Self contained fully automated robotic crop production facility

• US 6,508,033 B2
• Filed: 02/27/2002
• Issued: 01/21/2003
• 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, Bar-On, David
• Primary Examiner(s): Jordan, Charles T.
• Assistant Examiner(s): Nelson, Judith A.
• Application Number:
  US10/083,343
• Publication Number:
  US 20020088173A1
• Time in Patent Office: 328 Days
• Field of Search: 47/581, 47/60, 47/10.1 P
• US Class Current: 47/60
• 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 includes a housing including at least one zone for plant growth and at least one zone for holding automated robotic equipment. Robotic equipment includes a 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. Further disclosed are devices and methods for increasing efficiency of plant transfer and minimizing root damage during transfer. Further disclosed are devices and methods for increasing efficiency of plant growing, by providing oxygen dissolved in irrigation water to the plant roots.

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) at least one seeding shelf in said three dimensional seeding and germination zone, said seeding shelf 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) at least one planting shelf in said three dimensional planting and growth zone, said at least one planting shelf 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; 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 transferable cup designed and constructed to be seatable and retainable within said seeding locations and said planting locations and to be manipulatable by said robotic arm.

3. The system of claim 1, further comprising a mechanism for directing a stream of water downward along an exposed root during planting so that a transfer of a seedling from a seeding shelf to a planting shelf is more easily accomplished by said robotic device.

4. The system of claim 1, further comprising a water recycling and aereation system operating at a location selected from the group consisting of said at least one seeding shelf in said three dimensional seeding and germination zone, said at least one planting shelf in said three dimensional planting and growth zone and a combination thereof.

5. The system of claim 1, further comprising within said housing at least one additional zone for supporting development of at least one plant during a portion of a growth cycle.

6. The system of claim 1, wherein said housing is divided into at least two climatic zones, each of said climatic zones being individually controlled by a climate control system.

7. The system of claim 1, wherein said fresh agricultural produce is selected from the group consisting of a vegetable, a leafy vegetable, a flower, a fruit, a tree, a tuber, a fungus, a cereal grain, a genetically modified organism and an oilseed.

8. The system of claim 1, wherein a defined environment within said housing activates production of a secondary metabolite by a plant grown therein.

9. The system of claim 8 wherein said secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of said plant and a water supply of said plant.

10. The system of claim 7, wherein said genetically modified organism is produced within said housing by transforming a plant housed therein.

11. The system of claim 1, wherein said housing serves as a biohazard containment facility.

12. The system of claim 1, wherein said housing is airtight such that utilization of CO₂ deployed therein is more efficient.

13. The system of claim 1, wherein said seeding and seedling transferring robotic device includes a base attached to 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 which is equipped with at least one robotic arm, so as to allow a distal end of said robotic arm at least one degree of freedom.

14. The system of claim 1, wherein said seeds in said seed reservoir are selected from the group consisting of monocotyledonous seeds, dicotyledonous seeds, at least a portion of a plant, spores, rooted plugs and tissue culture material.

15. The system of claim 14, wherein said at least a portion of a plant contains at least one item selected from the group consisting of at least a portion of a leaf, at least a portion of a flower, at least a portion of a stem and at least a portion of a root.

16. 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) at least one seeding shelf in said three dimensional seeding and germination zone, said seeding shelf including a two dimensional array of seeding locations, each of said locations being for accepting a seed and for supporting development of a seedling; and

(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.

17. The system of claim 16, further comprising at least one transferable cup designed and constructed to be seatable and retainable within said seeding locations and to be manipulatable by said robotic arm.

18. The system of claim 16, further comprising a mechanism for directing a stream of water downward along an exposed root during said transferring germinated seedlings so that guiding said germinated seedling to a target location is more easily accomplished by said robotic device.

19. The system of claim 16, further comprising a water recycling and aereation system operating at said at least one seeding shelf in said three dimensional seeding and germination zone.

20. The system of claim 16, further comprising within said housing at least one additional zone for supporting development of at least one plant during a portion of a growth cycle.

21. The system of claim 16, wherein said housing is divided into at least two climatic zones, each of said climatic zones being individually controlled by a climate control system.

22. The system of claim 16, wherein said fresh seedling is a seedling of a plant selected from the group consisting of a vegetable, a leafy vegetable, a flower, a fruit, a tree, a tuber, a fungus, a cereal grain, a genetically modified organism and an oilseed.

23. The system of claim 16, wherein a defined environment within said housing activates production of a secondary metabolite by a seedling grown therein.

24. The system of claim 23, wherein said secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of said plant and a water supply of said plant.

25. The system of claim 22, wherein said genetically modified organism is produced within said housing by transforming a plant housed therein.

