WO2024086824A2 - Systèmes robotiques d'injection de plantes - Google Patents

Systèmes robotiques d'injection de plantes Download PDF

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Publication number
WO2024086824A2
WO2024086824A2 PCT/US2023/077465 US2023077465W WO2024086824A2 WO 2024086824 A2 WO2024086824 A2 WO 2024086824A2 US 2023077465 W US2023077465 W US 2023077465W WO 2024086824 A2 WO2024086824 A2 WO 2024086824A2
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WO
WIPO (PCT)
Prior art keywords
plant
injection
injection system
assembly
tool
Prior art date
Application number
PCT/US2023/077465
Other languages
English (en)
Other versions
WO2024086824A3 (fr
Inventor
Carl A. BYKER
Nicholas A. Charipar
Jessica Holly COHEN
Thomas Gerster
Christopher W. LAUDANDO
Beat Müller
Michael Christian OEHL
Joseph C. RICHTER
Christiaan Joseph WALSH
Urs Widmer
Philip Hugh WRIGHT
Original Assignee
Invaio Sciences, Inc.
Invaio Sciences International Gmbh
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 Invaio Sciences, Inc., Invaio Sciences International Gmbh filed Critical Invaio Sciences, Inc.
Publication of WO2024086824A2 publication Critical patent/WO2024086824A2/fr
Publication of WO2024086824A3 publication Critical patent/WO2024086824A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0003—Atomisers or mist blowers
    • A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields

Definitions

  • the present disclosure relates generally to systems and methods for administering liquid formulations to plants, and more specifically to a robotic system to position and mount an injection tool connected to a fluid delivery device onto rows of trees to distribute a liquid formulation including one or more active ingredients to the plant.
  • Plant injection has been used for administration of active ingredients to plants.
  • Conventional plant injection approaches can involve drilling a borehole in a tree trunk and stoppering the borehole with a peg. A needle is inserted through the peg to discharge liquid into the borehole.
  • a needle is inserted through the peg to discharge liquid into the borehole.
  • a robotic system to position and mount an injection tool connected to a fluid delivery device onto rows of trees to distribute a liquid formulation including one or more active ingredients to the tree.
  • a robotic system that includes one or more features and/or components, including a fluid delivery device assembly, fluid delivery device storage, fluid delivery device conveyance, fluid delivery device reload, injection tool shuttle, injection tool connected to fluid delivery device, and a mobile platform.
  • the fluid delivery device is a canister, such as a pressurized canister.
  • the fluid delivery device comprises a canister that holds liquid formulation, wherein the top of the canister has a lip, and wherein the fluid delivery device further comprises a stem connected to the canister.
  • the actuator comprises: an activator, wherein the activator is configured to trigger or activate the stem of the fluid delivery device by pressing on it, and wherein the activator is configured to mount the injection tool; and a frame, wherein the frame comprises one or more spreaders that press on the lip of the fluid delivery device and pulls itself against the lip, wherein the frame has one or more predetermined breaking points configured to break when the activator is pushed down.
  • the activator has a positioning slot configured to receive the injection tool so as to facilitate a precise connection between the actuator and the injection tool.
  • the activator comprises at least one first locking mechanism
  • the frame comprises at least one second locking mechanism
  • the at least one first and at least one second locking mechanisms interface after the activator is pushed down to maintain the activator is a pressed down position.
  • an injection tool comprising: a base including an inlet port; a penetrating distribution body having a wedge type body profile extending along a longitudinal body axis; a beam connected to the base; and a connector that extends from the base and is connected to the beam.
  • the penetrating distribution body comprises: a cutting edge along the front face of the penetrating distribution body directed distally away from the base, a penetrating element that extends from the cutting edge and proximate to a distal portion of the penetrating distribution body to a proximal portion of the penetration distribution body, and a distribution element that includes distribution ports and distribution reservoirs.
  • the connector is configured to insert into an actuator so that the injection tool is in fluid connection with the fluid delivery device by connection through the actuator.
  • a plant injection system comprising: any of the actuators described herein; any of the injection tools as described herein; and a fluid delivery device.
  • the connector of the injection tool is configured to insert into the actuator so that the injection tool is in fluid connection with the fluid delivery device by connection through the actuator.
  • a method for positioning and mounting any of the plant injection systems described herein onto a plant part comprises: installing the injection tool into the trunk or stem of the plant part; setting the injection tool by pressing on the top beam; and pushing the fluid delivery device so that the predetermined breaking points of the actuator bridges allowing the activator to snap into the frame of the actuator.
  • the method comprises: penetrating the plant with the injection tool; and distributing the liquid formulation through the injection tool to the plant.
  • a method of modulating the phenotype of a plant or a multitude of plants, or treating a plant infected with a pathogen, or mitigating, controlling and/or eradicating a pathogen in a plant, or improving abiotic or biotic stress tolerance in a plant comprises: installing any of the plant injection systems described herein in the plant or multitude of plants, and applying a liquid formulation of an active ingredient to modulate the phenotype of the plant, or treat a plant infected with a pathogen, or mitigate, control and/or eradicate a pathogen in a plant, or improve abiotic or biotic stress tolerance in a plant.
  • Embodiments of the present disclosure provide systems and methods for administering liquid formulations to plants and mounting an injection tool connected to a fluid delivery device onto rows of trees to distribute a liquid formulation including one or more active ingredients to the tree.
  • Embodiments of the present disclosure provide a robotic assembly for installing or mounting a plant injection system into a plant.
  • the assembly can comprise an arm mounted to a mobile platform; a ring coupled to a distal end of the arm; one or more positioning sensors mounted to the ring, the one or more positioning sensors for determining a position of the plant, wherein the arm is configured to extend toward the plant based on the position of the plant such that the ring is positioned around a circumference of the plant; a plant vise coupled to the ring, the plant vise configured to grip the plant; and an installation assembly configured to insert and actuate the plant injection system.
  • the installation assembly comprises: an injection tool carriage for inserting the plant injection system into an injection site of the plant; and an injector for actuating the plant injection system.
  • the injection site corresponds to a trunk or a stem of the plant. In some embodiments, the injection site is located at a rootstock of the plant. In some embodiments, the assembly is configured to install the plant injection system normal to a surface of the injection site of the plant. [0013] In some embodiments, the arm is configured to move, relative to the plant, in two or more directions including, forwards, backwards, upwards, downwards, left, or right. In some embodiments, the ring comprises a C-shape.
  • the assembly further comprises one or more proximity sensors disposed on the ring, wherein one or more signals from the one or more proximity sensors are used to determine a distance between the ring and a ground adjacent to the injection site of the plant.
  • the system comprises a tool deck coupled to the mobile platform, wherein the arm is mounted to the tool deck.
  • the ring is configured to rotate relative to the arm from a first position to a second position.
  • the assembly further comprises a linkage that couples the ring to the arm, wherein the linkage permits passive rotation of the ring relative to the arm, the passive rotation comprising at least one of pitch and roll.
  • the linkage comprises one or more springs.
  • the one or more positioning sensors comprise one or more time-of-flight sensors.
  • the one or more time-of-flight sensors can be used to, in real-time, switch or optimize its configuration settings between near or far field targeting.
  • a single time-of-flight sensor can be operated as both a near field and far field sensor to perform the operation of a separate near field time-of-flight sensor and far field time-of-flight sensor.
  • the one or more positioning sensors comprise a time-of- flight sensor, a radar sensor, a LIDAR sensor, a ID laser or optical sensor, a 2D laser or optical sensor, a 3D laser or optical sensor, a RGB camera, a stereoscopic RGB camera, an IR camera, multi- spectral imaging sensor, a hyper spectral imaging sensor, a proximity sensor (e.g., ultrasonic, inductive, capacitive), a pressure transducer (e.g., force-torque sensing), a gyroscopic sensor, an inertial measurement unit (IMU), an inclinometer, an RFID-homing beacon, or a combination thereof.
  • a proximity sensor e.g., ultrasonic, inductive, capacitive
  • a pressure transducer e.g., force-torque sensing
  • IMU inertial measurement unit
  • one or more signals from the one or more positioning sensors are used to determine an orientation of the plant and/or align the robotic system (e.g., arm and tool assembly) based on the orientation of the plant.
  • one or more signals from the one or more positioning sensors are used to determine at least one of a radius, a diameter, or a circumference, of the plant.
  • signals from the one or more positioning sensors can be used by an operator to visualize the area and provide assistance, manual intervention, and/or override an automated process.
  • the spatial data collected by the one or more positioning sensors can improve the autonomy and assistance features so the robotic system requires less oversight by operators.
  • the plant vise comprises one or more braces, each brace of the one or more braces coupled to a perimeter of the ring. In some embodiments, two braces of the one or more braces are diametrically opposed.
  • the injection tool carriage comprises a clamp comprising a first jaw, wherein a profile of the first jaw comprises an inset region configured to secure an injection tool of the plant injection system and to maintain, while in a closed position, the predetermined orientation of the plant injection system.
  • the clamp comprises a second jaw, wherein the second jaw is configured to secure a fluid delivery device of the plant injection system.
  • the injection tool carriage comprises a linear actuator to apply a force to the injection tool of the plant injection system to insert the injection tool into the plant.
  • the injection tool carriage comprises one or more sensors for determining one or more of a position of the injection tool, a velocity of the injection tool, an acceleration of the injection tool, and a force applied to the injection tool.
  • the force applied to the injection tool is based on a type of plant. In some embodiments, the force applied to the injection tool is about 300N.
  • the injector is configured to impart a force to a bottom surface of the plant injection system, wherein the force is in a range between 30N and 60N.
  • a robotic system to install a plant injection system into a plant comprising: a mobile platform comprising one or more localization sensors, the one or more localization sensors configured to determine a location of the plant; a storage container for storing a plurality plant injection systems, the storage container mounted to the mobile platform; a loader configured to position a plant injection system of the plurality of plant injection systems in a predetermined orientation; and an assembly according to the assembly described above, the assembly configured to receive the plant injection system in the predetermined orientation and install the plant injection system into the plant.
  • the robotic system is configured to install the plant injection system normal to the injection site of the plant.
  • the robotic system further comprises a user interface display, wherein the user interface display presents, to an operator of the mobile platform, a visual content indicative of an alignment of the mobile platform relative to the plant, the visual content based on signals from the one or more localization sensors.
  • the mobile platform comprises an input device, wherein the operator of the mobile platform uses the input device to adjust the position of the mobile platform based on the visual content.
  • the storage container comprises a funnel positioned proximate a lower comer of the storage container when the storage container is in a vertical position.
  • a shape of a portion of the funnel is based on a Fibonacci spiral.
  • the storage container comprises an agitator, wherein rotating the agitator facilitates movement of the plurality of plant injection systems into a neck of the funnel.
  • the plurality of plant injection systems is arranged in single file within the neck of the funnel.
  • the storage container, in a vertical position is configured to funnel the plurality of plant injection systems to the loader, and wherein the storage container, in a horizontal position, is configured to receive the plurality of plant injection systems.
  • the loader comprises: a drive wheel configured to rotate the plant injection system; a proximity sensor configured to determine an orientation of the plant injection system; and a lock configured to secure the plant injection system when the plant injection system is determined to be in the predetermined orientation.
  • the robotic system further comprises a shuttle configured to transfer the plant injection system to the assembly in the predetermined orientation.
  • the robotic system further comprises a shroud disposed over at least one of the assembly and the loader, wherein the shroud is configured to prevent branches and debris from contacting the at least one of the assembly and the loader.
  • a method for installing e.g., mounting a plant injection system using the assembly described above.
  • the method for installing the plant injection system comprises: determining using the one or more positioning sensors the position of the plant in space; extending, toward the plant, the arm based on the position of the plant in space such that the ring is disposed around a circumference of the plant; gripping, via the plant vise, the plant; extending the injection tool carriage toward the plant, wherein the plant injection system is secured in the injection tool carriage; inserting, via the injection tool carriage, the plant injection system into the plant; and actuating, via the injector, the plant injection system.
  • the method further comprises determining, based on the one or more signals from the one or more proximity sensors, the distance between the ring and the ground adjacent to the injection site of the plant while the ring is disposed around the circumference of the plant; and lowering the ring toward the ground adjacent the plant until the distance is less than a predetermined threshold.
  • the predetermined threshold is 5cm. In some embodiments, the predetermined threshold is based on a predicted height of the rootstock of the plant.
  • the method further comprises rotating the ring from the first position to the second position.
  • the plant vise and the assembly are configured to rotate with the ring such that the installation assembly is located, relative to the plant, at a first radial position in the first position and a second radial position in the second position, the first radial position different from the second radial position.
  • the plant injection system is installed in the plant while the ring is at the second radial position.
  • gripping the plant in the plant vise passively rotates the ring relative to the movable arm.
  • inserting the plant injection system into the plant comprises: determining a position of a distal tip of the injection tool relative to a surface of the injection site; and applying, via the injection tool carriage, a force to the injection tool, thereby inserting the injection tool into the plant by a predetermined distance.
  • the method further comprises determining an amount of force applied by the injection tool to the surface of the injection site.
  • actuating via the injector comprises applying an actuation force to a distal end of the fluid delivery device of the plant injection system.
  • the method further comprises: opening the clamp of the injection tool carriage, thereby releasing the plant injection system; retracting the plant vise, thereby releasing the plant; retracting the injection tool carriage toward the perimeter of the ring; and retracting the arm toward the mobile platform.
  • the method comprises: determining a location of the plant based on signals from the one or more localization sensors; aligning the mobile platform relative to the plant; funneling the plant injection system from the storage container to the loader; positioning, via the loader, the plant injection system in the predetermined orientation; conveying the plant injection system to the injector tool carriage of the installation assembly; and installing the plant injection system according to the installation method described above with respect to the assembly.
  • aligning the mobile platform comprises receiving, via an input device operated by an operator of the mobile platform, one or more signals configured to move the mobile platform.
  • funneling the plant injection system from the storage container to the loader comprises agitating the plurality of plant injection systems via an agitator disposed proximate a funnel of the storage container.
  • orienting the plant injection system comprises: rotating, via the drive wheel, the plant injection system; determining, via the proximity sensor, an orientation of the plant injection system; and securing, via a lock, the plant injection system in the predetermined orientation.
  • FIG. 1 depicts an exemplary actuator.
  • FIG. 2A-2C are cross-sections of an exemplary actuator mounted to a fluid delivery device.
