US-12616097-B2 - Robotic harvesting system for vertical plant cultivation

US12616097B2US 12616097 B2US12616097 B2US 12616097B2US-12616097-B2

Abstract

The present disclosure relates to apparatuses for plant harvesting. More specifically, apparatuses for harvesting vertically grown fruit ( 620 ), plants, or vegetables are described herein. In one embodiment a harvesting system includes a grow line ( 100, 102 ) and one or more grow towers ( 150 ) coupled to and moveable along the grow line ( 100, 102 ). A plurality of platforms ( 306 ) are disposed adjacent to the grow towers ( 150 ) and include one or more robots ( 302 ) disposed on the platforms ( 306 ). Embodiments of the disclosure also provide for harvesting tools ( 600 ), such as robot ( 203, 302, 508 ) end effectors ( 304 ) for harvesting one or more types of produce.

Inventors

Damon Smith
Kevin Grauberger
Aunders HALLSTEN
Nathaniel R. Storey
Lucas WOODBURY
Paul Kreiner

Assignees

MJNN LLC

Dates

Publication Date: 20260505
Application Date: 20210921

Claims (15)

1 . A harvesting system, comprising: a grow line; one or more towers coupled to the grow line and moveable along the grow line; a first support column extending vertically with a height approximating a height of the one or more grow towers and disposed adjacent to a first face the grow towers and comprising a first lift mechanism, wherein the one or more grow towers are configured to traverse along the grow line and pass the first support column; and a first robot coupled to the first support column and having an arm oriented away from the first support column and toward the one or more grow towers, wherein the first lift mechanism is configured to move the one or more first robots vertically along the first support column.
2 . The system of claim 1 , wherein a first actuator is coupled to the first lifting mechanism and configured to move the first robot vertically along the first support column.
3 . The system of claim 1 , further comprising: a second support column disposed adjacent to a second face of the grow towers and comprising a second lift mechanism; a second robot coupled to the second support column and having a second arm oriented away from the second support column and toward the one or more grow towers, wherein the second lift mechanism is configured to move the second robot vertically along the first support column.
4 . The system of claim 3 , wherein a second actuator is coupled to the second lift mechanism and configured to move the second robot vertically along the second support column.
5 . The system of claim 1 , wherein the first lift mechanism is internal to the first support column.
6 . The system of claim 1 , wherein the first lift mechanism is external to the first support column.
7 . The system of claim 1 , wherein a first support column is configured to move relative to the grow towers.
8 . The system of claim 1 , further comprising a plurality of first support columns.
9 . The system of claim 1 , further comprising a plurality of first robots coupled to the first support column.
10 . A harvesting system, comprising: a grow line; a plurality of vertically oriented grow towers coupled to the grow line and moveable along the grow line; a plurality of platforms positioned adjacent to the grow line, each platform of the first plurality of platforms having one or more robots disposed thereon, wherein each platform of the plurality of platforms is moveable in a first direction perpendicular to the vertical orientation of the grow towers; and a lift mechanism coupled to the plurality of platforms and configured to move the plurality of platforms in a second direction parallel to the vertical orientation of the grow towers.
11 . The system of claim 10 , wherein each robot of the one or more robots is moveable in the first direction.
12 . The system of claim 10 , wherein each platform comprises a first surface and a second surface disposed opposite the first surface, wherein the one or more robots are disposed on the first surface and the second surface.
13 . The system of claim 12 , wherein each platform comprises a top surface and a bottom surface disposed opposite the top surface, wherein the one or more robots are disposed on the bottom surface.
14 . A harvesting system, comprising: a grow line; a plurality of vertically oriented grow towers coupled to the grow line, each grow tower of the plurality of grow towers comprising: a first face and a second face oriented opposite the first face; a plurality of grow sites distributed along the first face and the second face; a plurality of hooks coupling the plurality of vertically oriented grow towers to the grow line; a conveyance mechanism engaging the plurality of hooks to enable movement of the plurality of vertically oriented grow towers along the grow line; a first support column disposed adjacent to the first face of the grow towers comprising a first lift mechanism, wherein the first support column is configured to move relative to the grow towers; a second support column disposed adjacent to the second face of the grow towers comprising a second lift mechanism, wherein the second support column is configured to move relative to the grow towers; a first robot coupled to the first support column and having an arm oriented away from the first support column and toward the one or more grow towers, wherein the first lift mechanism is configured to move the one or more first robots vertically along the first support column; and a second robot coupled to the second support column and having a second arm oriented away from the second support column and toward the one or more grow towers, wherein the second lift mechanism is configured to move the second robot vertically along the first support column.
15 . The system of claim 14 , wherein the first support column comprises a first actuator configured to move the first robot vertically along the first support column, the second support column comprises a second actuator configured to move the second robot vertically along the second support column.

