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WO2021045667A1 - Système de plantation et procédé de plantation - Google Patents

Système de plantation et procédé de plantation Download PDF

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Publication number
WO2021045667A1
WO2021045667A1 PCT/SE2020/050830 SE2020050830W WO2021045667A1 WO 2021045667 A1 WO2021045667 A1 WO 2021045667A1 SE 2020050830 W SE2020050830 W SE 2020050830W WO 2021045667 A1 WO2021045667 A1 WO 2021045667A1
Authority
WO
WIPO (PCT)
Prior art keywords
ground
plant
planting
arm
seedlings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2020/050830
Other languages
English (en)
Inventor
Hans Arvidsson
Tobias ARVIDSSON
Stefan HEDLUND
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Plantma AB
Original Assignee
Plantma AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Plantma AB filed Critical Plantma AB
Publication of WO2021045667A1 publication Critical patent/WO2021045667A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C21/00—Methods of fertilising, sowing or planting
    • A01C21/007—Determining fertilization requirements
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras

Definitions

  • the inventive concept described herein generally relates to a planting system for planting plant seedlings and analyzing the ground prior to planting and a method
  • a planting system for arrangement on a vehicle
  • the planting system comprises a ground analyzing device for analyzing ground and for generating data associated with at least one property of the ground
  • the ground analyzing device comprises a scarifier configured to prepare the ground, wherein the data associated with the at least one property of the5 ground is based on the contact between the scarifier and the ground
  • a control unit communicatively coupled to the ground analyzing device, wherein the control unit may be configured to receive and process the data generated by the ground analyzing device, and at least one plant arm comprising a plant head configured to penetrate the ground for planting seedlings, wherein the at least one plant arm may be configured to receive plant seedlings and to guide the plant seedlings to the plant head
  • the control unit is operatively coupled to the at least one plant arm and may be configured to operate the at least one plant arm based on the data processed by the control unit.
  • data associated with at least one property of the ground it may here be meant data which is indicative of at least one property of the ground.
  • the data may contain information about at least one property of the ground.
  • the planting system is advantageous in that the planting yield (e.g. the rate of plant seedlings being properly planted and/or plants surviving after planting) may be improved.
  • the planting system is further advantageous in that the speed and reliability of the planting of the plant seedlings is enhanced.
  • properties of the ground may be taken into account when planting.
  • an adaptive planting system may be provided with the possibility to take at least one property of the ground into account when planting.
  • the planting system may plant plant seedlings when conditions are suitable for planting.
  • the planting system may avoid planting plant seedlings in case of e.g. hard soils, tree roots, tree stump and/or rocks, which may be undesired planting conditions to plant the plant seedlings.
  • the wear of the devices of the planting system may be decreased since the planting system may avoid planting during undesired conditions.
  • the wear of the planting system may be decreased, e.g. as the at least one plant arm may not interact (i.e. coming into physical contact) with the ground with an undesired condition.
  • Basing the data associated with the at least one property of the ground on the contact between the scarifier and the ground may further be advantageous in that the measurement of the at least one property of the ground may be done directly to the ground.
  • a facilitated measurement of the at least one property of the ground may be provided since there may be a known position of both the invasive measurement device and the at least one plant arm and thus a known relative position of the two.
  • a facilitated measurement of the at least one property of the ground and preparation of the ground may be achieved by the combined usage of the scarifier of both preparing the ground and analyzing the ground.
  • the ground analyzing device may comprise a non-invasive measurement device configured to measure the at least one property of the ground without coming into contact with the ground during measurement. This may be advantageous in that the planting yield may be increased even further. This may be advantageous in that a measurement of at least one property of the ground may be done without affecting the ground physically, and/or evaluating ground properties at greater distances from the planting system which in turn may facilitate the measurement of the at least one property of the ground
  • the planting system may comprise an actuator operatively coupled to the scarifier and configured to operate the scarifier based on the data associated with the at least one property of the ground.
  • a scarifier may be a device to prepare the ground.
  • the ground may be prepared in different ways in order to enhance the planting of the plant seedlings. This may be advantageous in that the planting yield (e.g. the rate of plant seedlings being properly planted and/or plants surviving after planting may be improved) may be increased since the ground may be prepared in a predetermined way. This may facilitate the planting of plant seedlings and may further improve the planting conditions. This may be advantageous in that the mineral soil at a desired planting position may be exposed, facilitating the planting conditions.
  • the ground analyzing device may further be advantageous in that an intermittent preparation of the ground may be provided.
  • Operating the scarifier based on the data may be advantageous in that an energy efficient solution may be provided.
  • Information on when and when not to use the planting system such as the scarifier may be determined based on the data. This may also be advantageous since this may provide information regarding the ground and if it may be suitable to have the scarifier interact with the ground or not. For example, there may be indications that rocks, roots, tree stumps or other obstacles are in the way and hence interfere with the scarifier and/or the preparing of the ground, which obstacles may damage the scarifier.
  • the ground analyzing device may comprise at least one of a camera device, a radar device, a lidar device and an ultrasonic device.
  • the data associated with the at least one property of the ground comprises at least one of an image, a radar signal, a lidar signal and an ultrasonic signal.
  • the control unit may be configured to evaluate a condition for planting seedlings, wherein the condition may be a function of the at least one property of the ground. This may facilitate interpreting the data associated with the at least one property of the ground.
  • the control unit may be configured to operate the at least one plant arm based on the condition. This may be advantageous in that the plant arm may act based on the ground properties and hence, may take the at least one property of the ground into account when performing the operation of planting.
  • the condition may be associated with a force which the control unit exerts on the at least one plant arm in order to penetrate the ground and for the at least one plant arm to reach a predetermined planting depth.
  • a force may be determined based on the condition.
  • the force may be used by the control unit when controlling the plant arm in order to penetrate the ground and for the plant arm to reach a predetermined planting depth. This may be advantageous in that the planting yield may further be improved since the plant seedlings may be planted at a predetermined depth that may be a preferred planting depth for the plant.
  • the at least one plant arm may comprise at least one articulation, wherein the control unit may further be configured to operate the at least one plant arm using the at least one articulation based on the condition.
