SE2150237A1

SE2150237A1 - Adaptive planting method

Info

Publication number: SE2150237A1
Application number: SE2150237A
Authority: SE
Inventors: Joakim Eckerström; Stefan Hedlund; Tobias Arvidsson
Original assignee: Plantma Ab
Priority date: 2021-03-02
Filing date: 2021-03-02
Publication date: 2022-09-03
Also published as: SE545132C2

Abstract

A method (100) and vehicle (200) for planting plant seedlings (210) in at least a predetermined set of planting positions is provided. The planting is performed using the vehicle. The vehicle comprising a scarifier (230) configured to prepare the ground at the predetermined set of planting positions (220), a ground analyzing device (240) for analyzing the ground and a plant arm (250) for planting plant seedlings. The ground is prepared such that at least one depression (275) and at least one mound (270), adjacent the at least one depression, are created. Based on the analyzing of the ground it is determined whether at least one of the at least one mound and the at least one depression is unsuitable for planting. A plant seedling is planted in at least one of the at least one mound and the at least one depression.

Description

ADAPTIVE PLANTING METHOD Field of the invention The present invention generally relates to a method and a vehicle forplanting plant seedlings.

Background of the invention ln the process of reafforestation one may rely on plants to reproducethemselves or actively planting plant seedlings. ln the latter, plant seedlingsare often planted in the clear-felled area being the result of a deforestation ofan area. Normally, plant seedlings should be planted within a certain distancefrom each other in order to cover the area with plant seedlings according topredetermined measures. ln the past, planting of seedlings has mostly beenperformed manually (i.e. by hand) or by relatively simple tools to plant theplant seedlings into the ground. Today, when planting plant seedlings,machines may be used. For example, the plant seedlings may be stored in avehicle and loaded to a magazine or compartment before being positionedinto the ground. However, it has been shown that finding positions for plantingand achieving the right coverage of plant seedlings are challenging.Furthermore, under some circumstances the yield, i.e. the amount ofsuccessfully planted plant seedlings and with the plant seedling still alive,may be adversely affected by using machines and/or an automated process,i.e. more plants may risk not to survive after planting and/or less plants maybe successfully planted.

Summary of the invention lt is an object of the present inventive concept to mitigate, alleviate oreliminate one or more of the above-identified deficiencies in the art anddisadvantages singly or in combination. ln particular, it may be desirable tofacilitate the planting procedure in order to increase the planting yield. Tobetter address one or more of these concerns, a method and a device havingthe features defined in the independent claims are provided. Preferableembodiments are defined in the dependent claims.

Hence, according to a first and a second aspect of the inventiveconcept, these and other objects are achieved in full, or at least in part, by amethod according to the first aspect of the present invention for planting plantseedlings in at least a predetermined set of planting positions using a vehiclein motion in a forward direction, the vehicle comprising a scarifier configured to prepare the ground, a ground analyzing device for analyzing the groundand a plant arm for planting plant seedlings, wherein the plant arm isarranged behind the scarifier relative the forward direction. The methodcomprises preparing the ground using the scarifier at the predetermined set ofplanting positions while the vehicle is in motion such that at least onedepression and at least one mound, adjacent the at least one depression, arecreated in the ground. The method further comprises analyzing the at leastone depression and the at least one mound using the ground analyzingdevice and determining, based on data from the analyzing, whether at leastone of the at least one mound at a first planting position of the predeterminedset of planting positions, and the at least one depression at a second plantingposition of the predetermined set of planting positions, is unsuitable forplanting according to at least one predetermined criteria. The method furthercomprises operating the plant arm based on the determining by planting aplant seedling in at least one of the at least one mound at the first plantingposition using the plant arm, when the at least one mound at the first plantingposition is not determined as unsuitable for planting, and the at least onedepression at the second planting position using the plant arm, when the atleast one depression at the second planting position is not determined asunsuitable for planting.

According to the second aspect of the present invention, a vehicle forplanting plant seedlings in at least a predetermined set of planting positions isprovided. The vehicle is configured to move in a forward direction and thevehicle comprises a scarifier for preparing the ground, a ground analyzingdevice for analyzing the ground and a plant arm for planting plant seedlingswherein the plant arm is arranged behind the scarifier relative to the forvvarddirection. The vehicle further comprises a controller configured to control thescarifier to prepare the ground while the vehicle is in motion such that at leastone depression and at least one mound, adjacent the at least one depression,are created in the ground. The ground analyzing device is configured toanalyze the at least one depression and the at least one mound. Thecontroller is further configured to determine, based on data from the groundanalyzing device, whether at least one of the at least one mound at a firstplanting position of the predetermined set of planting positions, and the atleast one depression at a second planting position of the predetermined set ofplanting positions, is unsuitable for planting according to at least onepredetermined criteria. The plant arm is configured to plant a plant seedling in 3 at least one of the at least one mound at the first planting position using theplant arm when the at least one mound at the first planting position is notdetermined as unsuitable for planting and the at least one depression at thesecond planting position using the plant arm when the at least one depressionat the second planting position is not determined as unsuitable for planting.

By the term "scarifier", it is meant a tool for preparing the ground beforeplanting plant seedlings, such as a mounder, disc scarifier or plow.

By the term "depression", it is meant a surface of the ground where soilhas been removed by the scarifier.

By the term "mound", it is meant a surface of the ground to which soilfrom the depression has been moved.

During scarification, soil may be removed to expose the soil arrangedunder the top surface of the ground, where typically the mineral soil isarranged. Further, the scarification of the ground may be advantageous inremoving vegetation arranged in the top layer of the soil, typically comprisinghumus, providing less vegetation on the prepared surface. The remainingvegetation may for example compete with plant seedlings for water and/orprovide facilitated access to the plant seedlings from pests and/or insects.The amount of soil removed may be different depending on the operatingdepth of the scarifier, i.e. a depth of scarification, and different environmentalconditions that may in turn affect the desired depth of scarification, which willbe discussed further below. Further, the at least one mound and at least onedepression may be a plurality of mounds and corresponding depressionswhen for example intermittent preparation of the ground, i.e. intermittentscarification, is utilized. When a continuous preparation, i.e. continuousscarification, is utilized, the at least one mound and at least one depressionmay form at least one continuous depression, i.e. at least one trench, and atleast one continuous mound, i.e. at least one ridge, along the at least onedepression.

The mound may be arranged in any direction to the depressiondepending on the scarifying action. Preferably, the mound is arranged to theside of the depression or in front of the depression with respect to the forwarddirection of the vehicle.

The present invention is based on the understanding that by findingpositions which are unsuitable for planting, the planting may be facilitated byinitially classify all positions in the set of predetermined set of plantingpositions as suitable for planting and by analyzing the ground the planting 4 process, i.e. the operation of the plant arm, may be interrupted whenunsuitable planting positions are determined. This is advantageous as theremay be positions during analysis of the ground by the method that may bedetermined as uncertain with respect to the planting position being unsuitablefor planting or not. ln such cases, the present invention may generate aplanting action of the plant arm despite the ground being classified asuncertain, i.e. the method may operate by planting a plant seedling as long asa the method does not detect a planting position being unsuitable for planting.ln contrast to analyzing the ground to find suitable planting positions, andwhere a planting action is performed when the suitable planting positions aredetermined. The uncertain positions when finding suitable positions forplanting position may not generate a planting action as the suitable criteria isneeded and the planting position are typically not classified as suitable.Accordingly, the present invention may increase the amount of plantseedlings planted with respect to methods where (only) suitable positions aredetermined and in turn provide an increase coverage of plant seedling in theground. Further, by analyzing the ground to find a suitable planting positionmay in some cases need more data and/or more complex algorithmscompared to the detection of unsuitable positions. Hence, the presentinvention further provides a convenient and reliable method that may increaseplanting coverage and plant yield.

