Vehicle system for controlled environment agriculture

Abstract

Vehicle system with a docking module mountable to the vehicle for driving in a greenhouse, wherein the docking module comprises a vehicle side configured for mounting to the vehicle, wherein the vehicle side is provided with mounting elements configured to cooperate with the vehicle, and wherein the docking module comprises an implement side configured for removable engagement with an implement, wherein the implement side is provided with coupling elements configured to cooperate with corresponding coupling elements of the implement.

Description

[0001] Title: Vehicle system for controlled environment agriculture

[0002] The disclosure relates to a vehicle system for controlled environment agriculture. Such controlled environment agriculture typically is done in a greenhouse or on a terrain underneath a canvas or tarpaulin or in a tent.

[0003] The environments in which controlled environment agriculture is being done are semi-structured environments, as opposed to warehouses. Warehouses are fully structured and organized providing for more predictability. As an example for a controlled environment agriculture environment, a greenhouse is being taken, but, other environments are possible as well, such as a tent or underneath a canvas. Greenhouses on the other hand are facilities in which plants, vegetables, fruit etc. are grown, to which generally will be referred as crops. Growth thereof inevitably results in a changing, more chaotic, more dirty and less predictable environment, e.g. during the different phases of growth. Also, growth of crops in a greenhouse requires the right environmental conditions during the growth. The environmental conditions in a greenhouse, such as e.g. temperature, humidity, pesticides, herbicides, nutrition, light, cleaning, maintenance, harvesting, etc. are variable and adaptable. Although crops in a greenhouse are usually arranged in rows with accessible pathways in between, a greenhouse is, at best, a semi-structured environment.

[0004] Providing the optimal environmental conditions for the growth of the crops, requires a lot of hand labor and / or different types of equipment. Equipment can be stationary, e.g. hanging from the ceiling, or connected to supports in which the crops are grown. It is also known to provide moving equipment, e.g. a picking robot vehicle that can drive up and down a pathway. Such robot vehicle can be semi- autonomously in that it may drive autonomous up and down a single pathway, but it cannot change pathways without external, typically human, interference. Different types of such robot vehicles may be needed, e.g. for harvesting, leaf cutting, UVC-lighting. This requires not only many investments, but handling and organizing of these different types of robot vehicles becomes complex in such a semistructured environment as a greenhouse.

[0005] There is therefore a need for a more versatile system for operating in a controlled environment agriculture environment, such as a greenhouse.

[0006] To that end, one aspect of the disclosure is to provide a docking module that is configured to mount to a vehicle base for driving in a greenhouse and that is configured to removable receive an implement for performing operations in the greenhouse, wherein the docking module is at a vehicle side provided with mounting elements configured to mount to the vehicle, and wherein the docking module is at an implement side provided with engagement elements configured to cooperate with corresponding engagement elements of the implement to removable connect the implement to the docking module.

[0007] By providing such a docking module that is configured to be mounted on a driving unit for a greenhouse and that is configured to removable receive an implement, a versatile and modular vehicle system can be obtained for operating in a greenhouse. An implement can be connected to the docking module and can be easily exchanged for a different implement when a different task is to be performed in the greenhouse.

[0008] The docking module is embodied as a single unit provided with the mounting elements. As such, the docking module can be mounted to the vehicle base in a simple and effective way. Also, providing the docking module as a single unit enhances the modularity of the vehicle and / or the docking module since for the vehicle base it may suffice to provide a receiving space to which the docking module as a single unit can be mounted using the mounting elements of the docking module. Thus the docking module, as a single unit, can be mounted to a variety of vehicle bases provided with a corresponding receiving space. A typical vehicle base or driving unit for driving in a greenhouse may comprise a base unit and three or four wheels. The base unit may be configured to receive the docking module, the base unit may also comprise an articulated arm on which a docking module can be received. Such arm is considered to be part of the base, and, thus, to be part of the vehicle base. One or more docking modules may be mounted to the vehicle base. The vehicle base typically is considered to include any equipment connected thereto that is configured to receive one or more docking modules. The vehicle base typically is self-propelling provided with its own drive source. The vehicle base can be remotely controlled, semi-autonomous or autonomous drivable or manually operated. A manually operated vehicle base can be town or pushed by a human or by a tractor driven by a human. Advantageously, the base has an upper surface which is approximately plane. Alternatively, the vehicle base may also be a crane available in the controlled environment agriculture environment, such as a greenhouse, e.g. as a bridge crane. Such crane, or equipment connected thereto, may also be provided to receive a docking module. For example, the crane, or equipment connected thereto, may be provided with a receiving space to receive a docking module according to the disclosure.

[0009] The docking module is to be mounted to the driving vehicle base, and then together with the vehicle base forms the modular vehicle. Unlike the implement, the docking module can remain mounted to the vehicle base while different implements, one after the other, can be exchanged to it. The mounting of the docking module to the vehicle base is of a more permanent nature, than the exchangeability of the implements to the modular vehicle. Therefore, the mounting elements provided on the docking module can e.g. be through holes through which a screw or a bolt can be inserted that cooperate with a threaded hole of the vehicle base. Such holes may be provided in a flange of the docking module or in a bottom of the docking module. Alternatively and / or additionally, the mounting elements may be provided as fingers that click in receiving openings, wherein the fingers and corresponding receiving openings may be provided on the docking module and the vehicle and vice versa. Alternatively and / or additionally, the mounting elements may be provided as clamps that actively or passively couple with corresponding elements. The clamps can be provided on the docking module or vice versa on the vehicle. Many types of mounting elements can be provided.

[0010] Alternatively, a modular vehicle can comprise a vehicle base that is provided with, at least integrated module engagement elements, or with an integrated docking module, in that the vehicle is provided with module engagement elements to cooperate with corresponding implement engagement elements of an implement. The implement engagement elements can be provided on and integrated to the implement or can be provided on and integrated to an implement module. Such implement module can then be mounted to an implement. The implement may comprise an implement base, i.e. the equipment dedicated to its tasks to perform in the greenhouse. To the implement base an implement module can be mounted to provide the implement or the implement base can be provided with integrated implement engagement elements. The implement module advantageously is embodied as a single unit configured to engage with the docking module, also embodied as a single unit. Both the docking module as a single unit and the implement module as a single unit are thereto provided with corresponding engagement elements that are configured to engage with each other and form a reliable connection. By providing the docking module and the implement module both as a single unit the engagement of both modules to each other can be done relatively simple, optionally in a single movement, optionally in a smooth movement. Also, by providing the docking module and the implement module both as a single unit, the mounting of the docking module to the vehicle base and of the implement module to the implement can be established simple and / or smooth as well. Optionally and / or preferably, the corresponding mounting elements and the corresponding engagement elements may be configured to allow mounting and / or engaging in a smooth, preferably single movement, such that the mounting and / or engagement may be done at once. The docking module and / or the implement module as a single unit is to be understood as a unit that can be as a whole engaged to the vehicle base and / or the implement respectively. Advantageously, the docking module and / or the implement module as a single unit can comprise a casing or a housing to which the respective mounting elements are provided.

