RU2848329C2 - Device, method and system for cultivating useful agricultural land - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: a device for cultivating usable agricultural land comprises at least one elongated crossbar and a matching running gear with at least one wheel, by means of which the crossbar can be moved in a circle or linearly across the usable area, at least one field cultivation device, which is movable or designed to be movable along the crossbar, at least one box, preferably boxes, and carriages provided on the crossbar, which are placed on matching guide rails of the crossbar and can thus be moved along the crossbar in the direction of its longitudinal extent. At least one field cultivation device is mounted on each carriage, and each carriage thus serves as a carrier for the field cultivation device. A transport system is provided on the crossbar along its longitudinal extent. At least one box, preferably boxes, can be moved by the transport system in the direction along the longitudinal extent of the crossbar and thus brought into position relative to the field cultivation device. At least one carriage has field cultivation devices mounted on it at the same time, and thus the carriage serves as a carrier for these field cultivation devices, and carriages with at least one field cultivation device mounted on them are provided on opposite sides of the crossbar. The method for cultivating usable agricultural land with a device for cultivating usable agricultural land is performed fully automatically and includes the corresponding technological stages of plant cultivation from sowing or planting to harvesting. During harvesting, the harvested crop is mechanically placed in a box provided for this purpose. Plants are sown or harvested in the form of mixed cultivation on the same usable agricultural area. The processes of growing and harvesting plants are reproduced as transfer processes, i.e. "pick up and put down", and these transfer processes are performed with overlapping crops, i.e. for vegetable plants. When harvesting with a field cultivation device, the harvested crops are placed together in a common box. Spot cultivation is carried out on the usable agricultural area, in which the cultivation of the usable area is concentrated only on the target planting points where the plants are introduced into the soil. At the target planting points, plants are sown, irrigated and/or harvested when ripe. The system for cultivating usable agricultural land includes a device for cultivating usable agricultural land, which acts as a base station on the usable agricultural land, and at least one platform that can be moved relative to the usable agricultural area, which is provided separately from the device for cultivating the usable agricultural area and has at least one field cultivation device that is mounted on the chassis of the platform or on a part thereof and with which the technological stage of plant cultivation can be performed. A transport system is mounted on the chassis of the platform or on a part thereof, by means of which at least one box can be moved in the longitudinal and/or transverse direction of the chassis and thus brought into position, in particular relative to the field cultivation device. The platform can be brought into position relative to the crossbar of the device for cultivating useful agricultural land in such a way that the platform can receive boxes from the crossbar, or such boxes, which in this case are filled with harvested plants and are located on the platform, can be returned to the area of the crossbar or onto it. The platform is part of a mobile agricultural robot, and its chassis is equipped with wheels that allow the agricultural robot to move around the usable area. At least one of the wheels is equipped with a drive, , and at least one wheel is mounted with the ability to rotate or turn around a vertical axis on the chassis to enable the mobile agricultural robot to change its direction of movement.

EFFECT: optimisation of the cultivation of usable agricultural areas is ensured, more efficiently with simple means.

20 cl, 24 dwg

Description

The present invention relates to a device for cultivating a useful agricultural area according to the preamble of claim 1 of the invention and to a corresponding method for which such a device can be used.

It is known from prior art that agricultural land can be cultivated using self-propelled machines. These machines typically refer to mobile, autonomous agricultural robots, which are equipped with their own chassis or undercarriage and are relatively compact. Although such agricultural robots are already suitable for high-precision applications, they nevertheless suffer from the disadvantage of being relatively expensive, making their cost-effective use problematic. A further drawback arises from the fact that such autonomous or self-propelled agricultural robots are considered vehicles, and therefore, German law imposes strict restrictions on their use.

Self-propelled machines can also be equipped with portal systems in the form of a crossbeam, with a chassis with rollers mounted at both ends of the crossbeam in most cases, allowing the crossbeam to move longitudinally across the soil or usable agricultural land. For example, AT 364659 B describes a device for cultivating usable agricultural land with such a portal system in the form of a bridge, which moves transversely to its longitudinal length using wheels running on rails. A carriage can move longitudinally along the bridge, serving as a carrier for equipment for the field cultivation device (e.g., for planting or weeding).

From WO 2017/106874 A1 a method for cultivating a useful agricultural area is known in accordance with the indicative part of claim 1 of the invention formula.

US 2011/252760 A1 discloses a device for cultivating agricultural land that can automatically harvest rows of fruit. The device includes a frame device, which, using wheels mounted on it, can move autonomously across the agricultural land. The frame device is equipped with movable robotic arms, which collect the fruit during harvesting and then place it in boxes or containers.

Thus, the invention is based on the task of optimizing the processing of useful agricultural land and making it more efficient using simple means.

This problem is solved by a device with the features of claim 1 and a method with the features of claim 11. Preferred improvements of the invention are defined in the dependent claims.

The device according to the present invention is used for cultivating a useful agricultural area and includes at least one elongated crossbar and a chassis matched thereto with at least one wheel, by means of which the crossbar can move in a circle or linearly across the useful area, and at least one field cultivation device, which is movable or adapted to move along the crossbar. The device further includes at least one box, preferably a plurality of such boxes, and a transport system, which is provided on the crossbar along its longitudinal extension. The device further includes several carriages provided on the crossbar, which are placed on matched guide rails of the crossbar and thus can move along the crossbar in the direction of its longitudinal extension, wherein at least one field cultivation device is mounted on each carriage, and thus the carriages each serve as a carrier of equipment for the field cultivation device. At least one box can be moved by a transport system along the longitudinal extension of the crossbeam in a predetermined direction and thereby brought to a predetermined position, in particular adjacent to a field cultivating device. This is also expediently possible for multiple boxes, which can be moved by the transport system along the longitudinal extension of the crossbeam. Different types of field cultivating devices are mounted simultaneously on at least one carriage, whereby the carriages serve as equipment carriers for these different types of field cultivating devices. Multiple carriages with at least one field cultivating device mounted thereon are provided on opposite sides of the crossbeam.

For the purposes of this invention, the term "box" should be understood to mean any container suitable for receiving harvested crops or fruits. Such a box may be designed as a crop box, a plant box, a vegetation box, or the like. Handles or the like may be provided on two opposite sides of such a box, allowing the box to be held. Such a box may conveniently be made of plastic or wood, or alternatively of a (light) metal, such as aluminum. In any case, the material from which such a box is composed or formed according to this invention is chosen to be sufficiently stable to ensure, on the one hand, that the box can be lifted manually when filled with the harvested crop, and, on the other hand, that contact between multiple adjacent boxes on a roller table or the like is possible, without causing swelling or even cracking in the side walls of the box.

It should also be noted at this point that, for the purposes of this invention, the terms "box" and "container" are to be understood synonymously. Furthermore, a box or container may also be rounded or even circular in the corner areas.

The key feature of the inventive device is that at least one box can be brought or moved to a predetermined position along a crossbeam using a transport system. For this purpose, the transport system may have either a reversible conveyor belt and/or a roller table on which the box can be placed. The predetermined position, to which the box can be brought by the transport system, is located in particular adjacent to a field cultivating device, which is positioned or provided on the crossbeam. Specifically, if the box is positioned along the crossbeam in such a position adjacent to the field cultivating device, it is possible for the field cultivating device to either extract seeds, seedlings, or the like from the box, thereby further cultivating the useful agricultural area, or to transfer the harvested crop or the like back into the box during harvesting.

The invention likewise provides a method for cultivating a useful agricultural area, which may utilize the aforementioned device according to the invention. In any case, such a method is characterized by being fully automated and by incorporating the working stages or process steps of plant cultivation, from sowing or seeding the plants to harvesting them. During harvesting, a predetermined quantity of the harvested crop, possibly also of different plants, is mechanically placed in a designated box. The method is further characterized by the fact that, on the same useful agricultural area, various plants are sown or harvested in a mixed cultivation system, wherein the processes of growing and harvesting the plants are reproduced as transfer processes ("pick-up and put"), and these transfer processes are performed with overlapping crops, i.e., for different types and sizes of vegetable plants. During the storage of the harvest using the field cultivation device, the harvested crop of different types of plants is placed together in a common box. Furthermore, this method is characterized by the implementation of spot cultivation on the useful agricultural area, in which the cultivation of the useful area is concentrated only on the target planting points, where the plants are introduced into the soil, and at the target planting points, sowing of plants, irrigation and/or harvesting of mature plants takes place.

As explained above, the transport system may include a reversible conveyor belt on which at least one crate, preferably multiple crates, can be placed. Such a conveyor belt is suitably made of a rubberized material or has a rubberized material on its upper surface, thereby preventing the crate from slipping on the conveyor belt.

In addition to or as an alternative to a conveyor belt, the transport system may be provided with a roller table with multiple support rollers, each with a horizontal axis of rotation. In this case, at least one crate can be placed on top of the roller table's support rollers. Optionally, the roller table also has multiple guide rollers, each with a vertical axis of rotation, wherein the guide rollers are located laterally on the roller table, thereby limiting the roller table's sides. The roller table's rollers enable the roller table transport system to move at least one crate along the longitudinal extension of the crossbar with low rolling resistance.

The present invention is directed to a method for cultivating a useful agricultural area and/or a device intended for the same, which comprises a crossbar with a significant longitudinal extension. Given its longitudinal extension, this crossbar is preferably of a lightweight design, for which aluminum components are considered, for example. The crossbar may have any length, for example, at least 10 meters or more, such as 25 meters. Alternatively, a longitudinal extension of >30 meters is also possible.

The above-described crossbar design, which has a significant longitudinal extension and can be implemented as a portal system, offers the advantage of allowing a larger area of soil or arable land to be covered and thus cultivated when the crossbar is moved, significantly reducing soil compaction within the area. Consequently, less energy is required for soil preparation after harvest, and more _CO2 can be accumulated in the soil than with traditional cultivation.

According to the invention, the crossbeam can be equipped with at least one field cultivation or application device that is movable or capable of movement along the crossbeam. Such mobility can be achieved, for example, by means of a so-called carriage or similar device mounted on coordinated guide rails of the crossbeam.

According to the invention, a crossbeam is used to cultivate a useful agricultural area in the open air, i.e., a so-called open area. In this regard, it should be noted once again that the device according to the invention can move or be moved with its crossbeam across this useful agricultural area using a coordinated chassis that has at least one wheel.

The present invention advantageously implements a highly automated cultivation system for agricultural land, which—thanks to the invention—can be planted with various vegetable crops. The crossbar can move either in a circular path around a fixed central post, to which the crossbar is pivotally connected, or along a linear path across the arable land or field. In the latter case, a chassis with wheels is provided at each end of the crossbar, which rolls across the arable land.

The present invention also provides a system for cultivating a useful agricultural area, comprising the above-described device, which also functions as a base station on the useful agricultural area. Such a system further comprises at least one platform movable relative to the useful agricultural area, with at least one field cultivation device mounted on the platform chassis or on a portion thereof and by means of which the technological step of cultivating plants can be performed, and a transport system mounted near or on the platform chassis or on a portion thereof. The platform is provided separately from the above-described device and is thus not part of this device. At least one box, preferably a plurality of such boxes, can be moved by the transport system in the longitudinal or transverse direction of the chassis and thereby brought to a predetermined position, in particular next to the field cultivation device. At least one platform or a plurality of such platforms may be positioned adjacent to a crossbeam such that the platform can receive boxes from the crossbeam, or such boxes, which in this case are filled with harvested crops and are located on the platform, can be returned to or onto the crossbeam. Furthermore, the platform is part of a mobile agricultural robot, and its chassis is provided with several wheels mounted thereon, by means of which the agricultural robot can move across the useful area, wherein at least one of the wheels is equipped with a drive, and at least one wheel is mounted on the chassis with the ability to rotate or pivot around a vertical axis, allowing the mobile agricultural robot to change its direction of movement.