  • planting of plant seedlings may be performed while the planting system may be in continuous motion relative the ground.
  • the planting system may plant seedlings while moving.
  • At least part of the at least one plant arm may move, in relation to for example a vehicle when the system is arranged onto a vehicle.
  • At least a part of the plant arm may be substantially stationary relative the ground when planting.
  • the plant arm may pivot around the articulation while performing the planting of the plant seedlings.
  • the plant arm may move pivotally around the articulation such that at least part of the plant head may be stationary relative the ground and a second part of the plant arm may be moving relative the ground.
  • the plant arm comprising the articulation may be advantageous in that planting may be performed outside the ground area covered by the vehicle, having an angle of incidence of the plant arm to the ground substantially the same as of that of the normal to the ground. This may be achieved since the part of the plant arm may act similar to that of a pendulum.
  • the control unit may be configured to operate the scarifier in an alternating manner based on the condition and a predetermined pattern associated with a predetermined position for preparing the ground.
  • the control unit may be configured to operate the plant arm in an alternating manner based on at least one of the condition and a predetermined pattern associated with a predetermined planting position.
  • the control unit may be configured to operate at least one of the scarifier and the at least one plant arm in an alternating manner based on at least one of the condition and a predetermined pattern associated with at least one of a predetermined position for preparing the ground and a predetermined planting position.
  • This may be advantageous in that the planting yield may be improved since at least one of the obstacles and other circumstances, such as the topography ground hardness and other circumstances that may affect planting, may be taken into account when planting the plant seedlings.
  • This may be advantageous in that an improved preparing of the ground may be achieved. For instance, roots or stumps from trees may affect the planting negatively.
  • the roots, or stumps from trees or other obstacles may therefore be identified based on the condition, and the control unit may operate at least one of the scarifier and the plant arm in an alternating based on the condition.
  • large rocks or a generally rocky terrain may affect the planting negatively and may be indicated by the condition.
  • This may be advantageous in that an intermittent (periodic, irregular) preparation of the ground and/or an intermittent planting of plant seedlings may be achieved.
  • obstacles may be considered when operating the at least one plant arm and/or the scarifier.
  • a desired pattern for preparing the ground may be used. The pattern may be loaded into the control unit or entered manually.
  • pattern it is hereby meant a map or a plurality of positions for preparing the ground.
  • a method for planting seedlings wherein the method is performed by a planting system for arrangement on a vehicle, wherein the planting system comprises a ground analyzing device and at least one plant arm that may comprise a plant head, wherein the at least one plant arm may be configured to receive plant seedlings and to guide the plant seedlings to the plant head, wherein the ground analyzing device may comprise a scarifier configured to prepare the ground and, wherein the method comprises analyzing ground using the scarifier for generating data associated with at least one property of the ground, operating the at least one plant arm based on the data associated with the at least one property of the ground and wherein the data associated with the at least one property of the ground is based on the contact between the scarifier and the ground.
  • the method may further comprise preparing the ground based on the data associated with at least one property of the ground. This may be advantageous in that the planting yield may even further be improved. This may further be advantageous in that a facilitated preparation of the ground may be provided.
  • the method may further comprise, evaluating a condition for planting seedlings, wherein the condition is a function of the at least one property of the ground, and operating the at least one plant arm based on the condition. This may further facilitate the planting yield. This may also facilitate interpreting the data associated with the at least one property of the ground. This may be advantageous0 in that the planting yield may be improved since the condition may be considered when planting the plant seedlings.
  • the method may comprise preparing the ground and operating the at least one plant arm in an alternating manner based on at least one of the condition and a predetermined pattern associated with at least one of a predetermined position for5 preparing the ground and a predetermined planting position. This may be advantageous in that an intermittent planting of plant seedlings may be achieved.
  • preparing the ground and operating the at least one plant arm based on the condition it may be advantageous that obstacles may be considered when preparing the ground and operating the plant arm.
  • a predetermined pattern it may be0 advantageous that a desired pattern for preparing the ground may be used. The pattern may be loaded into the control unit or manually entered.
  • Figure 1 schematically illustrates a planting system 100 in which embodiments may be implemented.
  • Figure 2 schematically illustrates a perspective view of the planting system 100 according to an embodiment of the present invention.
  • Figure 3 schematically illustrates a perspective view of the plant feeding device 120 according to an embodiment of the present invention.
  • Figure 4 schematically illustrates a perspective view of the plant holder 170 according to an embodiment of the present invention.
  • FIGS 5a - 5b schematically illustrate a perspective view of the planting system 100 according to an embodiment of the present invention.
  • Figure 6 schematically illustrates a perspective view of the ground analyzing device 230 according to an embodiment of the present invention.
  • Figure 7 schematically illustrates a side view of the planting system 100 arranged on a vehicle 110 according to an embodiment of the present invention.
  • Figure 8 schematically illustrates a perspective view of the planting system0 100 arranged on a vehicle 110 according to an embodiment of the present invention.
  • Figure 9 schematically illustrates an outline of the method 300 according to an embodiment of the present invention.
  • the present disclosure relates to a planting system for planting plant seedlings and analyzing the ground prior to planting and a method thereof a method0 thereof.
  • FIG. 1 schematically illustrates a planting system 100 for arrangement on a vehicle 110.
  • the planting system 100 may comprise a ground analyzing device 230 for analyzing ground and for generating data associated with at least one property of the ground.
  • the planting system 100 may comprise a control unit 240 5 communicatively coupled to the ground analyzing device 230, wherein the control unit 240 may be configured to receive and process the data generated by the ground analyzing device 230.
  • the planting system 100 may comprise at least one plant arm 130 comprising a plant head 140 configured to penetrate the ground for planting seedlings.
  • the plant arm 130 may be configured to receive plant seedlings and to0 guide the plant seedlings to the plant head 140.
  • the control unit 240 may be operatively coupled to the plant arm 130 and be configured to operate the plant arm 130 based on the data processed by the control unit 240.
  • FIG. 2 schematically illustrates a perspective view of the planting system 100.
  • the plant arm may comprise two or more sections.
  • the plant arm may comprise5 a first arm section 130a and second arm section 130b.