[0011] The docking module is at its implement side provided with module engagement elements that are configured for cooperation with corresponding implement engagement elements of the implement. By providing such corresponding engagement elements, removable connection of an implement can be facilitated. The removable connection allows for versatility, exchangeability, flexibility in use of the vehicle. An implement can be connected to the modular vehicle with docking module, perform its tasks in the greenhouse, and, after completion of the task of the implement, the implement can be de-connected from the docking module and removed from it. The modular vehicle is then free of any implement and a next implement can be connected to the vehicle. Advantageously, each implement is dedicated to a specific task to be performed in the greenhouse, e.g. sensoring, pesticides, lighting, humidity, harvesting, cleaning, etc. As such the modular vehicle, namely the vehicle for driving in the greenhouse provided with or integrated with a docking module, can be used in a flexible and versatile manner in the greenhouse. As such, the modular vehicle can be approximately permanent in operations in the greenhouse, while for each different task to be performed in the greenhouse, a different implement dedicated to that task, is being connected to the modular vehicle and removed after completion of the task. According to an aspect, there is provided in a method for connecting an implement to a modular vehicle, the method comprising: providing an implement, providing a modular vehicle for driving in a greenhouse, approaching the implement towards the module engagement elements of the vehicle until the implement engagement elements are engaged with the module engagement element. Preferably, the implement is dedicated for a specific task or operation in the greenhouse, and after completion of the task or operation, the implement is removed from the modular vehicle. Another implement can then be removable connected to the modular vehicle in the same manner.

[0012] Advantageously, the implement is being approached towards the docking module from a position above the docking module, such that it can be lowered in a straight, approximately vertical, manner towards the docking module until the corresponding engagement elements engage and the implement is connected to the docking module. The connection of the implement to the docking module is preferably made in a single approach movement. Although it can be envisaged that, after a vertical approach of the implement towards the docking module, and after a first contact with the docking module, then a horizontal sliding movement can follow to engage the corresponding engagement elements, or a rotating movement may follow to engage the corresponding engagement elements. It may be understood that the approach movement is also dependent on the specific configuration of the engagement elements. After completion of the implement-specific task or operation in the greenhouse, the implement preferably is removed from the docking module by a simple lifting movement. The approach and / or removal of the implement to and / or from the modular vehicle can be done e.g. by a forklift, a crane or other equipment available in the greenhouse, and may be done manually, remotely controlled or automated. The docking module is at an implement side configured to engage with the implement and provided with module engagement elements and the implement is provided with corresponding implement engagement elements. When the implement engagement elements and the module engagement elements engage with each other, a connection of the implement with the docking module is established. The engagement elements can be embodied in various manners, as long as a removable connection can easily be established. For example, the implement engagement elements can be horizontally extending pens that fit in vertical grooves of the docking module, or vice versa, the module engagement elements may be pens that fit in grooves as implement engagement elements of the implement module. As another example, the implement engagement elements can be hooks that engage with protrusions in the docking module to establish a hooked connection. When considering hooks, the last phase of the approach movement may then be a rotational movement or a translational movement. As another example, clamps may be provided as engagement elements on the implement or on the docking module that engage with a bar, ring, protrusion or other element on the corresponding one of the implement or the docking module. A combination of various types of engagement elements can also be possible, e.g. the implement may be provided with a set of pens and a set of hooks to removable connect with the docking module that may be provided with grooves to receive the pens and with a protrusion to receive the hooks or vice versa. Many variants of the engagement elements and combinations thereof are possible.

[0013] In an example, the docking module may be provided as a box shaped module having a lower side to connect with the vehicle base and having an upper side to engage with the implement. Such box-shaped module can be mounted on, e.g. an upper side, of a vehicle base for driving in the greenhouse. The box-shaped module may e.g. be screwed to the vehicle base. The upper side of the vehicle base may be provided with a receiving seat in which the lower side of the box shaped docking module fits or may be provided with a receiving space in which part of the box shaped docking module may fit. Preferably, the footprint of such a receiving seat or receiving space corresponds with the footprint of the lower side of the docking module. The receiving seat may also be provided with mounting holes in which a screw or bolt or other connecting element may engage. The receiving seat of the vehicle base may also be provided as a recess in which the docking module may fit, thereby becoming a receiving space. Preferably, the size and shape of the recess corresponds with the size and shape of the single unit forming the docking module such that the docking module can be easily mounted to the vehicle base and a smooth modular vehicle can be obtained. Such a box shaped docking module is an embodiment of the docking module as a single unit, but other shapes instead of box shaped may be provided as long as the docking module can be mounted to the vehicle base as a single unit, using the mounting elements provided on the unit. The box shaped docking module may at an upper side be provided with module engagement elements to engage with implement engagement elements. For example, the module engagement elements can be provided as upwardly protruding pins, or as mushroom shaped protrusions that can engage in corresponding openings in a bottom side of the implement. Of course, vice versa the bottom side of the implement can be provided with the pins or mushroom shaped elements that engage with openings as module engagement elements in the docking module. Various other types of engagement elements on the docking module as well as on the implement are possible, such as a bayonet coupling or clamps or protruding fingers or hooks etc. The bottom side of the implement can be shaped to abut to the top side of the box-shaped docking module. Alternatively, the bottom side of the implement can be provided with a recess in which the box shaped docking module can be received. Then, a bottom side of the implement may abut to a top side of the modular vehicle. Advantageously, the size and shape of such a recess correspond with the size and shape of the box shaped docking module such that an easy connection is possible. The implement engagement elements may then be provided in the recess. In another example, the docking module may be pyramidal shaped or may be provided with a pyramidal shaped protrusion. Then, the module engagement element may be considered being the shape itself of the docking module. The implement, preferably a bottom side of the implement, may then be provided with a corresponding pyramidal shaped recess that can be considered as the implement engagement element. As such, engagement of the implement to the docking module may be established in a form -closed manner, the engagement elements being the respective shapes. Such formclosed engagement can be established with many types of shapes.