Description

BACKGROUND Field Embodiments of the present disclosure generally relate to apparatus and methods for plant and fruit harvesting. Description of the Related Art During the twentieth century, agriculture slowly began to evolve from a conservative industry to a fast-moving high-tech industry in order to keep up with world food shortages, climate change, and societal changes moving away from manually-implemented agriculture techniques increasingly toward computer implemented technologies. In the past, and in many cases still today, farmers only have one growing season to produce the crops which ultimately determines their revenue and food production for the entire year. However, recent advances have disrupted conventional farming and food production practices. As indoor agriculture becomes more viable and increasingly employs data processing technologies and other advanced techniques, the science of agriculture has become more agile and is adapting and learning as new data is collected and insights are generated. Conventional agricultural practices rely upon the availability of arable land, but are subject to various environmental pressures, such as drought, pest, and disease pressures. Advancements in technology have led to the advent of controlled indoor agriculture. Improved efficiencies in space utilization, lighting, and a better understanding of hydroponics, aeroponics, crop cycles, and advancements in environmental control systems have allowed humans to create environments that are more conducive for agriculture to increase yields per square foot, nutrition, and other desirable produce characteristics, such as taste, color, etc. One aspect of controlled indoor agriculture is the utilization of a vertical growth architecture where plants are grown adjacent to one another along a substantially common vertical axis. Plants grown in such a vertical architecture are “stacked” on top of one another. While vertical growing architectures reduce the amount of land area utilized for crop production, challenges exist with the harvesting of certain plants and crop types. For example, growth, size, and fruiting characteristics of certain crop types may adversely impact harvesting techniques for vertical growth architectures. Accordingly, there is a need in the art for improved apparatus and methods for plant harvesting. SUMMARY In one embodiment, a harvesting system is provided. The system includes a grow line, one or more towers coupled to the grow line and moveable along the grow line, a plurality of platforms disposed adjacent to the grow towers, and one or more robots disposed on each of the platforms. In another embodiment, a harvesting system is provided. The system includes a grow line having a plurality of vertically oriented grow towers coupled to the grow line, a first plurality of platforms positioned adjacent to a first region of the grow line and each platform of the first plurality of platforms have one or more first robots disposed thereon. A second plurality of platforms is positioned adjacent to a second region of the grow line and each platform of the second plurality of platforms has one or more second robots disposed thereon. A third plurality of platforms is positioned adjacent to a third region of the grow line and each platform of the third plurality of platforms has one or more third robots disposed thereon. Each robot of the first, second, and third robots are positioned to harvest a different region of the grow towers. In another embodiment, a harvesting system is provided. The system includes a grow line having a plurality of vertically oriented grow towers coupled to the grow line and each grow tower of the plurality has a first face and a second face oriented opposite the first face. A first support column is disposed adjacent to the first face of the grow towers, a second support column is disposed adjacent to the second face of the grow towers, a first robot is coupled to the first support column, and a second robot is coupled to the second support column. In another embodiment, a harvesting system is provided. The system includes a grow line having a plurality of vertically oriented grow towers coupled to the grow line and each grow tower of the plurality has a first face and a second face oriented opposite the first face. A first support column is disposed adjacent to the first face of the grow towers, a second support column is disposed adjacent to the second face of the grow towers, a first platform is coupled to the first support column, and a second platform is coupled to the second support column. In another embodiment, a harvesting tool apparatus is provided. The apparatus includes a body having a base member and at least two arms extending from the base member. The arms define an opening therebetween. A coupling portion extends from the base member opposite the arms and a blade is coupled to the body and extends across the opening from a first arm to a second arm of the at leas