WO2001015513A1 - Self contained fully automated robotic crop production facility - Google Patents
Self contained fully automated robotic crop production facility Download PDFInfo
- Publication number
- WO2001015513A1 WO2001015513A1 PCT/US2000/023877 US0023877W WO0115513A1 WO 2001015513 A1 WO2001015513 A1 WO 2001015513A1 US 0023877 W US0023877 W US 0023877W WO 0115513 A1 WO0115513 A1 WO 0115513A1
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- WIPO (PCT)
- Prior art keywords
- planting
- seeding
- zone
- plant
- housing
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G31/00—Soilless cultivation, e.g. hydroponics
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
- A01B79/005—Precision agriculture
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C21/00—Methods of fertilising, sowing or planting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/04—Single-grain seeders with or without suction devices
Definitions
- the present invention relates to a method, system and devices for automating the production of crops. More specifically, the present invention relates to a closed unit, which can automatically seed, transfer, cultivate, and harvest a crop in an automatic fashion. Further specifically, the seeding, cultivation and harvest of the crop is performed by a robotic device which includes at least one robotic arm capable of manipulating and transferring from one place to another, seeds, seedlings, and mature plants ready for harvest. Further specifically, the present invention performs functions ancillary to the different stages of cultivation, including, but not limited to, irrigation, nutrient and mineral delivery, supply of light for photosynthesis, and regulation of O2/CO2 balance. Still further specifically, the present invention is designed to operate with minimal maintenance for an extended period of time, for example 6 months to one year.
- an imaging system could be, for example, an ultrasonic system (as disclosed in, for example, U.S. Pat. No. 4,228,636), a video imaging system capable of measuring plant area and volume (as disclosed in, for example, U.S. Pat. No. 5,130,545), a non contacting optical imaging system (as disclosed in, for example, U.S. Pat. No.
- Prior art hydroponic or aeroponic greenhouses generally rely on daylight to provide an energy source for photosynthesis. For this reason, crops are produced only on an area less than or equal to the area of the greenhouse. This leaves a great percentage of the greenhouse volume unutilized. And limits total crop yield.
- an automated system for providing a continuous yield of fresh agricultural produce 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 seeding, planting and harvesting robotic device being at the three dimensional zone for holding automatic seeding, planting and harvesting equipment,
- an automated method for providing agricultural produce 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 the housing 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) installing within the housing 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; (d) installing within the housing a seeding, planting and harvesting robotic device being at the three dimensional zone for holding automatic seeding, planting and harvesting equipment, the robotic
- an automated system for providing a continuous yield of fresh seedlings 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 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 seeding and seedlings transferring robotic device being at the three dimensional zone for holding automatic seeding and seedlings transferring equipment, the robotic device including at least one robotic arm for seeding seeds being stored in a seed reservoir in the seeding locations and for transferring germinated seedlings therefrom.
- an automated system for providing a continuous yield of mature plants 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 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 the mature plant; (c) a seedling planting and plant harvesting robotic device being at the three dimensional zone for holding automatic seedling planting and plant harvesting equipment, the robotic device including at least one robotic arm for planting seedlings in the planting locations and for harvesting mature plants grown in the planting locations.
- an automated system for providing a continuous yield of fresh agricultural produce.
- the system includes (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 the three dimensional seeding and germination zone, the seeding shelf 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) at least one planting shelf in the three dimensional planting and growth zone, the at least one planting shelf including a two dimensional array of planting locations, each of the 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 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
- an automated system for providing a continuous yield of fresh seedlings.
- the system includes (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 the three dimensional seeding and germination zone, the seeding shelf including a two dimensional array of seeding locations, each of the locations being for accepting a seed and for supporting development of a seedling; and (c) a seeding and seedlings transferring robotic device being at the three dimensional zone for holding automatic seeding and seedlings transferring equipment, the robotic device including at least one robotic arm for seeding seeds being stored in a seed reservoir in the seeding locations and for transferring germinated seedlings therefrom.
- an automated system for providing a continuous yield of mature plants.
- the system includes (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 the three dimensional planting and growth zone, the at least one planting shelf including a two dimensional array of planting locations, each of the 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 the three dimensional zone for holding automatic seedling planting and plant harvesting equipment, the robotic device including at least one robotic arm for planting seedlings in the planting locations and for harvesting mature plants grown in the planting locations.
- a system for continuous culture of an aquatic plant includes (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 the three dimensional aquaculture zone; and (c) an aquaculture robotic device being at the three dimensional zone for aquaculture maintenance equipment.
- a method for continuous culture of an aquatic plant includes (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 the three dimensional aquaculture zone; and (c) an aquaculture robotic device being at the three dimensional zone for aquaculture maintenance equipment.
- the method includes the steps of (a) providing a housing including a three dimensional aquaculture zone and a three dimensional zone for aquaculture maintenance equipment; (b) installing within the housing at least one aquaculture shelf in the three dimensional aquaculture zone; and (c) using an aquaculture robotic device to maintain the continuous culture of an aquatic plant.
- a system for reducing a concentration of a heavy metal ion in a water supply includes (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 the three dimensional aquaculture zone; and (c) an aquaculture robotic device being at the three dimensional zone for aquaculture maintenance equipment.
- the aquatic plant grown in the at least one aquaculture shelf is capable of effecting bioremediation of the heavy metal ion in the water supply.
- a method for reducing a concentration of a heavy metal ion in a water supply includes the steps of (a) providing a housing including a three dimensional aquaculture zone and a three dimensional zone for aquaculture maintenance equipment; (b) installing within the housing at least one aquaculture shelf in the three dimensional aquaculture zone; (c) using an aquaculture robotic device to maintain the continuous culture of an aquatic plant, (d) allowing an aquatic plant grown in the at least one aquaculture shelf to absorb at least a portion of the heavy metal ion in the water supply; and (e) removing at least a portion of a biomass of the aquatic plant containing the at least a portion of the heavy metal ion in the water supply, thereby effecting bioremediation.