  • FIGS. 3A and 3B illustrate the constraints and loading, respectively, used for finite element analysis of an exemplary actuator.
  • FIG. 4 depicts the maximal displacement from a finite element analysis of the exemplary actuator of FIGS. 3A and 3B.
  • FIGS. 5A-5C depict an exemplary process to install an injection tool and fluid delivery device connected by the exemplary actuators described herein onto the stem or trunk of a plant.
  • FIGS. 6A and 6B depict a cross-sectional view of an exemplary actuator as described herein.
  • FIGS. 7A-7C depict different views of an exemplary injection tool suitable for use with the actuators described herein.
  • FIGS. 7D-7F are cross sections of the injection tool of FIG. 7A-7C mounted to an exemplary actuator that is mounted to an exemplary fluid delivery device.
  • FIG. 7G depicts the mounting of an exemplary injection tool to an exemplary actuator.
  • FIGS. 8A and 8B depict an exemplary system of an injection tool positioned in an exemplary actuator connected to a canister with a bag-on-valve insert.
  • FIG. 9A depicts an exemplary injection tool inserted into the exemplary actuator.
  • FIG. 9B depicts an exemplary injection tool inserted into the exemplary actuator connected to with a canister with a bag-on-valve insert.
  • FIG. 10 depicts another exemplary system of an injection tool positioned in another exemplary actuator connected to a fluid delivery device.
  • FIG. 11 depicts the mounting of an exemplary injection tool to an exemplary actuator.
  • FIGS. 12A and 12B are cross-sections exemplary blade portions of exemplary injection tools.
  • FIG. 13 depicts a non-limiting example of a block diagram of a robotic system for installing a plant injection system into a plant, according to some embodiments of this disclosure.
  • FIG. 14A depicts a non-limiting example of the robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 14B-14C depict a non-limiting example of the robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 15A-15D depict multiple views of a non-limiting example of the robotic system, according to some embodiments of this disclosure.
  • FIG. 15E depicts a top view of a plant cross-section and a portion of the robotic system, according to some embodiments of this disclosure.
  • FIG. 16A depicts a non-limiting example of a control system, according to some embodiments of this disclosure.
  • FIG. 16B depicts a user interface display and input device, according to some embodiments of this disclosure.
  • FIG. 16C depicts a user interface display, according to some embodiments of this disclosure.
  • FIG. 17 depicts a rear view of an example mobile platform, according to some embodiments of this disclosure.
  • FIGS. 18A-18C depict non-limiting examples of portions of the storage container, according to some embodiments of this disclosure.
  • FIG. 19 depicts portions of the robotic system, according to some embodiments of this disclosure.
  • FIGS. 20A-20G depicts a non-limiting example of operation of the loader, according to some embodiments of this disclosure.
  • FIG. 21 depicts a non-limiting example of the arm and ring toolhead, according to some embodiments of this disclosure.
  • FIGS. 22A-22B depict non-limiting examples of the ring toolhead, according to some embodiments of this disclosure.
  • FIGS. 23A-23D depict non-limiting examples of the injection tool carriage, according to some embodiments of this disclosure.
  • FIG. 24A depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 24B depicts an exemplary user interface, according to some embodiments of this disclosure.
  • FIGS. 25A-25G depict an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 25H depicts an exemplary user interface, according to some embodiments of this disclosure.
  • FIG. 26 depicts an exemplary user interface, according to some embodiments of this disclosure.
  • FIG. 27 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 28A-28B depict an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 29 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 30 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 31 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 32 depicts an exemplary force-position diagram, according to some embodiments of this disclosure.
  • FIGS. 33A-33B depict an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 34 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 35 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 36 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 37A-37B depict an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIG. 38 depicts an exemplary step in the method for installation a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 39A-39B depict an exemplary robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 40A-40B depict an exemplary robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 41 depicts a non-limiting example of a block diagram of a robotic system for installing a plant injection system into a plant, according to some embodiments of this disclosure.
  • FIG. 42 depicts a non-limiting example of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 43A depicts a non-limiting example of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 43B depicts a detail view of a non-limiting example of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 44A-44C depict non- limiting examples of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 45 depicts a non-limiting example of a tool deck of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 46A-46C depict non-limiting examples of a storage container of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 47A-47C depict non-limiting examples of a storage container of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 48A-48B depict non-limiting examples of a conveyor of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 49A-49C depict non-limiting examples of a loader of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 50A-50C depict non-limiting examples of an injection tool assembly of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIGS. 51A-51E depict non-limiting examples of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 52 depicts a non-limiting example of an injection tool assembly of a robotic system for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 53 depicts an exemplary process for installing a plant injection system, according to some embodiments of this disclosure.
  • FIG. 54 depicts an exemplary process for installing a plant injection system, according to some embodiments of this disclosure.
  • an automatic tip setting system that enables an operator (e.g., human user) to install (including positioning and mounting) a plant injection system (including an injection tip and a fluid delivery device) into a plant (e.g., tree).
  • the automatic tip setting system allows the operator to install the plant injection system into an injection site of a target plant (e.g., tree of interest) with minimal oversight.
  • the operator may initiate an automated installation sequence whereby the automatic tip setting system determines a location and orientation of a target plant, supplies a plant injection system to a tool head of the automatic tip setting system, and mounts the plant injection system at the injection site of the target plant, and actuates the plant injection system to deliver fluid to the target plant.
  • the plant injection system comprises an actuator, a fluid delivery device, and an injection tool (e.g., tip).
  • the actuator can couple the injection tool and the fluid delivery device.
  • the fluid delivery device is configured store fluid to be injected into the target plant at an injection site.
  • the actuator is mounted to the fluid delivery device and once actuated, is configured to deliver the fluid from the fluid delivery device to the injection tool (e.g., tip).
  • the injection tool is configured to be inserted into a target plant and deliver the fluid to the target plant.
  • the plant injection system can be installed into a target plant by inserting the injection tool (e.g., tip) into the target plant at an injection site. Once mounted, the plant injection tool can be actuated such that fluid from the fluid delivery device is injected into the target plant via the injection tool (e.g., tip).
  • the actuator comprises an activator and a frame.
  • exemplary actuator 200 is depicted.
  • Activator 202 triggers or activates the stem of the fluid delivery device (e.g., a spraycan) by pressing on it.
  • the activator is configured to mount the injection tool (e.g., an injection tip), which is equipped with positioning slots 219 on female port 216 to ensure a precise connection between these two parts.
  • Frame 201 as depicted in FIG. 1, contains four spreaders that press on the crimped part of the fluid delivery device and hooks itself to the crimped part.
  • Element 200a in FIG. 1 refers to one of two predetermined breaking points on the frame that will break when the activator is pushed down.
  • FIGS. 2A-2B are cross-sections of an example of the actuator of FIG. 1 mounted to a canister.
  • FIG. 2A and 2B show the actuator in a non-activated configuration, with FIG. 2A being a cross-section corresponding to line A-A of FIG. 1 and FIG. 2B being a crosssection corresponding to line B-B of FIG. 1.
  • FIG. 2C is a cross-section corresponding to line B-B of FIG. 1 with the actuator in an activated configuration.
  • the actuator includes a frame 201 for mounting the actuator on a valve cap 208 of a fluid delivery device 207.
  • the frame 201 can lock in place on the valve cap 208 via one or more spreaders 204 that include a hook- like shape that locks into undercuts in the valve cap 208, the undercuts being formed by the crimping process that connects the valve cap 208 with the can 207.
  • the connection between the spreaders 204 and the valve cap 208 is ridged enough to withstand axial and angular forces up to predefined amounts such that the actuator is retained on the fluid delivery device 207 during normal usage.
  • the spreaders 204 can be configured to prevent the actuator from falling of the valve cap 208 when the assembly (the actuator mounted to the fluid delivery device) is hanging from an injection tip mounted to the actuator with the longitudinal axis of the assembly oriented perpendicularly to gravity (such as shown, for example, in FIGS. 5A-C).
  • the actuator can include a secondary holder mechanism 206 that is pushed over the pedestal 210 of the valve cap 208 to further retain the actuator on the fluid delivery device 207 and absorb radial directed forces.
  • the actuator includes bridges 203 that connect the activator 202 to the frame 201. This connection may serve two purposes. First, it holds the non-activated activator 202 in place. Second, it requires a defined force in an axial direction of the fluid delivery device-to- actuator assembly in order to prevent accidental discharge of the contents of the fluid delivery device 207.
  • the actuator includes a “total release” activator meaning once activated the total contents of the fluid delivery device 207 are released in one continuous flow. This is achieved via one or more locking mechanisms 205a of the activator 202 being pushed under and held in place respectively by the respective locking mechanism 205b of the frame 201, as shown in FIG. 2C.
  • the locking mechanisms 205a/205b may be configured such that they are the weakest link of the whole assembly — meaning they are strong enough to keep the stem 209 of the fluid delivery device 207 pressed (in the in activated position), allowing the contents of the fluid delivery device 207 to exit the fluid delivery device, while being weak enough to break in the event of manipulation by an excessive force such that the activator 202 can separate from the frame 201, enabling the stem 209 to return to the unactivated position, which stops content flow, preventing any spillage.
  • the injection tool e.g., injection tip
  • the actuator when assembled, the injection tool (e.g., injection tip) sits in the actuator and is secured within the internal locating slots of the actuator.
  • removal of the injection tool from the actuator will require a suitable force.
  • a suitable rotational torque is required to rotate the injection tool in the actuator.
  • the manufacture of the actuator allows for assembly of the injection tool and actuator in a way that does not cause damage to either part.
  • the injection tool and actuator withstand the forces originating from the horizontal installation of the full assembled fluid delivery device, such as a 100ml canister, with a suitable weight, without occurrence of mechanical failure or fatigue.
  • the actuator/canister assembly (at the point of contact) withstand the forces originating from the horizontal installation of the full assembled canister, with a suitable weight, without occurrence of mechanical failure or fatigue.
  • the point of contact between the actuator/fluid delivery device assembly requires a suitable rotational torque to rotate the actuator within the collar of the canister of the fluid delivery device.
  • the injection tool when assembled, the injection tool is horizontal when fitted into the actuator.
  • the actuator/fluid delivery device assembly withstands a certain force from all axis before the connection of the actuator and fluid delivery device fails. Should the actuator/fluid delivery device assembly fail, the fluid delivery device immediately de-activates.
  • the failure load of the stem actuation point is less than all other assembly points/possible points of failure within injection tool/actuator/fluid delivery device.
  • the injection tool/actuator connection seals properly and maintains the seal against the back pressure origination from the slow release of liquid formulation with a maximum starting pressure of at least 1 bar, at least 2 bar, at least 3 bar, at least 4 bar, or at least 5 bar for the duration of the injection.
  • the actuator/stem connection seals properly and maintains the seal against the back pressure origination from the slow release of liquid formulation with a maximum starting pressure of at least 1 bar, at least 2 bar, at least 3 bar, at least 4 bar, or at least 5 bar for the duration of the injection.
  • the force required to activate the stem and allow for continuous activation is within a suitable force.
  • the actuator (e.g., for the fluid delivery device) described herein presents several commercial advantages.
  • the actuator is designed for a semi-automated installation.
  • the actuator provides a stiff connection to the injection tool (e.g., injection tip), which facilitates guiding the injection tool with the whole assembly.
  • the injection tool along with the fluid delivery device can be pre-installed onto a plant without triggering the fluid delivery device to release its contents.
  • installation of the fluid delivery device can actuate fluid delivery.
  • an installation assembly can mount the plant injection system to a target plant and apply force to the mounted plant injection system to activate fluid delivery.
  • insertion of the injection tool (e.g., tip) of the plant injection system may occur simultaneously with actuation for fluid delivery.
  • the actuator is also designed to provide a suitable clamping force to securely clamp the fluid delivery device onto the plant.
  • the actuator comprises four spreaders that cannot be easily loosened with levers.
  • the actuator does not require the use of any tubing to connect the injection tool (e.g., injection tip) to the fluid delivery device, as the actuator provides a stiff connection between the injection tool and fluid delivery device.
  • the actuators as described herein may be installed according to the exemplary process depicted in FIGS. 5A-5C.
  • the injection tool 530 e.g., injection tip
  • the injection tool 530 is first installed into the trunk or stem of the plant 532.
  • the tip is positioned such that there is enough space for the fluid delivery device (e.g., the spraycan) and there are no branches in the way.
  • the injection tool 530 is then set by pressing on the top beam.
  • FIG. 5C the fluid delivery device is pushed.
  • the predetermined breaking points of the actuator bridges allowing the activator to snap into the frame.
  • Actuator 600 includes frame 601 for mounting actuator 600 on a fluid delivery device (not shown).
  • Actuator 600 includes a “total release” activator meaning once activated the total contents of fluid delivery device are released in one continuous flow. This is achieved via one or more locking mechanisms 605a of activator 602 being pushed under and held in place respectively by respective locking mechanism 605b of frame 601.
  • Locking mechanisms 605a/605b may be configured such that they are the weakest link of the whole assembly — meaning they are strong enough to keep stem 609 of fluid delivery device pressed (in the in activated position), allowing the contents of fluid delivery device to exit the fluid delivery device, while being weak enough to break in the event of manipulation by an excessive force such that activator 602 can separate from frame 601, enabling stem 609 to return to the unactivated position, which stops content flow, preventing any spillage.
  • Actuator 600 may include a base portion 606, which can abut a valve cap of a canister (e.g., valve cap 208 of a fluid delivery device 207 of FIGS. 2A-C).
  • FIGS. 7A-7C depict an exemplary injection tool, suitable for use with the actuators and fluid delivery devices described herein.
  • injection tools that include an injection tip, at least a portion of which is designed to be lodged into a plant, for example, the stem or trunk of a plant.
  • the injection tip has a channel system (having one or more channels) through which fluid can flow, and the channel system delivers the fluid into cavities of the injection tool.
  • the fluid may enter into the cavities through an orifice that extends upwards along the channel from the base of the injection tip through the middle of the injection tip, as depicted in FIG. 7C.
  • the fluid may enter into the cavities through the orifices or distribution ports.
  • any suitable injection tips and injection tools may be configured for use with the actuators described herein, including those described in WO 2020/021041 and WO 2021/152093.
  • FIGS. 7A-7C depict one exemplary design of the injection tip and tool.
  • exemplary injection tip 100 depicted is a cross-section of exemplary injection tip 100, which has a similar design as compared to the exemplary injection tip depicted in FIGS. 7A-7C.
