WO2024134370A1 - Vehicle system for the processing of a botanical plant - Google Patents

Abstract

The invention relates to a vehicle system for the processing of a botanical plant, wherein the system comprises a processing device provided with processing means for the processing of the botanical plant and comprising a base with driving means comprising wheels, and an axis extending in a perpendicular direction from the base, wherein the processing means comprise a robot for executing at least one processing action on the botanical plant and a control unit for controlling the robot, wherein the robot comprises two or more robotic arms provided on the axis, wherein a first robotic arm is movably mounted on the axis and a second robotic arm is movably mounted on the axis, between the first robotic arm and the base, the first and second robotic arms being independently movable in a height direction along the axis between the base and a top end of the axis, wherein the second robotic arm has a maximum height set by the first robotic arm, and the first robotic arm has minimum height set by the second robotic arm.

Description

Vehicle system for the processing of a botanical plant

BACKGROUND OF THE INVENTION

Field of the invention

The invention is related to a vehicle system for the processing of a botanical plant. In addition, the invention relates to the use of such a vehicle system in an agricultural environment, in particular a horticultural and/or vinicultural environment.

Description of the related art

In the agricultural sector, in particular a horticultural and/or vinicultural environment, repetitive operations such as picking fruit are becoming more and more automated, for example by the use of robots and unmanned vehicles.

During the growth of the plants and crops, other repetitive actions such as cutting away leaves, removing suckers and rearranging the stems of the plants are performed by workers. This work is quite labour-intensive and relies on the availability of labour forces. For instance, workers are available only during working hours, such that the caring for the plants can only be done during a part of the 24h day. It is also possible that there is a general shortage of labour forces, i.e. a shortage of workers, and there are not enough hands to do the job.

To overcome the problem of a lack of labour force, it would be desirable to automate such repetitive actions. It would therefore be desirable to provide a vehicle system for the processing of a botanical plant that alleviates at least some of the perceived inconveniences of the prior art.

BRIEF SUMMARY OF THE INVENTION

According to the invention, there is provided a vehicle system for the processing of a botanical plant, wherein the system comprises a processing device provided with processing means for the processing of the botanical plant and comprising a base with driving means comprising wheels, and an axis extending in a perpendicular direction from the base, wherein the processing means comprise a robot for executing at least one processing action on the botanical plant and a control unit for controlling the robot, wherein the robot comprises two or more robotic arms provided on the axis, wherein a first robotic arm is movably mounted on the axis and a second robotic arm is movably mounted on the axis, between the first robotic arm and the base, the first and second robotic arms being independently movable in a height direction along the axis between the base and a top end of the axis, wherein the second robotic arm has a maximum height set by the first robotic arm, and the first robotic arm has minimum height set by the second robotic arm.

A botanical plant, predominantly photosynthetic eukaryotes, has a plant body comprising a stem, roots and leaves. For the processing, and handling, of such a botanical plant, in particular the plant body, a robot having at least two robotic arms is provided. The robotic arms are mounted on an axis so they can move along that axis. The axis extends in a perpendicular direction from the base, preferably in a vertical direction, or vertically, from the base. The axis may be formed as a shaft or spindle, or a pole that extends from the base. The axis may have a polygonal cross section, specifically rectangular or square, a circular cross section having a diameter, or an elliptical crosssection.

The robotic arms are movable along the axis in a height direction with respect to the base. The top end of the axis is the maximum height, which can be a free top end, and the bottom end, preferably located at the base, is the minimum height of the robotic arms. The second robotic arm is movably mounted in between the first robotic arm and the base. As such, the maximum height that the second robotic arm can reach depends on the location of the first robotic arm along the axis, and the minimum height that the first robotic arm can reach depend on the location of the second robotic arm along the axis. In between the minimum and maximum heights, each robotic arm is independently movable along the axis. The control unit is provided to control the robot. The control unit may be provided with server that comprises a processor and a memory unit. The processor may be configured to execute the steps to control the robot and subsequently the robotic arms.

