Actuator for handling plants and / or plant receptacles in a vertical farming facility

Abstract

The present invention relates to a method and an actuator (1) for handling plants (2') and / or plant receptacles (2) in a vertical farming facility (20), wherein the actuator (1) comprises a robot head (1') for transplanting the plants (2') and / or plant receptacles (2) into, and harvesting the plants (2') and / or plant receptacles (2) from apertures (7), particularly apertures (7) of a planting wall (20') of the vertical farming facility (20).

Description

[0001] SUIOOll-WO

[0002] DESCRIPTION

[0003] Title

[0004] Actuator for handling plants and / or plant receptacles in a vertical farming facility Background

[0005] The present invention relates to a system for transporting a robot head in a vertical farming facility, wherein plants can be cultivated. Traditionally, plants are grown by farmers by way of field cultivation. For this purpose, specific atmospheric conditions are indispensable for successful cultivation. In particular, the soil must be rich in humus and hence provide sufficient amounts of nutrients. Furthermore, the soil as well as the ambient air must provide enough humidity so as to promote plant growth. Moreover, adequate radiation must be ensured. In addition and importantly, plant cultivation is inextricably linked to a provision of sufficient acreage.

[0006] The global population and therefore the demand for sufficient food is increasing incessantly. At the same time - among others due to anthropogenic industrial emissions and other human interferences in the natural planetary systems over the course of globalization - the climate is subject to long-term changes, especially to unfavorable changes from the standpoint of plant cultivation: Heat waves and water scarcity, but also a lack of soil nutrients as a consequence of monocultural farming et cetera are some of the challenging phenomena and examples for the deterioration of cultivation conditions that farmers are currently faced with and most likely will be confronted with on a regular basis in the future. According to scientific disclosures the adverse agricultural conditions will subsist and the challenging phenomena will occur even more frequently, when steady, predictable and controllable cultivation conditions are actually required for optimal agricultural outputs.

[0007] One approach in solving this problem can be found in the so-called inhouse or vertical farming technologies of growing crops in vertically stacked layers arranged inside buildings, containers or the like. This technology incorporates controlled-environment agriculture in order to optimize plant growth and to increase crop yield and goes along with a smaller cropland. Furthermore, vertical farming enables a decrease of human interference in the cultivation process due to automatization which increases the overall performance since machines don’t need sleep or vacation and are not affected by sentiment fluctuations and thus are much less prone to errors. Automatization is expected to increase over time along with developments in machine learning and artificial intelligence. Also, vertical farming goes hand in hand with the benefit of reducing transportation efforts since the cultivation can be carried out in urban territories, close to consumers, thereby rendering pollutive and costly shipments superfluous.SUIOOll-WO

[0008] However, a current drawback of this approach is that vertical farming is associated with a tremendous energy consumption compared to classical field cultivation due to the fact that lighting, climate control and nutrients must be provided entirely by technical means. Furthermore, transplanting and harvesting of plants and / or plant receptacles with plants therein can be challenging since, conventionally, cultivation of plants in a vertical farming facility is carried out in vertically arranged walls with apertures therein. Due to gravity, size of the apertures, friction between plants or plant receptacles on the one hand and the apertures on the other hand etc. a smooth, simple and robust transplanting and harvesting can be challenging. Consequently, vertical farming can only be a solution to the afore-mentioned challenges when energy consumption and costs are reduced, degree of automation as well as crop yield are increased significantly and operational challenges are overcome.

[0009] Disclosure of the invention

[0010] It is an object of the present invention to provide a vertical farming facility that addresses at least some of the above-mentioned challenges and drawbacks.

[0011] The object of the present invention is achieved by an actuator for handling plants and / or plant receptacles in a vertical farming facility, wherein the actuator comprises a robot head for

[0012] transplanting the plants and / or plant receptacles into, and

[0013] harvesting the plants and / or plant receptacles from

[0014] apertures, particularly apertures of a planting wall of the vertical farming facility, wherein the robot head is configured to rotate around a robot head axis while the robot head transplants a plant or plant receptacle, and / or

[0015] harvests a plant or plant receptacle.

