous development of the system according to the invention, a control or regulating device is provided, by means of which the movement of the mobile field robot or platform on the usable area and / or the operation of at least one field management device is controlled or regulated. Preferably, the control or regulating device can be connected to the chassis, to a part thereof or adjacent thereto.

[0026] In a further advantageous development of the system according to the invention, the control or regulating device is programmable such that the average cycle time and / or the energy requirement can be determined and, based thereon, the process reliability specific to agriculture can be verified. A further advantageous effect is achieved when the control or regulating device is programmable such that it enables the calculation of at least an approximate profitability for the use or operation of the assembly, the mobile field robot and / or at least one field management device attached thereto.

[0027] An advantageous development of the system according to the invention includes a transmitter / receiver unit that is signal-connected to the control or regulating device. By means of the transmitter / receiver unit, information or data packets for monitoring and / or controlling the operation of the chassis and / or a field management device attached thereto or provided as a control unit in particular from a remote location are receivable and / or transmissible to that remote location. It is also advantageous if the transmitter / receiver unit is attached to or adjacent to the chassis or a part thereof.

[0028] According to a further advantageous development of the system of the present invention, with respect to the platform, at least one carriage is attachable to the associated guide rails of the chassis, which is movable along the longitudinal extension of the platform. In this case, at least one field management device is attached to the carriage, and the carriage acts as a tool carrier for the field management device. Similar to the assembly according to the present invention, the advantageous effect here is that, due to the effect of the movement of the carriage on or along the guide rails, the field management device attached to or mounted on the carriage can be accurately aligned with the position in the agricultural area or the plants planted therein.

[0029] According to an advantageous development of the system of the present invention, with respect to the platform, at least one field management device can be attached to the carriage by means of a robotic arm or the like. This robotic arm has multiple degrees of freedom and / or has multiple arm elements with multiple swivel joints that provide such degrees of freedom, and may be designed as an industrial robot with at least two degrees of freedom, each having two or more articulated arms, each of which is swiveling around a vertical or horizontal axis of rotation. Therefore, with the assistance of this robotic arm, the field management device attached thereto can be transported with high precision in the direction of the plants in the agricultural area or the field management device can be aligned in this regard.

[0030] According to an advantageous development of the system of the present invention, with respect to the platform, the conveyor system may have a support that can interact with the crate in order to move the crate in a specific direction along the longitudinal extension of the platform. On the associated guide rails of the platform, at least one carriage movable by the guide rails is attached thereto, and the support is provided thereon.

[0031] According to an advantageous development example of the invention, the system of the invention is defined such that the platform has a height adjustment mechanism that interacts with the conveyor system so that the vertical distance and thus the vertical height between the conveyor system and the agricultural area can be adjusted to a predetermined value by the height adjustment mechanism. This means that when the platform is moved to a position adjacent to the truss of the assembly and, as a result, there is a potential height difference between the conveyor system of the platform and the conveyor system or truss of the assembly, this difference in height can be compensated by operating the height adjustment mechanism of the platform so that the conveyor system of the platform is at the same vertical height as the conveyor system of the assembly. In this regard, the predetermined value at which the vertical distance between the conveyor system of the platform and the agricultural area is adjusted by the height adjustment mechanism can correspond to the vertical distance or vertical height between the truss of the assembly and the agricultural area at one end of the platform. In this way, safe transfer of the crate in operation from the truss of the assembly to the platform or vice versa is ensured.

[0032] According to an advantageous development example of the invention, the conveyor system of the assembly and / or the conveyor system of the platform may comprise a support that is capable of interacting with the crate in order to move the crate in a specific direction along the longitudinal extension of the truss or the platform. The support may be provided or attached to at least one carriage, which is attached to the associated guide rail of the truss or the platform in such a way that it is attached thereto in a movable manner along the longitudinal extension of the truss or the platform. This means that when the carriage is moved, the support provided thereon can move the crate located on the conveyor system in a specific direction along the truss or the platform.

[0033] By means of a field management device provided on a truss or platform of an assembly of the system according to the present invention, any crop management processing step according to the present invention, such as seeding and / or harvesting of plants, weeding, intended watering and / or fertilization of plants, pruning of plants, and / or intended management and / or loosening of cultivable ground, can be carried out in an agricultural area. In this case, with the aid of a conveyor system, it can be useful to convey or carry in, for example, seeds or harvested plants along the truss of the assembly or using a crate movable along the platform.

[0034] A further advantageous development of the present invention is constituted by the following features. This applies equally to both the assembly of the system according to the present invention and its truss and, where applicable, to the platform.

[0035] - The truss is connected at one end to a fixed central column and may preferably be articulated by means of a tilt and turn joint or a corresponding articulated fork. The other end of the truss has a chassis that rolls on the ground or in the agricultural area. This means that it can move circularly around a central or central pivot point formed by the fixed central column. Alternatively, as described above, the truss can also be equipped with a chassis at both ends, whereby the truss can move linearly or translationally on the ground. And / or:

[0036] - A plurality of "carriages" with field management devices attached are provided on the truss or on the platform, and are movable along the longitudinal extension of the truss or the platform. Such a plurality of "carriages" can be movably mounted on the same side and / or a different side of the truss, that is, on both opposite sides of the truss (that is, on the left and right sides). In particular, when field management devices attached to both opposite sides of the truss are provided on a plurality of such carriages, the carriage or the field management device can be moved independently on one side of the truss from the carriage or the field management device provided on the other side of the truss, that is, the opposite side. And / or:

[0037] - The field management device can be connected to the truss, the platform, or the carriage by a robotic arm. Preferably, such a robotic arm has a plurality of degrees of freedom and / or a plurality of arm elements having a plurality of swivel joints that provide degrees of freedom. This advantageously provides flexible mobility at a large radius for the field management device that can be attached to the free end of the robotic arm. This makes it possible to manage or reach crops in agricultural areas that are not close to or directly below the truss or the platform. And / or:

[0038] - The above robotic arm can be designed as a SCARA robot. This SCARA robot is known to have 4 axes and 4 degrees of freedom. This advantageously provides a large operating radius for the field management device that can be mounted at the lower end of the z-axis. And / or:

[0039] - Various field management devices can be mounted on the carriage. For example, different types of field management devices can be mounted on the carriage simultaneously. In addition or alternatively, according to the present invention, it is possible to replace one field management device with another on at least one carriage as needed. For this purpose, the present invention provides a tool changing system on the truss or platform, whereby a number of different types of field management devices are provided on the truss or platform, and the field management device can be replaced with another on at least one carriage as needed. Such replacement can be performed, for example, when other crops are managed and / or other management processes are executed. And / or:

[0040] - The above tool changing system constitutes a kind of "storage container" for various field management devices. In order to equip at least one carriage with a predetermined type of field management device, it is appropriate that the tool changing system is also designed to be movable along the longitudinal extension of the truss, whereby, as needed, the field management device can be replaced more quickly and with greater flexibility with respect to the selected carriage and the robot arm attached thereto, and the planned replacement field management device can also be mounted thereon. And / or:

[0041] - The above field management devices that can be mounted on the carriage (or alternatively, directly on the truss) can be, for example, an irrigation sprinkler, a fertilizer spreader, a remote manipulator or spreader having at least one vertical rotation axis or operating axis and other peripheral assemblies attached thereto, and / or an industrial robot (= remote manipulator) with at least two degrees of freedom (DOF, SCARA or delta robot). If such a spreader or remote manipulator is equipped with two or more vertical rotation axes, this means, for example, that it has two or more articulated arms, each of which can pivot around a vertical rotation axis. Alternatively, such articulated arms can also pivot around a horizontal axis. And / or:

[0042] - On the truss of the assembly, in the function of the main truss, at least one secondary truss can be movably or telescopically mounted on the upper part of the spherical sliding bearing, or can be hingedly mounted in any arrangement (horizontally, vertically, inclined). Similar to the main truss, at least one carriage with a field management device that can move in the longitudinal direction of the secondary truss may be provided on such a secondary truss. Alternatively, at least one field management device may be directly attached to such a secondary truss. Therefore, the working radius for the management system according to the present invention can be advantageously extended without further compression of the managed agricultural area. And / or:

[0043] - The ground loosening, in the area of the cultivable or agricultural area introduced with plants, can be achieved only locally by the truss or platform according to the present invention, and a tool or field management device that can be movably guided along the longitudinal extension of the truss or platform attached thereto. The movement of the field management device with respect to the agricultural area is achieved with respect to the platform in that the platform itself is moved in an area that can be used as part of a mobile field robot or by means of a hitch or attachment to a tractor. And / or:

[0044] - By different types of field management devices that can be mounted on the carriage (or alternatively, directly on the crossbar) as described above, all processes of managing the agricultural area are included or made possible, such as ground management (e.g., tillage, root removal), sowing of plants, crop protection, irrigation, fertilization, harvesting, and logistics for the "pick and place" method if necessary. And / or:

[0045] - As described above, it is convenient if each carriage is equipped with a tool exchange system that enables different types of field management devices to be mounted on the associated carriage. And / or:

[0046] - As described, in the case of a carriage movably mounted along the longitudinal extension of the truss, the carriage, together with the field management device attached thereto, is understood to move or be displaced along the truss during the movement of the truss. It can be circular around a center or can be linear or translational along the agricultural area. Thereby, in order to perform the desired management or harvesting operation, the plants can reach any position by the field management device, in other words, any position in the agricultural area. And / or:

[0047] - The conveyor system of the assembly or platform is designed to be operable or effective in both directions along the longitudinal extension of the truss or chassis of the assembly. At least one crate is movable in both directions along the truss. The same naturally applies to a plurality of crates placed on the conveyor belt or roller table of the conveyor system.

