Plant growth management system and method

Abstract

A plant management / treatment system is disclosed, comprising at least one robotic arm system configured to reciprocate along its longitudinal axis towards and away from suspension implements disposed on a cable; a manipulator coupled to the at least one robotic arm and configured to grasp and manipulate one of the suspension implements between its gripping fingers to adjust at least one of a suspension height of a plant coupled to the suspension implement or a position of the suspension implement along the cable; and at least one sensing unit coupled to the at least one robotic arm and configured to detect a position of one of the suspension implements suspended on the cable and generate signals / data for the at least one robotic arm to reciprocate along its longitudinal axis to grasp and manipulate the suspension implement.

Description

Technical Field

[0001] This application generally relates to agricultural automation systems, and more specifically to robotic arm systems and methods for performing various growth management and / or processing operations on plants.

Background Art

[0002] Agricultural robots are increasing farmers' yields in various ways. This technology has been deployed in many innovative applications, from drones to autonomous tractors and robotic arms. These robots automate time-consuming, repetitive, and boring tasks for farmers, allowing them to focus more on improving overall production yields. Among the most common robots in the agricultural field are those used for harvesting, picking fruits, weeding, autonomous mowing, pruning, sowing, spraying, thinning, and sorting and packing.

[0003] Harvesting and picking fruits are one of the most popular robotic applications in agriculture because the accuracy and speed achievable by robots can improve the harvest volume and reduce waste caused by leaving crops in the field. However, there are also many other innovative ways in the agricultural industry to introduce automation by robots to improve production yields.

[0004] The plant growth management process is very different from picking metal parts and placing them on an assembly line. Agricultural robotic arms need to be flexible in a dynamic environment and require the accuracy not to damage the plants being processed. For example, the robotic arm has to move in an environment with many obstacles and gently grasp and place chili peppers.

[0005] Layering / leveling is a common agricultural practice performed when the tops of plants reach a certain height. For example, in large-scale cultivation facilities, specially designed hooks (also referred to herein as suspension devices) are used to suspend, support, and intermittently or periodically lower plants (e.g., tomatoes, cucumbers, etc.). This layering / leveling hook is a double-sided hook device having an upper hook, a lower hook, a central spool between these hooks, and a twisted cord wound on top of it, although other configurations can be used similarly. The layering / leveling hook is attached to a trellis cable by one of its hooks, and the free end of the twisted cord is connected to a portion of the plant to support it. As the plant grows, a portion of the wound twisted cord is released from the layering / leveling hook to lower the plant, easing the distribution of water upwards by the plant and facilitating the harvesting of ripe fruit.

[0006] Generally, this lowering process involves a worker grasping and lifting the hook, detaching the upper hook from the trellis cable, rotating the layering / leveling hook 180°, shifting the hook horizontally a certain distance (e.g., 10-30 cm), and then returning it to the trellis cable. Rotating the layering / leveling hook 180° turns the lower hook into the upper hook, and vice versa. This procedure lowers the plant by the length of a half-rotation, for example, 20 cm. Since plants typically grow about 20 cm per week, it is necessary to lower them once a week to match the plant's growth rate. Furthermore, lowering the plants allows harvesters to easily reach the lower parts of the plants needed to harvest ripe fruit.

[0007] In this layering / leveling process, if we assume that approximately 20,000 plants per hectare are processed, and that a few seconds are spent per plant each week, the cost of layering / leveling can amount to approximately $1,000 per hectare per month. The limited number of agricultural workers is also a related challenge. A lack of adequate human labor can disrupt routine layering / leveling, leading to a decline in plant quality. Plants may bend or break if they are not secured to trellis cables and occasionally lowered to the appropriate height. Furthermore, if workers have difficulty reaching the fruit, it can lead to fruit drop and reduced yields. Therefore, reducing reliance on manual labor and automating these tasks is crucial.

[0008] Some agricultural automation solutions known from patent documents are briefly described below. U.S. Patent Publication 2015 / 173297 describes a device for selectively harvesting plant crops. The device may include a picking device. The picking device may be rotatable about a central axis. The picking device may include a plurality of grippers, each spaced apart and extending radially from the central axis, each configured to pick different individuals of crops. Each of the plurality of grippers is adjustable between an open position and a closed position. Each of the plurality of grippers may be configured in the open position to open around individual crops. Each of the plurality of grippers may be configured in the closed position to ensure that individual crops are held securely when the picking device is rotated about the central axis.

[0009] U.S. Patent Publication 2015 / 142250 describes an autonomous vehicle platform and system for selectively performing seasonal management tasks in an agricultural area while self-navigating between rows of planted crops. The autonomous vehicle platform has a vehicle base with width dimensions that can be inserted into the space between two rows of planted crops, and this vehicle base has a seasonal task management structure configured to perform a variety of tasks within the field, including selective fertilization, growth zone mapping, and sowing cover crops.

[0010] U.S. Patent Publication 2008 / 046130 describes an agricultural automation system for use in the agricultural sector, comprising an equipment caddy equipped with multiple implements, an elongated transport structure, and a field robot movable along the elongated transport structure. The field robot includes an arm movable in at least one direction other than movement along the elongated transport structure. The field robot interfaces with the equipment caddy for attaching the arm to at least one selected implement, such as a tool or a sensor.

[0011] European Patent Publication No. 3,714,682 discloses a gripping device for repositioning a high wire hook, comprising a pair of opposing loops for winding around a rope and a pair of suspension hooks, each hook positioned near the respective loop, for suspending the high wire hook from a suspension wire, thereby configuring the high wire hook to support a high wire crop in horticulture by suspending the high wire hook from the suspension wire on one of the suspension hooks, with the rope wound around the loops supporting the end of the high wire crop, wherein the gripping device comprises a gripping mechanism including a projection, a robotic arm coupled to the gripping mechanism, and a processing unit operatively coupled to the robotic arm, the processing unit causing the robotic arm to insert the projection into one of the loops in order to reposition the high wire hook. [Overview of the project]

[0012] In the art, there is a need for automated systems configured for efficient plant growth management tasks, such as layering / leveling relatively heavy plants, while simultaneously having appropriate, relatively compact dimensions / sizes that can operate in agricultural areas / facilities. This application provides automated agricultural plant growth management / processing systems and technologies configured to efficiently perform such tasks. In one broad embodiment, a robotic arm system is provided configured to operate suspension devices (also referred to herein as layering / leveling hooks) from which a portion of a plant is suspended, thereby lowering and / or displacing the suspended portion of the plant relative to a trellis cable. The robotic arm system is configured to move along the cable, identify suspension devices suspended from the trellis cable, and detach the suspension devices from the trellis cable in order to lower or raise and / or displace at least a portion of the plant. Therefore, in some embodiments, the robotic arm system is configured to reciprocate toward or away from the trellis cable to approach a specified suspension device, to lower at least a portion of the plant, and / or to displace the position of the suspension device along the trellis cable, and to be detached from the trellis cable.

[0013] In some embodiments, the suspension device is a type of layering / leveling double hook device having a coiled twisted cord / wire connected at its free end to a portion of the plant. In such embodiments, the robotic arm system is configured to release a portion of the coiled twisted cord / wire in order to lower the suspended plant portion. For this purpose, in some embodiments, the robotic arm system includes a rotatable gripper configured to grasp the suspension device and release a portion of the coiled twisted cord / wire by rotating the suspension device 180°. Furthermore, in some embodiments, in order to detach the suspension device from the trellis cable, the system is further configured to control the raising or lowering of the robotic arm system relative to the trellis cable.

[0014] Alternatively, in other possible embodiments, the robotic arm system is configured to reciprocate toward or away from the trellis cable to approach a specified suspension device, to detach the suspension device from the trellis cable in order to elevate at least a portion of the plant and / or displace the position of the suspension device along the trellis cable. In such possible embodiments, the robotic arm system is configured to wind up a portion of the released twisted cord / wire in order to elevate the portion of the suspended plant. Similarly, a rotatable gripper of the robotic arm system may be configured to grasp the suspension device by rotating it 180° in the opposite direction and to wind up a portion of the released twisted cord / wire onto it.

[0015] In some embodiments, to displace a suspension device along a trellis cable, the robotic arm system is further configured to rotate a gripper / manipulator around its axis of rotation. In this way, each time a suspension device is identified, the robotic arm system is stopped, the robotic arm is moved toward the identified suspension device and engages with the gripper, the gripper grasps the suspension device, the robotic arm is slightly raised to release the upper hook of the suspension device from the trellis cable, and after the suspension device is rotated 180° by the gripper, releasing a portion of the wound twisted cord (or winding a portion of the released twisted cord), the robotic arm is rotated around its axis of rotation to displace the grasped suspension device along the trellis cable by a predetermined distance.

[0016] In some embodiments, the robotic arm system can move along the trellis cable to displace the gripped suspension device by a specified distance along the trellis cable, while the robotic arm (holding the suspension device) is kept substantially horizontal (i.e., parallel to the ground) and perpendicular to the trellis cable.

[0017] Next, the robotic arm moves toward the trellis cable until the current upper hook (formerly the lower hook) of the suspension device is positioned above the trellis cable, then lowers the robotic arm to release its grip on the layering / leveling suspension device / hook, thereby returning the layering / leveling suspension device / hook to the trellis cable by the current upper hook, and thus the suspension device can be returned and suspended from the trellis cable.

[0018] Performing layering / leveling relatively heavy plants (for example, a typical tomato plant weighs about 10 kg) requires a suitable robotic arm capable of lifting such heavy weights. However, robotic arms designed for such heavy payloads are expensive and usually too large and cumbersome to adapt to agricultural environments, while smaller robotic arms and cobots have limitations in handling such heavy payloads.

[0019] Generally, the payload limit of a robotic arm is determined by the maximum torque that can be applied by the joint furthest from the tip (usually the gripper). When a force is applied to the gripper of a robotic arm, a corresponding torque is generated at the furthest joint. Furthermore, robotic arms designed to handle or lift large payloads require high power because they need large currents to drive the joint motors, all of which contribute to the cost of the robot. For example, in the case of a typical line width in a greenhouse, assuming an actuator is placed in the center of the robotic arm and the weight of a plant is about 10 kg, the torque required to lift it would be about 60 Nm.

