Patent Application
20240245008
The invention relates to an apparatus for processing plants according to claim 1. Furthermore, the invention relates to a method for processing plants according to claim 11.
Plants, such as ornamental and crop plants, can be propagated and processed almost fully automatically. The increasing requirement for plants and also plant and organic material means that the demand for ornamental and crop plants has increased rapidly in recent years. There is therefore great interest in industrializing both the propagation and the processing of individual plants in order to be able to work particularly efficiently in terms of costs and time.
In known methods, individual plants can be grasped, detected by an image recognition device and then processed or cut by a processing means for propagation purposes. The use of costly personnel can be virtually completely dispensed with in this vegetative propagation method or cloning of plants. Although the known methods can produce a high-quality result, the quantity of processed plants achievable by these methods is relatively small. In particular for the further industrialization of plant processing, the previous processing rate using semi- or fully automated methods is insufficient.
The invention is therefore based on the object of providing an apparatus and a method for processing plants by means of which the processing of plants can be carried out efficiently in terms of time and costs.
This object is achieved by the features of claim 1. Accordingly, it is provided that an apparatus for processing at least one plant has at least one conveyor device for transporting the plant, at least one image recognition device, at least one gripping means for the targeted depositing of the plant on the conveyor device, and at least one processing means for processing the plant lying on the conveyor device. In the case of the invention described here, preferably ornamental plants, such as bedding and balcony plants, but also crop plants, such as fruit trees, hemp or potatoes, are intended to be processed. In addition, it is of course conceivable that further plants can also be processed according to the invention described here. By means of the targeted depositing of the plant on the conveyor device, the subsequent processing of the plant by the processing means can be undertaken particularly efficiently in terms of time.
In the case of known apparatuses, the plant was processed by the processing device while being held in position. This means that the gripping means for holding the plant, which may be, for example, a gripper or tweezers, is occupied during the processing process and cannot perform any further function. The shifting of the processing of the plant onto the conveyor device affords the advantage that the gripping means, after depositing the plant on the conveyor device, can already grasp the next plant and deposit same on the conveyor device. Since the plant has already been deposited in a targeted manner on the conveyor device, no further gripping means or fixation of the plant on the conveyor device is required. The plant can be processed lying on the conveyor device. As a result, a multiplicity of plants lying on the conveyor device can be processed simultaneously or promptly successively, while the at least one gripping means deposits further plants or plant components on the conveyor device. By using this apparatus, the process of crop cultivation can be accelerated, which also makes it possible to reduce the costs of the process at the same time.
Provision may be made, in a particularly preferred exemplary embodiment of the invention, for the image recognition device to have at least one camera, preferably two, three or more cameras, for recording a 2D or 3D image of the plant, and wherein the image recognition device has a neural network, by which the plant as well as individual components and features of the plant can be recognized and, on the basis of the recognized patterns and features of the plant, said plant can be deposited in a targeted manner on the conveyor device by the gripping means and can be processed by the processing means. The use of artificial intelligence (AI) makes it possible to determine individual features and patterns of the plant or plant components very precisely. Up to now, this task could only be carried out by people, since each plant is individually formed and therefore the automatic determination of suitable processing positions was possible only highly imprecisely, if at all. Through the use of neural networks, the apparatus or the image recognition device can be trained for any plant in such a way that the positions on the plant that are particularly suitable for processing can be determined precisely with a high degree of accuracy. In particular because of the high throughput rate of processed plants, the neural network is continuously trained and thereby improved even further. Once these suitable positions have been determined, the plant can be deposited on the surface of the conveyor precisely in such a way that it is particularly easily reachable for the processing means. This can increase both the processing speed and the processing accuracy.
