Robotic System for Harvesting Crops in Vertical Farms and Method Thereof

Abstract

ABSTRACT: Title: Robotic System for Harvesting Crops in Vertical Farms and Method Thereof The present disclosure proposes a robotic system (100) for harvesting crops in vertical farms (102) to effectively reduce the need for human intervention while simultaneously optimizing productivity. The robotic system (100) comprises the vertical farm (102), a harvesting manipulator (110), and a control system (120). The robotic system (100) reduces the expenses incurred in labor associated with conventional manual harvesting in the vertical farms (100), presenting a more sustainable and economically feasible solution. The robotic system (100) mitigates the risk of worker injuries and safety concerns that arise from manual harvesting by introducing a specialized robotic system to automate the process. The robotic system (100) enhances the sustainability of vertical farming by offering a highly efficient and automated harvesting technology, which reduces the dependency on manual labor and promotes the optimization of resources.

Specification

Description:DESCRIPTION:
Field of the invention:
[0001] The present disclosure generally relates to the technical field of robotic automation systems for agriculture and, in particular, relates to a robotic system for harvesting crops in vertical farms to effectively reduce the need for human intervention while simultaneously optimizing productivity.
Background of the invention:
[0002] The agricultural landscape is undergoing a rapid transformation with the advent of vertical farming. This innovative approach offers a sustainable and efficient solution for producing crops in urban environments. By stacking growing layers and utilizing controlled environments with advanced technologies such as LED lights and hydroponics, it maximizes food production while minimizing land and water usage. However, despite its undeniable potential, vertical farming faces a significant challenge in the form of harvesting. Unlike traditional field crops, harvesting within these vertically stacked and controlled environments necessitates unique solutions.

[0003] The harvesting process in vertical farms is predominantly dependent on manual labor. Workers are required to navigate through stacked layers, handpicking crops, which is a laborious and time-consuming process. This inefficiency translates to higher costs for farmers, as labor expenses increase and potential yield losses occur due to delays and damage during manual handling. Additionally, the repetitive nature of the work poses concerns regarding worker safety and fatigue.

[0004] Acknowledging these obstacles, certain individuals have resorted to employing stationary robotic systems to facilitate the process of harvesting. These systems provide swifter speeds and a decreased dependence on manual labor, thereby potentially reducing expenses. Nevertheless, the substantial upfront investment required per individual farm stack renders them unattainable for numerous smaller-scale operations. Furthermore, their immobile nature restricts them to predetermined crop configurations, thereby impeding their adaptability.

[0005] In the quest for improved affordability and flexibility, some have devised mobile robots that come equipped with basic end effectors. These systems offer enhanced mobility and the potential for reduced costs when compared to their fixed counterparts. However, their simplicity often comes at the cost of precision. Due to their inability to delicately handle and manipulate crops, these robots may cause damage and are typically unsuitable for a wide range of crop types.

[0006] Although advanced technologies such as sophisticated end effectors and vision-guided systems have made significant strides in overcoming certain limitations, they often come with added complexities and cost barriers. This can impede their widespread adoption, particularly among smaller farms. Additionally, current solutions tend to focus on specific aspects such as mobility or precision, without taking a holistic approach that effectively combines these features.

[0007] Therefore, there is a need for a robotic system for harvesting crops in vertical farms to effectively reduce the need for human intervention while simultaneously optimizing productivity. There is also a need for a robotic system that features robotic manipulators equipped with multi-purpose end effectors and mobile bases, specifically designed for crop harvesting in vertical farms. Further, there is also a need for a robotic system that effectively address the limitations of existing approaches, thereby paving the way for a sustainable and economically viable prospect for vertical farming.
Objectives of the invention:
[0008] The primary objective of the invention is to provide a robotic system for harvesting crops in vertical farms to effectively reduce the need for human intervention while simultaneously optimizing productivity.

[0009] Another objective of the invention is to provide a robotic system that reduces the expenses incurred in labor associated with conventional manual harvesting in vertical farms, presenting a more sustainable and economically feasible solution.

[0010] Another objective of the invention is to provide a robotic system that enhances harvesting efficiency when compared to manual techniques, optimizing production cycles and maximizing yield within vertical farm settings.

[0011] Another objective of the invention is to provide a robotic system that amplifies its adaptability by integrating a versatile end effector capable of managing diverse crop varieties and sizes, thereby assuring broader applicability and flexibility.