[0016] According to the present invention, it is advantageously possible to optimize the transplanting and harvesting of plants and / or plant receptacles. Planting walls of the vertical farming facility can be covered by a variety of materials that facilitate the transplanting of plants and / or plant receptacles (with plants therein). Such materials have a thickness perpendicular to the planting walls, the respective thickness also allowing firm attachment of the plants and / or plant receptacles to the planting walls inside such materials. In other words, the plants and / or plant receptacles can be inserted at least partially into the covering material through apertures into holes that are formed in the material so that the plants and / or plant receptacles are arranged at least partially inside the material which stabilizes the plants and / or plant receptacles in their respective position and orientation. In the process of transplanting and harvesting the plants and / or plant receptacles, friction occurs, the friction rendering the transplanting andSUIOOll-WO

[0017] harvesting more difficult. At least during the transplanting the apertures must be opened by pushing in the plant and / or plant receptacle in to the material which necessitates more energy by the actuator or robot head. Moreover, pushing the plant and / or plant receptacle perpendicular to the wall alone is not optimal for insertion. According to the invention, the apertures can be opened more easily by rotating the robot head around a robot head axis while the robot head inserts / transplants a plant and / or plant receptacle. Rotation of the plant and / or plant receptacle further is advantageous as damages to the covering material can be reduced as opposed to pure pushing since pure pushing opens the respective aperture more forcibly. In summary, rotation of the robot head during transplanting and harvesting of the plants and / or plant receptacles can save energy of the actuator and at the same time constitutes a smoother insertion and removal of the plants and / or plant receptacles, thereby creating less mechanical stress and less damages in the covering material.

[0018] An aperture within the meaning of the invention can be an opening in the covering material, in the planting wall, in a tray, especially in a seedling tray, or a combination thereof. A seedling tray within the meaning of the invention can comprise a tray material for positioning and stabilizing the plants and / or plant receptacles within or on the tray. Covering materials of the planting walls and tray materials of seedling trays can be yielding, flexible and / or soft materials such as foam with any kind of density.

[0019] In a preferred embodiment of the present invention, a speed of rotation of the robot head around the robot head axis is variable or changeable during transplanting or harvesting - especially intermittent, periodical or discontinuous. Intermittent within the meaning of the invention particularly means that the robot head is rotated for a time period during a transplanting or harvesting step and that the rotation is at least once stopped during the transplanting or harvesting step. In other words, rotation can not only occur during the entire transplanting or harvesting step but also during a certain temporal percentage or temporal share of the entire transplanting or harvesting step. For instance, if transplanting time of a plant or plant receptacle amounts to two seconds, the robot head can be configured to rotate only for the first 0.5 seconds. This way, energy can be saved and therefore efficiency of the transplanting operation increased. The speed of rotation can also be periodical or discontinuous. Moreover, the speed of rotation of the robot head changeable in predetermined steps / increments. Another advantage of a variable speed of rotation speed is the robot head can rotate at a relatively low speed in the beginning of a transplanting step, thereby opening the aperture slowly and smoothly, which result in less mechanical stress and damages to a covering material or tray material. Once the plant and / or plant receptacle is inserted at least partially into the aperture the speed of rotation of the robot head can be increased.SUIOOll-WO

[0020] According to an advantageous embodiment of the invention, the robot head is multiple times rotatable over a full range of 0° to 360°. Depending on the aperture, the planting wall or the covering material, the transplanting and / or harvesting step can take more or less time. For relatively lengthy transplanting and / or harvesting steps it can be required to rotate the robot head incessantly, that is beyond a full rotation over a range of 0° to 360°. For instance, it is conceivable that the robot head is rotatable 1.5 or 2.2 or 3,7 times the full range, that is from 0° to 540° or from 0° to 792° or from 0° to 1332°. However, it is also possible that the robot head is configured to move only over a segment or section of the full range. In other words, the robot head is rotatable 0.3 or 0.7 times the full range, that 108° or 252°.

[0021] In a preferred embodiment of the present invention, the robot head is configured to move translationally parallel to the robot head axis while the robot head

[0022] transplants a plant or plant receptacle, and / or

[0023] harvests a plant or plant receptacle. The robot head can rotate around a robot head axis and move simultaneously translationally parallel to the robot head axis. It is thereby advantageously possible to apply a reduced pushing / insertion / transplanting force and / or pull-ing / removal / harvesting force perpendicular to a planting wall as compared with a pushing or pulling force without rotation of the robot head. As a consequence, less forces and energy can be required by the actuator for the transplanting and harvesting of plants and / or plant receptacles while inflicting less stress and / or damage to the planting wall covering materials and / or the planting walls themselves.