In a preferred development of the system according to the invention, all wheels of the platform or agricultural robot can rotate around a vertical axis, allowing the mobile agricultural robot to move across the soil of the cultivated agricultural land in all directions. The meaning of the term "in all directions" within the meaning of the present invention is further explained below.

In a preferred development of the system according to the invention, the platform chassis has a modular design and includes a plurality of elongated, particularly tubular, insert elements. These insert elements can be connected and disconnected from one another, particularly without the use of special tools, such that at least one chassis dimension can be varied. This variable chassis dimension preferably refers to the dimension or length of the chassis that extends transversely to the direction of travel of the tractor. It is also possible for the chassis dimension to vary in the direction of travel of the tractor, or parallel to the direction of travel of the tractor, and/or also vertically.

In a preferred improvement of the system according to the invention, a control or adjustment device is provided, by means of which the movement of the mobile agricultural robot or platform over the useful area and/or the activation of at least one field cultivation device can be controlled or adjusted, preferably, that the control or adjustment device is mounted on the chassis or on a part thereof or near it.

In a preferred development of the system according to the invention, the above-mentioned control or regulation device is configured in software and hardware such that average cycle times and/or energy consumption can thereby be determined, and on this basis the reliability of a production process typical of agriculture can be confirmed. Further advantages are achieved in this case if the control or regulation device is configured in software and hardware such that at least an approximate calculation of the economic efficiency of using or operating the device, the mobile agricultural robot, and/or at least one field cultivating device located thereon can be performed.

A preferred improvement of the system according to the invention includes a transmitting and receiving unit, which is connected via a signal path to a control or regulation device, whereby, via the transmitting and receiving unit, data or data packets for monitoring and/or controlling the operation of the chassis and/or the field cultivating devices located or provided thereon can either be received from a remote location, in particular in the form of a control center, and/or transmitted to such a remote location. It is advantageous if the transmitting and receiving unit is mounted on the chassis or on a part thereof, or near it.

According to a preferred development of the system according to the invention, at least one carriage can be mounted on the platform on the corresponding guide rails of the chassis, which can move along the longitudinal extension of the platform thereon. At least one field cultivating device is mounted on the carriage, wherein the carriage serves as a carrier for the field cultivating device. This, as with the device according to the invention, leads to the advantage that, in this case, by moving the carriage on or along the guide rails, the field cultivating device, which is mounted or mounted on the carriage, can be precisely oriented relative to its position on the useful agricultural area or the plant planted thereon.

According to a preferred development of the system according to the invention, at least one field cultivating device can be mounted on the platform carriage by means of a robotic arm or the like. Such a robotic arm has multiple degrees of freedom and/or multiple arm elements with multiple pivot joints with the resulting degrees of freedom, and can be designed as an industrial robot with at least two degrees of freedom and have two or more articulated arms, each of which can rotate about a vertical or horizontal axis of rotation. Accordingly, using such a robotic arm, the field cultivating device mounted thereon can be precisely directed toward a plant on a useful agricultural area or oriented relative to it.

According to a preferred improvement of the system according to the invention, in relation to the platform, its transport system may have a gripping device which can be brought into interaction with the box in order to thereby move the box along the longitudinal extension of the platform in a certain direction, wherein at least one carriage movable along it, on which the gripping device is provided, is placed on the coordinated guide rails of the platform.

According to a preferred improvement for the system according to the invention, it is provided that the platform has a height adjustment mechanism, which interacts with the transport system in such a way that the vertical distance between the transport system and the useful agricultural area, and thus its vertical height, can be set by means of the height adjustment mechanism to a predetermined value. This leads to the advantage that if the platform has been moved to a position next to the crossbar of the device, and in this case possible differences in height exist between the transport system of the platform and the transport system of the device or the crossbar, these differences in height can be compensated by activating the height adjustment mechanism of the platform, due to the fact that the transport system of the platform is thereby brought to the same vertical height as the transport system of the device. In this regard, the predetermined value, to which the vertical distance between the transport system of the platform and the useful agricultural area is set by means of the height adjustment mechanism, can correspond to the vertical distance or vertical height that the crossbar of the device has at its end relative to the useful agricultural area. Thus, in this case, a reliable transfer of boxes from the crossbar of the device to the platform and vice versa is ensured.

According to a preferred development of the invention, the transport system of the device and/or the transport system of the platform may have a gripping device that can be actuated in interaction with the crate, thereby moving the crate along the longitudinal extension of the crossbar or platform in a predetermined direction. Such a gripping device may be provided or mounted on at least one carriage, wherein the carriage is positioned on coordinated guide rails of the crossbar or platform and is thus mounted so as to be movable along the longitudinal extension of the crossbar or platform. This means that in this case, when the carriage moves with the aid of the gripping device provided thereon, the crate located on the transport system can be moved along the crossbar or platform in a predetermined direction.

Using a field cultivation device, which is provided on the crossbar of the device or on the platform of the system according to the present invention, it is possible to perform any technological stages of plant cultivation in or on a useful agricultural area, such as sowing and/or harvesting plants, weeding, targeted irrigation and/or fertilizing plants, pruning plants, and/or targeted cultivation or loosening of arable soil. In this case, the use of boxes that can be moved by a transport system along the crossbar of the device or along the platform is useful in certain cases for transporting or feeding, for example, seeds or harvested plants.

Preferred improvements of the invention are formed by the following features, which, where applicable, apply equally to both the device and its crossbar, and to the platform of the system according to the invention:

- The crossbar may be connected at one end to a fixed central post, preferably pivotally by means of a tilt-and-turn joint or a corresponding hinge fork, while the other end of the crossbar has a chassis that rolls over the soil or arable land. The crossbar can thus move in a circle around a central or midpoint of rotation, which is formed by the fixed central post. As explained above, it is also possible, as an alternative to this, for the crossbar to be equipped with a chassis at both ends, so that the crossbar can thus move linearly or progressively over the soil. And/or:

- The crossbeam or platform may also be provided with several "carriages" with field cultivation devices mounted thereon, which can move along the longitudinal length of the crossbeam or platform thereon. These several "carriages" may be mounted with the ability to move on one side of the crossbeam and/or on different sides of it, i.e. on opposite sides of the crossbeam (i.e. on the left side and on the right side). In particular, if several such carriages with field cultivation devices mounted on each are provided on opposite sides of the crossbeam, it is possible that in this case the carriages or field cultivation devices on one side of the crossbeam move independently of the carriages or field cultivation devices that are respectively provided on the other or opposite side of the crossbeam. And/or:

- The field cultivating device may be connected via a robotic arm to a crossbeam or platform, or to a carriage. Such a robotic arm preferably has multiple degrees of freedom and/or multiple arm elements with multiple pivot joints with the resulting degrees of freedom. This advantageously results in flexible, large-radius mobility for the field cultivating device, which can be mounted on the free end of the robotic arm. This allows for the cultivation or harvesting of useful agricultural land, even for those plants that are not positioned directly next to or under the crossbeam or platform. And/or:

- The above-mentioned robot arm can be designed as a SCARA (Selective Compliance Articulated Robot Arm). Such a SCARA robot typically has four axes and four degrees of freedom, resulting in a large reach for a field cultivating device that can be mounted at the lower end of the z-axis. And/or:

Various types or kinds of field cultivating devices may be mounted on the carriage. For example, it is possible for different types of such field cultivating devices to be mounted on the carriage simultaneously. Additionally or alternatively, the invention allows for one field cultivating device on at least one carriage to be replaced by another, if necessary. For this purpose, the invention provides a tool changer system on the crossbeam or platform, by means of which a plurality of different types of field cultivating devices are pre-installed on the crossbeam or platform, and, if necessary, one field cultivating device on at least one carriage can be replaced by another. Such a changeover occurs, for example, if a different plant is to be cultivated and/or a different cultivation process is to be carried out. And/or:

- The above-mentioned tool change system forms, in a sense, a "spare bin" for various types of field cultivating devices. To ensure that at least one carriage is equipped with a field cultivating device of a given type, it is advisable if the tool change system is also designed to be movable along the longitudinal length of the crossbar, so that in this case, if necessary, the field cultivating device can be replaced more quickly and with greater flexibility on the selected carriage or on the robot arm mounted on it, on which the field cultivating device to be replaced can also be mounted. And/or:

- When speaking about the above-mentioned field cultivation devices that can be mounted on a carriage (or alternatively: directly on a crossbar), it may be, for example, an irrigation applicator, a fertilizer applicator, a manipulator or applicator with at least one vertical axis of rotation or manipulation and with additional peripheral devices mounted thereon and/or an industrial robot (= manipulator) with at least two degrees of freedom (DOF, also SCARA or Delta robot). If such an applicator or manipulator is provided with two or more vertical axes of rotation, this means, for example, that it has two or more articulated arms, each of which can rotate about a vertical axis of rotation. Alternatively, it is also possible that such articulated arms can also rotate about a horizontal axis. And/or:

- Around or on the crossbar of the device, which functions as the main crossbar, at least one auxiliary crossbar can be mounted with the possibility of moving or telescopically extending or with the possibility of folding back by means of a hinged support in any orientation (horizontally, vertically, diagonally). Just as on the main crossbar, also on such an auxiliary crossbar there can be provided at least one carriage with field cultivating devices mounted thereon, which can move in the longitudinal direction of the auxiliary crossbar. Alternatively, it can be provided that at least one field cultivating device is also mounted directly on such an auxiliary crossbar. In this way, the working radius for the cultivation system according to the present invention can be advantageously expanded, without further compaction of the cultivated area of the arable land. And/or:

- By means of a crossbar or platform and field cultivation tools or devices mounted thereon, which can be movably guided along the longitudinal extension of the crossbar or platform thereon, according to the invention, soil loosening can be achieved also only locally in the area of plants introduced into the arable land or agriculturally useful area. Movement of the field cultivation devices relative to the agriculturally useful area is also achieved in relation to the platform due to the fact that the platform itself moves over the useful area either as part of a mobile agricultural robot or by being suspended or secured to a tractor. And/or:

- With the help of various types of field cultivation devices, which, as explained, can be mounted on the carriage (or alternatively: directly on the crossbar), all processes of cultivating agriculturally useful land are covered or made possible, such as soil cultivation (e.g. plowing, loosening), sowing of plants, plant protection, irrigation, fertilization, harvesting and, if necessary, logistics for the transfer approach ("pick-up and put"). And/or:

- It is advisable if each carriage has a tool change system, with the help of which, as was explained, various types of field cultivation devices can be mounted on the carriage matched to it. And/or:

- With respect to the carriage, which, as has been explained, is mounted so as to be movable along the longitudinal length of the crossbar, it is understood that such carriage, together with the field cultivation device mounted thereon, moves or is moved along the crossbar during the movement of the crossbar, which may be carried out either in a circle around a central point or progressively or linearly along the area of arable land. As a result, plants in any arbitrary, i.e., any place on the arable land area can be reached by the field cultivation device in order to carry out the necessary process of cultivation or harvesting. And/or:

The transport system of the device or platform is designed so that it can be activated or operated in both directions of the longitudinal extension of the device's crossbar or platform chassis. As a result, at least one crate can move along the crossbar in both directions. With appropriate modifications, this naturally also applies to multiple crates that can be placed on a conveyor belt or roller table of the transport system.

- With respect to the transport system provided for the device according to the invention or for the platform of the system according to the invention, several such transport systems may also be provided on the crossbar of the device or the chassis of the platform. In this case, these several transport systems may be arranged vertically one above the other or horizontally next to one another. For this purpose, suitable mechanical precautions are taken on the crossbar of the device or the chassis of the platform to enable such an arrangement of several transport systems.