[0048] - Regarding the conveyor system provided for the assembly or platform of the system according to the present invention, a plurality of conveyor systems may be provided on the truss of the assembly or the chassis of the platform. In this case, these plurality of conveyor systems can be arranged vertically on top of each other and / or horizontally adjacent to each other. For this purpose, appropriate mechanical precautions are taken in the truss of the assembly or the chassis of the platform to enable such a configuration of the plurality of conveyor systems.

[0049] - In the field management device and / or the associated carriage, as described above, at least one sensor or an equivalent sensor package may be movably provided along the truss or platform. Thereby, monitoring of the working space and appropriate identification of the plants processed or harvested by the field management device are possible. And / or:

[0050] - The truss and / or platform, which is part of the mobile on-site robot, is equipped or fitted with a plurality of solar panels, and the truss and / or platform has at least one battery storage electrically connected to the solar panels. Therefore, during the day, the electrical energy generated by the solar panels can be used to supply power or charge this battery storage, thereby meeting the energy requirements of the truss or the mobile on-site robot and related equipment. This means that the battery storage can also act as a night storage unit at night to ensure the continuous operation of the truss or the mobile on-site robot according to the present invention and the attachments attached thereto. In this way, an independent power source for the truss or the on-site robot according to the present invention and the equipment provided therefor is ensured. For example, a total of 75 solar panels can be mounted in two rows along the entire length of the truss. Thereby, it becomes possible to ensure an independent power source for the truss of the present invention having attached equipment by meeting 100% of the energy demand. And / or:

[0051] - The above solar panels are preferably mounted above the truss or in its upper region. Thereby, these solar panels function as weather protection for the truss. The same applies to a mobile on-site robot on which such solar panels can be mounted above the chassis of the platform. And / or:

[0052] - At least one crate is movable along the truss or platform. The crate can be used to move seeds from the center of the truss to a desired position in order to perform seeding of plants in the field. Further or alternatively, the crate can be used - as the name implies - to pick up crops taken out of the ground in the agricultural area by tools during harvesting and then return them to the center along the truss. The above crate can be a conventional standard vegetable crate. And / or:

[0053] -Regarding the use of at least one crate, a conveyor system preferably integrated in the upper region of the truss or platform ensures that the crate or even a plurality of crates are preferably moved in both directions in the intended manner along the longitudinal extension of the truss or platform. When the present invention is designed as a circular management system, the conveyor system can be used to convey the crate radially outward from the center, i.e., from the central fixed post on the truss to the outside. The same applies to the opposite direction, i.e., conveying the crate radially inward, i.e., in the direction of the central fixed post. And / or:

[0054] -In a further advantageous development of the present invention, a storage unit or roll magazine capable of storing a plurality of crates can be equipped on the truss and / or conveyor system of the assembly and / or platform. Such a magazine can hold more than 10 crates, for example, 10, 20, 30, 40 or 50 crates, or even more crates. And / or:

[0055] -According to the present invention, for example, more than 25,000 vegetable plants can be economically cultivated on an agricultural area of, for example, 1 / 4 hectare, which is 25% more than in conventional management. When the present invention is designed as a circular management system in which the truss moves circularly around a fixed central post, 600 seedlings can be used per day and a corresponding number of plants can be harvested. At the same time, selective harvesting enables a further efficiency improvement of, for example, 10% compared to conventional management. And / or:

[0056] - A device having at least one nozzle may be attached to the truss and / or platform, whereby liquid can be injected into a specific point on the ground in the agricultural area. In this case, it is advantageous if this device is movable along the longitudinal extension of the truss. After the nozzle device reaches a predetermined point on the truss, the intended insertion of the agricultural area into the ground by at least one nozzle can be achieved, for example, by a height adjustment device. The liquid can be water for irrigating the plants planted on the ground in the intended manner and / or an aqueous solution of fertilizer for fertilizing the plants in the intended manner. And / or:

[0057] - According to the present invention, when the above nozzle device injects water into the ground adjacent to or in the vicinity of the plants to be irrigated, for example, this corresponds to a minimum amount of irrigation, whereby water savings of about 80% are achieved compared to conventional management. And / or:

[0058] - According to the present invention, as described, by using a suitable tool or a field management device mountable on the carriage, environmentally friendly crop protection without chemicals, as well as spot tillage or incorporation of crop residues with maximum land protection and energy efficiency can be achieved. And / or:

[0059] - According to the present invention, it can be stipulated that the management of the agricultural area is carried out fully automatically, for example, from sowing of the plants to their harvesting. The characteristics of such a management method can consist of sowing or harvesting different crops on the same agricultural area. And in this process, for example, for the purpose of direct sales to potential consumers, different plants can be collected together in a common crate during the intake at the time of harvesting. As a result, with the assistance of the present invention, by saving at least one transaction or processing step in the process of utilization of the harvested produce brought in, an affordable market price can be achieved. And / or:

[0060] -With the aid of the present invention, so-called spot farming can be realized in the agricultural area, and the management of the agricultural area is concentrated only on the intended planting sites where the plants are introduced into the ground. At these planting sites, the plants are sown, watered, fertilized if necessary, and finally, the mature plants are harvested. This type of management can replace monoculture and at the same time promote biodiversity or species diversity. And / or:

[0061] -According to a further advantageous development of the present invention, the crop management and harvesting processes can be mapped as pick-and-place processes. Thereby, these processes can be carried out over the entire crop, that is, for vegetable plants of different species and sizes. For example, a suitable field management device can be mounted on the carriage in the form of a gripping tool that can be used to harvest iceberg, head and romaine lettuce, red and white (mini) cabbages, broccoli, kohlrabi, celery, cucumber, zucchini, and also pumpkins of any size. And / or:

[0062] -As described above, the present invention makes it possible to manage agricultural areas of different varieties of plants or vegetables. The proposed crops can be the following: iceberg, head and romaine lettuce, red and white (mini) cabbages, broccoli, kohlrabi, celery, cucumber, zucchini, and also pumpkins. In other words, the present invention enables the "mixed management" of plants or vegetables to be implemented and defined in the agricultural area. And / or:

[0063] -According to the present invention, the harvesting process step for the plants is preferably automated and preferably carried out at night. This can be defined especially when different varieties of plants and vegetables are planted in the agricultural area as described above. During the harvesting process, these different varieties of plants can be harvested from the field into crates, which can be transported along the truss or platform as described above. There is a possibility of a fixed addition of potato, onion and carrot crates, thereby completing the offer to the end customer. And / or:

[0064] - According to the present invention, in the sense of individual microspot farming, a large number of different vegetable crops can be managed using an integrated field management device or a planting tool that can be mounted on a carriage simultaneously, or a plurality of such devices or tools. Advantageously, to some extent, this can be carried out at least partially automated, or preferably even fully automated, in accordance with the specifications of the corresponding target data regarding the individual processing steps and their time series with respect to the management of the agricultural area. And / or:

[0065] - In an advantageous development example of the present invention, the truss may be equipped with a control or adjustment device, whereby the movement of the truss can be appropriately controlled circularly around the center or linearly or longitudinally along the agricultural area under management, and / or the movement or operation of the field management device attached to the truss can be appropriately controlled. And / or:

[0066] - Advantageously, as appropriate, the above control or adjustment system can be programmably set so that various controls regarding the truss and / or the field management device attached thereto and / or the conveyance of the crates along the truss can be executed in the manner of a control loop, that is, in a controlled manner. The same applies to the platform according to the system of the present invention. And / or:

[0067] - In a further advantageous development example of the present invention, the above control or adjustment device can also confirm the calculated average cycle time, the estimated energy demand, and / or the processing reliability specific to agriculture. And / or:

[0068] - In an advantageous development example of the present invention, the above control or adjustment device must be programmably set so that it can also calculate at least an approximate profitability regarding the use or operation of the truss or platform according to the present invention. The same applies to the corresponding further development example of the method of the present invention. And / or:

[0069] - In a further advantageous development example of the present invention, the truss or platform as part of the mobile field robot may be equipped with a transmitter / receiver unit connected to the control or regulating device in terms of signals. With this transmitter / receiver unit, it is possible to receive information or data packets from a remote location (e.g., in the form of a control station for monitoring and / or controlling the operation of the truss of the present invention), and / or transmit them to such a remote location. Advantageously as appropriate, when the present invention is designed as a circular management system, such a transmitter / receiver unit may be connected to the fixed central column, preferably to its upper part, so as to achieve good transmitter or receiver power for data to be transmitted from and / or to the remote location. And / or:

[0070] - According to a further advantageous development example of the present invention, it is possible to directly process the plants cultivated by the field management device attached to the carriage or truss or platform. Such processing may consist of the plants being cut by the field management device or appropriately designed tools and / or non-edible biomass being separated from the plants. The term "non-edible biomass" within the scope of the meaning of the present invention should be understood as the withering biomass of the plants to be managed that can be caused by decay, insect damage or lack of nutrients and / or water. And / or:

[0071] - In order to improve the quality of the crop, the present invention provides for the separation of non-edible biomass from the harvested plants. Such separation of non-edible biomass can be carried out at a certain stage of the plant (e.g., broccoli) while it is still in the agricultural area. Further or alternatively, this may be done during the process of the processing step when the plant is pulled out of the ground at the time of harvesting. In any case, such cutting of the plants and / or separation of non-edible biomass is preferably assisted by an optical sensor, which may be mounted on the field management device or the associated carriage as described above, and can be used to detect the plants as well as their position and / or size. And / or:

[0072] - As described above, the separation of non-edible biomass can also be carried out in accordance with the present invention even in the context of achieving active plant protection by protecting the remaining healthy plants or parts of plants. Similarly, it promotes growth by affecting the branches and leaves and promoting new germination in the remaining healthy plants or parts of plants. And / or:

[0073] - In the control or adjustment device, the algorithm for a new process or process step can be implemented on the software side. Thus, according to the present invention, highly reliable, especially weather-independent teacher data for a neural network can be generated. If the same plant is recorded at the same position every day using a sensor or camera provided for this purpose, the time-consuming masking of the plant is shortened. Another advantageous effect is that monitoring is fully possible even after the end of the stage where the growth of the plants to be managed has advanced. This aspect similarly applies to the operation of the truss according to the present invention and further to the appropriately developed method according to the present invention. And / or:

[0074] - According to an advantageous development example of the present invention, the truss (i.e., the main truss and / or the secondary truss) is equipped with one or more drag chains, which are realized in addition to the receiving part for the laying of electrical wiring, irrigation pipes and / or pipes for fertilizers (e.g., organic fertilizers). And / or:

[0075] - In addition to the advantageous development example of the present invention, it is also possible to use a field management device to remove weeds from the cultivation area in the agricultural area. In this case, such weeds can be pulled out of the ground by appropriate gripper arms and then introduced into a crate adjacent to the gripper arms on the truss or platform as may be specified. Subsequently, the removed weeds can then be carried out by the crate via the truss or platform so that they do not reproduce in the agricultural area nor are left around. And / or:

[0076] - Due to the high degree of automation in the management of the agricultural area according to the present invention and the related accuracy through visual servo, there is also a remarkable advantageous effect that chemical synthetic insecticides can be completely replaced. This also has the advantageous effect that a large amount of water can be saved through selective and high-precision irrigation. Compared with the conventional vegetable management, the amount of water saved is about 80%. And / or:

[0077] - Regarding the wheels of the chassis mounted on at least one end of the truss, in the sense of the management system, it can be stipulated that the lane on the surface of the agricultural area is compressed at least slightly or only equivalent fasteners are provided. As a result, when the truss moves in this (circular or linear) lane, the wheels roll so that the use of the truss according to the present invention is not hindered or interrupted even in rainy weather. Therefore, the present invention advantageously also achieves weather independence for the management of the agricultural area. And / or:

[0078] - By means of a movable carriage attached to the truss, it is possible to unwind or expand a preferably triangular foil in the radial direction, from the outside to the inside, in the agricultural area, comparable to a roller blind. Thereby, it is possible to improve the weather conditions on the agricultural area for the crops on the agricultural area as required. And / or:

[0079] - A telescopic mechanism that makes the length of the truss variable in the direction of its longitudinal extension can be equipped on the truss. Thereby, it is possible to individually adapt the length of the device to the situation of the agricultural area to be managed. This also applies to the operation or use of the device according to the present invention. And / or:

[0080] - When the truss is designed as part of a circular management system by being fixed to the end of a fixed central column, further advantageous effects of the present invention result from the following aspects. · In relation to the above telescopic mechanism, the change in the length of the truss that can be achieved thereby can also be realized during or at the time of the rotational movement of the truss around the fixed central column, so that, as a result, a rectangular agricultural area or an agricultural area having any number of corners (e.g., trapezoid and polygon) can be scanned and managed according to the present invention by the truss. And / or: · At the fixed central column, at least one sensor for detecting the movement of the truss and the carriage (or plural carriages) attached thereto may be provided by a related field management device. Preferably, such a sensor is designed as a sensor package and includes a plurality of individual sensors, whereby, for example, "omnidirectional monitoring" becomes possible, that is, it is possible within an angular range of 360° around the fixed central column. Further or alternatively, it may be defined that the sensor can be oriented in the direction of the truss by being mounted so as to pivot around the fixed central column in order to detect the position of the truss and particularly the carriage attached thereto among the related field management devices. And / or: · In the fixed central column or an area adjacent thereto, a base terminal enabling the necessary logistics in the field may be provided. By this base terminal, for example, preferably, through the use of the above crates, it becomes possible to provide or deliver seeds and / or extract or receive the harvested crops. By using this crate that can be conveyed bidirectionally along the truss, on the one hand, the seeds can be conveyed from the base terminal to the respective carriages by the field management devices attached thereto, and / or on the other hand, the crops taken in from the agricultural area or from the agricultural area to the base terminal can be returned. Therefore, according to the present invention, a high degree of integration of the system for managing the agricultural area is realized, and for the first time, the advantages of conventional large and small on-site robots are combined. And / or: · The central support portion from one end of the truss at the fixed central column has at least two degrees of freedom, whereby the truss can be installed even on an inclined terrain.

[0081] In terms of the very large longitudinal extension of the truss described above, the present invention should be understood as a bridging technique - literally or in a double sense. This is because the use of a sprayer or tool attached thereto for the management related to the very large longitudinal extension of the truss and the characteristic movement of the truss on the agricultural area to be managed brings about the above-mentioned advantageous effects of the present invention as compared with the prior art.

[0082] For the purposes of the present invention, the terms or features "field management device" and "field cultivation device" are to be understood interchangeably.

[0083] When implementing the method according to the present invention and / or when using the device or system of the present invention, the crop management processing steps are executed when the device is stationary or is a platform, or these crop management processing steps are executed during the horizontal movement of the device or platform relative to the agricultural area, and it can be stipulated that this horizontal movement is at a speed of 10 m / s or less. In the latter case, it is advantageous if this speed is significantly less than 10 m / s, for example, only 5 m / s, preferably 1.5 m / s or less corresponding to the walking speed of a person. The stationary state of the above-mentioned device or platform, or its horizontal movement relative to the agricultural area at a very slow speed as described above, is advantageous for the implementation of the crop management processing steps in that the device or platform is located in a specific zone of the agricultural area to be managed. This has the advantageous effect that in the above-mentioned specific zone of the useful area, the selected crop management processing steps are selectively and extremely accurately carried out with respect to a single plant, an individual plant component or a single planting position by a device or platform to which at least one field management device is attached. Only after at least one selected processing step or a plurality of such processing steps have been executed or completed in a predetermined zone of the usable area, the device or platform moves, on its own wheels or, in the case of a platform in the form of the second variant described below, by a tractor provided for that purpose, etc., preferably to the next adjacent zone of the agricultural area to be managed. And the selected crop management processing steps are executed again by the device for at least one plant.

[0084] It is understood that the above-mentioned features and the following features described hereinafter can be used not only in the combinations specified in each case, but also in other combinations or alone without departing from the scope of the present invention.

Brief Description of the Drawings

[0085]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Embodiments for Carrying Out the Invention

[0086] The present invention will be schematically shown below based on preferred embodiments in the drawings and will be described in detail with reference to the drawings.

[0087] Hereinafter, with reference to FIGS. 1 to 24, preferred embodiments of a corresponding method for managing an agricultural area N (see FIGS. 11 and 19) and further assemblies 10, 10' according to the present invention of the system will be described. The same components in the drawings are each given the same reference numerals. In this regard, it should be separately noted that the drawings are merely simplified and are presented without scale in particular.

[0088] FIG. 1 shows a perspective view of an assembly 10 according to a first embodiment of the present invention, in which a truss 12 is hingedly connected to one end of a fixed central column 14. At the other end of the truss 12, that is, on the opposite side of the central column 14, there is a chassis 16 having wheels that roll on the floor surface.

[0089] A part of the area of the assembly 10 according to the present invention is enclosed by a circle in FIG. 1 and is shown in an enlarged form adjacent thereto. The details of these enlarged areas will be described below in further drawings.

[0090] The truss 12 is articulately connected to a fixed central column 14 such that the truss 12 is moved along a circular path around the central column 14.

[0091] The connection of the truss 12 to the fixed central column 14 may have a rotary tilt joint 17 (see FIG. 8) having a horizontal axis of rotation. In this case, the end of the truss 12 on the opposite side of the central column 14 to which the chassis 16 is attached can be made to pivot with respect to the central column 14. This makes it possible to compensate for uneven terrain or ground with irregularities on or within undulating terrain, or for the use of the assembly 10 of the present invention. In other words, in the operation of the assembly 10 of the present invention, due to the effect of the rotary tilt joint 17, it becomes possible to drive on an inclined plane or to use the truss 12 of the assembly 10 on such terrain.

[0092] FIG. 2 shows the assembly 10 of FIG. 1 in another perspective view. From here, the secondary truss 13 is attached to the free end of the truss 12 in its function as the main truss. This secondary truss 13 is telescopically adjustable with respect to the main truss 12. This means that the main truss 12 is preferably provided with a guiding device (not shown) having motorizing means, whereby the length of the secondary truss 13 can be adjusted with respect to the main truss 12. The telescopic adjustment of such a side beam 13 is also shown in FIG. 4 (at the right end of the figure) and is symbolically indicated by corresponding double-headed arrows.