[0014] Advantageously, the docking module can be configured to receive a corresponding part of the implement module. In particular, one of the docking module and of the implement module is configured to be receiving the other one of the docking module and the implement module. As such, one module can be at least partly engaged inside of the other module. This allows for a compact connection requiring minimum height. In a greenhouse environment, an operational height of the implement as low as possible is strived for. Then, the required tasks, handling and / or operations of the implement to the crops can be optimally performed. Preferably, the one module is approximately entirely receivable into the other module to minimize height.

[0015] As an example, the docking module may be provided with a cavity in which engagement elements of the implement are receivable. Advantageously, an implement side of the docking module is provided as a cavity, such that, when the docking module is mounted to the vehicle, a cavity accessible for a corresponding part of the implement. Thereto, a bottom side of the implement can be provided with a protruding part that is correspondingly sized and shaped to be receivable in the cavity.

[0016] Advantageously, the docking module can be mounted inside of the vehicle, such that an upper side of the docking module may be plane with an upper side of the vehicle. This can further minimize built-up height and allow for optimal operational height of the implement, when received in the docking module. Then, when the docking module is provided with a cavity, the plane upper side can remain and there is minimum built-up height. Alternatively, the docking module can be provided with a protruding part, which is preferably inserted in the vehicle when the docking module is mounted to the vehicle such that an upper side of the vehicle can remain approximately plane. The implement module may then be provided with a receiving space that can fit over the protruding part of the docking module and inside of the vehicle. As such, minimum built-up height can be obtained as well.

[0017] Advantageously, the module engagement elements are provided in the cavity of the docking module. For example, grooves in which pens as implement engagement elements can fall, can be provided in a standing side of the cavity, or vice versa pens may be provided on the docking module that engage with implement engagement elements on the implement module. For example, openings in a bottom side of the cavity can be provided in which protruding fingers extending from the implement can be received, etc.

[0018] Advantageously, the docking module further can be provided with guiding elements for guiding the implement towards the docking module during connection. Such guiding elements may facilitate easy movement of the implement towards the docking module, but may also facilitate easy removal of the implement away from the docking module. Such guiding elements may e.g. be embodied as at least one inclined side of the cavity of the docking module, or as at least one inclined side of the box shaped docking module. Advantageously, the corresponding coupling part of the implement or of the implement module may have also at least one correspondingly inclined side. Such at least one inclined side may in an easy manner guide the corresponding part of the implement or of the implement module towards the modular vehicle. Alternatively or additionally, a guiding element may be provided as a trumpet-like opening of a groove of the docking module in which a pen of the implement can be received. The trumpet-like opening then may provide for a search and guiding of the pen towards the groove. Alternatively and / or additionally, guiding pens may be provided e.g. on a bottom of the cavity of the docking module to guide the implement module towards the docking module. The implement module may then be provided with e.g. conical shaped openings in which the guiding pens may be received.

[0019] Advantageously, a locking system is provided for locking the implement to the docking module after connection of the implement module to the docking module. As such, the implement can be firmly secured to the modular vehicle during the operations of the implement.

[0020] The locking system can comprise an actuator for actuating the locking and the unlocking of the implement. An actuator typically is understood to be an electric actuator, although an hydraulic actuator or pressurized air actuator may also be possible, depending on whether an hydraulic and / or pressurized air is available in the vehicle and / or can be supplied to the vehicle. By providing an actuator that can both lock the implement as well as unlock the implement, controlled locking of the engagement elements is possible. Controlled locking may be done at a predefined moment, e.g. when engagement of the engagement elements is established, and / or may be done at a predefined speed. Controlled locking may also mean that the locking can be controlled remotely. Also, by providing an actuator for controlled locking of the implement, the locking, and thus securing of the implement to the docking module, may be done autonomously. One or more sensors may be provided to detect the engagement of the implement to the docking module. Once the engagement elements of the docking module and of the implement respectively are engaged, the locking system can be operated to lock the engaged engagement elements.

[0021] For example, the implement engagement elements may be provided as pens that engage in openings or, preferably vertically oriented, grooves or with a bottom of the docking module as module engagement elements. When the pens abut a bottom of the grooves, the implement is being engaged to the docking module. Such abutment may optionally be detected by a sensor. In any event, after engagement of the pens in the grooves, a locking system may be activated. For example, the locking system may comprise securing elements such as a hook or a claw that may be moved over the pen to prevent the pen from moving out of the groove, and, as such, to lock the pen in the groove and secure the implement to the modular vehicle. The movement of the hook or claw may be actuated by an actuator, e.g. an electric actuator.

[0022] As indicated above, many embodiments of the implement engagement elements and / or the module engagement elements are possible, e.g. as a hook that engages in a recess, or as a clamp engaging with a protrusion. Locking of the implement to the docking module can be done by securing the position of at least one of the respective engagement elements to prevent the engagement of the implement to the docking module to become undone. The locking system may comprise securing elements that are movable between a locked position, in which the implement is secured with respect to the vehicle, and an unlocked position, in which the implement can be moved free from the vehicle. The securing elements may lock the engagement elements, but securing elements may also be provided to the implement module and the docking module at a different position than the engagement elements. For example, by providing a stop element as securing element to abut the hook or clamp, movement of the hook or clamp towards disengagement can be prevented, thereby securing the engagement of the respective engagement elements. Also, the implement can be secured to the docking module at a different position than the engagement elements, e.g. at a front side or at a rear side of the implement module and docking module. For example, the locking system may provide in itself a clamp, hook, pen or other element for cooperation with a corresponding part on the implement and / or on the docking module to secure the implement to the docking module. For example, the implement and the docking module may each be provided with a ring or a protrusion or otherwise, which rings or protrusions become positioned aside each other when the implement is engaged to the docking module, such that a hook, or a claw or a clamp of the locking system may secure both rings or protrusions at once to prevent movement of the implement with respect to the docking module, thereby securing the implement to the docking module. Activation of such a securing element of the locking system or of a stop element of the locking system towards a locked position and towards a free, unlocked position, can be done by an actuator in a controlled manner.