  • the second arm section 130b may be pivotally attached to the first arm section 130a.
  • the plant arm 130 may comprise at least one articulation 180.
  • the articulation 180 may be arranged between the first arm section 130a and the second arm section 130b.
  • the second arm section 130b may be pivotally attached to the first arm section 130a such that the second arm section 130b may pivot around the articulation 180.
  • the pivot point of the second arm 130b to the first arm 130a may constitute the articulation 180.
  • the plant arm 130 may comprise an arm link 130c.
  • the first arm section 130a may be pivotally attached to the arm link 130c.
  • the articulation 180 may be arranged between the first arm section 130a and the arm link 130c.
  • the first arm section 130a may be pivotally attached to the arm link 130c such that the first arm section 130a may pivot around the articulation 180.
  • the pivot point of the first arm section 130a to the arm link 130c may constitute the articulation 180.
  • the plant arm 130 may comprise an arm base 130d.
  • the arm link 130c may be attached to the arm base 130d.
  • the arm link 130c may be pivotally attached to the arm base 130d.
  • the at least one articulation 180 may be arranged between the arm link 130c and the arm base 130d.
  • the arm link 130c may be pivotally attached to the arm base 130d such that the arm link 130c may pivot around the at least one articulation 180. In other words, the pivot point of the arm link 130c to the arm base 130d may be the at least one articulation 180.
  • the plant arm 130 may comprise a fastening arrangement 130e for arrangement on a vehicle.
  • the arm base 130d may be pivotally attached to the fastening arrangement 130e.
  • the at least one articulation 180 may be arranged between the arm base 130d and the fastening arrangement 130e.
  • the arm base 130d may be pivotally attached to the fastening arrangement 130e such that the arm link 130c may pivot around the articulation 180.
  • the pivot point of the arm base 130d to the fastening arrangement 130e may constitute the articulation 180.
  • the arm link 130c may be fixedly attached to the arm base 130d.
  • the arm link 130c and the arm base 130d may be rotatably attached to the fastening arrangement.
  • the arm link 130c and the arm base 130d may be pivotally attached to the fastening arrangement 130e such that the arm link 130c and arm base 130d may pivot around the articulation 180.
  • a plant feeding device 120 is also shown.
  • the plant feeding device 120 may be provided for an arrangement on the vehicle 110 and may be configured to feed plant seedlings 125 to the plant arm 130 at least partially by gravitation.
  • the plant feeding device 120 may comprise a plurality of plant holders 170 for holding the plant seedlings 125.
  • the plant holders 170 may comprise a side wall 190 and a bottom lid 195.
  • the plant arm 130 may comprise a plant head 140 configured to penetrate ground.
  • the planting system 100 may be configured to feed the plant seedlings 125 from the plant feeding device 120, via the plant arm 130, to the plant head 140, by operation of the plant feeding device 120.
  • the plant feeding device 120 may release the plant seedlings 125 such that the plant seedlings 125 fall via the plant arm 130, to the plant head 140.
  • the plant seedlings 125 may fall by gravity. In other words, the plant seedlings 125 may be fed to the at least one plant arm 130 by gravitation.
  • the plant feeding device 120 may further comprise a mechanism 135 configured to accelerate the plant seedlings 125 during an initial phase of a feed of the plant seedlings 125 to the plant arm 130 by applying a fluid (e.g. pressurized air) on the plant seedlings 125 to initiate an acceleration of said plant seedlings 125.
  • a fluid e.g. pressurized air
  • This may facilitate the transportation of plant seedlings 125 from the plant feeding device 120 to the at least one plant arm 130, and may further increase the speed of planting the plant seedlings 125.
  • the at least one plant arm 130 may comprise a plant channel 150 for receiving the plant seedlings 125 and for guiding the plant seedlings 125 to the plant head 140.
  • the plant channel 150 may comprise a flared opening 160 for receiving the plant seedlings 125.
  • the plant feeding device 120 may be articulated, and may comprise an articulation 280.
  • the feeding device 120 may comprise a guiding device 250 for guiding the plant seedlings 125.
  • the guiding device 250 may be configured to guide the plant seedlings 125 after the plant seedlings 125 are released from the plant holder 170.
  • the guiding device 250 may have a flared opening facing the plant holder 170. This may facilitate for plant seedlings 125 to enter the guiding device 250.
  • the guiding device 250 may guide the plant seedlings 125 from the plant holder 170 to the plant arm 130.
  • the plant channel 150 may have a bent shape in order to facilitate the falling of the plant seedlings 125 from the guiding device 250 to the plant channel 150.
  • An actuator 210 may be operatively connected to the plant arm 130 and the plant feeding device 120.
  • the actuator 210 may control the plant arm 130 and the plant feeding device 120.
  • the actuator 210 may control the plant arm 130 and the plant feeding device 120 hydraulically or electrically.
  • the control unit 240 may control the actuator 210.
  • the control unit 240 may control any one of the plant arm 130 and the plant feeding device 120.
  • the actuator 210 is operatively coupled to the plant arm 130 and the plant feeding device 120.
  • the control unit 240 in Figure 2 is controllably connected to the actuator 210, meaning that that the control unit 240 may control the actuator 210.
  • the control unit 240 may be operatively connected to any one of the plant arm 130 and the plant feeding device 120.
  • the plant feeding device 120 may comprise a circulating transport device 220 comprising the plurality of plant holders 170, wherein the circulating transport device 220 may be configured to repeatedly transport the plant holders 170 from a first position 224, in which the plant holders 170 may be arranged to receive a plant seedling 125, to a second position 226, in which the plant holders 170 may be configured to release the plant seedling 125, and back to the first position 224.
  • the plant holders 170 may receive a plant seedling 125 and the plant seedling 125 may then be transported to the second position 226 where the plant seedling 125 may be released.
  • the second position 226 may therefore be the position of the plant seedling 125 when the first stage of planting is initiated.
  • the transportation of plant seedlings 125 from the first position 224 to the second position 226 may therefore be in a pre-stage of a planting process, wherein the pre-stage of a planting process may be a step prior to the first stage of a planting process.
  • the plant holders 170 may rotate around the circulating transport device 220.