[0012] Another objective of the invention is to provide a robotic system that enhances accessibility in vertical farms by means of a mobile base and lift mechanism, enabling the robotic system to efficiently navigate through multiple stacked layers and reach all crops.

[0013] Another objective of the invention is to provide a robotic system that mitigates the risk of worker injuries and safety concerns that arise from manual harvesting by introducing a specialized robotic system to automate the process.

[0014] Yet another objective of the invention is to develop a robotic system that can harvest crops without causing any damage by equipping the end effector with sophisticated grippers and cutting mechanisms, which work together to minimize the impact on crop quality and yield.

[0015] The further objective of the invention is to provide a robotic system that enhances the sustainability of vertical farming by offering a highly efficient and automated harvesting technology, which reduces the dependency on manual labor and promotes the optimization of resources.
Summary of the invention:
[0016] The present disclosure proposes a robotic system for harvesting crops in vertical farms and method thereof. The following presents a simplified summary in order to provide a basic understanding of some aspects of the claimed subject matter. This summary is not an extensive overview. It is not intended to identify key or critical elements or to delineate the scope of the claimed subject matter. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.

[0017] In order to overcome the deficiencies of the prior art, the present disclosure is to solve the technical problem of providing a robotic system for vertical farms to effectively reduce the need for human intervention while simultaneously optimizing productivity.

[0018] According to an aspect, the invention provides a robotic system that reduces the expenses incurred in labor associated with conventional manual harvesting in vertical farms, presenting a more sustainable and economically feasible solution. The robotic system mitigates the risk of worker injuries and safety concerns that arise from manual harvesting by introducing a specialized robotic system to automate the process. The robotic system enhances the sustainability of vertical farming by offering a highly efficient and automated harvesting technology, which reduces the dependency on manual labor and promotes the optimization of resources.

[0019] In one embodiment herein, the robotic system comprises a vertical farm, a harvesting manipulator, and a control system. In one embodiment herein, the vertical farm comprises plurality of stacks with one or more growing beds containing crops. Each stack comprises a pathway between the one or more growing beds.

[0020] In one embodiment herein, the harvesting manipulator is configured to harvest crops within the one or more growing beds of the vertical farm. The harvesting manipulator comprises a mobile base having wheels, configured to navigate the harvesting manipulator along the pathway within the each stack of the vertical farm for harvesting the crops.

[0021] In one embodiment herein, the harvesting manipulator also comprises an arm that is adaptably connected to the mobile base. The arm is configured to provide flexibility and reach to access the one or more growing beds within each stack.

[0022] In one embodiment herein, the harvesting manipulator also comprises an end-effector that is securely connected to the arm. The end-effector comprises a capturing unit that is configured to detect at least one crop, for example, a vegetable that should be harvested from the one or more growing beds within the each stack. The capturing unit is a depth camera that detects location coordinates for guiding the harvesting manipulator towards the detected crop.

[0023] In one embodiment herein, the harvesting manipulator also comprises a gripping unit that is configured to deform elastically into a shape of the detected crop, thereby providing a damage-free gripping of the detected crop. The gripping unit comprises two or more gripping fingers that are configured for the damage-free gripping of the detected crop using a rack and pinion unit. The two or more gripping fingers are made of flexible three dimensional-printed material, such as Thermoplastic Polyurethane (TPU).

[0024] In one embodiment herein, the end-effector also comprises a cutting unit that is configured to enable precise and efficient cutting of the detected crop. The cutting unit comprises an oscillating blade, which is configured to be moved forward and backward for precise and efficient cutting using a cam and follower mechanism and a lead screw mechanism. The lead screw mechanism moves the entire oscillating blade (including the cam and follower mechanism) forward and backward for precise and efficient cutting. In one embodiment herein, the robotic system also comprises a lifting unit that is configured to lift the harvesting manipulator to reach the each stack of the vertical farm.

[0025] In one embodiment herein, the control system is configured to navigate the harvesting manipulator along the pathway of the each stack to detect the crop from the one or more growing beds based on data received from the capturing unit. The control system is also configured to activate the gripping unit to perform a gripping operation for the damage-free gripping of the detected crop.