[0020] To overcome limitations arising from the maximum torque of the actuator, the following configurations are intended in the embodiments disclosed herein. • The weight-bearing element of the robotic arm performing the task is configured as a rigid beam capable of withstanding the payload and the bending forces acting on it during its movement. To reduce stress acting on the system structure, the robot arm can be configured to lean against the trellis cable when lifting the layering / leveling suspension / hook, thereby allowing the trellis cable to support the robot arm during operation. The grip finger can be configured to perform at least one of the following gripping methods: • Male / female type gripping available as the primary gripping method. Here, the suspension device / hook is captured / gripped between the gripping fingers, and thus frictional force for gripping available as a secondary / additional method is utilized to prevent the suspension device / hook from slipping off. • Utilizes a patterned mounting / gripping surface configured to close, for example, to prevent the suspension device / hook from slipping. • Forced closure, i.e., closure using frictional force, can be used as the primary gripping method, while closure by shape (e.g., patterned attachment) can be used as a secondary / additional method to prevent the suspension device / hook from slipping, for example, by tightening the suspension device / hook between the "finger" of the gripper so that friction prevents slippage (this can be increased by using rubber).

[0021] Any combination of these gripping methods can be implemented in the embodiments disclosed herein.

[0022] As mentioned above, rotary joints used in cobots and small robotic arms can only provide limited torque levels, and consequently, limited payload capacity. Embodiments disclosed herein utilize a telescopic mast or a type of scissor-type lifting mechanism capable of lifting and holding the weight of a plant (e.g., 10 kg), which can be used for other agricultural tasks (e.g., pollination). The robotic arm can utilize a screw-driven base rail to provide sufficient vertical force and can utilize a self-locking option to reduce the motor's duty / load cycle. Thus, the design of the robotic arm system must ensure that the weight of the plant is supported only by the vertical degrees of freedom of the robotic arm (in some embodiments, by a screw-based actuator). The proposed design ensures that any unintended movement occurs only in a direction perpendicular to the weight of the plant. Similarly, in possible embodiments, a pneumatic linear actuator is used for the reciprocating motion of the robotic arm toward / away from a trellis cable.

[0023] In some embodiments, the subject matter disclosed herein relates to an automated plant management and / or processing system. The system comprises at least one robotic arm system configured to reciprocate along its longitudinal axis relative to suspension devices positioned on a cable, each suspension device including at least one robotic arm system supporting at least one plant coupled to the suspension device, a manipulator / gripper coupled to the at least one robotic arm and configured to receive and secure one of the suspension devices between its gripping fingers and to adjust at least one of the suspension heights of the plant coupled to the suspension device or the position of the suspension device along the cable, and at least one sensing unit coupled to the at least one robotic arm such that its field of view is not affected by the operation of the suspension device by the manipulator. The at least one sensing unit is configured to detect one position of the suspension device suspended from the cable and to generate signals / data for causing at least one robotic arm to reciprocate along the longitudinal axis to grasp and operate the suspension device.

[0024] In some embodiments, the longitudinal axis of the robot arm is substantially horizontal (i.e., parallel to the ground) and perpendicular to the direction of gravity acting on at least one robot arm; that is, the longitudinal axis of the robot arm is substantially horizontal / parallel to the ground. At least one of the gripping fingers of the manipulator / gripper may be configured to move substantially perpendicular to the longitudinal axis of the robot arm in order to grasp and secure a suspension device between the gripping fingers.

[0025] Optionally, but preferably in some embodiments, each of the suspension devices includes a wound twisted string / wire. In this way, each plant can be coupled to its respective suspension device at the free end of the wound twisted string / wire. The gripper can be configured to release a portion of the wound twisted string / wire or wind up a portion of the released twisted string / wire in order to adjust the hanging height of each plant. The system, in some embodiments, comprises a gripper rotation unit configured to rotate the gripper. The gripper can be configured to grip the detected suspension device, rotate it by the gripper rotation unit, and release a portion of the wound wire / twisted string or wind up a portion of the released wire / twisted string.

[0026] In some embodiments, each robotic arm system is coupled to slide thereon along its respective horizontal rail. Alternatively or additionally, each robotic arm system is coupled to slide thereon along its respective vertical rail. The system, in some embodiments, comprises two robotic arm systems configured to simultaneously operate suspension devices disposed on two different cables on each of two opposing sides of the system.

[0027] The system, in some embodiments, comprises an adjustable mast or a scissors-type lifting mechanism for controlling the height of the robotic arm. Accordingly, the operation of the suspension device can be performed by raising the robotic arm by the adjustable mast or by the scissors-type lifting mechanism for detaching the upper hook of the suspension device from the cable. For this purpose, a telescopic mast device can be provided on the adjustable mast. In some embodiments, an actuator is used to controllably cause a reciprocating movement of at least one robotic arm relative to the suspension device substantially perpendicular to the longitudinal axis of the adjustable mast.

[0028] The system may include an arm rotation unit configured to apply a yaw rotational movement to at least one robotic arm. Accordingly, the operation of the suspension device can include removing the suspension device from the cable, rotating at least one robotic arm with the arm rotation unit, and moving the suspension device a distance away from its previous position on the cable.

[0029] In some embodiments, the system includes a movable platform for moving at least one robotic arm substantially parallel to the cable. Accordingly, the operation of the suspension device can include displacing the suspension device a predetermined distance along the cable by appropriately moving the movable platform along the cable. Signals / data generated by at least one sensing unit can be used to decelerate and / or stop the movement of the movable platform.

[0030] In some embodiments, the system includes a catcher assembly configured to catch plants and / or suspension devices accidentally detached from the actuator and / or cable. This system may further include a sensing device configured to detect the engagement between the catcher assembly and the plants and / or suspension devices. In a possible embodiment, it includes a weighing mechanism configured to generate load / weight data / signals indicating the weight of a plant or a part thereof coupled to the robotic arm system and coupled to the suspension device. This weighing mechanism can be used to generate measurement signals / data indicating the weight of at least a part of the plant supported by the suspension device operated by the manipulator of the robotic arm system. Accordingly, the control unit is configured to collect, process, and / or monitor the weight data / signals of the plant operated by the suspension device by the robotic arm system and / or its manipulator / gripper, and thereby may be configured and operable to issue a warning when a growth abnormality is determined.

[0031] The system includes, in some embodiments, one or more sensors configured to detect accidental release of the suspension device from the manipulator. The control unit may be configured to shut down the system when it detects an accident in which the suspension device has detached from the manipulator. Optionally, but preferably in some embodiments, the control unit is configured to operate the suspension device whenever load / weight data / signals from the weighing mechanism indicate the weight of a plant on the robotic arm.

[0032] In some embodiments, the system includes a control unit configured and operable to receive signals / data generated by at least one sensing unit and generate control signals to slow down or stop the mobile platform and operate suspension devices accordingly. The at least one sensing unit may include an imager configured to generate image data / signals indicating the location of at least one suspension device on a cable. The control unit may be configured and operable to process and analyze the image data / signals generated by the imager and, based thereon, generate control signals to operate the detected suspension device. Optionally, but preferably in some embodiments, the at least one sensing unit comprises proximity sensors and / or contact sensors and / or optical / imager sensors configured to generate signals / data indicating that at least one robotic arm is in proximity to and / or in contact with one of the suspension devices.

[0033] In some embodiments, an auxiliary arm can be coupled to one or more robot arms. The auxiliary arm may be configured to contact a cable and support at least one robot arm at least partially on the cable. The auxiliary arm may be hinged to at least one robot arm. The auxiliary arm may be further coupled to at least one robot arm by an elastic element configured to pull the auxiliary arm toward at least one robot arm. Optionally, the auxiliary arm comprises a retractable component configured to maintain continuous contact on the cable when the suspension is operated by at least one robot arm. In possible embodiments, at least one sensing unit comprises proximity and / or tactile and / or optical / imager sensors provided on the auxiliary arm to indicate proximity to or contact with one of the suspensions.

[0034] The gripper may utilize at least two grip fingers configured to grasp a suspension device. Optionally, at least one of the grip fingers is movable relative to the other grip fingers to grasp or release a detected suspension device. At least one of the grip fingers has a recess configured to receive a portion of the detected suspension device, thereby allowing the gripper to grasp and secure the suspension device. In some embodiments, at least one of the grip fingers has one or more projections configured to receive a portion of the detected suspension device, thereby allowing the gripper to grasp and secure the suspension device. The grip fingers may have complementary male / female gripping elements configured to receive a portion of the detected suspension device, thereby allowing the gripper to grasp and secure the suspension device.

[0035] In some embodiments, the actuator includes a movable locking pin for insertion into a loop of the suspension device. The manipulator may include one or more sensors configured to indicate the acceptance of the suspension device and the positioning of the loop on the passage of the locking pin. In possible embodiments, the manipulator includes a movable locking element configured to push the upper part of the suspension device forward and rotate it around the locking pin. The system may include a contact structure configured to stop the movement of the lower part of the suspension device caused by the movable locking element.

[0036] Another aspect of the subject matter disclosed herein relates to a method for automated plant management and / or processing. The method includes the steps of: detecting the position of a suspension device suspended from a cable by at least one sensing unit coupled to at least one robotic arm; moving a gripper device toward the suspension device in a non-gripping state along the longitudinal axis of the robotic arm (for example, the longitudinal axis being substantially perpendicular to the direction of gravity acting on the at least one robotic arm), wherein the suspension device supports at least one plant coupled to the suspension device; receiving the suspension device between the gripping fingers of a manipulator and changing the gripper device to a gripping state, for example by moving at least one gripping finger of the gripper device substantially perpendicular to the longitudinal axis of the robotic arm, for example, to hold and secure the suspension device therein; and manipulating the suspension device with the gripper device to adjust at least one of the suspension height of the plant coupled to the suspension device, or the position of the suspension device along the cable.

[0037] The operation of the suspension device by the gripper may include the step of releasing a portion of the twisted cord / wire wound around a portion of the suspension device, or the step of winding up the released portion of the twisted cord / wire, in order to adjust the suspension height of at least one plant. The operation of the suspension device may also include the step of rotating the suspension device by the gripper device.

[0038] This method may include the step of adjusting the height of the gripper. Operation of the suspension device may include the step of raising the gripper to detach the suspension device from the cable. In some embodiments, operation of the suspension device may include the step of displacing the suspension device a predetermined distance along the cable.

[0039] In some embodiments, the method includes moving a gripper device along a cable to detect and operate one or more additional suspension devices located on the cable. In possible embodiments, the method includes receiving and processing signals / data from at least one sensing unit, and responsively slowing down or stopping the movement of the gripper device to operate a suspension device if the signals / data indicate that the suspension device is approaching.

