EP4672952A1 - Appareil et système pour agencer des ensembles emballage de graines - Google Patents

Appareil et système pour agencer des ensembles emballage de graines

Info

Publication number
EP4672952A1
EP4672952A1 EP24764443.8A EP24764443A EP4672952A1 EP 4672952 A1 EP4672952 A1 EP 4672952A1 EP 24764443 A EP24764443 A EP 24764443A EP 4672952 A1 EP4672952 A1 EP 4672952A1
Authority
EP
European Patent Office
Prior art keywords
package assembly
fingers
package
pair
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP24764443.8A
Other languages
German (de)
English (en)
Inventor
Larry Charles Mosher
Alexander Jacob STEURRYS
Jeffrey Dale Wille
Jacob Dean TANK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pioneer Hi Bred International Inc
Original Assignee
Pioneer Hi Bred International Inc
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 Pioneer Hi Bred International Inc filed Critical Pioneer Hi Bred International Inc
Publication of EP4672952A1 publication Critical patent/EP4672952A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45047—Sorting

Definitions

  • aspects of this disclosure may relate to a system for sorting a plurality of package assemblies of seeds in a container comprising: (a) the container comprising a plurality of receivers, where the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns; (b) a scanner configured to read marking indicia on each package assembly of the plurality of package assemblies; (c) a robot configured to individually pick up each package assembly of the plurality of package assemblies; and a controller that includes a processor and non-transitory memory.
  • the non-transitory memory may store instructions that, when executed by the processor, cause the controller to: (a) instruct the scanner to read the indicia on each package assembly; (b) determine an initial receiver for each package assembly; (c) determine a location of any empty receivers in the container; (d) instruct the robot to pick up a first package assembly from its corresponding initial receiver and place it into a temporary receiver of the plurality of receivers; and (e) instruct the robot to pick up a second package assembly from its corresponding initial receiver and place it into a first final receiver of the plurality of receivers.
  • the robot may pick up the first package assembly from the temporary receiver and place it into a second final receiver of the plurality of receivers.
  • the first final receiver may be designated by a predetermined array order, where the predetermined array order designates a final receiver for each package assembly located in the container.
  • the predetermined array order may correspond to a planting order of seeds that are contained in each package assembly of the plurality of package assemblies in the container.
  • the controller may instruct the robot to move the plurality of package assemblies until each package assembly of the plurality of package assemblies are placed in their corresponding final receiver as determined by predetermined array order.
  • the temporary receiver may be an empty receiver in the container or a designated holding receiver located adjacent the container.
  • Each package assembly may have a clamshell structure with a flange portion.
  • the robot may comprise a first pair of fingers and a second pair of fingers that move toward each other to clamp onto the flange portion of the package assembly when the robotic arm picks up the package assembly., and the first pair of fingers and the second pair of fingers move away from each other to release the package assembly.
  • Each receiver of the plurality of the receivers may have a slot that receives the flange portion of the clamshell structure.
  • the plurality of columns may be within a range of 2 and 10 and, the plurality of rows may be within a range of 2 and 50.
  • the scanner may comprise a plurality of scanners such that each scanner of the plurality of scanners is configured to scan two columns of the plurality of columns of the array.
  • the controller may send an alert if an error has occurred during placement of one of the plurality of package assemblies.
  • FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with this disclosure.
  • FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with this disclosure.
  • FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with this disclosure.
  • FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with this disclosure.
  • FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with this disclosure.
  • the system may also comprise a controller comprising a processor and a non-transitory computer readable medium storing computer readable instructions that, when executed by a controller, causes the controller to at least: (a) instruct the scanner to read the indicia on each package assembly; (b) determine an initial receiver for each package assembly; (c) determine a location of any empty receivers in the container; (d) read a predetermined array order of the plurality of package assemblies, wherein the predetermined array order includes a final receiver for each package assembly; (e) identify a first final receiver for a first package assembly of the plurality of package assemblies from the predetermined array order; (f) determine if the first final receiver is empty; (g) instruct the robotic arm to pick up the first package assembly from its corresponding receiver and place the first package assembly in the first final receiver.