- a system for providing a continuous supply of a biomass of an aquatic plant includes (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 the three dimensional aquaculture zone; and (c) an aquaculture robotic device being at the three dimensional zone for aquaculture maintenance equipment.
- a method for providing a continuous supply of a biomass of an aquatic plant includes the steps of (a) providing a housing including a three dimensional aquaculture zone and a three dimensional zone for aquaculture maintenance equipment; (b) installing within the housing at least one aquaculture shelf in the three dimensional aquaculture zone; and (c) using an aquaculture robotic device to maintain the continuous culture of an aquatic plant; and (d) periodically harvesting at least a portion of the biomass of the aquatic plant.
- any of the above systems 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.
- 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.
- a system which handles mature plants further comprising a cutting and packaging zone, the cutting and packaging zone including a device for cutting roots from the mature plant and a device for wrapping the mature plant.
- each of the plurality of planting shelves includes a stabilized container or frame which contains the array of planting locations
- the array of planting locations includes an incomplete matrix of (N x M - K) suspendably translatable platforms of substantially similar dimensions, each including the plurality of planting locations for accepting seedlings, each of the suspendably translatable platforms being movable to an adjacent free location in the incomplete matrix, such that each of the platforms is movable using one or more steps to a pre-defined position in the incomplete matrix, wherein N and M each independently an integer greater than one, K is an integer which equals at least one, whereas (N x M - K) has a result greater than one.
- N and M each independently equals at least 2, and further wherein K equals 1.
- each of the suspendably translatable platforms is a float and further wherein the container includes an irrigation water reservoir over which the float suspendably translatably floats.
- each of the suspendably translatable platforms is suspended over a suspending and translating mechanism.
- the 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.
- the robotic device is equipped with a system for evaluating a quality parameter of seedlings to be planted in the three dimensional planting and growth zone or of mature plants.
- the quality parameter is selected from the group consisting of seedling height, leaf color, leaf area, plant mass, fruit mass, fruit color and plant metabolic capacity.
- the planting and harvesting robotic device is further equipped with a system for evaluating a quality parameter of the at least one seedling, the evaluation is accomplished via a method selected from the group consisting of contrast ultrasonic imaging, video imaging, spectro-radiometry imaging and tactile sensing.
- each of the plurality of seeding shelves includes a stabilized container or frame which contains the array of seeding locations
- the array of seeding locations includes an incomplete matrix of (P x L - Q) suspendably translatable platforms of substantially similar dimensions, each including the plurality of seeding locations for accepting seeds, each of the suspendably translatable platforms being movable to an adjacent free location in the incomplete matrix, such that each of the platforms is movable using one or more steps to a pre-defined position in the 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 x L - Q) has a result greater than one.
- P and L each independently equals at least 2, and further wherein K equals 1.
- each of the suspendably translatable platforms is a float and further wherein the container includes an irrigation water reservoir over which the float suspendably translatably floats.
- the float is formed with a plurality of seed accepting cavities, each of the cavities is open to an upper surface of the float and being in fluid communication with a channel formed in the float which opens at least to a bottom surface of the float, such that when the float floats over a water surface each of the plurality of cavities receives a seed, the seed is moistened but not submerged, whereas when the seed develops roots, the roots descend via the channel into the water, wherein a specific cavity and its adjacent channel facilitate a transfer of a germinated seedling including its roots.
- each of the suspendably translatable platforms is suspended over a suspending and translating mechanism.
- the 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.
- the seeding, planting and harvesting robotic device includes a base horizontally translatable along a horizontal guiding rail attached to a floor of the housing at the zone for holding automatic seeding, planting and harvesting equipment, a vertical shaft element vertically extending from the base, and an operative head translatably engaged by the shaft and which is equipped with at least one rotating robotic arm, so as to allow a distal end of the robotic arm at least three degrees of freedom.
- the 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 the base along the horizontal guiding rail, vertically translating the operative head along the vertical shaft element and rotating the at least one robotic arm relative to the operative head.
- the at least one robotic arm is equipped with a grabbing mechanism located at a distal end thereof.
- the 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.
- a device for cultivation of plants comprising a container or frame engaging an incomplete matrix of (N x M - K) of suspendably translatable platforms of substantially similar dimensions each including a plurality of locations for accepting seeds or seedlings, each of the suspendably translatable platforms being movable to an adjacent free location in the incomplete matrix, such that each of the platforms is movable using one or more steps to a pre-defined position in the incomplete matrix, wherein N and M each independently an integer greater than one, K is an integer which equals at least one, whereas (N x M - K) has a result greater than one.
- the 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.
- the suspendably translatable platforms exist in the 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.
- N and M each independently equals at least 2, and further wherein K equals 1.
- a device for hydroponically nurturing seeds as they develop into seedlings, and for facilitating transfer of the seedlings comprising a float being formed with a plurality of seed accepting cavities, each of the cavities being open to an upper surface of the float and being in fluid communication with a channel opening at least to a bottom surface of the float, such that when the float floats over a water surface and the cavities receive seeds, the each of the seeds is moistened but not submerged, whereas when the seeds develop roots, the roots descend via the channels into the water, wherein a specific cavity and its adjacent channel facilitate a transfer of a germinated seedling including its roots.
- a device for nurturing seeds as they develop into seedlings includes (a) a float being formed with a plurality of seed accepting cavities organized in pairs, each of the pairs having a first member and a second member; (b) the cavities, each being open to an upper surface of the float and being in fluid communication with a bottom surface of the float, such that when the float floats over a water surface and the cavities receive seeds, the each of the seeds is moistened; and (c) a cover with a plurality of holes corresponding to at least a portion of the cavities, whereas when the seeds develop roots, translational motion of the cover transfers each rooted seed from the first member of the pair of cavities to the second member of the pair of cavities.
- the housing is divided into at least two climatic zones, each of the climatic zones being individually controlled by a climate control system.