26. The system of claim 16, wherein said housing serves as a biohazard containment facility.

27. The system of claim 16, wherein said housing is airtight such that utilization of CO₂ deployed therein is more efficient.

28. The system of claim 16, wherein said seeding and seedling transferring robotic device includes a base attached to 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 which is equipped with at least one robotic arm, so as to allow a distal end of said robotic arm at least one degree of freedom.

29. The system of claim 16, wherein said seeds in said seed reservoir are selected from the group consisting of monocotyledonous seeds, dicotyledonous seeds, at least a portion of a plant, spores, rooted plugs and tissue culture material.

30. The system of claim 29, wherein said at least a portion of a plant contains at least one item selected from the group consisting of at least a portion of a leaf, at least a portion of a flower, at least a portion of a stem and at least a portion of a root.

31. 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) at least one planting shelf in said three dimensional planting and growth zone, said at least one planting shelf 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; and

(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.

32. The system of claim 31, further comprising at least one transferable cup designed and constructed to be seatable and retainable within said planting locations and to be manipulatable by said robotic arm.

33. The system of claim 31, further comprising a mechanism for directing a stream of water downward along an exposed root of a seedling so that a transfer of a seedling to a planting shelf is more easily accomplished by said robotic device.

34. The system of claim 31, further comprising a water recycling and aereation system operating at said at least one planting shelf in said three dimensional planting and growth zone.

35. The system of claim 31, further comprising within said housing at least one additional zone for supporting development of at least one plant during a portion of a growth cycle.

36. The system of claim 31, wherein said housing is divided into at least two climatic zones, each of said climatic zones being individually controlled by a climate control system.

37. The system of claim 31, wherein said mature plants are selected from the group consisting of a vegetable, a leafy vegetable, a flower, a fruit, a tree, tuber, and a genetically modified organism.

38. The system of claim 31, wherein a defined environment within said housing activates production of a secondary metabolite by a plant grown therein.

39. The system of claim 38 wherein said secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of said plant and a water supply of said plant.

40. The system of claim 37, wherein said genetically modified organism is produced within said housing by transforming a plant housed therein.

41. The system of claim 31, wherein said housing serves as a biohazard containment facility.

42. The system of claim 31, wherein said housing is constructed of at least one item selected from the group consisting of at least one 20 ft. shipping container and at least one 40 foot shipping container.

43. The system of claim 31, wherein said housing is airtight such that utilization of CO₂ deployed therein is more efficient.

44. The system of claim 31, wherein said seedling planting and plant harvesting robotic device includes a base attached to 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 which is equipped with at least one robotic arm, so as to allow a distal end of said robotic arm at least one degree of freedom.

45. A system for continuous culture of an aquatic plant, the system comprising:

(a) a housing including a three dimensional aquaculture zone and a three dimensional zone for aquaculture maintenance equipment;

(b) at least one aquaculture shelf in said three dimensional aquaculture zone; and

(c) an aquaculture robotic device being at said three dimensional zone for aquaculture maintenance equipment.

46. The system of claim 45, wherein the aquatic plant is selected from the group consisting of a submerged plant, a floating plant, a yeast, a fungus, an algae, a blue-green algae, and other micro-organisms.

47. The system of claim 45, wherein said robotic device is designed and constructed to periodically harvest at least a portion of a biomass of the aquatic plant.

48. The system of claim 45, further comprising:

(d) a device for performing at least one action selected from the group consisting of drying, crumbling, powderizing and grinding at least a portion of a biomass of the aquatic plant.

49. The system of claim 45 wherein harvest of at least a portion of a biomass of the aquatic plant is effected by filtration of at least a portion of an aquaculture in said at least one aquaculture shelf.

50. The system of claim 45, further comprising within said housing at least one additional zone for supporting development of at least one aquatic plant during a portion of a growth cycle.

51. The system of claim 45, wherein said housing is divided into at least two climatic zones, each of said climatic zones being individually controlled by a climate control system.

52. The system of claim 45, wherein a genetically modified aquatic plant is introduced into said housing and cultured therein.

53. The system of claim 45, wherein a defined environment within said housing activates production of a secondary metabolite by the aquatic grown therein.

54. The system of claim 53 wherein said secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of said aquatic plant and a water supply of said aquatic plant.

55. The system of claim 45, wherein a genetically modified aquatic plant is produced within said housing by transforming an aquatic plant housed therein.

56. The system of claim 45, wherein said housing serves as a biohazard containment facility.

57. The system of claim 45, wherein said housing is constructed of at least one item selected from the group consisting of at least one 20 ft. shipping container and at least one 40 foot shipping container.

58. The system of claim 45, wherein said housing is airtight such that utilization of CO₂ deployed therein is more efficient.