According to an embodiment, the first robotic arm is able to execute a first processing action, and the second robotic arm is able to execute a second processing action, and wherein each robotic arm executes the processing action independently.

The advantage of independently acting robotic arms is that each robotic arm can be programmed for different actions that are needed to process or take care of the botanical plant. In particular, the first and second robotic arm execute the first and second processing action, respectively, wherein the first and second actions form a cooperative act. The independently programmed actions can together form a cooperative act, for instance when an action of the first robotic arm requires that the second robotic arm holds the stem of the plant, i.e. keep the plant in place by gripping the stem. Other acts that would normally require two human hands can now be executed by the first and second robotic arms with each other’s independent actions. Preferably, the cooperative act is programmed as such.

According to another embodiment, the first and/or second robotic arm is rotatably mounted on the axis, such that the first and/or second arm is rotatable along the axis. The advantage of a rotatable robotic arm is that the robotic arm can revolve freely around the axis, i.e. can be rotated 360 degrees. With this, it is possible that two robotic arms can work at a maximum angle of 180 degrees from each other, for instance with plants located at opposite sides of the base, or plants located next to each other on one side of the base. Rotatably mounted may mean that the robotic arm can rotate as a whole around the axis, or that the robotic arm can rotate around a mounting means, i.e. there is a mounting means that can move the robotic arm up and down along the axis, and the robotic arm itself rotates around the mounting means, possibly with a bearing element or the like.

Furthermore, the first and/or second robotic arm may comprise at least one of a plane joint, a ball and socket joint, a hinge joint, a pivot joint, a condyloid joint, and a saddle joint, or a combination thereof. To increase the degrees of freedom of movement of the robotic arm, at least one joint between two segments of the robotic arm may be advantageous.

Preferably, the first and second robotic arms each comprise an extension for executing an action, wherein the action is at least one of the group of picking a fruit from a plant, removing suckers from a plant, for cutting leaves from a stem of a plant, for holding a stem of a plant, for moving a stem of a plant in a horizontal and/or a vertical direction, for rotating the stem of a plant, for winding a holding thread around the stem of the plant, or a combination thereof. Each of the robotic arms movably mounted on the axis has at least one extension, or tool, to perform an action. Extensions or tools may be combined in one robotic arm, e.g. a robotic arm may be equipped with a tool to hold the stem of the plant and a tool for picking a fruit, or any other combination. Alternatively, it may be possible to have a robot with robotic arms that each have a single tool specialized for a particular action, e.g. a first robotic arm with a tool to hold the stem of the plant, a second robotic arm with a tool to cut the leaves from the stem, and possibly a third robotic arm with a tool for another action.

In an embodiment, the axis is located off set from the center of the base. Having the axis off set from the center of the base has the advantage that the robotic arms do not need to stretch as far out to extend beyond at least part of the circumference or at least one side of the base as they do at the other sides. Preferably, the projected area of the base is a rectangle and wherein the axis is located off set from the center of the base in a longitudinal dimension of the rectangle. Additionally, or alternatively, the axis is located off set from the center of the base in a width direction. In particular, when working in a row of plants having a dead end, for instance in a glass house, the axis may be placed off set in a direction of motion of the vehicle system, such that the robotic arms are able to reach any plants located at or near the dead end. Preferably, a single axis extends from the base. In particular, the robotic arms of the robot are mounted on a single axis. Moreover, a second axis may extend from the base at an opposite side of the base, and at least two robotic arms are movably mounted on the second axis.

The axis may have a fixed length, or the axis may be a shaft that is adjustable in height, i.e. the height of the top end relative to the base may vary. The axis may be configured as a telescopic shaft, or comprise a plurality of segments that are connected through hinges or joints such that the segments can be folded downwards. Alternatively, or additionally, the base may be adjustable in height, such that the axis moves along with the base when adjusted in height, i.e. the height of the top end relative to the ground floor may vary. This may be achieved by a dynamic frame between the base and the wheels, such as a scissoring frame.