[0023] The locking system may comprise wedges that are translatable or rotatable over the implement engagement elements to lock the implement engagement elements and prevent the implement from removing from the vehicle. For example, the implement module may comprise four pens, two at each side at a distance from each other. Four wedges may be provided that are movable between an open, unlocked position, and a closed, locked position. The four wedges may have the same orientation, in that an open space underneath the wedges is oriented in the same direction. The wedges may be connected to each other, such that they move all four at the same time in the same direction. Two wedges may be connected by a bridge, such that by actuating the bridge, all four connected wedges are moved at once over the pens to secure the pens of the implement. Advantageously, the movement of the wedges is a translation movement, allowing the wedges to move over the pens, and, thus, to secure the position of the pens. Alternatively, the wedges may be moved rotationally, such that the wedges can be rotated over the pens to lock the pens in their position. The bridge may be actuated by an electric actuator, or by a biasing element, as explained below, or manually, inducing a translation or a rotation movement. Instead of all four wedges interconnected and moving together, it may be envisaged that a pair of two wedges, e.g. at the front side or the rear side of the docking module, are oriented opposite each other, e.g. in the open space underneath the wedges is oriented towards each other, as seen in a longitudinal direction of the docking module and of the vehicle between front and rear of the vehicle, or is oriented away from each other. The locking system may then comprise two movable wedges or the two pairs of movable wedges are movable opposite each other to lock the pens in their position. A pair of wedges can be connected by a bridge, and then, the bridge may be actuated by a suitable actuating element, an electric actuator, a biasing element, a human operation etc. Instead of wedges, other securing elements may be provided, such as a hook being moved over the pens, or a clamp being moved over or on the pens to lock the pens in their position.

[0024] Alternatively and / or additionally, instead of providing an actuator to activate the locking system to and away from the locked position, the activation of the locking system can be done manually, or can be done by a biasing element, or the actuator can only be used for activation in one direction, e.g. only towards the locked position or only away from the locked position. For example, the locking system may be operated by a biasing element that is biased towards the locked position. Such biasing element may be a spring, such as a coil spring or a gas spring. Such a biasing element may be activated, or released, when the implement is engaged to the docking module, e.g. when the engagement elements are engaged to each other, or when a bottom part of the implement abuts the docking module, etc., thereby moving the associated securing element towards the locked position to secure the implement module to the docking module. To unlock the thus secured implement from the docking module, the biasing element needs to be retracted to its start position against the biasing force. This may be done, e.g. by an actuator, or by manual operation bringing the securing element back to its initial position against the biasing force. The securing element may be kept in its initial position against the biasing force e.g. by a catch that can be withdrawn when the implement engagement elements are engaged to the module engagement elements to release the biasing force thereby bringing the securing element to the locked position. Withdrawing the catch can be done manually, or automated e.g. by the implement engagement elements pressing a button that withdraws the catch, or by a sensor sending a signal to withdraw the catch after engagement of the implement engagement elements and the module engagement elements has been detected. Such locking system comprising a biasing element may be more cost effective and / or may be advantageous in a greenhouse environment with no or limited automation, typically where exchanging of the implement to the docking module is done manually supported e.g. using a forklift, crane or other equipment.

[0025] According to a further aspect, there is provided for an electric connection element on the docking module that connects with a corresponding electric connection element on the implement. If the implement is provided with an implement module, then the implement module is provided with the electric connection element, as well as with the implement engagement elements. Typically, the vehicle may be provided with power sources, such as batteries, to supply electrical power to the implement, when engaged, for the operations of the implement in the greenhouse. By providing these electric connection elements, an electric connection can be established between the vehicle and the implement, to supply the implement with the required power to operate in the controlled environment agriculture environment. In addition to an electrical connection, a data connection may be established as well via separate or integrated data connection elements. In addition to the electrical connection and / or the data connection, a safety connection may be established via separate or integrated safety connection elements. The electric connection element, data connection element and safety connection element may be integrated in a single connection element. For the operations of the implement and / or of the vehicle, a separate safety signal circuit can be required, such that in case of calamity a safety signal can be transmitted to or from the vehicle and the implement. Such a safety signal may e.g. be an emergency stop signal.

[0026] Additionally, the docking module may comprise a control unit to control the implement after connection of the implement to the docking module. As such, the docking module can control the operations of the implement. The control unit may also control the data transmittal to and / or from the vehicle and the implement and / or the safety signals to and / or from the vehicle and the implement. This may provide for additional modularity. As such, the vehicle can remain relatively simple, in that it can be dedicated to its main task, namely driving around in the controlled environment agriculture environment, semi-autonomous or autonomous, or remotely controlled or manually operated. As such, the docking module can be mounted to a random vehicle independent of manufacturer and / or design as long as the vehicle has at least one receiving element to cooperate with the at least one mounting element of the docking module. This greatly may improve the applicability of the docking module to a wide variety of available vehicles. Correspondingly, the implements and / or their associated implement modules are advantageously configured to cooperate with the control unit of the docking module. Therefore, the data connection may be established, or otherwise a receiver may be provided in the implement and / or the implement module to receive control signals of the control unit of the docking module that control the operations of the implement. This allows for a less complex development of the implement, allowing the implement developer to develop and design an implement dedicated to its task, while control thereof is being done by the control unit of the docking module. The implement and / or the associated implement module may then only require a receiver to receive control signals of the control unit. In some examples, communication with the control unit of the docking module may be necessary, then, the implement and / or its associated implement module may be provided with a transmitter as well. As such, the docking module with control unit may act as a kind of platform for which various implements can be developed as long as these implement can receive signals from or can communicate with the control unit of the docking module to be controlled by the docking module.

[0027] According to a further aspect, an implement module is provided. The implement module is provided with the implement engagement elements that are configured to cooperate with the module engagement elements of the vehicle. The implement module is further configured to mount to an implement base, in particular to an under side of the implement base, to obtain an implement comprising the implement engagement elements, and, as such, is exchangeable mountable to the vehicle. To that end, the implement module may be provided with mounting elements that can cooperate with corresponding mounting elements of the implement module. Such cooperating mounting elements can be threaded hole to receive a screw or bolt, or, can be click fingers receivable in a hole, or many other types of cooperating mounting elements. Preferably, the implement module is mounted to the implement base to remain connected to the implement base to form an implement that is removable connectable to the modular vehicle. As such, the connection between the implement module and the implement base is of a more permanent character than the removable connection of the implement with the modular vehicle.

[0028] By providing an implement module, the implement module can be manufactured independent of the implement. Also, many different types of implements may be developed by, for example, different manufacturers to which only the implement module needs to be connected to form an implement engageable with the module engagement elements of the vehicle. This provides for a large flexibility for implement-developers allowing them to benefit from a relatively accessible platform of modular vehicles driving in greenhouses. Alternatively, implements may be provided with integrated implement engagement elements to directly engage with the module engagement elements of the modular vehicle.