  • the circulating transport device 220 may have an elongated shape comprising two ends.
  • the first position 224 may be located in one end of the circulating transport device 220.
  • the second position 226 may be located substantially at the opposite end to the first position 224 of the circulating transport device 220.
  • a first plant seeding 125 has been released and is falling within the guiding device 250.
  • the circulating transport device 220 in Figure 3 has transported a first plant holder 170, previously holding the first plant seedling 125, from the second position 226 by partly rotating.
  • a new second plant holder 170 has been transported by the plant feeding device 120 into the second position 226 to drop a second plant seedling 125 by opening the bottom lid 195 of the plant holder 170.
  • a new plant seedling 125 may be added to the plant holder 170 in the first position 224.
  • the first position 224 is only exemplified and not limited to the depicted area. Hence, the plant seedlings 125 may be repeatedly fed to the at least one plant arm 130.
  • the at least one plant holder 170 may comprise a side wall 190 for keeping the plant seedlings 125 in an upright position, and the bottom lid 195 that may be configured to open for releasing the plant seedling when the at least one plant holder 170 is in the second position 226.
  • the plant feeding device 120 may be articulated, and may comprise an articulation 280.
  • a plant holder 170 is shown and the plant holder 170 comprises a side wall 190 for keeping the plant seedlings 125 in an upright position, and further comprises the bottom lid 195.
  • FIGs 5a - 5b illustrate a perspective view of the planting system 100.
  • the planting system 100 is in a first stage of a planting process, and may be configured to feed plant seedlings 125 from the plant feeding device 120, via the plant arm 130, to the plant head 140, by operation of the plant feeding device 120.
  • the plant seedling 125 may fall into the plant channel 150 before reaching the plant head 140.
  • the process of the seedlings 125 falling may occur while the plant arm 130 is in motion.
  • the planting system 100 is in a second stage of a planting process, and may be configured to operate the plant arm 130 by penetrating the ground by the plant head 140 and release the plant seedlings 125 from the plant head 140 into the ground.
  • the plants seedlings 125 may fall from the plant feeding device 120, via the at least one plant arm 130, to the plant head 140, in an interstitial stage of a planting process.
  • This interstitial stage of a planting process may be in- between the first stage of the planting process and the second stage of the planting process.
  • the plant arm 130 may pivot around the at least one articulation 180 during the first stage of a planting process.
  • the plant arm 130 may pivot around the articulation 180 when the planting system 100 alternates between the first stage of the planting process and the second stage of the planting process.
  • the plant arm 130 may pivot around the articulation 180 when the planting system 100 alternates between the first stage, the second stage, and the interstitial stage of the planting process.
  • the plant arm 130 may pivot around the at least one articulation 180 such that the second arm section 130b may pivot relative the first arm section 130a during any one of the first stage, the second stage and the interstitial stage of a planting process.
  • the plant arm 130 may pivot around the articulation 180 such that the second arm section 130b may pivot relative the first arm section 130a when alternating between the first stage, the second stage, and the interstitial stage of the planting process. It should be understood that the plant arm 130 may pivot around any one of said articulation 180.
  • the first planting stage of the planting process may comprise a receiving state.
  • the distance between the plant feeding device 120 and the plant channel 150 may be relatively short.
  • the plant seedling 125 may fall from the plant feeding device 120 to the plant channel 150 along a distance shorter than 50 cm, preferably shorter than 20 cm, and even more preferred shorter than 10 cm.
  • the distance between the plant feeding device 120 and the plant channel 150, when the planting system 100 is in the receiving state may preferably be larger than 5 cm. Most preferably, the plant channel 150 and the plant feeding device 120 may not be in physical contact.
  • the plant feeding device 120 may comprise the guiding device 250.
  • the plant channel 150 may comprise a flared opening 160. The flared opening may face the guiding device 250 and be arranged to receive the plant seedlings 125.
  • the planting system 100 in Figure 5a may be in the receiving state, wherein the plant seedlings 125 released from the plant feeding device 120 may fall into the plant arm 130.
  • the plant seedlings 125 may fall into the plant channel 150.
  • the plant feeding device 120 may comprise the guiding device 250.
  • the plant seedlings 125 may fall through the guiding device 250 before reaching the plant arm 130.
  • the plant seedlings 125 may fall through the guiding device 250 before reaching the plant channel 150.
  • the plant feeding device 120 may further comprise a mechanism 135 configured to accelerate the plant seedlings 125 during an initial phase of a feed of the plant seedlings to the at least one plant arm 130. In other words, the plant seedlings 125 may initially be pushed by the mechanism 135, e.g.
  • the plant arm 130 may pivot around the at least one articulation 180 when the plant seedling 125 is released and fall into the plant arm 130.
  • the plant arm 130 may pivot when the plant seedling 125 falls within the plant arm 130.
  • the plant arm 130 may pivot when the plant seedling 125 falls and reaches the plant head 140.
  • the second stage of a planting process may comprise a planting state.
  • the planting system 100 may be in the planting state, wherein the plant seedlings 125 may have fallen from the plant feeding device 120 to the plant head 140.
  • the plant seedlings 125 may have fallen from the plant feeding device 120 into the plant channel 150 before the plant seedlings 125 reach the plant head 140.
  • the at least one plant arm 130 may penetrate the ground in the planting state.
  • the plant seedlings 125 may be released into the ground when the plant arm 130 is in the planting stage.
  • the first stage of a planting process may comprise a moving state wherein the moving state may be after the receiving state and before the planting state.
  • the planting system 100 may be in the moving state where the plant arm 130 moves, such that the planting system 100 goes from the receiving state to the planting state.
  • the plant seedlings 125 may fall within the plant arm 130 while the planting system 100 is in the moving state.
  • the plant seedlings 125 may fall at least partly from the plant feeding device 120 to the plant arm 130.
  • the plant seedlings 125 may fall to the plant head 140 while the planting system 100 is in said moving state.
  • the plant seedlings 125 may fall at least partly from the plant feeding device 120 to the plant head 140 during at least one of the receiving state, the moving state and the planting state.
  • the plant arm 130 may pivot around the at least one articulation 180 in the second stage of a planting process.