- At least one sensor or a corresponding sensor package may be provided on the field cultivating device and/or the associated carriage, which, as explained above, are mounted so as to be movable along the crossbar or platform. This allows for monitoring of the working area and the proper detection of plants being processed or harvested by the field cultivating device. And/or:

- The crossarm and/or platform, as part of the mobile agricultural robot, is equipped or provided with a plurality of solar panels and has at least one battery storage unit, which is electrically connected to the solar panels. This battery storage unit can thus be supplied or charged during the day with current generated by the solar panels, thereby covering the energy requirements of the crossarm or the mobile agricultural robot and the associated devices. The battery storage unit can thus also serve at night as a night storage unit, in order to ensure the continuous operation of the crossarm or the mobile agricultural robot according to the invention and the devices installed thereon. In this way, an autonomous energy supply of the crossarm or the agricultural robot according to the invention and the devices provided thereon is ensured. For example, it is possible that a total of 75 solar panels are mounted in two rows along the entire length of the crossarm. This makes it possible to cover 100% of the energy consumption, and thus the said autonomous energy supply of the crossarm according to the invention with the devices installed thereon is ensured. And/or:

- The above-mentioned solar panels are preferably mounted above the crossbeam or in its upper region. Accordingly, these solar panels also serve as protection for the crossbeam from adverse weather conditions. This also applies, mutatis mutandis, to a mobile agricultural robot, where such solar panels can be mounted above the platform chassis. And/or:

At least one box is movably moved along the crossbar or platform. This box can be used to deliver seeds from the center to the desired location on the crossbar, for sowing the crop in the field from there. Additionally or alternatively, the box, according to its designation, can be used to receive the harvested crop, which has been removed from the soil of the agricultural area during harvesting, and then deliver it back along the crossbar to the center. The aforementioned box can be formed from a generally accepted standard vegetable box. And/or:

- With respect to the use of at least one crate, a transport system, which is preferably integrated into the upper region of a crossbar or platform, ensures that such a crate or a plurality of crates are moved in a targeted manner along the longitudinal extension of the crossbar or platform, preferably in both directions. In the case of the embodiment of the invention as a circular cultivation system, using such a transport system it is thus possible to transport the crates from the center, i.e. from the central fixed post, along the crossbar in a radial outward direction. With appropriate modifications, this also applies to the opposite direction, i.e. for transporting the crates in a radial inward direction, i.e. in the direction of the central fixed post. And/or:

- In a preferred development of the invention, the crossbar and/or the transport system of the device and/or the platform may be equipped with a storage or roller magazine capable of accommodating a plurality of boxes. Such a magazine may accommodate a number of boxes >>10, for example, 10, 20, 30, 40 or 50 such boxes, or an even greater number of boxes. And/or:

Using the invention, it is possible, for example, to economically grow over 25,000 vegetable plants on a useful agricultural area of 1/4 hectare—25% more than with traditional cultivation. If the invention is implemented as a pivot cultivation system, in which the crossbar moves in a circle around a fixed central post, 600 seedlings can be grown per day, and a comparable number of plants can be harvested. Moreover, selective harvesting creates the conditions for further efficiency increases, for example, by 10% compared to traditional cultivation. And/or:

- A device with at least one nozzle may be mounted on the crossbeam and/or platform, by means of which a liquid may be introduced or injected into a target location in the soil of a useful agricultural area. It is advantageous if this device can be moved along the longitudinal extent of the crossbeam. After the nozzle device has reached a predetermined location on the crossbeam, the targeted introduction of at least one nozzle into the soil of the useful agricultural area may be achieved, for example by means of a height adjustment device. The liquid may be water, in order to thereby specifically water the plants planted in the soil, and/or an aqueous solution with fertilizer, in order to thereby specifically fertilize the plants. And/or:

- If, by means of the above-mentioned nozzle device, water is introduced or injected into the soil, for example, next to or in the immediate vicinity of the plants to be watered, this, according to the invention, corresponds to minimum quantity irrigation, by means of which a water saving of approximately 80% is achieved compared to traditional cultivation. And/or:

- The invention achieves, using suitable tools or devices for field cultivation, which, as explained, can be mounted on a carriage, also ecological plant protection without chemicals and precise soil preparation or the introduction of crop residues with maximum soil conservation and energy efficiency. And/or:

- According to the invention, it can be envisaged that the cultivation of a useful agricultural area is carried out completely automatically, for example, from sowing the plants to harvesting them. A feature of this approach to cultivation can consist in the sowing or harvesting of different plants on the same useful agricultural area. In this case, it is also possible during harvesting to collect the different plants together in a common container, for example, for the purpose of direct sale to potential consumers. As a result, the present invention ensures the saving of at least one link in the sales chain or at least one processing stage during the sale of the harvested crop, thereby achieving attractive market prices. And/or:

- The present invention allows for spot farming to be implemented on agricultural land. This method focuses cultivation on specific planting points where plants are introduced into the soil. These planting points are then used for seeding, irrigation, and, if necessary, fertilization, and finally harvesting of mature plants. This type of cultivation can replace monocultures while simultaneously promoting biological or species diversity. And/or:

According to a preferred improvement of the invention, the processes of growing and harvesting plants can be reproduced as pick-and-place processes. This makes it possible to perform these processes with overlapping crops, i.e., for different types and sizes of vegetable plants. For example, it is possible to mount a suitable field cultivation device in the form of a gripping tool on the carriage, which can be used to harvest heads of lettuce and cabbage, even kohlrabi, of any size. And/or:

- As just explained, the present invention makes it possible to cultivate various varieties of plants or vegetables on a useful agricultural land. The following crops may be recommended: iceberg lettuce, head lettuce, romaine lettuce, red and white cabbage (mini), broccoli, kohlrabi, celery, cucumbers and zucchini, as well as pumpkin. In other words, the present invention makes it possible and envisages "mixed cultivation" of plants or vegetables on a useful agricultural land. And/or:

- The technological stages of plant harvesting are carried out according to the invention preferably automatically, and then preferably at night. This can be envisaged in particular if the useful agricultural area, as explained above, is planted with different varieties of plants or vegetables. In this case, these different varieties or plants can be stored during harvesting directly from the field into boxes, which, as already explained, can be transported along a crossbar or platform. It is also possible to replenish the boxes with potatoes, onions, and carrots at a stationary location, thus supplementing the offer for the end customer. And/or:

- With the aid of the present invention, it is possible to cultivate a plurality of different vegetable crops either by means of integrated field cultivation devices or seeding tools, or by means of a plurality of such devices or tools, which can also be mounted simultaneously on a carriage, in the sense of individual micro-spot cultivation. This can preferably be carried out either at least partially automated, or preferably also fully automated, expediently by specifying the corresponding calculation data for the individual process steps and their time sequence in relation to the cultivation of the useful agricultural area. And/or:

- According to a preferred improvement of the invention, the crossbar can be equipped with a control or adjustment device, by means of which the movement of the crossbar can be appropriately controlled, either in a circle around a central point, or linearly or longitudinally along the cultivated useful agricultural area, and/or the movement or action of the field cultivation devices installed on it. And/or:

- The above-mentioned control or regulation device may be suitably configured in software and hardware such that various control actions of the crossbar and/or the field cultivating devices mounted thereon and/or with respect to the transport of the box along the crossbar may be performed in accordance with a control circuit, i.e. in a controlled manner. This also applies, mutatis mutandis, to the platform according to the system according to the invention. And/or:

- In a preferred development of the invention, the above-mentioned control or regulation device also makes it possible to confirm the calculated average cycle times, the expected energy consumption and/or the reliability of the production process typical for agriculture. And/or:

- In a preferred development of the invention, the above-mentioned control or adjustment device can be configured in software and hardware in such a way that at least an approximate calculation of the economic efficiency of the use or operation of the crossbeam or platform according to the invention is thereby also possible. This also applies, mutatis mutandis, to the corresponding development of the method according to the invention. And/or:

- In a preferred development of the invention, the traverse or platform, as part of a mobile agricultural robot, can be equipped with a transmitting and receiving unit, which is connected via a signal path to a control or regulation device. By means of this transmitting and receiving unit, it is possible to either receive data or data packets from a remote location (for example, in the form of a control center for monitoring and/or controlling the operation of the traverse according to the invention) and/or transmit them to such a remote location. In the case of the embodiment of the invention in the form of a pivot cultivation system, such a transmitting and receiving unit can expediently be mounted on a fixed central column and preferably in its upper region, so that a good transmitting or receiving power is thereby achieved for the data transmitted from a remote location and/or to a remote location. And/or:

- According to a preferred development of the invention, it is possible to process the cultivated plants directly with field cultivating devices mounted on a carriage or a crossbar or platform. Such processing may consist of the plant being appropriately divided or separated by a field cultivating device or a tool designed in a suitable manner, and/or the separation of inedible biomass from the plant. The term "inedible biomass" shall be understood within the meaning of the present invention in such a way that it refers to the dying biomass of the cultivated plants, which may arise due to rotting, insect damage, or a lack of nutrients and/or water. And/or:

- In order to improve the quality of the harvested crop, the present invention provides for separating inedible biomass from the harvested plants. This separation of inedible biomass may occur at the stage of the plant (e.g. broccoli), when it is still located on useful agricultural land. Additionally or alternatively, this may also occur during the process step when the plant is removed from the soil during harvesting. In any case, such separation of the plants and/or separation of inedible biomass is preferably supported by an optical sensor, which, as already explained above, may be equipped with a field cultivating device or an associated carriage, and by means of which the plant and its position and/or size are thereby recorded. And/or:

- The above-described separation of inedible biomass should also be considered according to the invention in the context that the remaining healthy plants or plant parts are thereby protected, and in this regard, active plant protection is achieved. Likewise, growth promotion is achieved through an effect on the leaves and the promotion of new shoots on the remaining healthy plants or plant parts. And/or:

- Algorithms for new processes or process steps can be implemented on the control or regulation device using software. The invention thus enables the generation of training data for neural networks reliably and, in particular, independently of the weather. Time-consuming masking of plants is reduced if the same plants in the same position are recorded daily by sensors or cameras provided for this purpose. A further advantage is that monitoring is also easily possible after row closing at a late stage of the crop's growth. This aspect also applies to the use of the traverse according to the invention, as well as to a correspondingly designed method according to the present invention. And/or:

- According to a preferred improvement of the invention, the crossbar (i.e. the main crossbar and/or the auxiliary crossbar) can be equipped with one or more traction chains, by means of which, in addition to the placement of electric lines, the installation of an irrigation line and/or a fertilizer line (e.g. organic fertilizer) is also realized. And/or:

- According to a preferred development of the invention, it is also possible to clear the area of useful agricultural land of weeds using field cultivating devices. Provision may be made for such weeds to be removed from the soil using suitable gripping arms and then deposited in boxes located nearby on a crossbar or platform. The removed weeds can then be transported by means of the boxes along the crossbar or platform, so that they no longer grow or are no longer freely distributed on the useful agricultural land. And/or:

- Due to the high degree of automation in cultivating the useful agricultural area according to the present invention and the associated precision through visual monitoring, a significant advantage arises in that chemically synthesized plant protection products can be completely replaced. This also leads to the advantage that large quantities of water can be saved through selective precision irrigation. Compared to traditional vegetable cultivation, this water savings amounts to approximately 80%. And/or:

- For the wheels of the chassis, which is mounted at least at one end of the crossbar, it can be provided in terms of the cultivation system that the track on the surface of the useful agricultural area is at least slightly compacted or provided with a comparable reinforcement. As a result, the wheels roll along this (circular or linear) track when the crossbar is moving, so that the use of the crossbar according to the invention is not impaired or interrupted even during rain. Accordingly, with the help of the present invention, an independence from the weather for the cultivation of the useful agricultural area is advantageously also achieved. And/or:

- Using a movable carriage mounted on a crossbar, triangular films can be preferably rolled out or applied radially, from the outside to the inside, over the useful agricultural area, similar to roller blinds. This can, if necessary, improve the climatic conditions of the useful agricultural area for the plants growing there. And/or:

- The crossbar may be equipped with a telescopic mechanism, allowing for the crossbar's length to be varied in its longitudinal direction. This allows for the length of the device to be individually adapted to the existing conditions of the cultivated agricultural land. This also applies to the operation or use of the device according to the invention. And/or:

- In the case where the crossbar is connected at one end to a fixed central post and in this respect is designed as part of a circular cultivation system, further advantages of the invention are obtained due to the following aspects:

In combination with the above-mentioned telescopic mechanism, the change in the length of the crossbar realized by it can also be carried out during or during the rotational movement of the crossbar around the fixed central post, so that as a result, the crossbar can cover and, according to the invention, cultivate areas of arable land that are, for example, rectangular or with any number of angles (for example, trapezoids and polygons). And/or:

At least one sensor may be provided on the fixed central post, which can detect the movement of the crossbar and the carriage (or several such carriages) placed thereon, along with the corresponding field cultivating devices. Preferably, such a sensor is designed as a sensor package and includes a plurality of individual sensors, which, for example, enable "circular monitoring," i.e., in an angular range of 360° around the fixed central post. Additionally or alternatively, it may be provided that the sensor is mounted on the fixed central post with the possibility of rotational movement and, as a result, can be oriented accordingly in the direction of the crossbar, in order to record the position of the crossbar and, in particular, the carriages placed thereon and the corresponding field cultivating devices. And/or:

A main terminal may be provided in the area of the fixed central post or adjacent to it, through which the necessary field logistics are implemented. This means that, for example, the provision or delivery of seed material and/or the receipt or acceptance of the harvested crop is carried out through this main terminal, preferably through the use of the boxes already described above. By using such boxes, which can be transported along the crossbar in both directions, it is possible, on the one hand, to transport seed material from the main terminal to the corresponding carriages with the field cultivation devices mounted thereon, and/or, on the other hand, to deliver the harvested crop, which has been removed from the useful agricultural area or arable soil, in this case back to the main terminal. The present invention thus achieves a high degree of integration for the system for cultivating useful agricultural area, and in this respect, the advantages of conventional large and small agricultural robots are combined with each other for the first time. And/or:

The central installation of one end of the traverse on a fixed central post has at least two degrees of freedom, so that the traverse can also be installed on terrain with a slope.

Taking into account the above-described significant longitudinal extension of the crossbar, the present invention should be understood in a literal or double sense as a bridge technology, since the significant longitudinal extension of the crossbar and the use of applicators or tools for cultivation placed on it, in combination with the characteristic movement of the crossbar over the cultivated useful agricultural area, lead to the above-mentioned advantages of the invention compared to the prior art.

In the sense of the present invention, the concepts or features of "field cultivation device" and "field processing device" should be understood synonymously.

When carrying out the method according to the invention and/or when using the device or system according to the present invention, it can be provided that the technological steps of plant cultivation are carried out either in a state of rest of the device or platform, or these technological steps of plant cultivation are carried out during horizontal movement of the device or platform relative to the useful agricultural area, and wherein this horizontal movement has a speed of 10 m/s or less. In the latter case, it is preferable if this speed is significantly less than 10 m/s, for example only 5 m/s, further preferably up to 1.5 m/s, which corresponds to the walking speed of a person. The aforementioned state of rest of the device or platform or their horizontal movement relative to the useful agricultural area at a very moderate speed, as explained, is preferable with respect to the execution of the technological steps of plant cultivation in that the device or platform is located in a certain zone of the cultivated useful agricultural area. This leads to the advantage that, in the aforementioned defined zone of the useful area, the selected technological stages of plant cultivation can be performed by a device or platform, on which or on which at least one field cultivation device is placed, with surgical precision and selectively with respect to an individual plant, individual parts of the plant, or an individual position of the plant. Only after at least one selected technological stage or several such technological stages have been performed or completed in a given zone of the useful area, the device or platform, either on its own wheels or, in the case of a platform according to the second variant explained further below, with the aid of a tractor or the like provided for this, is then moved further to, preferably, a further, adjacent defined zone of the cultivated useful agricultural area, in which the selected technological stages of plant cultivation are then again performed by the device for at least one plant.

It should be understood that the above-mentioned and further explained features can be used not only in the specified combination, but also in other combinations or separately, without leaving the scope of the present invention.

The invention is shown below schematically based on preferred embodiments in the drawing and is described in detail with reference to the drawing.

The drawing shows:

Fig. 1 is a perspective view of a device according to the invention with a crossbar moving in a circle around a central point and enlarged views of its partial regions;

Fig. 2 is an additional perspective view of the device shown in Fig. 1;

Fig. 3 - top view of the device from Fig. 1;

Fig. 4 - side view of the device from Fig. 1 or Fig. 2;

Fig. 5 - additional perspective view of the device from Fig. 1;

Fig. 6 is a perspective view of a field cultivation device which is part of the device shown in Fig. 1;

Fig. 7 is a perspective view of the field cultivation device of Fig. 6 when it is placed on the crossbar of the device of Fig. 1;

Fig. 8 - side view of the field cultivation device from Fig. 7;

Fig. 9 is a perspective view of a partial region of the crossbar from Fig. 1 and the coordinated transport system with a box placed in it;

Fig. 10 is a perspective view of a partial region of the crossbar from Fig. 1 with a plurality of boxes placed in it;

Fig. 11 - further perspective view of the field cultivation device from Fig. 7;

Fig. 12, 13 - schematic, highly simplified side views of the crossbar with a transport system with a roller conveyor installed on each of them, the inclination of which relative to the horizontal can be changed;

Fig. 14 - the upper region of the fixed central post, which is part of the device from Fig. 1 and to which the crossbar is pivotally connected;

Fig. 15, 16 - side views of the central pillar from Fig. 14;

Fig. 17 - chassis, which is installed at the end of the crossbar;

Fig. 18, 19 - a perspective view of a device according to additional embodiments of the invention, in which the crossbar can move linearly along or over an area of arable land;

Fig. 20 - a perspective view of a platform as part of a mobile agricultural robot, which is or is part of the system for cultivating useful agricultural area according to the invention;

Fig. 21 - enlarged view of a part of the agrorobot from Fig. 20;

Fig. 22 is a perspective view of a platform mounted on a tractor, which is part of the system for cultivating useful agricultural land according to the invention;

Fig. 23 - side view of the platform from Fig. 22; and

Fig. 24 is a perspective view of the agrorobot of Fig. 20 and a part of the device of Figs. 1-19, as part of the system for cultivating useful agricultural area according to the invention.

With reference to Figs. 1-24, preferred embodiments of the device 10, 10' according to the invention, the corresponding method, and the system for cultivating a useful agricultural area N with their help are explained (see Fig. 11, Fig. 19). Identical features in the drawing are provided with the same reference numerals. At this point, it should be specifically noted that the drawing is shown only in a simplified form and, in particular, is not to scale.

Fig. 1 shows a perspective view of a device 10 according to the invention according to a first embodiment, in which the crossbar 12 is pivotally connected at one end to a fixed central post 14. At the other end of the crossbar 12, that is, at the end opposite the central post 14, a chassis 16 with wheels that roll on the surface of the ground is mounted.

Certain areas of the device 10 according to the invention are circled in Fig. 1 and shown next to them again in an enlarged view. The details of these enlarged areas are explained below in additional figures.

The crossbar 12 is pivotally connected to the fixed central post 14 in such a way that the crossbar 12 can move around the central post 14 along a circular trajectory.

The articulation of the crossbar 12 with the fixed central column 14 may have a tilt-and-turn hinge 17 (Fig. 8) with a horizontally extending axis of rotation. It is therefore possible that the end of the crossbar 12 opposite the central column 14, on which the chassis 16 is mounted, may rotate relative to the central column 14. This creates conditions for compensating for uneven ground or for using the device 10 according to the invention on or in hilly terrain. In other words, when using the device 10 according to the invention, the tilt-and-turn hinge 17 creates conditions for moving also on inclined planes or for using the crossbar 12 of the device 10 on such terrain.

Fig. 2 shows the device 10 from Fig. 1 in an additional perspective view. Here it can be seen that an auxiliary crossbar 13 is mounted at its free end on the crossbar 12, which functions as the main crossbar. This auxiliary crossbar 13 can be telescopically adjusted relative to the main crossbar 12. That is, a (not shown) guide device is provided on the main crossbar 12, preferably with motorized means, as a result of which the auxiliary crossbar 13 can be adjusted in its length relative to the main crossbar 12. Such telescopic adjustment of the auxiliary crossbar 13 is symbolically indicated in Fig. 4 (on the right edge of the image) also by a corresponding double-headed arrow.

At least one field cultivating device 18 is placed on the cross-beam 12, which can move along the cross-beam 12. For this purpose, a carriage 20 (Fig. 6) is provided, which is placed on the cross-beam 12 by means of guide rails 22 (Fig. 7) and can thus move in the longitudinal direction along the cross-beam 12.

The adjustment or movement of the carriage 12 along the crossbar 12 can be carried out using suitable motorized means.

Several field cultivating devices 18 are arranged on the cross-beam 12. This should be understood in the sense that the field cultivating devices 18 are arranged on both sides of the cross-beam 12 (see Fig. 16), and/or that several field cultivating devices 18 are arranged respectively on one side of the cross-beam 12, as can be seen, for example, in Fig. 2. In this regard, it should be separately noted that a carriage 20 can be matched with each individual field cultivating device 18, with the help of which the longitudinal movement of the field cultivating device 18 along the cross-beam 12 is realized.

The field cultivating device 18 can be connected to the crossbar 12 or to the carriage 20 matched thereto by means of a preferably articulated robot arm 23. This is illustrated in Fig. 6 and Fig. 7. Such a robot arm 23 has several degrees of freedom and preferably several arm elements that are articulated with one another, by means of which flexible movement in space of the field cultivating device 18, which is mounted on the free end of the robot arm 23, is possible. This also includes a vertical adjustment of the robot arm 23, so that the working height of the field cultivating device 18 or its distance from the ground can thereby be changed as necessary. This vertical adjustment is symbolically indicated, for example, in Fig. 6 by a corresponding double-headed arrow.

The device 10 includes a tool change system W, with the help of which it is possible to mount various field cultivation devices on the arm 23 of the robot, depending on the purpose of use or the type of cultivation of the useful agricultural area N being carried out.

Fig. 6 shows a simple form for the above-mentioned tool changing system W, which in this case consists of a holding plate 50 mounted on a carriage 20, on which at least one additional field cultivating device 19 can be previously held. If it is necessary to replace the field cultivating device 18, which is already mounted on the free end of the robot arm 23, for example, with a field cultivating device 19, then the field cultivating device 18 can "sit" on the holding plate 50 in a free position on it, so that after this, another field cultivating device 19 is mounted on the free end of the robot arm 23. This other field cultivating device 19 serves in this case to perform another technological step of plant cultivation.

If one or more field cultivating devices are planted or positioned on the holding plate 50, the holding plate 50 then performs the function of a "parking zone".

Furthermore, it should be noted that a field cultivation device 18 can also be mounted on the auxiliary crossbar 13. This can occur with or without the use of the carriage 20 or the robot arm 23.