[0026] In one embodiment herein, the control system is also configured to activate the cutting unit to perform a cutting operation for cutting the detected crop. The control system is further configured to enable the gripping unit to release the harvested crop into a collecting tray.

[0027] According to an aspect, a method is disclosed for operating the robotic system. First, at one step, the lifting unit elevates the harvesting manipulator of the robotic system to the each stack of the vertical farm for harvesting crops. At another step, the control system navigates the harvesting manipulator along the pathway between the one or more growing beds of the each stack. At another step, the capturing unit detects the location coordinates of the at least one crop within the each stack. At another step, the control system guides the harvesting manipulator towards the detected crop using the location coordinates received from the capturing unit.

[0028] At another step, the control system activates the gripping unit to deform elastically into the shape of the detected crop, thereby performing the gripping operation by providing the damage-free gripping of the detected crop. At another step, the control system activates the cutting unit to perform the cutting operation for cutting the detected crop using the oscillating blade. Further, at another step, the control system enables the gripping unit to release the crop into the collecting tray after the cutting operation.

[0029] Further, objects and advantages of the present invention will be apparent from a study of the following portion of the specification, the claims, and the attached drawings.
Detailed description of drawings:
[0030] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate an embodiment of the invention, and, together with the description, explain the principles of the invention.

[0031] FIG. 1 illustrates a schematic view of a robotic system, in accordance to an example embodiment of the invention.

[0032] FIG. 2 illustrates a perspective view of a harvesting manipulator of the robotic system, in accordance to an example embodiment of the invention.

[0033] FIG. 3A illustrates an isometric view of a mobile base of the harvesting manipulator, in accordance to an example embodiment of the invention.

[0034] FIG. 3B illustrates a top view of the mobile base of the harvesting manipulator, in accordance to an example embodiment of the invention.

[0035] FIG. 4 illustrates a perspective view of an arm of the harvesting manipulator, in accordance to an example embodiment of the invention.

[0036] FIG. 5 illustrates a perspective view of an end-effector of the harvesting manipulator, in accordance to an example embodiment of the invention.

[0037] FIG. 6 illustrates a block diagram depicting a detailed process of operating the robotic system in the vertical farm, in accordance to an example embodiment of the invention.

[0038] FIG. 7 illustrates a flowchart of a method for operating the robotic system, in accordance to an example embodiment of the invention.
Detailed invention disclosure:
[0039] Various embodiments of the present invention will be described in reference to the accompanying drawings. Wherever possible, the same or similar reference numerals are used in the drawings and the description to refer to the same or like parts or steps.

[0040] The present disclosure has been made with a view toward solving the problem with the prior art described above, and it is an object of the present invention to provide a robotic system for harvesting crops in vertical farms to effectively reduce the need for human intervention while simultaneously optimizing productivity.

[0041] According to an example embodiment of the invention, FIG. 1 refers to a schematic view of a robotic system 100. In one embodiment herein, the robotic system 100 reduces the expenses incurred in labor associated with conventional manual harvesting in vertical farms, presenting a more sustainable and economically feasible solution. The robotic system 100 mitigates the risk of worker injuries and safety concerns that arise from manual harvesting by introducing a specialized robotic system to automate the process. The robotic system 100 enhances the sustainability of vertical farming by offering a highly efficient and automated harvesting technology, which reduces the dependency on manual labor and promotes the optimization of resources.

[0042] In one embodiment herein, the robotic system 100 comprises a vertical farm 102, a harvesting manipulator 110, and a control system 120. The vertical farm 102 is a stacked structure where crops are grown artificially. The harvesting manipulator 110 is a mobile robot that navigates within the vertical farm 102 for harvesting crops, for example, vegetables. The control system 120 directs the movement of the harvesting manipulator 110 and overall harvesting process. In one embodiment herein, the robotic system 100 further comprises a lifting unit 132, which elevates or lifts the harvesting manipulator 110 to reach the each stack 104 of the vertical farm 102. The specific design of the lifting unit 132 can vary depending on the specific requirements and the overall structure of the vertical farm 102.

