Abstract: Provided are systems, methods, and devices for storing and transporting articles with a multi-shelf storage unit. A system for article handling includes a multi-shelf storage unit and a robotic unit. The multi-shelf storage unit includes a plurality of shelves disposed on a frame, the plurality of shelves including at least one vertically moveable shelf configured to move in first and second vertical directions relative to the frame, and a lift mechanism configured to automatically drive, in response to receiving a drive input, the at least one vertically moveable shelf in the first or second vertical direction. The robotic unit includes an end effector disposed on a robotic manipulator for engaging an article and a lift mechanism actuator that is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism.

Abstract: A method for transportation of articles using a mobile robot. The mobile robot includes a mobile base, a manipulator which rotates relative to the mobile base, a storage platform on the base, and sensors, and has a navigation system. The method comprises: detecting articles at a pick-up area using the sensors; mapping the detected articles to a global map; selecting a set of articles according to predetermined parameters; determining a sequence for picking up the set of articles; loading the set of articles onto the mobile robot using the manipulator; determining a target position and orientation for the mobile base at the drop-off area optimal for unloading articles; the mobile robot travelling to the target position and orientation via the navigation system; unloading the set of articles using the manipulator according to predetermined settings. Also disclosed is a method for relocating the operation space of such a mobile robot.

Abstract: A system and method for optical localization of an autonomous mobile robot. The system includes a number of movable stationary landmarks defining an operating space for the robot. The robot includes a self-propelled mobile chassis, an optical sensor (a LiDAR sensor or optical camera) disposed on a raised portion and configured to detect the landmarks, and a controller configured to determine the position and orientation of the chassis based on information from the optical sensor. The landmarks have an elevated portion extending vertically to a height level which is equal to or higher than the horizontal plane of the optical sensor. Each landmark may have a cross-sectional feature and/or a visually distinct portion, to enable determining the orientation (of the optical sensor/mobile robot) relative to the landmark; as well as an identifier for uniquely identifying the landmark from others.

Abstract: A multi-shelf storage apparatus for storage of articles, comprising a wheeled base; a frame disposed on the wheeled base; a plurality of vertically-spaced shelves on the frame for providing a storage area for articles, each shelf configured to move vertically. The apparatus includes a lift mechanism disposed on the frame, coupled to the shelves, and configured to cause collapse and extension of the shelves in a vertical direction. The apparatus has an actuator on the frame operable to drive the lift mechanism, and a power interface on the frame and electrically connected to the actuator. The apparatus has a mechanical connection for connecting to a towing device and a first power interface integral to the mechanical connection such that the actuator can receive electrical power from the towing device. Systems comprising one or more of the apparatuses and methods for loading/unloading articles utilizing the apparatuses are also disclosed.

Abstract: A robotic vehicle apparatus for transporting a harvested crop within a cultivation area is disclosed and includes a vehicle controller operably configured to receive a pickup signal indicating that a harvested crop portion is available for transport to a post-harvesting location and identifying a location of a worker within the cultivation area. The vehicle controller navigates the vehicle to the location of the worker for loading the harvested crop portion into a load carrying repository and generates an identifier attributing the harvested crop portion to the worker. A quantity sensor is operable to produce a quantity signal representative of a quantity of the harvested crop portion loaded and the vehicle controller transmits quantity data to a host controller including the quantity of the harvested crop portion and the identifier. A method for navigating a robotic vehicle within an area having items arranged in a plurality of generally longitudinally extending adjacent rows is also disclosed.

Abstract: An agricultural robot is disclosed, the agricultural robot comprising a chassis comprising a plurality of ground-engaging mechanisms for propelling the robot in a direction of travel; a supply module mounted on the chassis and comprising a fluid providing unit, a power providing unit, a supply interface operatively connected to the fluid providing unit and to the power providing unit and for providing at least one of fluid and power; and a controller for operating the plurality of ground-engaging mechanisms and the supply interface.

Abstract: A system for automated farming of potted plants is disclosed and includes a closed-loop conveyor system configured to facilitate gradual cyclic mobility and storage of a plurality of potted plants. The system also includes at least one centralized processing zone disposed along the conveyor system and configured to perform at least one operation such as fertilization, irrigation, treatment, instrumentation, repotting, seeding, and inspection on each individual pot. The processing zone includes at least one sensor configured to detect at least one property of a potted plant. The system also includes a processing unit in communication with the at least one sensor, the processing unit configured to determine a state of each potted plant based on the at least one detected property. The state describes a physical state of the potted plant.

Abstract: An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition with respect to a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while causing rotational movement of at least one of the pruning tool and the container about the vertical axis.

Abstract: A robotic method and system for providing robotic functions associated with performing an automated task is disclosed. The system includes a host platform operably configured to provide at least some of the robotic functions for performing the automated task and having at least one interface operably configured to receive a modular component operable to provide additional robotic functions for performing the automated task. The system also includes a processor circuit disposed on at least one of the host platform land the modular component.

