Self contained fully automated robotic crop production facility

• US 6,243,987 B1
• Filed: 09/01/1999
• Issued: 06/12/2001
• Est. Priority Date: 09/01/1999
• Status: Expired due to Fees

• Current Assignee: OrganiTech Ltd. (OrganiTech USA, Inc.)
• Original Assignee: OrganiTech Ltd. (OrganiTech USA, Inc.)
• Inventors: Hessel, Lior
• Primary Examiner(s): Jordan, Charles T.
• Assistant Examiner(s): Nelson, Judith A.
• Application Number:
  US09/387,793
• Time in Patent Office: 650 Days
• Field of Search: 47/60, 47/581, 479/01, 47/17, 111/103, 111/104, 111/105, 111/100
• US Class Current: 47/65.5
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01C 11/02 for seedlings
• CPC Class Codes: A01C 21/00 Methods of fertilising , sowing or planting
• CPC Class Codes: A01C 7/04 Single-grain seeders with or without suction devices
• CPC Class Codes: A01G 31/00 Soilless cultivation, e.g. hydroponics growth substrates therefor A01G24/00; cultivation of seaweed A01G33/00

Abstract

An automated system for providing a continuous yield of fresh agricultural produce, the system comprising (a) a housing including a three dimensional seeding and germination zone, a three dimensional planting and growth zone and a three dimensional zone for holding automatic seeding, planting and harvesting equipment; (b) a plurality of seeding shelves being arranged in substantially horizontal layers in the three dimensional seeding and germination zone, each of the seeding shelves including a two dimensional array of seeding locations, each of the locations being for accepting a seed and for supporting development of a seedling; (c) a plurality of planting shelves being arranged in substantially horizontal layers in the three dimensional planting and growth zone, each of the planting shelves including a two dimensional array of planting locations, each of the locations being for accepting a seedling and for supporting development of a mature plant; and (d) a i5 seeding, planting and harvesting robotic device being at the three dimensional zone for holding automatic seeding, planting and harvesting equipment, the robotic device including at least one robotic arm for seeding seeds being stored in a seed reservoir in the seeding locations, for planting seedlings in the planting locations and for harvesting mature plants from the planting locations.

Claims

1. An automated system for providing a continuous yield of fresh agricultural produce, the system comprising:

(a) a housing including a three dimensional seeding and germination zone, a three dimensional planting and growth zone and a three dimensional zone for holding automatic seeding, planting and harvesting equipment;

(b) a plurality of seeding shelves being arranged in substantially horizontal layers in said three dimensional seeding and germination zone, each of said seeding shelves including a two dimensional array of seeding locations, each of said locations being for accepting a seed and for supporting development of a seedling;

(c) a plurality of planting shelves being arranged in substantially horizontal layers in said three dimensional planting and growth zone, each of said planting shelves including a two dimensional array of planting locations, each of said locations being for accepting a seedling and for supporting development of a mature plant; and

(d) a seeding, planting and harvesting robotic device being at said three dimensional zone for holding automatic seeding, planting and harvesting equipment, said robotic device including at least one robotic arm for seeding seeds being stored in a seed reservoir in said seeding locations, for planting seedlings in said planting locations and for harvesting mature plants from said planting locations.

2. The system of claim 1, further comprising at least one ancillary system selected from the group consisting of an irrigation system, a water conditioning system, a system for regulating oxygen/carbon dioxide balance, a system for regulating relative humidity, a lighting system, and a temperature control system.

3. The system of claim 1, further comprising:

(e) a cutting and packaging zone, said cutting and packaging zone including a device for cutting roots from said mature plant and a device for wrapping said mature plant.

4. The system of claim 1, wherein each of said plurality of planting shelves includes a stabilized container or frame which contains said array of planting locations, said array of planting locations includes an incomplete matrix of (N×

M−

K) suspendably translatable platforms of substantially similar dimensions, each including said plurality of planting locations for accepting seedlings, each of said suspendably translatable platforms being movable to an adjacent free location in said incomplete matrix, such that each of said platforms is movable using one or more steps to a pre-defined position in said incomplete matrix, wherein N and M each independently an integer greater than one, K is an integer which equals at least one, whereas (N×

M−

K) has a result greater than one.

5. The device of claim 4 wherein, N and M each independently equals at least 2, and further wherein K equals 1.

6. The system of claim 4, wherein each of said suspendably translatable platforms is a float and further wherein said container includes an irrigation water reservoir over which said float suspendably translatably floats.

7. The system of claim 4, wherein each of said suspendably translatable platforms is suspended over a suspending and translating mechanism.

8. The device of claim 6, wherein said seedlings grow within a medium selected from the group consisting of an aqueous solution, air, an inert absorbent material, an artificial soil and natural soil.