  • the distance between the plant head 140 and the first arm section 130a may be smaller than in the planting state.
  • the distance between the plant channel 150 and the plant feeding device 120 may be smaller when in the receiving state compared to the planting state.
  • the second stage of a planting process may comprise a retracting state.
  • the planting system 100 may be in the retracting state after the planting state, wherein the plant arm 130 after planting may retract back to the receiving state.
  • the plant arm 130 may pivot around the articulation 180 when the planting system 100 alternates between the first stage and the second stage of a planting process.
  • the plant arm 130 may comprise at least one actuator 215 arranged to control the plant arm 130.
  • the at least one actuator 215 may be controlled by at least one of the actuator 240 and the control unit 210.
  • Figure 6 illustrates the planting system 100 arranged onto a vehicle 110.
  • the planting system 100 may be in motion and the at least one plant arm 130 may penetrate the ground for planting plant seedlings 125.
  • the plant head 140 may have a fixed position relative the ground when planting.
  • the plant head 140 may have a fixed position relative the ground when in the second stage of a planting process.
  • the plant arm 130 may pivot around the at least one articulation 180 so that at least part of the plant head 140 may have a fixed position relative the ground when penetrating the ground.
  • the articulation of the plant arm 130 may enable movement of the vehicle 110 when the planting system 100 is in the second stage of the planting process.
  • the articulation 180 of the plant arm 130 may enable movement of the vehicle 110 when planting.
  • the articulation 180 of the plant arm 130 may enable planting while moving the planting system 100.
  • the articulation 180 of the plant arm 130 may enable the planting system 100 to be in the second stage of the planting process while at least one of the planting system 100 and the vehicle 110 is moving.
  • the plant arm 130 may pivot around the articulation 180 such that at least one of the following is performed: the second arm section 130b pivots relative the first arm section 130a around the at least one articulation 180, the first arm section 130a pivots relative the arm link 130c around the at least one articulation 180, the arm link 130c pivots relative the arm base 130d around the at least one articulation 180, and the arm base 130d pivots relative the fastening arrangement 130e around the at least one articulation 180.
  • part(s) of the plant arm 130 may be connected.
  • the arm link 130c and the arm base 130d may be fixedly connected such that the arm link 130c and the arm base 130d may pivot together relative the fastening arrangement 130e around the articulation 180.
  • the planting system 100 may comprise a ground analyzing device 230 configured to analyze at least one property of the ground.
  • the actuator 210 may be communicatively coupled to the ground analyzing device 230.
  • the ground analyzing device 230 may be configured to send a first set of data of the at least one property of the ground to any one of the control unit 240 and the actuator 210, and wherein anyone of the control unit and the actuator 210 may be configured to operate at least one of the plant feeding device 120 and the plant arm 130 based on the first set of data.
  • the ground analyzing device 230 may be configured to send a first set of data of the at least one property of the ground to the control unit 240, and wherein the control unit 240 may be configured to operate the plant feeding device 120 and the plant arm 130 based on the first set of data.
  • the control unit 240 may be configured to evaluate a condition for planting seedlings, wherein the condition may be a function of the at least one property of the ground.
  • the condition for planting the plant seedlings 125 may be evaluated by the control unit 240, wherein the condition may be based on the at least one property of the ground.
  • the control unit 240 may be configured to operate the plant arm 130 based on the condition.
  • the control unit 240 may be configured to operate the plant arm 130 using the articulation 180 based on the condition.
  • the condition may be associated with a force which the control unit 240 exerts on the plant arm 130 in order to penetrate the ground and for the plant arm 130 to reach a predetermined planting depth.
  • the condition may be associated with a force which the control unit 240 uses when controlling the plant arm 130 in order to penetrate the ground and for the plant arm 130 to reach a predetermined planting depth.
  • the condition may be associated with a force which the actuator 210 exerts on the at least one plant arm 130 in order to penetrate the ground and for the plant arm 130 to reach a predetermined planting depth.
  • the force needed for the plant arm 130 to reach a predetermined planting depth may be deduced from the evaluated condition(s).
  • the property(ies) of the ground may contain at least one of information about the ground topography, objects on the ground, ground hardness, and/or other information that may be of value to perform the planting of plant seedlings.
  • anyone of these may be considered and the force may be determined in order to reach the predetermined planting depth.
  • the condition(s) may be associated with a change in a planting position which any one of the control unit 240 and actuator 210 may use to operate the at least one plant arm 130 in order plant the plant seedling 125.
  • the condition may be associated with instructions to change planting position which the control unit 240 uses to control the plant arm 130 to change planting position.
  • the ground analyzing device may detect at least one property of the ground that indicates unsuitable planting conditions, wherein the control unit 240 may determine an adjusted planting position.
  • the ground analyzing device 230 may comprise a non-invasive measurement device configured to measure at least one property of the ground without physically contacting the ground during measurement.
  • the ground analyzing device 230 may comprise a non-invasive measurement device configured to measure the at least one property of the ground without coming into contact with the ground during measurement.
  • the ground analyzing device 230 may, for example, comprise at least one of a camera device, a radar device, a lidar device and an ultrasonic device.
  • the ground analyzing device 230 may be arranged on the vehicle 110.
  • the non-invasive measurement device may be arranged in the front, on the side, on top of or under the vehicle 110, or in any other position suitable for the non-invasive measurement device to perform its measurement.
  • the data associated with the at least one property of the ground may comprise at least one of an image, a radar signal, a lidar signal and an ultrasonic signal.
  • the ground analyzing device 230 may comprise an invasive measurement device configured to come into contact with the ground, wherein the data associated with the at least one property of the ground may be based on the contact between the measurement device and the ground.
  • the planting system 100 may further comprise a scarifier 290 configured to prepare the ground.
  • the actuator 210 may be operatively coupled to the scarifier 290 and configured to operate the scarifier 290 based on the data associated with the at least one property of the ground.
  • the scarifier 290 may be in contact with the ground for preparing the ground. In other words, the scarifier 290 may prepare the ground before planting. In other words, the scarifier 290 may be configured to prepare the ground prior to planting.
  • the ground analyzing device 230 may comprise the scarifier 290.
