FARMING SYSTEM METHODS AND DEVICES

Abstract

A load handling device for operating in a farming system, and an associated method of using the farming system to produce a crop are provided. The floor of the farming system includes a network of tracks based on a grid system. The load handling device includes: a first set of wheels, and a second set of wheels; and a support for receiving a growing tray, wherein the support pad can be raised and or lowered in a vertical direction to lift and lower a received growing tray. The method includes: preparing growing trays; depositing a growing tray in a growing booth; retrieving a growing tray from a growing booth; arranging growing trays in growing aisles according to life-cycle phase of the crop; controlling the environment using a hood; harvesting a crop; and/or transferring a harvested crop from the farming system to an integrated second system.

Claims

1-16. (canceled)

17. A load handling device configured for operating in a farming system, the floor of the farming system including a network of tracks, or track network, based on a grid system, the tracks including a first set of track members extending in a first (x-) direction, and a second set of track members extending in a second (y-) direction, the second set of track members running transversely to the first set of track members in a substantially horizontal plane, the load handling device comprising: a first set of wheels arranged for engaging with a first set of track members in a first direction; a second set of wheels arranged for engaging with a second set of track members in the a second direction, wherein the load handling device is driveable in the first and/or second direction to any location on the track network; and a support pad located on an upper surface of the load handling device for receiving a growing tray, wherein the support pad is configured to be raised and or lowered in a vertical (z-) direction to lift and lower a received growing tray.

18. A load handling device according to claim 17, comprising: a mechanism, extending through the support pad for adjusting a height of a liner within a growing tray.

19. A load handling device according to claim 17, wherein the first set of wheels and or the second set of wheels comprise: three or more wheels on each side of the load handling device.

20. A load handling device according to claim 17, comprising: a suspension means for one or more of the wheels.

21. A load handling device according to claim 17, wherein the wheels are aligned in the first direction or aligned in the second direction and the wheels comprise: caster wheels.

22. A load handling device according to claim 17, comprising: a re-chargeable battery and/or super capacitor for powering a drive motor, wherein the re-chargeable battery and or super capacitor is configured to be charged through inductive charging pads positioned on an underside of the load handling device.

23. A load handling device according to claim 17, wherein all the wheels of the first set of wheels and of the second set of wheels are drivable.

24. A load handling device according to claim 17, comprising: locking means, wherein one or more of the first set of wheels and of the second set of wheels are lockable by the locking means.

25. A load handling device according to claim 17, comprising: a RFID reader, a scanner, and/or a camera, for reading an identify tag or label.

26. A load handling device according to claim 17, wherein the load handling device, in combination with a supported growing tray, has a footprint that occupies only a single grid space in the farming system.

27. A load handling device according to claim 17, comprising: navigation means for monitoring and controlling motion along the track network.

28. A load handling device according to claim 17, comprising: a communication means for receiving instructions from a central control facility, and for transmitting data.

29. A load handling device according to claim 17, comprising: a proximity sensor.

30. A growing tray in combination with the load handling device of claim 17, the growing tray being configured to be lifted, transported and deposited by the load handling device.

31. A control facility, in combination with the load handling device of claim 17, for controlling the load handling device.

32. A method of operating a load handling device according to claim 17 in a farming system to produce a crop, a floor of the farming system including: a network of tracks, or track network, based on a grid system, the tracks including a first set of track members extending in a first (x-) direction, and a second set of track members extending in a second (y-) direction, the second set of track members running transversely to the first set of track members in a substantially horizontal plane, and at least one load handling device operating thereon, wherein the method comprises one or more steps of: preparing one or more growing trays with a crop; lifting, transporting and depositing growing trays using the load handling device; depositing a growing tray in a growing booth; retrieving a growing tray from a growing booth; arranging growing trays in growing aisles according to life-cycle phase of the crop; controlling an environment in growing aisles according to requirements of the crop; controlling an environment in growing trays and or services provided to a crop using a hood; harvesting a crop; and/or transferring a harvested crop from the farming system to an integrated second system.

33. A load handling device according to claim 27, comprising: a communication means for receiving instructions from a central control facility, and for transmitting data.