59. The system of claim 45, wherein said robotic device includes a base attached to said housing at said zone for aquaculture maintenance equipment, a vertical shaft element vertically extending from said base, and an operative head translatably engaged by said shaft which is equipped with at least one robotic arm, so as to allow a distal end of said robotic arm at least one degree of freedom.

60. The system of claim 59, wherein said at least one robotic arm is equipped with a tool selected from the group consisting of a comb, a net, a filter, a scoop and a strainer such that said robotic arm can be employed to effect a harvest of at least a portion of a biomass of the aquatic plant.

61. A system for reducing a concentration of a heavy metal ion in a water supply, the system comprising:

(a) a housing including a three dimensional aquaculture zone and a three dimensional zone for aquaculture maintenance equipment;

(b) at least one aquaculture shelf in said three dimensional aquaculture zone; and

(c) an aquaculture robotic device being at said three dimensional zone for aquaculture maintenance equipment;

wherein an aquatic plant grown in said at least one aquaculture shelf is capable of effecting bioremediation of the heavy metal ion in the water supply.

62. The system of claim 61, wherein the aquatic plant is selected from the group consisting of a submerged plant, a floating plant, a yeast, a fungus, an algae, a blue-green algae, and other micro-organisms.

63. The system of claim 61, wherein said robotic device is designed and constructed to periodically harvest at least a portion of a biomass of the aquatic plant.

64. The system of claim 61, further comprising:

(d) a device for performing at least one action selected from the group consisting of drying, crumbling, powderizing and grinding at least a portion of a biomass of the aquatic plant.

65. The system of claim 61 wherein harvest of at least a portion of a biomass of the aquatic plant is effected by filtration of at least a portion of an aquaculture in said at least one aquaculture shelf.

66. The system of claim 61, further comprising within said housing at least one additional zone for supporting development of at least one aquatic plant during a portion of a growth cycle.

67. The system of claim 61, wherein said housing is divided into at least two climatic zones, each of said climatic zones being individually controlled by a climate control system.

68. The system of claim 61, wherein a genetically modified aquatic plant is introduced into said housing and cultured therein.

69. The system of claim 61, wherein a defined environment within said housing activates production of a secondary metabolite by the aquatic grown therein.

70. The system of claim 69, wherein said secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of said aquatic plant and a water supply of said aquatic plant.

71. The system of claim 61, wherein a genetically modified aquatic plant is produced within said housing by transforming an aquatic plant housed therein.

72. The system of claim 61, wherein said housing serves as a biohazard containment facility.

73. The system of claim 61, wherein said housing is constructed of at least one item selected from the group consisting of at least one 20 ft. shipping container and at least one 40 foot shipping container.

74. The system of claim 61, wherein said housing is airtight such that utilization of CO₂ deployed therein is more efficient.

75. The system of claim 61, wherein said robotic device includes a base attached to said housing at said zone for aquaculture maintenance equipment, a vertical shaft element vertically extending from said base, and an operative head translatably engaged by said shaft which is equipped with at least one robotic arm, so as to allow a distal end of said robotic arm at least one degree of freedom.

76. The system of claim 61, wherein said at least one robotic arm is equipped with a tool selected from the group consisting of a comb, a net, a filter, a scoop and a strainer such that said robotic arm can be employed to effect a harvest of at least a portion of a biomass of the aquatic plant.

77. A system for providing a continuous supply of a biomass of an aquatic plant, the system comprising:

(a) a housing including a three dimensional aquaculture zone and a three dimensional zone for aquaculture maintenance equipment;

(b) at least one aquaculture shelf in said three dimensional aquaculture zone; and

(c) an aquaculture robotic device being at said three dimensional zone for aquaculture maintenance equipment.

78. The system of claim 77, wherein the aquatic plant is selected from the group consisting of a submerged plant, a floating plant, a yeast, a fungus, an algae, a blue-green algae, and other micro-organisms.

79. The system of claim 77, wherein said robotic device is designed and constructed to periodically harvest at least a portion of a biomass of the aquatic plant.

80. The system of claim 77, further comprising:

(d) a device for performing at least one action selected from the group consisting of drying, crumbling, powderizing and grinding at least a portion of a biomass of the aquatic plant.

81. The system of claim 77 wherein harvest of at least a portion of a biomass of the aquatic plant is effected by filtration of at least a portion of an aquaculture in said at least one aquaculture shelf.

82. The system of claim 77, further comprising within said housing at least one additional zone for supporting development of at least one aquatic plant during a portion of a growth cycle.

83. The system of claim 77, wherein said housing is divided into at least two climatic zones, each of said climatic zones being individually controlled by a climate control system.

84. The system of claim 77, wherein a genetically modified aquatic plant is introduced into said housing and cultured therein.

85. The system of claim 77, wherein a defined environment within said housing activates production of a secondary metabolite by the aquatic grown therein.