  • the invasive measurement device may be the scarifier 290.
  • the actuator 210 may be operatively coupled to the scarifier 290 and configured to operate the scarifier 290 based on the first set of data.
  • the ground analyzing device 230 may comprise an invasive measurement device, such as the scarifier 290.
  • the scarifier 290 may be configured to analyze at least one property of the ground, wherein the scarifier 290 may be communicatively coupled to the actuator 210.
  • the scarifier 290 may be configured to send a second set of data of the at least one property of the ground to the actuator 210.
  • the actuator 210 may be configured to operate the at least one plant arm 130 based on at least one of the first and second set of data.
  • the scarifier 290 may be configured to analyze the ground by analyzing the resistance to the ground while preparing the ground.
  • the planting system 100 may perform at least one of an intermittent planting and an intermittent preparation of the ground.
  • intermittent planting it may here be meant that the planting may be performed periodically or irregularly. In other words, the planting may be performed at regular or irregular intervals.
  • the intermittent planting may be based on at least one of the at least one property of the ground and a first planting position.
  • the control unit 240 may be configured to operate the scarifier 290 in an alternating manner based on at least one of the condition(s) and a predetermined pattern associated with at least one of a predetermined position for preparing the ground.
  • the control unit 240 may be configured to operate at least one of the scarifier 290 and the at least one plant arm 130 in an alternating manner based on at least one of the condition and a predetermined pattern associated with at least one of a predetermined position for preparing the ground and a predetermined planting position.
  • the scarifier 290 may comprise at least one of a pressure sensor and a force sensor.
  • the scarifier 290 may analyze the ground using at least one of the pressure sensor and the force sensor,
  • the scarifier 290 may comprise a hydraulic system and the scarifier 290 may measure the pressure in the hydraulic system to analyze the ground.
  • the scarifier may analyze the force or pressure acting on the scarifier 290 or the pressure in its hydraulic system when performing an action with the scarifier.
  • the actuator 210 may comprise a hydraulic system that may control at least one of the scarifier 290, the at least one plant arm 130 and the plant feeding device 120.
  • the planting system 100 may comprise a global navigation satellite system, such as at least one of GPS, GLONASS, Galileo and BeiDou.
  • a global navigation satellite system such as at least one of GPS, GLONASS, Galileo and BeiDou.
  • the first planting position or a set of planting data may be entered manually or the set of planting data may be loaded into the system, wherein the set of planting data may comprise a plurality of planting positions comprising the first planting position.
  • the planting system 100 may analyze the ground using the ground analyzing device 230.
  • the planting system 100 may determine if the first planting position is suitable to plant the plant seedling 125 based on the at least one property of the ground.
  • the planting system 100 may adjust the planting position based on the at least one property of the ground. For example, if the planting system 100 detects that the ground is unsuitable to plant the plant seedling 125 at the first planting position, the first planting position may be corrected to a corrected first planting position close to the first planting position.
  • the plurality of planting positions may comprise a second planting position, wherein the second planting position may be the next planting position after the first planting position.
  • the next planting position may be meant that the planting system 100 may plant a first plant seedling 125 on the first planting position and subsequently the planting system 100 may plant a second plant seedling 125 on the second plant position.
  • the set of ground preparation data may be entered manually or the set of ground preparation data may be loaded into the system, wherein the set of ground preparation data may comprise a plurality of ground preparation spots comprising the first ground preparation spot.
  • the planting system 100 may determine if the first ground preparation spot is suitable to prepare based on the at least one property of the ground.
  • the planting system 100 may adjust the ground preparation spot based on the at least one property of the ground. For example, if the planting system 100 detects that the ground is unsuitable to prepare the ground at the first ground preparation spot, the first ground preparation spot may be corrected to a corrected first ground preparation spot close to the first ground preparation spot.
  • the plurality of ground preparation spots may comprise a second ground preparation spot, wherein the second ground preparation spot may be the next ground preparation spot after the first ground preparation spot.
  • the next ground preparation spot may be meant that the planting system 100 may prepare the ground at the first ground preparation spot and subsequently, may prepare the ground at the second ground preparation spot.
  • FIG. 7 illustrates a scarifier 290 according to an embodiment.
  • the scarifier 290 may be configured to prepare the ground for planting plant seedlings 120.
  • the scarifier 290 may comprise by at least one actuator 260.
  • the scarifier may comprise a scarifier arm 290b.
  • the scarifier 290 may comprise a scarifier head 290a.
  • the scarifier head 290a may be rotatably connected to the scarifier arm 290b.
  • the scarifier 290 may comprise a scarifier base 290c for arrangement on a vehicle.
  • the scarifier arm 290b may be pivotably connected to the scarifier base 290c.
  • the scarifier arm 290b may be at least one of rotatably and pivotably attached to the scarifier base 290c.
  • the scarifier 290 may comprise a rotating device 290d.
  • the rotating device 290d may be rotatably connected to the scarifier head 290a.
  • the rotating device 290d may be arranged to be in contact with the ground for preparing the ground.
  • the rotating device 290d may be shaped in different ways known in the art.
  • the actuator 210 may be operatively coupled to the scarifier 290 and configured to operate the scarifier 290 based on the first set of data.
  • the control unit 240 may be operatively coupled to the scarifier 290 or communicatively coupled to the actuator 210.
  • the scarifier 290 may analyze the ground by the control unit 240, which in turn may analyze at least one of a pressure in the actuator 210, a measured pressure by the pressure sensor and a measured force by the force sensor.
  • the control unit 240 may analyze at least one of the force or pressure acting on the scarifier 290 and the pressure in the actuator 210 when performing an action with the scarifier 290.
  • An action performed by the scarifier 290 may be any one of pressing the scarifier 290 towards the ground, rotating the rotating device 290d when in contact with the ground and dragging the scarifier 290 into the ground.
  • Figure 8 illustrate the planting system 100 arranged onto the vehicle 110.
  • the at least one plant arm 130 may be arranged at the rear part of the vehicle 110.
  • two plant arms 130 are arranged in the rear part of the vehicle 110.
  • the planting system 100 may further comprise two plant feeding devices 120.