- the 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.
- the flower is selected from the group consisting of Sunflower, (Helianthus), Indian mustard (Brassica) and Alyssum.
- the tree is selected from the group consisting of Acacia, Willow (Salix) and Poplar (Populus).
- the genetically modified organism is produced from a genetically modified seed introduced into the housing.
- a defined environment within the housing activates production of a secondary metabolite by a plant grown therein.
- the secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of the plant and a water supply of the plant.
- the genetically modified organism is produced within the housing by transforming a plant housed therein.
- the housing serves as a biohazard containment facility.
- the 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.
- the housing is airtight such that utilization of CO 2 deployed therein is more efficient.
- the seeding and seedling transferring robotic device includes a base attached to the housing at the zone for holding automatic seeding, planting and harvesting equipment, a vertical shaft element vertically extending from the base, and an operative head translatably engaged by the shaft which is equipped with at least one robotic arm, so as to allow a distal end of the robotic arm at least one degree of freedom.
- the seeds in the 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.
- the 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.
- the 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.
- the 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.
- 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.
- the floating plant belongs to a genus selected from the group of genera consisting of Salvinia, Azolla, Eichornia and Lemna.
- the submerged plant belongs to a genus selected from the group of genera consisting of Myriophillum, Nimphoides, Nymphaea and Ludwigia..
- the robotic device is designed and constructed to periodically harvest at least a portion of a biomass of the aquatic plant.
- system further includes 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.
- 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 the at least one aquaculture shelf.
- system further includes within the housing at least one additional zone for supporting development of at least one aquatic plant during a portion of a growth cycle.
- the housing is divided into at least two climatic zones, each of the climatic zones being individually controlled by a climate control system.
- a genetically modified aquatic plant is introduced into the housing and cultured therein.
- a defined environment within the housing activates production of a secondary metabolite by the aquatic plant grown therein.
- the secondary metabolite is harvestable from at least one location selected from the group consisting of at least a portion of the aquatic plant and a water supply of the aquatic plant.
- a genetically modified aquatic plant is produced within the housing by transforming an aquatic plant housed therein.
- the housing serves as a biohazard containment facility.
- the 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.
- the housing is airtight such that utilization of CO 2 deployed therein is more efficient.
- the robotic device includes a base attached to the housing at the zone for aquaculture maintenance equipment, a vertical shaft element vertically extending from the base, and an operative head translatably engaged by the shaft which is equipped with at least one robotic arm, so as to allow a distal end of the robotic arm at least one degree of freedom.
- the 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 the robotic arm can be employed to effect a harvest of at least a portion of a biomass of the aquatic plant.
- the fluid communication with the bottom surface of the float is through an item selected from the group consisting of a screen and a liquid permeable membrane.
- the present invention successfully addresses the shortcomings of the presently known configurations by providing a system and method for producing a continuous yield of high quality seedlings or produce with minimal labor input.
- the present invention facilitates increased production per unit area, making cultivation of crops on high cost property an economically viable option.
- the present invention further provides systems and methods for producing a continuous yield of aquatic plants, biomass derived therefrom, or geneticically modified organisms with minimal labor input.
- FIG. 1 is a top view of the automated system for providing a continuous yield of fresh agricultural produce of the present invention
- FIG. 2 is a perspective view of the system showing the spatial relationship between the seeding, planting and harvesting robotic device, the seeding and germination zone, and the planting and growth zone;
- FIG. 3 is a perspective view accompanied by blowups of the robotic device used in the system according to the present invention.
- FIG. 4 is a top view of the automated system for providing a continuous yield of fresh agricultural produce according to the present invention illustrating the translational motion of the robotic device and its robotic arms;
- FIG. 5a is a top view of a device for hydroponically germinating seeds according to the present invention.
- FIG. 5b is a cross sectional view of the device for hydroponically germinating seeds according to the present invention.
- FIG. 5c is a perspective view of a device for hydroponically germinating seeds according to the present invention.
- FIG. 6 is a top view of a distal end or a robotic arm according to the present invention
- FIG. 7 is a top view of an aquaculture shelf and an aquaculture robotic device according to the present invention
- FIG. 8 is a cutaway view of a device for nurturing seeds as they develop into seedlings, and for facilitating transfer of the seedlings, according to the present invention.
- FIG. 9 is a cutaway view of an additional embodiment of a device for nurturing seeds as they develop into seedlings, and for facilitating transfer of the seedlings.
- the present invention is of an automated system, method and devices for providing a continuous yield of fresh agricultural produce.
- the system according to the present invention includes a three dimensional seeding and germination zone including seeding shelves arranged in substantially horizontal layers, a three dimensional planting and growth zone including planting shelves arranged in substantially horizontal layers, and a three dimensional zone for holding automatic seeding, planting and harvesting equipment including a robotic device with at least one robotic arm for seeding seeds stored in a seed reservoir in seeding locations in the seeding and germination zone, for planting seedlings in planting locations in the planting and growth zone and for harvesting mature plants from the planting locations, which can be operated automatically for a prolonged period of time substantially without human intervention.
- the present invention can be used to transform a reservoir of seeds into a supply of fresh produce according to a pre-determined time schedule.
- the present invention can be used to transform a reservoir of seeds into a supply of seedlings according to a pre-determined time schedule.
- the present invention can be used to transform a supply of seedlings into a supply of mature plants according to a pre-determined time schedule.
- the term "irrigation system” refers to any device or system used to deliver at least water, but possibly also minerals, nutrients, fertilizers, and other materials deemed necessary to promote germination of seeds and subsequent growth of plants from those seeds.
- An irrigation system includes a supply of water, a delivery mechanism and any necessary conduits or tubes necessary to conduct the water to cultivation zone(s).
- An irrigation system may further include additional components, including, but not limited to, a filtration system, a sterilization system, and a de-ionizing component. Such systems are well known in the art.
- delivery mechanism refers to any device or system, which causes water to flow into the conduits or pipes of an irrigation system.