[0040] The method may include the step of receiving weight measurement data / signals for each plant supported by a suspension device operated by at least one robotic arm. In possible embodiments, the method includes the step of detecting accidental release of the suspension device from the manipulator. Optionally, in response to the detection of accidental release of the suspension device from the manipulator, all operation of the system may be stopped and / or a warning may be issued. [Brief explanation of the drawing]

[0041] Embodiments are described only as non-limiting examples, with reference to the accompanying drawings, in order to better understand the subject matter disclosed herein and to illustrate how it can be put into practice. [Figure 1]Figures 1A and 1B schematically illustrate robot arm systems according to several possible embodiments, with Figure 1A being an overall view of the robot arm and Figure 1B showing the robot arm system supported on a movable platform. [Figure 2] Figure 2 is a schematic diagram showing the components of a robot arm according to several possible embodiments. [Figure 3] Figure 3 is a schematic diagram illustrating control methods for a robotic arm system according to several possible embodiments. [Figure 4] Figure 4 is a schematic diagram illustrating a robotic arm system according to another possible embodiment. [Figure 5] Figure 5 is a top view of a robot arm according to another possible embodiment. [Figure 6] Figure 6 is a schematic diagram showing a robot arm gripper according to several possible embodiments having a friction-applying element. [Figure 7] Figure 7 schematically shows another gripper configuration for a robot arm according to several possible embodiments having grip grooves. [Figure 8] Figure 8 is a schematic diagram illustrating another gripper configuration for a robot arm according to several possible embodiments having gripping protrusions. [Figure 9] Figures 9A and 9B schematically show gripper configurations for a robot arm in several possible embodiments having a male / female configuration. [Figure 10] Figures 10A and 10B are flowcharts illustrating the operation of a robot arm in several possible embodiments. [Figure 11] Figures 11A to 11D schematically illustrate other possible embodiments of the robotic arm system, with Figure 11A illustrating the use of a scissor-type lifting mechanism, Figure 11B illustrating a plant catcher mechanism, Figure 11C illustrating a dual plant processing configuration, and Figure 11D illustrating a manipulator configuration. [Figure 12]Figures 12A to 12D schematically show robot arm systems and their manipulators according to several possible embodiments, where Figure 12A is a perspective view of the robot arm system and its manipulator, Figure 12B is a side view of the robot arm system with the suspension device locked to the manipulator, Figure 12C is a side view of the robot arm system with the suspension device locked and fixed to the manipulator, and Figure 12D is a flowchart of the robot arm management procedure according to several possible embodiments. [Modes for carrying out the invention]

[0042] Various embodiments of the present invention will be described below with reference to the drawings, but these should be considered as illustrative in all respects and not limiting in any way. Not all features of the actual implementation are described in the specification in order to provide a concise description of these embodiments. The elements shown in the drawings are not necessarily to scale or in the correct proportions, and these are not important. Instead, the emphasis is on clearly explaining the principles of the invention so that a person skilled in the art can create and use the invention if they understand the principles. The present invention may be provided in other specific forms and embodiments without departing from the essential features described herein.

[0043] Figure 1A schematically shows several possible embodiments of an automated agricultural plant growth management / treatment system 100. The system 100 may be configured to perform various tasks related to plant growth management (e.g., layering / leveling) in an "agricultural area". In this specification, the term "agricultural area" should be interpreted broadly to include farmland and plant cultivation facilities such as agricultural greenhouses and conservatories.

[0044] As shown in the illustration, a portion of the plant P is attached by a wound wire / cable / strand / spool 47 to a suspension device 15, which in this non-limiting figure is a double-hook layering / leveling structure / device. The suspension device 15 is suspended from the cable 14 (typically a trellis cable) by its upper hook 15t, while its lower hook 15b is kept loose. As a result, the plant P is suspended from the cable 14 by the suspension device 15 via the wound strand / wire, which maintains / holds and supports the plant P at a constant height above the ground (73 in Figure 3). Typically, such a cable 14 has multiple suspension devices such as the suspension device 15 positioned on it, but for ease of understanding, only one such device 15 is shown in Figure 1A.

[0045] As shown in the figure, the plant P is attached to the suspension device 15 via a suspension cord / wire 47, which is typically wrapped around the central portion of the suspension device 15 and connected to at least a portion of the plant P, and thus the plant P can be supported at a certain suspension height from the ground (73), as will be further described with reference to Figure 4. In practice, the plant is wrapped around the suspension cord / wire 47 along its entire length or clipped in place.

[0046] The system 100 includes a robotic arm 13 that can move substantially parallel to (alongside) the cable 14 from which the plants P are suspended by their respective suspension devices 15. More specifically, the robotic arm 13 can be controlled to move along a path / axis defined along the cable 14 such that the longitudinal axis of the robotic arm 13 is substantially horizontal (i.e., parallel to the ground 73) and substantially perpendicular to the cable 14 (g1).

[0047] The robot arm 13 is also configured to reciprocate (g4) with respect to the suspension device 15 and / or cable 14, i.e., to move along the longitudinal axis 13x of the robot arm 13 toward or toward the cable 14, thereby enabling the robot arm 13 to reach the suspension device 15 in order to operate it. For this purpose, the robot arm 13 may be associated with or coupled to an actuator 13a (e.g., a linear actuator such as a screw-driven base rail, an electric linear actuator, or a pneumatic actuator) adapted to enable the reciprocating motion of the robot arm 13 toward and toward the cable 14. The actuator 13a is further adapted to withstand the torque applied thereto (e.g., about 40–60 Nm) so that the robot arm 13 can operate the suspension device 15.

[0048] It should be noted that the payload limit of a robotic arm, i.e., the weight it can lift, is generally determined by the joint furthest from the tip of the robotic arm. Specifically, in system 100, when the robotic arm 13 operates the suspension device 15, a force acts on the tip / end (distal end) of the robotic arm 13. This force is proportional to the weight of the payload that the suspension device 15 typically carries, i.e., the weight of the plant P. While acting on the robotic arm 13, this force adds a torque corresponding to the actuator 13a, which in the embodiments disclosed herein does not utilize a joint mechanism but rather utilizes a linear or pneumatic actuator.

[0049] For example, a typical tomato plant weighs about 10 kg, and the actuator 13a is subjected to a torque of approximately 45-65 Nm. Therefore, in the illustrated embodiment, the reciprocating motion influenced by the actuator 13a is substantially perpendicular to the direction of gravity applied by the suspended plant, thereby allowing for a relatively large extension of the robotic arm 13 under substantial load acting on the grip end (13g). This allows the robotic arm to withstand a relatively large torque, enabling the robotic arm 13 to operate the suspension device with relatively low power requirements.

[0050] System 100 also includes at least one sensing unit S (e.g., a camera / imager, proximity sensor, tactile sensor, or any combination thereof) coupled to / attached to the robot arm 13. The sensing unit S is configured to detect the position of suspension devices 15 suspended from the cable 14 as the robot arm 13 moves substantially parallel to / along the cable 14. When a suspension device 15 on the cable 14 is detected, the sensing unit S generates a signal / data to stop the robot arm 13 in front of the detected suspension device 15 and to operate it by moving back and forth relative to the suspension device 15.

[0051] System 100 also includes a gripper / manipulator 13g rotatably mounted / coupled to the robot arm 13, thereby allowing the robot arm 13 to operate the suspension devices 15. In particular, the gripper 13g is configured to operate one of the suspension devices 15 (whichever is detected) suspended from the cable 14 in order to adjust / change the suspension height of the plant P relative to the ground (73) and / or the position of the suspension devices 15 along the cable 14.

[0052] In this particular non-limiting example, the system 100 moves / operates along a cable 14 associated with a specific single row of plants P (g1). However, it should be noted that a farm / greenhouse may contain many rows of plants and separate cables corresponding to the plants in each row. The system 100 disclosed herein can be configured to move between such rows, i.e., between two cables on either side of the robot. Specifically, upon reaching the end of a cable 14, the system moves on to the next row. For this reason, in some embodiments, a sensing unit S is configured to sense the cable 14 in order to determine when the system 100 has reached the end of the cable 14. Thus, once the system 100 reaches the end of the cable 14, it can move on to operate in the next row of plants.

[0053] Referring to Figure 10A, a generalized flowchart of process 200 for managing / processing plant growth is shown in several possible embodiments. Process 200 includes the step of moving a robotic arm system along a cable parallel to the cable (S1) from which plants are suspended by their respective suspension devices. As described above, the robotic arm system (100) is controllable to move back and forth (towards and away from) the suspension devices (15).

[0054] Process 200 further includes the steps of detecting the position of one of the suspension devices suspended from the cable (14) as the robot arm moves substantially parallel to / along the cable (S2), and generating signals / data to cause the robot arm to reciprocate and operate the suspension device (S3). When the robot arm reaches the end of the cable (S4), it can move to the next row of plants (S5), but if it has not reached the end of the cable, it continues to move along the cable (S1) and operate any further suspended suspension devices (if any / detected).

[0055] Referring to Figure 1B, several possible embodiments of an automated agricultural plant growth management system 10 are schematically shown. The system 10 includes an autonomous mobile platform 11 configured and operable to move along a path / trail (or rail) 16 substantially parallel to a cable 14 (e.g., a trellis cable). The cable 14 is fitted with several suspension devices 15 arranged along the cable 14. Each suspension device 15 may be associated with a corresponding plant (not shown) suspended from the cable 14 via the corresponding suspension device 15. The autonomous mobile platform 11 is dimensionally made to move between two typical rows of planted crops. In particular, the linear motion of the robotic arm 13 toward / away from the cable 14 ensures that its motion does not interfere with / harm plants suspended from adjacent / parallel cables (not shown).

[0056] The autonomous mobile platform 11 may comprise a base platform 11c and a plurality of ground-engaging wheels 11w operably connected to the base platform 11c. The ground-engaging wheels 11w may include various types of wheels that enable the autonomous mobile platform 11 to operate effectively across various surface conditions resulting from different farming methods (e.g., no-till, low-till, strip tillage, and conventional tillage) and in different soil types for different crop types. In some embodiments, the ground-engaging wheels 11w are configured to engage directly with the ground (73) or with a rail system (e.g., pipe rail) running along the cable 14.

[0057] The autonomous mobile platform 11 may have at least one powertrain / unit 11p fixedly coupled to a base platform 11c and operably coupled to at least one ground engagement wheel 11w. In one embodiment, a diesel or gasoline-fueled engine may be the primary power source for the powertrain. In another embodiment, a battery and / or a power grid may be the primary power source for the powertrain. In yet another embodiment, a conventional engine may be combined with a battery to construct a hybrid power system.