  • a controller comprising a processor and a non-transitory computer readable medium storing computer readable instructions that, when executed by a controller, causes the controller to at least: (a) instruct the scanner to read the
  • the non-transitory computer readable medium storing computer readable instructions that, when executed by the controller, may also cause the controller to at least: upon determining the first final receiver has a second package assembly in the first final receiver, instruct the robotic arm to pick up the second package assembly to a temporary receiver.
  • the temporary receiver may be an empty receiver in the container or a designated holding receiver located adjacent the container.
  • the non-transitory computer readable medium storing computer readable instructions that, when executed by the controller, may cause the controller to at least: (a) identify a second final receiver for a second package assembly of the plurality of package assemblies from the predetermined array order; (b) determine if the second final receiver is empty; and (c) instruct the robotic arm to pick up the second package assembly from its corresponding initial receiver and place the second package assembly in the second final receiver.
  • the predetermined array order may correspond to a planting order of seeds contained in each package assembly of the plurality of package assemblies in the container.
  • the robot may comprise a robotic arm that includes a first pair of fingers and a second pair of fingers that move toward each other to clamp onto the flange portion of the package assembly when the robotic arm picks up the package assembly.
  • the system may also comprise the controller instructing the robot to move the plurality of package assemblies until each package assembly of the plurality of package assemblies are placed in their corresponding final receiver as determined by predetermined array order.
  • Still other aspects of this disclosure may relate to a system for sorting a plurality of seed packages into a predetermined planting order within a container, comprising: (a) a plurality of seed packages, where each seed package is filled with seeds of a single plant variety, and multiple seed packages are filled with seed of the same plant variety; (b) the container comprising a plurality of receivers, where the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns, and where the plurality of seed packages are incorrectly ordered; (c) a controller comprising a processor; (d) a scanner configured to read indicia on each package assembly; and (e) a robot configured to individually pick up each package assembly.
  • FIG. 14 illustrates a schematic view of a field that is planted with randomized seed arrangement
  • FIG. 1 illustrates a schematic of system 100 for arranging the package assemblies 10 of seeds within a planting container 110.
  • the system 100 may comprise a container 110 to hold the package assemblies 10 of seeds, a scanner 120 or scanners to read an indicia 12 or marking on an external surface of each package assembly 10, a robot 130 that includes a robotic arm 131 that can pick up and move each individual package assembly 10, and a controller 140 to direct the operation of the scanner(s) 120 and the robot 130.
  • the system 100 may include a rearranging apparatus 105 that may have an enclosure 106 that contains the robot 130, the scanner 120, the controller 140 along with the container(s) 110 and a holding receiver 113.
  • the package assemblies 10 of seeds may also be referred to as seed packages 10. As shown in FIGS.
  • the robot 130 may have a robotic arm 131 that is configured to pick up individual package assemblies 10 from the receivers 112 of the container 110 and place each individual package assembly 10 into its corresponding final receiver 112.
  • the robotic arm 131 may include an adapter 132 that connects to a first pair of fingers 133 arranged on a first side of the adapter 132 and a second pair of fingers 136 arranged on a second side of the adapter 132 opposite the first side.
  • the first pair of fingers 133 and the second pair of fingers 136 may move toward each other to clamp onto a flange portion 16 of the package assembly 10 when the robotic arm 131 picks up a package assembly 10.
  • the controller 140 may send an alert if an error has occurred during any step in the process, such as a misplaced package assembly 10 or if a package assembly 10 fails to be properly received within its corresponding receiver 112.
  • the alert may be an audible tone or may be a visible alert such as a flashing light.
  • the alert may include sending a message to a computer via a network or wireless connection to alert an operator that an error has occurred.