- a delivery mechanism therefore includes, but is not necessarily limited to, various types of pumps, gravity feed systems, flow regulators, and timers.
- delivery mechanism can be construed to include any device or system, which regulates either the flow rate or the temporal distribution, or both, of water and other aqueous solutions.
- the term "plant” refers to a plant in any stage of development, including but not limited to, a seed, a seedling and a mature plant or parts thereof.
- the term "plant” refers to a plant in any stage of development, including but not limited to, a seed, a seedling and a mature plant or parts thereof.
- mature plant refers to a plant, including but not limited to, a vegetable, at a stage of growth generally considered desirable for harvest for subsequent consumption by human beings. Mature plant in this sense is not necessarily a physiologic definition, e.g., a mature plant may, or may not be, sexually mature and may, or may not contain, fertile or fertilizable seeds.
- shelf and “shelves” refer to container(s), holder(s), frame(s) or other construction(s) with sufficient depth and strength to carry or hold material sufficient for sustaining plant growth.
- that material for sustaining plant growth is an aqueous growth media.
- material sufficient for sustaining plant growth is a solid media, such as soil or artificial soil, or a gaseous media such as air or water vapor.
- a "climate control system” is any system which regulates at least one parameter relating to climate, including but not limited to, oxygen/carbon dioxide balance, relative humidity, lighting, acidity/alkalinity, O2 saturation and temperature.
- temperature may refer to either air or water temperature.
- acidity/alkalinity may refer to either soil or water pH.
- O2 saturation may refer to either air or water O2 saturation.
- GMO geometrically modified organism
- transformation and its conjugations such as transformation, transforming and transformed, all relate to the process of introducing heterologous nucleic acid sequences into a cell or an organism.
- the term thus reads on, for example, “genetically modified”, “transgenic” and “transfected” or “viral infected” and their conjugations, which may be used herein to further describe the present invention.
- biohazard containment may refer, for example to Level I, II, or III containment.
- continuous culture refers to any culture which prolongs the growth phase and delays entry into the death phase. While the length of time a continuous culture may be maintained is theoretically unlimited, in practice some constraints on maximum culture propagation time may exist.
- fluid communication refers equally to an open channel, a channel covered by a screen and a channel covered by a liquid permeable membrane.
- Figure 1 illustrates a top view of the automated system for providing a continuous yield of fresh agricultural produce according to the present invention, which is referred to hereinbelow as system 2.
- System 2 includes a housing 6 which is preferably formed with insulating walls 42. Housing 2 is subdivided into a three dimensional seeding and germination zone 8 which, as is further detailed hereinunder, includes horizontal layers of seeding shelves 62, a three dimensional planting and growth zone 24 which, as is further detailed hereinunder, includes horizontal layers of planting shelves 64, and a three dimensional zone, which, as is further detailed hereinunder, serves for holding automatic seeding, planting and harvesting equipment 40.
- a three dimensional seeding and germination zone 8 which, as is further detailed hereinunder, includes horizontal layers of seeding shelves 62, a three dimensional planting and growth zone 24 which, as is further detailed hereinunder, includes horizontal layers of planting shelves 64, and a three dimensional zone, which, as is further detailed hereinunder, serves for holding automatic seeding, planting and harvesting equipment 40.
- housing 6 is a standard container designed for shipment of goods, which is modified to include all the components of system 2 as is further detailed hereinunder.
- a standard container is presently preferred because such a container has sufficient structural rigidity to enable safe shipment of system 2 to different locations world- wide without the need for further packaging, disassembling and the like.
- a 20 feet long refrigeration container for example of the type sold by TRS containers (Avenel, NJ) is modified to serve as housing 6 of system 2 according to the present invention, although other constructions could equally fulfill this function.
- TRS containers Asvenel, NJ
- the use of a standard container allows the use of a plurality of such containers which can be arranged in a containers farm one on the side or the top of the other, to thereby save space. Such an arrangement is enabled due to the structural rigidity of standard containers.
- Production of agricultural produce according to the present invention begins with the introduction of a supply of seeds into a seed reservoir 4. Seeds are removed from seed reservoir 4 by a seeding, planting and harvesting robotic device 16 using a robotic arm 44 which serves for seeding the seeds. As is further detailed hereinunder, arm 44 is equipped with a mini-finger gripper at its distal end, for example of the type sold by Sommer Automatic (U.S.) which is capable of picking up a seed, carrying the seed to seeding and germination zone 8 and accurately dropping the seed thereat.
- U.S. Sommer Automatic
- seeds are sequentially fed to the seeding, planting and harvesting robotic device 16 by an automatic seeding machine which is installed in seed reservoir 4.
- seeding and germination zone 8 contains a vertical stack (best seen in Figure 2) of seeding shelves 62 which are accessible to robotic arm 44.
- Each seeding shelf 62 contains a two dimensional array of seeding locations 28 preferably in the form of seed accepting cavities 29, a preferred embodiment thereof is further described hereinunder.
- the array of seeding locations is made up of an incomplete matrix of suspendably translatable platforms 10 (best seen in Figures 5a-c) of substantially similar dimensions, each including a plurality of seed accepting cavities 29 each serves for accepting an individual seed.
- Suspendably translatable platforms 10 pictured in Figures 1 and 5 each contain 7 cavities 29, although a smaller or greater number could be in each suspendably translatable platform 10 depending on the size of seeding shelves 62 and the crop to be cultivated.
- each of suspendably translatable platforms 10 is movable to an adjacent free location 10' within an incomplete matrix of dimensions (PxL-Q), such that each of platforms 10 is movable using one or more steps to a pre-defined position 48 within the incomplete matrix, wherein P and L are each independently an integer greater than one, K is an integer which equals at least one, and (P x L - Q) has a result greater than one.
- movement of suspendably translatable platforms 10 is accomplished by pistons 12 and 14, the pistons being under the control of a computerized CPU 38, which has additional functions as is further detailed hereinunder.