The operating the plant arm may further comprise planting a plantseedling in at least one of the at least one mound at the first planting positionat a first predetermined planting height, and the at least one depression at thesecond planting position at a second predetermined planting height, whereinthe first predetermined planting height is elevated with respect to the secondpredetermined planting height.

Accordingly, the plant arm may further be configured to plant a plantseedling in at least one of the at least one mound at the first planting positionat a first predetermined planting height; and the at least one depression at thesecond planting position at a second predetermined planting height. The firstpredetermined planting height is elevated from the second predeterminedplanting height, i.e. the first predetermined planting height is higher up in theground compared to the second predetermined planting height.

Planting at different heights is advantageous as the yield of plantseedling may be increase. During wet conditions, i.e. when it has beendetermined by the method that the ground has a humidity above a predetermined humidity threshold, it may be advantageous to plant plantseedlings in the mound, at the first planting height as plant seedling risk beingexposed to too much water, potentially drowning the plant seedling. Duringdry conditions, i.e. when it has been determined by the method that theground has a humidity below the predetermined humidity threshold, it may beadvantageous to plant plant seedlings in the depression, at the secondplanting height as plant seedlings risk being exposed to a too low amount ofwater, potentially drying out the plant seedling. Further, weather forecasts andfuture environment predictions may form basis for the determining whetherplanting should be performed in the mound or the depression, at the first orsecond planting height respectively. ln other words, the predetermined criteriaand/or the predetermined planting height may further be based on weatherforecasts and future environment predictions. The determination of whetherplanting in the mound or depression may be determined by at least one of anoperator of the vehicle and the vehicle automatically determining thepreferred planting, for example by using the ground analyzing device.

The method may further comprise determining, based on data from theanalyzing, whether at least one of the at least one mound and the at least onedepression at a third planting position different from the first planting positionand second planting position is unsuitable for planting according to the atleast one predetermined criteria.

The operating the plant arm may further comprise planting a plantseedling in the at least one mound at the third planting position, when the atleast one mound at the first planting position is determined as unsuitable forplanting and when the third planting position is not determined as unsuitablefor planting, or the at least one depression at the third planting position, whenthe at least one depression at the second planting position is determined asunsuitable for planting and when the third planting position is not determinedas unsuitable for planting.

Accordingly, the controller may further be configured to determine,based on the data from the analyzing device, whether the at least one moundor the at least one depression at a third planting position different from thefirst planting position and second planting position is unsuitable for plantingaccording to at least one predetermined criteria.

The plant arm, may further be configured to plant a plant seedling inthe at least one mound at the third planting position, when the at least onemound at the first planting position is determined as unsuitable for planting and when the third planting position is not determined as unsuitable forplanting, or the at least one depression at the third planting position, when theat least one depression at the second planting position is determined asunsuitable for planting and when the third planting position is not determinedas unsuitable for planting.

By the wording "third position different from the first planting positionand second planting position", it should be understood a planting position notnecessarily part of the predetermined planting positions. The groundanalyzing device may continuously analyze the ground as the vehicle is inmotion, and thus the third position may be any position in front of the first andsecond planting position determined as not unsuitable for planting. Planting inthe third planting position is advantageous as the coverage of plant seedlingalong the ground may be improved, since the planting arm does notnecessarily wait for the next predetermined planting position after the firstand/or second planting position to plant a plant seedling.

The third planting position may be at least one of a subsequentplanting position to at least one of the first and second planting position in theset of planting positions, a planting position at a predetermined distance fromat least one of the first and second planting position, and a planting positionnot unsuitable for planting in front of the at least one of the first plantingposition and second planting position relative the forward direction of thevehicle.

The third planting position being a planting position not unsuitable forplanting in front of the at least one of the first planting position and secondplanting position relative the forward direction of the vehicle may beadvantageous as it may provide increased coverage of plant seedlings in theground. Accordingly, the third planting position may be the first possibleplanting position determined as not unsuitable for planting in front of the firstand/or second planting position. Hence, it should be understood that theground analyzing device may determine the third planting position as notunsuitable for planting in the same way as the determination of the first and/orsecond planting position. lt should be further understood that this third planting position mayaccordingly become a subsequent planting position to at least one of the firstand second planting position in the set of planting positions when, forexample, no planting position in between each planting position in thepredetermined set of planting positions are determined as unsuitable for 7 planting. Further, by having the third planting position being a plantingposition at a predetermined distance from at least one of the first and secondplanting position, the plant arm may force planting in the third plantingposition.

The operating the plant arm may further comprise planting a plantseedling in the at least one mound or the at least one depression at a fourthplanting position different from the first, second and third planting position,when the at least one mound and the at least one depression are determinedas unsuitable for planting in the first, second and third planting position andwhen the vehicle has traveled a predetermined length of travel withoutplanting any plant seedling.

Accordingly, the plant arm may further be configured to plant a plantseedling in the at least one mound or the at least one depression at a fourthplanting position different from the first, second and third planting positions,when the at least one mound and the at least one depression are determinedas unsuitable for planting at the first, second and third planting positions andwhen the vehicle has traveled a predetermined length without planting anyplant seedling.

By planting a plant seedling in the fourth planting position a forcedplanting may be achieved where planting of plant seedling is performeddespite the possible determination of the ground as unsuitable for planting. lnthis way a coverage of plant seedlings in the ground may be improved as thepredetermined criteria for planting may indicate good or even optimal plantingpositions. Hence, a forced planting of a plant seedling may not necessarilycause the plant seedling to not survive with time even though the fourthplanting position has not been determined to be not unsuitable for planting.

The at least one predetermined criteria may comprise at least one of ahardness of the ground being above a predetermined threshold, a humidity ofthe ground being above a predetermined threshold, and a concentration ofvegetation of the ground being above a predetermined threshold, at the leastone of the at least one mound at the first planting position of thepredetermined set of planting positions, and the at least one depression at thesecond planting position of the predetermined set of planting positions.

The determining may further comprise detecting at least one of thehardness of the ground, the humidity of the ground and the concentration ofvegetation of the ground, and determining, based on the detecting, whetherthe least one of the at least one mound at the first planting position of the predetermined set of planting positions, and the at least one depression at thesecond planting position of the predetermined set of planting positions, isunsuitable for planting.

Accordingly, the controller may further be configured to detect, basedon the data from the analyzing device, the hardness of the ground, thehumidity of the ground and/or the concentration of vegetation of the ground.and the controller determine, based on the detecting, whether the at least oneof the at least one mound at the first planting position of the predeterminedset of planting positions, and the at least one depression at the secondplanting position of the predetermined set of planting positions, is unsuitablefor planting.

Hardness of the ground may for example be a certain composition ofthe ground and/or stones, rocks and/or logs positioned in the ground. Hence,this measure may for example be related to physical obstacles for planting,i.e. object arranged in the way for the planting arm when planting a plantseedling. Since the hardness of the ground may adversely affect the plantingof plant seedlings, it may be advantageous to select a different plantingposition for increasing the plant yield.

Humidity of the ground may for example be when the soil itself has acertain humidity and/or a collection of water, e.g. a water puddle, arranged onor in the ground. Due to the presence of (too much) water and/or when thesoil is too humid it may be advantageous to select a different planting positionfor increasing the planting yield.