[0043] In one embodiment herein, the vertical farm 102 is a multi-layered structure that maximizes growing space by stacking plurality of stacks 104 vertically. Each stack 104 comprises one or more growing beds 106 dedicated to cultivating crops in a controlled environment. The growing beds 106 within each stack 104 provide optimized spaces for specific crop types. These growing beds 106 could be arranged in various configurations such as horizontal trays, vertical channels and hydroponic systems. Pathways 108 are integrated between the growing beds 106 within each stack 104 of the vertical farm 102 to enable the harvesting manipulator 110 to navigate efficiently. These pathways 108 can be designed in several ways such as raised platforms, and open spaces.

[0044] According to an example embodiment of the invention, FIG. 2 refers to a perspective view of the harvesting manipulator 110 of the robotic system 100. In one embodiment herein, the harvesting manipulator 110 seamlessly navigates along the pathways 108 within the vertical farm 102 using a mobile base 122. In one embodiment herein, the harvesting manipulator 110 comprises an arm 111 that is extended from the mobile base 122. The arm 111 offers flexibility and reach to access different growing beds within each stack of the vertical farm 102. In one embodiment herein, the harvesting manipulator 110 also comprises an end-effector 112 that is attached to the arm 111 for interacting with the crops. This end-effector 112 is integrated with mechanisms for gripping, cutting and releasing the crops. This efficient combination of mobility, flexibility and functionality makes the harvesting manipulator 110 in maximizing yield and streamlining crop harvesting within the vertical farm 102 with efficiency and precision.

[0045] According to an example embodiment of the invention, FIGs. 3A and 3B refer to an isometric view and a top view of the mobile base 122 of the harvesting manipulator 110, respectively. In one embodiment herein, the harvesting manipulator 110 relies on the mobile base 122 for navigating through the pathways 108 within each stack 104 of the vertical farm 102. The mobile base 122 can be fabricated from sturdy aluminum extrusions, ensuring a lightweight yet stable platform for maneuverability. To achieve smooth and precise movement, the mobile base 122 incorporates four mecanum wheels 124. These wheels 124 are driven by individual motors to move the harvesting manipulator 110 in any direction, including diagonally, without the need to physically turn the mobile base 122. This enables the harvesting manipulator 110 to navigate efficiently within the pathways 108 and around obstacles within the vertical farm 102.

[0046] In one embodiment therein, the top surface of the mobile base 122 is provided with a supporting member 123, which is typically fabricated from aluminum material for ensuring strength and rigidity. The connection between the mobile base 122 and the harvesting manipulator's arm 111 is facilitated by a bearing housing 125, which is integrated into the supporting member 123. The bearing housing 125 allows the arm 111 to rotate smoothly and precisely, providing necessary degrees of freedom for reaching and manipulating the crops within the growing beds 106. The specific design of the bearing housing 125 depends on the chosen arm configuration and its required range of motion.

[0047] According to an example embodiment of the invention, FIG. 4 refers to a perspective view of the arm 111 of the harvesting manipulator 110. In one embodiment herein, the harvesting manipulator's arm 111 comprises a five degrees of freedom (DOF) design. The arm 111 comprises at least five links, including a base link 113A, a shoulder link 113B, an elbow link 113C, a wrist link 113D and an end effector link 113E. The base link 113A enables the arm 111 to rotate on the mobile base 122, providing a broad range of horizontal reach. The shoulder link 113B allows the arm 111 to move up and down, adjusting the overall height of the end effector 112 to access different heights of the crops. The elbow link 113C bends the arm 111, which allows it to reach the crops within the growing beds 106. The arm 111 could avoid obstacles when it reaches the crops. The wrist link 113D provides additional flexibility for precise positioning of the end effector 112 close to the crops. The end effector link 113E allows the end effector 112 itself to rotate, ensuring proper alignment with the crops during gripping, cutting, and releasing operations.

[0048] In one embodiment herein, each link (113A, 113B, 113C, 113D, and 113E) of the arm 111 is designed with a compact form factor. This enables the direct integration of individual motors (115A, 115B, 115C, 115D, and 115E) at each link (113A, 113B, 113C, 113D, and 113E), respectively, facilitating precise actuation and control of each movement. This compact design not only minimizes weight but also contributes to the overall agility of the harvesting manipulator 110, thereby allowing it to navigate effectively within the pathways 108 and around objects in the vertical farm 102. In one embodiment herein, the arm 111 is fabricated using a 3D printing process with Polylactic Acid (PLA) material. This choice offers several advantages such as lightweight and cost-effectiveness of the harvesting manipulator 110.