- each suspendably translatable platform contains 7 seed accepting cavities (as is pictured in Figure 1) and P and L each equals 2, while Q equals 1, 21 seed accepting cavities 28 will be sequentially filled by the seeding arm 44 of robotic device 16 as they pass under pre defined position 48 for accepting a seed.
- each suspendably translatable platform contains 7 seed accepting cavities, P is 2, L is 10 and Q is 1, 133 seed accepting cavities 28 will be sequentially filled by the seeding arm 44 of robotic device 16 as they pass under pre defined position 48 for accepting a seed.
- P is 2
- L is 10
- Q is 1
- 133 seed accepting cavities 28 will be sequentially filled by the seeding arm 44 of robotic device 16 as they pass under pre defined position 48 for accepting a seed.
- Increasing P to 3 while all other parameters remain constant means that 203 seed accepting cavities will be sequentially filled by the seeding arm 44 of robotic device 16 as they pass under pre defined position 48 for accepting a seed.
- germination of seeds is performed under hydroponic conditions.
- suspendably translatable platforms 26 take the form of floats 66 which suspendably and translatably float over the surface of an irrigation water reservoir held within a container, forming seeding shelf 62.
- floats 66 contain seed accepting cavities which, as best seen in Figure 5b, have a special configuration, wherein each of seed accepting cavities 29 is open to an upper surface of float 66 and is also in fluid communication with a channel 70 opening at least to a bottom surface of float 66, such that when float 66 floats over a water surface and cavities 29 receive seeds, each seed lodges in the closed lower end 70 of cavity 29 where it is moistened, but not submerged.
- FIG. 5b Depicted in Figure 5b is one embodiment of such a float where an angle 76 between a longitudinal axis 72 of a seed accepting cavity 29 and a longitudinal axis 74 of its respective channel 70 is 20 degrees. Other angles between 0 and 90 degrees could also be employed in such a float 66.
- system 2 Important to the function of system 2 according to this embodiment of the present invention is the arrangement of seed accepting cavities 29 in a straight line within suspendably translatable platforms 10 so that they may be brought sequentially under a pre defined position 48, for accepting a seed.
- each of suspendably translatable platforms 10 is suspended over a suspending and translating mechanism and is movable by a method, such as, but not limited to, floatation on the surface of a liquid (as described above), rolling on balls, rolling on beads, rolling on bearings, rolling on attached rotating wheels and sliding on a surface coated with an essentially friction free material.
- a method such as, but not limited to, floatation on the surface of a liquid (as described above), rolling on balls, rolling on beads, rolling on bearings, rolling on attached rotating wheels and sliding on a surface coated with an essentially friction free material.
- seedlings grow within a medium, such as, but not limited to, an aqueous solution, air, and an inert absorbent material, an artificial soil or a natural soil.
- a medium such as, but not limited to, an aqueous solution, air, and an inert absorbent material, an artificial soil or a natural soil.
- robotic device 16 After a period of time, which is dependent upon the crop under cultivation, seedlings will be large enough that they require transfer out of seeding shelves 62. This transfer is accomplished by seeding, planting and harvesting robotic device 16 using, for example, robotic arm 44 which is equipped with a mini-finger gripper at its distal end which seeded the seeds. Thus, robotic device 16 now functions as a seedlings transferring and planting device.
- this transfer is to a planting shelf 64 in the planting and growth zone 24. More specifically, transfer is to a seedling accepting cavity 30, which has been positioned at a pre-defined position for planting a seedling 49 as is further detailed below.
- Planting and growth zone 24 contains a vertical stack ( Figure 2) of planting shelves 64 which are accessible to transferring and planting robotic arm 44.
- Each planting shelf 64 contains a two dimensional array of planting locations 30 in the form of seedling accepting cavities 31.
- the array of planting locations is made up of an incomplete matrix of suspendably translatable platforms 26 (Figure 1) of substantially similar dimensions, each including a plurality of seedling accepting cavities 31 for accepting seedlings.
- Suspendably translatable platforms 26 pictured in Figure 1 each contain 8 cavities 31, although a smaller or greater number could be in each suspendably translatable platform 26 depending on the size of seeding shelves 64 and the crop to be cultivated.
- each of suspendably translatable platforms 26 is movable to an adjacent free location within an incomplete matrix of dimensions (NxM-K), such that each of the platforms is movable using one or more steps to a pre-defined position 49 within the incomplete matrix, wherein N and M are each independently an integer greater than one, K is an integer which equals at least one, and (NxM-K) has a result greater than one.
- each suspendably translatable platform contains 8 planting locations 30 for accepting seedlings (as is pictured in Figure 1) and N and M each equals 2, while K equals 1, 24 planting locations 30 for accepting seedlings will be sequentially filled by seedling planting robotic device 16 as they pass under pre defined position 49 for accepting a seedling.
- each suspendably translatable platform 26 contains 8 planting locations 30 for accepting seedlings, N is 2, M is 10 and K is 1, 152 planting locations 30 for accepting seedlings will be sequentially filled by the seedling planting robotic device 16 as they pass under pre-defined position 49 for accepting a seedling.
- suspendably translatable platforms 26 take the form of suspendably and translatably floats, which float over the surface of an irrigation water reservoir in a container which form a planting shelf 64. As the roots of the seedlings develop, they spread out in the irrigation water. The net effect is that a planting location 30 for accepting seedlings facilitates transfer of a mature plant, including its roots, out of the planting and growth area.
- Important to the function of system 2 is the arrangement of planting locations 30 for accepting seedlings in a straight line within suspendably translatable platforms 26 so that they may be brought sequentially under pre-defined position 49 for accepting a seedling.
- the seedlings become mature plants ready for harvest.
- the harvesting is accomplished by robotic device 16, which now serves as a plant harvesting robotic device, using a second robotic arm 46 with a large finger gripping device at its distal end.