A concentration of vegetation of the ground may adversely affect theyield of plant seedlings as there may be an increased risk of pests, such asbeetles or other insects, reaching the plant seedling by using the vegetation.Hence, by determining a concentration of vegetation the planting yield may beincreased.

According to an embodiment, the plant arm is pivotably arranged to thevehicle. The operating may further comprise pivoting the plant arm whenplanting a plant seedling in at least one of the at least one mound and the atleast one depression. Accordingly, the plant arm may be configured to pivotwhen planting a plant seedling in at least one of the at least one mound andthe at least one depression This embodiment may facilitate the planting ofplant seedlings in the mound and/or depression when for example alternatingbetween the two. Further, adaptation of the plant arm when planting inalterative planting positions, such as the third planting position may be 9 facilitated. This may for example be especially advantageous when the thirdplanting position is arranged in front and possibly to the sides of the first andsecond planting position with respect of the forward direction.

According to an embodiment, the ground analyzing device is animaging device. The analyzing may further comprise capturing at least oneimage of the ground and wherein the data from the analyzing may comprisethe at least one image of the ground. Accordingly, the imaging device may beconfigured to capture at least one image of the ground and wherein the datamay comprise the at least one image of the ground.

This embodiment may be advantageous in providing a facilitatedanalysis of the ground and consequently this may provide a facilitateddetermination of planting position being unsuitable or not. Further, this maybe advantageous in determining the characteristics of the ground, e.g.planting positions being unsuitable for planting or not, without having the plantarm engaging the ground. By having the plant arm not engaging the groundwhen planting is determined as unsuitable may provide may not damagingthe plant arm. This may for example occur when the ground is determined astoo hard for planting, i.e. a hardness of the ground and it being higher thanpredetermined threshold and/or when obstacles are arranged in the way forthe plant arm. Since the hard ground or the obstacles may cause wear and/ortear of the plant arm if the plant arm engages with the ground at thesepositions. The hard ground or the obstacles may hence damage the plantarm, wherein the damage may be caused by a single operation and/or overtime.

According to an embodiment the ground analyzing device is at leastone of a soil penetrating radar, geo-radar, IR-transceiver and acoustictransceiver. The ground analyzing device is configured to retrieve at least oneof a radar response, an IR-response and an acoustic response from theground. The data from the analyzing may comprise at least one of the radarresponse, IR-response and acoustic response from the ground Accordingly,the data may comprise at least one of the radar response, IR-response andacoustic response from the ground.

This embodiment may be advantageous in providing a facilitatedanalysis of the ground and consequently this may provide a facilitateddetermination of planting position being unsuitable or not. Further, this maybe advantageous in determining the characteristics of the ground, e.g.planting positions being unsuitable for planting or not, without having the plant arm engaging the ground. By having the plant arm not engaging the groundwhen planting is determined as unsuitable may provide less adverse affectsto the plant arm such as less wear and/or tear of the plant arm. This may forexample occur when the ground is determined as too hard for planting, i.e. ahardness of the ground and it being higher than predetermined thresholdand/or when obstacles are arranged in the way for the plant arm.

Brief description of the drawings These and other aspects will now be described in more detail in thefollowing illustrative and non-limiting detailed description of embodiments,with reference to the appended drawings.

Figure 1 shows a vehicle for planting plant seedlings according to atleast one embodiment.

Figures 2a-2b show the at least one depression and the at least onemound according to at least one embodiment.

Figure 3 shows a vehicle for planting plant seedlings according to atleast one embodiment.

Figure 4 shows a vehicle for planting plant seedlings according to atleast one embodiment.

Figure 5 shows a flow chart of the method according to at least oneembodiment.

Figure 6 shows a flow chart of the method according to at least oneembodiment.

All the figures are schematic, not necessarily to scale, and generallyonly show parts which are necessary in order to elucidate the embodiments,wherein other parts may be omitted. Like reference numerals refer to likeelements throughout the description.

Detailed description of embodiments Figure 1 schematically illustrates a vehicle 200 according to at leastone embodiment. The vehicle 200 comprises a scarifier 230 for preparing theground, a ground analyzing device 240 for analyzing the ground and a plantarm 250 for planting plant seedlings 210. The vehicle 200 may be configuredto move in a forward direction 201 _ The plant arm 250 is arranged behind thescarifier 230 relative to the fon/vard direction 201. The vehicle 200 furthercomprises a controller 260 configured to control the scarifier 230 to preparethe ground while the vehicle 200 is in motion such that at least onedepression 275 and at least one mound 270, adjacent the at least onedepression 275, are created in the ground. The scarifier 230 may 11 continuously prepare the ground as the vehicle 200 moves in the forwarddirection 201. Further, it is possible for the scarifier 230 to intermittentlyprepare the ground as the vehicle 200 moves in the fon/vard direction 201.Hence, the at least one depression 275 may be elongated depressions, suchas a trench as seen in Figure 1. Alternatively, or additionally, the at least onedepression 275 may be a plurality of depressions 275.

Accordingly, the at least one mound 270 may form a continuouselongated mound 270, such as a ridge, alongside the at least one depression275 with respect to the fon/vard motion 201 of the vehicle 200. Whenintermittently preparing the ground at least one mound 270 may be formed foreach depression 275. The at least one mound 270 during intermittentpreparation of the ground may be formed to at least one of the sides of the atleast one depression 275 and/or in front of the at least one depression 275with respect to the fon/vard motion 201 of the vehicle 200.

By intermittent preparation it is meant that the ground is prepared atregulated intervals, such as for example once every meter to every secondmeter. lt should be understood that the intervals could be shorter or longerwithout diverging from the scope of the present invention. The intermittentpreparation may be achieved by alternatively raising and lowering the scarifier230. For example, when using a mounder the soil is typically showed in frontof the mounder turning the soil, leaving at least one a depression 275 and atleast one a mound 270, wherein the at least one mound 270 comprises thesoil showed from the at least one depression 275.

Alternatively, when for example using a disc scarifier 230, the at leastone mound 270 comprises the soil from the depression 275 created by thedisc scarifier 230 and the mound 270 may typically be arranged to the side ofthe at least one depression 275. Hence, the mounder would typically be usedfor intermittent preparation of the ground while the disc scarifier 230 couldtypically be used for both intermittent preparation and for continuouspreparation. When the disc scarifier 230 is used for intermittent preparationthe disc scarifier 230 may alternatively be raised and lowered into the ground.However, it should be understood that even the mounder could be usedcontinuously in a sense where it continuously prepares the ground butcreates alternating depressions and mounds in the fon/vard direction 201 ofthe vehicle 200.