86. The system of claim 85 wherein said secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of said aquatic plant and a water supply of said aquatic plant.

87. The system of claim 77, wherein a genetically modified aquatic plant is produced within said housing by transforming an aquatic plant housed therein.

88. The system of claim 77, wherein said housing serves as a biohazard containment facility.

89. The system of claim 77, wherein said housing is constructed of at least one item selected from the group consisting of at least one 20 ft. shipping container and at least one 40 foot shipping container.

90. The system of claim 77, wherein said housing is airtight such that utilization of CO₂ deployed therein is more efficient.

91. The system of claim 77, wherein said robotic device includes a base attached to said housing at said zone for aquaculture maintenance equipment, a vertical shaft element vertically extending from said base, and an operative head translatably engaged by said shaft which is equipped with at least one robotic arm, so as to allow a distal end of said robotic arm at least one degree of freedom.

92. The system of claim 91, wherein said at least one robotic arm is equipped with a tool selected from the group consisting of a comb, a net, a filter, a scoop and a strainer such that said robotic arm can be employed to effect a harvest of at least a portion of a biomass of the aquatic plant.

93. A device for nurturing seeds as they develop into seedlings, and for facilitating transfer of said seedlings, the device comprising:

(a) a float being formed with a plurality of seed accepting cavities organized in pairs, each of said pairs having a first member and a second member;

(b) said cavities, each being open to an upper surface of said float and being in fluid communication with 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; and

(c) a cover with a plurality of holes corresponding to at least a portion of said cavities, whereas when said seeds develop roots, translational motion of said cover transfers each rooted seed from said first member of said pair of cavities to said second member of said pair of cavities.

94. The device of claim 93, wherein said fluid communication with said bottom surface of said float is through an item selected from the group consisting of a screen and a liquid permeable membrane.

95. A device for nurturing a seed as it develops into a seedling, and for facilitating transfer of the seedling, the device comprising:

(a) a cup holder being formed with at least one cavity capable of accepting a transferable cup, said cavity being open to an upper surface of said cup holder; and

(b) said transferable cup seatable within each of said at least one cavity, said cup capable of accepting and retaining a seed, therein.

96. The device of claim 95, further comprising:

(c) a quantity of gel, said gel serving to absorb moisture from a water supply and transfer said moisture to the seed.

97. The device of claim 95, wherein said quantity of gel resides in a location selected from the group consisting of said at least one cavity and said transferable cup.

98. The device of claim 95, wherein said cup contains at least one opening large enough for a root originating from the seed to pass through.

99. The device of claim 96, wherein said gel contains nutrients to foster development of the seedling, said nutrients being delivered to the seed as said moisture flows through said gel to the seed.

100. The device of claim 95, wherein said transferable cup has a shape selected from the group consisting of conical, tetrahedral, pyramidic, cylindrical and portions thereof and combinations thereof.

101. The device of claim 95, wherein said transferable cup further comprises at least one exit means for a root developing from said seed retained therein.

102. The device of claim 95, further comprising a robotic device designed and constructed to engage a transferable cup and seat said transferable cup in a cavity belonging to said at least one cavity of said cup holder.

103. A device for guiding exposed roots of a plant accurately to a target location during a transfer, the device comprising a mechanism for directing a stream of water downward along the exposed roots so that the roots are straightened.

104. The device of claim 103, wherein said mechanism for directing a stream of water operates in conjunction with a robotic device engaged in transfer of the plant.

105. The device of claim 103, wherein said mechanism for directing a stream of water and said robotic device are physically connected one to the other.

106. A system for recycling and oxygenating irrigation water, the system comprising:

(a) at least one first cultivation shelf designed and constructed to contain at least a portion of the irrigation water and including a regulatory element;

(b) said regulatory element designed and constructed to allow a part of said at least a portion of the irrigation water to flow downwards out of said first cultivation shelf into a mechanism for mixing;

(c) said mechanism for mixing being in fluid communication with said first cultivation shelf and a second cultivation shelf, and being designed and constructed to receive said part of said at least a portion of the irrigation water with air to produce aereated water and to transfer said aereated water to a said second cultivation shelf; and

(d) said second cultivation shelf situated below said first cultivation shelf, said second shelf designed and constructed to contain at least a portion of the irrigation water.

107. The system of claim 106, wherein said regulatory element comprises a gate having a height, so that when a depth of the irrigation water in said first cultivation shelf exceeds said height, a part of said at least a portion of the irrigation water flows downwards out of said first cultivation shelf.

108. The system of claim 106, wherein said mechanism for mixing operates by introducing said part of said at least a portion of the irrigation water into a cavity containing said air.

109. The system of claim 106, further comprising a pump designed and constructed to return said part of said at least a portion of the irrigation water to said first cultivation shelf.