[0049] According to an example embodiment of the invention, FIG. 5 refers to a perspective view of the end-effector 112 of the harvesting manipulator 110. In one embodiment herein, the end-effector 112 is detachably connected to the arm 111 through a first holder 117, allowing for easy replacement or maintenance. This detachable design provides flexibility for adapting the end-effector 112 to different crop types or harvesting tasks. The end-effector 112 comprises a capturing unit 114 housed within a second holder 119. The capturing unit 114 guides the harvesting manipulator 110 towards the crops by detecting their location coordinates within each stack 104 of the vertical farm 102. The capturing unit 114 utilizes a depth camera technology that excels at capturing depth information, thereby effectively creating a 3D image of its surroundings.

[0050] In one embodiment herein, the end-effector 112 also comprises a gripping unit 116 housed within a third holder 121. The gripping unit 116 gently grips and harvests crops without causing any damage. The gripping unit 116 comprises two or more gripping fingers 126 that are capable of elastically deforming to match the shape of the detected crop using a rack and pinion unit 134, thereby ensuring a snug and secure hold without applying excessive pressure or causing damage to the crop. The gripping fingers 126 are actuated by a gripper motor 127, allowing for controlled gripping and releasing of the crop into a collecting tray. To achieve the essential elasticity, the gripping fingers 126 are fabricated from a flexible 3D-printed material such as Thermoplastic Polyurethane (TPU).

[0051] In one embodiment herein, the end-effector 112 further comprises a cutting unit 118, which is configured for precise and efficient crop harvesting. The cutting unit 118 works in conjunction with the gripping unit 116 to ensure clean and targeted separation of the crop from the growing bed 106. The cutting unit 118 utilizes an oscillating blade 128 for a controlled and efficient cutting process. The oscillating blade 128 oscillates back and forth, thereby minimizing the force required and reducing the risk of tearing or damaging the crop. The oscillating blade 128 is housed within a cutter guide 129 and operated by at least two motors including, a cutter motor 130 and linear motor 131. The cutter motor 130 drives the oscillation of the oscillating blade 129, which provides the necessary cutting action. The linear motor 131 controls the forward and backward movement of the oscillating blade 128 along a linear path of the cutter guide 129.

[0052] In one embodiment herein, the cutting unit 118 employs a cam and follower mechanism to drive the oscillating blade 129. The cam and follower mechanism translates the rotational motion of the cutter motor 130 into the desired back-and-forth motion of the oscillating blade 129 for providing precise control over the cutting action. To further enhance precision, the cutting unit 118 is mounted on a platform equipped with a nut attached to a lead screw mechanism, which is driven by the linear motor 131 for precise forward and backward movement of the oscillating blade 129, thereby ensuring accurate positioning for the cut.

[0053] In one embodiment herein, the robotic system 100 comprises a control system 120 (shown in FIG. 1) configured to operate one or more operations. The control system 120 may be responsible for navigating the harvesting manipulator 110 along the pathways 108 within each stack 104 of the vertical farm 102. The control system 120 leverages the data from the capturing unit 114 to accurately guide the harvesting manipulator 110 towards the detected crop. The control system 120 is also configured to activate the gripping unit 116, and the cutting unit 118 to sequentially perform the gripping, cutting, and releasing operations.

[0054] According to an example embodiment of the invention, FIG. 6 refers to a block diagram 600 depicting a detailed process of harvesting the crops using the robotic system 100 in the vertical farm 102. First, at step 602, the harvesting manipulator 110 is lifted to a designated stack 104 of the vertical farm 102 using the lifting unit 132 and is moved along the pathway 108 of the respective stack 104 to reach the first growing bed 106 for harvesting the crops. Later, at step 604, the capturing unit 114 of the harvesting manipulator 110 is activated by the control system 120 to detect the location coordinates of the crops within the respective growing bed 106. At step 606, if the capturing unit 114 detects any crop within the growing bed 106, then the process is continued to step 608. In step 608, the control system 120 receives and analyzes the location coordinates of the detected crop. Later, at step 610, the control system 120 enables the harvesting manipulator 110 to precisely move towards the detected crop based on the location coordinates.