Further, by adjusting a scarification height the scarifier 230 mayprepare the ground at different depths. ln some cases, it may be favorable to 12 perform a relatively deep preparation of the ground and in other cases it maybe favorable to perform a relatively shallow preparation. A deep preparation istypi0ally performed when the top layer of the soil together with mineral soil istransferred or moved by the s0arifier 230 to the mound 270. This may providea preferred planting in the mound 270. A shallow preparation is typi0allyperformed when the top layer of soil is moved by the s0arifier 230 to themound 270.This may provide a preferred planting in the depression 275. Adeep preparation is typi0ally performed when the s0arifier 230 is lowered100m - 400m into the mineral soil, preferably 15 - 300m. A shallowpreparation is typi0ally performed when the top layer of the soil is removed.During shallow preparation some mineral soil may also be removed to ensurethe top layer to be properly removed. Hen0e, the s0arifier 230 may belowered 10m - 100m into the mineral soil during shallow preparation.A00ordingly, the s0arifi0ation height may form basis for a preferred planting ineither the at least one depression 275 or the at least one mound 270. Further,weather 0onditions and/or ground 0onditions may affect the s0arifi0ationheight. The s0arifi0ation height may be automatically adjusted or adjusted bythe operator. Preferably, the s0arifi0ation height may be fixed for a 0ertainarea of planting. lt should be understood that the s0arifi0ation, i.e. preparation of theground, may be performed along predetermined routes su0h as substantiallystraight lines. These predetermined routes may be determined based on thearea where the plant seedlings 210 are to be planted. The routes may bedetermined to best 0over the whole area for planting. The routes may bedetermined without ne0essarily taking into a00ount possible planting positionsnor their suitability or unsuitability for planting. ln fa0t, the predetermined setof planting positions 220 may be determined after preparation of the groundwhile the vehi0le 200 is in motion. A set of predetermined planting positionsmay be determined along the prepared ground, i.e. in at least one of the atleast one mound 270 and the at least one depression 275.

The predetermined set of planting positions may be arranged at apredetermined distan0e from ea0h other, wherein the distan0e is preferablynot more than 3 meters, more preferably not more than 2 meters. Thepredetermined distan0e may be within a range of 1 - 2 meters. Thepredetermined distan0e may typi0ally be about 1.8 meters. The size of the atleast one depression 275 may be dependent on the time of whi0h the s0arifier230 engages with the ground as the vehi0le 200 moves in the forward 13 direction 201, accordingly the size of the at least one depression 275depends on the distance traveled by the vehicle 200 while preparing theground. For example, in intermittent preparation of the ground the scarifier230 may engage with the ground during periods of time such that the at leastone depression 275 is obtained with sizes between 0.5 - 1 meters. lt shouldbe understood that the at least one depression 275 may be both larger orsmaller, i.e. both longer and shorter, than the specified distance with respectto the forward direction 201 of the vehicle 200. The at least one mound 270does not necessarily have the corresponding size as the at least onedepression 275 as the soil from the depression 275 may be moved to, andallocated on, a smaller or larger surface area of the ground compared to theat least one depression 275. A width of the at least one depression 275,perpendicular to the forward direction 201, is typically dependent on thescarifier 230 and not important for the inventive concept and will hence not bediscussed further. ln each one of the at least one depression 275 and the atleast one mound 270 one or more of the predetermined set of plantingpositions 220 may be arranged depending on the size of the at least onedepression 275 and the at least one mound 270.

The ground analyzing device 240 is configured to analyze the at leastone depression 275 and the at least one mound 270. The ground analyzingdevice 240 may be configured to continuously analyze the ground as thevehicle 200 moves in the forward direction 201 and be able to determinewhether the analyzed ground comprises the at least one mound 270 and theat least one depression 275. Further, the control unit 260 may keep track onwhere along the ground the ground has been prepared in order to facilitatethe detection of the at least one depression 275 and the at least one mound270 by the ground analyzing device 240.

The controller 260 is further configured to determine, based on data261 from the ground analyzing device 240, whether at least one of the at leastone mound 270 at a first planting position 221 of the predetermined set ofplanting positions 220, and the at least one depression 275 at a secondplanting position 222 of the predetermined set of planting positions 220, isunsuitable for planting according to at least one predetermined criteria.

The plant arm 250 may be configured to plant a plant seedling in atleast one of the at least one mound 270 at the first planting position 221 usingthe plant arm 250 when the at least one mound 270 at the first plantingposition 221 is not determined as unsuitable for planting, and the at least one 14 depression 275 at the second planting position 222 using the plant arm 250when the at least one depression 275 at the second planting position 222 isnot determined as unsuitabie for planting.

The set of predetermined planting positions may contain a primary andsecondary planting positions, associated with the first and second plantingposition 222, indicating whether planting is preferred in the at least onemound 270 at the first planting position 221 or in the at least one depression275 at the second planting position 222. This may provide the ability toprimality plant a plant seedling in the preferred planting position being one ofthe at least one mound 270 at the first position and the at least onedepression 275 at the second position, and secondarily plant a plant seedlingin the other of the two, when the preferred planting position is determined asunsuitable for planting.

Further, the predetermined set of planting positions 220 may onlycontain planting positions associated with one of the at least one mound 270and the at least one depression 275. This could for example be in caseswhen one of the at least one mound 270 and the at least one depression 275is determined as at least one of being unsuitabie for planting according to thepredetermined criteria. Further, this could also be in cases when one of the atleast one mound 270 and the at least one depression 275 is determined to beunsuitabie for planting due to the used scarification depth and/or apredetermined planting height.

Figs. 2a - b illustrate the at least one depression 275 and the at leastone mound 270 according to at least one embodiment. The at least onedepression 275 and the at least one mound 270 are illustrated with a plantseedling planted in the at least one depression 275 in Figure 2a, and a plantseedling planted in the at least one mound 270 in Figure 2b.

The Figures may be seen as representing a side view of the at leastone depression 275 and the at least one mound 270, with respect to theforward direction 201 of the vehicle 200, when soil for example has beenshoved in front of the depression 275 forming the at least one mound 270.Alternatively, the Figures may be seen as representing a side view of the atleast one depression 275 and the at least one mound 270, as seen in theforward direction 201 of the vehicle 200, when soil for example has beenmoved to at least one side of the at least one depression 275 forming the atleast one mound 270 adjacent to the at least one depression 275.

Accordingly, the at least one mound 270 may typically be arranged tothe sides or in front of the at least on depression 275 when preparing theground.

The predetermined planting height may indicate if planting is preferredin the at least one mound 270 or the at least one depression 275. Thepredetermined planting height may comprise a first predetermined plantingheight typically associated with planting in the mound 270 and a secondpredetermined planting height typically associated with the depression 275.Hence, the first predetermined planting height may be elevated with respectto the second predetermined planting height. ln other words, the plant arm250 may be configured to plant a plant seedling in at least one of the at leastone mound 270 at the first planting position 221 at a first predeterminedplanting height; and the at least one depression 275 at the second plantingposition 222 at a second predetermined planting height. A planting heightshould be understood to be different from a planting depth. The first andsecond planting heights may respectively be planting heights associated withthe ground level at different positions, i.e. the at least one depression 275with typically a lower ground level than the at least one mound 270. ln someextraordinary cases, the soil moved from the depression 275 is moved tonatural depression 275 in the ground that may affect the level of ground in themound 270 to possibly be lower than the ground level of the at least onedepression 275.

Determination of planting height may be based on weather and/orenvironment conditions. During wet conditions, i.e. when the ground hasdetermined to have a humidity above a predetermined humidity threshold, itmay be advantageous to plant plant seedlings 210 in the mound 270, at thefirst planting height as plant seedling risk being exposed to too much water,potentially drowning the plant seedling. During dry conditions, i.e. when theground has determined to have a humidity below the predetermined humiditythreshold, it may be advantageous to plant plant seedlings 210 in thedepression 275, at the second planting height as plant seedlings 210 riskbeing exposed to a too low amount of water, potentially drying out the plantseedling. Further, weather forecasts and future environment predictions mayform basis for the determining whether planting should be performed in themound 270 or the depression 275, at the first or second planting heightrespectively. The determination of whether planting is preferred in the at leastone mound 270 or the at least one depression 275 may be determined by at 16 least one of an operator of the vehicle 200 and the vehicle 200 automaticallydetermines the preferred planting, for example by using the ground analyzingdevice 240.