  • Channel 104 extends along a central longitudinal axis through the injection tip base and terminates in the column portion of main pillar at top 102, which as depicted has a curvature that causes liquid traveling through channel 104 to exit through orifices into the cavities at an angled, backward direction as compared to the direction in which the liquid traves through the channel. This can help minimize or prevent clogging of the injection tool.
  • Injection tool 100 may be made via injection molding or additive manufacturing.
  • FIG. 12A is a cross-section of an exemplary blade portion of an exemplary injection tool 100.
  • the top 102 of the main channel 104 has a curvature that redirects the contents ejected from the fluid delivery device backwards. This can help prevent clogging of the injection tool.
  • Injection tool 100 may be made via injection molding or additive manufacturing.
  • FIG. 12B is a cross-section of another example of an injection tool.
  • Injection tool 110 includes backward channels 112 that can prevent clogging. Due to the relatively complex geometry of the backward channels 112, injection tool 110 may require additive manufacturing or injection molding.
  • FIGS. 7D-7F are cross sections of the injection tool of FIG. 7A-7C mounted to an actuator that is mounted to a fluid delivery device.
  • FIGS. 7D and 7E are orthogonal crosssections showing the assembly in a non-activated configuration and FIG. 7F is a cross-section through the same plane as FIG. 7E showing the assembly in the activated configuration.
  • FIG. 7G illustrates the mounting of the injection tool to an exemplary actuator 702.
  • the injection tool 700 includes one or more positioning features 704 that may mate with corresponding positioning features 706 of the actuator 702 to align the injection tool 700 to the actuator 702.
  • the male port 708 of the of the injection tool 700 can include one or more rims 710 that allow male port 708 to be pushed into female port 709 of activator 712 of actuator 702 and retained in female port 709 of the activator 712 by snapping behind corresponding undercuts within female port 709 (see, e.g., FIGS. 7D-7F).
  • Male port 708 and female port 709 can be sized to have small or no clearance (e.g., a press fit) when mated, such as to maintain a seal.
  • clearance may be provided and the mating between the one or more rims 710 and the associated undercuts may provide the sealing when forced together under pressure of the fluid outflow during activation.
  • the socket of injection tool 700 is shaped like a sideway H (also referred to herein as “H-shape”) for easier placing.
  • Top beam 714 of the H-shaped socket provides a large contact surface for the tree to minimize or avoid damage to the tree, and this top beam can also be used to transmit the force to injection tip 716.
  • Bottom beam 718 of the H-shaped socket can be smaller, and is designed to pull the injection tip out of the tree, which needs less force than pushing the tip into the tree.
  • Injection tool 700 may be manufactured by additive manufacturing or injection molding.
  • Bottom beam 718 of the H-shaped socket of injection tip 716 may be configured to provide a thickened sealing surface designed to spread the wood and create an equal pressure around the tip of injection tool 700 when inserted into a tree, thus providing a seal. This can improve the reliability and stability of the injection tip 716.
  • injection tools that include a penetrating distribution body, at least a portion of which is designed to be lodged into a plant, for example, the stem or trunk of a plant.
  • the penetrating distribution body has a channel system (having one or more channels) through which fluid can flow, terminating in an entry port through which fluid enters the injection tool and one or more distribution ports through which fluid is delivered to the interior of the plant.
  • the channel system provides fluid communication between the distribution ports and entry port.
  • the distribution ports are recessed from an exterior of a body profile of the penetrating distribution body, and accordingly remain clear of plant tissue.
  • one or more distribution ports are provided along the troughs of anchor elements (e.g., threading, flutes, serrations, cleats, scalloped surfaces or the like), within distribution reservoirs within the body profile of the penetrating distribution body.
  • the one or more distribution ports are within the body profile and with penetration of the plant tissue the ports are not engaged with plant tissue in a manner that promotes clogging. Instead, the one or more distribution ports are recessed from the penetrating element and, at least in some examples, the plant tissue itself.
  • liquid formulations delivered to the injection tool are readily received in the plant and delivered with minimal pressure or effort.
  • the proximate walls, surfaces or the like of the injection tool in combination with the surrounding plant tissue provide reservoirs within the plant, and the liquid formulations reside in these reservoirs for gradual uptake by the plant.
  • the injection tool comprises: a base including an inlet port; and a penetrating distribution body having a wedge type body profile extending along a longitudinal body axis.
  • the penetrating distribution body includes: a cutting edge along the front face of the penetrating distribution body directed distally away from the base, a penetrating element that extends from the cutting edge and proximate to a distal portion of the penetrating distribution body to a proximal portion of the penetration distribution body, and a distribution element that includes distribution ports and distribution reservoirs.
  • the injection tool further comprises: a beam connected to the base; and a connector that extends from the base and is connected to the beam.
  • the connector is configured to insert into any of the actuators described herein so that the injection tool is in fluid connection with the fluid delivery device by connection through the actuator.
  • the material of the injection tool may be selected to penetrate the plant tissue without bending or breaking.
  • the injection tool may be formed from a material having a hardness of between 30 HRC and 50 HRC, or between 35 HRC and 45 HRC.
  • the injection tool may be formed from a metal alloy such as hardened stainless steel.
  • FIG. 9A depicts an exemplary injection tool/actuator assembly. When the injection tool is installed into the plant, the connector does not lodge into the plant.
  • the injection tools described herein are installed in plants having relatively small and large sizes or diameters (e.g., trunk or stem diameters).
  • the portions of the injection tools installed in plants have dimensions of around 5 mm or less (e.g., width) and 1 mm or less (e.g., height) and accordingly the tools are configured for installation in plants with stems, trunks, roots, limbs or the like of 5 mm or more in size, such as diameter.
  • the lodged portion of the injection tool is sized and shaped to minimize damage to the target plant when inserted into the plant, while maintaining efficient functionality of the injection tool in delivering the desired dosing of liquid formulation over the desired time period directly to the active vasculature of the plant.
  • penetrating element and tool base are cooperatively sized and shaped to work together to minimize damage to the target plant while maintaining efficient functionality of the tip.
  • the length of penetrating element may be chosen to be less than the depth of the sapwood in the trunk of the tree and tool base is configured with a flange abutting the bottom end of penetrating element.
  • the flange is sized and shaped to mitigate the risk of inserting the injection tool beyond the end of penetrating element abutting flange and therefore beyond the inner circumference of the sapwood and into the heartwood.
  • flange has a width that is wider than the widest part of penetrating element.
  • the multiport injection tip includes one or more dimensions configured to minimize trauma to the plant caused during installation. The minimal profile of the tip (as well as other tip embodiments described herein) minimizes trauma to a plant in comparison to larger profile devices including syringes, plug, pegs or the like having dimensions of around 7 mm (7.14 mm in one example) a full 2 mm larger than the example tip.
  • the potential for tree damage is reduced and the potential for fungal, bacterial, and insect ingress is minimized (e.g., reduced or eliminated).
  • the tip as well as the other tip examples described herein are readily used with plants having stems, trunks, limbs or the like having diameters larger than 4.68 mm including, but not limited to, fruit trees, nut trees, berry shrubs, flowering plants as well as arbor and forest trees.
  • the injection tools selected allow for precision delivery (also referred to as “precision injection”) of a formulation into the plant.
  • Precision delivery refers to delivering the formulation only or substantially only into a target location in the plant.
  • the target location is the active vasculature of the tree.
  • the active vasculature of a tree is the xylem and/or the phloem.
  • precisely delivering the liquid formulation comprises inserting the injection tool such that the distribution reservoir is positioned in and no further than the active vasculature of the plant.
  • FIG. 11 illustrates the mounting of an exemplary injection tool 1101 to an exemplary actuator 1102.
  • the injection tool 1101 includes one or more positioning features 1104 that may mate with corresponding positioning features 1106 of the actuator 1102 to align the injection tool 1101 to the actuator 1102.
  • the male port 1108 of the of the injection tool 1101 can include one or more rims 1110 that allow the male port 1108 to be pushed into the female port 1109 of the activator 1112 of the actuator 1102 and retained in the female port 1109 of the activator 1112 by snapping behind corresponding undercuts within the female port 1109 (see, e.g., FIGS. 7D-7F).
  • the male port 1108 and female port 1109 can be sized to have small or no clearance (e.g., a press fit) when mated, such as to maintain a seal.
  • clearance may be provided and the mating between the one or more rims 1110 and the associated undercuts may provide the sealing when forced together under pressure of the fluid outflow during activation.
  • the base of the injection tool 1101 is shaped like a sideway H for easier placing.
  • the top beam 1114 ensures a large contact surface for the tree to not damage it and can also be used to transmit the force to the cutting part 1116.
  • the bottom beam 1118 can be smaller because its only use is to pull the tip out of the tree which needs less force then pushing it in.
  • the injection tool 1101 may be manufactured by additive manufacturing or injection molding.
  • the bottom 1118 of the blade 1116 may be configured to provide a thickened sealing surface designed to spread the wood and create an equal pressure around the tip of the injection tool 110 when inserted into a tree, thus providing a seal. This can improve the reliability and stability of the blade 1116.
  • FIG. 12A is a cross-section of an exemplary blade portion of an exemplary injection tool 1200.
  • the top 1202 of the main channel 1204 has a curvature that redirects the contents ejected from the fluid delivery device backwards. This can help prevent clogging of the injection tool.
  • Injection tool 1200 may be made via injection molding or additive manufacturing.
  • FIG. 12B is a cross-section of another example of an injection tool.
  • Injection tool 1250 includes backward channels 1252 that can prevent clogging. Due to the relatively complex geometry of the backward channels 1252, injection tool 1250 may require additive manufacturing or injection molding.
  • the fluid delivery device comprises a canister.
  • FIG. 8A depicts exemplary system 800A comprising injection tool 804A, actuator 806A, and canister 807A.
  • FIG. 9A depicts injection tool 900 connected to actuator 902A.
  • the canister has a bag-on-valve insert.
  • the bag-on-valve insert is connected to a stem that receives the socket of the injection tool.
  • FIG. 8B depicts exemplary system 800B comprising injection tool 804B, actuator 806B, and canister 807B. Bag-on-valve insert (not labeled) is connected to stem 802B of the bag-on-valve insert.
  • FIG. 9B depicts injection tool 900 connected to actuator 902B, along with bag-on valve insert (not labeled, inside canister) and delivery device 907.
  • the fluid delivery device is a spraycan.
  • the fluid delivery device contains any suitable liquid formulations and active ingredients, including as described below.
  • injection systems comprising: an injection tool, an actuator, and a fluid delivery device.
  • the injection tool is connected to the actuator through the connector of the injection tool that extends from the base of the tool body, and is configured to connect with the stem of the fluid delivery device.
  • the injection tool is in fluid connection with the fluid delivery device by connection through the actuator.
  • the term “in fluid connection” relates to a connection enabling a transfer of fluid, particularly from the fluid delivery device to the injection tool.
  • FIGS. 8A, 8B and 9B depict exemplary injection systems, in which an injection tool is connected to the actuator through the stem, and the actuator is installed onto a fluid delivery device.
  • FIG. 10 depict another exemplary injection system 950, with a different exemplary actuator 952 connected to delivery device 957. The actuator depicted in this figure connects the injection tool 954 horizontally.
  • FIG. 13 illustrates an example block diagram of a system for installing a plant injection system into a plant, according to some embodiments.
  • the system comprises a mobile platform, which delivers a fluid delivery device (also referred to as a plant injection system) to one or more plants.
  • the mobile platform comprises a storage container, a funnel, a loader, an arm, and an assembly (e.g., robotic tool assembly).
  • the storage container may be configured to store a plurality of plant injection systems.
  • a plant injection system comprises a tip and fluid to be injected into a plant.
  • FIG. 14A illustrates a front view of an example mobile platform 1400.
  • the mobile platform comprises a cabin 1411, located in front of the storage container, where a driver and/or one or more passengers are seated while the mobile platform is moving.
  • the mobile platform may be autonomous, e.g., and may not require a cabin or human operators.
  • the storage container is mounted to the mobile platform 1400 and stores a plurality of plant injection systems filled with fluids to be injected into one or more plants.
  • the storage container includes a funnel that receives at least one of the plurality of plant injection systems stored in the storage container.
  • the loader is configured to receive some of the plurality of plant injection systems from the funnel and loads the plant injection systems into the arm and/or robotic tool assembly located on the arm.
  • FIGS. 14B and 14C illustrate a rear view of an example mobile platform 1400.
  • the storage container, loader, arm, and/or robotic tool assembly can be mounted to a movable tool deck 1405.
  • the tool deck 1405 can be mounted to the mobile platform 1400 and move from a position located on the mobile platform 1400 to an extended position such that components of the robotic system (e.g., one or more of the storage containers, loader, arm, and/or robotic tool assembly) is extended from the mobile platform 1400 (e.g., toward a target plant) and lowered near the ground.
  • components of the robotic system e.g., one or more of the storage containers, loader, arm, and/or robotic tool assembly
  • the system comprises an arm 1446 and a robotic tool assembly 1448 coupled to a distal end of an arm 1446, as shown in the figure.
  • the arm 1446 is mounted to the mobile platform 1400 and is configured to extend toward the plant.
  • the arm 1446 may be mounted to a tool deck 1405.
  • the tool deck 1405 can be connected to the mobile platform via parallel linkages that stow the tool deck 1405 when transporting or maneuvering the mobile platform in the field.
  • the tool deck 1405 (e.g., including the arm) can be configured to extend toward the plant.
  • the robotic tool assembly 1448 injects a plant injection system into a plant of interest.
  • the robotic tool assembly 1448 may comprise the ring toolhead coupled to the distal end of the arm 1446 and the term “ring” may be used to refer to the ring toolhead and/or robotic tool assembly 1448.
  • the description of the toolhead as being a ring, e.g., ring-shaped, is not intended to limit the scope of this disclosure.
  • the toolhead can include rings or geometries that include active or passive joints to accommodate larger or dimensionally varied plants (e.g., similar to a channel-locking wrench).
  • inventions such as those intended to treat similarly dimensioned plants exclusively, may not include a ring, but instead contain a tool positioning feature that may be a sector surface point engagement with the plant and/or envelop a smaller section or portion of the plant circumference than the ring toolhead embodiment.
  • the system comprises a shroud (e.g., or limb-lifter) for protecting one or more components, such as the tool deck, loader, the arm, and robotic tool assembly, from the environment (e.g., debris, plant branches, dust, rain, etc.).