[0029] Advantageously, the implement module is provided with a protruding part that is configured to be received in the docking module, preferably in a receiving part of the docking module, such as for example in a cavity of the docking module. By providing such protruding part that is receivable at least partly in the docking module, the built-up height of the implement with respect to the vehicle can remain limited to reduce the operational height of the implement.

[0030] More advantageously, the implement module is provided with a protruding part that is preferably fully receivable in a receiving part of the docking module, as such the operational height of the implement can further be reduced and / or may be optimized. For example, the protruding part of the implement module may fit in the receiving part, such as the cavity, of the docking module. In an optimal manner, the protruding part is shaped correspondingly to the shape of the docking module to allow for an optimal fit of the protruding part in the docking module. For example, a tight-fit or a form-closed engagement may be obtained.

[0031] The protruding part of the implement module may be provided with the implement engagement elements that are configured to cooperate with the module engagement elements of the docking module. For example, the module engagement elements may be provided at a bottom of the receiving part, such as the cavity, of the docking module, and then a corresponding shape of the implement module may assist in fitting the implement module to the docking module and engaging the corresponding engagement elements.

[0032] By providing a docking module and an implement module that are at least partly receivable one into the other, a reduction of height in connected condition can be obtained allowing a reduced, or limited, preferably an optimal operational height of the implement. Thereto, the docking module may be provided with a receiving part, such as a cavity, to receive a protruding part of the implement module. But, the arrangement may be vice versa as well, in that the docking module may be provided with a protruding part over which a receiving part, e.g. a cavity, of the implement module can be placed in which the protruding part of the docking module can be at least partly, preferably fully, received. Alternatively, the module engagement elements may be integrated to the vehicle and the implement engagement elements may be integrated to the implement, also in such a configuration a protruding part of the implement and a receiving part of the vehicle, or vice versa, are receivable one into the other in a similar fashion as the protruding part and receiving part of the docking module and of the implement respectively or vice versa such that the built-up height in connected condition can be reduced.

[0033] In a further aspect, there is provided a set of a docking module and at least one implement module. Such a set allows to modularize a vehicle base, and an implement base obtaining a modular vehicle and an implement removable connectable thereto.

[0034] In an other aspect, a method for modularizing a vehicle for driving in a greenhouse is provided. A vehicle base is then provided, and to that vehicle base a docking module is mounted to obtain a modular vehicle.

[0035] Further, a set of implements having the implement engagement elements, either integrated or provided on an implement module, can be provided, of which one implement can be selected to connect to the modular vehicle. The selected implement can be connected to the module engagement elements of the modular vehicle for performing operations in the greenhouse, and, after operations, removing the implement from the module engagement elements, and, possibly, select and connect another implement from the set of implements to the module engagement elements for performing operations in the greenhouse.

[0036] Further, a modular vehicle for driving in a greenhouse is provided. The modular vehicle comprising a vehicle base to which the docking module can be mounted, or to which the module engagement elements are integrated. The modular vehicle thereby optimally equipped for receiving selected implements for performing operations in the greenhouse. The vehicle base can be any type of driving unit that is arranged for driving in a greenhouse environment. The vehicle base can be provided with a receiving space to receive the docking module, allowing the docking module to be manufactured separately and / or independently of the vehicle base as a single unit to be mounted to the vehicle base.

[0037] According to an aspect, a modular vehicle system is provided comprising a modular vehicle and a set of implements of which one selected implement of the set of implements is alternately removable connected to the vehicle, in that, once the operations of the implement are completed, the implement is removed from the modular vehicle and exchanged for a different implement of the set of implements.

[0038] Further advantageous embodiments are represented in the subclaims.

[0039] These and other aspects will be further elucidated with reference to the drawing comprising figures of exemplary embodiments. Corresponding elements are designated with corresponding reference signs. In the drawing shows:

[0040] Figure 1 an exploded view of an embodiment of a vehicle system according to the disclosure;

[0041] Figure 2 the vehicle system of figure 1 in connected condition; Figure 3 an exploded view of another embodiment of a vehicle system according to the disclosure;

[0042] Figure 4 the vehicle system of figure 3 in connected condition;

[0043] Figure 5 a docking module and an implement module according to the disclosure.

[0044] It is to be noted that the figures are given by way of exemplary examples and are not limiting to the disclosure.

[0045] Figure 1 and figure 2 show a first embodiment of a vehicle system 1 for driving in a greenhouse according to the disclosure. In figure 1, the vehicle system 1 is shown in exploded view in a non-assembled condition. Figure 2, the vehicle system 1 is assembled.

[0046] The vehicle system 1 comprises a vehicle base 2, a docking module 3, an implement module 4 and an implement base 5.

[0047] The vehicle base 2 can be a typical driving unit that is arranged for driving in a greenhouse. Typically such vehicle base 2 comprises a base unit 6 and one or more wheels 7. The base unit 6 usually comprises a driving source, not shown here, such as an electric motor and one or more batteries to provide power to the electric motor or to the electric motors. Alternatively and / or additionally, power may be supplied from an external power source, e.g. a wired connection to the mains or a wireless, magnetic induced power transmission. Here, an upper side 8 of the vehicle base 2 is arranged in an approximately plane manner. Further, in this example, the vehicle base 2 is provided with a front bumper and a rear bumper 9 for safety reasons in case of collision with persons and / or to protect the vehicle base from too much damage while driving around in the greenhouse. It is noted that the bumpers are optional to the vehicle base. The relatively plane upper side 8 of the vehicle base is here provided with a receiving space 10, embodied as a seat 10, that is configured to receive the docking module 3. The seat 10 preferably has the same footprint as a side of the docking module 3 mountable to the vehicle base 2. It is to be noted that the vehicle base 2 here is provided with a single receiving space 10 for a docking module 3, but that more than one receiving space can be provided such that more than one docking module can be mounted to the vehicle base. Also, here, the receiving space is provided on the upper side of the vehicle base. Alternatively and / or additionally, the receiving space can be provided on an articulated arm or on other extensions of the vehicle base.