[0024] Preferably, the robot head is configured to rotate around the robot head axis in a first direction of rotation

[0025] while the robot head transplants a plant or plant receptacle, and

[0026] while the robot head harvests the plant or plant receptacle. In other words, the robot can be configured to rotate in one single direction of rotation while the actuator or the robot head transplants and harvests a plant and / or plant receptacle.

[0027] According to a preferred embodiment of the invention, the robot head is configured to rotate around the robot head axis

[0028] - in a first direction of rotation while the robot head transplants a plant or plant receptacle, and

[0029] - in a second direction of rotation while the robot head harvests the plant or plant receptacle, the second direction of rotation being opposite to the first direction of rotation. It is also conceivable that the robot head rotates alternately - if necessary multiple times - in the first direction of rotation and the second direction of rotation while it transplants a plant and / or plant receptacle. For example, during a transplanting step of one single plant, the robot head can rotate in the first direction of rotation, then in the second direction of rotation and then inSUIOOll-WO

[0030] the first direction of rotation. The same applies to the harvesting of a plant and / or plant receptacle: the robot head can rotate alternately - if necessary multiple times - in the first direction of rotation and the second direction of rotation while it harvests a plant and / or plant receptacle. Furthermore, a change in rotation direction has the advantage that in case a blocking or jamming occurs during the rotation of the robot head - especially a blocking or jamming of plants / plant receptacles in the covering material or in the planting wall - the blocking or jamming can be reversed.

[0031] Another subject of the present invention is a method for handling plants and / or plant receptacles in a vertical farming facility, wherein an actuator comprises a robot head for transplanting the plants and / or plant receptacles into, and

[0032] harvesting the plants and / or plant receptacles from

[0033] apertures, particularly apertures of a planting wall of the vertical farming facility, wherein the robot head will be rotated around a robot head axis while the robot head transplants a plant or plant receptacle in a transplanting step, and / or

[0034] harvests a plant or plant receptacle in a harvesting step.

[0035] The inventive method provides the same advantages and technical effects as mentioned in connection with the afore-mentioned actuator. Any explanations and preferred embodiments described for the actuator apply also for the method and vice versa.

[0036] According to an advantageous embodiment of the invention, a speed of rotation of the robot head around the robot head axis will be varied or changed during transplanting and / or harvesting. As a result, the rotation of the robot head can be intermittent. The speed of rotation can also be periodical or discontinuous.

[0037] In a preferred embodiment of the invention, the robot head will be rotated multiple times over a full range of 0° to 360°.

[0038] Preferably, the robot head will be moved translationally parallel to the robot head axis while the robot head

[0039] transplants a plant or plant receptacle, and / or

[0040] harvests a plant or plant receptacle.

[0041] According to a preferred embodiment of the invention, the robot head will be rotated around the robot head axis in a first direction of rotation

[0042] while the robot head transplants a plant or plant receptacle, and

[0043] while the robot head harvests the plant or plant receptacle.

[0044] In another preferred embodiment of the invention, the robot head will be rotated around the robot head axis

[0045] - in a first direction of rotation while the robot head transplants a plant or plantSUIOOll-WO

[0046] receptacle, and

[0047] - in a second direction of rotation while the robot head harvests the plant or plant receptacle, the second direction of rotation being opposite to the first direction of rotation. These and other characteristics, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention. The description is given for the sake of example only, without limiting the scope of the invention. The reference figures quoted below refer to the attached drawings.

[0048] Brief description of the drawings

[0049] Figure 1 illustrates schematically a first embodiment of an actuator according to the present invention within a vertical farming facility in a perspective view.

[0050] Figure 2 illustrates schematically a robot head according to the invention in a further perspective view.

[0051] Figure 3 illustrates schematically a non-inventive robot head holding a plant receptacle with a plant therein in a side view.

[0052] Figure 4 illustrates schematically the actuator according to the first embodiment from figure 1 transplanting a plant receptacle with a plant therein into a tray in a perspective view.

[0053] Detailed description

[0054] The present invention will be described with respect to particular embodiments and with reference to certain drawings but the invention is not limited thereto but only by the claims. The drawings described are non-limiting. In the drawings, the size of some of the elements may be exaggerated and not drawn on scale for illustrative purposes.

[0055] Where an indefinite or definite article is used when referring to a singular noun, e.g. “a”, “an”, “the”, this includes a plural of that noun unless something else is specifically stated.

[0056] Furthermore, the terms first, second, third and the like in the description and in the claims are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used areSUIOOll-WO

[0057] interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other sequences than described and / or illustrated herein.