[0058] The autonomous mobile platform 11 may also include a control system / unit 17 coupled to the power unit 11p. The control unit 17 is configured and operable to operate the autonomous mobile platform 11, as will be described in more detail below with reference to Figure 3. System 10 includes a robotic arm 13, which is moved substantially parallel to / alongside the cable 14 by an autonomous mobile platform 11, from which multiple plants are suspended by a suspension device 15. As described above, the robotic arm 13 is configured to move controllly back and forth with respect to the suspension device 15 located on the cable 14, and to operate the suspension device 15 to adjust the suspension height of some of the plants and / or move along the cable 14.

[0059] The robotic arm 13 is rotatably coupled to an adjustable mast unit 12 (e.g., a telescopic mast) and is rotatable in a plane substantially perpendicular to the axis of the adjustable mast unit 12, so that the robotic arm 13 is rotatable about / around the long axis of the adjustable mast unit 12. The adjustable mast unit 12 is fixedly mounted to the autonomous mobile platform 11. In some embodiments, the adjustable mast unit 12 is configured to bring the robotic arm 13 to a desired height from the ground (73), i.e., the height of the suspension device 15, so that the robotic arm 13 can operate a suspension device 15 suspended from a cable 14, and this height may change with changes in the height of the cable 14.

[0060] In this particular non-limiting example, the robot arm 13 is coupled to an adjustable mast unit 12 by an actuator 13a. The actuator 13a can be mounted on a first rotating unit (e.g., a motor shaft) for rotating the robot arm 13 about the longitudinal axis of the adjustable mast unit 12.

[0061] Referring to Figure 2, an enlarged view of the robot arm 13 is shown. As shown, in a possible embodiment, the robot arm 13 is attached to the adjustable mast unit 12 (e.g., a telescopic mast) via a first rotation unit 13q (e.g., a rotary joint) configured to provide / enable rotation of the robot arm 13 in a plane substantially perpendicular to the adjustable mast unit 12, i.e., about / around the slender axis of the adjustable mast unit 12.

[0062] As described above, the robot arm 13 is configured to reciprocate with respect to the detected suspension device 15 and reach the suspension device 15 to operate it. This is achieved by an actuator 13a (e.g., a screw-driven base rail, an electrically powered linear actuator, a pneumatic actuator, etc.) positioned on and rigidly mounted thereto on the rotary unit 13q. This actuator 13a enables the reciprocating motion of the robot arm 13 to move towards and away from the suspension device 15 and / or cable 14.

[0063] In some embodiments, the robot arm 13 includes a sensing unit 22 coupled to it, configured to detect the position of a suspension device 15 suspended from the cable 14 while moving the robot arm 13 substantially parallel to / along the cable. The sensing unit 22 may be configured to generate signals / data when it detects the suspension device 15 on the cable 14 in order to reciprocate the robot arm 13 relative to the suspension device 15 and operate it. These signals / data are transmitted to a control unit (17), which receives and processes these signals and operates the robot arm 13 accordingly, as will be further described below.

[0064] Alternatively or additionally, the robot arm 13 may include an optical unit 21 (e.g., an imager / camera) that causes the robot arm 13 to reciprocate (towards / away from) the suspension device 15 and generates optical data signals for operating it. Thus, in a possible embodiment, detection of the suspension device 15 is performed using only the optical unit 21 configured to locate the suspension device 15 on the cable 14 (e.g., by utilizing image processing techniques). In another possible embodiment, detection of the suspension device 15 is performed using only a sensing unit 22, which may be some kind of proximity (or tactile or optical / imager) sensor configured to sense the presence of the suspension device and generate data / signals indicating it.

[0065] In yet another possible embodiment, both the optical unit 21 and the sensing unit 22 are used to detect the suspension device 15 located on the cable 14. For example, in a possible embodiment, but not limited to, the optical unit 21 is used to generate an initial indication whenever the suspension device 15 enters its field of view (FOV) to inform the system that the robot arm 13 is approaching the suspension device 15, and the movement of the system 10 along the cable 14 should be slowed down until a signal / data from the sensing unit 22 indicates that the robot arm 13 is positioned near (or in contact with) the suspension device 15. In this configuration, the signal / data from the sensing unit 22 can be used to further slow down the movement of the system 10 along the cable 14 until the gripper 13g of the robot arm 13 is positioned in front of the suspension device 15, and eventually stop. The signal / data generated by the optical unit 21 can be used to guide the robot arm 13 toward the suspension device 15 for gripping with the gripper 13g, and / or the height of the robot arm 13 can be adjusted by an adjustable mast unit 12 on which the robot arm 13 is mounted.

[0066] In yet another possible embodiment, the sensing unit 22 is used to generate an initial indication to inform the system that, each time it senses (or makes contact with) the proximity of the suspension device 15, the robot arm 13 is approaching the suspension device 15 and should slow down the movement of the system 10 along the cable 14 until signals / data from the optical unit 21 indicate that the robot arm 13 should be positioned in front of the suspension device 15 to stop the movement of the system 10 along the cable 15. In this configuration, signals / data from the sensing unit 22 can also be used to further slow down and eventually stop the movement of the system 10 along the cable 14 until the gripper 13g of the robot arm 13 is positioned in front of the suspension device 15. Similarly, further signals / data generated by the optical unit 21 can be used to guide the robot arm 13 toward the suspension device 15 for gripping by the gripper 13g and / or to adjust the height of the robot arm 13 by the adjustment mast unit 12.

[0067] As described above, the robot arm 13 is equipped with a gripper 13g rotatably mounted at one end and is configured to operate one of the suspension devices 15 on the cable 14 (when detected). The gripper 13g is coupled to the robot arm 13 via a second rotary unit / actuator 13r, which is attached to the robot arm 13, carries the gripper 13g, and is configured to rotate the gripper 13g in a plane substantially perpendicular to the long axis of the robot arm 13. In other words, the second rotary unit / actuator 13r is configured to rotate the gripper 13g about / around the long axis 13x of the robot arm 13.

[0068] In embodiments disclosed herein, the rotary unit / actuator 13r is configured to rotate the gripper / manipulator 13g about the long axis 13x of the robot arm 13 or an axis substantially parallel to the long axis 13x of the robot arm 13. Optionally, but preferably in some embodiments, the rotation axis of the gripper / manipulator 13g and the long axis 13x of the robot arm 13 are both in a plane substantially perpendicular to the ground (73) and the cable (14).

[0069] As will be described later with reference to Figures 6-8, 9A and 9B, the gripper 13g may be configured to form a claw-like structure. The gripper 13g is configured to receive and operate the suspension device 15 between its grip fingers / members. Therefore, the gripper 13g can transition between a gripping state (closed state) and a non-gripping state (open state) during operation. More specifically, when the suspension device 15 located on the cable 14 is detected, the gripper 13g is moved toward the suspension device 15 in an open state by the robot arm 13, and the suspension device is received between its grip fingers / members. Once the suspension device 15 is between the grip fingers / members, the gripper 13g changes to a closed state to fixately grip the suspension device 15 between its grip fingers / members, and its operation becomes possible.

[0070] Referring to Figure 3, control schemes for an automated agricultural plant growth management / treatment system 10 in several possible embodiments are schematically shown. The system 10 may include a control system (CTRL) 17 that communicates signals / data with a sensing unit 22 and / or a camera 21. The control system 17 is configured to receive data / signals (s2) from the sensing unit 22 and / or optical data / signals (s1) from the camera 21.

[0071] The control system 17 is also configured to process these data / signals and generate control signals c1 to c6 for operating / activating an engine 18(c1) that rotates one or more wheels 11w, a lifting actuator 19(c2) that adjusts the height of the adjustable mast unit 12 and thus the height of the robot arm 13 mounted thereon, a first rotation unit 13q(c3) for rotating the robot arm 13 around the longitudinal axis of the adjustable mast unit 12, an actuator 13a(c4) for moving the gripper 13g back and forth relative to the cable 14, a second rotation unit / actuator 13r(c5) for rotating the gripper 13g and thereby operating the suspension device 15' (15 in Figures 1, 2, and 4 to 8), and a gripper 13g(c6) for changing the grip fingers / member between a closed and an open state. Therefore, the engine 18, the lifting actuator 19, the first rotating unit 13q, the actuator 13a, the second rotating unit / actuator 13r, and the gripper 13g respond to control signals c1 to c6 from the control system 17.

[0072] System 10 has multiple degrees of freedom of motion, indicated by g1 to g6, defined by the motion profiles of various parts of System 10. More specifically, System 10 has degrees of freedom g1 of the autonomous mobile platform 11, degrees of freedom g2 of the adjustable mast unit 12, an additional three degrees of freedom g3 to g5 of the robotic arm 13, and degrees of freedom g6 of the gripping fingers / members of the gripper 13g. In particular, the power unit 18 is mechanically coupled to the ground engagement wheel 11w of the autonomous mobile platform 11 so that System 10 can move substantially parallel to / along the cable 14 (g1). The adjustable mast unit 12 (e.g., a telescopic mast) is mounted on the autonomous mobile platform 11 and driven by the lifting actuator 19 so that the adjustable mast unit 12 can change its height, i.e., extend and retract along its long axis (g2). The robot arm 13 is mounted on an adjustable mast unit 12 and coupled thereto by a first rotary unit 13q (e.g., a rotary joint), which allows the robot arm 13 to rotate in a plane substantially perpendicular to the adjustable mast unit 12 and to rotate about / around its long axis (g3). The robot arm 13 is also coupled to an actuator 13a (e.g., a screw-driven base rail, an electric linear actuator, a pneumatic actuator, etc.) which can reciprocate (g4) relative to the cable 14, i.e., move toward and away from the cable 14. The gripper 13g is coupled / mounted to the robot arm 13 via a second rotary unit / actuator 13r configured to allow controllable rotation of the gripper 13g about / around the long axis of the robot arm 13 in a plane substantially perpendicular to the robot arm 13.

[0073] In some embodiments, the robot arm 13 is fixedly mounted to an adjustable mast unit 12, i.e., fixedly mounted to the adjustable mast unit 12 without using a first rotation unit 13q (e.g., a rotary joint) to rotate the robot arm 13 about / around its long axis relative to the adjustable mast unit 12. In such embodiments, the position of the gripper 13g relative to the suspension device 15 is adjusted by moving the autonomous mobile platform 11 (g1), raising and lowering the robot arm 13 by the adjustable mast unit 12 (g2), and reciprocating motion of the robot arm 13 toward / away from the suspension device 15 (g4) without rotational motion of the robot arm 13 g3.