  • the controller 140 may stop all of the processes if it determines an error has occurred.
  • the scanner 120 or plurality of scanners 120 may be located within the apparatus 105 and be configured to scan the indicia 12 that is located on an end of each package assembly 10.
  • Each scanner 120 may be an optical scanner and in some cases may be able to scan multiple columns 116 of receivers 112 in a few seconds.
  • each scanner 120 may be configured to read 2 columns 116 of the container 110 at the same time as the scanner 120 is moved above the container 110.
  • each scanner 120 may transmit data back to the processor 142 of the controller 140 so the initial receiver 112 of each package assembly 10 can be determined or a location of any empty receivers 112 may be determined.
  • the scanner(s) 120 may be positioned above the container 110 on an actuator assembly 122 that moves above the container 110 to allow the scanner(s) 120 to read the indicia 12 on the package assemblies 10. As shown in FIG. 12, the actuator assembly 122 may move a support beam 124 that secures multiple scanners 120 to allow a single pass of the scanners 120 to determine the initial receiver 112 of each package assembly 10.
  • the seed packages 10 within the container 110 may comprise multiple seed packages 10 that are used for seed development or advancement of seed varieties. Some of the seed packages 10 may contain seeds of the same plant variety. In those cases, the system 100 may arrange the seed packages 10 in groups that contain the same plant variety. As discussed above, the corresponding final receiver 112 of each package assembly 10 may be determined by a predetermined array order, where the predetermined array order represents and corresponds to a planting order of the seeds that are contained in each package assembly 10 in the container 110. In some examples, the most efficient path of the robot 130 may be determined by choosing the nearest package assembly 10 of the seed variety designated by the predetermined array order that comprises the desired planting order.
  • the desired planting order may be arranged to represent a replicated experimental field design such that groups of identical seeds are planted in different areas depending on the variables being tested. These seed plots may include replicated seed varieties and various control seed varieties.
  • FIG. 14 illustrates a schematic of a possible field with different seed varieties planted. Seeds of Type I, Type II, and Type III may be planted in each designated region of the field shown in FIG. 14, where Type I and II may be new seed varieties and Type III may be a control seed. Each designated region may be randomly assigned.
  • the seed packages 10 may be arranged in the container 110 in the order needed for the planting device (not shown) to load and plant the variety of seeds contained in the seed packages 10 in the designated region of the field.
  • FIGS. 15-21 illustrate an alternate rearranging apparatus 305 for use with the system 300 of arranging seed packages 10 into a receiving or planting container 310A.
  • the rearranging apparatus 305 shown in FIGS. 15-21 have features that are referred to using similar reference numerals under the “3xx” series of reference numerals, rather than “Ixx” as used in the embodiment of FIGS. 1-13. Accordingly, certain features of the rearranging apparatus 305 that were already described above with respect to rearranging apparatus 105 of FIGS. 1-13 may be described in lesser detail, or may not be described at all.
  • Rearranging apparatus 305 may include an enclosure 306 that contains the robot 330, the scanner 320, the controller 340 along with a plurality of containers 310A, 310B.
  • the plurality of containers 310A, 310B may be similar to container 110 described above such that each container 310A, 310B may comprise a plurality of receivers 312, where the plurality of receivers 312 may be arranged in an array 314. Each array 314 may comprise a plurality of rows 315 and a plurality of columns 316 where each receiver 312 receives a single package assembly 10 of seeds.
  • Apparatus 305 may include a pair of supply containers 310B that may each contain a plurality of seed packages 10 and a planting container 310A that is configured to receive a plurality of seed packages 10. While not shown, the apparatus 305 may include any number of supply containers 310B.
  • the plurality of supply containers 310B may comprise supply containers 310B of different sizes.
  • the robot 330 may be movably arranged within the enclosure 306 of the apparatus 305. As shown in the example of FIGS. 15-21, the robot 330 may be movably or slidably coupled to a support member 307 located within the enclosure 306 where the support member 307 extends across at least a portion of the enclosure 306.