Further it should be understood that the depth of scarification may formbasis for determining the planting height. When using a deep depth ofscarification the plant seedling may preferably be planted in the mound 270 atthe first height. When using a shallow depth of scarification the plant seedlingmay preferably be planted in the depression 275 at the second height. Hence,depth of scarification may be used and input for determining the plantingheight, i.e. whether planting should be performed at a first predeterminedplanting height or at a second predetermined planting height.

Figs. 3 and 4 illustrate a vehicle 200 according to at least oneembodiment. The vehicles in Figures 3 and 4 are identical to the vehicle 200discussed to Figure 1, except that the vehicles in Figures 3 and 4 areillustrated in more detail and illustrates a certain type of vehicle. Further, thevehicle 200 in Figures 3 and 4 are equipped with two scarifiers 230 and twoplant arms 250 arranged on both sides of the vehicle 200 with respect to theforward direction 201. The vehicle 200 may preferably be a forvvarder, but itshould be understood that the vehicle 200 may be any vehicle 200 suitable tomove in difficult terrain, such as a clear-felled area and/or suitable for plantingplant seedlings 210. The vehicle 200 may comprise wheels 280 or the vehicle200 may be a tracked vehicle, i.e. the vehicle may alternatively comprise acontinuous track system (not shown).

Figure 3 illustrates a continuous preparation of the ground such that anelongated depression 275, e.g. a trench, and adjacent mound 270, e.g. ridge,is provided. The scarifier 230 is exemplified with a disc scarifier 230. The discscarifier 230 may typically affect the soil such that at least one depression275, such as a trench, is created by moving and stirring the soil to at leastone of the sides of the at least one depression 275 with respect to the forwarddirection 201 of the vehicle 200. ln this way at least one mound 270, such asa ridge, may be created to the at least one side of the at least one depression275 with respect to the forward direction 201 of the vehicle 200.

Figure 4 illustrates an intermittent preparation of the ground, such thata plurality of depressions and associated mounds are provided. The scarifier230 is exemplified with a mounder. The mounder may typically shove the soilarranged on the ground such that the depression 275 may be created. Thesoil may be shoved in the forward direction 201 as the vehicle 200 moves 17 such that at least one mound 270 for each respective depression 275 may becreated. Other orientations and/or configurations of the mounder may provideeach at least one mound 270 from each corresponding at least onedepression 275 to be arranged in directions different from the one illustrated,i.e. the at least one mound 270 being in front of the at least one depression275.

Further, with reference to Figures 3 and 4, the scarifier 230 may affectthe soil such that the at least one mound 270 may be arranged under at leastone wheel 280 of the vehicle 200. Alternatively, the at least one mound 270may be arranged under a continuous track system of the vehicle 200.Accordingly, the scarifier 230 may be arranged in front of the at least onewheel 280 or the continuous track system with respect to the forward direction201. This provides for the at least one mound 270 to be compacted by thevehicle 200 after the ground has been prepared. ln other words, the at leastone mound 270 may be arranged under at least one wheel 280 of the vehicle200 after the ground has been prepared by the scarifier 230. ln yet otherwords, the at least one mound 270 may be compacted by the vehicle 200after the ground has been prepared by the scarifier 230. After preparing theground and soil has been moved from the at least one depression 275 to theat least one mound 270 air pockets may form in the at least one mound 275.These air pockets may affect plant seedlings 210 planted in the at least onemound 270 adversely by for example drying out the plant seedlings 210, dueto negatively affected water supply to the plant seedlings 210. Hence, bycompacting the ground, the removal of air pockets within the at least onemound 270 may be facilitated which may provide improved plantingconditions in the at least one mound 270. ln Figure 3, the at least one mound270 is illustrated under the at least one wheel of the vehicle 200. ln Figure 4,the at least one mound 270 is illustrated to the side of the vehicle with respectto the direction of motion 201, However, it should be understood that thescarifier 230 may affect the soil such that the at least one mound 270 may bearranged under at least one wheel 280 of the vehicle 200 when a mounder isused as seen in Figure 4. Hence, the mounder may be arranged in front ofthe at least one wheel 280 with respect to the forward direction 201 and alonga line parallel to the forvvard direction 201. The controller 260 may becommunicatively coupled to the scarifier 230 and the ground analyzing device240. The controller 260 may further be configured to determine, based on thedata 261 from the analyzing device, whether at least one of the at least one 18 mound 270 and the at least one depression 275 at a third planting position223 different from the first planting position 221 and second planting position222 is unsuitable for planting according to at least one predetermined criteria.The plant arm 250, may further be configured to plant a plant seedling in theat least one mound 270 at the third planting position 223, when the at leastone mound 270 at the first planting position 221 is determined as unsuitablefor planting and when the third planting position 223 is not determined asunsuitable for planting. Alternatively, the plant arm 250 may be configured toplant a plant seedling in the at least one depression 275 at the third plantingposition 223, when the at least one depression 275 at the second plantingposition 222 is determined as unsuitable for planting and when the thirdplanting position 223 is not determined as unsuitable for planting. Hence, itshould be understood that the third planting position 223 may be any positionin front of at least one of the first and second planting position 221 ,222 andnot necessarily part of the predetermined set of planting positions 220.

The third planting position 223 may for example be at least one of asubsequent planting position to at least one of the first and second plantingposition 221,222 in the set of planting positions, a planting position at apredetermined distance from at least one of the first and second plantingposition 221,222, and a planting position not unsuitable for planting in front ofthe at least one of the first planting position 221 and second planting position222 relative the forward direction 201 of the vehicle 200. Accordingly, the thirdplanting position 223 may be a position in front in front of at least one of thefirst and second planting position 221,222 and not determined as unsuitablefor planting. This may for example be a first position arranged in front of atleast one of the first and second planting position 221,222 where thecontroller 260 does not determine this first position arranged in front of atleast one of the first and second planting position 221,222 as unsuitable forplanting.

The at least one predetermined criteria may comprise at least one of ahardness of the ground being above a predetermined threshold, a humidity ofthe ground being above a predetermined threshold, and a concentration ofvegetation of the ground being above a predetermined threshold. The at leastone predetermined criteria may be determined at the least one of the at leastone mound 270 at the first planting position 221 of the predetermined set ofplanting positions 220, the at least one depression 275 at the second plantingposition 222 of the predetermined set of planting positions 220. Further, the at 19 least one predetermined criteria may be determined at the at least one mound270 at the third planting position 223 or at least one depression 275 at thethird planting position 223.

The controller 260 may further configured to detect, based on the data261 from the analyzing device, at least one of the hardness of the ground, thehumidity of the ground and the concentration of vegetation of the ground, anddetermine, based on the detecting, whether the at least one of the at leastone mound 270 at the first planting position 221 of the predetermined set ofplanting positions 220, the at least one depression 275 at the second plantingposition 222 of the predetermined set of planting positions 220, the at leastone mound 270 at the third planting position 223 and at least one depression275 at the third planting position 223, is unsuitable for planting.

The controller 260 may be configured to primarily select the thirdplanting position 223 to be arranged in the at least one mound 270 whenplanting in the at least one mound 270 at the first planting position 221 isdetermined as the preferred planting position. Analogously, the controller 260may be configured to primarily select the third planting position 223 to bearranged in the at least one depression 275 when planting in the at least onedepression 275 at the second planting position 222 is determined as thepreferred planting position. ln other words, the controller 260 may be configured to plant a plantseedling in the at least one mound 270 at the third planting position 223 at thefirst predetermined planting height, when the at least one mound 270 at thefirst planting position 221 is determined as unsuitable for planting and whenthe third planting position 223 is not determined as unsuitable for planting.Alternatively or additionally, the controller 260 may be configured to plant aplant seedling in the at least one mound 270 at least one depression 275 atthe third planting position 223 at the second predetermined planting height,when the at least one depression 275 at the second planting position 222 isdetermined as unsuitable for planting and when the third planting position 223is not determined as unsuitable for planting.