34. A growing tray, in combination with the load handling device of claim 33, the growing tray being configured to be lifted, transported and deposited by the load handling device.

35. A control facility in combination with the load handling device of claim 34, for controlling the load handling device.

36. A method of operating a load handling device according to claim 17 in a farming system to produce a crop, a floor of the farming system including: a network of tracks, or track network, based on a grid system, the tracks including a first set of track members extending in a first (x-) direction, and a second set of track members extending in a second (y-) direction, the second set of track members running transversely to the first set of track members in a substantially horizontal plane, and at least one load handling device operating thereon, wherein the method comprises one or more steps of: preparing one or more growing trays with a crop; lifting, transporting and depositing growing trays using the load handling device; depositing a growing tray in a growing booth; retrieving a growing tray from a growing booth; arranging growing trays in growing aisles according to life-cycle phase of the crop; controlling an environment in growing aisles according to requirements of the crop; controlling an environment in growing trays and or services provided to a crop using a hood; harvesting a crop; and/or transferring a harvested crop from the farming system to an integrated second system.

Description

INTEGRATION WITH OTHER SYSTEMS

[0216] The farming system and growing facility may be integrated with an automated grocery customer fulfilment centre. The integration may comprise: [0217] Conveyors transporting totes or containers containing harvested, bagged and labelled produce directly from one or more of the harvesting workstations to the goods inwards or inbound mechanical handling equipment of the grocery customer fulfilment centre. In some arrangements, the harvesting workstations may be designed to be compatible with the totes used within the automated grocery customer fulfilment centre, and particularly the goods inwards mechanical handling equipment and system. [0218] Autonomous airborne vehicles or drones transporting totes containing harvested, bagged and labelled produce directly from one or more of the harvesting workstations to the goods inwards or inbound mechanical handling equipment of the grocery customer fulfilment centre. In some arrangements, the harvesting workstations may be designed to be compatible with the totes used within the automated grocery customer fulfilment centre, and particularly the goods inwards mechanical handling equipment and system. [0219] Autonomous terrestrial vehicles or autonomous guided vehicles transporting totes containing harvested, bagged and labelled produce directly from one or more of the harvesting workstations to the goods inwards or inbound mechanical handling equipment of the grocery customer fulfilment centre. In some arrangements, the harvesting workstations may be compatible with the totes or containers used within the automated grocery customer fulfilment centre, and particularly the goods inwards mechanical handling equipment and system. [0220] Any form of human operated goods vehicles transporting totes containing harvested, bagged and labelled produce directly from one or more of the growing system's harvesting workstations to the goods inwards or inbound mechanical handling equipment of the grocery customer fulfilment centre. In some arrangements, the harvesting workstations may be designed to be compatible with the totes used within the automated grocery customer fulfilment centre, and particularly the goods inwards mechanical handling equipment and system. [0221] Any form of magnetic levitation transportation system for totes containing harvested, bagged and labelled produce directly from one or more of the harvesting workstations to the goods inwards or inbound mechanical handling equipment of the grocery customer fulfilment centre. In some arrangements, the harvesting workstations may be designed to be compatible with the totes used within the automated grocery customer fulfilment centre, and particularly the goods inwards mechanical handling equipment and system. [0222] Any form of integration between the automated grocery customer fulfilment centre's order management and order forecasting systems and the growing system's planner/manager module. In particular where such integration is used to ensure product availability to the automated grocery customer fulfilment centre in terms of individual crop and the quantity available at specific time slots; and to minimise the purge cost in the growing system.