[0048] The docking module 3 is here provided as a box-shaped module 3 that can be mounted to the vehicle base 2, in particular to the upper side 8 of the vehicle base 2. The box-shaped module 3 may thus comprise a boxshaped casing to which the mounting elements 14 and the module engagement elements 17 are provided. The docking module 3 has a vehicle side 11, here a bottom side, that is configured to be mounted to the vehicle base 2. Here, the bottom side 11 is provided with a flange 12. The footprint of the flange 12 corresponds with the footprint of the seat 100 of the vehicle base 2, such that the docking module 3 can be easily mounted to the vehicle base 2. The seat 10 and the flange 12 are provided with corresponding openings 13 and 14 respectively. When mounting the docking module 3 to the vehicle base 2, the corresponding openings 13, 14 are aligned with each other, and a fastening element 15, such as a screw or a bolt or otherwise can be inserted through the openings 13, 14 to fixedly mount the docking module 3 to the vehicle base 2. As such, a modular vehicle 16 is obtained that can drive in the greenhouse and that can receive various types of implements.

[0049] The docking module 3 is configured to removable connect with the implement module 4. The docking module 3 and the implement module 4 are both embodied as a single unit that engage to each other. The docking module single unit 3 is configured to engage to the implement module single unit. By providing the modules as single units, engagement to each other can be done in a simple, reliable, effective and efficient manner. Thereto the docking module single unit 3 and the implement module single unit 4 are provided with corresponding engagement elements. 17, 18. The docking module 3 is thereto provided with module engagement elements 17 that engage with corresponding implement engagement elements 18. Here, the module engagement elements 17 are embodied as rotatable hooks and the implement engagement elements 18 are embodied as horizontally extending protrusions or pens. It is to be understood that the module engagement elements 17 and the implement engagement elements 18 may be embodied vice versa, i.e. as pens and hooks respectively. The rotatable hooks 17 are rotatable between an open position in which they can receive the pens 18, shown in figure 1, and a closed position in which they engage with the pens 18, shown in figure 2. Optionally, the hooks 17 may be biased towards the closed position, e.g. by a biasing element such as a spring. Such a biasing spring may be provided on or around a shaft 19 on which the rotatable hook 17 is mounted. The biasing spring, not shown here for reasons of clarity, may then be e.g. a torsion spring. The hook 17 then has to be brought to the open position against the biasing force of the biasing element. This can be done e.g. manually, or by an actuator. For example, the docking module 3 may be provided with a pressable button, the button can activate or deactivate a stop behind which the hook 17 can be brought to keep it in open condition against the biasing force. When lowering the implement module 4 with the pens 18 towards the docking module 3, the pens 18 may press the button thereby withdrawing the stop holding the hook 17 and thus releasing the hook 17 that is being pushed towards the closed position by the biasing element. When removing the implement module 4 from the docking module 3, the hook 17 is being brought, manually or actuated, towards the open position against the biasing force to be held behind the stop. Optionally, instead of a biasing force, bringing the hooks 17 towards the open position and the closed position can be done in an actuated manner, e.g. by an electric actuator. The implement module 4 here as a bottom side that, in engaged condition, abuts against an implement side 20, here an upper side of the docking module 3. The docking module 3 and the implement module 4 are provided as single units respectively. Such a unit can comprise a casing or a housing to which the respective mounting elements and engagement elements are provided. For example, the bottom side of the implement module 4 may be the bottom side of the aforementioned casing or housing, and the upper side of the docking module 3 may be the upper side of such aforementioned casing or housing. Preferably, the shape of the casing or housing of the implement module 4 is associated with or corresponding to the shape of the casing or housing of the docking module 3 such that both modules can be engaged in a reliable manner.

[0050] The implement module 4 is mountable to an implement base 5, thereby forming an implement 21 that is removable connectable to the modular vehicle 16. So, depending on the operations to be performed in the greenhouse, a different type of implement 16 can be engaged to the modular vehicle 16. After completion of the implement’s task, the implement can be removed from the modular vehicle and a next implement can be connected to the modular vehicle for performing a different task in the greenhouse. Various implements or implement bases can be envisaged, e.g. an UV-light implement, a moisturizing implement, a harvesting implement, etc. As such a modular vehicle system 1 is obtained that is adaptable to the varying circumstances in the greenhouse and that can perform various tasks in the greenhouse in a versatile and flexible manner.

[0051] The implement module 4 is provided with mounting elements 22 that cooperate with corresponding mounting elements 23 on the implement base 5. Here, the module mounting elements 22 are configured as holes in which a mushroom-type of base mounting element 23 is receivable. It may be understood that many other types of cooperating mounting elements on the implement module 4 and on the implement base 5 are envisageable. Providing such an implement module 4 that can be mounted to an implement base 5, allows a great flexibility in developing various types of implement bases. Also, the implement module can be manufactured independently of the implement base, even by different manufacturers, and as a final assembly step the implement module can be joined to the implement base to form the implement.

[0052] Figure 3 and figure 4 show another embodiment of the vehicle system 1 according to the disclosure. Figure 3 shows the vehicle system 1 in an exploded view and in not-engaged condition. Figure 4 shows the vehicle system 1, in particular the implement 21 and the modular vehicle 16, in engaged condition.

[0053] The vehicle base 2 here also comprises the wheels 7 and the bumpers 9, which are optional. Here, the vehicle base 2 is provided with a receiving space 10. The docking module 3 is preferably fully receivable in the receiving space 10 such that, when the docking module 3 is mounted to the vehicle base 2, the upper side 8 is approximately plane. The docking module 3 can e.g. be screwed into the receiving space 10. The docking module 3 can be provided with openings 14 as mounting elements, and the receiving space 10 can be provided with corresponding mounting elements 13, e.g. threaded holes. When inserting the docking module 3 in the receiving space 10, the openings 14 and the holes 13 are aligned and can receive a fastening element such as a screw or bolt.

[0054] The docking module 3 is here configured to receive the implement module 4. In particular, the docking module 3 is here provided with a cavity in which at least part of the implement module 4 is receivable. Advantageously, the implement module 4 is approximately fully receivable in the docking module 3, as can be seen in figure 4. A height h of the implement module 4 is approximately the same as a depth d of the cavity 24 of the docking module 3. Then, the built-up height of the implement module 4, and also of the implement 21, to the vehicle 16 can be limited thereby providing an optimal operational height to the implement for performing its operations in the greenhouse.

[0055] The implement module 4 is provided with implement engagement elements 18, embodied as horizontally extending pens 18, and the docking module 3 is provided with corresponding module engagement elements 17, such as a recess or a groove in the docking module, which may be embodied vice versa as well, e.g. pens as module engagement elements and a recess or groove as implement engagement elements.