[0074] These degrees of freedom g1 to g6 allow system 10 to perform various assignments / tasks of plant growth management / treatment (e.g., layering / leveling). As those skilled in the art will understand, this configuration provides system 10 with general degrees of freedom g1, g2, and g3 that can be adapted to support other possible plant treatment tasks (reaching all plants and various parts of said plants), while degrees of freedom g4, g5, and g6 can be adapted for more specific plant treatment tasks (e.g., pollination, harvesting, etc.). Thus, the design of this system 10 is very economically efficient.

[0075] As described above, the gripper 13g is configured to operate suspension devices on the cable 14. Operating such suspension devices includes adjusting / varying the suspension height of a particular plant attached to the corresponding suspension device, and / or repositioning the suspension device along the cable 14. More specifically, the operation includes, in particular, the steps of grasping the suspension device 15, removing it from the cable 14, rotating the suspension device to release a portion of the wound twisted cord / wire (or winding up the portion of the released twisted cord / wire), and positioning the suspension device 15 at a different / displaced (or the same) location on the cable 14.

[0076] Alternatively, as shown in Figure 3, in a possible embodiment, the suspension device 15' may be a type of hook device having a drum 15p on which the twisted cord / wire 47 is wound. In such an embodiment, the gripper 13g is configured to operate the suspension device 15' to release a predetermined portion of the wound twisted cord / wire 47 from the drum 15p. For example, the system 10 may be configured such that a stopper arm 15q disengages from the drum 15p, thereby causing the gravity applied by a suspended plant (not shown) to release a predetermined portion of the wound twisted cord / wire 47. Alternatively, in a possible embodiment, the gripper 13g is configured to rotate the drum 15p in a predetermined direction to release a predetermined portion of the wound twisted cord / wire 47. Similarly, the gripper 13g may be configured to rotate the drum 15p in the opposite direction to wind a predetermined portion of the released twisted cord / wire 47 back onto the drum 15p.

[0077] As can be seen in Figure 3, in possible embodiments, the optical unit (imager) 21 and the long axis 13x of the robot arm 13 are in a plane substantially perpendicular to the ground, i.e., a plane substantially perpendicular to the direction of movement g1 of the cable 14 and / or the movable platform 11. In this specific and non-limiting example, the optical unit (imager) 21 is mounted on the robot arm 13 so as to reciprocate toward / away from the cable 14 together with the manipulator / gripper 13g, but it may also be mounted on other parts of the system (e.g., actuator 13a) that are not affected by the reciprocating motion of the robot arm system 13.

[0078] Generally, in possible embodiments, the optical unit (imager) 21 is fixedly mounted to the robot arm 13 at a fixed distance from the long axis 13x of the robot arm 13. Optionally, but preferably in some embodiments, the position of the optical unit (imager) 21 is fixed and kept constant with respect to the long axis 13x of the robot arm 13, and their relative positions and angles are fixed and known; that is, in possible embodiments, the long axis 13x of the robot arm 13 does not necessarily have to be parallel to the ground surface 73. In this way, the field of view (FOV) of the optical unit (imager) 21 on the manipulator / gripper 13g, cable 14, and suspension 15 / 15' is kept substantially constant during the operation of the system 10.

[0079] Referring to Figure 10B, a detailed flowchart of process 210 for managing plant growth according to several possible embodiments is shown. Step 210 includes moving a robotic arm system (10) along a cable (14) parallel to the cable (Q1) from which plants (P) are suspended by their respective suspension devices (15). This method further includes detecting the suspension devices (Q2) along the cable. Upon detection, the robotic arm (13) moves forward and / or up and down toward the suspension device (15) (Q3), and the gripper (13g) is changed to grip the suspension device by setting the grip fingers / members into a gripping state (Q4).

[0080] Step 210 further includes raising the robotic arm by an adjustable mast unit (12) (Q5), thereby detaching the suspension device (15) from the cable (14) and moving the robotic arm (13) backward away from the cable (14) (Q6). Step 210 further includes rotating the suspension device by rotating the gripper (13g) around the longitudinal axis of the robotic arm by a selected rotation angle (e.g., 180°, or several 180° rotations) (Q7), thereby releasing (or winding) a portion of the wound (released) twisted cord / wire (47) and lowering the height of the suspended plant (P).

[0081] Step 210 may further include rotating / maneuvering the robot arm (while holding the suspension device 15) around the longitudinal axis of the adjustable mast unit (12) in a direction substantially opposite to the normal direction of movement of the robot arm along the cable, or in the normal direction of movement of the robot arm along the cable (Q8), in order to displace the suspension device (15) along the cable (14) by a predetermined distance. Alternatively, but preferably in some embodiments, for example, when the system 10 is implemented without a degree of freedom of motion of g3, i.e., without a rotary unit 13q, step Q8 of step 210 may include moving the robot arm system (10) parallel to the cable (g1) in order to displace the suspension device (15) along the cable (14) by a predetermined distance in a direction substantially opposite to the normal direction of movement of the robot arm along the cable, or in the normal direction of movement of the robot arm along the cable, while the robot arm (13) holds the suspension device (15) along the cable (14).

[0082] Step 210 further includes moving the robot arm (13) forward toward the cable (14) (Q9) and lowering the robot arm by the adjustable mast unit (12) (Q10). Step 210 further includes releasing the suspension device (Q11) onto the cable at a selected position on the cable (14), the selected position being displaced from the previous position of the suspension device (15) in the opposite direction to the normal direction of movement of the robot arm along the cable (14) or in the normal direction of movement of the robot arm along the cable. Step 210 further includes moving the robot arm (13) backward (Q12), i.e., away from the cable. Optionally, if the robot arm 13 was rotated in step Q8 around the longitudinal axis of the adjustable mast, the robot arm (13) is rotated in the opposite direction from its initial angular position substantially perpendicular to the cable (14) (optional step shown in dashed box Q13).

[0083] Next, if the robotic arm (13) reaches the end of a row of cables / plants (Q14), it can move to the next row (Q15); otherwise, it continues moving along the cables to detect and operate any further suspension devices (15) located therefrom (Q1).

[0084] Generally, each cable / trellis cable (e.g., cable 14) in a farm and / or greenhouse has many (hundreds) plants suspended from it by corresponding suspension devices (15) positioned along the cable. To meet such requirements, this type of cable is usually strong enough to support such weight and is typically supported every few meters. Thus, these physical properties of the cable can be used to reduce the torque induced in at least one of the system's actuators, for example, actuator 13a.

[0085] In this regard, with reference to Figures 4 and 5, an automated agricultural plant growth management system 10' according to several other possible embodiments of the present disclosure is schematically shown. The automated agricultural plant growth management system 10' is substantially similar to the system 10 described herein with reference to Figures 1B to 3, and therefore the same reference numerals are used to specify identical or similar elements in systems 10 and 10'.

[0086] In the automated agricultural plant growth management system 10', the robot arm 13 further comprises an auxiliary arm 43 rotatably coupled via a joint 43a, and optionally, a sensing unit 41 coupled to the auxiliary arm 43 in addition to, or instead of, the sensing unit 22 and / or optical unit 21. The auxiliary arm 43 is configured to lean against the cable 14 at a position offset forward and laterally from the robot arm 13, i.e., slightly beyond the gripper 13g, and laterally offset in the opposite direction to the direction of movement of the robot arm 13 along the cable 14. The auxiliary arm 43 has a forward portion 43f that is slightly inclined relative to the auxiliary arm 43 and engages / interacts with the cable 14, so that the forward portion 43f is supported by the cable 14 as the robot arm 13 moves along the cable 14 and while operating the suspension device 15.

[0087] In some possible embodiments, the joint 43a is directly coupled to the robot arm 13, and the auxiliary arm 43 is configured as an adjustable / extendable arm (i.e., extendable and retractable) so that the auxiliary arm 43 extends and retracts in accordance with the movement of the robot arm 13 as the robot arm 13 moves back and forth (g4) relative to the suspension 15 so that it can reach the suspension 15 to operate the suspension 15, thereby maintaining continuous contact with the cable 14.

[0088] In this particular non-limiting embodiment, the joint 43a is fixedly attached to the actuator 13a of the robot arm 13, and the auxiliary arm 43 remains substantially stationary when the robot arm 13 reciprocates toward or away from the suspension. The joint 43a is adapted to allow the auxiliary arm 43 to rotate about an axis of rotation substantially perpendicular to the long axis of the robot arm 13 defined by the joint 43a. More specifically, the auxiliary arm 43 is movable angularly / circumferentially about the axis of rotation, thereby changing the angle θ between the auxiliary arm 43 and the robot arm 13. If such degrees of freedom of motion are implemented in the system 10, as is clearly shown in Figure 5, the auxiliary arm 43 can rotate together with the robot arm 13 about an axis of rotation (g3) defined by the long axis of the adjustable mast unit 12.

[0089] In some embodiments, the auxiliary arm 43 lags behind / follows the robot arm 13 as the robot arm 13 moves / operates along the cable 14, thereby preventing physical contact with the suspension device 15 when the robot arm 13 operates the suspension device 15. During operation, the forward portion 43f of the auxiliary arm 43 slides along the cable 14 as the plant growth management system 10' moves along the cable 14, until one or more of its sensing units 21, 41 and / or 22 indicate that the robotic arm is in close proximity to one of the suspension devices 15 and that the movement of the system 10 along the cable should be slowed down and stopped to position the gripper 13g in front of the detected suspension device 15. The sensing unit 42 and optical unit 21 can be used to implement any of the sensing and motion control schemes described above.

[0090] In some embodiments, these detection and motion control schemes can also be implemented using a sensing unit 41 coupled to an auxiliary arm 43, instead of, or in addition to, a sensing unit 22 coupled to the gripper 13g. Alternatively, in some embodiments, the sensing unit 41 coupled to the auxiliary arm 43 is a proximity (or tactile or optical / imager) sensor configured to generate signals / data indicating that the robot arm 13 is positioned near one of the suspension devices 15 and that the movement of the system 10 along the cable should be slowed down or stopped. Data / signals from the optical unit 21 can be used to adjust the position of the system 10' along the cable 14 to position the gripper 13g in front of the suspension device 15.