[0055] At step 612, the gripping unit 116 of the harvesting manipulator 110 is activated by the control system 120 to perform the gripping operation by securely gripping the detected crop within the respective growing bed 106 using the gripping fingers 126. Later, at step 614, the control system 120 activates the cutting unit 118 of the harvesting manipulator 110 to perform the cutting operation by precisely cutting the detected crop at the node using the oscillating blade 128. After the cut, the oscillating blade 128 is retracted to its initial position. Later, at step 616, the control system 120 activates the gripping unit 116 to perform the releasing operation by gently releasing the harvested crop into the collecting tray. After the releasing operation, the process continues to step 618. For example, if the capturing unit 114 detects no crop within the first growing bed of the first stack at step 606, then the process is continued to step 618.

[0056] At step 618, the control system 120 enables the harvesting manipulator 110 to move to the next detected crop 106 with the respective growing bed 106, and the steps 612, 614, and 616 are repeated for harvesting. If the control system 120 determines that the harvesting manipulator 110 has not completed harvesting the last crop within the first growing bed 106, then the process is continued to step 604. If the control system 120 determines that the harvesting manipulator 110 has completed harvesting the last crop within the first growing bed 106 at step 620, then the process is continued to step 622.

[0057] In step 622, if the control system 120 determines that the growing bed 106 is not the last one in the first stack 104, then the process is continued to step 624. In step 624, the control system 120 navigates the harvesting manipulator 110 to the next growing bed 106 of the first stack 104, and the process is continued to step 604. If the control system 120 determines that the growing bed 106 is the last one in the first stack 104 at step 622, then the process is continued to step 626. In step 626, the control system 120 navigates the harvesting manipulator 110 onto the lifting unit 132 to reach the next stack 104 of the vertical farm 102 for harvesting the crops.

[0058] Later, at step 628, if the control system 120 analyzes that the next stack 104 is the last one of the vertical farm 102, then the process of harvesting the crops within the vertical farm 102 is completed. If the control system 120 determines that the next stack 104 is not the last one of the vertical farm 102 at step 628, then the process is continued to step 630. In step 630, the control system 120 enables the lifting unit 132 to elevate the harvesting manipulator 110 to the next stack 104 for harvesting the crops within the growing beds 106.

[0059] According to an example embodiment of the invention, FIG. 7 refers to a flowchart 700 of a method for operating the robotic system 100. First, at step 702, the lifting unit 132 elevates the harvesting manipulator 110 of the robotic system 100 to the each stack 104 of the vertical farm 102 for harvesting crops. At step 704, the control system 120 navigates the harvesting manipulator 110 along the pathway 108 between the one or more growing beds 106 of the each stack 104. At step 706, the capturing unit 114 detects the location coordinates of the at least one crop within the each stack 104. At step 708, the control system 120 guides the harvesting manipulator 110 towards the detected crop using the location coordinates received from the capturing unit 114.

[0060] At step 710, the control system 120 activates the gripping unit 116 to deform elastically into the shape of the detected crop, thereby performing the gripping operation by providing the damage-free gripping of the detected crop. At step 712, the control system 120 activates the cutting unit 118 to perform the cutting operation for cutting the detected crop using the oscillating blade 128. Further, at step 714, the control system 120 enables the gripping unit 116 to release the harvested crop into the collecting tray.

[0061] Numerous advantages of the present disclosure may be apparent from the discussion above. In accordance with the present disclosure, the robotic system 100 for harvesting crops in vertical farms 102 to effectively reduce the need for human intervention while simultaneously optimizing productivity. The robotic system 100 reduces the expenses incurred in labor associated with conventional manual harvesting in vertical farms, presenting a more sustainable and economically feasible solution. The robotic system 100 enhances harvesting efficiency when compared to manual techniques, optimizing production cycles and maximizing yield within vertical farm 102 settings.

[0062] The robotic system 100 amplifies its adaptability by integrating a versatile end effector capable of managing diverse crop varieties and sizes, thereby assuring broader applicability and flexibility. The robotic system 100 enhances accessibility in vertical farms 102 by means of the mobile base 122 and the lifting unit 132, enabling the harvesting manipulator 110 to efficiently navigate through the stacks 104 to harvest crops. The robotic system 100 mitigates the risk of worker injuries and safety concerns that arise from manual harvesting by introducing a specialized robotic system to automate the process.