[0223] Embodiments of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which like reference numerals are used for like features, and in which:

[0224] FIG. 1 is a representative drawing of a prior art growing system;

[0225] FIG. 2 is a representative drawing of a prior art growing system;

[0226] FIG. 3 is an illustration of an overview floor plan of a growing floor;

[0227] FIGS. 4 and 5 illustrate of a portion of the growing floor, floor plan of shown in FIG. 3;

[0228] FIG. 6 illustrates a hood and growing tray viewed from the front of the arrangement;

[0229] FIG. 7 illustrates a plan view of a hood, showing the understand or as viewed from below;

[0230] FIG. 8 illustrates a side elevation or perspective view of a hood and growing tray;

[0231] FIG. 9 illustrates a side view of the hood and growing tray;

[0232] FIG. 10 illustrates a detailed view of a hood support arm and growing tray;

[0233] FIG. 11 illustrates a plan view, and a front elevation of a growing tray;

[0234] FIG. 12 illustrates cross sections of the growing tray illustrated in FIG. 11;

[0235] FIG. 13 illustrates a perspective view of a growing tray with adjustable deck;

[0236] FIG. 14 illustrates a mechanism for adjusting the deck height of the growing tray illustrated in FIG. 13;

[0237] FIG. 15 illustrates a detail of a deck height jack for use in the arrangements shown in FIGS. 13 and 14;

[0238] FIG. 16 illustrates a plan view of a growing tray and liner;

[0239] FIG. 17 illustrates a plan view of a long side, or y-z side, of a load handling device, with a growing tray resting on the lifting pad;

[0240] FIGS. 18a, 18b, and 18c illustrates a plan view of the short side, or x-z side, of the load handing device without a growing tray and detailing the lifting pad;

[0241] FIG. 19 illustrates a plan view of a short side, or x-z side, of a sub-chassis of the load handing device with the retaining flange removed;

[0242] FIG. 20 illustrates a plan view of the long side, or y-z side, of the load handling device;

[0243] FIG. 21 illustrates a plan view of the underside, x-y, of the load handling device;

[0244] FIG. 22 is a schematic diagram of a controller for the farming system;

[0245] FIG. 23 illustrates a method of using the farming system; and

[0246] FIG. 24 illustrates a plan view of a growing tray and liner without a header pool.

DETAILED DESCRIPTION OF DRAWINGS

[0247] The present invention may form part of a larger system. It will be appreciated that the system, methods and devices described herein are exemplary only, and other combinations and configurations of the apparatus and equipment described are anticipated by the inventors of the present disclosure without departing from the scope of the invention described here.

[0248] As noted above, FIGS. 1 and 2 are representative drawings of prior art indoor farming systems. The farming system, load handling devices, booths and hoods, methods of use and control facilities of the present invention are illustrated in the remaining drawings.

[0249] FIGS. 3-5 show a schematic drawings of a growing floor. The growing floor is divided into a grid of units where each unit has a designated function. Aisles 2 are arranged across the width and length of the growing floor. Typically, access aisles 2 are two units wide and arranged across each end of the growing floor as shown in FIG. 3. Between the ends, the access aisles 2 are joined by growing aisles 2 running perpendicularly to the access aisles 2 and along the length of the growing floor. The growing aisles 2 are typically one unit wide. Adjacent to the growing aisles 2 are growing booth locations 1. The growing booth locations 1 may be accessed by load handling devices from either the access aisles 2 or the growing aisles 2.

[0250] As noted above, each growing booth location 1 is provided with trestles for supporting growing trays, and a hood for servicing the growing trays. When a load handling device is not transporting a growing tray, the load handling device is able to move in x- and y-directions to any growing floor aisle or booth location, via any accessible route.

[0251] As illustrated in FIG. 3, a maintenance area 3 is located through the centre of the designated booth 1 area of the floor. Further maintenance areas 3 are located along the long sides of the floor and at some unit locations along the short sides of the growing floor. The short sides of the growing floor also provide grid unit locations for lay-bys, temporary storage, lift ingress positions, lift egress positions, lift shafts, and charging points.

[0252] FIGS. 4 and 5 show, in more detail, a portion of the growing floor as illustrated in FIG. 3.