[0091] When a specific suspension device 15 on the cable 14 is detected, the auxiliary arm 43 slides along the cable 14 with its front portion 43f so as to support it, causing the robot arm 13 to act to grasp the suspension device 15 in order to lift it and remove it from the cable 14. As the robot arm 13 lifts the suspension device 15, the auxiliary arm 43 leans against the cable 14, distributing the load of the suspended plant between the adjustable mast unit 12 and the auxiliary arm 43 supported by the cable 14, reducing the torque acting on the actuator 13a and the second rotary unit / actuator 13r during the operation of the suspension device 15.

[0092] It should be understood that when the robot arm 13 is raised by the adjustable mast unit 12 and the suspension device 15 is disconnected from the cable 14, a force f1 is applied to the auxiliary arm 43, which may cause the auxiliary arm 43 to disconnect from the cable 14. To maintain the auxiliary arm 43 in contact with the cable 14, the auxiliary arm 43 and the robot arm 13 or its actuator 13a are operably connected by an elastic element 44 (e.g., a spring), and the robot arm 13 is movable toward or away from the auxiliary arm 43 against the tension of the elastic element 44. The elastic element 44 generates a "compensating" force f2 having a component in the opposite direction to the force f1. This maintains the force that the auxiliary arm 43 exerts on the cable 14, causing the auxiliary arm 43 to lean against the cable 14 as the robot arm 13 moves toward or away from the auxiliary arm 43.

[0093] The elastic element 44 may be configured to exert a force f2 sufficient to maintain the auxiliary arm 43 in contact with the cable 14 even when the angle θ is small, i.e., when the robot arm 13 rises to its maximum desired height and therefore the angle θ between the robot arm 13 and the auxiliary arm 43 becomes small. Optionally, the joint 43a is connected to either an adjustable mast unit 12 or another part of the robot arm 13 that does not move forward or backward when operating the suspension device 15. Additionally or alternatively, the auxiliary arm 43 may include an extendable component (not shown) configured to operably adjust its length in order to maintain continuous contact of its forward portion 43f over the cable 14 and to prevent string force from acting on the robot arm 13 by the cable 14 and / or damage to the system.

[0094] As shown in Figure 4, the plant P is connected to the suspension device 15 via a wire / twisted cord 47 wound around the central portion 15s of the suspension device 15. The suspension device 15 in Figure 4 comprises an upper hook 15t, a lower hook 15b, and a wire / twisted cord winding section 15s located between the upper hook 15t and the lower hook 15b. When the suspension device 15 is operated by the robot arm 13 and rotated by an angle of 180°, the upper hook 15t becomes the lower hook 15b (and vice versa), releasing the additional portion of the wire 47 wound from the suspension device 15, thereby reducing the height of the plant P relative to the ground.

[0095] In possible embodiments, the robotic arm system 10 / 10' is configured to operate the suspension device 15 to wind up a portion of the twisted cord / wire 47 released from the suspension device 15, thereby raising the height of the plant P relative to the ground. Generally, the wire / twisted cord 47 is wound clockwise or counterclockwise around the winding section 15s of the suspension device 15, and the control unit 17 may be configured to process image data received from the optical unit 21 to determine the rotation direction (clockwise or counterclockwise) of the gripper 13g depending on the manner in which the twisted cord / wire 47 is wound on the winding section 15s of the suspension device 15.

[0096] As shown in Figure 5, in a possible embodiment, the auxiliary arm 43 is angled relative to the robot arm 13 so that its front portion 43f is positioned at a predetermined horizontal distance (e.g., less than l / 2), where l / 2 is the horizontal displacement applied by the robot arm system to each suspension device 15 on the cable 14 (e.g., less than 20 cm, i.e., l is approximately 40 cm), so that the suspension device 15 is displaced to a distance of approximately 20 cm, closer to the next suspension device, where l is the average distance between two consecutive suspension devices 15 suspended from the cable 14. In this way, the robot arm 13 can be positioned between the previously displaced suspension device 15 and the next suspension device 15 to be displaced, leaving space for the auxiliary arm 43 and distance to move between the consecutive suspension devices 15 to detect the position of the next suspension device 15.

[0097] Furthermore, in some embodiments, the shape of the auxiliary arm 43 is configured to provide sufficient working space to rotate the suspension device 15 without the gripper 13g hitting the auxiliary arm 43 after it has been disconnected from the cable 14.

[0098] Refer to Figure 6, which schematically shows a gripper assembly 13g according to some possible embodiments of the present disclosure. The gripper assembly 13g includes a pair of spaced-apart grip fingers / members 61 and 62. This spaced-apart arrangement of the grip fingers / members 61 and 62 defines a gap g between the grip fingers / members 61, 62 for receiving a suspension device 15 in between. The grip fingers / members 61 and 62 (or generally at least one thereof) are shiftable between a non-gripping state and a gripping state of the gripper 13g by moving one of the grip members 61 and 62 (or at least one thereof) toward the other in order to capture / tug / grip the suspension device 15, and the suspension device is released by moving one of the grip members 61 and 62 (or at least one thereof) toward the other. The movement of one of the grip members 61 and 62 (or at least one thereof) toward the other can be performed by a linear actuator (not shown).

[0099] In some embodiments, one or both of the grip fingers / members 61, 62 of the gripper 13g are configured to form an opening angle between them when the gripper 13g is open, and to angularly move the grip fingers / members 61, 62 into a parallel structure (i.e., one relative to the other) when the gripper 13g is closed.

[0100] As shown in Figure 6, in some embodiments, the grip fingers / members 62 are attached / coupled to a retaining member 62a that is movable and controllable to the gripper assembly 13g. The retaining fingers / members 62a are configured to move along an axis substantially perpendicular to the long axis of the robot arm 13, thereby moving the grip members / fingers 62 closer to or further away from the grip members / fingers 61 to change the gripper assembly 13g between an open (non-gripping) and a closed (gripping) state (or vice versa).

[0101] Although not shown in Figure 6, optionally, and preferably in some embodiments, the grip members / finger 61 may also be associated with / attached to a corresponding retaining member, similar to the retaining member 62a, so that both grip members 61 and 62 can move closer to and further away from each other.

[0102] Referring to Figures 7-8 and 9A-9B, different configurations of the gripper assembly 13g according to several possible embodiments are schematically shown. Figure 7 is a diagram showing the configuration of the gripper assembly 13g, in which the gripper member / finger 61 includes a recess / rim / socket 61g having a predetermined profile / shape adapted to receive the suspension device 15 into the recess 61g, such that at least a portion of the suspension device 15 fits into the recess 61g.

[0103] More specifically, when the gripper assembly 13g is in its gripping state, that is, when the grip members / fingers 61 and 62 (or at least one of them) move toward each other, the suspension device 15 is received within the recess / rim / socket 61g and fixedly gripped / captured and secured between the grip members 61 and 62, thereby preventing it from shifting / slipping off while being operated (e.g., while being lifted from a cable and / or rotated).

[0104] Figures 8 and 9 show a gripper design that allows for inaccurate positioning of the gripper relative to the suspension device 15, thereby reducing / mitigating the detection requirements of the system, i.e., the control unit 17 and / or the sensor / imager.

[0105] Figure 8 shows the male / female configuration of the gripper assembly 13g, where the gripper member 61 includes an array (e.g., a two-dimensional array) of spaced-apart projections / finger / pin-shaped members 61p. This arrangement allows the suspension device 15 to be fitted and secured between at least some of the projections / finger / pin-shaped members 61p.

[0106] The other grip member / finger 62 (not shown) may have a corresponding arrangement of complementary holes / sockets configured such that when the gripper assembly 13g is changed to a gripping position, the finger / pin-shaped member 61p of the grip finger / member 61 fits snugly into the hole / socket of the grip finger / member 62, thereby clamping / capturing and securing the suspension device 15 between them.

[0107] Figures 9A and 9B schematically show another male / female configuration of the gripper assembly 13g, in which the grip finger / member 61 each includes a plurality of protruding elements 91 having a selected volumetric shape (e.g., prism shape). In the gripping state of the gripper assembly 13g, the other grip finger / member 62 includes a plurality of complementary sockets / cavities 92, each adapted to receive the corresponding protruding element 91, so that the suspension device 15 is sandwiched / captured and secured between the protruding elements 91.

[0108] Figures 11A to 11D schematically illustrate plant growth management / treatment systems 40 in several possible embodiments. System 40 is configured to perform substantially the same tasks as those performed in systems 10 / 100 described herein with reference to Figures 1 to 10, but with some modifications due to differences in configuration. Accordingly, in Figures 11A to 11D, the same reference numerals are used to specify some of the components having the same or similar functions and / or features as described herein.

[0109] Referring to Figure 11A, the plant growth management / treatment system 40 utilizes a scissor-type lifting mechanism 42 to raise and lower its robotic arm system 13. The movement of the robotic arm system 13 of system 40 is configured differently, and in some embodiments, rotation around the long axis of the lifting mechanism 42 is optional and not required at all in this particular embodiment. Instead, in this particular non-limiting example, one or more robotic arm systems 13 are positioned on a support platform 45 attached to the upper end of the lifting mechanism 42. Each of the one or more robotic arm systems 13 is configured to detect and operate suspension devices (15) suspended from their respective different (trellis) cables (14).

[0110] In this configuration, it is necessary to add degrees of freedom of motion to each robot arm 13 so that the system 40 can detect and operate suspension devices (15) suspended from different cables (14) at different heights and positions. As with other embodiments disclosed herein, the movable platform 11 is configured to move back and forth (f1, e.g., along rails), and the lifting mechanism 42 is configured to move up and down (f2). However, the lifting mechanism 42 in this particular embodiment utilizes a different actuation mechanism, in which the actuator 42a moves the sliding end 42s of a scissor-type lift on the rail 11f to adjust the height of the robot arm 13 relative to the cables (14) and / or suspension devices (15) operated by it.

[0111] In the specific example shown in Figure 11A, two robotic arm systems 13 are mounted on a support platform 45. The support platform 45 comprises two horizontal rails 46h, each configured to allow the robotic arm systems 13 to perform horizontal sliding motion (f4) using their respective controllable actuators 45a. In some embodiments, each robotic arm system 13 is mounted on a vertical support 46v to perform vertical sliding motion (f3) on it using its respective actuator 46t. Specifically, each vertical support 46v may be movably mounted on its respective horizontal rail 46h to allow sliding motion, and each robotic arm system 13 may be movably coupled to allow sliding motion on its respective vertical support 46v. This allows the spatial position of each robotic arm system 13 in the yz plane to be precisely controlled by the control unit 17.