[0058] In figure 1 , a first embodiment of an actuator 1 according to the present invention is shown within a vertical farming facility 20 in a perspective view and schematically. The actuator 1 can handle plants 2’ and plant receptacles 2, wherein - for reasons of simplification and better clarification - no plants 2’ and plant receptacles 2 are shown in figure 1. The actuator 1 particularly can transplant plants 2’ and plant receptacles 2 into apertures 7. Likewise, the actuator 1 can harvest plants 2’ and plant receptacles 2 from apertures 7. Apertures 7 can be especially formed in planting walls 20’ of the vertical farming facility 20, the vertical farming facility 20 in figure 1 being a container 20. However, apertures 7 can also be formed in trays 20” as will be further described hereinafter. During transplanting and harvesting, the robot head T can be rotated around a robot head axis A, which will be illustrated and further described in figure 2 and its description.

[0059] The actuator 1 comprises a robot head T, an articulated arm 8 that is rotatably supporting the robot head T. Furthermore, the articulated arm 8 is pivotably connected to a further articulated arm 8’ which is supported by a base member 10, wherein the base member 10 is fixed to the container 20. However, in an arrangement as shown in figure 1, it is conceivable that the base member 10 is rotatably connected to the container 20. Rotation of the robot head T around all three spatial axes can be performed. The dimensions of any constituent of the actuator 1 shown in figure 1 do not reflect real measures and / or proportions but must rather be understood to be schematic.

[0060] Figure 1 illustrates apart from planting walls 20’ also a nursery station 20’” that resembles at a glance a desk or a workbench, the nursery station 20’” being positioned close to an entrance of the container 20, and finally a tray 20” that is arranged on a horizontal surface of the nursery station 20’”. The nursery station 20’” comprises multiple surfaces to allow for a multitude of trays 20” to be set on the surfaces of the nursery station 20’” at once. The trays 20” can be used at least for storage of plants 2’ and plant receptacles 2.

[0061] The planting walls 20’ are arranged parallel to each other and movably configured such that they keep parallelism relative to each other while in motion. The planting walls 20’ are covered on either side with a covering material 20”” made from a foam that help ensure mechanical stability of plants 2’ or plant receptacles 2 inserted into the planting walls 20’. The planting walls 20’ as well as the covering materials 20”” comprise multiple overlapping openings for plants 2’ or plant receptacles 2 to be inserted therein. It is conceivable that each side of a planting wall 20’ comprises a plurality of grooves that extend at different heights horizontally. In other words, each groove is arranged parallel to a ground or a container floor.SUIOOll-WO

[0062] Alternatively, the grooves can be arranged vertically, in other words, perpendicular to the ground or the container floor. In either case, apertures 7 in the covering material 20”” are arranged in an overlapping manner relative to the grooves.

[0063] In addition, the planting walls 20’ are designed such that a water solution or nutrients can stream through them and feed the plants 2’ and / or plant receptacles 2 that are inserted into the walls 20’ with nutrients necessary for the growth of the plants 2’. It is therefore crucial for successful cultivation to assure physical contact between the plant 2’ and the water solution. For this purpose, a proper plant receptacle design is essential. For example, the plant receptacles can comprise recesses or holes or the like for letting liquids / nutrients into the plant receptacles and to the plants.

[0064] Figure 2 illustrates schematically a robot head T according to the invention in a further perspective view. The actuator 1 comprises at least one robot head T that is configured to rotate around a robot head axis A. The robot head axis A is shown as a dashed line in figure 2. Through the rotation of the robot head T the plants 2’ and / or plant receptacles 2 can be inserted into the covering materials 20”” and the planting wall 20’. The covering material 20”” are not shown in figure 2 for simplification purposes. Through the combination of a pushing force parallel to the robot head axis A, applied by the actuator 1 and / or the robot head T, and the rotation of the robot head T plants 2’ and / or plant receptacles 2 can be transplanted and harvested in a smoother manner, with less stress and damage to the covering materials as well as the plants 2’ and / or plant receptacles 2 themselves.