Besides, the axis may be a rotatable shaft that rotates along a longitudinal axis, preferably parallel to the shaft itself. The rotation may be provided by a rotation mechanism at a foot of the axis, i.e. at the base, or a rotation mechanism in the shaft itself.

According to an embodiment, the processing device comprises a stabilizing means to stabilize the axis by compensation of a momentum exerted on the axis by each of the robotic arms. The robotic arms mounted on the axis exert a momentum due to their mass and gravity. To keep the axis in a perpendicular direction of the base, in particular perpendicularly to the base, stabilizing means may be provided at a location of mounting or any other suitable location on the axis and/or base. Notably, the stabilizing means may include pneumatic or hydraulic means, such as telescoping arms or supports, or the like, that are preferably automatically adjusted to the momentum exerted by the robotic arms.

According to another embodiment, the processing device comprises a first autonomous unmanned vehicle provided with automatic driving means comprising wheels and navigation means, and further provided with energy supply means. To have the robot work autonomously, it is advantageously that the processing device comprises an autonomous unmanned vehicle that can move autonomously between the botanical plants and work autonomously. In particular, the vehicle system may comprise a second autonomous unmanned vehicle provided with automatic driving means comprising wheels and navigation means, wherein the first and second autonomous unmanned vehicle comprise first and second coupling means, respectively, and wherein, in a first state, the first and second coupling means are uncoupled and detached from each other and the first and second autonomous unmanned vehicles move separately, and wherein, in a second state, the first and second coupling means are coupled and engaged with each other and the first and second autonomous unmanned vehicles together form an autonomous unmanned vehicle unit and as such move together. This second autonomous unmanned vehicle may be provided with storage means for storing picked fruits and/or energy supply means for supplying energy to the processing means, for instance via a battery.

The vehicle system may furthermore comprise a guide system for guiding at least the processing device along a predetermined route while moving. In for instance greenhouses, facilities may be provided which can be used as a guide system for the wheels of any vehicle, the processing device and/or the autonomous unmanned vehicle unit. For example, a heating system in a greenhouse comprising a pipe system in which the pipes serve as a guide for the wheels of autonomous unmanned vehicles.

In another embodiment, the vehicle system is provided in a greenhouse for, for example, cultivation under glass, such as a greenhouse for plants or flowers, or in an orchard. In that case, the botanical product to be processed is a fruit or flower, and/or any other parts of a plant body such as the stem or the leaves. The robot of the processing means may then include a robotic arm for picking a fruit or comprise a robotic arm for cutting flowers.

The invention furthermore relates to the use of the vehicle system as described above in an agricultural environment, in particular a horticultural and/or vinicultural environment.

BRIEF DESCRIPTION OF THE FIGURES

Figure 1 shows an embodiment of the vehicle system according to the invention.

Figure 2 shows a further embodiment of the vehicle system according to the invention. Figure 3 shows the vehicle system of Fig. 1 in extended mode.

DETAILED DESCRI PTION OF THE INVENTION

Fig. 1 shows a vehicle system 100 comprising a first autonomous unmanned vehicle 101 , a processing device 102 and a guide system 111. Fig. 1 shows the first autonomous unmanned vehicle 101 with the processing device 102 in an uncoupled first state. The processing device 102 is provided with processing means, a robot 106, for processing a botanical plant 200. The processing device 102 comprises a base 121 with wheels 104 to be movable, which rest on a ground surface 300 of a greenhouse (not shown). On the base, the processing means configured as the robot 106 with two robotic arms 107, 108 mounted on an axis 103, are provided. The two robotic arms 107, 108 are movably mounted on the axis 103. The axis 103 extends from the base, in a vertical direction with respect to the ground floor 300, and with respect to the base 102. The robotic arms 107, 108 can move up and down along the axis 103, independently. However, the height of one robotic arm 107, 108 is limited by the location of the other robotic arm 107, 108 along the axis 103. A first robotic arm 107 limits the maximum height of a second robotic arm 108, i.e. the second robotic arm 108 cannot have a higher location than the first robotic arm 107, since the second robotic arm 108 cannot overtake the first robotic arm 107. The second robotic arm 108 limits the minimum height of the first robotic arm 107, i.e. the first robotic arm 107 cannot have a lower location than the second robotic arm 108, since the first robotic arm 107 cannot overtake the second robotic arm 108. The first robotic arm 107 cannot travel higher than a top end 120 of the axis 103, and the second robotic arm 108 cannot travel lower than the base 102 or the stabilizing means 115. In between these minimum and maximum heights, the first and second robotic arms 107, 108 are movable freely along the axis 103.