Preferably, it is furthermore provided that the processing means has at least one tool, namely scissors, a scalpel, a hot wire, a laser beam, a plasma jet, a water jet, tweezers, pliers, a spatula or the like, wherein the tool is selectively movable three-dimensionally, in particular by a robot arm. The robot arm makes it possible to bring the tool precisely into the position which was determined by the neural network as being particularly suitable for processing the plant. For example, the processing means can be used to cut the plant for propagation purposes. Similarly, it is conceivable for only components of a plant to be separated by pliers. In addition, it is conceivable for the plant to be exposed to electromagnetic radiation of a certain wavelength by the processing means in order to accelerate the growth.
Another advantageous embodiment of the invention may make provision for the conveyor device to be a belt conveyor, in particular a wire belt conveyor, a steel or metal wire belt conveyor, wherein the material of the conveyor preferably reflects electromagnetic radiation and/or is permeable for a fluid. In particular, when a laser is used as a processing means, it is essential that the conveyor device is not destroyed by the irradiation with the laser. Even when using a scalpel or a plasma jet, care must be taken to ensure that the conveyor device is not damaged during use of the tools mentioned. At the same time, however, it is also important that the conveyor device can be at least regularly sterilized. Therefore, a wire belt conveyor is particularly suitable for the method described here.
In particular, the invention makes provision for the processing means, in particular the tool, to be movable at the same time relative to, in particular in synchronism with, the conveyor device, wherein the relative speed of the tool to the plant during the processing of the plant is 0 m/s. During this at least short-term synchronized movement of the tool with the plant, same is followed up by the robot arm precisely in such a way that the processing can be carried out on the plant. As a rule, the processing takes only a few seconds or even only a fraction of a second, and therefore the synchronized movement needs to be maintained only for a short time. At the same time, it is also conceivable for the conveyor device to be briefly stopped so that the processing can be carried out. The synchronized relative movement between the plant and the tool is controlled by the control unit. The control unit takes into consideration the position of the plant on the conveyor device, the speed of the conveyor device and the starting position of the processing means. In addition, the processing to be carried out on the plant is taken into consideration.
Furthermore, it is conceivable according to the invention that the processing means is a laser, the focus of which can be concentrated on the plant transported on the conveyor device. The laser itself thus maintains its position, while only the focus follows the movement of the plant. This can be achieved, for example, by a mirror system, wherein the mirrors are movably mounted and controllable in such a way that the focus is always on the region of the plant. The arrangement of the plurality of mirrors can be located along the entire conveyor device, so that the laser can reach the plant at any location on the conveyor device.
Preferably, provision can furthermore be made that a plurality of, preferably different, processing means are arranged on the conveyor device in order to carry out successive processing steps on the plant and/or to simultaneously process a plurality of plants in parallel. It is conceivable that, especially for the latter option, different tools can be used for the processing of the plant. These tools can be assigned to different processing means or different robot arms, which process the plant successively. At the same time, it is conceivable for the robot arms to be equipped with identical tools and for a plurality of plants deposited on the conveyor device to be simultaneously processed by one processing means each. This parallel processing of a plurality of plants enables the entire process to be made particularly efficient in terms of time. For the successive processing of the plant with different tools, it is particularly advantageous that the plant lies continuously on the conveyor device. This means that the plant does not need to be grasped and aligned again for each further processing step. This also allows a significant amount of time to be saved.
It is conceivable that at least one further gripping means is arranged at one end of the conveyor device in order to grasp the processed plant or a component of the plant in a targeted manner and to carry out a further processing step. It may also be provided, for example, that the processed plant is grasped and fed to a culture medium. It is also conceivable for the plant or the component of a plant to be moved by the gripping means in order to be further processed.
Preferably, the invention can make provision for the apparatus to have a sterile or non-sterile processing space in which the at least one conveyor device, the at least one image recognition device, the at least one gripping means and the at least one processing means are arranged, wherein the sterile processing space has at least one introduction lock and at least one discharge lock, depending on the processing to be undertaken with a sterile environment being absolutely required or not being required. For non-critical processing steps, it is conceivable for the apparatus described here to stand open in a room and to be exposed to the ambient air. Alternatively, it is also conceivable for the entire apparatus to be enclosed in a room with a sterile atmosphere and to be regularly cleaned accordingly.