[0112] In some embodiments, each robotic arm system 13 may include its own balance beam 46b, configured to balance the robotic arm system 13 and substantially cancel out / minimize the moment (f6) acting when the suspension is operated. In some embodiments, the balance beam 46b is mechanically coupled at its ends to a support platform 15, for example, via one or more support beams (not shown). Thus, the vertical support 46v may be configured so that its tip slides along the horizontal rail 46h and the balance beam 46b.

[0113] Referring next to Figure 11B, in a possible embodiment, each robotic arm system 13 includes a plant catcher assembly 48 mechanically coupled to it. The plant catcher assembly 48 moves in the yz plane as the robotic arm system 13 slides along the horizontal rail 46h, and further moves along the x axis / long axis of the robotic arm 13 as the robotic arm 13 reciprocates its gripper / manipulator 13g toward / away from the suspension device (f5).

[0114] The plant catcher assembly 48 comprises a plurality of capture fingers 48d positioned below and in front of the gripper / manipulator 13g of each robotic arm 13. In this particular non-limiting example, the capture fingers 48d extend from a rod 48c extending forward from a "U" shaped support 48u extending downward from the robotic arm system 13. The capture fingers 48d are configured to catch and hold the plant on the suspension device (15) being operated by the robotic arm system 13 if the grip on the suspension device (15) is inadvertently lost, thereby preventing damage to the plant connected to the suspension device if it is inadvertently released.

[0115] In possible embodiments, the capture fingers 48d extend forward and upward from a palm structure 48b that is rotatably coupled to a "U"-shaped support 48u for angular motion around a rotation axis 48x. As shown, the palm structure 48b is further coupled to a connecting rod 48r fixedly attached to the side wall of the "U"-shaped support 48u. In some embodiments, the palm structure 48b is coupled to the connecting rod 48r via a load sensor 48s configured to detect the capture of falling vegetation by the capture fingers 48d when the suspension is inadvertently released and to issue a corresponding warning signal / data indicating this to a control system 17. Obviously, this catcher assembly 48 can also issue a warning if wires / cables and / or other similar obstacles become entangled, for example, in unexpected interference during system operation.

[0116] Figure 11C is an enlarged view of the support platform 45 and the robotic arm system 13 movably coupled thereto. As illustrated, in some embodiments, a pneumatic actuator 13a is used to reciprocate a gripper 13g toward / away from a suspension device (15). In this particular non-limiting example, the gripper 13g and its actuator 13r are fixedly coupled to a support frame 49b. In this non-limiting example, the support frame 49b is coupled to a support plate 49 fixedly coupled to the robotic arm system 13, but in possible embodiments, the support frame 49b may also be directly attached to the robotic arm 13.

[0117] Similar to the previous embodiments disclosed herein, the optical unit (imager) 21 is mounted on a part of the robotic arm system 13 that is substantially unaffected by the rotational motion of the manipulator / gripper 13g, such as the actuator 13r. In particular, in the embodiments disclosed herein, the longitudinal axis 13x of the optical unit (imager) 21 and the robotic arm 13 lies in a plane perpendicular to the ground, i.e., substantially perpendicular to the cable (14). However, as stated above, the longitudinal axis 13x of the robotic arm 13 does not necessarily have to be kept horizontal / parallel to the ground, as long as the relative position and angle between the optical unit (imager) 21 and the longitudinal axis 13x of the robotic arm 13 are kept fixed / known and unchanging.

[0118] Figure 11D is an enlarged view of a robotic arm system 13 according to several possible embodiments, in which a weighing mechanism is used in the robotic arm system 13 to weigh the plants to be processed. In this embodiment, a support frame 49b is movably coupled to a support plate 49 by pivots 49x, thereby allowing angular movement of the support frame 49b and the manipulator / gripper 13g coupled thereto around it. One or more sensor elements 49s (e.g., gauge sensors, load sensors, pressure sensors, etc.) can be placed between the support frame 49b and the support plate 49 to measure the load on the manipulator / gripper 13g. Alternatively, one or more elastic elements (e.g., springs 49t) may be used to apply a reaction force on the support frame 49b (i.e., in the opposite direction to gravity acting on the plants to be processed). In this specific example, the elastic element 49t is shown to be positioned between the rod 48d, which is coupled to the "U"-shaped support 48u of the plant catcher assembly 48, for attachment to the rod 49r of the support frame 49b, but it may be similarly positioned at any suitable location between the support frame 49b and the support plate 49 and / or the robot arm 13.

[0119] In some embodiments, the manipulator / gripper 13g includes a stopper element 13e located above the grip fingers / members 61, 62 and configured to prevent rotational movement of the suspension device (15) within the fingers 61, 62 of the manipulator / gripper 13g when, for example, the suspension device is rotated to its fullest extent and a much larger moment is generated in the gripping area of ​​the suspension device 15 held by the gripper / manipulator 13g.

[0120] Thus, in possible embodiments, the control system (17) can be configured to measure the weight of each plant processed by it, and optionally, to individually monitor the growth and maturation of each plant based on that weight. The control unit (17) may be further configured to issue a warning if the measured weight of one or more of the monitored plants is not within an acceptable range, for example, with respect to the expected growth curve / growth rate of a particular plant.

[0121] Figures 12A-12C schematically show possible configurations of the robot arm system 13 and its manipulator 13g according to several possible embodiments. In this embodiment, the fingers 61, 62 of the manipulator 13g are mounted by parallel plates, each having tapered edges to the front and sides, thereby forming a tapered opening 66 configured to receive a portion of the suspension device 15. This configuration allows the manipulator 13g to be guided toward the suspension device 15, to grasp its upper or lower portion, and to be guided toward the lock pin 77 of the manipulator 13g.

[0122] At least one of the fingers 61, 62 may be controllably movable relative to the other in order to grasp the upper or lower loop portion of the suspension device 15 between them. Optionally, but preferably in some embodiments, the fingers 61, 62 are fixedly coupled to the robotic arm 13 so as to maintain a constant gap between them. The manipulator 13g in this embodiment uses sensors 81, 82 on one or more of its fingers 61, 62 to sense that the upper or lower loop portion of the suspension device 15 is between them. In this particular non-limiting example, two sensors (e.g., proximity sensor, contact sensor, light sensor) 81, 82 are mounted on finger 61, and a locking pin 77 and its actuator are mounted on the other finger 62.

[0123] The system's control unit (17) may be configured to receive and process signals / data generated by sensors 81 and 82, and to determine whether the upper or lower loop portion of the suspension device 15 has been received between the fingers 61 and 62 and over the pin opening of finger 62. If it determines that the upper or lower loop portion of the suspension device 15 is properly positioned over the pin opening between the fingers 61 and 62, the control unit (17) generates a control signal to push the lock pin 77 into the respective openings formed in the opposing fingers 61, thereby locking the suspension device 15 between the fingers 61 and 62.

[0124] Referring next to Figures 12B and 12C, in some embodiments, the manipulator 13g includes a fixing mechanism 78 having a movable, controllable fixing element 78i configured to move toward the upper part of the suspension device 15 (by actuator 78a) after it has been locked by the locking pin 77 (by actuator 77a) in order to prevent angular motion of the suspension device 15 around the locking pin 77. For this purpose, in some embodiments, the manipulator 13g includes a bottom stopper structure 79 fixedly coupled to the bottom of the manipulator 13g and configured to abut against the portion of the suspension device 15 that extends below the loop portion locked by the locking pin 77. As seen in Figure 12C, when the fixing element 78i moves toward the suspension device and pushes its upper part forward, the portion of the suspension device below the locking pin 77 is pushed backward until contact with the bottom stopper structure 79 is established.

[0125] In this state, the suspension device is locked between the fingers 61 and 62 and secured by the fixing element 78i and the contact structure 79, thereby preventing rotational movement around the locking pin 77. After the suspension device 15 is locked and secured by the locking pin 77, the fixing element 78i and the contact structure 79, the manipulator 13g can be rotated 180° once or more times to release / wind up the twisted cord 47.

[0126] A weighing mechanism can be coupled to the robot arm system 13 to generate signals / data indicating the gripping of the suspension device 15 by the manipulator 13g. In this embodiment, the manipulator 13g and its actuator 13r are hinged to the robot arm 13 at a pivot 49x, which rotates slightly around it. A load / pressure / strain sensor 49s is used to connect a part of the manipulator 13g (e.g., the base body) to the robot arm 13 by an elastic element (e.g., a torsion spring 49t). Thus, before the operation of the suspension device 15 by the manipulator 13g, a constant load is measured by the load / pressure / strain sensor 49s due to the force applied by the elastic element 49t.

[0127] When the suspension device 15 is locked and secured with the manipulator 13g, and the robot arm 13 is lifted to detach the suspension device 15 from the cable (14), the load / pressure / strain sensor 49s further measures the weight of the plants P (or parts thereof) attached to the twisted cord 47 of the suspension device 15. In other words, the robot arm system 13 can thus measure the weight of each plant P on the suspension device 15 operated by the manipulator 13g. In some embodiments, the weight of each plant P measured by the load / pressure / strain sensor 49s is recorded and monitored over time to detect abnormalities in plant growth and / or the growth management system used (e.g., irrigation).

[0128] In possible embodiments, specially designed suspension devices 15 adapted to facilitate and improve the use of the plant management systems disclosed herein are used to support the plants (P) being handled. For example, in some embodiments, the length of the suspension devices 15 is shortened to provide suspension devices having a relatively short length, for example, 9–11 cm, so that the manipulator 13g can perform several half-rotation (180°) operations of each suspension device 15 to release a twisted cord 47 of a desired length, and to substantially reduce the moment on the robotic arm 13 due to the weight of the plants (P). In some embodiments, the suspension devices 15 include special markings 15m (e.g., color and / or engraved patterns / markers) configured to quickly detect the gripping portion of the suspension device 15. Optionally, a curved extension 15e for connecting is provided at the end of the suspension device 15 to allow the suspension device 15 to be operated while in contact with the (trellis) cable (14), so that a portion of the plant's weight load is maintained on the cable (14) and the load on the robot arm 13 and / or its manipulator 13g is reduced. Additionally or alternatively, the suspension device 15 is configured to have a curved central gripping portion 15g that protrudes outward from the suspension device 15 and the wound twisted cord to facilitate capture and manipulation by the manipulator 13g.