[0093] At least one field management device 18 is attached to the truss 12 and is movable along the truss 12. For this purpose, a carriage 20 (FIG. 6) is provided, which is attached to the truss 12 by guide rails 22 (FIG. 7), whereby it is longitudinally displaced along the truss 12.

[0094] The adjustment or displacement of the carriage 20 along the truss 12 can be carried out by appropriate motorizing means.

[0095] A plurality of field management devices 18 are attached to the truss 12. This is to be understood to mean that the field management devices 18 are installed on both sides of the truss 12 (see FIG. 16) and / or each of the plurality of field management devices 18 is mounted on the same side of the truss 12, for example, as shown in FIG. 2. In this connection, it is separately pointed out that a carriage 20 may be associated with each individual field management device 18, thereby enabling longitudinal displacement of the field management device 18 along the truss 12.

[0096] The field management device 18 can preferably be attached to the truss 12 or the associated carriage 20 by means of an articulated robot arm 23. This is shown in FIGS. 6 and 7. Such a robot arm 23 has multiple degrees of freedom and preferably has a plurality of arm elements that are articulated to each other, thereby enabling flexible movement of the field management device 18 attached to the free end of the robot arm 23 within the space. This also includes the vertical adjustability of the robot arm 23 so that the working height of the field management device 18 or its distance to the ground can be changed as required.

[0097] This vertical adjustability is symbolically represented, for example, in FIG. 6 by corresponding double-headed arrows.

[0098] The assembly 10 includes a tool change system that enables different field management devices to be mounted on the robot arm 23 according to the purpose or type of management of the agricultural area N.

[0099] FIG. 6 shows a simplified form of the above-described tool exchange system W. The tool exchange system W here consists of a holding plate 50 attached to the carriage 20 and can store at least one other field management device 19. For example, when it is desirable to replace the field management device 18 already mounted on the free end of the robot arm 23 with the field management device 19, the field management device 18 on the holding plate 50 will be "lowered" in its free position. Thereby, the other field management device 19 is then mounted on the free end of the robot arm 23. And this other field management device 19 is used to perform other crop management processing steps.

[0100] When one or more field management devices are placed or arranged on the holding plate 50, the holding plate 50 functions as a "parking area".

[0101] Furthermore, it is pointed out that the field management device 18 may be attached to the secondary truss 13. This can be done regardless of the use of the carriage 20 or the robot arm 23.

[0102] The above exchange of the field management devices 18 and 19 at the free end of the robot arm 23 is preferably fully automatic. In any case, such an exchange from one field management device to the other usually serves to prepare for a change in the crop management processing step and is used to manage the plants P grown on the usable area N.

[0103] The assembly 10 according to the present invention includes a crate 24 (see FIG. 9), preferably a plurality of crates 24, and a conveyor system 25 provided along the longitudinal extension of the truss 12 (see FIGS. 10 and 11). With the assistance of the conveyor system 25, at least one crate 24 can be moved along the truss 12. As shown by the perspective view of the truss 12 according to FIG. 10, it is convenient for the conveyor system 25 to accommodate a plurality of crates 24.

[0104] The conveyor system 25 is preferably provided on the upper surface of the truss 12 or integrated into the lower region of the truss 12.

[0105] The conveyor system 25 can be designed as a conveyor belt system. In this case, a circulating conveyor belt (not shown) on which the crate 24 can be placed is provided. When this conveyor belt circulates, the crate 24 is preferably moved or conveyed to a predetermined position adjacent to the field management device 18 attached to the truss 12.

[0106] In addition or as an alternative, a roller table 26 having a plurality of carrier rollers 27 each having a horizontal rotation axis may be provided in the conveyor system 25. The conveyor system 25 shown in FIG. 9 includes a roller table 26 in which two carrier rollers 27 can be identified.

[0107] Optionally, the roller table 26 can also have a plurality of guide rollers (not shown) each having a vertical rotation axis. These guide rollers are arranged on both sides of the roller table 26 to laterally limit the roller table 26.

[0108] In any case, the crate 24 can be placed on top of the carrier rollers 27 of the roller table 26, and the movement of the crate 24 is made possible with very low rolling resistance due to contact with the individual rollers of the roller table 26 along the longitudinal extension of the truss 12.

[0109] The perspective views of FIGS. 10 and 11 show that the roller table 26 of the conveyor system 25 is provided along the longitudinal extension of the truss 12. In this regard, in order to achieve the intended conveyance of the crate 24 in a desired direction along the truss 12 on the roller table 26, at least some of these rollers of the roller table 26, preferably one or more of the carrier rollers 27, can be defined to be motor-driven.

[0110] Regarding the roller table 26 of the conveyor system 25, it can be separately pointed out in this regard that this roller table 26 serves the function of a storage unit or a roller magazine within the scope of the meaning of the present invention. In any case, this roller table 26 serves the purpose of accommodating a large number of crates 24 thereby or therein, that is, along the longitudinal extension of the truss 12, in the sense of its function as a storage unit or a roller magazine.

[0111] Figures 12 and 13 show below that the roller table 26 of the conveyor system 25 is adjustable in its positioning or inclination with respect to the horizontal H.

[0112] The roller table 26 of the conveyor system 25 is mounted within a swivel bracket (not shown), and its position is variable or adjustable with respect to the horizontal H. To adjust the inclination of the roller table 26, the assembly 10 includes separate means, whereby the support for the roller table 26 can be correspondingly controlled to achieve a change in position for the desired inclination of the roller table 26. Thereby, it is possible to set the position for the roller table 26 that forms an angle with its longitudinal extension with respect to the horizontal H and thereby extends "inclined". As a result, when the crate 24 is placed on this inclined roller table 26, it will automatically move towards the lower end of the roller table 26 by gravity without a separate drive unit. Similarly, this also applies to a plurality of crates 24.

[0113] The descriptions of Figures 12 and 13 each refer to Figure 1, and the fixed central column 14 (not shown here) is located at the left end of the truss 12.

[0114] Figure 12 also shows that the field management device 18 is attached to the truss 12 by the robot arm 23. For the sake of simplicity of the description, the related carriage is not shown.

[0115] Regarding the description of FIG. 12, it is separately pointed out here that the roller table 26 is adjusted such that its longitudinal axis makes an angle “α” with the horizontal H, whereby the end of the roller table 26 shown in the right image area is lowered. Thus, the crate 24 placed on the roller table 26 automatically moves from left to right as indicated by the arrows in FIG. 12 due to gravity acting on the carrier rollers 27. As a result, the crate 24 can move from the fixed central column 14 to the opposite end of the roller table 26.

[0116] An operable stop element 28 is provided on the roller table 26, conveniently located adjacent to the position of the field management device 18. The function of this stop element 28 is based on the fact that when the crate 24 moves on the roller table 26 towards the lower end (from left to right in FIG. 12) due to gravity, this stop element 28 is actuated, or it is actuated when the crate 24 reaches the position of the field management device 18. As a result, the crate 24 is then stopped at the position of the field management device 18 by being blocked on the roller table 26. Thus, even in the case of a passive roller table 26 where the roller elements do not have a separate drive unit, the crate 24 can be moved to a predetermined position that can correspond, for example, to the position of the field management device 18 as described above.

[0117] Regarding the above stop element 28, it is understood that a number of stop elements 28 can be provided on the roller table 26 along its longitudinal extension. These individual stop elements 28 can be arranged at positions adjacent to the field management device 18. This ensures that when the roller table 26 is tilted by the angle of its longitudinal axis with respect to the horizontal H as described above, the individual crates 24 on the roller table 26 can be stopped by actuating the stop element 28 adjacent to the selected field management device 18.

[0118] Figure 13 shows another possible position regarding the roller table 26. Its longitudinal axis forms an angle "β" with the horizontal H, whereby the roller table 26 is inclined downward obliquely in the direction of a fixed central column 14 (not shown here). This ensures that the crate 24 placed on the roller table 26 automatically moves from right to left as a result of gravity. Such movement may occur, for example, when the crop is harvested from the usable area N into the crate 24 by a field management device 18 attached to a robotic arm and the harvesting process is completed, and then the crate 24 is returned in the direction of the fixed central column 14. Similar to what has already been described in Figure 12, regarding the inclination of the roller table 26 in the opposite direction, as shown in Figure 13, the crate 24 located on the roller table 26 can be stopped in the intended manner by activating the stop element 28. For example, such a stop element 28 may be located adjacent to the storage unit or the roller magazine, and the crate 24 is transferred into the storage unit or the roller magazine for further logistics of the harvested crop carried therein.

[0119] In this regard, as described above, it is separately shown that the swivel design of the roller table 26 in which its longitudinal axis can form a predetermined angle with the horizontal so that the roller table 26 is "tilted" may be combined with the feature that at least one carrier roller 27 of the roller table 26 is equipped with a motorized drive unit.

[0120] According to another modification of the conveyor system 25, it includes a support part 21 that can be provided on the carriage 20. Such a support part 21 is shown in a very simplified manner in Figure 6, that is, in the form of a rod 21 that can be attached to the side of the carriage 20.

[0121] The purpose of the support part 21 is to interact with the crate 24 located on the conveyor system 25. For example, the rod 21 of the support part shown in FIG. 6 can be telescopically and vertically extended upward, and specifically, it can interact with the crate located on the conveyor system 25. In this case, due to the effect of the interaction with the support part 21, the crate 24 is then "moved along" or "conveyed" along the truss 12 in the same manner as the carriage 20 to which the support part 21 is attached, by the movement of the carriage 20.