It may also be useful for this purpose that a plurality of parallel conveyor devices, which can be operated at the same or different speeds, each transport at least one plant, which can be simultaneously processed by a plurality of processing means. This makes it possible for the method to be carried out at different speeds on different conveyor devices depending on the plant and depending on the processing to be carried out. It is also conceivable for the plant or the plant component to be moved from one conveyor device to another with a different conveyor speed during the processing. For example, plant components for which there is no further use can be moved onto a fast conveyor in order to remove this waste as quickly as possible from the working region, while the rest of the plant is still being processed further.
A method for achieving the object mentioned at the beginning comprises the measures of claim 11. Accordingly, the invention makes provision for at least one plant to be detected by an image recognition device and for said image recognition device to recognize patterns and features of the plant. In addition, a gripping means deposits the at least one plant in a targeted manner on a conveyor device for transporting the plant. An essential core of the invention consists in that the at least one plant is then processed lying on the conveyor device by at least one processing means. By means of the prior detection of patterns and features of the plant by the image recognition device, not only can the plant be deposited in a targeted manner, but can also be immediately processed in a targeted manner by the processing means. This makes it possible to save one process step in the entire method for processing the plant. Where the plant was previously processed hanging from the gripper, this is now done on the conveyor device. This has the consequence that the gripping means is already free to feed another plant to the image recognition device or to deposit same on the conveyor device. By shifting the processing onto the conveyor device, the entire method can thus be made much more efficient in terms of time and costs.
The invention also makes provision that, in addition to individual plants or a plurality of plants or cuttings, “carpets” of (in vitro) plants are also detected from above by the image recognition device and then processed accordingly. Processing could involve cutting into individual pieces. Similarly, the invention comprises the processing of potted plants or planting-out trays. Here, too, it may be provided that the image recognition device detects the plants and analyzes them and then individual head cuttings are processed or pinched off in a targeted manner with a tool, preferably cutting tweezers, which in particular may also be sterilized. The individual processed or pinched-off components can then be deposited on a separate conveyor device.
Preferably, the invention makes further provision for images of the plant to be recorded by at least one camera of the image recognition device, and for a neural network on the basis of said images to be used to determine positions on the plant at which processing, preferably preselected by a person, by the processing means can be carried out particularly efficiently, wherein the plant is held by the gripping means during the recording of the images or is already lying on the conveyor device. The artificial intelligence (AI)-based detection of the plant or of positions that are particularly suitable for the processing of the plant not only allows the method to be automated, but also achieves a very high degree of accuracy. An optional pre-selection by a person of manner of processing enables the AI or the neural network to search precisely for the positions on the plant that are suitable for said pre-selected processing. Similarly, it is also conceivable that the processing is not preselected, and the AI specifies different processing options for a person on the basis of the detected patterns or features. Depending on the application or concept, the position on the plant is determined in the held or lying state of the latter.
In particular, it is also conceivable for the plant to be deposited on the conveyor device by the gripping means, depending on the position determined by the neural network, specifically in such a way that the plant can be processed directly and optimally by the processing means. The gripping means, which may be tweezers, a suction cup or the like, is fastened to a robot arm, which is freely movable three-dimensionally. After determination of the optimum processing position on the plant, the latter is precisely deposited onto the conveyor device in such a way that the plant can be processed directly by the processing means in the following step. If the plant cannot be optimally deposited in one step, it is also conceivable that, in a second step, the gripping means will pick up the plant again and reposition it so that the processing means can undertake the processing.
Another exemplary embodiment of the invention makes provision for a plurality of gripping means to deposit plants simultaneously on the conveyor device. This allows the plurality of plants to be processed one after the other or simultaneously by one or more processing means.