9. The system of claim 1, wherein said seeding, planting and harvesting robotic device is equipped with a system for evaluating a quality parameter of seedlings to be planted in said three dimensional planting and growth zone.

10. The system of claim 9, wherein, said quality parameter is selected from the group consisting of seedling height, leaf color, leaf area, plant mass, and plant metabolic capacity.

11. The system of claim 1, wherein said seeding, planting and harvesting robotic device is further equipped with a system for evaluating a quality parameter of said at least one seedling, said evaluation is accomplished via a method selected from the group consisting of contrast ultrasonic imaging, video imaging, spectro-radiometry imaging and tactile sensing.

12. The system of claim 1, wherein each of said plurality of seeding shelves includes a stabilized container or frame which contains said array of seeding locations, said array of seeding locations includes an incomplete matrix of (P×

L−

Q) suspendably translatable platforms of substantially similar dimensions, each including said plurality of seeding locations for accepting seeds, each of said suspendably translatable platforms being movable to an adjacent free location in said incomplete matrix, such that each of said platforms is movable using one or more steps to a pre-defined position in said incomplete matrix, wherein P and L are each independently an integer greater than one, Q is an integer which equals at least one, whereas (P×

L−

Q) has a result greater than one.

13. The device of claim 12, wherein, P and L each independently equals at least 2, and further wherein K equals 1.

14. The system of claim 12, wherein each of said suspendably translatable platforms is a float and further wherein said container includes an irrigation water reservoir over which said float suspendably translatably floats.

15. The system of claim 14, wherein said float is formed with a plurality of seed accepting cavities, each of said cavities is open to an upper surface of said float and being in fluid communication with a channel formed in said float which opens at least to a bottom surface of said float, such that when said float floats over a water surface each of said plurality of cavities receives a seed, said seed is moistened but not submerged, whereas when said seed develops roots, said roots descend via said channel into the water, wherein a specific cavity and its adjacent channel facilitate a transfer of a germinated seedling including its roots.

16. The system of claim 12, wherein each of said suspendably translatable platforms is suspended over a suspending and translating mechanism.

17. The system of claim 12, wherein said seeds germinate within a medium selected from the group consisting of an aqueous solution, air, an inert absorbent material, an artificial soil and natural soil.

18. The system of claim 1, wherein said seeding, planting and harvesting robotic device includes a base horizontally translatable along a horizontal guiding rail attached to a floor of said housing at said zone for holding automatic seeding, planting and harvesting equipment, a vertical shaft element vertically extending from said base, and an operative head translatably engaged by said shaft and which is equipped with at least one rotating robotic arm, so as to allow a distal end of said robotic arm at least three degrees of freedom.

19. The system of claim 18, wherein said seeding, planting and harvesting robotic device further includes at least one motor oppressively engaged therewith for performing at least one task selected from the group consisting of horizontally translating said base along said horizontal guiding rail, vertically translating said operative head along said vertical shaft element and rotating said at least one robotic arm relative to said operative head.

20. The system of claim 18, wherein said at least one robotic arm is equipped with a grabbing mechanism located at a distal end thereof.

21. The system of claim 18, wherein said at least one robotic arm is constructed and designed so as to perform a task selected from the group consisting of picking up a seed, placing a seed, picking up a seedling, placing a seedling and picking up a mature plant.

22. A device for cultivation of plants, the device comprising a container or frame engaging an incomplete matrix of (N×

M−

K) of suspendably translatable platforms of substantially similar dimensions each including a plurality of locations for accepting seeds or seedlings, each of said suspendably translatable platforms being movable to an adjacent free location in said incomplete matrix, such that each of said platforms is movable using one or more steps to a pre-defined position in said incomplete matrix, wherein N and M each independently an integer greater than one, K is an integer which equals at least one, whereas (N×

M−

K) has a result greater than one.

23. The device of claim 22, wherein said seeds or seedlings grow within a medium selected from the group consisting of an aqueous solution, air, an inert absorbent material, an artificial soil, and natural soil.

24. The device of claim 22, wherein said suspendably translatable platforms exist in said container or frame in a form selected from the group consisting of a float, a chamber filled with absorbent material, artificial soil or natural soil, a wheeled rack for suspending plants in the air, and a wheeled tray.

25. The device of claim 22, wherein N and M each independently equals at least 2, and further wherein K equals 1.

26. A device for hydroponically nurturing seeds as they develop into seedlings, and for facilitating transfer of said seedlings, the device comprising a float being formed with a plurality of seed accepting cavities, each of said cavities being open to an upper surface of said float and being in fluid communication with a channel opening at least to a bottom surface of said float, such that when said float floats over a water surface and said cavities receive seeds, said each of said seeds is moistened but not submerged, whereas when said seeds develop roots, said roots descend via said channels into the water, wherein a specific cavity and its adjacent channel facilitate a transfer of a germinated seedling including its roots.