  • the shroud may surround one or more sides (e.g., top, left, right, etc.) of the component(s) that it is protecting and act as a limb-lifter as the tool deck, arm, and/or robotic tool assembly extends toward the target plant.
  • the shroud can be configured to lift low hanging limbs of plants clear of the sensor and tool path to the target plant.
  • the shroud may be disposed over the assembly and/or loader, thereby preventing branches and debris from contacting the assembly and/or loader.
  • the shroud comprises a piece of metal such as a sheet of aluminum. Including the shroud can be commercially advantageous because installation of the plant injection systems can be performed without additional crop maintenance such as tree skirting.
  • the system comprises one or more sensors for determining the location of the installation assembly relative to a plant of interest.
  • FIG. 15A and FIG. 15B illustrate a side views of the mobile platform 1540 when the arm 1546 is extended towards the plant.
  • FIG. 15C and FIG. 15D illustrate a perspective view and an overhead view of the tool deck 1505 of the robotic system when the arm is extended from the mobile platform.
  • the mobile platform comprises one or more sensors, and the arm, shroud, and/or ring toolhead 1552 also comprise one or more sensors.
  • the sensors may be for obstacle avoidance and/or path planning (e.g., localization sensors).
  • some of the sensors may be for arm and/or ring toolhead assembly 1552 obstacle avoidance (e.g., to provide automation features so the assembly tool avoids collisions with the ground or irrigation sprinklers under the plant).
  • some of the sensors may be used for platform obstacle avoidance (e.g., to provide automation features for the mobile platform to navigate autonomously and stop the mobile platform if an imminent crash is detected).
  • some of the sensors are provided for localization of the target plants.
  • the time-of-flight sensors can be used to localize the target plant in a variety of ambient lighting conditions (e.g., dawn, dusk, afternoon, etc.).
  • a single time-of-flight sensor may be used to localize the target plant in a variety of ambient lighting conditions (e.g., dawn, dusk, afternoon, etc.) from medium range when moving from target plant to target plant (a detection range of 3- 5m) and near range (3-O.3m) when used in the tool arm assembly to guide the ring toolhead to the tree automatically.
  • the one or more time-of-flight sensors can be used to, in real-time, switch or optimize its configuration settings between near or far field targeting.
  • a single time-of-flight sensor can be operated as both a near field and far field sensor to perform the operation of a separate near field time-of-flight sensor and far field time-of-flight sensor.
  • At least one sensor comprises a GPS-based sensor for determining the location of the mobile platform in the field.
  • each target plant can be geotagged, such that subsequent actions performed to each plant, and conditions at the time of those actions, can be collated with past actions to those same plants and cataloged as a timeseries for various purposes (e.g., monitoring).
  • the sensors comprise one or more localization sensors mounted to the robotic tool assembly, the tool arm, and/or shroud.
  • Example localization sensors may include, but are not limited to one or more of a time-of-flight sensor, a radar sensor, a LIDAR sensor, a ID laser or optical sensor, a 2D laser or optical sensor, a 3D laser or optical sensor, a RGB camera, a stereoscopic RGB camera, an IR camera, a multi- spectral imaging sensor, a hyper spectral imaging sensor, a proximity sensor (e.g., ultrasonic, inductive, capacitive), a pressure transducer (e.g., force-torque sensing), a gyroscopic sensor, an inertial measurement unit (IMU), an inclinometer, an RFID-homing beacon, or a combination thereof.
  • a time-of-flight sensor e.g., a radar sensor, a LIDAR sensor, a ID laser or optical sensor, a 2D laser or optical sensor, a 3D laser or optical sensor, a RGB camera, a stereoscopic RGB camera, an IR camera,
  • the sensors determine the position, orientation, and/or one or more dimensions (e.g., radius, diameter, circumference, etc.) of the plant.
  • the sensors can be used to model the tree in space via 3D (x,y,z) point clouds.
  • the tree can be represented as a cylinder via best fit algorithm and high resolution 3D (x,y,z) spatial data.
  • the mobile platform Prior to injection of the plant injection system in the plant, the mobile platform is moved towards the plant based on the position of the plant, which may be determined at least in part by the sensors.
  • the driver may drive to the plant of interest and stop the mobile platform close to it.
  • the sensors may output data indicative of the location of the plant relative to the mobile platform.
  • the driver may use a steering wheel to drive the mobile platform proximate to the plant, and an input device, such as a joystick, for fine tuning the location of the mobile platform.
  • the arm is moved towards the plant based on its position determined by the sensors. In some instances, the arm may be automated to move toward the plant based on a closed loop control of actuators based on sensory output and feedback.
  • the position of the plant is determined relative to the ring being disposed around at least a portion of the circumference of the plant.
  • the sensors comprise a proximity sensor configured to determine a distance between the ring and the ground while the ring is disposed around the plant.
  • the ring may be raised or lowered to be positioned at the rootstock of the plant.
  • the ring may be positioned at other locations along the plant, such as but not limited to, the scion.
  • the sensors, tool mechanisms e.g., arm, ring, tool deck, etc.
  • the injection system of the disclosure may be operated in various conditions, such as when it is raining, in fields that have a lot of dust, and in various ambient light conditions, (e.g., dawn, noon, dusk, midnight), etc.
  • the system comprises a loader.
  • the loader may be provided to position the plant injection system in a predetermined orientation.
  • the plant injection system may be oriented horizontally such that the cutting edge along the front face of the penetrating distribution body is horizontal.
  • the loader may receive a plant injection system from the funnel.
  • the loader may comprise a drive wheel configured to rotate a plant injection system.
  • FIG. 16A illustrates an example control system 1600 that presents visual information regarding the alignment of the mobile platform and/or arm to an operator (e.g., driver, passenger, etc.).
  • the arm control system comprises a user interface display and an input device.
  • the arm control system may receive signals from the sensor(s) and may generate corresponding visual content indicative of the alignment of the mobile platform, arm, and/or ring toolhead relative to the plant.
  • the user interface display presents the visual content.
  • the user interface display and/or input device may be located in the cabin of the mobile platform, for example.
  • the user interface display 1602 presents the alignment of the mobile platform, arm, and/or ring toolhead relative to the plant.
  • FIG. 16B the user interface display 1602 presents the alignment of the mobile platform, arm, and/or ring toolhead relative to the plant.
  • the user interface display 1602 presents the alignment of the ring toolhead relative to the plant.
  • the user interface display 1602 presents the horizontal location of the arm relative to the plant.
  • the user interface display displays a color indicative of the relative proximity, such as red when the arm is located a far distance away from the plant, yellow when it is located an intermediate distance away, and green when located a close distance to the plant.
  • the relative proximity may refer to the alignment between platform and plant to be injected, and/or the relative proximity between the injection tool and target plant.
  • the system can provide audible alerts or alarms to indicate proximity.
  • the one or more time-of-flight sensors can be used to, in realtime, switch or optimize its configuration settings between near or far field targeting.
  • a single time-of-flight sensor can be operated as both a near field and far field sensor to perform the operation of a separate near field time-of-flight sensor and far field time-of-flight sensor.
  • the operator may control the alignment of the mobile platform and/or location of the arm using the input device.
  • FIG. 15E illustrates a top view of a plant crosssection 1552 and the assembly 1552, according to some aspects.
  • the input device may be a joystick that allows the operator to adjust the position in the x- and/or y- of the mobile platform.
  • the input device may further be used to adjust the position in the x- y-, and/or z- locations of the assembly (e.g., assembly including the arm and ring toolhead).
  • the z-location refers to the distance of the assembly relative to a vertical plane, such as the ground adjacent to the plant.
  • the arm may be configured to move in response to user input from the joystick, the movement is in two or more directions relative to the plant. The two or more directions include forward, backwards, upwards, downwards, left, and/or right.
  • the ring toolhead can also be adjusted relative to the arm. For example, the yaw, pitch, and roll of the ring toolhead can be actively and/or passively adjusted.
  • FIG. 17 illustrates a rear view of an example mobile platform 1740.
  • the mobile platform 1740 comprises a storage container 1760 for storing a plurality of plant injection systems.
  • the storage container 1760 has a vertical position and a horizontal position. In the vertical position, as shown in the figure, the storage container 1760 holds the plurality of plant injection systems such that they are oriented horizontally (with the injection tools pointing horizontally). While the storage container 1760 is in the horizontal position (as indicated by the rectangular prism), the plurality of plant injection systems are oriented vertically (with the injection tool pointing vertically). In some embodiments, the storage container 1760 is in the vertical position when funneling the plurality of plant injection systems to the loader and/or when the mobile platform is moving. In some embodiments, the storage container 1760 is in the horizontal position when loading the plurality of plant injection systems and/or when the mobile platform is parked for storage or transport.
  • FIGS. 18A-18C illustrate various portions of the storage container, according to some embodiments.
  • the storage container comprises a funnel 1861 positioned on a lower comer of the storage container when in the vertical position.
  • a portion of the funnel 1861 has a shape that allows the plurality of plant injection systems to fall into a neck 1862 of the funnel 1861.
  • the storage container further comprises an agitator 1863 disposed proximate to the funnel 1861.
  • the agitator 1863 can include specifically shaped cams that allows the plurality of plant injection systems to fall into a neck 1862 of the funnel 1861 without bridging, jamming, or clogging the flow of subsequent plant injection systems.
  • the shape of the cam resembles a Fibonacci spiral.
  • the geometry of the cam is not intended to limit the scope of this disclosure.
  • the agitator 1863 can rotate clockwise or counterclockwise causing the plurality of plant injection systems to arrange in a single file within the neck of the funnel without bridging or jamming the funnel. In some embodiments, the agitator 1863 rotates every time a plant injection system moves into the neck.
  • FIG. 18C shows two different agitators 1863 with different cam shapes.
  • FIG. 19 illustrates the storage container (2), including its funnel and neck, connected to a cannister conveyance or chute (3).
  • the cannister conveyance is configured to transfer the plant injection system to the loader. Since the plurality of plant injection systems is arranged in a single file within the neck of the funnel, in some embodiments, the plurality of plant injection systems may also be arranged in a single file when in the cannister conveyance.
  • the funnel may be oriented to extend towards the plants being injected prior to singulation (e.g., identification) of the plant injection systems to be loaded.
  • the loader is configured to transfer the plant injection system to the assembly the predetermined orientation. In some embodiments, an injection tool shuttle may transfer the plant injection system from the loader to the assembly in the predetermined orientation.
  • FIGS. 20A-20G An example operation of the loader is illustrated in FIGS. 20A-20G.
  • FIG. 20A illustrates an overview of the example operation comprising steps 1-6, which are shown in detail in FIGS. 20B, 20C, 20D, 20E, 20F, and 20G, respectively.
  • the loader may be configured to orient the plant injection system such that it has a predetermined orientation so that it can be conveyed to the injection tool carriage of the assembly.
  • the shuttle feeds a plant injection system to the loader.
  • the loader orients the plant injection system 2002 such that it has a predetermined orientation.
  • the step comprises rotating, using, e.g., a wheel 2004, the plant injection system 2002 until it has the same orientation as the predetermined orientation.
  • the loader may comprise one or more sensors for determining the orientation of the plant injection (e.g., of the injection tool, as determined based on one or more edges of the tip of the injection tool).
  • the one or more sensors may include, for example, proximity sensors.
  • a slider 2091 engages to secure the plant injection system 2002 in the predetermined orientation via a lock 2008 (the step shown in FIG. 20C, which corresponds to step 2 of FIG. 20A).
  • FIG. 20D The step shown in FIG. 20D, corresponding to step 3 of FIG. 20A, where the slider 2091 moves the plant injection system 2002 to a load position, followed by disengaging the lock 2008 (FIG. 20E, corresponding to step 4 of FIG. 20A,).
  • a tool shuttle 2014 is used to transfer the plant injection system 2002 from the loader (shown in FIG. 20F, corresponding to step 5 of FIG. 20A). Then, in step 6 (FIG. 20G), the tool shuttle 2014 may return to the load position for loading the next plant injection system 2002.
  • FIG. 21 illustrates a view of an example arm 2170, according to some embodiments.
  • the tool shuttle may place the plant injection system, removed from the loader, into the arm.
  • the arm may be coupled to an arm of the assembly.
  • the shuttle may comprise a carrier that allows the plant injection system to travel to the assembly.
  • the arm may swing to towards the loader and the shuttle may transfer the plant injection system from the loader, and place the plant injection system in the assembly in the proper orientation.
  • plant injection system may be placed in an installation assembly in the predetermined orientation.
  • FIGS. 22A and 22B illustrate an example assembly 2250, according to one or more embodiments.
  • the assembly 2250 comprises an arm 2270, a ring 2254, a plant vise 2258, and an installation assembly 2273.
  • the ring 2254 comprises one or more sensors for determining the position of the plant.
  • the sensors may be proximity sensors used to determine the distance between the ring and the ground adjacent to the plant of interest.
  • the ring 2254 may further comprise one or more positioning sensors, such as, but not limited to, radar sensors, LIDAR sensors, ID laser or optical sensors, 2D laser or optical sensors, 3D laser or optical sensors, RGB cameras, stereoscopic RGB cameras, IR cameras, multi- spectral imaging sensors, hyper spectral imaging sensors, proximity sensors (e.g., ultrasonic, inductive, capacitive), pressure transducers (e.g., force-torque sensing), gyroscopic sensors, inertial measurement units (IMU), inclinometers, RFID-homing beacons, and the like, for determining a position of the tree as described above.
  • positioning sensors such as, but not limited to, radar sensors, LIDAR sensors, ID laser or optical sensors, 2D laser or optical sensors, 3D laser or optical sensors, RGB cameras, stereoscopic RGB cameras, IR cameras, multi- spectral imaging sensors, hyper spectral imaging sensors, proximity sensors (e.g., ultrasonic, inductive, capacitive), pressure transducers (
  • the ring may be actively or passively rotated, e.g., pitch, yaw, and roll, relative to the arm.
  • the plant vise 2258 and installation assembly 2273 rotates with the ring 2254.
  • the ring 2254 may rotate, e.g., yaw, and/or “clock” to different radial positions with respect to the circumference of the plant. This allows the plant injection system 2202 to be installed at different radial locations in the plant.
  • the ring 2254 rotates, e.g., pitch and roll, relative to the arm 2270 as the plant vise 2258 grasps the plant, allowing the plant injection system 2002 to be installed normal to a surface of the plant.