  • the planting system 100 may comprise one plant feeding device 120 for each one of the two plant arms 130.
  • the planting system 100 comprises two scarifiers 290.
  • the planting system 100 may comprise one scarifier 290 for each plant arm 130.
  • the plant arm(s) 130 may be arranged such that the scarifier 290 may prepare the ground prior to planting by the planting system 100 using the plant arm(s) 130.
  • the plant arm(s) 130 may be arranged in the rear part of the vehicle 110.
  • the rear part of the vehicle 110 it may be meant a first section of the vehicle, wherein the first section may be in the aft part of the vehicle 110.
  • the scarifier 290 may be arranged in front of the plant arm(s) 130.
  • the scarifier 290 may be arranged in front of the first section.
  • the scarifier 290 may be arranged in a second section of the vehicle 110 wherein the second section may be arranged in front of the first section
  • the scarifier 290 and the at least one plant arm 130 may be arranged substantially at the same lateral position, wherein the lateral position may the position perpendicular to the main direction of travel for the vehicle 110. This may allow the plant arm(s) 130 to plant plant seedlings 125 in ground prepared by the scarifier 290.
  • a method 300 for planting seedlings according to the inventive concept will now be described with reference to Figure 9.
  • the method will be described in terms of ‘steps’. It is emphasized that the steps are not necessarily processes that are delimited in time or separate from each other, and more than one step may be performed at the same time in a parallel fashion.
  • the method 400 may be performed by a planting system for arrangement on a vehicle wherein the planting system may comprise a ground analyzing device and at least one plant arm.
  • the method may comprise the step of analyzing 410 ground using the ground analyzing device for generating data associated with at least one property of the ground.
  • the method 400 may comprise the step of operating 420 the at least one plant arm based on the data associated with the at least one property of the ground.
  • the plant arm(s) may be controlled so that it pivots around at least one articulation.
  • the plant arm(s) may be controlled so that the distance between the plant channel and the plant feeding device decreases facilitating the fall of the plant seedling from the plant feeding device to the plant channel.
  • the plant(s) arm may be controlled so that the distance between the plant head and the ground decreases.
  • the plant arm(s) may be controlled so that the plant head penetrates the ground.
  • based on the data associated with the at least one property of the ground may be mean that the operation 420 of the plant arm(s) may be based on at least one property of the ground.
  • the method 400 may also comprise the step of preparing 430 the ground based on the data associated with at least one property of the ground.
  • the method 400 may comprise the step of evaluating 440 a condition for planting seedlings, wherein the condition is a function of the at least one property of the ground.
  • the method may also comprise the step of operating 450 the at least one plant arm based on the condition.
  • the at least one plant arm may be meant that the plant arm(s) may be controlled to in a first stage of a planting process, feed plant seedlings to the at least one plant arm and in a second stage of a planting process, penetrating the ground by the plant head and releasing the plant seedlings from the plant head into the ground.
  • the at least one plant arm may be meant that the plant arm(s) may be controlled to at least one of change planting position from the first planting position to the corrected first planting position based on the condition for the for planting position and skip first planting position based on the condition for the fist planting position.
  • skip the first planting position may be meant that the plant arm may be operated to plant the plant seedling at the second plant positon.
  • feed plant seedlings to the at least one plant arm may me meant that the plant feeding device may release the plant seedlings to the at least one plant arm.
  • releasing the plant seedlings may be meant that the plant seedlings may be released from the plant feeding device via the at least one plant arm, to the plant head, by operation of the plant feeding device at least one plant arm, to the plant head, by operation of the plant feeding device.
  • the plant seedling may be loaded into the at least one plant holder prior to the plant seedling being released from the plant feeding device.
  • the method 400 may comprise the step of preparing 460 the ground and operating the at least one plant arm in an alternating manner based on at least one of the condition and a predetermined pattern associated with at least one of a predetermined position for preparing the ground and a predetermined planting position.
  • planting of plant seedlings and preparation of the ground may be performed periodically or irregularly, in other words the planting and the preparation of the ground may be performed at regular or irregular intervals.
  • the intermittent preparation and intermittent planting of the ground may be performed based on at least one property of the ground.
  • Embodiment 1 A planting system (100) for arrangement on a vehicle (110), wherein the planting system (100) comprises a ground analyzing device (230) for analyzing ground and for generating data associated with at least one property of the ground, a control unit (240) communicatively coupled to the ground analyzing device (230), wherein the control unit (240) is configured to receive and process the data generated by the ground analyzing device (230), and at least one plant arm (130) comprising a plant head (140) configured to penetrate the ground for planting seedlings, wherein the at least one plant arm (130) is configured to receive plant seedlings and to guide the plant seedlings to the plant head (140), wherein the control unit (240) is operatively coupled to the at least one plant arm (130) and configured to operate the at least one plant arm (130) based on the data processed by the control unit (240).
  • the planting system (100) comprises a ground analyzing device (230) for analyzing ground and for generating data associated with at least one property of the ground,
  • Embodiment 2 The planting system (100) according to embodiment 1, wherein the ground analyzing device comprises an invasive measurement device configured to come into contact with the ground, wherein the data associated with the at least one property of the ground is based on the contact between the measurement device and the ground.
  • the ground analyzing device comprises an invasive measurement device configured to come into contact with the ground, wherein the data associated with the at least one property of the ground is based on the contact between the measurement device and the ground.
  • Embodiment 3 The planting system (100) according to embodiment 1 or 2, wherein the ground analyzing device comprises a non-invasive measurement device configured to measure the at least one property of the ground without coming into contact with the ground during measurement.
  • the ground analyzing device comprises a non-invasive measurement device configured to measure the at least one property of the ground without coming into contact with the ground during measurement.
  • Embodiment 4 The planting system (100) according to anyone of the preceding embodiments, wherein the ground analyzing device (230) comprises a scarifier (290) configured to prepare the ground, and wherein the planting system (100) further comprises an actuator (210) operatively coupled to the scarifier (290) and configured to operate the scarifier (290) based on the data associated with the at least one property of the ground.
  • the ground analyzing device (230) comprises a scarifier (290) configured to prepare the ground
  • the planting system (100) further comprises an actuator (210) operatively coupled to the scarifier (290) and configured to operate the scarifier (290) based on the data associated with the at least one property of the ground.