- This harvesting robotic arm lifts the plant, with its roots, out of its planting location 30, and transfers it to a cutting and packaging zone 37 within housing 6.
- mature plants are collected at this stage from cutting and packaging zone 37 by personnel accessing zone 37 through opening 40 formed in housing 6.
- cutting and packaging zone 37 includes a roots removing device 34 which serves for cutting roots from the mature plant and a wrapping device 32 which serves for wrapping the mature plant.
- Device 34 may employ, for example, a circular saw blade 39 such as a panel sizing saw blade (Leuco). Cut off roots exit housing 6 via a chute 36 below root cutting device 34.
- harvesting robotic arm 46 transfers the harvested mature plant to device 34 for wrapping.
- Plant automatic wrapping devices are well known in the art. Wrapped mature plants are either stored in cutting and packaging zone 37 for subsequent collection therefrom by personnel accessing zone 37 through opening 40 or exit housing 6 of system 2 via a dedicated exit chute. Seeding, planting and harvesting robotic device 16 of system 2 according to the present invention will now be further described in context with Figure 3.
- robotic device 16 includes a base 80 horizontally translatable along a horizontal guiding rail 82 attached to a floor of housing 6 in zone 40 which serves for holding automatic seeding, planting and harvesting equipment.
- Device 16 further includes a vertical shaft element 84 vertically extending from base 80, and an operative head 86 translatably engaged by vertical shaft 80 and which is equipped with at least one rotating robotic arm 44, 46 (two are shown), so as to allow a distal end of robotic arm(s) 44, 46 at least three degrees of freedom.
- Seeding, planting and harvesting robotic device 16 further includes at least one motor 88 (three are shown) oppressively engaged therewith for performing at least one task, such as, but not limited to, horizontally translating base 80 along horizontal guiding rail 82, vertically translating operative head 86 along vertical shaft element 84, and, rotating at least one robotic arm 44, 46 relative to operative head 86.
- Robotic arm(s) 44, 46 are equipped with a grabbing mechanism located at distal ends 45, 47 thereof.
- the arm and grabbing mechanism are constructed and designed so as to perform at least one task, such as, but not limited to, picking up a seed, placing a seed, picking up a seedling, placing a seedling and picking up a mature plant.
- the seeding, planting and harvesting robotic device having at least one robotic arm is further equipped with a system for evaluating a quality parameter of a plant (e.g., seedling, mature plant, fruit).
- the quality parameter to be evaluated can be, for example, plant height, leaf color, leaf area, plant mass, fruit color, fruit mass and/or plant metabolic capacity.
- the evaluation can be accomplished, for example, via a method, such as, but not limited to, contrast ultrasonic imaging, video imaging, spectro-radiometry imaging, effected via a suitable sensor 100 and/or tactile sensing effected by tactile sensitive surfaces 102 or arm 44 and/or 45.
- System 2 also includes at least one ancillary system selected from the group consisting of an irrigation system 22, a water conditioning system, which preferably includes a sterilization system 18 and a filtration system 20, a system for regulating oxygen/carbon dioxide balance, a system for regulating relative humidity, a lighting system, and a temperature control system. While some of these features are depicted within housing 6, it will be appreciated that they might equally well be located outside thereof, with the exception of the lighting system. Some or all of the ancillary systems may be grouped into a climate control system.
- the irrigation system supplies water to both seeding and germination zone 8 and to planting and growth zone 24. Control of both delivery times and volumes to be delivered by irrigation system 22 is necessary and must be separately regulated for each zone/shelf of system 2.
- the water conditioning system is depicted as a filtration system 18 and a sterilization system 20, but might also include provisions for de-ionization, de-chlorination, pH adjustment, addition of minerals, nutrients, fertilizers, hormones or growth promotants.
- Regulation of oxygen/carbon dioxide balance can be effected by means of sensors controlling release of carbon dioxide from pressurized cylinders.
- Relative humidity can be controlled via use of commercially available humidifiers/dehumidifiers. Due to the large surface area of irrigated seeding shelves and planting shelves within the housing, low humidity should not be a problem for most crops.
- the lighting system is installed above each seeding shelf 62 and above each planting shelf 64.
- Agro-Lite bulbs Philips Lighting, Somerset, NJ
- similar commercially available lights are suitable for use as part of system 2 according to the present invention. Again, individual control of lighting for each shelf in the system is preferred as optimal lighting requirements vary throughout the growth cycle of a crop.
- Temperature control is accomplished via the use of a commercial air-conditioning/heating system suited to climactic conditions where the housing for the system is installed.
- Co-ordination of all ancillary systems, as well as of actions of the seeding, planting and harvesting robotic device, as further detailed hereinunder and of movement of suspendably translatable platforms in seeding shelves, and of suspendably translatable platforms in planting shelves is under the control of a computerized CPU 38.
- This arrangement allows collection of data on production parameters in the absence of personnel. Such data can be retrieved and reviewed on a periodic basis, or if the system performance requires adjustment.
- opening 40 is provided for periodic maintenance, repairs, and replenishment of supplies as needed by a worker.
- system 2 is housed in a standard container which serves as housing 6 of system 2.
- Opening 40 is realized in this case as the container's opening which has doors.
- some or all of the equipment which occupies the zone for holding automatic seeding, planting and harvesting equipment is suspended on the inner side of the container's doors.
- Such an arrangement allows easy access for maintenance and repairs.
- such an arrangement allows east access to the seeding and planting zones, if so required.
- system 2 Many of the devices and systems operatively engaged with system 2 according to the present invention are well known and are described herein in terms which allow one ordinarily skilled in the art to operably assemble such systems and devices into an operative system 2.
- system 2 In general, the unique and advantageous features of system 2 are its space exploitation ability and full automation in producing agricultural produce. Specific advantages of certain devices employed by system 2 are further described hereinabove, while the need for system 2 is described in detail in the Background section.
- System 2 includes a housing 6 subdivided into a three dimensional seeding and germination zone 8, a three dimensional planting and growth zone 24 and a three dimensional zone for holding automatic seeding, planting and harvesting equipment 40.