[0122] In FIG. 8, for example, the support part 21 in the form of the rod that can be telescopically and vertically extended to interact with the crate 24 is also shown symbolically in a much simplified form on the side of the carriage 20.

[0123] By storing the telescopic rod in an intended manner, the interaction between the support part 21 and at least one crate 24 can be eliminated again if necessary. In this case, the carriage 20 to which the support part 21 is attached can then move along the longitudinal extension of the truss 12 without the support part 21 moving or "dragging" the crate 24.

[0124] When the support part 21 as described above is equipped in the present invention, this has the advantageous effect that a further drive part for the roller table 26 of the conveyor system 25 can be omitted in order to move the crate 24 along the longitudinal extension of the truss 12. This means that, for example, all the rollers of the roller table may be "passive", that is, they have no drive part. This is because the desired movement of at least one crate 24, preferably a plurality of crates 24, can be achieved only by the support part 21.

[0125] Therefore, regardless of whether the conveyor system 25 described above is in the form of a conveyor belt system (not shown) or in the form of a roller table 26, at least one crate 24, preferably a plurality of crates 24, is always movable to a predetermined position of the truss 12 where subsequent interaction with the field management devices 18, 19 attached to the robotic arm 23 becomes possible.

[0126] The first sensor 30 may be attached at its upper end to the fixed central column 14.

[0127] For example, the assembly 10 may have a reservoir (not shown) for water, fertilizer, etc. adjacent to the fixed central column 14. In this regard, it is also possible to connect a water tank to an external pump in order to ensure the continuous operation of the assembly 10 by replenishing fresh water to the water reservoir.

[0128] The above reservoir can be mounted on the truss 12 so as to be moved around the fixed central column 14 together with the truss 12.

[0129] The assembly 10 may be equipped with its own pump (not shown). Such a pump can convey water or liquid fertilizer from the above water reservoir in the direction of the field management device in the form of a nozzle, and the nozzle can be used for the intended irrigation and / or fertilization of plants.

[0130] The first sensor 30 makes it possible to monitor the selected area of the agricultural area N and / or the position of the truss 12 relative to the fixed central column 14. In this regard, the first sensor 30 within the scope of the meaning of the present invention is also referred to as a "global sensor".

[0131] At least one field management device 18 may be provided with a second sensor 32 (see FIGS. 6 and 16). The purpose of this second sensor 32 is to detect the area or space of the agricultural area adjacent to or directly below this field management device 18 in order to obtain information about the plants planted in the agricultural area N. In this regard, the second sensor in the sense of the present invention is also referred to as a "local sensor".

[0132] The areas captured by the first sensor 30 and the second sensor 32 are respectively illustrated by "R" in the drawings (see FIGS. 2, 3, 5, 6, 11, 14 to 16, 19), and are understood as "monitoring spaces" according to the present invention. This means that the sensors 30, 32 can detect not only the flat surface (for example, the ground of the agricultural area N) but also the space above it, and correspondingly, the position of the truss 12, each field management device 18 attached thereto, and the position of the plants P and, for example, their growth and / or formation can be detected.

[0133] The transmitter / receiver unit 36 and / or the weather station 34 may be attached to the upper region of the fixed central column 14. This is shown in the perspective view of FIG. 2 and the side views shown in FIGS. 14 and 15.

[0134] Furthermore, the assembly 10 of the present invention also includes a control or adjustment device 38, which can also be attached to the fixed central column 14 and is greatly simplified in the form of a rectangle in FIGS. 14 and 15 respectively. This control and adjustment device 38 is signal-connected to the sensors 30, 32 and the transmitter / receiver unit 36.

[0135] The control and adjustment device 38 enables the circular movement of the truss 12 around the fixed central column 14 and / or the operation or movement of the individual field management devices 18 to be controlled. This may be performed in the form of a control loop, that is, in an adjusted manner.

[0136] The transmitter / receiver unit 36 enables information to be transmitted or received by the assembly 10 of the present invention to a remote (not shown) control station. This information provides data for the operation of the assembly 10 of the present invention or for carrying out the method of the present invention. For example, according to the present invention, this information includes target data for the operation of the assembly 10 and the devices attached thereto. The control of the individual devices and / or the circular movement of the truss 12 around the fixed central column 14 can also be adjusted.

[0137] Similarly, the transmitter / receiver unit 36 can transmit information obtained from the sensors 30, 32 regarding the monitored area R captured by the sensors 30, 32 to a remote control station for further evaluation of the operation of the assembly 10 according to the present invention.

[0138] FIG. 11 shows the use of the present invention in point management, also known as "spot farming" in the agricultural area N. As described above, the monitored area detected by the second sensor 32 is illustrated by "R". Thus, the plants P located in this monitored area R can be captured or detected by the sensor 32, and this information can then be transmitted to the control and adjustment device 38.

[0139] FIG. 17 shows the chassis 16 provided at one end of the truss 12. Such a chassis 16 can be equipped with an engine that drives at least one wheel of the chassis 16. Due to the contact with the ground below the driven wheel, torque is generated around the fixed central column 14 with respect to the truss 12 so that the truss 12 is set to circular movement around the tripod 14 in the desired direction. In FIG. 17, the motor is denoted by "M" and is symbolically represented only by a rectangle for simplicity.

[0140] The circular orbit resulting from the movement of the truss 12 around the fixed central column 14 is denoted by "F" in FIG. 5.

[0141] Unlike the description shown in FIG. 17, the chassis 16 may be designed as a truck chassis instead of a chassis with wheels.

[0142] According to another alternative (not shown), it may be provided that the chassis 16 is designed as a chassis with a running track or a rail system, where the wheels do not roll on the natural agricultural area, but instead roll on a track arranged on the agricultural area.

[0143] Both of the above modifications of the chassis 16 commonly improve the weather independence by making the assembly 10 of the present invention less susceptible to the influence of rainfall when used in the outdoor agricultural area N.

[0144] The assembly 10 of the present invention includes at least one base terminal 29 (see FIG. 4) provided adjacent to the fixed central column 14. The purpose of this base terminal 29 is to provide the necessary logistics for the farm. This means that with this base terminal 29, it is possible to provide or distribute seeds and / or receive or extract harvested crops, for example, preferably through the use of the aforementioned crate 24.

[0145] The base terminal 29 is shown very schematically in the side view of FIG. 4. To prevent the complete and permanent rotation of the truss 12 in the same direction around the fixed central column 14, the base terminal 29 may be effectively connected to the truss 12 and arranged on the opposite side of the tripod 14. This is shown by the dashed line in FIG. 4. This means that when the truss 12 is rotated around the fixed central column 14, the base terminal 29 is also rotated. Depending on the size and weight of the base terminal 29, the base terminal 29 may be equipped with casters or wheels on the lower surface that contact the ground and roll thereon.

[0146] As an alternative to the meaning of the base terminal, the reference numeral "29" in FIG. 4 may refer to, for example, a logistics vehicle used to deliver seeds to the truss 12 and / or sell directly to a customer (delivery operator). In the latter case, this means that the crate 24 filled with the crop is loaded onto this logistics vehicle 29 and transported to the end customer without further interruption.

[0147] FIGS. 18 and 19 show the assembly 10' of the present invention in a second embodiment. This embodiment includes a truss 12 with a chassis 16 having wheels attached to each end. This means that the assembly 10' and the associated truss 12 can move longitudinally or linearly over the agricultural area N.

[0148] At least one wheel of the chassis 16 can be equipped with or at least coupled to a motor. Preferably, motorized drive units are appropriately equipped on both sides of the long and narrow truss 12 on a plurality of wheels of the chassis 16.

[0149] According to a variant (not shown), in the assembly 10' of the present invention in the second embodiment according to FIGS. 18 and 19 respectively, each of the chassis provided at both ends of the truss 12 is equipped with a wheel that can rotate around a vertical axis. Thereby, the truss 12 of this embodiment can move omnidirectionally on the ground of the agricultural area to be managed.

[0150] For the purpose of the present invention, the feature of "omnidirectional" refers to mobility or movability in any desired direction. This means that in addition to simply linear or translational movement, there is also "diagonal", i.e., driving in an oblique direction, and / or it is possible to turn on the spot and / or drive in a circular manner. This also applies equally to the above-mentioned assembly 10' and the platform 101 of the system of the present invention described separately below.

[0151] The cable reel 40 may be attached to one side of the truss 12. This cable reel 40 can be used to connect the respective supply lines for electricity and / or media (eg, water, fertilizer) for the management of the useful area N. Thereby, it becomes possible to supply electricity, water and / or fertilizer to the truss 12 of the assembly 10'by the cable reel 40 and the related supply lines.

[0152] In the assembly 10'of the second embodiment of the present invention, a plurality of field management devices 18 are also provided on the truss 12, preferably on both sides thereof. Since any possible control by the operation and control or adjustment device 38 of these field management devices 18 is executed in the same manner as the assembly 10 of the first embodiment of the present invention, the above description may be referred to in order to avoid repetition.