[0056] Wedges 17 may be provided as securing elements of a locking system. The wedges 17 are here oriented in a direction opposite each other, but the wedges can also be oriented in the same direction, or the wedges can also be oriented vertically. Further, here, it can be seen that two opposing sides 25 of the implement module 4 are inclined, and that two corresponding opposing sides 26 of the cavity 24 of the docking module 3 are inclined similarly. These corresponding opposing sides 25, 26 may function as guiding elements that facilitate guiding the implement module 4 towards and into the docking module 3 for engaging the implement module 4 to the docking module 3. Of course, the guiding elements can be embodied differently, e.g. as trumpet shaped grooves in which the pens can be inserted or as guiding pins etc.

[0057] When inserting the implement module 4 into the cavity 24 of the docking module 3, the pens 18 may abut a bottom of the cavity 24 or a stop element, then the wedges 17 are translated to move over the pens 18 to engage with the pens 18. Instead of translation, a rotational movement can be possible. Also, it is possible that one pair of wedges moves, and another pair of wedges remains stationary. A pair of wedges may be two wedges positioned at the same longitudinal side of the docking module, or may be two wedges positioned at the same shorter side of the docking module. The wedges 17 may be moved from an open position, as shown in figure 3, to a closed or engaged position, as shown in figure 4, by a biasing element or by an actuator. The wedges 17 may be biased towards the engaged position, so for keeping them in the open position they can be held behind a stop. For example, the pens 18 when approaching the bottom of the cavity 24 may press a button, which button may retract the stop holding the wedges, thereby releasing the biasing force and pushing the wedges towards the closed position. Bringing the wedges 17 back to the open position may be done manually to push them behind the stop against the biasing force, or can be done actuatable, e.g. by an actuator that brings the wedges back behind the stop against the biasing force. The biasing force can be provided by a spring. Instead of a biasing element, movement of the wedges between the open position and the closed position can be done by an actuator.

[0058] Similarly as in the embodiment of figure 1 and figure 2, the implement module 4 is configured to be mounted to the implement base 5, thereto being provided with corresponding mounting elements 22, 23 respectively. Here, the implement base 5 is drawn as a UV-light, but other embodiments of implement bases are possible.

[0059] Figure 5 shows an example of the docking module 3 and of a corresponding implement module 4. The docking module 3 is here provided with a cavity 24 to receive the implement module 4. The depth d of the cavity 24 is larger than the height h of the implement module 4, such that the implement module 4 is fully receivable in the docking module 3, thus reducing or limiting the built-up height. Here too, the implement module 4 and the docking module 3, in particular the cavity 24 of the docking module 3, have corresponding opposing sides 25, 26 respectively that are inclined in a similar fashion and that may be guiding elements, or guiding surfaces, guiding the implement module 4 towards and into the cavity 24. The docking module 3 is here too provided with wedges 17, comprising a pair of wedges 17a and a pair of wedges 17b as securing elements.

[0060] Further, it can be seen that the docking module 3 is provided with an electric coupling element 27 and that the implement module 4 is provided with a corresponding electric coupling element 28. The electric coupling element 27 is here provided as a plug-like element and the electric coupling element 28 is here provided as a socket-like element, to establish an electric connection when engaged. As such, electric power can be supplied to the implement such that it can perform its operations in the greenhouse. The electric coupling elements 27, 28 may further comprise data connection elements and / or safety signal connection elements. Typically, the electric power is being supplied from the vehicle base 2, advantageously from the power source of the vehicle base 2, usually being batteries. To supply the implement with electric power, an electric connection is also established when mounting the implement module 4 to the implement base 5, between the implement module 4 and the implement base 5. Similarly, when mounting the docking module 3 to the vehicle base 2, an electrical connection is established to allow power supply from the vehicle base 2 to the docking module 3. Known electrical connection elements may be provided to establish such electrical connections.

[0061] When inserting the implement module 4 in the cavity 24 of the docking module, the pens 18, comprising a pair of pens 18a and a pair of pens 18b, may abut a bottom 29 of the cavity 24. Then, a first pair of wedges 17a is being translated in a direction towards its associated pens, thereby moving the whole implement module 4 towards the electric coupling element 27 such that the corresponding electric coupling element 28 can connect with the electric coupling element 27 to establish an electric connection. Additionally, the pair of pens 18b is being translated towards the wedges 17b, that remained stationary in the docking module 3. So, both pairs of pens 18a, 18b are then being engaged and closed by their associated wedges 17a, 17b. The translation of the wedges 17a is being indicated by arrow T in figure 5. Alternatively, the pairs of wedges 17a, 17b can be oriented in the same direction, instead of in the opposite direction as in figure 5. Then, all wedges 17a, 17b may be translatable in the same direction to be moved over the pens and to lock the pens 18a, 18b.

[0062] The wedges 17a can be held in the open position against a biasing force of a biasing element 30, such as a spring as shown here. The spring 30 at one end connected to the wedge and at another end connected to the docking module. Translation of the wedges 17a towards the closed position can be activated e.g. by the pens 18a pushing a button or a catch (not shown) that retracts a stop (not shown) holding the wedges 17a thereby releasing the spring force and pushing the wedges, and consequently the implement module 4, towards the electric coupling element 27. The pens 18a, 18b are being closed by the wedges 17a, 17b and an electric connection is being established. Alternatively, instead of a spring, being activated by the pens 18a, an actuator can be provided that translates the wedges 17a in a controlled manner to and from the pens 18a to removable connect the implement module 4 with the docking module 3. To allow such translation of the implement module 4 in the cavity 24 of the docking module 3, the length of the implement module 4 is smaller than the length of the cavity 24. This also allows more margin, and / or a less precise operation, when inserted the implement module 4 in the docking module 3.

[0063] Additionally, the electric coupling elements 27, 28 may also comprise a data connection element, which, when engaged, establish a data connection between the modular vehicle 16 and the implement 21. The electric coupling elements 27, 28 may also comprise a safety signal connection element, which, when engaged, establish a safety signal connection to provide a safety signal circuit between the modular vehicle 16 and the implement 21.

[0064] Further, the docking module 3 may comprise a control unit that is configured to control the operations of the connected implement. The control unit may be remotely controlled, or may operate autonomously depending on the detected implement. There is provided a docking module mountable to a vehicle for driving in a greenhouse, wherein the docking module comprises a vehicle side configured for mounting to the vehicle, wherein the vehicle side is provided with mounting elements configured to cooperate with the vehicle, and wherein the docking module comprises an implement side configured for removable engagement with an implement, wherein the implement side is provided with coupling elements configured to cooperate with corresponding coupling elements of the implement.