  • this rotation may be passive, e.g., via the linkage between the ring toolhead 2254 and the arm 2270. In some embodiments, this rotation may be active, e.g., via one or more actuators or motors. As shown in the example of FIGS. 22A and 22B, the ring 2254 comprises a C-shape. But the shape of the ring 2254 is not intended to limit the scope of this disclosure.
  • the plant vise 2258 is coupled to an outer portion (e.g., a location at the perimeter) of the ring.
  • the plant vise 2258 is configured to extend from the perimeter of the ring to grasp the plant.
  • the plant vise 2258 comprises one or more braces 2274, as shown in FIG. 22B.
  • Each brace 2274 is coupled to the perimeter of the ring.
  • each brace 2274 may be coupled to a linear actuator 2256 to extend toward a center of the ring and grasp the plant.
  • two of the braces 2274 are diametrically opposed. Such embodiments benefit from the ability to actively center the plant within the tool ring, which can enable the system to be used in the field with highly varied plant sizes and shapes.
  • the plant vise can include more than two actuators. Additionally or alternatively, the plant vise comprises one or more position sensors (not shown) that determine the distance traveled by one or more (e.g., each) associated brace 2274. The position sensors can be used to provide positional feedback to ensure that the plant is centered within the ring.
  • the installation assembly 2300 may be configured to mount and actuate the plant injection system.
  • the installation assembly 2300 comprises an injection tool carriage 2351 and an injector 2378, as shown in FIGS. 23A-23D.
  • the injector tool carriage 2351 may comprise the injector 2378.
  • the injection tool carriage 2351 brings the injection tool in contact with the surface of the plant.
  • the injection tool carriage 2351 inserts the plant injection system into the plant.
  • the injection tool carriage 2351 comprises a plant injection system clamp 2393 configured for securing and releasing the plant injection system.
  • the plant injection system clamp 2393 comprises a first set of jaws 2398 and a second set of jaws 2399.
  • the first set of jaws 2398 is configured to receive and secure an injection tool of the plant injection system.
  • the first set of jaws 2398 may include an inset portion to receive the plant injection system. As shown in the figures, the inset portion may comprise a diamond shape to receive and secure the central column between the top beam and the bottom beam of the insertion tool.
  • the predetermined orientation of the plant injection system is maintained (e.g., positively maintained) while the first set of jaws 2398 are in a closed position.
  • the second set of jaws 2399 is configured to secure the fluid delivery device.
  • the plant injection system clamp 2393 may open and close to receive/release and hold, respectively, the plant injection system 2302.
  • the injector 2378 actuates the plant injection system.
  • the injector 2378 may comprise a pneumatic actuator located proximate the rear of the injection tool carriage 2351.
  • the injector 2378 can depress the bottom of the plant injection system 2302, thereby activating the flow of liquid (e.g., stored in the fluid delivery device of the plant injection system) into the plant and locking the actuator into the “open flow” position.
  • FIGS. 24A, 24B, 25A-25H, 26-38 illustrate steps in the method for installation of a plant injection system of the present disclosure.
  • the method may comprise determining, using one or more localization sensors, the position of the plant in space, as shown in FIG. 24A.
  • the operator may operate the input device in response to the visual content on the user interface display to identify the location of the plant.
  • the visual content may represent the data from the sensors on the mobile platform and/or arm.
  • FIG. 24B illustrates exemplary visual content based on data from the sensors according to one or more embodiments of this disclosure
  • FIGS. 25A-25G illustrate example steps of extending the arm toward the plant (FIG. 25B, 25C) and orienting the ring, according to some embodiments.
  • the operator may initiate movement of the arm toward the plant.
  • the arm may automatically move towards the plant when the mobile platform is in a predetermined position relative to the plant.
  • the sensors on the ring may determine the location of the plant, and optionally, the diameter of the plant.
  • the system uses the sensor data to control the movement of the arm, such as how far to extend the arm and how to position the ring around the plant (e.g., whether to move the ring in the x-, y-, and/or z- directions as well as yaw, pitch, and roll).
  • the ring is moved until it is oriented such that the plant injection system may be injected into the plant.
  • the assembly is configured to install the plant injection system such that it is normal to a surface of the plant.
  • the ring position may be adjusted such that it is oriented at a normal angle with respect to the trunk of a plant.
  • further rotational adjustments e.g., yaw, pitch, and roll
  • FIG. 25H illustrates an exemplary user interface that can be presented to an operator of the installation assembly for controlling the movement of the arm.
  • the visual content presented via the user interface may be based on one or more sensors located on the arm and/or ring toolhead.
  • FIG. 26 illustrates an example user interface that is displayed to the operator when the arm and ring having reached positions for injecting the plant injection system.
  • the user interface waits for user input corresponding to injecting the plant injection system.
  • the user interface may display a video of the image to help the operator with deciding whether or not to inject the plant injection system.
  • the video may correspond to a real-time video feed of the target plant to be injected with the injection system using the robotic system.
  • the user interface may inform the operator that there is an interference making it unacceptable to inject the plant injection system.
  • Example factors for why it would not be acceptable to inject the plant injection system include, but are not limited to, an obstruction preventing proper alignment of the arm and/or ring, or the angle of the plant may be too acute.
  • the system may allow the operator to override the interference and manually inject the plant injection system, e.g., by having an operator manually guide the arm and/or ring based on the video feed.
  • the plant injection system may be injected into the plant at a location that is as close to the ground and/or the roots of the plant as possible, e.g., at the rootstock.
  • the plant injection system may be injected at other locations of the plant, e.g., the scion.
  • the height of the ring may be adjusted such that it is close to the ground, such as shown in FIG. 27.
  • the ring may comprise one or more sensors, such an ultrasonic sensor that detects the distance from the bottom of the ring to the ground.
  • the ring may be lowered in response to the sensor indicating whether or not the ring is close to the ground.
  • the ring may be lowered until the ultrasonic sensor detects that its distance is less than a predetermined threshold, e.g., 5 cm, from the ground.
  • a predetermined threshold e.g., 5 cm
  • an operator can specify a predetermined threshold.
  • the ring 2830 may optionally rotate around the plant.
  • the ring 2830 may rotate so that, e.g., a plurality of plant injection systems may be injected to the same plant at different times, but at different locations; or if there is an interference preventing a plant injection system from being injected.
  • Rotating the ring 2830 also moves the injection site away from a point on the target plant that is directly perpendicular to the direction of travel of the mobile platform.
  • the braces 2974 of the plant vise move until engaged with the plant 2904, as shown in FIG. 29.
  • the ring is coupled to the arm via a linkage.
  • the linkage permits one or more of: pitch and roll movements of the ring relative to the arm.
  • the ring may passively rotate based on an orientation of the plant. For example, if the plant is not at a 75° angle to the ground, bracing the plant in the vise causes the ring to be similarly oriented at a 75° angle to the ground.
  • the linkage comprises one or more springs, for example. In some examples, the one or more springs may be selected based on a desired spring constant.
  • the injection tip 3060 may be inserted into the plant.
  • the insertion may comprise a single movement of the plant injection system toward the plant.
  • the single movement for the insertion may help reduce the amount of damage to the plant tissue.
  • the injection tool carriage may insert the plant injection system into the plant by applying force to the injection tool.
  • a linear actuator and/or motor may be used to apply the force to the injection tool.
  • the plant injection system may be inserted into the plant via multiple repeated injections (e.g., pecks). In such embodiments, a smaller injection actuator may be used.
  • the injection tool carriage may include one or more sensors for determining one or more of: a position, a velocity, and an acceleration of the injection tool carriage.
  • the one or more of a position, a velocity, and an acceleration of the injection tool carriage may be determined based on signals, e.g., voltage and/or amperage, received or demanded from the linear actuator and/or motor controller.
  • the signals associated with the position, velocity, and/or acceleration may indicate when the tip has come into contact with the plant and the depth of the injection tip into the plant.
  • the force applied to the plant injection system may be adjusted based on the depth determined by the sensor(s) on the injection tool carriage and/or the characteristics of the target plant.
  • the system actuates the plant injection system (FIG. 31) by applying a force to the bottom surface 3180 (e.g., opposite the injection tool) of the plant injection system.
  • the applied force may be between 30N - 60N.
  • the amount of force applied by the injection tip may be measured using one or more force sensors.
  • the force sensors e.g., potentiometers, hall effect sensors, and the like
  • the system releases the clamp 3379, e.g., the first jaw 3380 and the second jaw 3381, on the plant injection system via the injection tool carriage (FIGS. 33A and 33B), releases the plant vise 3458 on the plant (FIG. 34), retracts the injection tool carriage toward the perimeter of the ring (FIG. 35, as depicted by the arrow), and raises the ring (FIG. 36, as depicted by the arrow).
  • the ring moves back to its home position (FIGS. 37A and 37B), and retracts the arm back to its home position toward the mobile platform (FIG. 38).
  • FIGS. 39A and 39B depict an exemplary robotic installation assembly 3990 for installing a plant injection system in an field of plants, according to some embodiments of this disclosure.
  • the robotic installation assembly 3990 can move through the field to inject plant injection system into the plants located in the field.
  • the mobile platform 3900 of the installation assembly may roam around the field, where the plants can be arranged in rows.
  • the robotic installation assembly may stop near a target plant 3941, as shown in FIG. 39B, in order to install a plant injection system into the target plant 3941 as described above.
  • the robotic installation assembly e.g., the mobile platform, the storage container, the loader, the arm, and the ring toolhead may be designed for compatibility with a particular field.
  • a particular field For example, as shown in the exemplary model of a field in FIG. 40A, the distance between trunks of trees in two adjacent rows of trees is 24 feet, while the diameter of the trees is around 9 feet, such that the distance between the canopies of trees in the two adjacent rows of trees is 15 feet.
  • the model is merely a proxy for a typical tree in the field and the typical spacing between plants. There will be natural variation in the distances between trees and the circumference of the canopy in an actual field.
  • the robotic installation assembly 4090 may be sized so there is clearance between the robotic installation assembly and the non-target row of trees during installation of the plant injection system. This clearance may ensure that the robotic installation assembly 4090 does not obstruct other agricultural equipment and/or individuals during installation of plant injection systems in the orchard.
  • the robotic installation assembly 4090 may be configured such that when the tool deck 4005 is in an extended and lowered position and the arm 4046 is extended toward the tree, the components located on the tool deck 4005 do not come into contact with a modeled tree.
  • the measurements provided in these figures are exemplary and various fields may correspond to different models with varying plant sizes and distances between plants. Accordingly, the specific size and dimensions of the robotic installation assembly may also vary.
  • FIG. 41 is an exemplary block diagram of a robotic system for installing a plant injection system into a plant according to some embodiments.
  • the system comprises a mobile platform 4100, which delivers a plant injection system to one or more plants.
  • a tool deck 4105 can be mounted to the mobile platform 4100.
  • the tool deck 4105 can comprise canister storage 4102, a canister conveyor 4103, a canister loader 4104, and a canister injection tool 4106.
  • the canister storage 4102 is configured to store a plurality of plant injection systems.
  • the canister conveyor 4103 is configured to receive one or more plant injection systems from the canister storage 4102 and provide the plant injection systems to the canister loader 4104, which delivers the plant injection system to the injection tool 4106.
  • the canister loader 4104 can deliver the plant injection system to the injection tool 4106 at a predetermined orientation for installation into a target plant.
  • the canister loader 4104 can deliver the plant injection system to the injection tool 4106 at a predetermined orientation for installation into a target plant.
  • FIG. 42 illustrates a front view of an exemplary automated system for installing a plant injection system into a plant according to some embodiments.
  • the system comprises the mobile platform 4200, a tool deck 4205 mounted to the platform 4200, a canister storage 4202, a canister conveyor 4203, a canister loader 4204, and a canister injection tool 4206.
  • FIG. 43A illustrates a rear perspective view of an exemplary mobile platform 4300 (e.g., platform 4100) according to one or more embodiments of this disclosure.
  • the mobile platform 4300 can comprise one or more of a cabin, 4311, one or more user controls 4312 (e.g., user input devices), a power source 4317, a compressor 4319, and a bed, 4313.
  • the mobile platform 4300 comprises a cabin 4311, located toward the front of the mobile platform 4300, where one or more operators are seated while the mobile platform 4300 moves.
  • the mobile platform 4300 may be autonomous, e.g., and may not require a cabin or human operators.
  • the cabin 4311 may comprise one or more user interface elements, for example a steering wheel 4312 and/or controls 4312 (e.g., a Parker IQAN user interface) for operating the system for installing the plant injection system.
  • the mobile platform 4300 can include a power source 4317.
  • the power source 4317 may comprise an onboard generator that provides electrical power to the robotic system for installing the plant injection system.
  • the mobile platform 4300 can include a compressor 4319.
  • the compressor 4319 may correspond to a pneumatic compressor that provides pneumatic power to the robotic system.
  • the mobile platform 4300 further comprises a bed 4313 that is configured to support the tool deck 4305 while the mobile platform 4300.
  • the bed 4313 can comprise one or more locks 4315 to secure the tool deck 4305 to the bed 4313 while the mobile platform is moving.
  • FIG. 43B provides a detailed view of the one or more locks 4315 that secure the tool deck 4305 to the bed 4313.
  • an operator may manually operate the locks 4315 to secure or release the tool deck 4305 from the bed 4313. For instance, when the mobile platform is parked and in position to install a plant injection system into a target plant, the operator may exit the cab and unlatch the locks 4315 from the tool deck 4305 before initiating the installation process.
  • FIGS. 44A-44C illustrate a rear view of the mobile platform 4400 and the tool deck 4405. Referring to FIG. 44A, the tool deck 4405 and the canister storage 4402 are shown in a stowed position.
  • the tool deck 4405 and the canister storage 4402 may both be in a stowed position when the mobile platform 4400 is moving (e.g., driving around an orchard or field).
  • the tool deck 4405 is shown moving from the stowed position to an installation position.
  • the tool deck 4405 may move laterally to the side of the mobile platform 4400 and then lower toward the ground to the installation position shown in FIG. 44C.
  • the tool deck 4405 in the installation position, the tool deck 4405 may be lowered near the ground (e.g., positioned to the side of and vertically below the bed 4413) and the canister storage 4402 may be in an upright position.
  • an operator may actuate one or more controls (e.g., via controls 4312) to move the tool deck 4405.
  • the mobile platform may comprise one or more localization sensors.
  • the localization sensors may be used to determine a position of a plant in space as described above with respect to FIG. 24A, which illustrates using one or more localization sensors, the position of the plant in space.