[0153] Furthermore, it can be pointed out that the assembly 10'of the second embodiment of the present invention according to FIGS. 18 and 19 is also equipped with a conveyor system 25 in the form of a roller table 26. The intended movement of at least one crate 24, preferably a plurality of crates 24, on the roller table 26 and thereby along the truss 12 can be realized by equipping at least one carrier roller 27 of the roller table 26 with a motorized drive and / or by setting the inclination of the roller table 26 with respect to the horizontal H. In order to avoid repetition, the description of FIGS. 12 and 13 is referred to in this regard, which is also applicable mutatis mutandis to the second embodiment according to FIGS. 18 and 19.

[0154] For the supply of electrical energy, the assemblies 10, 10'of the present invention may be equipped with at least one battery storage B. According to the description of FIG. 8, this battery storage B can be installed in the lower region of the fixed central column 14. In any case, this battery storage B serves the purpose of supplying energy or electricity to the various devices of the system. The supply lines required for this purpose from the battery storage B to the individual consumer devices are not shown for the sake of simplicity of the description.

[0155] In both assemblies 10, 10' of the invention of the above embodiment, a plurality of solar panels S are arranged on top of the truss 12 (see FIGS. 2, 18 and 19). These solar panels S are electrically connected to the battery storage B and are used to charge this battery storage B with electrical energy obtained from sunlight irradiation. Thus, an independent power source is ensured for the invention.

[0156] The solar panel S may be appropriately dimensioned such that the conveyor system 25 and the crates 24 removed or conveyed therein are shielded from above, for example, against the intrusion of precipitation or dust and dirt. This is shown, for example, in the descriptions of FIGS. 2, 3, 5, 18 and 19.

[0157] With reference to FIGS. 20 to 24, various embodiments of the system 100 of the invention and its related components by which the agricultural area N can be managed are illustrated and described below.

[0158] In such a system 100 (see FIG. 24), the assemblies 10, 10' illustrated and described above with reference to FIGS. 1 to 19 are used. With respect to the system 100 of the invention, these assemblies 10, 10' function as a base station in the agricultural area N, as will be described in detail below.

[0159] The system 100 of the invention comprises at least one platform 101, 101' to which at least one field management device 18, 19 is connected to the platform 101, 101' or a part thereof, the chassis 111, which can be used to perform at least one crop management processing step.

[0160] Regarding the above-described platforms 101, 101', it can also be pointed out that the field management devices 18, 19 can be mounted on the corresponding chassis 111 in the carriage 20, if necessary, using the robotic arm 23. In this regard, such attachments of the field management devices 18, 19 correspond to those in FIG. 6, and for the sake of avoiding repetition, the description of FIG. 6 is referred to.

[0161] A conveyor system 125 (see FIG. 21) is mounted on the chassis 111 of the platform 101, 101' or a part thereof, whereby at least one crate 24 can be moved in the longitudinal and / or transverse directions with respect to the chassis 111 to a predetermined position particularly adjacent to the field management devices 18, 19.

[0162] In the context of the system 100 according to the present invention, an essential feature is that the platforms 101, 101' can take over the crate 24 from the truss 12, or such a crate 24 filled with crops from the plants P and located on the platform can be returned to the truss 12 or onto the truss 12, and the platforms 101, 101' can be placed at a position adjacent to the truss 12 of the assembly 10; 10'.

[0163] FIGS. 20 and 21 show the above-described platform 101 according to the first modification.

[0164] In the first modification, as shown in FIG. 20, the platform 101 is part of a mobile field robot, and a plurality of wheels 112 are attached to its chassis 111, whereby the mobile field robot 101 can move on the usable area N. For the purpose of the following description, the platform 101 according to this first modification is also referred to as the "mobile field robot 101".

[0165] At least one wheel 112 of the mobile field robot 101 is mounted on the chassis 111 so as to pivot or rotate around a vertical axis in order to enable the mobile field robot 101 to change its traveling direction.

[0166] The chassis 111 of the on-site robot 101 has a modular design. Specifically, the chassis 111 consists of a plurality of elongated, particularly tubular, plug-in elements 114 that are connected or attached to the L-shaped body 115 in the corner regions of the chassis 111.

[0167] As described above, the plug-in elements 114, which are part of the chassis 111 of the on-site robot 101, are known, for example, from event technology and can be designed as one-point trusses or multi-point trusses. In the embodiments shown in FIGS. 20 and 21, these plug-in elements 114 are each designed as two-point trusses.

[0168] The above plug-in elements 114 of the chassis 111 are characterized in that they can be connected to each other and reconnected from each other without the use of special tools so that at least one dimension of the chassis can be changed quickly and easily. Such variable dimensions of the chassis 111 can be adjusted in a direction transverse to and / or in the longitudinal direction with respect to its longitudinal axis and / or in its vertical axis, i.e., in the vertical direction.

[0169] A total of four wheels 112 are attached to the chassis 111 of the on-site robot 101. The above-described L-shaped body 115 is used to support the wheels 112. Therefore, each of these L-shaped bodies 115 serves as a wheel suspension element.

[0170] Therefore, in the assembled state of the on-site robot 101, the individual bodies 11 used to support the respective wheels 112 to 5 A plurality of plug-in elements 114 to be attached become components of the chassis 111.

[0171] Regarding the wheels 112 of the on-site robot 101, it should be pointed out that for at least two such wheels, it can be defined that they can be swiveled around a vertical axis of rotation. Thereby, when the mobile on-site robot 101 moves on a base layer or a substrate, these wheels 112 can be swiveled relative to the main body 115 in order to realize a change in direction for the mobile on-site robot 101.

[0172] If all four wheels 112 of the on-site robot 101 can be swiveled around a vertical axis of rotation, the on-site robot 101 can also move from a specific position in any direction, especially in the agricultural area N, without restricting its mobility in the form of a minimum turning radius. This ensures the all-directional mobility of the on-site robot 101. Regarding the feature of "all-directional", in order to avoid repetition, the description already given above should be referred to.

[0173] At least one wheel 112 of the mobile on-site robot 101 can be equipped with a (non-specific) motor such as a wheel hub motor. Preferably, a plurality of wheels 112 of the on-site robot 101 are equipped with such a motor drive unit.

[0174] As shown in FIGS. 20 and 21, two crate elements 124 are attached to each long side of the chassis 111 of the on-site robot 101. In this regard, it can be defined that such a crate element 124 is connected to the plug-in element 114 with an appropriate fastening part.

[0175] For the illustrated on-site robot 101, the crate element 124 is used for the purpose of receiving or attaching important equipment elements for the operation of the on-site robot 101. These equipment elements are - one battery or a plurality of batteries, - a sensor in the form of a camera, for example, - electrical and / or electronic components in the form of a control or adjustment device, for example, - a sprayer or a field management device 18, 19 by which crop management processing steps can be executed, and / or - GPS sensor It can be.

[0176] In the description of FIG. 20, it is symbolically represented by corresponding reference numerals that the transmitter / receiver unit 140, the weather station 141, the control or adjustment device 142 and / or the battery 143 may be included in the crate element 124.

[0177] Regarding the characteristics of the battery 143, it can be pointed out that for the present invention, a rechargeable battery in a known manner is also meant here.

[0178] Regarding the assembled state of the chassis 111, the attachment of the crate element 124 to the plug-in element 114 is preferably carried out outside thereof. This enables good accessibility to the crate element 124, for example, for maintenance or repair purposes.

[0179] In the case of the mobile field robot 101, as already shown and described in FIGS. 6 and 7, the field management devices 18, 19 can be mounted thereon. FIGS. 20 and 21 show the field robot 101 as a display when the field management device 18 is attached to the chassis 111 of the field robot 101 by the robot arm 23 and the associated carriage 20.

[0180] In addition to or as an alternative to the description shown in FIGS. 20 and 21, it can be pointed out at this point that the field management devices 18, 19 may be mounted outside the chassis 111. A plurality of field management devices 18, 19 may be mounted on a plurality of sides of the chassis 111, for example, on opposite sides of the chassis 111, particularly using the carriage 20.

[0181] As illustrated and described with respect to FIGS. 6 and 7, in the context of the field management devices 18, 19, it can also be pointed out at this point that the field management devices 18, 19 can be mounted on the truss 12 of the assemblies 10, 10' according to FIGS. 1 to 19, in the same manner as with respect to the mobile on-site robot 101 according to FIGS. 20 and 21. In this context, an advantageous effect of the field management devices 18, 19 of the present invention is that it is also possible to use the same parts and, if necessary, the same spare parts for this purpose for one of the assemblies 10, 10' and the other on-site robot 101.

[0182] The illustration shown in FIG. 21 shows that the on-site robot 101 is also equipped with a conveyor system 125 attached to the chassis 111 or a part thereof. In the embodiment shown here, this conveyor system 25 is mounted on the upper surfaces of the two main bodies 115.

[0183] The conveyor system 125 may be equipped with a circulating conveyor belt 152 on the mobile on-site robot 101, and by moving at least one crate 24 or a plurality of crates 24 in the longitudinal or transverse direction of the chassis 111, it particularly serves the purpose of moving to a predetermined position adjacent to the field management devices 18, 19 mounted on the on-site robot 101. In this context, it goes without saying that a plurality of crates 24 can be placed on top of the conveyor belt 152.

[0184] The conveyor belt 152 is appropriately made of a rubber-processed material or has such a rubber-coated material on its surface. This has the advantageous effect of preventing the crate 24 from sliding on the conveyor belt 152.