27. An automated system for providing a continuous yield of fresh seedlings, the system comprising:

(a) a housing including a three dimensional seeding and germination zone and a three dimensional zone for holding automatic seeding and seedlings transferring equipment;

(b) a plurality of seeding shelves being arranged in substantially horizontal layers in said three dimensional seeding and germination zone, each of said seeding shelves including a two dimensional array of seeding locations, each of said locations being for accepting a seed and for supporting development of a seedling;

(c) a seeding and seedlings transferring robotic device being at said three dimensional zone for holding automatic seeding and seedlings transferring equipment, said robotic device including at least one robotic arm for seeding seeds being stored in a seed reservoir in said seeding locations and for transferring germinated seedlings therefrom.

28. The system of claim 27, further comprising at least one ancillary system selected from the group consisting of an irrigation system, a water conditioning system, a system for regulating oxygen/carbon dioxide balance, a system for regulating relative humidity, a lighting system, and a temperature control system.

29. The system of claim 27, wherein said seeding and seedlings transferring robotic device is equipped with a system for evaluating a quality parameter of seedlings.

30. The system of claim 29, wherein, said quality parameter is selected from the group consisting of seedling height, leaf color, leaf area, plant mass, and plant metabolic capacity.

31. The system of claim 27, wherein said seeding and seedling transferring robotic device is further equipped with a system for evaluating a quality parameter of said seedlings, said evaluation is accomplished via a method selected from the group consisting of contrast ultrasonic imaging, video imaging, spectro-radiometry imaging and tactile sensing.

32. The system of claim 27, wherein each of said plurality of seeding shelves includes a stabilized container or frame which contains said array of seeding locations, said array of seeding locations includes an incomplete matrix of (P×

L−

Q) suspendably translatable platforms of substantially similar dimensions, each including a plurality of locations for accepting seeds, each of said suspendably translatable platforms being movable to an adjacent free location in said incomplete matrix, such that each of said platforms is movable using one or more steps to a pre-defined position in said incomplete matrix, wherein P and L are each independently an integer greater than one, Q is an integer which equals at least one, whereas (P×

L−

Q) has a result greater than one.

33. The device of claim 32, wherein, P and L each independently equals at least 2, and further wherein Q equals 1.

34. The system of claim 32, wherein each of said suspendably translatable platforms is a float and further wherein said container includes an irrigation water reservoir over which said float suspendably translatably floats.

35. The system of claim 34, wherein said float is formed with a plurality of seed accepting cavities, each of said cavities is open to an upper surface of said float and being in fluid communication with a channel formed in said float which opens at least to a bottom surface of said float, such that when said float floats over a water surface each of said plurality of cavities receives a seed, said seed is moistened but not submerged, whereas when said seed develops roots, said roots descend via said channel into the water, wherein a specific cavity and its adjacent channel facilitate a transfer of a germinated seedling including its roots.

36. The system of claim 32, wherein each of said suspendably translatable platforms is suspended over a suspending and translating mechanism.

37. The system of claim 32, wherein said seeds germinate within a medium selected from the group consisting of an aqueous solution, air, an inert absorbent material, an artificial soil and natural soil.

38. The system of claim 27, wherein said seeding and seedlings transferring robotic device includes a base horizontally translatable along a horizontal guiding rail attached to a floor of said housing at said zone for holding automatic seeding and seedlings transferring equipment, a vertical shaft element vertically extending from said base, and an operative head translatably engaged by said shaft and which is equipped with at least one rotating robotic arm, so as to allow a distal end of said robotic arm at least three degrees of freedom.

39. The system of claim 38, wherein said seeding and seedlings transferring robotic device further includes at least one motor oppressively engaged therewith for performing at least one task selected from the group consisting of horizontally translating said base along said horizontal guiding rail, vertically translating said operative head along said vertical shaft element and rotating said at least one robotic arm relative to said operative head.

40. The system of claim 38, wherein said at least one robotic arm is equipped with a grabbing mechanism located at a distal end thereof.

41. The system of claim 38, wherein said at least one robotic arm is constructed and designed so as to perform a task selected from the group consisting of picking up a seed, placing a seed, picking up a seedling and placing a seedling.