  • an operator may operate an input device 4312 in response to the visual content on the user interface display to identify the location of the plant.
  • the visual content may represent the data from the sensors on the mobile platform and/or arm.
  • the mobile platform may include one or more features of the mobile platforms discussed above with respect to FIGS. 13, 14A-14C, 15A-15E, and 16A-16C.
  • the one or more localization sensors may be mounted to the tool deck.
  • the canister injection tool e.g., canister injection tool 4106
  • the canister injection tool may comprise the one or more localization sensors.
  • FIG. 45 illustrates a perspective view of a tool deck 4505 (e.g., tool deck 4105).
  • the tool deck 4505 can comprise a housing 4541, a storage container 4502, a canister conveyor 4503, a canister loader 4504, and a canister injection tool assembly 4506.
  • the tool deck 4505 may comprise a housing 4541.
  • the housing 4541 of the tool deck 4505 is configured to provide a durable shell to protect various components of the robotic system disposed within the housing 4541.
  • the canister conveyor 4503, canister loader 4504 and the canister injection tool assembly 4506 may be disposed within the housing 4541.
  • the canister storage 4502 can be mounted to a top surface of the tool deck 4505. Additionally, in some embodiments, the housing 4541 can lift or otherwise move low-lying branches of target plants to provide an unobstructed installation path for the canister injection tool 4506.
  • FIGS. 46A and 46B illustrate views of the canister storage 4602.
  • the design of the canister storage 4602 stores plant injection systems and provides the plant injection systems to the canister conveyor without jamming.
  • the plant injection systems may each comprise a canister.
  • the canister storage 4602 may comprise a hopper 4629, a plurality of angled baffles 4621, a loading funnel 4623, a loading gate 4625, a loading area 4669, and an agitator 4627.
  • a plurality of plant injection systems 4601 can be loaded into the canister storage 4602 via the loading funnel 4623.
  • the plant injection systems may be loaded into the hopper 4669 of canister storage 4602 in a horizontal orientation (e.g., such that the plant injection systems are laying on its side).
  • the plurality of angled baffles 4621 can be arranged in parallel in the hopper 4629 to form a plurality of chutes 4661 configured to store and guide the plurality of plant injection systems from a top of the hopper 4629 to a bottom of the hopper 4629 toward an exit 4663 of the chutes.
  • the loading gate 4625 is configured to selectively open and close the exit 4663 of the chutes 4661.
  • the agitator 4627 is configured to facilitate movement of the plurality of plant injection systems from the loading area 4669 to the canister conveyor (e.g., canister conveyor 4103).
  • the loading funnel 4623 may be disposed at a top end of the canister storage 4602. Referring briefly to FIGS. 47A and 47B, the loading funnel 4723 may be slidably mounted to an upper end of the canister storage 4702. As shown in the FIG. 47A, the loading funnel 4723 may comprise a ramp 4771 and an opening 4773.
  • the loading funnel 4723 may be configured to receive one or more plant injection systems (e.g., plant injection system 4601) and provide the one or more canisters in a horizontal orientation (e.g., on its side) to the canister storage 4602.
  • the opening 4773 may be sized based on the dimensions of the canister so that the canisters are loaded in a horizontal orientation into the canister storage 4602. This may prevent jamming of the canisters as they move through the chutes.
  • an operator can load a plurality of plant injection systems into the canister storage by placing a box 4775 containing a plurality of plant injection systems onto the ramp 4771, as shown in FIG. 47B.
  • the operator can load the plurality of plant injection systems while the canister storage compartment 4602 is oriented in an upright position.
  • the dimensions of the opening 4773 may be sized such that plant injection systems are loaded in a horizontal orientation into the canister storage 4702.
  • a width of the chute may be based on a width of a canister of the plant injection system and a length of the chute may be based on a height of the plant injection system.
  • the loading funnel may be positioned such that the opening 4773 is located above a first chute 4761.
  • the operator can load the plant injection systems into the first chute 4761. Once the first chute 4761 is full, the operator can slide the loading funnel 4723 to load a second chute.
  • the canister storage 4702 When the canister storage 4702 is loaded (e.g., all chutes are full), it can be moved to a stowed position for transportation as shown in FIG. 45.
  • the canister storage may be moved to an upright position for installation of a plant injection system.
  • the hopper 4629 can store the plant injection systems between a plurality of angled baffles 4621 that are arranged in parallel to form a plurality of chutes 4661.
  • the chutes 4661 may be oriented parallel to axis 4660, which is angled relative to the direction of gravity g.
  • the geometry and spacing of the angled baffles 4621 are designed to prevent plant injection systems 4601 from free-falling while they traverse the chutes 4661. Referring to FIG.
  • the angled baffles 4621 are spaced such that as a plant injection system 4601 travels along axis 4660, the plant injection system 4601 is regularly agitated as it altematingly contacts the lower concave surfaces of 4663 of upper baffle 4621a and the upper convex surfaces of lower baffle 4621b.
  • the consistent jostling from the of the plant injection system 4601 by the baffles 4621a, 4621b ensures that the horizontal orientation of the plant injection system 4601 is maintained as it moves through the chute 4661 (e.g., toward an exit of the chute 4663 and to a loading area 4669 of the canister storage 4602).
  • the canister storage can include a loading gate disposed between the exits of the chutes and a loading area.
  • the loading gate can comprise a frame 4776 and a plurality of cross-bars 4778.
  • Loading gate 4725 is exemplary and not to scale.
  • a cross-bar of the loading gate may correspond to a chute.
  • the canister storage 4602 comprises eight chutes. Accordingly, the loading gate would comprise at least eight cross-bars.
  • the loading gate 4625 can move between an engaged position and an open position.
  • the cross-bars of the loading gate may obstruct a corresponding chute to prevent the plant injection systems from falling into the loading area 4669.
  • the loading gate moves to align the cross-bars with the angled baffles 4621 to permit at least one plant injection system from each chute to drop into the loading area 4669.
  • the loading area 4669 provides a stepped path for the plant injection systems to be fed to the canister conveyor via the agitator 4627.
  • the agitator 4627 may have a star-shaped geometry to move the bottom-most canister from the loading area 4669 to the canister conveyor.
  • the agitator 4627 can be ready to deliver another plant injection system to the canister conveyor.
  • the loading gate may be opened to permit additional plant injection systems into the loading area 4669.
  • FIGS. 48A and 48B illustrate the canister conveyor 4803.
  • the canister conveyor 4803 can comprise a cover 4831, an infeed chute 4833, a conveyor belt 4835, a plurality of retention baffles 4837 coupled to the belt 4835, one or more attachment rods 4839, and one or more sensors 3838.
  • the infeed chute 4833 may be disposed at an upper end of the conveyor 4803.
  • the infeed chute 4833 can be configured to receive one or more plant injection systems from the canister storage and deliver the one or more plant injection systems to the conveyor belt 4835.
  • the conveyor belt 4835 may extend between an upper end (e.g., proximate the infeed chute 4833) and a lower end (e.g., proximate the loader 4804) of the conveyor 4803.
  • the conveyor belt 4835 is configured to move between the upper end and the lower end of the conveyor 4803 to deliver one or more plant injection systems to the canister loader 4804 disposed at the lower end of the conveyor 4803.
  • the conveyor 4803 may include a plurality of retention baffles 4837 mounted to the conveyor belt 4835.
  • the plurality of retention baffles 4837 are arranged in parallel to form a plurality of slots 4836.
  • the plurality of slots 4836 are configured to receive one or more plant injection systems.
  • the one or more sensors 4838 may be used to determine whether a plant injection system is disposed in a slot or whether a slot is empty. In this manner, the conveyor 4803 ensures that a plant injection system is delivered to the loader 4804 for installation into a tree.
  • the system can advance the conveyor 4803 as necessary (e.g., by one or more slots) to ensure that a canister is delivered to the canister loader 4804 for installation into a target plant.
  • the cover 4831 is provided to prevent displacement of the plant injection systems from their corresponding slots once loaded.
  • the attachment rods 4837 facilitate attachment of the conveyor 4803 to the tool deck (e.g., tool deck 4505).
  • the infeed chute 4833 can deliver a plant injection system to a slot on the belt 4835.
  • the belt 4835 advances from the upper end of the conveyor 4803 (proximate the infeed chute 4883) toward the lower end of the conveyor (proximate the canister loader 4804), the retention baffles 4837 and the cover 4831 ensure that the plant injection systems remain in the corresponding slots 4836.
  • the conveyor belt 4935 can advance to deliver the plant injection system 4901 from a slot 4936 to the loader 4904.
  • the loader 4904 may comprise one or more canister clamps 4993, a slider 4991, one or more sensors, 4995, a slider actuator 4997, and an access panel 4999.
  • the loader 4904 may operate similarly to the loader described above with respect to FIGS. 20A-20G.
  • the loader 4904 receives the plant injection system 4901, orients the plant injection system 4901 to a predetermined installation orientation, locks the plant injection system 4901 in the predetermined orientation, and delivers the plant injection system 4901 to the canister injection tool (e.g., canister injection tool 4106).
  • the predetermined installation orientation may correspond to a cutting edge of the injection tool of the plant injection system oriented in a perpendicular direction with respect to gravity, e.g., such that the cutting edge is substantially parallel to the ground.
  • the conveyor 4903 may deposit a plant injection system 4901 into the canister clamps 4993. While in the canister clamps 4993, the loader 4904 can rotate the plant injection system 4901 to a predetermined orientation to be conveyed to the canister injection tool. In some embodiments, the loader 4904 can rotate the canister 4901 using, e.g., a drive wheel, until the canister 4901 has the same orientation as the predetermined installation orientation.
  • the one or more sensors 4995 determine the orientation of the plant injection system 4901 (e.g., based on one or more edges of the tip of the plant injection system 4901). The one or more sensors 4995 may include, for example, proximity sensors.
  • the slider actuator 4997 moves the slider 4991 to secure the plant injection system 4901 via a lock 4998.
  • the slider 4991 may move the canister clamps 4993 holding the plant injection system 4901 to the canister injection tool 4906.
  • the slider 4991 may move the canister clamps 4993 to the injection tool carriage 4951 of the canister injection tool 4906.
  • the injection tool carriage 4951 may comprise a set of jaws 4963 to receive and secure the plant injection system 4901 in the predetermined orientation in the injection tool carriage 4951.
  • the injection tool carriage 4951 may be substantially similar to the injection tool carriage described in FIGS. 23A-23D.
  • a longitudinal axis of the plant injection system 4901 may be substantially perpendicular to a direction of gravity when loaded in the injection tool carriage 4951 in the predetermined installation orientation, (e.g., parallel to the ground assuming the ground is level).
  • the predetermined orientation may correspond substantially to the orientation that of the plant injection system 4901 when it is installed into the plant (e.g., within 0-10° of the final installation orientation).
  • the arm of the injection tool assembly may move (e.g., pitch, roll, yaw) to achieve the optimal installation orientation normal to a surface of the target plant at the injection site.
  • the set of jaws 4963 may include an inset portion to receive and secure the plant injection system.
  • the inset portion may comprise a diamond shape to receive and secure the central column between the top beam and the bottom beam of the insertion tool (e.g., tip) of the plant injection system. Due to the interplay between the geometry of the inset portion and the central column, the predetermined orientation of the plant injection system is maintained (e.g., positively maintained) while the first set of jaws are in a closed position.
  • the injection tool carriage 4951 may comprise a second set of jaws to further secure a canister portion of the plant injection system 4901.
  • FIGS. 50A-50C illustrate various views of the canister injection tool 5006.
  • the canister injection tool 5006 may comprise a turret 5080, a telescoping arm 5081, a chain 5089, an extension actuator 5083, a pitch actuator 5085, a roll actuator 5087, and a canister injection tool head 5050.
  • the canister injection tool head 5050 is disposed at a distal end of the telescoping arm 5081.
  • the telescoping arm 5081 may comprise two or more telescoping segments.
  • the chain 5089 and extension actuator 5083 (e.g., a chain drive mechanism) provide a robust telescoping mechanism that enables the telescoping segments of the telescoping arm 5081 to slide relative to each other and extend the telescoping arm outward from the tool deck (e.g., tool deck 4105) toward a target plant.
  • FIGS. 50B and 50C illustrate an exemplary canister injection tool 5006 with an arm in a retracted position and an extended position, respectively.
  • the injection turret 5080 is coupled to the telescoping arm 5081 and provides a rotational degree of freedom about the y axis that allows the canister injection tool head to move from side to side (yaw).
  • FIGS. 51A and 51B FIG. 51A shows an extended injection tool head in a neutral position (e.g., where the arm is extending at 90° angle from a front face of the tool deck, the arm is substantially perpendicular to a direction of gravity, and the canister injection tool head is substantially perpendicular to gravity).
  • FIG. 51B shows the injection toolhead that has moved from the neutral position to the right (e.g., yaw).
  • the pitch actuator 5085 is housed in the arm 5081 and enables the arm 5081 to rotate about the p axis to tilt the injection tool head 5050 in a direction down toward the ground (e.g., if a plant is tilted away from the robotic system) or upwards (e.g., if a plant is tilted at an acute angle toward the robotic system) (pitch).
  • the injection toolhead that has moved from the neutral position upward (e.g., pitch).
  • the roll actuator 5087 is housed in the arm 5081 and enables the arm 5081 to rotate about the r axis to tilt the injection tool head 5050 to the left or to the right (e.g., if a plant is tilted in a direction to the side of the robotic system) (roll).
  • the injection toolhead tilted to the left and right respectively (e.g., roll).
  • embodiments of the present disclosure provide multi-axis movement control of the arm 5081 and the canister injection toolhead 5050 via the turret 5080, a telescoping arm 5081, a chain 5089, a chain drive mechanism 5083, a pitch actuator 5085, and a roll actuator 5087.
  • This multi-axis movement control enables the system to install a plant injection system onto plants having various orientations, e.g., where plants may not grow in a vertical direction, but may be growing at a non-normal angle from the ground.
  • embodiments in accordance with this disclosure have the flexibility to install a plant injection system into plants that are oriented normal to the ground, at an acute angle toward the system, at an obtuse angle away from the system, or a direction to the side of the system.
  • the desired extension of the arm 5081 and angle of the canister injection tool head 5080 may be determined based on sensor data in accordance with the methods described above with respect to FIGS. 25A-25H.
  • the sensor data can be obtained from one or more position sensors disposed on the canister injection toolhead 5050.
  • the one or more position sensors may also be used as localization sensors as discussed above.