[0253] FIG. 4 illustrates an end of the growing floor comprising two lift. As illustrated, the end row of the growing floor comprises two lift shafts 8. Adjacent to each lift shaft 8, on a first side is a lift ingress position 6 and a lift egress position 7. The lift ingress 6 and lift egress 7 are kept clear so that load handling devices may enter and leave the growing floor to be transported to other floors within the system. Between the lift areas, there is an additional maintenance area 3. The remainder of the unit locations along the end row of the growing floor alternative between lay-bys 4 and temporary storage locations 5 which may be used during operation of the system. Typically lay-bys 4 are used to allow load handling devices, unloaded or loaded with growing trays to pass when the aisle are congested. Lay-bys 4 may also be used to temporally locate malfunctioning load handing devices. Temporary storage locations 5 will typically comprise a pair of trestles. In this way, growing trays may be temporary placed on trestles while they await further transportation to other locations. It will be appreciated, that the temporary storage locations 5 are located relatively close to the lift shafts 8 so that they may be used as a waiting area for transportation between floors in the system. Temporary storage locations 5 may be used while load handling devices complete other tasks. Conveniently, as illustrated in FIGS. 3-5, temporary storage locations 5 arranged adjacent to access aisles which may be primarily used for transport.

[0254] FIG. 5 illustrates a corner of the opposite end of the growing floor, relative to FIG. 4, of FIG. 3. Similarly to the first end, for the majority of the end row, the grid unit locations alternate between lay-bys 4 and temporary storage locations 5. In addition, the end row comprises maintenance area 3 and charge point locations 9. Charge points 9 are used to re-charge the power resource of the load handling devices. Conveniently, the charge points 9, lay-bys 4 and temporary storage locations 5 are located adjacent to access aisles 2.

[0255] It will be understood that the specific layout of the growing floor may be adapted to the building in which it is located. The proportion of different types and use of unit grid locations may be adjusted according to availability and need. Further, it will be appreciated that other layouts of the growing floor are anticipated in order to provide a system which operates efficiently. The precise lay out will depend on, the total size of the system, type of crop or living organism being grown and processed, the intended crop yield, amongst other things.

[0256] It will be appreciated that the growing floor as illustrated in FIGS. 3-5, and particularly the growing booth locations 1 may be divided into specific types of aisles such as germination aisles or stratification aisles and or chambers as discussed above. Some sections of the growing floor may be divided by partition walls and controlling doors (not shown).

[0257] It will be appreciated that global or facility wide environmental control facilities may be located at the ends of the aisles, above the floor in the ceiling, or in maintenance areas.

[0258] FIGS. 6-10 illustrate various views of the hood and trays for a booths.

[0259] As can be seen in FIGS. 6, and 8-9, within a booth, the hood 100 is arranged above the growing tray 200. Within the booth the growing tray 200 rests on trestles (not shown) so that the growing tray 200 sits substantially level.

[0260] As best seen in FIGS. 6-8, a light strips 102 extend across the width of the hood 100, mounted on a plate 101. The lighting means may have any suitable arrangement to ensure that the growing tray 200 is fully illuminated, and could have any alternative arrangement to ensure that the growing tray 200 is properly illuminated.

[0261] As shown in FIGS. 6 and 8-10, support arms 108, 109 are provided for fluid ingress pipes 107 and fluid egress pipes 110 respectively. The support arm 108, 109 extend from the hood 100 into the growing tray 200, more particularly respectively to a header pool and a sump pool. The support arms 108, 109 are held to the hood 100 via respective hinge fittings 103, 105 and movable between a stowed position and a deployed position. The position of the support arms 108, 109 are controlled by respective servo actuators 104, 106.

[0262] As shown in detail in FIG. 10, various sensors are arranged along the support arms 108, 109 to provide data that may be fed back to the system control facilities. The sensors shown are: an air humidity sensor 111, a wind speed sensor 112, an air temperature sensor 113, a camera 114, a re-radiated light sensor 115 and an irrigation fluid depth sensor 116.

[0263] It will be appreciated that the fluid depth sensor 116 is arranged at the distal end of the support arms 108, 109 relative to the hood plate 101 so that the fluid depth sensor 116 may be submerged in a growing tray pool. It will be appreciated that the sensors 111-115 may be arranged in any order along the support arms 108, 109.

