SE547741C2 - Plant handling arrangement and a method - Google Patents

Plant handling arrangement and a method

Info

Publication number
SE547741C2
SE547741C2 SE2350163A SE2350163A SE547741C2 SE 547741 C2 SE547741 C2 SE 547741C2 SE 2350163 A SE2350163 A SE 2350163A SE 2350163 A SE2350163 A SE 2350163A SE 547741 C2 SE547741 C2 SE 547741C2
Authority
SE
Sweden
Prior art keywords
plants
plant
image data
handling arrangement
method further
Prior art date
Application number
SE2350163A
Other versions
SE2350163A1 (en
Inventor
Filip Runesson
Joakim Svensson
Nils-Anders Brunnsgård
Rickard Bergh
Original Assignee
Soedra Skogsaegarna Ekonomisk Foerening
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 Soedra Skogsaegarna Ekonomisk Foerening filed Critical Soedra Skogsaegarna Ekonomisk Foerening
Priority to SE2350163A priority Critical patent/SE547741C2/en
Priority to EP24704392.0A priority patent/EP4665547A1/en
Priority to PCT/EP2024/053202 priority patent/WO2024170405A1/en
Publication of SE2350163A1 publication Critical patent/SE2350163A1/en
Publication of SE547741C2 publication Critical patent/SE547741C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
    • 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
    • A01B79/02—Methods for working soil combined with other agricultural processing, e.g. fertilising, planting
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C1/00—Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G23/00—Forestry
    • A01G23/02—Transplanting, uprooting, felling or delimbing trees
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/02—Receptacles, e.g. flower-pots or boxes; Glasses for cultivating flowers
    • A01G9/029—Receptacles for seedlings
    • A01G9/0295—Units comprising two or more connected receptacles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A01G9/083—Devices for setting plants in pots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45017—Agriculture machine, tractor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Forests & Forestry (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)

Abstract

A method performed by a plant handling arrangement for handling one or more plants of a set of plants is provided. The method comprises obtaining (201) image data indicative of the set of plants. The method further comprises, based on the obtained image data, identifying (203) a candidate plant out of the set of plants. The method further comprises, based on the obtained image data, determining (204) a position of the identified candidate plant. The method further comprises handling (205) the identified candidate plant based on the determined position.
SE2350163A 2023-02-16 2023-02-16 Plant handling arrangement and a method SE547741C2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
SE2350163A SE547741C2 (en) 2023-02-16 2023-02-16 Plant handling arrangement and a method
EP24704392.0A EP4665547A1 (en) 2023-02-16 2024-02-08 Plant handling arrangement and a method
PCT/EP2024/053202 WO2024170405A1 (en) 2023-02-16 2024-02-08 Plant handling arrangement and a method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2350163A SE547741C2 (en) 2023-02-16 2023-02-16 Plant handling arrangement and a method

Publications (2)

Publication Number Publication Date
SE2350163A1 SE2350163A1 (en) 2024-08-17
SE547741C2 true SE547741C2 (en) 2025-11-18

Family

ID=89901266

Family Applications (1)

Application Number Title Priority Date Filing Date
SE2350163A SE547741C2 (en) 2023-02-16 2023-02-16 Plant handling arrangement and a method

Country Status (3)

Country Link
EP (1) EP4665547A1 (en)
SE (1) SE547741C2 (en)
WO (1) WO2024170405A1 (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2719273A1 (en) * 2012-10-12 2014-04-16 Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO Method and apparatus for cutting plants
CN107529718A (en) * 2015-04-20 2018-01-02 三原诚 Transplanted seedling tree device and transplanted seedling tree vehicle
EP3552479A1 (en) * 2018-04-10 2019-10-16 IG Specials B.V. Apparatus and method for placing plant bulbs
US10602664B1 (en) * 2015-04-27 2020-03-31 X Development Llc Tagging of fruit-producing flowers for robotic selective harvesting
US20210150208A1 (en) * 2018-07-05 2021-05-20 Iron Ox, Inc. Method for selectively deploying sensors within an agricultural facility
US20210368686A1 (en) * 2020-05-28 2021-12-02 Automated Harvesting Solutions, LLC End-effector with rotary actuator for harvesting crops
CN114128461A (en) * 2021-10-27 2022-03-04 江汉大学 The control method of the plug-in seedling raising and transplanting robot and the plug-in seedling raising and transplanting robot
JP2022064532A (en) * 2020-10-14 2022-04-26 凸版印刷株式会社 Weeding device, automatic weeding method, and automatic weeding program
US20230028506A1 (en) * 2019-11-25 2023-01-26 Robert Bosch Gmbh Method for Processing Plants in a Field

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI20106090A0 (en) * 2010-10-21 2010-10-21 Zenrobotics Oy Procedure for filtering target image images in a robotic system
US12256682B2 (en) * 2016-12-22 2025-03-25 Inevitable Technology Inc. System and method for automating transfer of plants within an agricultural facility
CN115657531B (en) * 2022-10-18 2024-11-26 兰州大学 A system and method for determining bonsai grasping posture and parking robot

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2719273A1 (en) * 2012-10-12 2014-04-16 Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO Method and apparatus for cutting plants
CN107529718A (en) * 2015-04-20 2018-01-02 三原诚 Transplanted seedling tree device and transplanted seedling tree vehicle
US10602664B1 (en) * 2015-04-27 2020-03-31 X Development Llc Tagging of fruit-producing flowers for robotic selective harvesting
EP3552479A1 (en) * 2018-04-10 2019-10-16 IG Specials B.V. Apparatus and method for placing plant bulbs
US20210150208A1 (en) * 2018-07-05 2021-05-20 Iron Ox, Inc. Method for selectively deploying sensors within an agricultural facility
US20230028506A1 (en) * 2019-11-25 2023-01-26 Robert Bosch Gmbh Method for Processing Plants in a Field
US20210368686A1 (en) * 2020-05-28 2021-12-02 Automated Harvesting Solutions, LLC End-effector with rotary actuator for harvesting crops
JP2022064532A (en) * 2020-10-14 2022-04-26 凸版印刷株式会社 Weeding device, automatic weeding method, and automatic weeding program
CN114128461A (en) * 2021-10-27 2022-03-04 江汉大学 The control method of the plug-in seedling raising and transplanting robot and the plug-in seedling raising and transplanting robot

Also Published As

Publication number Publication date
SE2350163A1 (en) 2024-08-17
WO2024170405A1 (en) 2024-08-22
EP4665547A1 (en) 2025-12-24

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