Robotic harvesting system for vertical plant cultivation
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.
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.