However, it should be understood that the controller 260 may beconfigured to plant a plant seedling in the at least one mound 270 at the thirdposition when the at least one depression 275 at the third position isdetermined as unsuitable for planting and the mound 270 at the third positionis not determined as unsuitable for planting or plant a plant seedling in the atleast one depression 275 at the third position when the at least one mound 270 at the third position is determined as unsuitable for planting and thedepression 275 at the third position is not determined as unsuitable forplanting. ln cases where the first and second planting position 222 aredetermined as unsuitable for planting and no planting position arranged infront of the first and second planting positions 221 ,222 are not determined asunsuitable for planting a forced planting in a fourth planting position 224 maybe possible. Hence, the controller 260 may be configured to plant a plantseedling in the at least one mound 270 or the at least one depression 275 atthe fourth planting position 224 different from the first and second plantingpositions 221 ,222 and optionally also the third planting position 223. Thecontroller 260 may be configured to plant a plant seedling at the fourthplanting position 224 when the at least one mound 270 and the at least onedepression 275 are determined as unsuitable for planting at the first andsecond planting position 221,222 and optionally the third planting position 223and when the vehicle 200 has traveled a predetermined length withoutplanting any plant seedling.

The predetermined set of planting positions 220 subsequent to at leastone of the first and second planting position 221 ,222, may be adjusted for theabsence of plant seedling in the at least one of the first and second plantingposition 221 ,222. The predetermined set of planting positions 220 subsequentto at least one of the first and second planting position 221,222 may beadjusted by having a shorter distance between each respective plantingposition, providing an adjusted set of planting positions, in order to make upfor the absence of plant seedlings 210 in some areas due to the unsuitableplanting conditions. The shorter distance between each respective plantingposition may preferably be within 0.9m - 1 .2m, more preferably within 0.9 -1.1 m. The shorter distance may typically be 1m. This may provide improvedcoverage compared to not adjusting the subsequent planting positions to atleast one of the first and second planting position 221,222. Preferably, thedirect two - four, most preferably the direct three, subsequent plantingpositions are adjusted by having a shorter distance between each plantingposition. When two or more subsequent planting positions of thepredetermined planting positions are determined as unsuitable for planting,the subsequent planting positions to be adjusted may be determined from thelast planting position of the two or more subsequent planting positions of thepredetermined planting positions that are determined as unsuitable for 21 planting. During intermittent preparation of the ground, the controller 260 mayfurther control the scarifier 230 to adjust the scarification in order to preparethe ground at the adjusted set of planting positions.

The plant arm 250 may be pivotably arranged to the vehicle 200. Theplant arm 250 may configured to pivot when planting a plant seedling in atleast one of the at least one mound 270 and the at least one depression 275.The plant arm 250 may be arranged to pivot about a substantially verticalaxis. The plant arm 250 may be arranged to pivot such that the plant arm 250moved horizontally over ground. ln some cases, planting of a plant seedlingmay be alternated between the mound 270 and the depression 275. Hence,the plant arm 250 may pivot between a first plant arm position for planting aplant seedling in the mound 270 at the first plant position and a second plantarm position for planting a plant seedling in the depression 275 at the secondplant position. For example, when planting a plant seedling is preferred in theat least one mound 270 at the first plant position and the first plant position isdetermined as unsuitable for planting and the second plant position in the atleast one depression 275 is not determined as unsuitable for planting, theplant arm 250 may pivot from the first plant arm position to the second plantarm position for planting a plant seedling in the at least one depression 275 atthe second plant position. Analogously, when planting a plant seedling 210 ispreferred in the at least one depression 275 at the second plant position andthe second plant position is determined as unsuitable for planting and the firstplant position in the at least one mound 270 is not determined as unsuitablefor planting the plant arm 250 may pivot from the second plant arm position tothe first plant arm position for planting a plant seedling in the at least onemound 270 at the first plant position. Further, the plant arm 250 may bearticulated in order to facilitate the planting of plant seedlings 210. Thearticulation of the plant arm 250 may allow for a downward motion towardsthe ground.

The ground analyzing device 240 may be a non-invasive measurementdevice such as at least one of an imaging device, a soil penetrating radar, ageo-radar, an IR-transceiver and an acoustic transceiver. The groundanalyzing device 240 may be arranged behind the scarifier 230 with referenceto the fon/vard direction 201 of the vehicle 200 in order to obtain data 261comprising information from the prepared ground behind the scarifier 230.

The imaging device may be configured to capture at least one image ofthe ground, such as images at regular intervals or a video stream, and the 22 data 261 may comprise the at least one image of the ground. The imagingdevice may be configured to capture a video stream of the ground. Theimaging device may be arranged on the vehicle 200 and have a fixed light ofsight relative the ground. The imaging device may be configured to image theground such that at least one planting position of the predetermined set ofplanting position are always within the line of sight of the imaging device.However, it should be understood that when the vehicle 200 moves the atleast one planting position of the predetermined set of planting positions 220change such that subsequent planting positions are imaged at least one atthe time. The imaging device may have be aimed such that more than oneplanting position of the predetermined planting positions are imaged.

When the ground analyzing device 240 is at least one of a soilpenetrating radar, a geo-radar an IR-transceiver and an acoustic transceiver,the ground analyzing device 240 may be configured to retrieve at least one ofa radar response, an IR-response and an acoustic response from the ground.The data 261 may comprise at least one of the radar response, IR-responseand acoustic response from the ground. A soil penetrating radar and/or geo-radar may facilitate obtaining data regarding sub ground features, such asstones beneath the surface of the ground, not visible to for example animaging device. Sub ground features may obstruct planting and hencepositions where these features are detected may be determined as anunsuitable planting position. Further, a soil penetrating radar and/or geo-radarmay provide measurements on the amount of soil, i.e. a thickness of a soillayer, between the surface of the ground to possible obstacles beneath theground surface. This may provide the possibility to plant a plant seedling 210even when stones are detected but enough soil are present between theground surface and the stones in the ground.

Turning to Figure 5, this figure illustrates a method 100 for plantingplant seedlings 210 in at least a predetermined set of planting positions 220using a vehicle in motion in a forward direction 201 is illustrated according toat least one embodiment. The vehicle of the method may comprise a scarifier230 configured to prepare the ground, a ground analyzing device 240 foranalyzing the ground and a plant arm 250 for planting plant seedlings 210,wherein the plant arm 250 may be arranged behind the scarifier 230 relativethe forward direction 201. lt should be understood that the vehicle of themethod may be the vehicle 200 previously discussed according to any of the 23 preceding embodiments. Accordingly, the method may correspond tooperation of the vehicle 200.

The method 100 may comprise preparing 110 the ground using thescarifier 230 at the predetermined set of planting positions 220 while thevehicle is in motion such that at least one depression 275 and at least onemound 270, adjacent the at least one depression 275, are created in theground. The method 100 may further comprise analyzing 120 the at least onedepression 275 and the at least one mound 270 using the ground analyzingdevice 240. Further the method may comprise determining 130, based ondata 261 from the analyzing 120, whether at least one of the at least onemound 270 at a first planting position 221 of the predetermined set of plantingpositions 220, and the at least one depression 275 at a second plantingposition 222 of the predetermined set of planting positions 220, is unsuitablefor planting according to at least one predetermined criteria. The method mayfurther comprise operating 140 the plant arm 250 based on the determining130 by planting 141 ,142 a plant seedling in at least one of the at least onemound 270 at the first planting position 221 using the plant arm 250, when theat least one mound 270 at the first planting position 221 is not determined asunsuitable for planting, and the at least one depression 275 at the secondplanting position 222 using the plant arm 250, when the at least onedepression 275 at the second planting position 222 is not determined asunsuitable for planting.