[0063] The robotic system 100 can harvest crops without causing any damage by equipping the end effector with sophisticated grippers and cutting mechanisms, which work together to minimize the impact on crop quality and yield. The robotic system 100 enhances the sustainability of vertical farming by offering a highly efficient and automated harvesting technology, which reduces the dependency on manual labor and promotes the optimization of resources.

[0064] It will readily be apparent that numerous modifications and alterations can be made to the processes described in the foregoing examples without departing from the principles underlying the invention, and all such modifications and alterations are intended to be embraced by this application.
 
, Claims:CLAIMS:
I/We Claim:
1. A robotic system (100) for harvesting crops in vertical farms, comprising:
a vertical farm (102) having plurality of stacks (104), each containing one or more growing beds (106) with crops, wherein each stack (104) includes a pathway (108) between the one or more growing beds (106);
a harvesting manipulator (110) configured to harvest crops from the one or more growing beds (106) in the vertical farm (102), wherein the harvesting manipulator (110) comprises:
a mobile base (122) equipped with wheels (124) for navigating along the pathway (108) within each stack (104) of the vertical farm (102);
an arm (111) connected to the mobile base (122), wherein said arm (111) is configured to provide flexibility and reach to access the one or more growing beds (106) within each stack (104); and
an end-effector (112) attached to the arm (111), wherein the end-effector (112) comprises:
a capturing unit (114) configured to detect at least one crop from the one or more growing beds (106) within each stack (104);
a gripping unit (116) configured to elastically deform to a shape of the detected crop, thereby ensuring damage-free gripping; and
a cutting unit (118) configured to enable precise and efficient cutting of the detected crop; and
a control system (120) adapted to navigate the harvesting manipulator (110) along the pathway (108) within each stack (104) to detect crops in the one or more growing beds (106) based on data received from the capturing unit (114),
wherein the control system (120) is configured to:
activate the gripping unit (116) to perform a damage-free gripping operation on the detected crop, and
actuate the cutting unit (118) to perform a cutting operation, thereby removing the detected crop from the one or more growing beds (106).
2. The robotic system (100) as claimed in claim 1, wherein the capturing unit (114) comprises a depth camera configured to provide location coordinates, thereby guiding the harvesting manipulator (110) towards the detected crop.
3. The robotic system (100) as claimed in claim 1, wherein the gripping unit (116) is configured to release the crop into a collecting tray following the cutting operation.
4. The robotic system (100) as claimed in claim 1, wherein the gripping unit (116) comprises two or more gripping fingers (126) configured for damage-free gripping of the detected crop.
5. The robotic system (100) as claimed in claim 4, wherein the two or more gripping fingers (126) are configured to be operated by a rack and pinion unit (134).
6. The robotic system (100) as claimed in claim 4, wherein the two or more gripping fingers (126) are made of a flexible three-dimensional printed material.
7. The robotic system (100) as claimed in claim 6, wherein the flexible three-dimensional printed material is Thermoplastic Polyurethane (TPU).
8. The robotic system (100) as claimed in claim 1, wherein the cutting unit (118) comprises an oscillating blade (128) operated by a lead screw mechanism and a cam and follower mechanism for precise and efficient cutting of the detected crop.
9. The robotic system (100) as claimed in claim 1, wherein the robotic system (100) comprises a lifting unit (132) configured to elevate the harvesting manipulator (110) to access each stack (104) within the vertical farm (102).
10. A method for operating a robotic system (100) for harvesting crops in vertical farms, comprising:
elevating, by a lifting unit (132), a harvesting manipulator (110) of said robotic system (100) to each stack of plurality of stacks (104) of a vertical farm (102) for harvesting crops;
navigating, by a control system (120), the harvesting manipulator (110) along a pathway (108) between one or more growing beds (106) of the each stack (104);
detecting, by a capturing unit (114), location coordinates of at least one crop within the each stack (104);
guiding, by the control system (120), the harvesting manipulator (110) towards the detected crop using the location coordinates received from the capturing unit (114);
activating, by the control system (120), a gripping unit (116) to deform elastically into a shape of the detected crop, thereby performing a gripping operation by providing a damage-free gripping of the detected crop using two or more gripping fingers (126);
activating, by the control system (120), a cutting unit (118) to cut the detected crop using an oscillating blade (128) by performing a cutting operation; and
enabling, by the control system (120), the gripping unit (116) to release the crop into a collecting tray after the cutting operation.

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