The above-described replacement of the field cultivating device 18, 19 on the free end of the robot arm 23 is preferably carried out fully automatically. In any case, such replacement of one field cultivating device with another field cultivating device typically serves to prepare for a change in the technological stage of plant cultivation, which is used to cultivate the plants P grown on the useful area N.

The device 10 according to the invention includes a box 24 (see Fig. 9), preferably a plurality of such boxes 24, and a transport system 25, which is provided on a crossbar 12 along its longitudinal extension (see Fig. 10, Fig. 11). By means of this transport system 25, at least one box 24 can be moved along the crossbar 12. Advantageously, the transport system 25 can receive a plurality of such boxes 24, as shown in the perspective view of the crossbar 12 according to Fig. 10.

The transport system 25 is suitably provided on the upper side of the crossbar 12 or is made integrated into the upper region of the crossbar 12.

The transport system 25 may be implemented as a conveyor belt system. In this case, a reversible conveyor belt (not shown) is provided, on which the boxes 24 can be placed. When this conveyor belt reverses, the boxes 24 are then moved or transported to a predetermined position, which is preferably located near the field cultivating device 18 mounted on the crossbar 12.

Additionally or alternatively, the transport system 25 may be equipped with a roller conveyor 26, which has a plurality of support rollers 27, each with a horizontal axis of rotation. The transport system 25 shown in Fig. 9 includes such a roller conveyor 26, where two of its support rollers 27 can be seen.

Optionally, roller table 26 may also have multiple (not shown) guide rollers, each with a vertical axis of rotation. These guide rollers are located on the sides of roller table 26 and thus provide lateral boundaries.

In any case, the box 24 can be placed on top of the support rollers 27 of the roller table 26, and in this case, the movement of the box 24, due to contact with individual rollers of the roller table 26, is possible along the longitudinal length of the crossbar 12 with only very little rolling resistance.

The perspective views in Fig. 10 and Fig. 11 show that the roller conveyor 26 of the transport system 25 is provided along the longitudinal extension of the cross-beam 12. In this regard, it can be provided that at least some of these rollers of the roller conveyor 26, preferably one or more of the support rollers 27, are driven by a motor in order to thereby realize a targeted transport of the boxes 24 in the required direction along the cross-beam 12 on the roller conveyor 26.

With respect to the aforementioned roller conveyor 26 of the transport system 25, it should be specifically noted at this point that this roller conveyor 26, in the sense of the present invention, functions as a storage or roller magazine. In any case, this roller conveyor 26, in terms of its function as a storage or roller magazine, performs the task of being able to receive a plurality of boxes 24 by means of it or in it, namely along the longitudinal extension of the crossbar 12.

Further, based on Fig. 12 and Fig. 13, it is shown that the roller conveyor 26 of the transport system 25 can be installed in its positioning or tilt relative to the horizontal H. For this, in particular:

The roller conveyor 26 of the transport system 25 is placed in a (not shown) rotating holder, the position of which can be changed or set relative to the horizontal H. For adjusting the inclination of the roller conveyor 26, the device 10 includes separate means by means of which the holder for the roller conveyor 26 can be controlled accordingly in order to implement a changed position for the required inclination of the roller conveyor 26. As a result, it is possible that a position is set for the roller conveyor 26 in which it forms an angle with the horizontal H with its longitudinal extension and thus runs "diagonally". As a result, the box 24, if it is placed on this inclined roller conveyor 26, will automatically move due to the force of gravity and without a separate drive in the direction of the deeper end of the roller conveyor 26. This also applies in a similar manner to a plurality of boxes 24.

When speaking about the images of Fig. 12 and Fig. 13, we may be talking about the embodiments of Fig. 1, wherein the (not shown here) fixed central post 14 is located at the left end of the crossbar 12.

Fig. 12 further shows that the field cultivating device 18 is placed on the crossbar 12 by means of the robot arm 23. For simplicity of the illustration, the coordinated carriage is not shown.

With regard to the image in Fig. 12, it should be noted that here the roller table 26 is installed in such a way that its longitudinal axis forms an angle "alpha" with the horizontal H, and as a result, the end of the roller table 26 shown in the image on the right is lowered. Thus, the box 24, which is placed on the roller table 26, moves automatically from left to right due to the force of gravity along the support rollers 27, as symbolically indicated in Fig. 12 also by the arrow. Thus, the box 2 4 can move from the fixed central post 14 to the opposite end of the roller table 26.

The roller table 26 is provided with an actuatable locking element 28, namely expediently in a location which is located near the position of the field cultivating device 18. The functioning of this locking element 28 is now based on the fact that if the box 24 moves along the roller table 26 due to the force of gravity in the direction of the deeper end (in Fig. 12 from left to right), then this locking element 28 is activated or brought into action at exactly the moment in time when the box 24 has reached the position of the field cultivating device 18. As a result, the box 24 is in this case locked on the roller table 26 and is thereby "held" in the position of the field cultivating device 18. It is thus also possible, in the case of a passive roller table 26, the roller elements of which do not have a separate drive, to bring the box 24 to a predetermined position, which can correspond, for example, as has been explained, to the position of the field cultivating device 18.

With regard to the above-mentioned locking element 28, it should be understood that the roller conveyor 26 can be equipped along its longitudinal extension with a plurality of such locking elements 28. These individual locking elements 28 can each be positioned in the positions of the adjacent field cultivating devices 18. As a result, it is achieved that the individual boxes 24 can be retained on the roller conveyor 26, respectively, next to the selected field cultivating device 18, by activating the locking element 28, if the roller conveyor 26 is installed, as explained, with its longitudinal axis diagonally at an angle relative to the horizontal H.

Fig. 13 shows another possible position with respect to the roller conveyor 26, in which its longitudinal axis forms an angle "beta" with the horizontal H, and as a result of this the roller conveyor 26 is inclined diagonally downwards in the direction of the fixed central column 14 (not shown here). This ensures that the box 24 placed on the roller conveyor 26 moves automatically from right to left due to the force of gravity. Such a movement can be carried out, for example, in the case where the harvesting process, in which the crop to be harvested was introduced by means of the field cultivation device 18 mounted on the arm of the robot from the useful area N into the box 24, is completed, and thereafter the box 24 is to be transported back in the direction of the fixed central column 14. Similarly, as has already been explained with respect to Fig. 12, also for inclining the roller conveyor 26 in the opposite direction, as shown in Fig. 13, it is possible to purposefully retain the box 24 located on the roller conveyor 26, thanks to the fact that the locking element 28 is activated. Such a locking element 28 can be located, for example, next to the storage or roller magazine, into which the box 24 is transferred for further logistics of the harvested crop placed in it.

At this point, it should be noted separately that the rotary embodiment of the roller table 26, in which, as has been explained, its longitudinal axis can form an angle with the horizontal, and as a result of this the roller table 26 is installed "at an angle", can also be combined with the feature that at least one support roller 27 of the roller table 2 6 is equipped with a motorized drive.

According to a further embodiment of the transport system 25, it has a gripping device 21, which can be provided on the carriage 20. Such a gripping device 21 is shown in a highly simplified form in Fig. 6, namely in the form of rods 21, which can each be mounted on the side of the carriage 20.

The above-mentioned gripping device 21 serves to interact with a box 24, which is located on a transport system 25. For example, the rods 21 of the gripping device shown in Fig. 6 can be telescopically extended in a vertical upward direction and, as a result, deliberately interact with a box located on the transport system 25. In this case, such a box 24 then, during the movement of the carriage 24, on which the gripping device 21 is installed or provided, moves due to interaction with the gripping device 21 along the crossbar 12 in the same way as the carriage 20, or is "carried" into motion by it.

In Fig. 8, the gripping device 21, for example in the form of the above-mentioned rods, which can be telescopically extended vertically upwards and thereby brought into interaction with the box 24, is also shown in a highly simplified and symbolic form, respectively, on the sides of the carriage 20.

By means of a targeted reverse movement or retraction of the telescopic rods, the interaction between the gripping device 21 and at least one box 24 can also be eliminated again, if necessary. In this case, the carriage 20, on which the gripping device 21 is mounted, can then be moved along the longitudinal extension of the crossbar 12, without the box 24 being moved or "carried away" by the gripping device 21.

If the invention is equipped with a gripping device 21, as explained above, the advantage thus arises that in this case, additional drives for the roller conveyor 26 of the transport system 25 are not required for moving the boxes 24 along the longitudinal extension of the crossbar 12. For example, this means that in this case, all rollers of the roller conveyor can be "passive," i.e., without a drive, since the necessary movement of at least one box 24, preferably a plurality of such boxes 24, can be realized solely by means of the gripping device 21.

By means of the above-described transport system 25, regardless of whether it is designed in the form of a (not shown) conveyor belt system or in the form of a roller conveyor 26, it is thus achieved that at least one box 24, preferably a plurality of such boxes 24, can always be moved to a given position of the crossbar 12, in which interaction with the field cultivation device 18, 19 mounted on the arm 23 of the robot is then possible.

On the fixed central pillar 14, at its upper end, the first sensor 30 can be installed.

Device 10 may have, for example, a reservoir for water, fertilizer, or the like near the fixed central post 14 (not shown). In this regard, it is also possible to connect the water reservoir to an external pump to refill the water reservoir with fresh water, thereby ensuring continuous operation of device 10.

The above mentioned tank can be installed near or on the crossbar 12 so that it moves together with the crossbar 12 around the fixed central post 14.

Device 10 may be further equipped with its own pump (not shown). This pump can be used to deliver water or liquid fertilizer from the aforementioned water reservoir to the field cultivating devices, which are equipped with nozzles for targeted irrigation and/or fertilization of plants.

By means of the first sensor 30 it is possible to monitor selected areas of the useful agricultural area N and/or the position of the crossbar 12 relative to the fixed central post 14. In this regard, the first sensor 30 is also designated in the sense of the present invention as a "global sensor".

A second sensor 32 (see Fig. 6, Fig. 16) may be provided on at least one field cultivating device 18. This second sensor 32 serves to record the area or space of the useful agricultural area immediately adjacent to or beneath this field cultivating device 18, in order to thereby obtain data regarding the plants that are grown on the useful agricultural area N. In this regard, the first sensor 30 is also referred to in the sense of the present invention as a "local sensor".

The areas which are recorded by the first sensor 30 or the second sensor 32 are designated in the drawing by the reference "R" (see Fig. 2, Fig. 3, Fig. 5, Fig. 6, Fig. 11, Figs. 14-16, Fig. 19), and they are to be perceived according to the invention as a "monitored space". This means that not only a flat surface (for example, the soil of a useful agricultural area N), but also the space above it can be detected by means of the sensors 30, 32. Accordingly, the position of the traverse 12, the corresponding field cultivation devices 18 placed on it and the plants P and, for example, their development and/or shape can also be recorded.

In the upper region of the fixed central pillar 14, a transmitting and receiving unit 36 and/or a weather station 34 can be installed. This is shown in the perspective view of Fig. 2, as well as in the side views according to Figs. 14, 15.

Furthermore, the device 10 according to the invention also includes a control or adjustment device 38, which can also be mounted on the fixed central pillar 14 and is shown in a highly simplified form as a rectangle in Fig. 14 or Fig. 15. This control or adjustment device 38 is connected to the signal path with the sensors 30, 32, as well as with the receiving and transmitting unit 36.

By means of the control or adjustment device 38, it is possible to control the circular movement of the crossbar 12 around the fixed central post 14 and/or the actions or movements of individual field cultivating devices 18. This can accordingly also be carried out in the form of a control loop, i.e., in an adjustable manner.