  • embodiments of the present disclosure provide a robust system robotic system that can withstand wear and tear out in the field. Unlike many light-weight robotic systems that operate indoors and do not have to contend directly with field conditions (e.g., weather conditions, dirt, sand, sun, etc.) embodiments of this system include robust mechanisms that can handle high output and potentially adverse field conditions.
  • the chain 5089 and chain drive mechanism 5083 provide a robust telescoping mechanism that can rigidly support the weight of the arm 5081 and canister injection tool head 5050 during the plant injection system installation process.
  • FIG. 52 illustrates an exemplary embodiment of a canister injection tool head 5250 in accordance with embodiments of this disclosure.
  • the canister injection tool head 5250 can include one or more sensors 5259 and a ring toolhead 5252 comprising an injection tool carriage 5251.
  • the one or more sensors 5259 can comprise one or more time of flight sensors.
  • the one or more sensors may correspond to the time-of-flight sensors as discussed above.
  • the one or more time-of-flight sensors can be used to, in real-time, control the alignment of the arm using the input device switch.
  • the time- of-flight sensors may switch near or far field targeting.
  • a single time-of-flight sensor can be operated as both a near field and far field sensor to perform the operation of a separate near field time-of-flight sensor and far field time-of-flight sensor.
  • the time-of-flight sensors can be used as localization sensors to identify and locate the target plant and be used as position sensors to position the robotic system and canister injection tool head 5250 for installation of a plant injection system 5201.
  • the sensor data from the plant injection system 5201 can be used to install the plant injection system 5201 using the ring toolhead 5252.
  • the ring toolhead 5252 can comprise a ring 5254, a ring linkage 5257, a plant vise 5258, plant vise actuators 5256, and an injection tool carriage 5251.
  • the ring linkage 5257 can couple the ring 5254 to the arm of the canister injection tool.
  • the ring linkage 5257 can include one or more springs to facilitate passive alignment of the ring toolhead 5252 with a plant.
  • the injection tool carriage 5251 can include one or more sets of jaws 5253 and a plant injection system actuator 5255.
  • the injection tool carriage 5251 can install the plant injection tool system into a target plant.
  • the ring toolhead 5252 may operate according to a method substantially similar to the method described with respect to FIGS. 24A-24B, 25A- 25G and 26-38.
  • FIG. 53 illustrates a process 5300 for a robotic system in accordance with embodiments of the present disclosure to install a plant injection system into a target plant.
  • the robotic system can correspond to any robotic system as described herein for installing a plant injection system into a plant.
  • one or more steps associated with process 5300 may correspond to the description provided above with respect to FIGS. 24A- 24B, 25A-25G and 26-38.
  • the system can determine a position of a plant via one or more positioning sensors of an injection tool assembly.
  • block 5302 may correspond to the description provided above with respect to FIGS. 24A and 24B where one or more localization sensors can be used to determine a position of a plant in space.
  • the one or more sensors 5259 may be used to determine a position of a target plant.
  • the system can extend an arm of an injection tool assembly toward the plant to position a ring of the injection tool assembly around a circumference of the plant.
  • block 5304 may correspond to the description provided above with respect to FIGS. 25A-25G and 26-28.
  • the system can grip the plant with a plant vise.
  • block 5306 may correspond to the description provided above with respect to FIG. 29. For instance, once the ring is oriented, the braces of the plant vise move until engaged with the plant, as shown in FIG. 29.
  • the ring is coupled to the arm via a linkage. The linkage permits one or more of: pitch and roll movements of the ring relative to the arm.
  • the ring When the plant is braced in the plant vise, the ring may passively rotate based on an orientation of the plant. For example, if the plant is not at a 75° angle to the ground, bracing the plant in the vise causes the ring to be similarly oriented at a 75° angle to the ground.
  • the linkage comprises one or more springs, for example. In some examples, the one or more springs may be selected based on a desired spring constant.
  • the system can extend an injection tool carriage toward the plant, wherein the plant injection system is secured in the injection tool carriage.
  • the plant injection system may be oriented in a predetermined installation orientation when extended toward the plant.
  • the system can insert, via the injection tool carriage, the plant injection system into the plant.
  • block 5310 may correspond to the description provided above with respect to FIG. 30.
  • the injection tip may be inserted into the plant.
  • the insertion may comprise a single movement of the plant injection system toward the plant. The single movement for the insertion may help reduce the amount of damage to the plant tissue.
  • the injection tool carriage may insert the plant injection system into the plant by applying force to the injection tool of the plant injection system.
  • a linear actuator and/or motor may be used to apply the force to the injection tool.
  • the plant injection system may be inserted into the plant via multiple repeated injections (e.g., pecks).
  • the system can actuate, via the injector of the injection tool carriage, the plant injection system.
  • block 5312 may correspond to the description provided above with respect to FIG. 31.
  • the system actuates the plant injection system by applying a force to the bottom surface (e.g., opposite the injection tool) of the plant injection system.
  • the applied force may be between 30N - 60N.
  • Actuating the plant injection system comprises starting the flow of fluid from the plant injection system to the plant.
  • FIG. 54 illustrates a process 5400 for a robotic system in accordance with embodiments of the present disclosure to install a plant injection system into a target plant.
  • the robotic system can correspond to any robotic system (e.g., shown in FIGS. 13 and/or 41) as described herein for installing a plant injection system into a plant.
  • the robotic system can determine a location of the plant based on signals from one or more localization sensors associated with a mobile platform of the robotic system.
  • the one or more localization sensors can correspond to one or more time of flight sensors.
  • the robotic system can align the mobile platform relative to the plant.
  • the robotic system may receive an input from a user (e.g., via one or more user controls) to align the mobile platform relative to the plant.
  • the robotic system can position, via a loader (e.g., canister loader or canister reload), the plant injection system in the predetermined orientation.
  • a loader e.g., canister loader or canister reload
  • the loader may use a drive wheel to rotate the plant injection system to a predetermined installation orientation.
  • the robotic system can convey, via the loader, the plant injection system to the injector tool carriage of the injection tool assembly. In some instances, this may include using a set of jaws associated with the injection tool assembly to secure the plant injection system in an injection tool carriage in the predetermined installation orientation.
  • the robotic system can install the plant injection system according process 5300 or any other installation process described herein.
  • liquid formulation is water soluble.
  • liquid formulation comprises nutrients.
  • the liquid formulation comprises micronutrients.
  • the liquid formulation is a semi-liquid formulation.
  • the liquid formulation is a gel formulation.
  • the liquid formulation is delivered as a semi-liquid or a gel formulation.
  • the liquid formulation comprises one or more active ingredients.
  • formulations are prepared, e.g., by mixing the active ingredients with one or more suitable additives such as suitable extenders, solvents, spontaneity promoters, carriers, emulsifiers, dispersants, frost protectants, biocides, thickeners, adjuvants or the like.
  • suitable additives such as suitable extenders, solvents, spontaneity promoters, carriers, emulsifiers, dispersants, frost protectants, biocides, thickeners, adjuvants or the like.
  • suitable additives such as suitable extenders, solvents, spontaneity promoters, carriers, emulsifiers, dispersants, frost protectants, biocides, thickeners, adjuvants or the like.
  • suitable additives such as suitable extenders, solvents, spontaneity promoters, carriers, emulsifiers, dispersants, frost protectants, biocides, thickeners, adjuvants or the like.
  • An adjuvant in this context is a component which enhances
  • One embodiment of the disclosure comprises a long-term supply of the active ingredient to the plant over the growing season, with an auxiliary being stabilizers, such as low-temperature stabilizers, preservatives, antioxidants, light stabilizers or other agents which improve chemical and/or physical stability.
  • an auxiliary being stabilizers, such as low-temperature stabilizers, preservatives, antioxidants, light stabilizers or other agents which improve chemical and/or physical stability.
  • Examples of typical liquid formulations include water-soluble liquids (SL), emulsifiable concentrates (EC), emulsions in water (EW), suspension concentrates (SC, SE, FS, OD), water-dispersible granules (WG) and fluids (which include one or more of a liquid, gas, gel, vapor, aerosol or the like).
  • SL water-soluble liquids
  • EC emulsifiable concentrates
  • EW emulsions in water
  • SC SE, SE, FS, OD
  • water-dispersible granules WG
  • fluids which include one or more of a liquid, gas, gel, vapor, aerosol or the like.
  • compositions are prepared in a known manner, such as described by Mollet and Grubemann, Formulation technology, Wiley VCH, Weinheim, 2001; or Knowles, New developments in crop protection product formulation, Agrow Reports DS243, T&F Informa, London, 2005.
  • Formulations are prepared, e.g., by mixing the active ingredients with one or more suitable additives such as suitable extenders, solvents, spontaneity promoters, carriers, emulsifiers, dispersants, frost protectants, biocides, thickeners, adjuvants or the like.
  • An adjuvant in this context is a component which enhances the biological effect of the formulation, without the component itself having a biological effect.
  • adjuvants are agents which promote the retention, spreading, or penetration in the target plant.
  • One embodiment of the disclosure comprises a long-term supply of the active ingredient to the plant over the growing season, with an auxiliary being stabilizers, such as low-temperature stabilizers, preservatives, antioxidants, light stabilizers or other agents which improve chemical and/or physical stability.
  • auxiliaries are solvents, liquid carriers, surfactants, dispersants, emulsifiers, wetters, adjuvants, solubilizers, penetration enhancers, protective colloids, humectants, repellents, attractants, feeding stimulants, compatibilizers, bactericides, anti-freezing agents, antifoaming agents, colorants, stabilizers or nutrients, UV protectants, tackifiers, and/or binders.
  • Specific examples for each of these auxiliaries are well known to the person of ordinary skill in the art, see, for example, US 2015/0296801 Al.
  • compositions can optionally comprise 0.1-80% stabilizers and/or nutrients and 0.1-10% UV protectants.
  • suitable ratios for multiple formulation types referenced above are given in Agrow Reports DS243, T&F Informa, London, 2005.
  • compositions and/or formulations according to the disclosure may also have a strengthening effect in plants.
  • Plant-strengthening resistanceinducing substances are to be understood as meaning, in the present context, those substances or combinations of substances which are capable of stimulating the defence system of plants in such a way that, when subsequently inoculated with harmful microorganisms, the treated plants display a substantial degree of resistance to these microorganisms.
  • the application when applying active ingredients, can be continuous over a longer period or intervals. In some variations, the application could also be coupled with a disease monitoring system and be triggered “on demand.” In some variations, the formulations can comprise between 0.5% and 90% by weight of active compound, based on the weight of the formulation.
  • active ingredients can be used in the injection systems described herein.
  • the active ingredients specified herein by their “common name” are known and described, for example, in The Pesticide Manual (18 th edition, Ed. Dr. J A Turner (2016), which includes, among other agents, herbicides, fungicides, insecticides, acaricides, nematocides, plant growth regulators, repellents, synergists).
  • the present disclosure provides a process for modulating the phenotype of a plant or a multitude of plants by installing a plant injection system according to the disclosure in the plant or multitude of plants and administering a liquid formulation of an active ingredient to modulate the phenotype of the plant.
  • the present disclosure provides a method to modulate phenotypes of plants, for instance to treat, prevent, protect and immunize, which means induce local and systemic resistance to plants from pathogenic attacks and pest attacks.
  • the injection tools described herein distribute liquid formulations directly to the interior of the plant without spraying and the commensurate loss of errantly applied sprayed formulations.
  • the formulations are selectively administered at appropriate times to minimize (e.g., eliminate or minimize) the accumulation of chemical residues in fruits or crops as mandated.
  • the present disclosure includes injection methods, devices and systems for treating plants whose xylem and/or phloem may be subject to invasion by bacteria, fungi, virus and/or other pathogens; and/or for controlling bacteria, fungi, virus and/or other pathogens which invade the xylem and/or phloem of plants.
  • plants are meant all plants and plant populations such as desirable and undesirable wild plants, cultivars and plant varieties (whether or not protectable by plant variety or plant breeder's rights).
  • Cultivars and plant varieties can be plants obtained by conventional propagation and breeding methods which can be assisted or supplemented by one or more biotechnological methods such as by use of double haploids, protoplast fusion, random and directed mutagenesis, molecular or genetic markers or by bioengineering and genetic engineering methods.
  • Plant includes whole plants and parts thereof, including, but not limited to, shoot vegetative organs/structures (e.g. leaves, stems and tubers), roots, flowers and floral organs/structures (e.g.
  • plants that can benefit from application of the products and methods of the subject disclosure are selected from Tree Crops (e.g., Walnuts, Almonds, Pecans, Hazelnuts, Pistachios, etc.), citrus trees (Citrus spp.
  • Conifers that may be employed in practicing the embodiments are selected from pines such as loblolly pine (Pinus taeda), slash pine (Pinus elliotii), ponderosa pine (Pinus ponderosa), lodgepole pine (Pinus contorta), and Monterey pine (Pinus radiata); Douglas-fir (Pseudotsuga menziesii); Western hemlock (Tsuga canadensis); Sitka spruce (Picea glauca); redwood (Sequoia sempervirens); true firs such as silver fir (Abies amabilis) and balsam fir (Abies balsamea); and cedars such as Western red cedar (Thuja plicata) and/or Alaska yellow-cedar (Chamaeeyparis nootkatensis).
  • pines such as loblolly pine (Pinus taeda), slash pine (P
  • Palm trees that may be treated are selected from Archontophoenix alexandrae (king Alexander palm), Arenga spp. (Dwarf sugar palm), Borassus flabellifer (Lontar palm), Brahea armata (blue hesper palm), Brahea edulis (Guadalupe palm), Butia capitate (pindo palm), Chamaerops humilis (European fan palm), Carpentaria spp (Carpenteria palm), Chamaedorea elegans (parlor palm), C. erupens (bamboo palm), C.
  • One embodiment includes the prevention or cure of bud rot of palm trees caused, for example, by Phytophthora palmivora, Thielaviopsis paradoxa and/or bacteria. Unlike most trees, which have many points where new growth emerges, palms rely on their single terminal bud. If the terminal bud or heart becomes diseased and dies, the tree will not be able to put out any new leaf growth and will die. That is why preventative care is needed to maintain a healthy palm tree.
  • One embodiment comprises a method for reducing damage of plants and/or plant parts or losses in harvested fruits or plant produce caused by phytopathogenic fungi by controlling such phytopathogenic fungi, comprising applying the tools, system, agents/formulations or methods of the disclosure to the plant.