42. An automated system for providing a continuous yield of mature plants, the system comprising:

(a) a housing including a three dimensional planting and growth zone and a three dimensional zone for holding automatic seedling planting and plant harvesting equipment;

(b) a plurality of planting shelves being arranged in substantially horizontal layers in said three dimensional planting and growth zone, each of said planting shelves including a two dimensional array of planting locations, each of said locations being for accepting a seedling and for supporting development of the mature plant;

(c) a seedling planting and plant harvesting robotic device being at said three dimensional zone for holding automatic seedling planting and plant harvesting equipment, said robotic device including at least one robotic arm for planting seedlings in said planting locations and for harvesting mature plants grown in said planting locations.

43. The system of claim 42, further comprising at least one ancillary system selected from the group consisting of an irrigation system, a water conditioning system, a system for regulating oxygen/carbon dioxide balance, a system for regulating relative humidity, a lighting system, and a temperature control system.

44. The system of claim 42, further comprising:

(d) a cutting and packaging zone, said cutting and packaging zone including a device for cutting roots from the mature plant and a device for wrapping said mature plant.

45. The system of claim 42, wherein each of said plurality of planting shelves includes a stabilized container or frame which contains said array of planting locations, said array of planting locations includes an incomplete matrix of (N×

M−

K) suspendably translatable platforms of substantially similar dimensions, each including said plurality of planting locations for accepting seedlings, each of said suspendably translatable platforms being movable to an adjacent free location in said incomplete matrix, such that each of said platforms is movable using one or more steps to a pre-defined position in said incomplete matrix, wherein N and M each independently an integer greater than one, K is an integer which equals at least one, whereas (N×

M−

K) has a result greater than one.

46. The device of claim 45, wherein, N and M each independently equals at least 2, and further wherein K equals 1.

47. The system of claim 45, wherein each of said suspendably translatable platforms is a float and further wherein said container includes an irrigation water reservoir over which said float suspendably translatably floats.

48. The system of claim 45, wherein each of said suspendably translatable platforms is suspended over a suspending and translating mechanism.

49. The device of claim 47, wherein said plants grow within a medium selected from the group consisting of an aqueous solution, air, an inert absorbent material, an artificial soil and natural soil.

50. The system of claim 42, wherein said seedling planting and plant harvesting robotic device includes a base horizontally translatable along a horizontal guiding rail attached to a floor of said housing at said zone for holding automatic seedling planting and plant harvesting equipment, a vertical shaft element vertically extending from said base, and an operative head translatably engaged by said shaft and which is equipped with at least one rotating robotic arm, so as to allow a distal end of said robotic arm at least three degrees of freedom.

51. The system of claim 50, wherein said seedling planting and plant harvesting robotic device further includes at least one motor oppressively engaged therewith for performing at least one task selected from the group consisting of horizontally translating said base along said horizontal guiding rail, vertically translating said operative head along said vertical shaft element and rotating said at least one robotic arm relative to said operative head.

52. The system of claim 50, wherein said at least one robotic arm is equipped with a grabbing mechanism located at a distal end thereof.

53. The system of claim 42, wherein said seedling planting and plant harvesting robotic device is equipped with a system for evaluating a quality parameter of mature plants.

54. The system of claim 53, wherein, said quality parameter is selected from the group consisting of plant height, leaf color, leaf area, plant mass, fruit color, fruit mass and plant metabolic capacity.

55. The system of claim 53, wherein said a seedling planting and plant harvesting robotic device is further equipped with a system for evaluating a quality parameter of mature plants, said evaluation is accomplished via a method selected from the group consisting of contrast ultrasonic imaging, video imaging, spectro-radiometry imaging and tactile sensing.

56. An automated method for providing agricultural produce, the method comprising the steps of:

(a) providing a housing including a three dimensional seeding and germination zone, a three dimensional planting and growth zone and a three dimensional zone for holding automatic seeding, planting and harvesting equipment;

(b) installing within said housing a plurality of seeding shelves being arranged in substantially horizontal layers in said three dimensional seeding and germination zone, each of said seeding shelves including a two dimensional array of seeding locations, each of said locations being for accepting a seed and for supporting development of a seedling;

(c) installing within said housing a plurality of planting shelves being arranged in substantially horizontal layers in said three dimensional planting and growth zone, each of said planting shelves including a two dimensional array of planting locations, each of said locations being for accepting a seedling and for supporting development of a mature plant;

(d) installing within said housing a seeding, planting and harvesting robotic device being at said three dimensional zone for holding automatic seeding, planting and harvesting equipment, said robotic device including at least one robotic arm for seeding seeds being stored in a seed reservoir in said seeding locations, for planting seedlings in said planting locations and for harvesting mature plants from said planting locations; and

(e) providing a regulatory mechanism which co-ordinates the actions of said robotic device so that seeds are planted within said seeding shelves, seedlings resulting from germination of said seeds are transferred to said planting shelves, and mature plants growing from said seedlings are harvested according to a pre-defined schedule.