By means of the receiving and transmitting unit 36, data can be received or transmitted to the device 10 according to the invention from a remote (not shown) control point, wherein these data contain data for the operation of the device 10 according to the invention or for the execution of the method according to the present invention. For example, these data can contain, according to the invention, calculated data for the operation of the device 10 and the devices installed thereon, wherein in this case the control of individual devices and/or the circular movement of the crossbar 12 around the fixed central column 14 can also be carried out in a controlled manner.

In a similar manner, using the receiving and transmitting unit 36, the data that was received by the sensors 30, 32 in relation to the controlled spaces R registered by them can be transmitted in this case to a remote control point for further evaluation of the operation of the device 10 according to the invention.

Fig. 11 shows the use of the present invention in the spot cultivation of a useful agricultural area N, also referred to as "spot farming." As already explained above, the monitored space, which is recorded by the second sensor 32, is designated here by the reference numeral "R." Plants P, which are located in this monitored space R, can thus be recorded or detected by the sensor 32, and this data can then be transmitted to the control or regulation device 38.

Fig. 17 shows a chassis 16, which is provided at one end of a crossbar 12. Such a chassis 16 can be equipped with a motor, by means of which at least one wheel of the chassis 16 is driven. Due to the contact of this drive wheel with the ground surface located underneath, a torque is generated for the crossbar 12 around the fixed central post 14 in such a way that the crossbar 12 is thereby driven in the required direction in a circular motion around the post 14. In Fig. 17, the motor is designated by the reference number "M" and, for the sake of simplicity, is shown only by means of a rectangle.

The resulting circular track, which occurs when the crossbar 12 moves around the fixed central post 14, is designated in Fig. 5 by the reference number "B".

In contrast to the image shown in Fig. 17, for the chassis 16 it can be provided that it is made in the form of a tracked chassis instead of wheels.

According to a further (not shown) alternative, the chassis 16 may be provided with a running rail or in the form of a rail system, in which case the wheels do not roll on the natural soil of the arable land, but instead on a running rail located on the soil of the arable land.

Both of the variants just mentioned for the chassis 16 have the common advantage that the device 10 according to the invention is therefore less sensitive to rain when used on a useful agricultural area N in the open air, and in this respect improved independence from weather conditions is achieved.

The device 10 according to the invention includes at least one main terminal 29 (see Fig. 4), which is provided next to the fixed central post 14. This main terminal 29 serves to implement the necessary field logistics. This means that, by means of this main terminal 29, it is possible, for example, to provide or dispense seed material and/or to receive or accept the harvested crop, preferably through the use of the above-mentioned boxes 24.

The main terminal 29 is shown in a highly simplified side view in Fig. 4.

In order not to impede the complete and constant rotation of the crossbar 12 around the fixed central post 14 in the same direction, it can be provided that the main terminal 28 is operatively connected to the crossbar 12 and is located on the opposite side of the post 14. This is indicated in Fig. 4 by dotted lines. This means that when the crossbar 12 rotates around the fixed central post 14, the main terminal 29 rotates along with it. Depending on the size and weight of the main terminal 29, it can be equipped on its underside with rollers or wheels that are in contact with the ground surface and roll along it.

As an alternative to the main terminal, in Fig. 4, the reference numeral "29" may also refer to a logistics vehicle, which, for example, delivers seed to the traverse 12 and/or directly sells to the customer (delivery service). In the latter case, this means that the boxes 24 filled with the harvested crop are then loaded onto this logistics vehicle 29 and transported to the end customer without further intermediate stops.

Fig. 18 and Fig. 19 show a second embodiment of the device 10' according to the invention. This embodiment includes a crossbar 12, at the ends of which a chassis 16 with wheels is located. This ensures that the device 10' and the corresponding crossbar 12 can move along the useful agricultural area N in the longitudinal direction or linearly.

At least one wheel of the chassis 16 may be equipped with a motor or at least may be connected thereto. Preferably, several wheels of the chassis 16 are equipped with a motorized drive, preferably on both sides of the extended crossmember 12.

According to a (not shown) modification, in a second embodiment of the device 10' according to the invention, according to Fig. 18 and Fig. 19, the chassis, which is provided at both ends of the crossbar 12, is equipped with wheels that can rotate around a vertical axis of rotation. It is therefore possible that the crossbar 12 of this embodiment can move along the soil of the cultivated useful agricultural area N in all directions.

The term "in all directions" is understood within the meaning of the present invention to mean the possibility of movement or mobility in any desired direction. Thus, in this case, in addition to purely linear or translational movement, tilting movement, i.e., in a diagonal direction, and/or rotation in place and/or circular movement are also possible. This applies both to the aforementioned device 10' and, similarly, to the platform 101 of the system according to the invention, which will be explained separately below.

A cable drum 40 can be installed on one side of the crossarm 12. Corresponding supply lines for current and/or fluids for cultivating the useful area N (e.g., for water, fertilizers) can be installed on this cable drum 40. Accordingly, using such a cable drum 40 and the corresponding supply lines, it is possible to supply the crossarm 12 of the device 10' with current, water, and/or fertilizers.

In the second embodiment of the device 10' according to the invention, a plurality of field cultivating devices 18 are also provided on the crossbar 12, preferably on both sides thereof. The operating principle of these field cultivating devices 18 and their possible control by means of the control or adjustment device 38 are similar to those in the first embodiment of the device 10 according to the invention, so that reference may be made to the above explanations to avoid repetitions.

It should furthermore be noted that also the second embodiment of the device 10' according to the invention according to Fig. 18, 19 is provided with a transport system 25 in the form of a roller table 26. The targeted movement of at least one box 24, preferably a plurality of such boxes 24, along the roller table 26 and thus along the cross-beam 12 can be achieved by the fact that at least one support roller 27 of the roller table 26 is provided with a motorised drive and/or that the inclination of the roller table 26 relative to the horizontal H is adjustable. In order to avoid repetitions in this respect, reference is made to the explanations of Fig. 12 and 13, which, mutatis mutandis, also apply to the second embodiment according to Fig. 18 and Fig. 19.

To supply electrical energy, the device 10, 10' according to the invention may be equipped with at least one battery B. According to the illustration in Fig. 8, this battery B may be located in the lower region of the fixed central pillar 14. In any case, this battery B serves to supply the various devices of the device with energy or current. The supply lines from the battery B to the individual consumers required for this are not shown for the sake of simplicity.

In both of the above-mentioned embodiments of the device 10, 10' according to the invention, a plurality of solar panels S are arranged on the upper side of the crossbar 12 (see Fig. 2; Figs. 18 and 19). These solar panels S are electrically connected to the storage battery B and serve to recharge this storage battery B with electrical energy obtained through solar radiation. In this way, an autonomous power supply is provided for the invention.

The solar panels S are expediently sized such that they protect the transport system 25 and the boxes 24 placed therein or being transported from above, for example, from precipitation or the penetration of dust and dirt. This is shown, for example, in the images of Figs. 2, 3, 5, 18, and 19.

With reference to Figs. 20-24, various embodiments of the inventive system 100 and associated components, by means of which a useful agricultural area N can be cultivated, are now shown and explained.

In such a system 100 (see Fig. 24), a device 10, 10' is used, which was presented and explained above with reference to Figs. 1-19. In relation to the system 100 according to the invention, this device 10, 10' performs the function of a base station on the useful agricultural area N, as will be explained in more detail below.

The system 100 according to the invention includes at least one platform 101, 101' with at least one field cultivation device 18, 19, which is mounted on the chassis 111 of the platform 101, 101' or on a part thereof and with the help of which at least one technological stage of plant cultivation can be performed.

With respect to the above-mentioned platform 101, 101', it should be further noted that the field cultivating device 18, 19 can be mounted on a corresponding chassis 111 on a carriage 20, if necessary using the robot arm 23. In this regard, such an installation of the field cultivating device 18, 19 corresponds to the installation in Fig. 6, and in order to avoid repetitions, reference is made to the explanations in Fig. 6.

On the chassis 111 of the platform 101, 101' or on a part thereof, a transport system 125 is installed (see Fig. 21), with the help of which at least one box 24 can be moved in the longitudinal and/or transverse direction of the chassis 111 and thereby brought to a given position, in particular next to the field cultivating device 18, 19.

In connection with the system 100 according to the invention, an essential feature is that the platform 101, 101' can be brought into a position next to the crossbar 12 of the device 10; 10' in such a way that the platform 101, 101' can receive from the crossbar 12 the boxes 24, or such boxes 24, which in this case are filled with the harvested crop of plants P and are located on the platform, can return to the area of the crossbar 12 or onto it.

In Fig. 20 and 21 the above platform 101 is shown according to the first variant.

In the first variant according to Fig. 20, the platform 101 is part of a mobile agricultural robot, and several wheels 112 are mounted on its chassis 111, with the help of which the agricultural robot 101 can move or travel over the useful area N. For further consideration, the platform 101 according to this first variant is also designated only as the "mobile agricultural robot 101".

At least one wheel 112 of the mobile agricultural robot 101 is mounted with the possibility of rotation or turning around a vertical axis on the chassis 111 in order to make it possible for the mobile agricultural robot 101 to change its direction of movement.

The chassis 111 of the agrorobot 101 has a modular design. Specifically, the chassis 111 consists of a plurality of elongated, tubular insert elements 114, which are attached or secured to a corresponding L-shaped main body 115 at the corners of the chassis 111.

The insert elements 114, which, as explained above, are an integral part of the chassis 111 of the agrorobot 101, are known, for example, from the field of event organization and can be designed as a single-point crossbar or as a multi-point crossbar. In the illustrated embodiment according to Figs. 20, 21, these insert elements 114 are each designed as a two-point crossbar.

The above-mentioned insert elements 114 of the chassis 111 are characterized in that they can be connected to and disconnected from one another, in particular without the use of a special tool, so that at least one dimension of the chassis can be easily and quickly changed. Such a changeable dimension of the chassis 111 can occur transversely and/or along its longitudinal axis and/or also along its vertical axis, i.e., in the vertical direction.

On the chassis 111 of the agrorobot 101, a total of four wheels 112 are installed. The above-mentioned L-shaped main bodies 115 are used to install the wheels 112. Accordingly, these L-shaped main bodies 115 each perform the function of a wheel suspension element.

In the assembled state of the agrorobot 101, the individual main bodies 115, which serve to install the corresponding wheels 112, and the plurality of insert elements 114, which are secured to the main bodies 115, are thus the constituent parts of the chassis 111.

With regard to the wheels 112 of the agrorobot 101, it should be noted that at least two of these wheels may be capable of rotation around a vertical axis of rotation. It is therefore possible that these wheels 112 may rotate relative to the main body 115, thereby achieving a change in direction for the mobile agrorobot 101 as it moves across the ground or soil.

If all four wheels 112 of the agrorobot 101 can rotate around a vertical axis, then the agrorobot 101 can, starting from a predetermined position, move or travel in any direction, particularly across the useful agricultural area N, without thereby limiting its mobility in the form of a turning circle. Thus, in this case, the mobility of the agrorobot 101 is ensured in all directions. Regarding the feature "in all directions," reference may be made to the explanation already provided above, to avoid repetition.

At least one wheel 112 of the mobile agricultural robot 101 may be equipped with a motor (not specified in detail), for example, a motor mounted in the hub. Preferably, several wheels 112 of the agricultural robot 101 are equipped with such a motorized drive.

As can be seen from the image in Fig. 20 and 21, on the chassis 111 of the agrorobot 101, two box-shaped elements 124 are mounted on each of its longitudinal sides. In this regard, it can be provided that such a box-shaped element 124 is connected via suitable fastening points to the insert element 114.