  • Embodiment 5 The planting system (100) according to anyone of embodiments 1 , 3 or 4 wherein the ground analyzing device (230) comprises at least one of a camera device, a radar device, a lidar device and an ultrasonic device.
  • the ground analyzing device (230) comprises at least one of a camera device, a radar device, a lidar device and an ultrasonic device.
  • Embodiment 6 The planting system (100) according to embodiment 5, wherein the data associated with the at least one property of the ground comprises at least one of an image, a radar signal, a lidar signal and an ultrasonic signal.
  • Embodiment 7 The planting system (100) according to anyone of the preceding embodiments, wherein the control unit (240) is configured to evaluate a condition for planting seedlings, wherein the condition is a function of the at least one property of the ground.
  • Embodiment 8 The planting system (100) according to embodiment 7, wherein the control unit (240) is configured to operate the at least one plant arm (130) based on the condition.
  • Embodiment 9. The planting system (100) according to embodiment 8, wherein the condition is associated with a force which the control unit exerts on the at least one plant arm (130) in order to penetrate the ground and for the at least one plant arm (130) to reach a predetermined planting depth
  • Embodiment 10 The planting system (100) according to anyone of the preceding embodiments, wherein the at least one plant arm (130) comprises at least one articulation (180), wherein the control unit (240) is further configured to operate the at least one plant arm (130) using the at least one articulation (180) based on the condition.
  • Embodiment 11 The planting system (100) according to anyone of the preceding embodiments, wherein the control unit is configured to operate at least one of the scarifier (290) and the at least one plant arm (130) in an alternating manner based on at least one of the condition and a predetermined pattern associated with at least one of a predetermined position for preparing the ground and a predetermined planting position.
  • Embodiment 12 A method (400) for planting seedlings wherein the method is performed by a planting system arranged on a vehicle, wherein the planting system comprises a ground analyzing device (230) and at least one plant arm (130), wherein the method comprises analyzing (410) ground using the ground analyzing device (230) for generating data associated with at least one property of the ground, and operating (420) the at least one plant arm (130) based on the data associated with the at least one property of the ground.
  • the planting system comprises a ground analyzing device (230) and at least one plant arm (130)
  • the method comprises analyzing (410) ground using the ground analyzing device (230) for generating data associated with at least one property of the ground, and operating (420) the at least one plant arm (130) based on the data associated with the at least one property of the ground.
  • Embodiment 13 The method (400) for planting seedlings according to embodiment 12, wherein the method comprises preparing (430) the ground based on the data associated with at least one property of the ground.
  • Embodiment 14 The method (400) for planting seedlings according to embodiment 12 or 13, wherein the method comprises evaluating (440) a condition for planting seedlings, wherein the condition is a function of the at least one property of the ground, and operating (450) the at least one plant arm (130) based on the condition.
  • Embodiment 15 The method (400) for planting seedlings according to any one of embodiments 12-14, wherein the method comprises preparing (460) the ground and operating the at least one plant arm (130) in an alternating manner based on at least one of the condition and a predetermined pattern associated with at least one of a predetermined position for preparing the ground and a predetermined planting position.

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Transplanting Machines (AREA)

Abstract

L'invention concerne un système de plantation (100) destiné à être disposé sur un véhicule (110), lequel comprend un dispositif d'analyse de sol (230) destiné à analyser le sol et à générer des données associées à au moins une propriété du sol. Le dispositif d'analyse de sol (230) comprend un scarificateur (290) conçu pour préparer le sol, les données associées à ladite propriété du sol étant basées sur le contact entre le scarificateur et le sol. Le système de plantation comprend une unité de commande (240) couplée en communication au dispositif d'analyse de sol. L'unité de commande est conçue pour recevoir et traiter les données générées par le dispositif d'analyse de sol. Le système de plantation comprend un bras de plantation comprenant une tête de plantation conçue pour pénétrer dans le sol pour planter des semis. L'unité de commande est accouplée fonctionnellement au bras de plantation et conçue pour faire fonctionner le bras de plantation sur la base des données traitées par l'unité de commande. L'invention concerne également un procédé de plantation de semis.
PCT/SE2020/050830 2019-09-02 2020-09-02 Système de plantation et procédé de plantation Ceased WO2021045667A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1951003A SE545463C2 (en) 2019-09-02 2019-09-02 Planting system and method for planting
SE1951003-1 2019-09-02

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WO2021045667A1 true WO2021045667A1 (fr) 2021-03-11

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4067268A (en) * 1975-04-29 1978-01-10 Mooch Domsjo Aktiebolag Digging and planting machine
US4342270A (en) * 1980-06-25 1982-08-03 Mo Och Domsjo Aktiebolag Digging and planting machine
WO1998031209A1 (fr) * 1997-01-22 1998-07-23 Roy Eriksson Planteuse
US20120125244A1 (en) * 2010-11-18 2012-05-24 Straw Track Manufacturing Inc. Mapping soil hardness
EP2497348A1 (fr) * 2011-03-08 2012-09-12 Deere & Company Appareil de distribution de produit et procédé de contrôle
US8849523B1 (en) * 2013-05-20 2014-09-30 Elwha Llc Systems and methods for detecting soil characteristics

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4067268A (en) * 1975-04-29 1978-01-10 Mooch Domsjo Aktiebolag Digging and planting machine
US4342270A (en) * 1980-06-25 1982-08-03 Mo Och Domsjo Aktiebolag Digging and planting machine
WO1998031209A1 (fr) * 1997-01-22 1998-07-23 Roy Eriksson Planteuse
US20120125244A1 (en) * 2010-11-18 2012-05-24 Straw Track Manufacturing Inc. Mapping soil hardness
EP2497348A1 (fr) * 2011-03-08 2012-09-12 Deere & Company Appareil de distribution de produit et procédé de contrôle
US8849523B1 (en) * 2013-05-20 2014-09-30 Elwha Llc Systems and methods for detecting soil characteristics

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SE545463C2 (en) 2023-09-19
SE1951003A1 (en) 2021-03-03

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