[0264] FIGS. 11-16 illustrate arrangements of a growing tray 200 for growing crops in the farming system. The growing tray 200 is used to move the crop around the system on load handling devices, in addition to supporting the crop while developing from seeds to being ready to harvest. As noted above, the growing tray 200 may be placed on trestles in temporary storage locations, or on trestles in growing booth locations. In growing booth locations, the growing tray 200 may be provided with services by a hood 100.

[0265] FIG. 11a illustrates a plan view, and FIG. 11b illustrates a front elevation of a growing tray 200 and liner 203. The tray 200 is of the ebb-and-flow type. At one end the tray 200 has a header pool 201, which may be filled by the fluid outlet of a hood 100 to provide fluid ingress to the tray 200.

[0266] The header pool 201 is separated from the growing area by a permeable barrier 202, which allows fluid to flow into the growing area at a controlled rate. At the opposite end of the growing tray 200, the tray has a sump pool 204, which is also separated from the growing area by a permeable barrier 202. As can be seen in FIG. 11b, the base of the tray 200 slops from the header pool 201 towards the sump pool 204 so that fluid may flow from the header pool 201 to the sump pool 204. FIGS. 12a and 12b illustrate cross sections of the growing tray 200, taken through lines A and B shown in FIG. 11b respectively, and the difference in depth between the two ends of the tray 200 can be readily seen. The liner 203 sits in the tray 200 to provide a growing deck. The liner extends over the pools 201, 204 and supported in the corners by support pads 205 (FIG. 16 illustrating a plan view of a growing tray and liner). FIG. 24 illustrates a similar plan view of a growing tray and liner as shown in FIG. 16, however, in this example, there is no header pool, instead the sump pool 204 acts as a combined header and sump pool.

[0267] The growing area or deck of the tray/liner 200, 203 may comprise an adjustable deck as illustrated in FIG. 13. FIG. 13a illustrates a perspective view of a growing tray with side walls 206, and FIG. 13b illustrates a perspective view of a growing tray with side walls removed and an adjustable deck is visible. In this way, the elevation of the growing surface, or height of the liner 203 within the growing tray 200 may be adjusted. The mechanism for adjusting the deck height is illustrated in FIG. 14, and FIG. 15 illustrates a detail of a deck height jack for use in the arrangements shown in FIGS. 13 and 14.

[0268] A drive pulley or cog 212, and intermediate drive gear 213 are located substantially at the centre of the tray 200. Driven wheels or cogs 210 are located at the corners of the tray 200, and are linked to the drive pulley via a belt or chain 215 which extends around the drive pulley 212 and each of the driven wheels 210. A spring may be used to adjust the drive belt tension. In addition, an indicator 214, interacting with the drive system may be used to indicate the deck height.

[0269] As may be seen in FIG. 15, the cog 210 is supported by the screw jack 222, 223. In this way, the inner cylinder 223 of the screw jack may be wound into and out of the outer cylinder 222 by the height adjustment mechanism. The bottom or lower end of screw jack 222, 223 is held to the growing tray 200 by retaining plate 225, while the liner 203 is attached to the upper end of the screw jack by plates 221 and bolts 220. It will be appreciated that the arrangement is repeated at each of the corners of the tray/liner arrangement. In this way, the deck height of the liner 203 may be adjusted as required.

[0270] FIG. 17-21 illustrate a load handing device 301 for use in the farming system. The load handing device 301 is used for lifting and depositing growing trays 200 in locations within the system. Further, the load handing device 301 is used to transport growing trays 200 between locations. The load handling device 301 may further be used to adjust the height of a liner within a growing tray 200.

[0271] FIG. 17 illustrates a plan view of a long side, or y-z side, of a load handling device, with a growing tray resting on the lifting pad, in various configurations. In FIG. 17a the y-direction wheels 303 are deployed with the x-direction wheels held in a raised position, for forward and reverse movement in the y-direction. Typically, load handling devices will transit in y-direction in the configuration shown in FIG. 17a.

[0272] In FIG. 17b the x-direction wheels 307 wheels are deployed, with the y-direction wheel held in a raised position, for forward and reverse movement in the x-direction. Typically, load handling devices will transit in x-direction in the configuration shown in FIG. 17b. Although the tray support pad 308 is slightly raised in the configuration shown in FIG. 17b compared to the configuration shown in FIG. 17a, the bottom of the growing tray 200, if carried, is still below the top of the trestles.