Another exemplary embodiment of the invention may make provision for a plurality of plants to be deposited by the gripping means next to one another on the conveyor device, depending on the positions determined by the neural network, specifically in such a way that the plurality of plants can be processed directly and optimally in one process step by the processing means. In one possible exemplary embodiment, the plants are placed next to one another in such a way that, for example, a laser or a scalpel with one cut cuts a plurality of plants simultaneously. Similarly, a plurality of plants arranged adjacent to one another can be simultaneously exposed to electromagnetic radiation to stimulate growth, for example. This targeted depositing and the collective treatment of a plurality of plants makes the entire process much more efficient than previously. This embodiment may also make provision for sorting of the individual plants to take place on the conveyor device and for the plants to be processed in groups by the processing means.
The invention may also make provision that, after the processing of the plant or the multiplicity of plants by the one processing means or more than one processing means, the at least one plant or the components are sorted by means of the image recognition device, the neural network and/or the algorithm. It is thus conceivable that, for example, base pieces remain in a sterile area and are transported to sterile cups with culture media for further in vitro propagation. Cuttings, for example at a defined length (head or stem cuttings), can be transported out of the sterile area and plugged into a plug system, in particular into an automated product form, a gardening tray with e.g. soil substrate/plugs. Similarly, it is conceivable for the individual plants and/or the components of the plants to be sorted in general or specifically according to their shape, size, length, number of leaves, quality, color and other qualitative and quantitative properties. In particular by deposit or transport of the plants or the components on the conveyor device, the image recognition-based sorting process has proven particularly efficient in terms of time. The sorting means that the subsequent processes are also carried out very efficiently in terms of time and therefore costs. The at least one gripping means is used for moving or sorting the plants. A plurality of conveyor devices can also be used for the sorting process. Additional sorting means, such as containers, magazines, boxes, cartons, etc. can also be used.
A particularly advantageous exemplary embodiment of the present invention may make provision for the conveyor device to be assigned two, three or more, in particular different, processing means and for a plant which is transported on the conveyor device to be processed successively by the processing means. By assigning a plurality of processing means to the conveyor device, it is possible to carry out a plurality of successive processing steps on the plant. Cutting a plant or separating a clone, and then irradiating the cutting surface, in order, for example, to stimulate growth or to sterilize the cutting surface, is mentioned here as an example. In addition, further processing steps which are carried out successively on the plant are conceivable. Here, too, it is conceivable for a plurality of successive processing steps not to be carried out for all of the plants transported on the conveyor device, but rather only for those for which appropriate processing has been specified.
Alternatively, it is also conceivable for the conveyor device to be assigned two, three or more, in particular different processing means and for a plurality of plants to be processed simultaneously by said processing means. This parallel processing of a plurality of plants by means of one processing tool each can significantly improve both the time efficiency and the cost structure of the process. A development may make provision for a plurality of plants on a plurality of parallel conveyor devices to be processed in parallel and simultaneously by a plurality of processing means or for a plurality of plants on a plurality of parallel conveyor devices to be processed successively by a processing means.
Preferably, it is conceivable for the processing means for processing the plant, in particular a tool of the processing means, to be at least partially moved with the plant lying on the conveyor device. This synchronized movement of the tool with the plant allows continuous transport of the plant by the conveyor device. This continuous movement of the conveyor device leads to a particularly efficient processing of the plant in terms of time. Since the tool of the processing means is hinged on a robot arm, the tool can easily at least partially follow the movement of the plant.
In the exemplary embodiment in which the processing means is designed as a laser, the focus of the laser can be manipulated in such a way that it moves with the plant on the conveyor device. This allows the maximum radiation intensity of the laser to be generated precisely on the plant. The guiding of the focus is carried out, for example, by guiding a plurality of mirrors. This synchronized guiding of the mirrors allows the laser to be guided over large sections with the plant.
Alternatively, it is also conceivable for the conveyor device to be operated continuously or periodically or cyclically, wherein the conveyor device is briefly stopped during the periodic or cyclic operation of the conveyor device for processing the plant. This cyclic stopping is synchronized with the processing of at least one plant by at least one processing means. However, it is also conceivable that each time the conveyor device is stopped, a multiplicity of processing means processes one plant each. This cyclic operation of the conveyor device means that it is not necessary to guide the processing means. At the same time, a high throughput rate of processed plants can be achieved.