- System 2 further includes at least one seeding shelf 62 in zone 8, shelf 62 including a two dimensional array of seeding locations 28 as detailed hereinabove.
- System 2 further includes at least one planting shelf 64 in zone 24, at least one shelf 64 including a two dimensional array of planting locations 30 as described hereinabove.
- System 2 further includes a robotic device 16 being at zone 40 for holding automatic seeding, planting and harvesting equipment, robotic device 16 including at least one robotic arm 44 for seeding seeds being stored in a seed reservoir 4 in the seeding locations 28, for planting seedlings in planting locations 30 and for harvesting mature plants from planting locations 30.
- At least one seeding shelf 62, and at least one planting shelf 64 may, according to some preferred embodiments, be arranged in a single, essentially vertical, stack.
- Housing 6 may be constructed, for example, of at least one 20 ft. shipping container or at least one 40 foot shipping container or any combination thereof.
- System 2 includes a housing 6 subdivided into three dimensional seeding and germination zone 8 and three dimensional zone 40 for holding automatic seeding and seedlings transferring equipment.
- System 2 further includes at least one seeding shelf 62 in zone 8, shelf 62 including a two dimensional array of seeding locations 28 as detailed hereinabove.
- System 2 further includes a seeding and seedlings transferring robotic device 16 being at zone 40 for holding automatic seeding and seedlings transferring equipment.
- Robotic device 16 includes at least one robotic arm 44 for seeding seeds being stored in a seed reservoir 4 in the seeding locations 28 and for transferring germinated seedlings therefrom.
- System 2 includes a housing 6 subdivided into three dimensional planting and growth zone 24 and three dimensional zone for holding automatic seedling planting and plant harvesting equipment 40.
- System 2 further includes at least one planting shelf 64 in zone 24, shelf 64 including a two dimensional array of planting locations 30 as described hereinabove.
- System 2 further includes a seedling planting and plant harvesting robotic device 16 being at zone 40 for holding automatic seedling planting and plant harvesting equipment
- Robotic device 16 includes at least one robotic arm 44 for planting seedlings in planting locations 30 and for harvesting mature plants therefrom.
- housing 6 is divided into at least one additional zone for supporting development of at least one plant during a portion of a growth cycle.
- housing 6 might be divided into 3, more preferably 4, most preferably 5 or more zones, each zone providing an optimum amount of space, light and nutrients for plants in a particular stage of the production or growth cycle.
- housing 6 is divided into at least two climatic zones, each of the climatic zones being individually controlled by a climate control system.
- climate zones might correspond, for example, to seeding and germination zone 8 and planting and growth zone 24.
- System 2 is well suited to use in producing a wide variety of fresh agricultural produce, including but not limited to, vegetables, leafy vegetables, flowers, fruits, trees, tubers, fungi, cereal grains, genetically modified organisms or oilseeds.
- the flower may be, for example, Sunflower, (Helianthus), Indian mustard (Brassica) or Alyssum.
- the tree may be, for example, Acacia, Willow (Salix) and Poplar (Populus).
- the genetically modified organism may be, for example, produced from a genetically modified seed introduced into housing 6. Alternately or additionally, the genetically modified organism may be produced within housing 6 by transforming a plant housed therein. According to some preferred embodiments, housing 6 serves as a biohazard containment facility.
- a defined environment within housing 6 activates production of a secondary metabolite by a plant grown therein.
- the secondary metabolite is then harvestable either from at least a portion of the plant ore from a water supply of the plant.
- Housing 6 may be airtight such that utilization of CO 2 deployed therein is more efficient than in previously known configurations.
- the seeding and seedling transferring robotic device 16 includes a base 80 attached to housing 6 at the zone 40 for holding automatic seeding, planting and harvesting equipment, a vertical shaft element 84 vertically extending from base 80, and an operative head 86 translatably engaged by shaft 80 which is equipped with at least one robotic arm 44, so as to allow a distal end of the robotic arm at least one degree of freedom.
- the seeds in seed reservoir 4 are, for example, monocotyledonous seeds, dicotyledonous seeds, at least a portion of a plant, spores, rooted plugs or tissue culture material.
- the at least a portion of a plant may be, for example, at least a portion of a leaf, at least a portion of a flower, at least a portion of a stem or at least a portion of a root.
- the fresh seedling may be, for example, a seedling of a plant such as a vegetable, a leafy vegetable, a flower, a fruit, a tree, a tuber, a fungus, a cereal grain, a genetically modified organism or an oilseed.
- a seedling of a plant such as a vegetable, a leafy vegetable, a flower, a fruit, a tree, a tuber, a fungus, a cereal grain, a genetically modified organism or an oilseed.
- the mature plants may be, for example, vegetables, leafy vegetables, flowers, fruits, trees, tubers, or genetically modified organisms.
- the present invention is further embodied by a system 2 for continuous culture of an aquatic plant.
- System 2 includes housing 6 containing a three dimensional aquaculture zone 24 and a three dimensional zone for aquaculture maintenance equipment 40.
- System 2 further includes at least one aquaculture shelf 300 ( Figure 7) in three dimensional aquaculture zone 24 and an aquaculture robotic device 16 in zone 40 for aquaculture maintenance equipment.
- the present invention is further embodied by a method for continuous culture of an aquatic plant.
- the method includes the steps of providing housing 6 including a three dimensional aquaculture zone 24 and a three dimensional zone for aquaculture maintenance equipment 40.
- the method further includes the step of installing within housing 6 at least one aquaculture shelf 300 in aquaculture zone 24, and the step of using an aquaculture robotic device 16 to maintain the continuous culture of an aquatic plant.
- the present invention is further embodied by a system 2 for reducing a concentration of a heavy metal ion in a water supply.
- System 2 includes housing 6 containing a three dimensional aquaculture zone 24 and a three dimensional zone for aquaculture maintenance equipment 40.