[0273] In this way, when carrying a growing tray 200 the load handling device may move along any unobstructed pathway along the track network 306—typically access aisles where no trestles are present. For example, to leave the growing tray 200 in a location having trestles such as a temporary storage location or a growing booth location, or to retrieve a growing tray 200 to transfer the growing tray to a new location.

[0274] If a load handling device is in transit without carrying or supporting a growing tray 200, then it the load handling device may move along any pathway along the track network 306, in some cases beneath growing trays resting on trestles.

[0275] FIG. 17c shows the load handling device 301 of FIGS. 17a and 17b, between a pair of trestles 311. In this configuration, the support pad 310 and tray 200 are raised so that the bottom of the tray 200 is above the top of the trestles 311. In the configuration shown in FIG. 17c, the load handling device 301 can either move on to the next location, or lower the tray 200 on to the trestles 311 before moving away to the next task. How the support pad 310 moves from lowered and raised positions is discussed in more detail below, in connection with FIGS. 18a, 18b, and 18c.

[0276] FIGS. 18a, 18b, and 18c illustrates an elevation view of the short side, or x-z side, of the load handing device 301 without a growing tray 200, and showing the lifting pad 310 and mechanism in more detail. FIG. 19 illustrates an elevation view of a short side, or x-z side, of the load handing device with the moving sub chassis removed. FIG. 20 illustrates an elevation view of the long side, or y-z side, of an alternate load handling device design where the lift of load (tray) support pad to clear the trestles is accomplished with a third electric or hydraulic ram (305), which is independent from the two direction change mechanism rams. FIG. 21 illustrates a plan view of the underside, x-y, of the load handling device.

[0277] As shown in FIGS. 18a, 18b, and 18c, a ram mounting 327 is mounted to the load handling device chassis. The ram 331 illustrated comprises a first stage 329 and a second stage 330, nested within the first stage 329. It will be appreciated that the ram 331 is of a telescoping type. The upper extremity of the second stage 330 is mounted to a sub-chassis 312. In this way, the sub-chassis 312 may move up and down with the ram 331. The sub-chassis 312 is contained within a retaining flange 317, 323 and guided with needle or roller bearing 324, shown in FIGS. 18a, 18b, 18c, and 19.

[0278] In FIG. 18a, the ram 331 is fully compressed or nested and the wheels 307 are in an x-direction drive position, and the support pad 310 is at the maximum height. In FIG. 18b, the ram 331 is partially expanded or raised, and the wheels 307 are in a drive position, and the support pad 310 is at the minimum height for x-direction drive. In FIG. 18c, the ram 331 is fully extended and the wheels 307 are in a raised position (for y-direction drive by the wheels 303). In this way, the same mechanism is used to raise and lower the support pad 310 and control the x-y direction of the load handling device 301.

[0279] One or more displacement sensors 304, 326 may monitor the distance travelled by the load handling device in the y- and x-directions respectively.

[0280] FIG. 21 illustrates a plan view of the bottom of a load handling device 301. As may be seen, wheels 303 are arranged along the along the long sides of the device 301 for y-direction travel, and wheels 307 are arranged along the short sides of the device attached to the sub-chassis 312 held within the retaining frame 317. At the centre of the device 301 a camera 316 is positioned for monitoring the positioning and travel of the device 301.

[0281] FIG. 22 is a schematic diagram of a controller for the farming system. As noted above, the controller or control facility may comprise a number of software programs running on separate computing devices, interlinked by communication facilities. Any suitable architecture is anticipated as would be well understood by a person skilled in the art. Accordingly, the controller is shown as a number of separate modules.

[0282] S99 shows an Interface to Forecast & Actual Demand, to allow an operator or interfaced order management system to input desired outcomes of the system to be communicated to other modules of the system.

[0283] S2800 shows a ML/AI (machine learning or Artificial Intelligence) Module, to provide improvements and feedback to the system based on input data and data collated over time.