The robotic arms 107, 108 each comprise one joint 118, and a tool 119 that can execute an action on the plant 200. The first tool 119 of the first robotic arm 107 is able to pick a fruit 201 , and the second tool 119’ of the second robotic arm 108 is able to hold the stem 202 of the plant 200. The first robotic arm 107 is able through the joint 118 and the movement along the axis, to put the picked fruit 201 in a storage means 110 on the base 121 of the first autonomous unmanned vehicle 101.

The axis 103 is stabilized with stabilizing means 115, since the robotic arms 107, 108 exert a momentum on the axis, which may cause the axis 103 to deflect from the vertical direction. The axis 103 is located off set from a centre of the base 102; in this case closer to a forward end of the first autonomous unmanned vehicle, with respect to the direction of movement 116.

The first autonomous unmanned vehicle 101 is provided with automatic driving means including wheels 104. In a collection container 109, a control device, navigation means and power supply means, such as a battery, are provided. In the uncoupled first state, the first and second autonomous unmanned vehicles 101 , 112 are able to move independently of each other. An extendable frame 122 is provided between the wheels 104 and the base 121. Figs. 1 and 2 show the extendable frame 122 in a lowered position.

The vehicle system 100 furthermore comprises an automatic energycharging device 114 for charging the power supply means of the first and second autonomous unmanned vehicles 101 , 112. In addition, the vehicle system 100 comprises a guide system 111 consisting of guides, which run through the greenhouse and which guide the autonomous unmanned vehicles 101 , 112 or the autonomous unmanned vehicle unit 117 when moving through the greenhouse. This may be, for example, the heating pipes in a greenhouse, a strip inserted into the floor of a greenhouse, or a rail system provided in the greenhouse, vineyard or any other agricultural environment where the vehicle system may be used.

Figure 3 shows the vehicle system of Fig. 1 in extended mode, where the extendable frame 122 is in a raised position, such that the processing means 102 is raised with respect to the ground floor 300.

Fig. 2 shows a further embodiment of the vehicle system 100, wherein the first autonomous unmanned vehicle 101 and the second autonomous unmanned vehicle 112 are in a coupled state and form an autonomous unmanned vehicle unit 117. First and second coupling means 105, 115, comprise a first engagement means 105 on a front side of the first autonomous unmanned vehicle 101 and a second engagement means 115 on an opposite side of the second autonomous unmanned vehicle, viewed in the direction of travel indicated by the arrow 116. In the coupled state, the first and the second engagement means 105, 115 engage with each other.

In the coupled state, the power supply means in the collection container 109 of the second autonomous unmanned vehicle 112 provide power to the processing device 102 on the first autonomous unmanned vehicle 101. The second autonomous unmanned vehicle 112 is provided with storage means 110 as well. In the event the storage means 110 of the first autonomous unmanned vehicle 101 are full or otherwise unavailable to store picked fruits, the fruits can be stored on the second autonomous unmanned vehicle 112. LIST OF PARTS