For the shown agrorobot 101, the box-shaped elements 124 serve to receive or accommodate in them the layout elements that are important for the operation of the agrorobot 101. When speaking about these layout elements, we can talk about

- a battery or a plurality of such batteries,

- sensor technology, for example, in the form of cameras,

- electrical and/or electronic components, for example in the form of a control or regulation device,

- an applicator or a device 18, 19 for cultivating a field, with the help of which the technological stage of growing plants can be carried out, and/or

- GPS sensors.

In the image of Fig. 20, the corresponding reference numbers indicate that the box-shaped element 124 can accommodate a receiving and transmitting unit 140, a weather station 141, a control or regulation device 142 and/or a battery 143.

With regard to the feature of battery 143, it should be noted that for the present invention it is similarly also understood to mean a battery that can be recharged in a known manner.

The mounting of the box-shaped element 124 on the insert element 114 takes place with respect to the assembled state of the chassis 111, preferably on its outer side. This creates conditions for good accessibility to the box-shaped elements 124, for example for maintenance or repair purposes.

In the case of the mobile agrorobot 101, it is possible to mount a field cultivating device 18, 19 on it, as has already been shown and explained in Fig. 6 and 7. Fig. 20, 21 respectively show the agrorobot 101 in the image when the field cultivating device 18 is mounted on it using the robot arm 23 and the corresponding carriage 20 on the chassis 111 of the agrorobot 101.

In addition or as an alternative to the images according to Fig. 20 and 21, it should be noted at this point that the field cultivating device 18, 19 can also be mounted on the outer side of the chassis 111. Also, several field cultivating devices 18, 19 can be mounted on several sides of the chassis 111, in particular using carriages 20, for example, on opposite sides of the chassis 111.

In connection with the field cultivating device 18, 19, which has been shown and explained with reference to Fig. 6 and 7, it should be further noted at this point that the field cultivating device 18, 19 can be mounted equally on the crossbar 12 of the device 10, 10' according to Fig. 1-19, as well as on the mobile agricultural robot 101 according to Fig. 20, 21. Based on this, the field cultivating device 18, 19 has the advantage according to the invention that, with respect to, on the one hand, the device 10, 10', and, on the other hand, the agricultural robot 101, it is possible to use the same parts and, if necessary, also the same spare parts for them.

The image according to Fig. 21 shows that the agrorobot 101 is also equipped with a transport system 125, which is placed on the chassis 111 or on a part thereof. In the embodiment shown here, this transport system 25 is placed on the upper side of the two main bodies 115.

The transport system 125 can be equipped in the case of the mobile agricultural robot 101 with a reversible conveyor belt 152 and serves to enable at least one box 24 or a plurality of such boxes 24 to be moved in the longitudinal or transverse direction of the chassis 111 and thereby brought to a predetermined position, in particular next to the field cultivating device 18, 19 mounted on the agricultural robot 101. In this regard, it should be understood that a plurality of such boxes 24 can be placed on top of the conveyor belt 152.

Conveyor belt 152 is conveniently made of a rubberized material or has such a rubberized material on its upper surface. This has the advantage of preventing box 24 from slipping on conveyor belt 152.

The directions of movement that can be realized with the help of the transport system 125 and its conveyor belt 152 for the boxes 24 are shown in Fig. 21 by a double-headed arrow and are designated by the reference number "154".

As an alternative to the conveyor belt 152 shown, the transport system 125 of the agrorobot 101 may also have a (not shown) roller conveyor with a plurality of support rollers, each with a horizontal axis of rotation, as is also the case in the case of the crossbar 12 of the device 10, 10" according to Figs. 1-19. In this regard, one or more boxes 24 may in this case be placed on top of the roller conveyor, just as in the case of the conveyor belt 152. With regard to such a roller conveyor, for example with regard to its drive, reference may be made at this point, in order to avoid repetitions, to the explanations of the device 10, 10' according to the invention.

Fig. 22 and 23 show the above-mentioned platform 101', which is part of the system 100 according to the invention, according to a second embodiment, namely Fig. 22 in a perspective view and Fig. 23 in a side view.

According to the second embodiment of platform 101', its chassis 111 is equipped with a coupling device 153, by means of which the chassis 111 can be secured or suspended on a (not shown) tractor or comparable towing vehicle. This coupling device 153 is conveniently adapted to the three-point socket of the tractor and can thus be secured in such a three-point socket.

In a similar manner to the first variant according to Fig. 20 and Fig. 21, the second variant of the platform 101' according to Fig. 22 and Fig. 23 has a chassis 111 with a modular design and includes for this purpose a plurality of elongated and in particular tubular insert elements 114, which can be connected to one another and disconnected again, in particular without the use of a special tool. It is therefore possible that at least one dimension of the chassis 111 can be varied. Preferably, this variable dimension of the chassis 111 refers to its length, which extends transversely to the direction of travel of the tractor. Additionally or alternatively, the variable dimension of the chassis may also refer to the width of the chassis 111, which extends in the direction of travel of the tractor, and/or the height of the chassis 111 in the vertical direction.

In a second embodiment of the platform 101', which, as explained above, can be suspended on a tractor or the like, as can be seen in the image of Fig. 22, four insert elements 114 are mounted next to each other, that is, in a row. In the middle region of the chassis 111 formed as a result, that is, between the second and third insert elements 114, this platform 101' includes a coupling device 153 (see Fig. 23), which is adapted to a three-point socket, which is known in tractors or the like. Accordingly, with the help of this coupling device 153, it is possible to mount the platform 101' in a three-point socket, for example, of a (not shown) tractor.

Further, in the platform 101', according to the said second variant, two carriages 20 are provided in the middle region of the chassis 111 in combination with coordinated robot arms 23 and field cultivation devices 18 installed on them.

In the upper region of the platform 101' according to the second variant, namely on the upper side of the chassis 111 and the corresponding insert elements 114, in a similar manner as in the case of the device 10, 10' and in the case of the mobile agricultural robot 101, a transport system 125 with a reversible conveyor belt 152 is located. Accordingly, the boxes 24, when they are placed on the conveyor belt 152, can move in both directions, which is indicated in Fig. 22 by a double-headed arrow 154.

With regard to the operating principle of the field cultivating device 18 and the transport system 125, which are provided on the platform 101' according to the said second variant, it should be noted at this point that their operating principle and advantages do not differ from those of the device 10, 10' or the mobile agricultural robot 101, and in this regard, in order to avoid repetition, reference may be made to the previous explanations.

The perspective view in Fig. 24 now shows the system 100 according to the invention, in which the device 10 (or device 10') and the mobile agricultural robot 101 interact with each other. In the representation in Fig. 24, the device 10, 10', which may be the embodiment according to Figs. 1-19, is shown for the sake of simplicity in a fundamentally simplified form and only partially.

In connection with the system 100 according to the invention, the device 10, 10' performs the function of a base station on the useful agricultural area N. This means, in the sense of the present invention, that with the help of this device 10, on the one hand, it is possible to transfer boxes 24 specifically to the mobile agricultural robot 101. For this purpose, the mobile agricultural robot 101, as shown in Fig. 24, can be positioned on the end side of the cross-beam 12 in such a way that in this case, by means of the operation of the transport system 25, it is possible to transfer at least one box 24, preferably a plurality of such boxes 24, from the cross-beam 12 to the agricultural robot 101. These boxes 24 can be provided from the storage or roller magazine of the device 10 (or from the roller conveyor 26 of the transport system 25).

When speaking about the boxes 24, which the agrorobot 101, as was explained, received from the crossbar 12 of the device 10, we can talk, for example, about empty boxes 24 or about such boxes 24, in which there is seed material, which is then introduced or sown by the mobile agrorobot 101 and the device 18, 19 mounted on it for cultivating the field on the useful agricultural area N.

After the agrorobot 101 has received, as explained, at least one box 24, preferably a plurality of such boxes 24, from the crossbar 12 of the device 10, it can again move away from the device 10 and "independently" or autonomously perform its work. In this regard, it should be noted that the method according to the invention can be performed not only by the device 10, 10', but also by the mobile agrorobot 101 described herein.

For the system 100 according to the invention, it should further be noted that the mobile agricultural robot 101, when after the technological steps of growing plants have been completed, the harvestable crop of plants P has been placed in the boxes 24, which are located on the agricultural robot 101, can then again move to a position next to the end side of the crossbar 12 of the device 10, as shown in Fig. 24. This is carried out in this case so that the boxes 24 filled with the harvestable crop are returned from the agricultural robot 101 to the crossbar 12 of the device 10, so that these boxes can thereby be fed, thanks to the transport system 25 of the device 10, to or into the storage or roller magazine of the device 10 (or onto the roller conveyor 26). After this, in this case, a further operation is carried out with these boxes 24 filled with the harvestable crop, for example, loading into vehicles, as has already been explained in connection with Fig. 4.

As has already been explained above, at least one transport system can be provided both on the device 10, 10' and on the mobile agricultural robot 101. If necessary, the device 10, 10' and/or the mobile agricultural robot 101 or the platform 101' according to its second variant can each be equipped with several such transport systems, which in this case can be arranged vertically one above the other and/or horizontally next to one another. In any case, with the help of such a transport system 25, 125 it is achieved that at least one box 24, preferably a plurality of such boxes 24, can or can always move to a given position of the crossbar 12 of the device 10, 10' or the chassis 111 of the agricultural robot 101, in which in this case interaction with the field cultivation device 18, 19 mounted on the arm 23 of the robot is possible. In the sense of the present invention, such interaction is understood to mean that the field cultivating device 18, 19 either purposefully removes objects from the box 24, such as seeds, seedlings, young plants, or the like, or that the field cultivating device 18, 19 purposefully places the harvested crop into the box 24 during the technological stage of harvesting. As has already been explained elsewhere above, this harvested crop may also consist of different plants or varieties, namely in the case where a "mixed cultivation" of plants or vegetables is carried out on the useful agricultural area N. Thus, with the aid of the present invention, it is possible to place the harvested crop from different plants P into a common box 24 provided for this purpose.

If, during harvesting, the boxes 24, which are located on the transport system 25 of the device 10, 10' or the platform 101, 101', are completely filled with the harvested crop, it can be provided according to the invention that this filling level is recorded by suitable sensors. In this case, with respect to the device 10, these full boxes 24 can be moved by means of the transport system 25 to the position of the storage or roller magazine (or to the roller conveyor 26), in which the filled boxes 24 can be transferred for further processing or logistics, for example, to transport vehicles. In relation to the mobile agricultural robot 101, in this case (i.e., upon detection of filled boxes 24), the agricultural robot 101, as explained, again moves to the end side of the crossbar 12 of the device 10, 10', so that the filled boxes 24, which are on the agricultural robot 101, can be returned to the crossbar 12 of the device 10, 10'. Thus, the device 10, 10' performs or takes over in this case the function of a base station. The same applies to the case of the platform 101' according to the second embodiment, which is suspended on a tractor.

Following this, in this case it is possible that the empty boxes 24 are (repeatedly) provided on the roller conveyor 26 of the transport system 25 and/or are retransferred from the mentioned storage or roller store of the transport system 25 (or from the roller conveyor 26) to the mobile agrorobot 101, so that further technological stages of plant cultivation can be performed by the device 10, 10' and/or the platform (for example, in the form of the mobile agrorobot 101).

The above explanation of the system 100 according to the invention, which was given for the example of using the platform according to the first variant in the form of a mobile agricultural robot 101, is also valid with the corresponding changes for the second variant of the platform 101', which can be suspended on a tractor or the like. In connection with the fact that this platform 101' can be moved to a position next to the crossbar 12, in which it is possible to transfer the boxes 24 from the crossbar 12 to the area of the platform 101' or onto it, or to receive the boxes filled with the harvested crop on the crossbar 12 from the side of the platform 101', with respect to the platform 101' according to the second variant, it should be understood that this is realized by moving the tractor, on which the platform 101' according to the second variant is fixed or suspended, to this specified position next to the crossbar 12 of the device 10, 10'.