[0284] S2801 shows a Growing System Planner/Manager, to collectively manage the components of the farming system, to plan tasks to work towards desired outcomes of the system and to send instructions to other modules.

[0285] S2802 shows a Growing Tray Task Manager, to plan and send instructions to load handling devices, workstations and booths to manage a crop in a growing tray.

[0286] S2803 shows a Growing Chamber Environment Controller Module to manage and control environmental parameters in aisles, on a growing floor and within chambers.

[0287] S2804 shows a Growing Booth Hood Controller Module to manage and control a hood or cohort of hoods.

[0288] S2805 shows an Interface to Growing Booth Hoods to manage communications and instructions from other modules to and from the booth and or Booth Hood Controller Module.

[0289] S2806 shows a Load Handling Device Charge State Manager Module, to schedule load handling devices visits charge points when necessary, to ensure that load handling devices are not re-tasked before they have adequate charge from the charge points, and to ensure the load handling devices are not selected to undertake a task for which they do not have adequate battery or supercapacitor charge.

[0290] S2807 shows a Recovery, Repair and Maintenance Manager Module, to manage the operational capability of the fleet of load handling devices and manage necessarily work to maintain functionality.

[0291] S2808 shows an Operator Interface, for users to link to components of the system to provide inputs for desired operations, data, and feedback to the operator.

[0292] S2809 shows a Load Handling Device Selection & Path Planning Module, to plan routes for load handling devices to complete tasks.

[0293] S2810 shows a Load Handling Device Path Clearance Module, to prevent collisions between load handling devices as a result of electomechanical failures of the load handling devices, communication failures with load handling device, or failures of load handling devices to maintain planned physics profile.

[0294] S2811 shows a Load Handling Device Communication Module, for receiving instructions from other modules and for transmitting data to other modules.

[0295] S2812 shows a Lift Task Planner Module, for providing capability to move load handling devices between floors.

[0296] S2813 shows a Lift communication Module, for receiving instructions from other modules and for transmitting data to other modules,

[0297] S2814 shows a Workstation Controller Module(s), for planning an executing tasks to process tray and crops.

[0298] S2815 shows an Interface To Workstations, to allow for user input and communication from the system to operators working at workstations.

[0299] FIG. 23 illustrates a method of using the farming system.

[0300] At step 401 growing trays are prepared at a workstation with seeds or seedlings. Tray preparation may comprise washing and inserting tray liners. Once prepared trays may be transferred to a controlled environment area 407, such as a high care or clean area, of the system. The prepared tray then remains within the control environment area 407 until after the crop is harvested and no longer in use.

[0301] At step 402 growing trays are lifted or retrieved from the preparation area, and transferred (at step 403) to the next location within the system by a load handling device, as instructed by the control facility. The load handling device then deposits the tray in a location, such as a growing booth or work station at step 404. Septs 402, 403 and 404 may be repeated through the growing cycle of the crop as required by the control facility.

[0302] When the crop has matured, the growing tray is transferred to a crop harvesting workstation at step 405. After harvesting, the crop may be returned or kept in the controlled environment 407 to continue growing, for example for a second crop from the same tray, or the harvested crop may be transferred out of the controlled environment for onward use at step 406. If a second crop may be produced from the plants in the growing tray, then steps 402, 403, 404 and 405 are repeated. If the crop is exhausted then the growing tray is returned to the tray preparation area and the tray is prepared to receive a new crop at step 401.

[0303] Further Comments

[0304] It will be appreciated that, the farming system and growing facility described herein provides a moderate to high density growing and storage facility. Accordingly, the facility provides an efficient and cost effective use of land.

[0305] The vertical scalability of the facility is only limited by building technology or construction practices, rather than by the growing facility and system itself.

[0306] It will be appreciated that, advantageously, the storage arrangement is relatively simple in design, with minimal interaction or connectivity required between mechanical components. Accordingly, the growing facility may be relatively cheap, straight-forward and quick to construct. It may be possible to construct the facility within existing buildings, or within multi-function buildings.