- System 2 further includes at least one aquaculture shelf 300 ( Figure 7) in three dimensional aquaculture zone 24 and an aquaculture robotic device 16 in zone 40 for aquaculture maintenance equipment.
- the aquatic plant grown in the at least one aquaculture shelf is capable of effecting bioremediation of the heavy metal ion in the water supply. Periodic removal of at least a portion of the biomass of the aquatic plant assures that addition bioremediation capacity is constantly available.
- the present invention is further embodied by a method for reducing a concentration of a heavy metal ion in a water supply.
- the method includes the steps of providing housing 6 including a three dimensional aquaculture zone 24 and a three dimensional zone for aquaculture maintenance equipment 40.
- the method further includes the step of installing within housing 6 at least one aquaculture shelf 300 in aquaculture zone 24, and the step of using an aquaculture robotic device 16 to maintain the continuous culture of an aquatic plant.
- the method further includes the step of allowing an aquatic plant grown in the at least one aquaculture shelf to absorb at least a portion of the heavy metal ion in the water supply; and the step of removing at least a portion of a biomass of the aquatic plant containing the at least a portion of the heavy metal ion in the water supply, thereby effecting bioremediation.
- System 2 for providing a continuous supply of a biomass of an aquatic plant.
- System 2 includes housing 6 containing a three dimensional aquaculture zone 24 and a three dimensional zone for aquaculture maintenance equipment 40.
- System 2 further includes at least one aquaculture shelf 300 ( Figure 7) in three dimensional aquaculture zone 24 and an aquaculture robotic device 16 in zone 40 for aquaculture maintenance equipment.
- Robotic device 16 periodically deposits at least a portion of a biomass of the aquatic plant in biomass harvest unit 302 for removal from housing 6.
- the present invention is further embodied by a method for providing a continuous supply of a biomass of an aquatic plant.
- the method includes the steps of providing housing 6 including a three dimensional aquaculture zone 24 and a three dimensional zone for aquaculture maintenance equipment 40.
- the method further includes the step of installing within housing 6 at least one aquaculture shelf 300 in aquaculture zone 24, and the step of using an aquaculture robotic device 16 to maintain the continuous culture of an aquatic plant.
- the method further includes the step of periodically harvesting at least a portion of the biomass of the aquatic plant via biomass harvest unit 302 or by filtration of at least a portion of the water in aquaculture shelf 300.
- the aquatic plant may be, for example, a submerged plant, a floating plant, a yeast, a fungus, an algae, a blue-green algae, or any other micro-organism.
- the floating plant may belong, for example, to a genus such as Salvinia, Azolla, Eichornia or Lemna.
- the submerged plant may belong, for example, to a genus such as Myriophillum, Nimphoides, Nymphaea or Ludwigia.
- Robotic device 16 may be designed and constructed to periodically harvest at least a portion of a biomass of the aquatic plant.
- Robotic device 16 may therefore includes a base 80 attached to housing 6 at the zone 40 for aquaculture maintenance equipment, a vertical shaft element 84 vertically extending from base 80, and an operative head 86 translatably engaged by shaft 80 which is equipped with at least one robotic arm 44, so as to allow a distal end of the robotic arm at least one degree of freedom.
- At least one robotic arm 44 may be equipped with a tool 303 such as, for example, a comb, a net, a filter, a scoop or a strainer such that robotic arm 44 can be employed to effect a harvest of at least a portion of a biomass of the aquatic plant.
- Circular water flow 305 around divider 304 can bring at least a portion of the biomass of the aquatic plant within range of tool 303 on distal end 45 of robotic arm 44.
- harvest of at least a portion of the biomass of the aquatic plant is effected by filtration of at least a portion of an aquaculture in the at least one aquaculture shelf 300.
- System 2 may further include a device for performing at least one action including, bit not limited to, drying, crumbling, powderizing and grinding at least a portion of a biomass of the aquatic plant. Such actions might be performed, for example, in biomass harvest unit 302.
- a genetically modified aquatic plant may be introduced into housing 6 and cultured therein. Alternately or additionally a genetically modified aquatic plant is produced within housing 6 by transforming an aquatic plant housed therein. Housing 6 may therefore serve as a biohazard containment facility.
- a defined environment within housing 6 activates production of a secondary metabolite by the aquatic plant grown therein.
- the secondary metabolite is then harvestable either from at least a portion of the aquatic plant or from a water supply of the aquatic plant.
- a device 200 (figures 8 and 9) further embodies the present invention for nurturing seeds as they develop into seedlings, and for facilitating transfer of the seedlings.
- Device 200 includes a float 66 being formed with a plurality of seed accepting cavities 29 organized in pairs. Each of the pairs has a first member 206 and a second member 208. Cavities 29 are each open to an upper surface of float 66 and are in fluid communication with a bottom surface float 66, such that when the float floats over a water surface and cavities 29 receive seeds, each of the seeds is moistened.
- Device 200 further includes a cover 204 with a plurality of holes 205 corresponding to at least a portion of the cavities 29, whereas when the seeds develop roots, translational motion of cover 204 with respect to base 203 transfers each rooted seed from first member 206 of pair of cavities 29 to second member 208 of pair of cavities 29.
- fluid communication with the bottom surface of float 66 is through an item 202 such as, for example, a screen or a liquid permeable membrane.
Abstract
Description
Claims
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US10/083,343 US6508033B2 (en) | 1999-09-01 | 2002-02-27 | Self contained fully automated robotic crop production facility |
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Also Published As
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AU7093500A (en) | 2001-03-26 |
EP1241927A4 (en) | 2008-02-20 |
CA2382585A1 (en) | 2001-03-08 |
EP1241927A1 (en) | 2002-09-25 |
WO2001015513A9 (en) | 2002-09-12 |
US6508033B2 (en) | 2003-01-21 |
US6243987B1 (en) | 2001-06-12 |
US20020088173A1 (en) | 2002-07-11 |
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