Finally, with regard to the system 100 according to the invention, it should be noted that it can also be equipped with a plurality of platforms 101, 101'. This means that in this case a plurality of mobile agricultural robots 101 can be used, each of which, preferably alternately, can be moved to a position next to the crossbar 12 in order to receive the boxes 24 from the crossbar 12 or transfer them to the crossbar 12. With appropriate modifications, this also applies to a plurality of different platforms 101' according to the second embodiment, which can be attached to different tractors or the like.

LIST OF REFERENCE POSITIONS

10, 10' device

12 (main) traverse

13 auxiliary crossbar

14 fixed central pillar

16 chassis (with wheels)

17 tilt-and-turn hinge

18, 19 device(s) for cultivating the field

20 carriage

21 gripping devices

22 guide rail

23 robot arm

24 box(es)

25 transport system

26 roller conveyor

27 support roller(s)

28 locking element

29 main terminal

30 first sensor

32 second sensor

34 weather station

36 receiving and transmitting unit

38 control or adjustment device

40 cable drum

50 retaining plate

100 system

101 platforms as part of a mobile agricultural robot

101' platform for hanging or securing to a tractor

111 chassis

112 wheels

114 insert elements

115 L-shaped main body

124 box element

125 transport system (platforms 101, 101')

133 holding plate or "parking zone"

140 receiving and transmitting unit

141 weather stations

142 control or adjustment device

Battery 143

152 reverse conveyor belt

153 coupling device

154 direction of movement (for drawer 24)

In the battery

F track

N horizontal

M engine

N useful agricultural area

R plant (plants)

R controlled space (first or second sensor 30, 32)

S solar panel

W tool change system.

Claims (36)

1. A device (10; 10') for cultivating a useful agricultural area (N), including at least one extended crossbar (12) and a chassis (16) matched to it with at least one wheel, with the help of which the crossbar (12) can move in a circle or linearly over a useful area (N), at least one device (18, 19) for cultivating a field, which is movable or designed with the possibility of movement along the crossbar (12), at least one box (24), preferably boxes (24), and carriages (20) provided on the cross-beam (12), which are placed on matched guide rails (22) of the cross-beam (12) and can thus move along the cross-beam (12) in the direction of its longitudinal extension, and at least one field cultivating device (18, 19) is installed on each carriage (20), and thus each carriage (20) serves as a carrier of equipment for the field cultivating device (18, 19), characterized in that a transport system (25) is provided on a crossbar (12) along its longitudinal extent, wherein at least one box (24), preferably boxes (24), can or can be moved by the transport system (25) in the direction along the longitudinal extent of the crossbar (12) and thereby brought into position relative to the field cultivation device (18, 19), at least one carriage (20) is simultaneously equipped with field cultivation devices (18, 19), and thus the carriage (20) serves as an equipment carrier for these field cultivation devices (18, 19), and carriages (20) with at least one device (18, 19) for cultivating the field installed on them are provided on opposite sides of the crossbar (12). 2. The device (10; 10') according to claim 1, characterized in that the crossbar (12) and/or the transport system (25) is or are provided with a storage or roller magazine, in which boxes (24) can be placed, preferably, that the storage or roller magazine can accommodate >10 boxes (24), more preferably, that the storage or roller magazine can accommodate >20 boxes (24), more preferably, that the storage or roller magazine can accommodate >50 boxes (24). 3. The device (10; 10') according to claim 1 or 2, characterized in that the transport system (25) has a roller table (26) with support rollers (27) with a horizontal axis of rotation of each, and at least one box (24) can be placed on the support rollers (27) of the roller table (26). 4. The device (10; 10') according to paragraph 3, characterized in that the roller table (26) also has guide rollers with a vertical axis of rotation of each, and the guide rollers are located respectively on the side of the roller table (26) and thus limit the roller table (26) from the side. 5. The device (10; 10') according to claim 3 or 4, characterized in that at least one roller of the roller table (26) is driven by a motor, in order to thereby ensure the transportation of the box (24) along the crossbar (12). 6. A device (10; 10') according to any one of paragraphs 3-5, characterized in that the roller driven by the motor consists of a support roller (27). 7. A device (10; 10') according to any one of paragraphs 1-6, characterized in that the carriages (20) with the devices (18, 19) for cultivating the field installed on them can move independently of each other. 8. The device (10; 10') according to any one of paragraphs 1-7, characterized in that the transport system (25) has a gripping device (21) which can be brought into interaction with the box (24) in order to thereby move the box (24) in the direction along the longitudinal extent of the crossbar (12), wherein at least one carriage (20) is placed on the matched guide rails (22) of the crossbar (12) and is moved along the longitudinal extent of the crossbar (12) along it, on which the gripping device (21) is provided. 9. The device (10; 10') according to any one of claims 1 to 8, characterized in that it is provided with a tool changing system (W), which is placed or provided preferably on the crossbar (12), wherein on or in the tool changing system (W) devices (18, 19) for cultivating the field can be installed or received, and if necessary on at least one arm (23) of the robot one device (18, 19) for cultivating the field can be replaced by another device (18, 19) for cultivating the field, it is preferable that the tool changing system (W) is placed on a matched guide rail (22) of the crossbar (12) and can thus move along the crossbar (12) in the direction of its longitudinal extension. 10. The device (10; 10') according to any one of claims 1 to 9, characterized in that it is provided with a control or regulation device (39) by means of which the movement of the crossbar (12) over the useful area (N) and/or the activation of at least one device (18, 19) for cultivating the field can be controlled or regulated, wherein, with the help of a receiving and transmitting unit (36), which is connected with the passage of a signal to the control or regulation device (38), data or data packets for monitoring and/or controlling the operation of the crossbar (12) and/or the devices (18, 19) for cultivating the field placed or provided on it can either be received from a remote location, in particular in the form of a control point, and/or transmitted to such a remote location, preferably, that the receiving and transmitting unit (36) is installed on the crossbar (12). 11. A method for cultivating a useful agricultural area (N) using a device (10; 10') according to any one of paragraphs 1-10, wherein the method is carried out fully automatically and includes the corresponding technological stages of growing plants from sowing or seeding the plants to harvesting them, wherein during harvesting the crop to be harvested is placed mechanically in a box (24) provided for this purpose, characterized in that on the same useful agricultural area (N) plants (P) are sown or harvested in the form of mixed cultivation, and the processes of growing and harvesting plants are reproduced as processes of transferring, that is, “take-put”, and these processes of transferring are carried out with overlapping crops, that is, for vegetable plants, and when harvesting using a device (18, 19) for cultivating the field, the harvested crop of plants (P) is placed together in a common box (24), and On the useful agricultural area (N), spot cultivation is carried out, in which the cultivation of the useful area (N) is concentrated only on the target planting points, where the plants are introduced into the soil, and at the target planting points, sowing of plants, irrigation and/or harvesting of mature plants is carried out. 12. The method according to claim 11, characterized in that the inedible biomass is separated from the plants to be harvested, in particular by means of a device (18, 19) for cultivating the field of the device (10; 10') according to any one of claims 1-10, preferably, the separation of the inedible biomass is carried out at the stage of the plant at which it is still usefully located in the agricultural area (N), more preferably, the separation of the inedible biomass is carried out during the technological stage when the plant is removed from the soil during harvesting, in addition, it is preferable that such separation of the plants and/or the separation of the inedible biomass is supported, preferably, by an optical sensor with which the device (18, 19) for cultivating the field or the matched carriage (20) of the device (10; 10') according to any one of claims 1-10 is equipped and by means of which the plant and its position and/or dimensions are thereby recorded in this case. 13. The method according to paragraph 11 or 12, characterized in that on the useful agricultural area (N) varieties of plants or vegetables are cultivated that belong to the group consisting of iceberg lettuce, head lettuce, romaine lettuce, red and white cabbage, broccoli, kohlrabi, celery, cucumbers, zucchini and/or pumpkin, so that mixed cultivation of plants or vegetables is carried out on the useful agricultural area (N). 14. The method according to any one of paragraphs 11-13, characterized in that this method is carried out using a device (10; 10') according to any one of paragraphs 1-10. 15. The method according to any one of paragraphs. 11-14, characterized in that this method is carried out using at least one platform (101, 101') movable relative to the useful agricultural area (N) with at least one field cultivation device (18, 19), which is mounted on the chassis (111) of the platform (101, 101') or on a part thereof and with the help of which at least one technological stage of growing plants is carried out, wherein a transport system (125) is installed on the chassis (111) of the platform (101, 101') or on a part thereof, with the help of which at least one box (24) is moved in the longitudinal and/or transverse direction of the chassis (111) of the platform (101, 101') and thereby brought into position, in particular relative to the field cultivation device (30, 31a, 31b). 16. The method according to claim 15, characterized in that the platform (101, 101') is brought into position relative to the crossbar (12) of the device (10; 10') in such a way that in this case the boxes (24) are either transferred from the crossbar (12) to the platform (101, 101'), or returned from the platform (101, 101') to the crossbar (12). 17. The system (100) for cultivating useful agricultural area (N), including a device (10; 10') according to any one of paragraphs 1-10, which performs the function of a base station on a useful agricultural area, and at least one platform (101, 101') movable relative to the useful agricultural area (N), which is provided separately from the device (10; 10') and has at least one device (18, 19) for cultivating the field, which is installed on the chassis (111) of the platform (101, 101') or on a part thereof and with the help of which the technological stage of growing plants can be carried out, wherein a transport system (125) is installed on the chassis (111) of the platform (101, 101') or on a part thereof, with the help of which at least one box (24) can be moved in the longitudinal and/or transverse direction of the chassis (111) and thereby brought into position, in particular relative to the device (18, 19) for cultivating the field, wherein the platform (101, 101') can be brought into position relative to the crossbar (12) of the device (10; 10') in such a way that the platform (101, 101') can receive boxes (24) from the crossbar (12), or such boxes (24), which in this case are filled with the harvested crop of plants (P) and are located on the platform (101, 101'), can return to the area of the crossbar (12) or onto it, and wherein the platform is part of a mobile agricultural robot (101), and wheels (112) are provided on its chassis (111) installed thereon, with the help of which the agricultural robot (101) can move along the useful area (N), wherein at least one of the wheels (112) is provided with a drive, wherein at least one wheel (112) is installed with the possibility of rotation or turning around a vertical axis on the chassis (111), in order to make it possible for the mobile agricultural robot (101) to change its direction of movement. 18. The system (100) according to claim 17, characterized in that the chassis (111) of the platform (101, 101') has a modular design and includes for this purpose elongated and made, in particular tubular, insert elements (114), wherein these insert elements (114) can be connected to each other and again disconnected from each other in such a way that at least one dimension of the chassis (111) can change. 19. The system (100) according to any one of claims 17 or 18, characterized in that in relation to the platform (101, 101') on guide rails (22) of the chassis (111) matched thereto, at least one carriage (20) is placed, which can move along the longitudinal extension of the platform (101, 101') along it, and on the carriage (20) at least one device (18, 19) for cultivating the field is installed, and thus the carriage (20) serves as a carrier of equipment for the device (18, 19) for cultivating the field. 20. The system (100) according to any one of claims 17-19, characterized in that the transport system (125) has a gripping device (21) which can be brought into interaction with the box (24) in order to thereby move the box (24) in the direction along the longitudinal extension of the platform (101, 101'), wherein at least one carriage (20) moving along it, on which the gripping device (21) is provided, is placed on the matched guide rails (22) of the platform (101, 101').