[0065] For the purpose of clarity and a concise description, features are described herein as part of the same or separate embodiments, however, it will be appreciated that the scope of the claims and disclosure may include embodiments having combinations of all or some of the features described. It may be understood that the embodiments shown have the same or similar components, apart from where they are described as being different.

[0066] In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word ‘comprising’ does not exclude the presence of other features or steps than those listed in a claim. Furthermore, the words ‘a’ and ‘an’ shall not be construed as limited to ‘only one’, but instead are used to mean ‘at least one’, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination of these measures cannot be used to an advantage. Many variants will be apparent to the person skilled in the art. All variants are understood to be comprised within the scope defined in the following claims. Reference numbers

[0067] 1 vehicle system

[0068] 2 vehicle base

[0069] 3 docking module

[0070] 4 implement module

[0071] 5 implement base

[0072] 6 base unit

[0073] 7 wheels

[0074] 8 upper side of vehicle base

[0075] 9 bumper front and rear

[0076] 10 receiving space

[0077] 11 vehicle side of the docking module

[0078] 12 flange of the docking module

[0079] 13 openings in the vehicle base

[0080] 14 openings in the docking module

[0081] 15 fastening element

[0082] 16 modular vehicle

[0083] 17 module engagement element

[0084] 18 implement engagement element

[0085] 19 shaft of rotatable hook

[0086] 20 implement side of the docking module

[0087] 21 implement

[0088] 22 mounting elements on implement module

[0089] 23 mounting elements on implement base

[0090] 24 cavity of the docking module

[0091] 25 opposing sides of implement module

[0092] 26 opposing sides of cavity of the docking module

[0093] 27 electric coupling element docking module

[0094] 28 electric coupling element implement module

[0095] 29 bottom of cavity 30 biasing element h height of the implement module d depth of the cavity of the docking module

Claims

Claims1. Docking module mountable to a vehicle base for driving in a controlled environment agriculture environment wherein the docking module is configured to removable receive an implement for performing operations in the environment, wherein the docking module is at a vehicle side provided with mounting elements configured to mount to the vehicle base, and wherein the docking module is at an implement side provided with module engagement elements configured to cooperate with corresponding implement engagement elements of the implement to removable connect the implement to the docking module.

2. Docking module according to claim 1, wherein the docking module is configured to receive a corresponding part of the implement.

3. Docking module according to claim 2, wherein the implement side of the docking module is arranged as a cavity in which the corresponding part of the implement is receivable.

4. Docking module according to claim 3, wherein a height of the cavity is approximately the same as a height of the corresponding part of the implement receivable in the cavity.

5. Docking module according to claim 3 or 4, wherein the module engagement elements are provided in the cavity.

6. Docking module according to any of the claims 1 - 5, further comprising guiding elements for guiding the implement during connection with the docking module.

7. Docking module according to any of the preceding claims, further comprising a locking system for locking the implement to the docking module after connection of the implement.

8. Docking module according to claim 7, wherein the locking system comprises an actuator for actuating the locking and unlocking of the implement.

9. Docking module according to claim 7 or 8, wherein the locking system is configured for locking the implement engagement elements to the docking module.

10. Docking module according to any of the preceding claims, further comprising an electric connection element that is configured to connect with a corresponding electric connection element on the implement for estabhshing an electrical connection between the implement and the vehicle.

11. Docking module according to any of the preceding claims, further comprising a control unit that is configured to control the implement after connection of the implement to the docking module.

12. Implement module for mounting to an implement base for performing operations in a controlled environment agriculture environment, in particular to a bottom side of the implement, wherein the implement module is configured to cooperate with the module engagement elements of the docking module of any of the claims 1 - 11 or of a vehicle with the module engagement elements integrated thereto, and wherein the implement module is provided with the implement engagement elements to engage with the docking module.

13. Implement module according to claim 12, wherein the implement module is provided with a protruding part that is configured to be at least partly received in the docking module.

14. Implement module according to claim 13, wherein a height of the protruding part is such to be approximately fully received in the docking module.

15. Implement module according to claim 14, wherein the protruding part is configured to fit in the cavity of the docking module according to claim 3.

16. Implement module according to any of the claims 13 - 15, wherein the protruding part is shaped correspondingly to the shape of the cavity of the docking module according to claim 3.

17. Implement module according to any of the claims 13 - 16, wherein the protruding part is provided with the implement engagement elements that are configured to cooperate with the module engagement elements of the docking module.

18. Implement comprising an implement base provided with an implement module according to any of the claims 12 - 17 or provided with implement engagement elements integrated thereto.

19. Set of a docking module according to claim 1 and an implement module according to claim 12, wherein one of the docking module and the implement module is configured to be received in the other one of the docking module and the implement module to reduce height when connected.

20. Set of a docking module according to any of the claims 1 - 11 and at least one implement module according to any of the claims 12 - 17.

21. Method for modularizing a vehicle for driving in a controlled environment agriculture environment, comprising, providing a vehicle base, mounting a docking module according to any of the claims 1 - 11 to the vehicle.

22. Method according to claim 21, further comprising: providing a set of implements according to claim 14.

23. Method according to claim 22, selecting one implement of the set of implements and connecting the selected one to the dockingmodule of the vehicle for performing operations in the environment, and, after operations, removing the implement from the docking module, and, possibly, selecting and connecting another implement to the docking module for performing a different type of operations.

24. Vehicle for driving in a controlled environment agriculture environment, the vehicle comprising a vehicle base being provided with at least one receiving space configured to receive a docking module according to any of the claims 1 - 11, and a docking module according to any of the claims 1 - 11, thereby obtaining a modular vehicle.

25. Vehicle for driving in a controlled environment agriculture environment, the vehicle comprising a vehicle base provided with integrated module engagement elements configured to cooperate with implement engagement elements for removable cooperation with an implement selected out of a set of implements.

26. Modular vehicle system for driving in a controlled environment agriculture environment, comprising a vehicle according to claim 24 or claim 25 a set of implements according to claim 18, wherein the vehicle is alternately provided with one implement of the set of implements.

27. Method for connecting an implement to a modular vehicle, the method comprising: providing an implement according to claim 17; providing a modular vehicle for driving in a controlled environment agriculture environment according to claim 25 or claim 26;approaching the implement towards the modular vehicle until the implement engagement elements are engaged with the module engagement elements of the modular vehicle.

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