[0185] The moving directions that can be realized for the crate 24 by the conveyor system 125 and its conveyor belt 152 are symbolically marked with double-headed arrows in FIG. 21 and are denoted by "154".

[0186] As an alternative to the conveyor belt 152 shown, the conveyor system 125 in the field robot 101 can also be equipped with a roller table (not shown) having a plurality of carrier rollers each having a horizontal rotation axis, as is also the case with the truss 12 of the assemblies 10, 10' in FIGS. 1 to 19. For this purpose, as with the conveyor belt 152, one or more crates 24 can be placed on top of the roller table. Regarding such a roller table, for example, with respect to its drive unit, in order to avoid repetition, the description regarding the assemblies 10, 10' of the present invention should be referred to.

[0187] FIGS. 22 and 23 show the platform 101' which is part of the system 100 of the present invention according to the second modification, that is, shown in perspective view in FIG. 22 and in side view in FIG. 23.

[0188] According to the platform 101' of the second modification, its chassis 111 is equipped with a coupling device 153, whereby the chassis 111 can be attached or connected to a tractor (not shown) or equivalent towing machine. This coupling device 153 is appropriately adapted to the three-point hitch of the tractor and can thus be attached to such a three-point hitch.

[0189] Similar to the first modification according to FIGS. 20 and 21, the platform 101' of the second modification according to FIGS. 22 and 23 is modular by its chassis 111 and, in particular, comprises a plurality of elongated, in particular tubular, plug-in elements 114 that can be interconnected and removed from each other without the use of special tools. This allows at least one dimension of the chassis 111 to be changed. Preferably, this variable dimension of the chassis 111 is its length, which is perpendicular to the travel direction of the tractor. Additionally or alternatively, the variable dimension of the chassis may be the width of the chassis 111 extending in the travel direction of the tractor and / or the height of the chassis 111 in the vertical direction.

[0190] As described above, in the case of the platform 101' of the second modification example that can be attached or connected to a tractor or the like, as shown in FIG. 22, the four plug-in elements 114 are mounted adjacent to each other, that is, in series. In the central region of the resulting chassis 111, that is, between the second and third plug-in elements 114, this platform 101' is provided with a coupling device 153 adapted to a three-point hitch such as that used by a tractor or a similar machine (see FIG. 23). Therefore, with the assistance of this coupling device 153, it becomes possible to mount the platform 101' on the three-point hitch of, for example, a tractor (not shown).

[0191] Furthermore, in the case of the platform 101' according to the second modification example in the central region of the chassis 111, two carriages 20 are provided in relation to the associated robotic arms 23 and the field management devices 18 attached to each of them.

[0192] On the upper part of the platform 101' according to the second modification example, that is, above the chassis 111 and the associated plug-in elements 114, a conveyor system 125 having a circulating conveyor belt 152 is arranged in the same way as the assemblies 10, 10' and the mobile on-site robot 101. Therefore, when the crate 24 is placed on the conveyor belt 152, it moves in two directions symbolically represented by the double-headed arrow 154 in FIG. 22.

[0193] Regarding the functionality of the field management device 18 and the conveyor system 125 included in the platform 101' according to the second modification example described above, it is emphasized here that their operations and advantageous effects are the same as those of the assemblies 10, 10' and the mobile on-site robot 101, and in this regard, the previous description can be referred to in order to avoid repetition.

[0194] Here, the perspective view of FIG. 24 shows the system 100 of the present invention in which the assembly 10 (or assembly 10') and the mobile field robot 101 interact. In the description of FIG. 24, for simplicity, the assemblies 10, 10' which may be the embodiments according to FIGS. 1 to 19 are overall simplified and only partially shown.

[0195] In the background of the system 100 of the present invention, the assemblies 10, 10' function as base stations in the agricultural area N. In the sense of the present invention, this means, on the one hand, that the crate 24 can be transferred to the mobile field robot 101 in the manner intended by this assembly 10. For this purpose, as shown in FIG. 24, the mobile field robot 101 can be positioned at one end face of the truss 12 such that the operation of the conveyor system 25 can be used to transfer at least one of the crates 24, preferably a plurality of crates 24, from the truss 12 to the field robot 101. These crates 24 can be provided from the storage part or roller magazine of the assembly 10 (or from the roller table 26 of the conveyor system 25).

[0196] For example, as described, the crate 24 received by the field robot 101 by the truss 12 of the assembly 10 can be an empty crate 24 or a crate 24 that houses seeds to be subsequently transported or sown in the agricultural area N by the mobile field robot 101 and the field management devices 18, 19 mounted thereon.

[0197] As described, after the field robot 101 receives at least one crate 24, preferably a plurality of crates 24, from the truss 12 of the assembly 10, it can leave the assembly 10 again and proceed with its work "independently" or autonomously. In this context, it is pointed out that the method of the present invention can be carried out not only by the assemblies 10, 10' but also by the mobile field robot 101 described here.

[0198] Regarding the system 100 of the present invention, when the crop from the plant P is placed on the crate 24 located on the on-site robot 101 after the execution of the crop management processing step, as shown in FIG. 24, it is further pointed out that the mobile on-site robot 101 moves again to a position adjacent to the end face of the truss 12 of the assembly 10. And this is done for the purpose of returning the crate 24 filled with the crop by the on-site robot 101 to the truss 12 of the assembly 10, whereby these crates can reach the storage part or the roller magazine (or the roller table 26) of the assembly 10 via the conveyor system 25 of the assembly 10. Subsequently, as already explained in connection with FIG. 4, further handling of these crates 24 filled with the crop, for example, loading onto a transport vehicle, is carried out.

[0199] As described above, at least one conveyor system can be provided for both the assemblies 10, 10' and the mobile in-field robot 101. Optionally, according to their second variant, the assemblies 10, 10' and / or the mobile in-field robot 101 or the platform 101' can each be equipped with a plurality of such conveyor systems that can then be arranged vertically one above the other and / or horizontally adjacent to each other. In any case, such conveyor systems 25, 125 ensure that at least one crate 24, preferably a plurality of crates 24, is always placed at a predetermined position on the truss 12 of the assemblies 10, 10' or the chassis 111 of the in-field robot 101, at which position an interaction with the field management devices 18, 19 attached to the robot arm 23 then becomes possible. For the purposes of the present invention, such an interaction is understood to mean that any one, for example, seeds, seedlings, young plants, etc., are intentionally removed from the crate 24 by the field management devices 18, 19, or that the field management devices 18, 19 are used to intentionally place the harvested crop in the crate 24 during the harvesting process. As explained elsewhere, as described above, i.e., when "mixed cultivation" of plants or vegetables is carried out in the agricultural area N, this crop can be derived from different plants or varieties. Thus, in the present invention, it is possible to place the crops of different plants P in the common crate 24 provided for this purpose.

[0200] During the harvesting process, if the crates 24 located in the conveyor system 25 of the assembly 10, 10' or the platform 101, 101' are completely filled with crops, the present invention may stipulate that this level is detected by an appropriate sensor. In this case, in relation to the assembly 10, these full crates 24 can be moved by the conveyor system 25 to the position of the storage or roller magazine (or roller table 26), where the filled crates 24 can be transferred to a transport vehicle, for example, for further processing or logistics. In relation to the mobile field robot 101, in this case (i.e., when recognizing the filled crate 24), as described, the mobile field robot 101 retreats to the end face of the truss 12 of the assembly 10, 10' so that the filled return crate 24 located on the field robot 101 can be returned to the truss 12 of the assembly 10, 10'. Therefore, the assembly 10, 10' fulfills or takes over the function of the base station. The same also applies to the platform 101' according to the second variant attached to the tractor.

[0201] Subsequently, the empty crates 24 are (again) provided to the roller table 26 of the conveyor system 25 and / or can be retransferred from the above storage or roller magazine (or roller table 26) of the conveyor system 25 to the mobile field robot 101, whereby further crop management processing steps can be executed by the assembly 10, 10' and / or by the platform (for example, as the mobile field robot 101).

[0202] The above description of the system 100 of the present invention given with respect to an example of the use of the platform in the form of the mobile field robot 101 also applies mutatis mutandis to the platform 101' of the second variant which is attached to a tractor or the like. This platform 101' is related to the fact that it is possible to transfer the crate 24 from the truss 12 to the platform 101' or onto it, or to receive the crate filled with crops in the truss 12 from the direction of the platform 101', and it is movable to a position adjacent to the truss 12. With respect to the platform 101' according to the second variant, it should be understood that this is achieved by moving the tractor to which the platform 101' according to the second variant is attached or connected to the said position adjacent to the truss 12 of the assemblies 10, 10'.

[0203] Finally, it is also emphasized that in connection with the system 100 of the present invention, it can be equipped with a plurality of platforms 101, 101'. This means that a number of mobile field robots 101 can subsequently be used, each of which is preferably movable to a position adjacent to the truss 12 in turn in order to receive the crate 24 from the truss 12 there or to deliver them to the truss 12. The same also applies to a number of different platforms 101' according to the second variant which can be attached to different tractors or the like.