Abstract: An apparatus and method for transporting a plurality of articles is disclosed. The apparatus includes a wheeled chassis, and a platform disposed on the wheeled chassis. The apparatus also includes a manipulator coupled to the wheeled chassis and operably configured to load a first article of the plurality of articles at a first position on the platform, or unload the first article of the plurality of articles from the first position on the platform. The apparatus further includes at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles.

Abstract: A system for managing and tracking plant management at a site is provided. The system includes a device management server and a plant management device communicatively connected to the device management server via a network. The plant management device is configured to: receive a plant management task order including task instructions for performing a plant management task and automatically perform the plant management task according to the task instructions; send a task receipt notification to the device management server, the task receipt notification including task beneficiary data; and transmit task performance data to the device management server, the task performance data logged during performance of the plant management task.

Abstract: A system for managing and tracking plant management at a site is provided. The system includes a device management server and a plant management device communicatively connected to the device management server via a network. The plant management device is configured to: receive a plant management task order including task instructions for performing a plant management task and automatically perform the plant management task according to the task instructions; send a task receipt notification to the device management server, the task receipt notification including task beneficiary data; and transmit task performance data to the device management server, the task performance data logged during performance of the plant management task.

Abstract: An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition with respect to a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while causing rotational movement of at least one of the pruning tool and the container about the vertical axis.

Abstract: A manipulator apparatus for operating on articles is disclosed. The apparatus includes a column having a mounting portion for securing the manipulator to a base and an extensible portion that is moveable over an extension range with respect to the mounting portion in response to an actuation force provided by a column actuator. The apparatus also includes an arm mounted to the extensible portion of the column at an arm joint and rotatable about the arm joint in response to an actuation torque provided by an arm rotation actuator. The apparatus further includes an end effector operably configured to perform an operation on the articles, the end effector being mounted at an end effector joint disposed at an end of the arm distal to the arm joint, the end effector being rotatable about the end effector joint in response to an actuation torque provided by an end effector rotation actuator.

Abstract: A manipulator apparatus for manipulating an article is disclosed. The apparatus includes an arm including a connecting end and a working end, an arm actuator coupled with the connecting end by an arm linkage, a lift actuator coupled with the connecting end, an end effector coupled with the working end by a rotatable connection, the end effector having an engagement orientation relative to the working end, and at least one cable coupled between the connecting end of the arm and the rotatable connection. The arm actuator is operable to cause the arm linkage to move the working end until the end effector engages an article in the engagement orientation; the lift actuator is operable to cause the connecting end to lift the working end, the end effector, and the article; and the cable is coupled to transmit movement of the connecting end to the rotatable connection to maintain the engagement orientation of the end effector.

Abstract: Provided are systems, methods, and devices for storing and transporting articles with a multi-shelf storage unit. A system for article handling includes a multi-shelf storage unit and a robotic unit. The multi-shelf storage unit includes a plurality of shelves disposed on a frame, the plurality of shelves including at least one vertically moveable shelf configured to move in first and second vertical directions relative to the frame, and a lift mechanism configured to automatically drive, in response to receiving a drive input, the at least one vertically moveable shelf in the first or second vertical direction. The robotic unit includes an end effector disposed on a robotic manipulator for engaging an article and a lift mechanism actuator that is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism.

Abstract: Provided are systems, methods, and devices for storing and transporting articles with a multi-shelf storage unit. A system for article handling includes a multi-shelf storage unit and a robotic unit. The multi-shelf storage unit includes a plurality of shelves disposed on a frame, the plurality of shelves including at least one vertically moveable shelf configured to move in first and second vertical directions relative to the frame, and a lift mechanism configured to automatically drive, in response to receiving a drive input, the at least one vertically moveable shelf in the first or second vertical direction. The robotic unit includes an end effector disposed on a robotic manipulator for engaging an article and a lift mechanism actuator that is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism.

Abstract: An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition for rotation about a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while the container is rotated on the plant support.

Abstract: An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition for rotation about a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while the container is rotated on the plant support.

Abstract: An apparatus and method for supporting an article during transport is disclosed. The apparatus includes a support surface oriented to support an underside of an article to be transported. The apparatus also includes a plurality of pins distributed over at least a portion of the support surface and movable between an extended position and a retracted position, the plurality of pins being urged into the extended position such that a lateral retaining portion of each pin protrudes above the support surface. The underside of the article, when received on the support surface, causes a first portion of the plurality of pins underlying the article to be depressed into the retracted position while a second portion of the plurality of pins remain in the extended position such that the lateral retaining portions of pins disposed adjacent to the article constrain the article to prevent movement of the article on the support surface while being transported.