Accordingly, operating 140 the plant arm 250 may comprise at leastone of planting 141 a plant seedling in the at least one mound 270 at the firstplanting position 221 using the plant arm 250, when the at least one mound270 at the first planting position 221 is not determined as unsuitable forplanting, and planting 142 a plant seedling in at least one of the at least onedepression 275 at the second planting position 222 using the plant arm 250,when the at least one depression 275 at the second planting position 222 isnot determined as unsuitable for planting.

The operating 140 the plant arm 250 may further comprise planting141, 142 a plant seedling in at least one of the at least one mound 270 at thefirst planting position 221 at a first predetermined planting height, and the atleast one depression 275 at the second planting position 222 at a secondpredetermined planting height, wherein the first predetermined planting heightis elevated with respect to the second predetermined planting height. 24 Fig. 6 illustrates the same method 100 as was discussed withreference to Fig. 5, but in Fig. 6 the method is illustrated having additionalsteps.

The method may further comprise determining 135, based on data 261from the analyzing 120, whether at least one of the at least one mound 270and the at least one depression 275 at a third planting position 223 differentfrom the first planting position 221 and second planting position 222 isunsuitable for planting according to the at least one predetermined criteria.The operating 140 the plant arm 250 may further comprise planting 143 aplant seedling in the at least one mound 270 at the third planting position 223,when the at least one mound 270 at the first planting position 221 isdetermined as unsuitable for planting and when the third planting position 223is not determined as unsuitable for planting. Alternatively or additionally, theoperating 140 the plant arm 250 may further comprise planting 143 a plantseedling in the at the at least one depression 275 at the third planting position223, when the at least one depression 275 at the second planting position222 is determined as unsuitable for planting and when the third plantingposition 223 is not determined as unsuitable for planting. The third plantingposition 223 may be at least one of a subsequent planting position to at leastone of the first and second planting position 222 in the set of plantingpositions, a planting position at a predetermined distance from at least one ofthe first and second planting position 222, and a planting position notunsuitable for planting in front of the at least one of the first planting position221 and second planting position 222 relative the forward direction 201 of thevehicle.

The operating 140 the plant arm 250 may further comprise planting144 a plant seedling in the at least one mound 270 or the at least onedepression 275 at a fourth planting position 224 different from the first,second and third planting position 223, when the at least one mound 270 andthe at least one depression 275 are determined as unsuitable for planting inthe first, second and third planting position 223 and when the vehicle hastraveled a predetermined length of travel without planting any plant seedling.

The at least one predetermined criteria may comprise at least one of ahardness of the ground being above a predetermined threshold, a humidity ofthe ground being above a predetermined threshold, and a concentration ofvegetation of the ground being above a predetermined threshold. The at leastone predetermined criteria may be determined at the least one of the at least one mound 270 at the first planting position 221 of the predetermined set ofplanting positions 220, the at least one depression 275 at the second plantingposition 222 of the predetermined set of planting positions 220. Further, the atleast one predetermined criteria may be determined at the at least one mound270 at the third planting position 223 and/or the at least one depression 275at the third planting position 223. The determining 130 may comprisedetecting 137 at least one of the hardness of the ground, the humidity of theground and the concentration of vegetation of the ground. The step ofdetermining 130 may further determine, based on the detecting 137, whetherthe least one of the at least one mound 270 at the first planting position 221 ofthe predetermined set of planting positions 220, and the at least onedepression 275 is unsuitable for planting. Additionally, or optionally, the stepof determining 130 may further determine, based on the detecting 137,whether the least one of at the at least one mound 270 at the third plantingposition 223 and at least one depression 275 at the third planting position223, is unsuitable for planting.

The ground analyzing device 240 may be an imaging device and theanalyzing 120 may further comprise capturing at least one image of theground and wherein the data 261 from the analyzing 120 may comprise the atleast one image of the ground.

Optionally, or additionally, the ground analyzing device 240 may be atleast one of a soil penetrating radar, geo-radar, IR-transceiver and acoustictransceiver. The ground analyzing device 240 may be configured to retrieveat least one of a radar response, an IR-response and an acoustic responsefrom the ground and the data 261 from the analyzing 120 may comprise atleast one of the radar response, IR-response and acoustic response from theground.

The person skilled in the art realizes that the present invention by nomeans is limited to the embodiments described above. On the contrary, manymodifications and variations are possible within the scope of the appendedclaims. For example, any vehicle suitable for planting may be used, and/orthe ground may be prepared different manners in order to provide a mound270 and a depression 275 according to the present invention. Accordingly,any scarifier 230 that is able to move and/or possibly turn soil order to exposethe mineral soil beneath the top layer of soil may be used.

Additionally, variations to the disclosed embodiments can beunderstood and effected by the skilled person in practicing the claimed 26 invention, from a study of the drawings, the disclosure, and the appendedclaims. ln the claims, the word "comprising" does not exclude other elementsor steps, and the indefinite article "a" or "an" does not exclude a plurality. Themere fact that certain measures are recited in mutually different dependentclaims does not indicate that a combination of these measures cannot beused to advantage.

Claims

1. A method (100) for planting plant seedlings (210) in at least apredetermined set of planting positions (220) using a vehicle (200) in motionin a fon/vard direction (201), said vehicle comprising a scarifier (230)configured to prepare the ground, a ground analyzing device (240) foranalyzing the ground and a plant arm (250) for planting plant seedlings (210),wherein said plant arm is arranged behind said scarifier relative said forwarddirection, the method comprising preparing (110) the ground using the scarifier at said predeterminedset of planting positions while the vehicle is in motion such that at least onedepression (275) and at least one mound (270), adjacent the at least onedepression, are created in the ground; analyzing (120) the at least one depression and the at least one moundusing the ground analyzing device; determining (130), based on data (261) from said analyzing (120),whether at least one of said at least one mound at a first planting position (221) of saidpredetermined set of planting positions, andsaid at least one depression at a second planting position (222) of said predetermined set of planting positions,is unsuitable for planting according to at least one predetermined criteria, operating (140) the plant arm based on said determining (130) byplanting (141, 142) a plant seedling in at least one of said at least one mound at said first planting position using saidplant arm, when said at least one mound at said first planting positionis not determined as unsuitable for planting, andsaid at least one depression at said second planting positionusing said plant arm, when said at least one depression at said secondplanting position is not determined as unsuitable for planting.

2. The method for planting plant seedlings according to claim 1, wherein saidoperating (140) the plant arm further comprises planting (141, 142) a plantseedling in at least one ofsaid at least one mound at said first planting position at a first5 predetermined planting height, andsaid at least one depression at said second planting position at asecond predetermined planting height,wherein the first predetermined planting height is elevated with respect to thesecond predetermined planting height.