Description of reference numerals

[0204] 10, 10' assemblies 12 (main) truss 13 secondary truss (side beam) 14 fixed central column (tripod) 16 chassis (with wheels) 17 swivel joint (rotary tilt joint) 18, 19 field management devices 20 carriage 21 support part (rod) 22 guide rail 23 robot arm 24 Crates 25 Conveyor System 26 Roller Table 27 Carrier Roller 28 Stopping Element 29 Base Terminal (Logistics Vehicle) 30 First Sensor 32 Second Sensor 34 Weather Station 36 Transmitter / Receiver Unit 38 Control or Regulation Device 40 Cable Reel 50 Holding Plate 100 System 101 Platform (As Part of a Movable Site Robot) 101’ Platform (For Connection or Attachment to a Tractor) 111 Chassis 112 Wheel 114 Plug-in Element 115 L-shaped Body 124 Crate Element 125 Conveyor System (Of Platforms 101, 101’) 133 Holding Plate or “Parking Area” 140 Transmitter / Receiver Unit 141 Weather Station 142 Control or Regulation Device 143 Battery 152 Circulating Conveyor Belt 153 Coupling Device 154 Moving Direction (Regarding Crate 24) B Battery Storage F Lane H Horizontal M Motor N Agricultural Area (Usable Area) P Plant R Monitoring Space (Of the First or Second Sensor 30, 32) S Solar Panel W Tool Exchange System

Claims

1. An assembly (10; 10') for the management of an agricultural area (N), comprising: a related chassis (16) having at least one elongated truss (12) and at least one wheel, by means of which the truss (12) is movable in a circular or linear manner over the area (N) to be used; the truss (12) and the chassis (16); at least one field management device (18, 19) movable or displaceable along the truss (12); at least one crate (24); a plurality of carriages (20) provided on the truss (12), the plurality of carriages being attached to associated guide rails (22) of the truss (12) so as to be movable in the direction of its longitudinal extension along the truss (12), and at least one field management device (18, 19) being attached to each carriage (20) so that each of the carriages (20) acts as a tool carrier for the field management device (18, 19); the plurality of carriages (20); characterized in that a conveyor system (25) is provided along the longitudinal extension of the truss (12), and the at least one crate (24) is movable by the conveyor system (25) in a specific direction along the longitudinal extension of the truss (12), thereby to a predetermined position adjacent to the field management device (18, 19); at the same time, different types of field management devices (18, 19) are mounted on at least one carriage (20) so that the carriage acts as a tool carrier for the different types of field management devices (18, 19); and in that at least one attached field management device (18, 19) is provided on the opposite side of the truss (12) to the plurality of carriages (20).

2. The assembly (10; 10') according to claim 1, wherein a storage unit or roller magazine capable of accommodating a plurality of crates (24) is equipped on the truss (12) and / or the conveyor system (25).

3. The assembly (10; 10') according to claim 1, wherein the conveyor system (25) has a roller table (26) having a plurality of carrier rollers (27) each having a horizontal rotation axis, and the at least one crate (24) is placeable on the carrier rollers (27) of the roller table (26).

4. The roller table (26) also has a plurality of guide rollers each having a vertical axis of rotation, and each of the guide rollers is arranged at a side portion of the roller table (26) to restrict the roller table (26) with respect to the side portion. The assembly (10; 10') according to claim 3.

5. At least one roller of the roller table (26) is motor-driven to effect conveyance of the crate (24) in a desired direction along the truss (12). The assembly (10; 10') according to claim 3.

6. At least one of the carrier rollers (27) is motor-driven. The assembly (10; 10') according to claim 3.

7. The plurality of carriages (20) are movable independently of each other together with the field management devices (18, 19) attached thereto. The assembly (10; 10') according to claim 1.

8. The conveyor system (25) has a support portion (21) capable of effecting interaction with the crate (24) to move the crate (24) in a specific direction along the longitudinal extension of the truss (12), and at least one carriage (20) provided with the support portion (21) and movable along the longitudinal extension of the truss (12) is provided on the associated guide rail (22) of the truss (12). The assembly (10; 10') according to claim 1.

9. Comprising a tool changing system (W) mounted or provided on the truss (12), a plurality of different field management devices (18, 19) being attachable or mountable on or within the tool changing system (W), at least one field management device (18, 19) being exchangeable with another field management device (18, 19) with respect to at least one robot arm (23), and the tool changing system (W) being attached to the associated guide rail (22) of the truss (12) to be movable in the direction of its longitudinal extension along the truss (12). The assembly (10; 10') according to claim 1.

10. It is provided with a control or adjustment device (38), by which the movement of the truss (12) on the agricultural area (N) and / or the operation of at least one field management device (18, 19) can be controlled or adjusted. The transmitter / receiver unit (140) signal-connected to the control or adjustment device (38) is used to receive and / or transmit information or data packets for monitoring and / or controlling the operation of the truss (12) and / or the field management device (18, 19) attached to or provided thereon to a remote location in the form of a control station. The assembly (10; 10´) according to claim 1, wherein the transmitter / receiver unit (140) is attached to the truss (12).

11. A method for the management of an agricultural area (N), the method being executed fully automatically and including related crop management processing steps of planting or sowing the plants until they are harvested, and a predetermined amount of harvested crops being mechanically placed in a crate (24) provided for this purpose in the process of harvesting. The method is executed using the assembly (10; 10´) according to any one of claims 1 to 10. Different plants (P) are sown or harvested in the form of mixed management in the same agricultural area (N), and the plant management and harvesting processes are mapped as pick-and-place processes, and the pick-and-place processes are executed over all crops, that is, for vegetable plants of different species and sizes. When the harvesting is carried out, the harvested crops from different plants (P) are placed together in a common crate (24) by field management devices (18, 19). Spot farming is carried out in the agricultural area (N), and the management of the agricultural area (N) focuses only on the target planting locations where the plants are introduced into the ground, and the target planting locations are used for sowing, irrigating, and / or harvesting the matured plants.

12. The method according to claim 11, wherein non-edible biomass is separated from the plants to be harvested.

13. The method according to claim 11, wherein the agricultural area (N) is managed with different varieties of plants and vegetables consisting of the group consisting of iceberg, butterhead and romaine lettuce, red and white cabbage, broccoli, kohlrabi, celery, cucumber, zucchini and / or pumpkin, such that the mixed management of the plants or vegetables is carried out in the agricultural area (N).

14. The method according to claim 11, wherein the method is carried out using at least one platform (101, 101') movable with respect to the agricultural area (N), at least one field management device (18; 19) being attached to the platform (101, 101') or a chassis (111) of a part thereof, whereby at least one crop management treatment step is carried out, a conveyor system (125) being attached to the platform (101, 101') or the chassis (111) of a part thereof, and at least one crate (24) being moved in the longitudinal and / or transverse direction of the chassis (111) of the platform (101, 101') by the conveyor system and placed at a predetermined position adjacent to the field management devices (30, 31a, 31b).

15. A method carried out using an assembly (10; 10'), the assembly (10; 10') being an assembly (10; 10') for the management of an agricultural area (N), the assembly (10; 10') comprising at least one elongated truss (12) and an associated chassis having at least one wheel, the truss (12) being movable circularly or linearly on the usable area (N) by the wheel, the assembly comprising the truss (12) and the chassis. The method according to claim 14, wherein the platform (101, 101') adjacent to the truss (12) of the assembly (10; 10') is positioned such that a crate (24) can be returned from the truss (12) to the platform (101, 101') or from the platform (101, 101') to the truss (12).

16. A system (100) for the management of an agricultural area (N), an assembly (10; 10') according to any one of claims 1 to 10, which performs the function of a base station in the agricultural area, At least one platform (101, 101') movable with respect to the agricultural area (N), the platform being provided separately from the assembly (10, 10'), and having at least one field management device (18; 19) attached to the chassis (111) of the platform (101, 101') or a part thereof, whereby crop management processing steps can be executed, a platform (101, 101'), and comprising The chassis (111) of the platform (101, 101') or a part thereof is equipped with a conveyor system (125) capable of transporting at least one crate (24), and the crate is movable to a predetermined position adjacent to the field management devices (18, 19) in the longitudinal direction and / or the transverse direction of the chassis (111), The platform (101, 101') can be arranged at a position adjacent to the truss (12) of the assembly (10; 10') such that the platform (101, 101') can receive the crate (24) from the truss (12) or return the crate (24) filled with the crop of the plant (P) on the platform (101, 101') to the truss (12), The platform is part of a mobile field robot (101), and a plurality of wheels (112) are attached to its chassis (111), whereby the mobile field robot (101) can move on the agricultural area (N), and at least one of the wheels (112) is equipped with a drive unit, and at least one wheel (112) is mounted around the vertical axis of the chassis (111) so that the mobile field robot (101) can change its traveling direction by turning or rotating, a system (100).

17. The chassis (111) of the platform (101, 101') is modular, and for this purpose, it comprises a plurality of elongated, tubular plug-in elements (114), and the plug-in elements (114) are connectable to each other and separable from each other without using special tools so that at least one dimension of the chassis (111) can be variable, the system (100) according to claim 16.

18. Regarding the platform (101, 101'), at least one carriage (20) is attached to the associated guide rail (22) of the chassis (111) and is movable along the longitudinal extension of the platform (101, 101'), and at least one field management device (18, 19) is attached to the carriage (20) so that the carriage (20) acts as a tool carrier for the field management device (18, 19), the system (100) according to claim 16.

19. The conveyor system (125) has a support part (21) capable of interacting with the crate (24) to move the crate (24) in a specific direction along the longitudinal extension of the platform (101, 101'), and at least one crate (22) provided with the support part (21) is attached to the associated guide rail (22) of the platform (101, 101'), the system (100) according to claim 16.

Images