[0307] It will be appreciated that the arrangement of booth, or storage arrangement, advantageously provides for random access to each of the growing trays while maintaining a relatively high density of storage.

[0308] It will be appreciated that the area of the facility dedicated to booths, and the depth of booths on growing aisles may be optimised based on the intended use.

[0309] It will be appreciated that the load handling devices are simple and accordingly may provide improvements in reliability compared with other systems.

[0310] It will be appreciated that the cost and or number of MHE requirement, or load handling devices, may be minimised by optimisation of the system's control facility.

[0311] It will be appreciated that control of temperature, humidity and wind speed on the basis of aisles or part of aisles e.g. galleries or chambers, may provide efficiencies and simplifications compared with control on the basis of growing tray-by-growing tray. Accordingly, a cost benefit may follow.

[0312] It will be appreciated that the irrigation, lighting and sensing provided by hoods above the growing trays by growing tray basis allow for customisation of the localised environment for specific trays. Advantageously, it will be appreciated that customisation allows the system to meet short-term fluctuation in demand.

[0313] Advantageously, it will be appreciated that they are no growing tray-to-growing tray service couplings required. The fluid ingress and fluid egress solution between the hood and growing tray is low-tech and does not require a fluid coupling. Further, the lighting, sensing and camera functions for monitoring and servicing crops are located in the hood and so the connections are substantially permanent and static.

[0314] Advantageously, the system readily supports full automation of all routine production tasks as the load handling devices provide conveyance through workstations; and workstation could be automated or robotic.

[0315] Within the system, fire suppression is easily engineered, and within storage areas firewalls are easily engineered, thereby improving the safety of the system.

[0316] The hydroponic growing system or farming system described above with reference to the figures allows control of the growing environment and thus reduces the risk of microbiological contamination. In addition, the modular nature of the system allows for efficient use of space and ready scalability. The length, width and height of the rack units can be chosen to fit the available space. Accordingly crop yields and growing times are improved, contamination is minimised, shelf life is improved and the environmental impact is minimised.

[0317] Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance, it should be understood that the applicant claims protection in respect of any patentable feature or combination of features referred to herein, and/or shown in the drawings, whether or not particular emphasis has been placed thereon.

[0318] It will be appreciated that a farming system, method and devices can be designed for a particular application using various combinations of devices and arrangements described above. It will be appreciated that the features described hereinabove may all be used together in a single system. In other embodiments of the invention, some of the features may be omitted. The features may be used in any compatible arrangement. Many variations and modifications not explicitly described above are possible without departing from the scope of the invention as defined in the appended claims.

[0319] In this document, the term “load handling device”, “load handling device” and “bot” may be used interchangeably. The load handling device may be considered to be a tray handling device. The load handling device is a type of MHE or material handling equipment.

[0320] In this document, the language “movement relative to a gap” is intended to include movement within the gap, e.g. sliding along the gap, as well as movement into or out of a gap.

[0321] In this document, the language “movement in the n-direction” (and related wording), where n is one of x, y and z, is intended to mean movement substantially along or parallel to the n-axis, in either direction (i.e. towards the positive end of the n-axis or towards the negative end of the n-axis).

[0322] In this document, the word “connect” and its derivatives are intended to include the possibilities of direct and indirection connection. For example, “x is connected to y” is intended to include the possibility that x is directly connected to y, with no intervening components, and the possibility that x is indirectly connected to y, with one or more intervening components. Where a direct connection is intended, the words “directly connected”, “direct connection” or similar will be used. Similarly, the word “support” and its derivatives are intended to include the possibilities of direct and indirect contact. For example, “x supports y” is intended to include the possibility that x directly supports and directly contacts y, with no intervening components, and the possibility that x indirectly supports y, with one or more intervening components contacting x and/or y.

[0323] In this document, the word “comprise” and its derivatives are intended to have an inclusive rather than an exclusive meaning. For example, “x comprises y” is intended to include the possibilities that x includes one and only one y, multiple y's, or one or more y's and one or more other elements. Where an exclusive meaning is intended, the language “x is composed of y” will be used, meaning that x includes only y and nothing else.