The processing of the plant may involve cutting the plant, cloning, sampling, meristemization, micrografting, selective processing of the plant tissue, growth stimulation, irradiation of the plant for bioactivation and/or pathogen elimination, disruption of the dormancy by perforating a seed coat, processing and treatment of seeds, seed coats, embryos, zygotes, proembryos, processing and treatment of plant organs for in vitro culture, such as meristem, axillary buds, root tips, leaf and peduncle pieces, adventitious shoots, callus cultures, solitary cells, microspores, ovaries, anthers, pollen, fruits and microcuttings, treatments against bacteria and fungal spores or the like. In addition, it is also conceivable for even further processing of the plants or plant components to be carried out by means of the method described here.
Finally, the invention may also make provision that the processing of the plant takes place in a sterile or in a non-sterile environment, wherein the at least one plant is transported automatically into the sterile environment and automatically out of the sterile environment again. For example, the method described here can be carried out in an open manner, i.e. in a normal room atmosphere, if the processing of the plant permits this. However, if necessary, the method may also be completed in a room which can be sterilized. This room must be sterilized regularly or after each processing or after each processing step. To prevent germs and the like from being introduced into this room, an appropriate lock system can be connected upstream. Before entry into the processing room, the plant and possibly the container in which the plant is transported are sterilized. In this way, the present method is able not only to increase the efficiency in terms of costs and time, but also to achieve a very high plant processing quality.
Preferred exemplary embodiments of the invention will be described in more detail below with reference to the drawing. In the drawing:
The exemplary embodiment of an apparatus 10 for carrying out the method according to the invention illustrated in
The gripping means 11, 16 have a gripper for grasping the plant 12. Said gripper can be tweezers, a clamping device or a suction device. The gripper should be designed in such a way that the plant 12 is not or is not substantially damaged when it is grasped.
The gripper has a robot arm with which it can be moved with pinpoint accuracy three-dimensionally. Thus, the gripper can reach at least almost any area in the vicinity of the cameras 15 and the conveyor device 14.
The processing means 13 illustrated by way of example in
The further gripping means 16 is identical to or at least designed similarly to the gripping means 11. However, it is also conceivable for the further gripping means 16, in contrast to the gripping means 11, to be designed for detecting individual components 19 of the plant 12.
The conveyor device 14 illustrated by way of example in
According to the invention, it can be provided that the type or certain patterns or features of the plant 12 are determined by means of an artificial intelligence (AI) neural network. For this purpose, images of the plant 12 are recorded by the cameras 15 and compared with known images. The neural network then determines positions on the plant 12 that are particularly suitable for the processing of the plant 12 or it is determined which processes can be carried out particularly well on this plant. For recording the images, the plant 12 is first of all grasped by the gripping means 11.
Corresponding image recognition can be used even during the targeted grasping of the plant 12. The plant 12 may be located in a container with a culture medium before being grasped by the gripping means 11. However, the plant 12 can just as readily lie freely on a substrate or on a tray. Alternatively, it is conceivable for the plant 12 to be fed by a person to the gripping means 11. In the next step, the gripping means 11 feeds the plant 12 to the cameras 15 in such a way that at least one recording of the plant 12 for further image recognition can be recorded. Depending on the identified features and patterns, the plant 12 is then deposited by the gripping means 11 onto the conveyor device 14 in such a way that the processing means can directly process the plant 12. In the exemplary embodiment illustrated in
After the plant processing has been carried out or at regular intervals, the aforementioned tools and/or devices should be sterilized. No sterilization is required if the type of plant or the type of treatment permits this.
The exemplary embodiment illustrated in
In the exemplary embodiments of the invention illustrated in
In the exemplary embodiment according to
In the exemplary embodiments according to
Finally,
Each of the exemplary embodiments of the apparatus 10 according to
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2021 114 014.5 | May 2021 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2022/062285 | 5/6/2022 | WO |