3. The method for planting plant seedlings according to claim 1 or 2, whereinthe method comprisesdetermining (135), based on data (261) from said analyzing (120),whether at least one of said at least one mound and said at least one15 depression at a third planting position (223) different from said first plantingposition and second planting position is unsuitable for planting according tothe at least one predetermined criteria;wherein said operating (140) the plant arm further comprises planting(143) a plant seedling in20 said at least one mound at said third planting position, whensaid at least one mound at said first planting position is determined asunsuitable for planting and when said third planting position is notdetermined as unsuitable for planting, orsaid at least one depression at said third planting position, when25 said at least one depression at said second planting position isdetermined as unsuitable for planting and when said third plantingposition is not determined as unsuitable for planting.

4.The method for planting plant seedlings according to claim 3, wherein the30 third planting position is at least one ofa subsequent planting position to at least one of said first and secondplanting position in said set of planting positions,a planting position at a predetermined distance from at least one of said first and second planting position, and a planting position not unsuitable for planting in front of said at leastone of said first planting position and second planting position relative theforward direction of the vehicle.

5. The method for planting plant seedlings according to any one of thepreceding claims, wherein said operating (140) the plant arm furthercomprises planting (144) a plant seedling insaid at least one mound or said at least one depression at a fourth planting position different from said first, second and third planting position,when said at least one mound and said at least one depression aredetermined as unsuitable for planting in said first, second and third plantingposition and when said vehicle has traveled a predetermined length of travelwithout planting any plant seedling.

6. The method for planting plant seedlings according to any one of thepreceding claims, wherein the at least one predetermined criteria comprisesat least one ofa hardness of the ground being above a predetermined threshold,a humidity of the ground being above a predetermined threshold, anda concentration of vegetation of the ground being above apredetermined threshold,at the least one ofsaid at least one mound at said first planting position of saidpredetermined set of planting positions, andsaid at least one depression at said second planting position of saidpredetermined set of planting positions,and wherein said determining (130) comprisesdetecting (137) at least one of the hardness of the ground, the humidityof the ground and the concentration of vegetation of the ground, anddetermining, based on said detecting (137), whether the least one of said at least one mound at said first planting position of saidpredetermined set of planting positions, andsaid at least one depression at said second planting position ofsaid predetermined set of planting positions,is unsuitable for planting.

7. The method (100) for planting plant seedlings according to any one ofthe preceding claims, wherein the plant arm is pivotably arranged to saidvehicle and wherein said operating (140) further comprises pivoting (145) saidplant arm when planting a plant seedling in at least one of said at least onemound and said at least one depression and wherein data (261) from saidanalyzing (120) comprises said at least one image of the ground.

8. The method (100) for planting plant seedlings according to any one ofthe preceding claims, wherein the ground analyzing device is an imagingdevice and said analyzing (120) further comprises capturing at least oneimage of the ground and wherein said data from said analyzing (120)comprises said at least one image of the ground.

9. The method (100) for planting plant seedlings according to any one ofclaims 1 - 6, wherein the ground analyzing device is at least one of a soilpenetrating radar, geo-radar, IR-transceiver and acoustic transceiver, whereinsaid ground analyzing device is configured to retrieve at least one of a radarresponse, an IR-response and an acoustic response from the ground andwherein said data from said analyzing (120) comprises at least one of saidradar response, IR-response and acoustic response from the ground.

10.predetermined set of planting positions (220), wherein said vehicle is A vehicle (200) for planting plant seedlings (210) in at least a configured to move in a forward direction (201), said vehicle comprising ascarifier (230) for preparing the ground, a ground analyzing device (240) foranalyzing the ground and a plant arm (250) for planting plant seedlingswherein said plant arm is arranged behind said scarifier relative to saidforward direction, the vehicle further comprising; a controller (260) configured to control said scarifier to prepare theground while the vehicle is in motion such that at least one depression (275)and at least one mound (270), adjacent the at least one depression, arecreated in the ground; wherein said ground analyzing device is configured to analyze the atleast one depression and the at least one mound; wherein said controller is further configured to: determine, based on data (261) from said ground analyzingdevice, whether at least one of said at least one mound at a first planting position (221) ofsaid predetermined set of planting positions, and said at least one depression at a second planting position(222) of said predetermined set of planting positions, is unsuitable for planting according to at least one predetermined criteria, wherein said plant arm, is configured to plant a plant seedling in atleast one of: said at least one mound at said first planting position using saidplant arm when said at least one mound at said first planting position isnot determined as unsuitable for planting; and said at least one depression at said second planting positionusing the plant arm when said at least one depression at said secondplanting position is not determined as unsuitable for planting.

11. The vehicle according to claim 10, wherein said plant arm is furtherconfigured to plant a plant seedling in at least one of said at least one mound at said first planting position at a firstpredetermined planting height; and said at least one depression at said second planting position at asecond predetermined planting height,wherein the first predetermined planting height is elevated from said secondpredetermined planting height.

12.further configured to The vehicle according to claim 10 or 11, wherein said controller is determine, based on said data from said analyzing device, whether atleast one of said at least one mound and said at least one depression at athird planting position different from said first planting position and secondplanting position is unsuitable for planting according to at least onepredetermined criteria;said plant arm, is further configured to plant a plant seedling in: said at least one mound at said third planting position, when said atleast one mound at said first planting position is determined as unsuitable forplanting and when said third planting position is not determined as unsuitablefor planting, or said at least one depression at said third planting position, when saidat least one depression at said second planting position is determined asunsuitable for planting and when said third planting position is not determinedas unsuitable for planting.

13.at least one of The vehicle according to claim 12, wherein the third planting position is a subsequent planting position to at least one of said first and second planting position in said set of planting positions, a planting position at a predetermined distance from at least one of said first and second planting position, and a planting position not unsuitable for planting in front of said at leastone of said first planting position and second planting position relative theforward direction of the vehicle.

14.arm is further configured to plant a plant seedling in The vehicle according to any one of claims 10 - 13, wherein the plantsaid at least one mound or said at least one depression at a fourth planting (224) position different from said first, second and third plantingpositions, when said at least one mound and said at least one depression aredetermined as unsuitable for planting at said first, second and third plantingpositions and when said vehicle has traveled a predetermined length withoutplanting any plant seedling.

15.least one predetermined criteria comprises at least one of The vehicle according to any one of claims 10 - 14, wherein the at a hardness of the ground is above a predetermined threshold, a humidity of the ground being above a predetermined threshold, and a concentration of vegetation of the ground being above a predetermined threshold,at the least one of said at least one mound at said first planting position of saidpredetermined set of planting positions, and said at least one depression at said second planting position of saidpredetermined set of planting positions,and wherein said controller is further configured to: detect, based on said data from said analyzing device, at least one ofthe hardness of the ground, the humidity of the ground and the concentrationof vegetation of the ground, and determine, based on said detecting, whether the at least one of said at least one mound at said first planting position of saidpredetermined set of planting positions, andsaid at least one depression at said second planting position of said predetermined set of planting positions, is unsuitable for planting.

16.arm is pivotably arranged to said vehicle and wherein said plant arm is The vehicle according to any one of claims 10 - 15, wherein the plant configured to pivot when planting a plant seedling in at least one of said atleast one mound and said at least one depression.17.ground analyzing device is an imaging device, wherein said imaging device is The vehicle according to any one of claims 10 - 16, wherein the configured to capture at least one image of the ground and wherein said datacomprises said at least one image of the ground. 18.analyzing device is at least one of a soil penetrating radar, a geo-radar, an IR- The vehicle according to any one of claim 10 - 17, wherein the ground transceiver and an acoustic transceiver, wherein said ground analyzingdevice is configured to retrieve at least one of a radar response, an IR-response and an acoustic response from the ground and wherein said datacomprises at least one of said radar response, IR-response and acoustic response from the ground.