  • the injection systems described herein may be used for controlling, preventing, or curing the following fungal plant diseases selected from the group: Botrytis cinerea (teleomorph: Botryotinia fuckeliana: grey mold) on fruits and berries (e.g. strawberries), rape, vines, forestry plants; Ceratocystis (syn. Ophiostoma) spp.
  • liriodendri teleomorph: Neonectria liriodendri: Black Foot Disease) and ornamentals; Esca (dieback, apoplexy) on vines, caused by Formitiporia (syn. Phellinus) punctata, F. mediterranea, Phaeomoniella chlamydospora (earlier Phaeoacremonium chlamydosporum), Phaeoacremonium aleophilum and/or Botryosphaeria obtuse; Elsinoe spp. on pome fruits (E. pyn), soft fruits (E. veneta: anthracnose) and vines (E.
  • ampelina anthracnose
  • Eutypa lata Eutypa canker or dieback, anamorph: Cytosporina lata, syn. Libertella blepharis
  • Fusarium teleomorph: Gibberella
  • Glomerella cingulata on vines, pome fruits and other plants Glomerella cingulata on vines, pome fruits and other plants; Guignardia bidwellii (black rot) on vines; Gy mno sporangium spp. on rosaceous plants and junipers, e.g. G. sabinae (rust) on pears; Hemileia spp., e.g.
  • H. vastatrix (coffee leaf rust) on coffee; Isariopsis clavispora (syn. Cladosporium vitis) on vines; Monilinia spp., e.g. M. taxa, M. fructicola and M. fructigena (bloom and twig blight, brown rot) on stone fruits and other rosaceous plants; Mycosphaerella spp. on bananas, soft fruits, such as e.g. M. fijiensis (black Sigatoka disease) on bananas; Phialophora spp. e.g. on vines (e.g. P. tracheiphila and P. tetraspora); Phomopsis spp.
  • R. collo-cygni Rosularia leaf spots, Physiological leaf spots
  • Rhizoctonia spp. on cotton, rice, potatoes, turf, corn, rape, potatoes, sugar beets, vegetables and various other plants, e.g. R. solani (root and stem rot) on soybeans, R. solani (sheath blight) on rice or R.
  • the injection systems herein may be employed for controlling, preventing, or curing the diseases in plants selected from:
  • boxwood blight fungus (Cylindrocladium buxicola also called Calonectria pseudonaviculata), Volutella buxi, Fusarium buxicola.
  • Target insects can be selected from the order of Lepidoptera, Coleoptera, Diptera, Thysanoptera, Hymenoptera, Orthoptera, Acarina, Siphonaptera, Thysanura, Chilopoda, Dermaptera, Phthiraptera, Hemipteras, Homoptera, Isoptera and/or Aptero.
  • pests include, but are not limited to, Arthropods, including, for example, Lepidoptera (for example, Plutellidae, Noctuidae, Pyralidae, Tortricidae, Lyonetiidae, Carposinidae, Gelechiidae, Crambidae, Arctiidae, and/or Lymantriidae), Hemiptera (for example, Cicadellidae, Delphacidae, Psyllidae, Aphididae, A!eyrodidas, Orthezidae, Miridae, Tingidae, Pentatomidae, and/or Lygaiedae), Coleoptera (for example, Scarabaeidae, Elateridae, Coccinellidae, Cerambycidae, Chrysomelidae, and/or Curculionidae), Diptera (for example, Mus, Le
  • the injection systems described herein may also be useful against bacterial pathogens that attack, consume (in whole or in part), or impede the growth and/or development of plants and/or act as transmission vectors to the plant and/or other plants caused by such bacterial pathogens.
  • the bacterial pathogens can include Agrobacterium, Agrobacterium tumefaciens, Erwinia, Erwinia amylovora, Xanthomonas, Xanthomonas campestris, Pseudomonas, Pseudomonas syringae, Ralstonia solanacearum, Corynebacterium, Streptomyces, Streptomyces scabies, Actinobacteria, Micoplasmas, Spiroplasmas and/or Fitoplasmas.
  • the injection systems described herein may also be useful for mitigating, controlling and/or eradicating viral pathogens that attack, consume (in whole or in part), or impede the growth and/or development of the plant and/or act as transmission vectors to the plant and/or other plants caused by such viral pathogens.
  • viral pathogens can include Carlaviridae, Closteroviridae, viruses that attack citrus fruits, Cucumoviridae, Ilarviridae, dwarf virus attacking prunes, Luteoviridae, Nepoviridae, Potexviridae, Potyviridae, Tobamoviridae, Caulimoviridae, as well as other viruses that attack vegetation and crops.
  • Plant growth-regulating compounds can be used, for example, to inhibit the vegetative growth of the plants.
  • Such inhibition of growth is of economic interest, for example, the inhibition of the growth of herbaceous and woody plants on roadsides and in the vicinity of pipelines or overhead cables, or quite generally in areas where vigorous plant growth is unwanted.
  • Inhibition of the vegetative plant growth may also lead to enhanced yields because the nutrients and assimilates are of more benefit to flower and fruit formation than to the vegetative parts of the plants.
  • growth regulators can also be used to promote vegetative growth. This is of great benefit when harvesting the vegetative plant parts. However, promoting vegetative growth may also promote generative growth in that more assimilates are formed, resulting in more or larger fruits.
  • Use of growth regulators can control the branching of the plants.
  • side shoots which may be highly desirable particularly in the cultivation of ornamental plants, also in combination with an inhibition of growth.
  • This effect is of particular interest, for example, in the cultivation of tobacco or in the cultivation of tomatoes.
  • the amount of leaves on the plants can be controlled such that defoliation of the plants is achieved at a desired time. Such defoliation plays a major role in the mechanical harvesting of cotton, but is also of interest for facilitating harvesting in other crops, for example in viticulture.
  • Growth regulators can also be used to achieve faster or delayed ripening of the harvested material before or after harvest. This is particularly advantageous as it allows optimal adjustment to the requirements of the market. Moreover, growth regulators in some cases can improve fruit color. In addition, growth regulators can also be used to concentrate maturation within a certain period of time. This establishes the prerequisites for complete mechanical or manual harvesting in a single operation, for example in coffee.
  • growth regulators can induce resistance of the plants to frost, drought or high salinity of the soil. This allows the cultivation of plants in regions which are normally unsuitable.
  • compositions and/or formulations according to the disclosure also exhibit a potent strengthening effect in plants. Accordingly, they can be used for mobilizing the defences of the plant against attack by undesirable microorganisms.
  • Plant-strengthening (resistance-inducing) substances are to be understood as meaning, in the present context, those substances which are capable of stimulating the defence system of plants in such a way that the treated plants, when subsequently inoculated with undesirable microorganisms, develop a high degree of resistance to these microorganisms.
  • the active compounds according to the disclosure are also suitable for increasing the yield of crops. In addition, they show reduced toxicity and are well tolerated by plants.
  • plant physiology effects comprise the following (all of which can be modulated by the compositions, methods and devices provided herein): abiotic stress tolerance, comprising temperature tolerance, drought tolerance and recovery after drought stress, water use efficiency (correlating to reduced water consumption), flood tolerance, ozone stress and UV tolerance, tolerance towards chemicals like heavy metals, salts, pesticides (safener) etc.; and biotic stress tolerance, comprising increased resistance fungal diseases, increased resistance against nematodes, viruses and bacteria; and increased plant vigor, comprising plant health, plant quality, seed vigor, reduced stand failure, improved appearance, increased recovery, improved greening effect and improved photosynthetic efficiency.
  • injection systems described herein may be employed to reduce the mycotoxin content in the harvested material and the foods and feeds prepared therefrom.
  • injection systems described herein may be employed to provide to the plant nutritional elements like nitrogen, phosphorous and potassium, as well as mineral elements, including but not limited to, silicium, calcium, magnesium and manganese.
  • a method for treating a plant whose xylem or phloem or both are invaded by, or are at risk of being invaded by, bacteria, fungi, virus and/or other pathogens using the injection systems described herein.
  • the method improves the strength of the plant to withstand attack of bacteria.
  • the method strengthens an infected plant or improves plant health recovery of the infected plant.
  • the disclosure provides methods for improving the strength of a plant infected by Xylella fastidiosa, which is a xylem-limited plant bacteria thought to cause the referenced disease. In certain embodiments, the disclosure provides methods for enhancing or maintaining the health of olive trees. In some embodiments, the disclosure provides methods for treating olive quick declines syndrome in olive trees. In some variations, the disclosure provides methods for improving the strength of an olive tree infected by Xylella fastidiosa subsp. pauca. In other variations, the disclosure provides methods for improving the strength of an olive tree infected by Xylella fastidiosa subsp. multiplex.
  • the disclosure provides methods for improving the strength of an olive tree infected by Xylella fastidiosa subsp. fastidiosa, Xylella fastidiosa subsp. multiplex, Xylella fastidiosa subsp. sandyi, and/or Xylella fastidiosa subsp. pauca.
  • this disclosure provides methods for enhancing or maintaining plant health in the citrus plants and grove. In some such embodiments, this disclosure provides methods for treating diseased plants and/or methods for controlling the bacteria, fungi, viruses and/or other pathogens that cause citrus greening disease in the citrus plants. In further such embodiments, this disclosure provides methods for treating citrus plants whose xylem and/or phloem have been invaded by disease-causing bacteria, fungi, viruses, and/or other pathogens, for controlling the bacteria, fungi, virus and/or other pathogens causing the disease, and for preventing diseases by preventing sufficient colonization of the plant by the disease causing pathogens such as bacteria, fungi, and viruses.
  • controlling citrus greening disease in citrus plants using the systems, devices and methods herein includes reducing the bacterial concentration (titer) in the vascular system.
  • controlling citrus greening disease in citrus plants using the systems, devices and methods herein includes reducing the bacterial concentration (titer) in the vascular system by strengthening the plant’s natural defense system.
  • the systems, devices and methods herein can provide a treatment that leads to suppression of the disease to a level where recovery of citrus production occurs.
  • bacterial titer refers to the bacterial concentration in the vascular system of the infected plant.
  • Bacterial titer may be measured using any suitable methods and techniques known in the art. For example, in one variation, bacterial titer is measured through quantitative PCR. In one variation, CLas titer is measured, e.g., using any suitable techniques known in the art.
  • the citrus plant is a citrus tree or a citrus bush.
  • the citrus tree is an orange tree, a lemon tree, a lime tree, a grapefruit tree, or a pomelo tree.
  • the citrus plant is a lemon bush, or a lime bush.
  • the citrus bush is a dwarf citrus bush.
  • the citrus tree is a mature tree.
  • the citrus plants are suffering from citrus greening disease caused by Liberibacter spp. (e.g., L. asiaticus, L. africanus, L. americanus).
  • the disease is transmitted by the Asian citrus psyllid, Diaphorina citri, and the African citrus psyllid, Trioza erytreae.
  • the infected citrus plant exhibits at least one symptom caused by citrus greening disease.
  • the citrus plant to which the injection formulation is applied is infected.
  • the citrus plant to which the injection formulation is applied is not infected.
  • the methods described herein are used only for citrus plants with one or more symptoms caused by citrus greening disease.
  • Such symptoms may include any one or more of the following: asymmetrical yellowing of veins and adjacent tissues; splotchy mottling of the entire leaf; premature defoliation; dieback of twigs; decay of feeder rootlets and lateral roots; decline in vigor; stunted growth, bear multiple off-season flowers; produce small, irregularly shaped fruit with a thick, pale peel that remains green at the bottom and tastes bitter.
  • FIGS. 3A, 3B, and 4 The actuator used in this example is depicted in FIGS. 3A, 3B, and 4 as actuator 300.
  • Actuator 300 comprises activator 302 and frame 301.
  • the activator is configured to mount the injection tool, which is equipped with positioning slots 306 on female port 309 to ensure a precise connection between the activator and the injection tool.
  • the actuator’s load case included four fixed constraints at the spreaders 304, and a load was applied to the top where the stem of the pressurized spraycan sits, with reference to FIG. 3B.
  • the load is a linear force of 30N, which is the maximal force that the stem of the spraycan used can reach.
  • the exemplary actuator used in this example was injection molded out of polypropylene. Because of the predetermined breaking points that disconnect the activator from the frame in case of a pulling force of the spraycan, the wall thickness of these breaking points were relatively thin, and led to an acceptable maximal displacement of about 0.19 mm around region 310 as depicted in FIG. 4. The actuator demonstrated acceptable ranges when tested for various factors, including stress, displacement, reaction force, and strain.

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  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

L'invention concerne des dispositifs et des procédés pour installer un système d'injection de plante dans une plante cible. L'invention concerne un actionneur pour relier un outil d'injection et un dispositif de distribution de fluide, le dispositif de distribution de fluide comprenant un récipient qui contient une formulation liquide et l'actionneur comprenant : un activateur, l'activateur étant configuré pour déclencher ou activer la tige du dispositif de distribution de fluide par pression sur la tige, et l'activateur étant configuré pour monter l'outil d'injection ; et un cadre, le cadre comprenant une ou plusieurs entretoises qui appuient sur la lèvre du dispositif de distribution de fluide et qui fixent le cadre à la lèvre, le cadre ayant un ou plusieurs points de rupture prédéterminés configurés pour se rompre lorsque l'activateur est poussé vers le bas.
PCT/US2023/077465 2022-10-21 2023-10-20 Systèmes robotiques d'injection de plantes WO2024086824A2 (fr)

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US202263418391P 2022-10-21 2022-10-21
US63/418,391 2022-10-21

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WO2024086824A3 WO2024086824A3 (fr) 2024-06-27

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Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL114960A0 (en) * 1995-03-20 1995-12-08 Medimop Medical Projects Ltd Flow control device
US6405480B1 (en) * 2001-05-30 2002-06-18 Le Martin Fluid injection apparatus and method
US8668400B2 (en) * 2007-04-05 2014-03-11 The Hartz Mountain Corporation Fluid applicator
AU2017335746A1 (en) * 2016-09-30 2019-04-11 Icu Medical, Inc. Pressure-regulating vial access devices and methods
CA3167759A1 (fr) * 2020-01-29 2021-08-05 Invaio Sciences International Gmbh Systemes d'injection, outils d'injection et procedes associes
WO2024036220A1 (fr) * 2022-08-09 2024-02-15 Invaio Sciences International Gmbh Systèmes d'injection pour plantes, comprenant des actionneurs et des outils d'injection, et leurs utilisations

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