[0065] The robot head T can be rotated in a first direction of rotation q>i for easier transplanting and harvesting of plants 2’ and / or plant receptacles 2. It can also be rotated in an opposite direction of the first direction of rotation q>i which the second direction of rotation, as indicated by a curved double arrow in figure 2. In both directions of rotation q>i , q>2 the robot head T can be driven with a variable speed of rotation, respectively with coi and W2. Both speeds of rotation are a function of time, that is coi = wi(t) and W2 = wi(t). Therefore, the robot head T holding a plant 2’ can be, for instance, rotated with coi = -W2 = 0.5 s-1for a few seconds and then, for instance, halved. The equation coi = -W2 also shows the vectorial character of the speed of rotation. At the same time as the robot head T is being rotated, the robot head T is pushing towards the planting wall 20’ for simplifying the insertion. Likewise, the robot head T can rotate when harvesting, that is removing a plant 2’ or plant receptacle 2 from an aperture 7. In figure 2, the robot head axis A is identical with an aperture axis. Both axes are horizontal, that is parallel to a container floor 24 shown in figure 1. In other words, in figure 2 a moment is shown, wherein the actuator 1 is about to insert a plant 2’ into the aperture 7. The apertures 7 that are shown elliptical are to be understood schematically and can further be understood to be formed in the covering materials 20”” and / or in the planting walls 20’. TheSUIOOll-WO

[0066] apertures can be also slit-like und be opened by a pushing force applied by the robot head T in combination with the rotation of the robot head T. The apertures 7 and the robot head T can also be inclined with respect or relative to the container floor. This way, the plants 2’ can be directed towards lighting that can be arranged at a container ceiling.

[0067] In figure 3, a non-inventive robot head holding a plant receptacle 2 with a plant 2’ therein is shown schematically in a side view. The plant 2’ is arranged in a largely elongated plant receptacle 2. The plant receptacle 2 comprises a base element 2” that is made of polyethylene but it is conceivable to employ other plastics or a biodegradable material as raw material for the production of the plant receptacle 2. The base element 2” forms a cavity 2”’ at an inward direction of the base element 2” wherein - along with the plant 2’ - a potting compost can be filled. The plant 2’ is protruding at least partly beyond a head section 2”” of the plant receptacle 2. Furthermore, the plant receptacle 2 comprises recesses one of which is shown in figure 2. By means of recesses material can be saved and hence also weight and costs. Most importantly, recesses enable advantageously the provision of water or a water solution that comprises nutrients to the plant 2’ and the potting compost. Moreover, a circumferential rim 9 is formed at a higher end, with respect to figure 3, of the plant receptacle 2. The rim 9 extends outwardly from all sides of the base element 2” and is protruding the base element 2”. The non-inventive robot head T in figure 3 is shown in a release position, meaning that a first gripping element 3 and a second gripping element 4 are spaced apart from one another in a direction parallel to the dotted dash line shown in figure 3. The first gripping element 3 is movably configured and serves as an upper gripping element, whereas the second gripping element 4 is non-movable and acts as a bottom gripping element. The wording release position refers in other words to the circumstance that the rim 9 is not clamped between two first lateral holding arms 3’ of the first gripping element 3 and two second lateral holding arms 4’ of the second gripping element 4. A gap is rather formed between the head section 2”” and the two first lateral holding arms 3’ while the second lateral holding arms 4’ support the rim 9 at two opposing sides of the plant receptacle 2, the second lateral holding arms 4’ each supporting a rim portion 9’. The rim portion 9 can be clamped by moving the two first lateral holding arms 3’ towards the two second lateral holding arms 4’.

[0068] Figure 4 illustrates schematically the actuator 1 according to the first embodiment from figure 1 transplanting a plant receptacle 2 with a plant 2 therein into a tray 20” in a perspective view. The tray 20” comprises a tray material with multiple apertures 7 therein, the apertures 7 being not shown in the figure 4. The transplanting occurs while the plant receptacle 2 is being rotated and pushed into the tray. This way, the plant receptacles 2 are being positioned and mechanically fixed in the tray material. After successful cultivation, the plants 2’ andSUIOOll-WO

[0069] plant receptacles 2 are removed from the tray 20” by the robot head T while the robot head 1’ is rotated.SUIOOll-WO