100. Vehicle system 300. Ground surface

101. First autonomous unmanned vehicle

102. Processing device

103. Axis

104. Wheels

105. First coupling means

106. Robot

107. First robotic arm

108. Second robotic arm

109. Collection container

110. Storage means

111. Guide system

112. Second autonomous unmanned vehicle

113. Second coupling means

114. Charging device

115. Stabilizing means

116. Direction of travel

117. Autonomous unmanned vehicle unit

118. Joint

119. Tool

120. Top end of axis

121. Base

122. Frame

200. Botanical plant

201. Fruit

202. Stem

203. Leaf

Claims

1 . Vehicle system for the processing of a botanical plant, wherein the system comprises a processing device provided with processing means for the processing of the botanical plant and comprising a base with driving means comprising wheels, and an axis extending in a perpendicular direction from the base, wherein the processing means comprise a robot for executing at least one processing action on the botanical plant and a control unit for controlling the robot, wherein the robot comprises two or more robotic arms provided on the axis, wherein a first robotic arm is movably mounted on the axis and a second robotic arm is movably mounted on the axis, between the first robotic arm and the base, the first and second robotic arms being independently movable in a height direction along the axis between the base and a top end of the axis, wherein the second robotic arm has a maximum height set by the first robotic arm, and the first robotic arm has minimum height set by the second robotic arm.

2. Vehicle system according to claim 1 , wherein the first robotic arm is able to execute a first processing action, and the second robotic arm is able to execute a second processing action, and wherein each robotic arm executes the processing action independently.

3. Vehicle system according to claim 2, wherein the first and second robotic arm execute the first and second processing action, respectively, wherein the first and second actions form a cooperative act.

4. Vehicle system according to any of the preceding claims, wherein the first and/or second robotic arm is rotatably mounted on the axis, such that the first and/or second arm is rotatable along the axis.

5. Vehicle system according to any of the preceding claims, wherein the first and/or second robotic arm comprise at least one of a plane joint, a ball and socket joint, a hinge joint, a pivot joint, a condyloid joint, and a saddle joint, or a combination thereof.

6. Vehicle system according to any of the preceding claims, wherein the first and second robotic arms each comprise an extension for executing an action, wherein the action is at least one of the group of picking a fruit from a plant, removing suckers from a plant, for cutting leaves from a stem of a plant, for holding a stem of a plant, for moving a stem of a plant in a horizontal and/or a vertical direction, for rotating a stem of a plant, for winding a holding thread around the stem of the plant, or a combination thereof.

7. Vehicle system according to any of the preceding claims, wherein the axis is located off set from the center of the base.

8. Vehicle system according to any of the preceding claims, wherein the projected area of the base is a rectangle and wherein the axis is located off set from the center of the base in a longitudinal dimension of the rectangle.

9. Vehicle system according to any of the preceding claims, wherein the processing device comprises a stabilizing means to stabilize the axis by compensation of a momentum exerted on the axis by each of the robotic arms.

10. Vehicle system according to any of the preceding claims, wherein the processing device comprises a first autonomous unmanned vehicle provided with automatic driving means comprising wheels and navigation means, and further provided with energy supply means.

11. Vehicle system according to claim 10, comprising a second autonomous unmanned vehicle provided with automatic driving means comprising wheels and navigation means, and further provided with energy supply means, wherein the first and second autonomous unmanned vehicle comprise first and second coupling means, respectively, and wherein, in a first state, the first and second coupling means are uncoupled and detached from each other and the first and second autonomous unmanned vehicles move separately, and wherein, in a second state, the first and second coupling means are coupled and engaged with each other and the first and second autonomous unmanned vehicles together form an autonomous unmanned vehicle unit and as such move together.

12. Vehicle system according to one of the preceding claims, further comprising a guide system for guiding at least the processing device along a predetermined route while moving.

13. Vehicle system according to any of the preceding claims, provided in a greenhouse for cultivation under glass or an orchard.

14. Use of the vehicle system according to any of the preceding claims in an agricultural environment, in particular a horticultural and/or vinicultural environment.