[0129] Figure 12D shows a flowchart of a plant processing / management process 90 according to several possible embodiments. Process 90 can be implemented by hardware and / or software components of the system's control unit (17). Process 90 may begin with step (G1) guiding a manipulator (13g) to a suspension device (hook, 15) based on measurement signals / data from an optical sensor (21, e.g., an imager). Using measurement data / signals generated by one or more sensors (81, 82) provided on the fingers (61 and / or 62) of the manipulator (13g), it is detected that the suspension device (15) has been accepted and that one of the loops into the opening of the locking pin (77) has been positioned (G2). In this state, the suspension device (15) can be locked to the manipulator (13g) by pushing the locking pin (77) into the loop of the suspension device (15) positioned on the manipulator (13g) (G3).

[0130] Next, the robotic arm system (13) is lifted to detach the suspension device (15) from the cable (14) (G4). In this state, the weight / load measurement of the plant (P) connected to the suspension device (15) via the twisted cord (47) can be performed (for example, using a load / pressure / strain sensor 49s) in order to collect measurement data / signals indicating the weight of the plant (P) (G5). The measured load / weight data / signals can be processed to determine whether they are within an acceptable range (G6). This step can be used to determine whether the additional weight of the connected plant (P) is actually being placed on the robotic arm (13), and if so, the measured load / weight signals / data can be used to further determine whether they indicate anomalies in the plant's growth and / or its processing / management system (e.g., irrigation, fertilization, drainage, etc.).

[0131] If the measured load / weight signal / data indicates the additional weight of the connected plant (P), the suspension device (15) can be operated to return the suspension device (15) to the cable (14) (G7). Process 90 then moves the system until the next suspension device (15) is detected (G8) and performs the above steps (G1-G7) to operate it. If the measured load / weight signal / data does not indicate the additional weight of the connected plant (P), the measured data / signal from the sensor (48s) of the catcher assembly (48) is used to determine whether the suspension device has been inadvertently released from the manipulator (13g) (G9). If the measured data / signal from the sensor (48s) of the catcher assembly (48) indicates a sudden excessive load / weight applied to the catcher assembly (48), Process 90 is stopped (G11) and the control unit (17) may issue a warning indicating that user intervention is required.

[0132] If the measurement data / signal from the sensor (48s) of the catcher assembly (48) indicates the application of a sudden excessive load / weight, the manipulator (13g) may be unlocked and the manipulator (13g) removed from the suspension (G10), and process 90 (G1) may be resumed (G1).

[0133] However, it should be noted that in possible embodiments, measurement data / signals from the sensors (48s) of the catcher assembly (48) and / or from the load / pressure / strain sensors 49s are continuously / periodically and independently monitored to detect accidental release of the suspension device (15). Therefore, when measurement data / signals from the sensors (48s) of the catcher assembly (48) indicate that the plant / suspension device has been caught by the catcher assembly (48), and / or when measurement data / signals from the load / pressure / strain sensors 49s indicate a sudden release of the suspension device (15) from the manipulator, i.e., when the load / pressure / strain sensors 49s detect a sudden drop in weight, step G11 can be executed at any stage of process 90 to stop the system.

[0134] Terms such as up, down, front, back / rear, right, left, and similar adjectives relating to the orientation of objects or system components indicate how the figures are positioned on the page and do not limit the orientation in which the device can be used in actual applications. Furthermore, where a process or method is shown or described through this disclosure, it should be understood that the steps of the method may be performed in any order or concurrently, unless it is evident from the context that one step depends on another being performed first.

[0135] As described above and shown in the relevant figures, this disclosure provides an automated agricultural plant growth management / processing system and related methods. While specific embodiments of the present invention have been described, the invention is not limited thereto and will be understood by those skilled in the art to be easily modified, particularly in light of the foregoing teachings. As will be understood by those skilled in the art, the present invention can be implemented in a wide variety of ways by employing one or more of the techniques described above without departing from the scope of the claims.

Claims

1. In plant management and / or treatment systems, A robotic arm system comprising at least one robotic arm and a rigid beam configured to move back and forth toward and toward a suspension device positioned on a cable by linear motion along the longitudinal axis of at least one robotic arm, wherein the at least one robotic arm is sized and positioned such that (i) gravity exerted on the at least one robotic arm by the at least one plant acts substantially laterally with respect to the longitudinal axis of the robotic arm, and (ii) the linear motion acts substantially perpendicular to the direction of gravity, thereby eliminating the need for the linear motion to overcome gravity. A gripper positioned at the end of at least one robot arm, wherein the gripper is configured to (a) be coupled to a rotary actuator for controllably rotating the gripper about an axis substantially parallel to or coinciding with the longitudinal axis, and (b) be operated to grip the suspension device between the gripping members of the gripper and to adjust at least one of the suspension height of a plant connected to the suspension device or the position of the suspension device along the cable, wherein at least one of the gripping members is provided with friction-applying means formed on a gripping surface configured to contact the main body portion of the suspension device, and at least one of the gripping members is configured to move toward the other grip to clamp and secure the suspension device between the gripping members by frictional force, A system comprising: at least one sensing unit mounted on the rigid beam behind the gripper along the longitudinal axis, wherein the at least one sensing unit is configured to reciprocate along the longitudinal axis toward or away from the suspension device together with the gripper along the longitudinal axis, so that the at least one sensing unit continuously and without interruption detects the position of the suspension device suspended from the cable while performing the reciprocating motion before the gripper reaches the position, and generates signals and / or data indicating the detected position, thereby enabling the at least one robotic arm to reciprocate along the longitudinal axis to grasp and operate the suspension device.

2. The system according to claim 1, wherein the gripper is configured to release a portion of the wire wound around a portion of the suspension device or to wind up a portion of the wire released from the suspension device in order to adjust the suspension height of the at least one plant connected to the free end of the wire.

3. The system according to claim 1, comprising either an adjustable mast or a scissor-type lifting mechanism configured to raise or lower the at least one robotic arm system.

4. The system according to claim 1, wherein each robotic arm system is coupled to one or both of its respective horizontal rails and its respective vertical rails so as to slide over them.

5. The system according to claim 1, comprising two robotic arm systems configured to simultaneously operate suspension devices located on two different cables on each of the two opposing sides of the system.

6. The system according to claim 1, further comprising an arm rotation unit configured to apply yaw rotational motion to at least one of the robot arms.

7. The system according to claim 1, further comprising a movable platform configured to move the at least one robotic arm substantially parallel to the cable.

8. The system according to claim 1, further comprising a catcher assembly configured to catch a plant and / or suspension device that has been accidentally detached from the gripper and / or cable.

9. The system includes a detection device configured to detect engagement between the catcher assembly and a plant and / or suspension device, The plant management and / or processing system is configured to stop operating when an accident occurs in which the suspension device detaches from the gripper, according to claim 8.

10. A weighing mechanism coupled to the robotic arm system and configured to generate a weight signal and / or data indicating the weight of a plant or a part thereof connected to the suspension device, The system according to claim 1, comprising a control unit configured to collect, process, and / or monitor weight data and / or signals of plants supported by the operated suspension device, and thereby issue a warning if growth abnormalities are detected.

11. The system according to claim 10, wherein the control unit is configured to operate the suspension device when weight data and / or signals from the weighing mechanism indicate the weight of a plant on the robot arm.

12. The system according to claim 1, comprising an auxiliary arm coupled to the at least one robot arm, wherein the auxiliary arm is configured to contact the cable and at least partially support the at least one robot arm on the cable.

13. The system according to claim 12, wherein the auxiliary arm is hinged to at least one robot arm.

14. The system according to claim 13, wherein the auxiliary arm is coupled to the at least one robot arm by an elastic element configured to pull the auxiliary arm toward the at least one robot arm.

15. The system according to claim 1, wherein at least one of the grip members includes at least one of the following: a recess configured to receive a portion of the detected suspension device, thereby allowing the gripper to grip and secure the suspension device; one or more projections configured to receive a portion of the detected suspension device, thereby allowing the gripper to grip and secure the suspension device; and complementary male / female gripping elements configured to receive a portion of the detected suspension device, thereby allowing the gripper to grip and secure the suspension device.

16. The system according to claim 1, wherein the gripper includes a locking pin that is movable and controllable for insertion into the loop of the suspension device.

17. One or more sensors configured to receive the suspension device inside and to indicate that the loop is positioned on the passage of the lock pin, A controllable, movable, and fixed element configured to push the upper part of the suspension device forward and rotate the suspension device around the locking pin, A contact structure configured to stop the movement of the lower part of the suspension device caused by the movable fixing element, The system according to claim 16, comprising at least one of the following.

18. An automated method for managing and / or processing plants, A step of moving a robotic arm along a cable, wherein the robotic arm is provided with a rigid beam configured to reciprocate in a linear motion toward or away from a suspension device suspended from the cable along the longitudinal axis of the robotic arm in a direction substantially perpendicular to the direction of elevation of the robotic arm; A step of detecting the position of a suspension device suspended from a cable using at least one sensing unit, wherein the at least one sensing unit is mounted on the robot arm and configured to reciprocate with the robot arm along the longitudinal axis, so that the at least one sensing unit can continuously and uninterruptedly detect the position of the suspension device on the cable while performing the reciprocating motion. A step of moving a gripper toward a suspension device along the longitudinal axis of the robot arm by the linear motion, wherein the suspension device supports at least one plant connected to the suspension device, and the gripper is (i) coupled to the rigid beam in front of the at least one sensing unit so that the at least one sensing unit can continuously and uninterruptedly detect the position of the suspension device on the cable while the gripper performs the reciprocating motion before reaching the position, and (ii) coupled to a rotary actuator for controllably rotating the gripper about an axis substantially parallel to or coincident with the longitudinal axis. A step of changing the gripper to a gripping state by moving at least one gripping member of the gripper toward another gripping member of the gripper, wherein at least one of the gripping members is provided with friction-applying means formed on a gripping surface configured to contact the main body portion of the suspension device in order to clamp and fix the suspension device between the gripping members by frictional force, A method comprising the step of operating the suspension device with the gripper to adjust at least one of the suspension height of a plant connected to the suspension device or the position of the suspension device along the cable.

19. The method according to claim 18, wherein the step of operating the suspension device with the gripper includes the steps of releasing a portion of a wire wound around a portion of the suspension device to adjust the suspension height of the at least one plant, or winding up a portion of the released wire, and / or receiving weight measurement data and / or signals for each of the plants supported by the suspension device operated by the at least one robotic arm.

20. The method according to claim 18, comprising the steps of detecting an accidental release of the suspension device from the gripper, and / or stopping the operation in response to the detection of an accidental release of the suspension device from the gripper, and / or issuing an alarm.

Images