[0070] List of reference signs

[0071] 1 Actuator

[0072] T Robot head

[0073] 2 Plant receptacle

[0074] 2’ Plant

[0075] 2” Base element

[0076] 2”’ Cavity

[0077] 2”” Head section

[0078] 3 First gripping element

[0079] 3’ First lateral holding arm

[0080] 4 Second gripping element

[0081] 4’ Second lateral holding arm

[0082] 7 Aperture

[0083] 8 Articulated arm

[0084] 8’ Further articulated arm

[0085] 9 Circumferential rim

[0086] 9’ Rim portion

[0087] 10 Base member

[0088] 20 Vertical farming facility, container

[0089] 20’ Planting wall

[0090] 20” Tray

[0091] 20”’ Nursery station

[0092] 20”” Covering material, foam

[0093] 24 Container floor

[0094] A Robot head axis

[0095] (pi First direction of rotation

[0096] cp2Second direction of rotation

[0097] wi Speed of rotation in the first direction of rotation co2Speed of rotation in the second direction of rotation

Claims

SUIOOll-WOPATENT CLAIMS1. Actuator (1) for handling plants (2’) and / or plant receptacles (2) in a vertical farming facility (20), wherein the actuator (1) comprises a robot head (T) for transplanting the plants (2’) and / or plant receptacles (2) into, and harvesting the plants (2’) and / or plant receptacles (2) fromapertures (7), particularly apertures (7) of a planting wall (20’) of the vertical farming facility (20),characterized in that the robot head (T) is configured to rotate around a robot head axis (A) while the robot head (T)transplants a plant (2’) or plant receptacle (2), and / orharvests a plant (2’) or plant receptacle (2).

2. Actuator (1) according to claim 1, wherein a speed of rotation (wi, W2) of the robot head (T) around the robot head axis (A) is variable or changeable during transplanting or harvesting - especially intermittent, periodical or discontinuous.

3. Actuator (1) according to any one of the preceding claims, wherein the robot head (T) is multiple times rotatable over a full range of 0° to 360°.

4. Actuator (1) according to any one of the preceding claims, wherein the robot head (T) is configured to move translationally parallel to the robot head axis (A) while the robot head (T)transplants a plant (2’) or plant receptacle (2), and / orharvests a plant (2’) or plant receptacle (2).

5. Actuator (1) according to any one of the claims 1 to 4, wherein the robot head (T) is configured to rotate around the robot head axis (A) in a first direction of rotation (epi) while the robot head (T) transplants a plant (2’) or plant receptacle (2), and while the robot head (T) harvests the plant (2’) or plant receptacle (2).

6. Actuator (1) according to any one of the claims 1 to 4, wherein the robot head (T) is configured to rotate around the robot head axis (A)- in a first direction of rotation (epi) while the robot head (T) transplants a plant (2’) or plant receptacle (2), and- in a second direction of rotation ( >2) while the robot head (T) harvests the plant (2’) or plant receptacle (2), the second direction of rotation ( >2) being opposite to the first direction of rotation (epi).

7. Method for handling plants (2’) and / or plant receptacles (2) in a vertical farming facility (20), wherein an actuator (1) comprises a robot head (T) fortransplanting the plants (2’) and / or plant receptacles (2) into, andSUIOOll-WOharvesting the plants (2’) and / or plant receptacles (2) fromapertures (7), particularly apertures (7) of a planting wall (20’) of the vertical farming facility (20),characterized in that the robot head (T) will be rotated around a robot head axis (A) while the robot head (T)transplants a plant (2’) or plant receptacle (2) in a transplanting step, and / or harvests a plant (2’) or plant receptacle (2) in a harvesting step.

8. Method according to claim 7, wherein a speed of rotation (wi, W2) of the robot head (T) around the robot head axis (A) will be varied or changed during transplanting and / or harvesting.

9. Method according to the claims 7 or 8, wherein the robot head (T) will be rotated multiple times over a full range of 0° to 360°.

10. Method according to any one of the claims 7 to 9, wherein the robot head (1’) will be moved translationally parallel to the robot head axis (A) while the robot head (T) transplants a plant (2’) or plant receptacle (2), and / orharvests a plant (2’) or plant receptacle (2).

11. Method according to any one of the claims 7 to 10, wherein the robot head (1’) will be rotated around the robot head axis (A) in a first direction of rotation (epi)while the robot head transplants a plant (2’) or plant receptacle (2), and while the robot head harvests the plant (2’) or plant receptacle (2).

12. Method according to any one of the claims 7 or 10, wherein the robot head (T) will be rotated around the robot head axis (A)- in a first direction of rotation (epi) while the robot head transplants a plant (2’) or plant receptacle (2), and- in a second direction of rotation ( >2) while the robot head (T) harvests the plant (2’) or plant receptacle (2), the second direction of rotation ( >2) being opposite to the first direction of rotation (epi).

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