  • the support member 307 may be oriented in a longitudinal or a horizontal direction. In some examples, the support member 307 may comprise multiple support members 307 that are oriented in both longitudinal and horizontal directions to allow the robot 330 to move in both a longitudinal and horizontal direction.
  • the planting container 310A may be received in a tray or platform 308 that is fixedly coupled to the robot 330.
  • a bracket 309 may extend between the base of the robot 330 and the platform 308 to fixedly couple the platform 308 and the base of the robot 330 a predetermined distance.
  • the platform 308 and its corresponding planting container 310A are movably arranged within the enclosure 306.
  • the platform 308 may be movably or slidably coupled to the support member 307. Accordingly, the tray 308 and its corresponding planting container 310A moves in conjunction with any movement of the robot 330 and along the sliding member 307.
  • any type of suitable coupling mechanism may be used to connect the planting container 310A with the robotic arm 331, so that the two components slide together along the support member 307, including but not limited to clips, brackets, adhesion bands, or any other temporary or permanent, or rigid or flexible, coupling mechanism.
  • the supply containers 310B may be spaced apart from each other with the support member 307 located between a first supply container 310B and a second supply container 310B.
  • the supply containers 310B may be spaced apart by a predetermined distance that is sized to allow the planting container 310A and the robot 330 to move between the supply containers 310B.
  • the robot 330 may use its robotic arm 331 to remove seed packages 10 from any of the supply containers 310B and move them into the planting container 310A such that when the seed packages 10 are moved into the planting container 310A, the seed packages 10 are arranged in a predetermined array order.
  • the predetermined array order designates a final receiver 312 for each seed package 10 in the planting container 310A to organize the seed packages 10 into the predetermined planting order.
  • the seed packages 10 may be initially placed in the receivers 312 randomly in any order when they are initially loaded into the supply containers 310B.
  • the supply containers 310B, once loaded with seed packages 10, may be placed into the rearranging apparatus 305.
  • the system 300 may operate using method 400, which is similar to method 200 described above.
  • the robot 330 may use its robotic arm 331 to take seed packages 10 from any of the supply containers 310B and move them to the planting container 310A.
  • the robotic arm may include an adapter 332 like adapter 132 described above that connects to a first and second pair of fingers 133, 136 to pick up and place the seed packages 10.
  • each seed package 10 is individually placed into a receiver 312 and arranged in the predetermined array order.
  • the system 300 may perform a method 400, shown in FIG. 22, to move the seed packages 10 from the one or more supply containers 310B to the planting container 310A where the seed packages 10 when moved into the planting container 310A are arranged into the desired predetermined array order.
  • the method 400 may include obtaining a plurality of package assemblies 10 (410) filled with seeds, where each package assembly 10 is filled with seeds of a single plant variety, or different plant varieties.
  • the plurality of seed packages 10 may be inserted into one or more supply containers 310B, where each seed package 10 is individually placed into a receiver 312 of the supply container 310B (415).
  • the package assemblies 10 are inserted such that all of the package assemblies 10 are oriented in the same direction within the supply container 310B with the indicia 12 of each package assembly 10 being visible from above the supply container 310B.
  • the one or more supply containers 310B may then be placed into the apparatus 305 to allow for the movement of seed packages 10 from the supply containers 310B to the planting container 310A (420).
  • the planting container 310A which may not contain any seed packages 10 may be placed into the apparatus 305 at any time or may be placed into the apparatus 305 at the same time as the supply containers 310B.
  • the controller 340 may include a processor 342 that controls the operation of the system 300.
  • the controller 340 may then instruct the scanner 320 to read the indicia 12 located on each package assembly 10 of seeds in the supply containers 310B (425). From the information obtained by the scanner 320, the controller 340 may determine an initial receiver 312 for each package assembly 10 and also determine a location of any empty receivers 312 in the supply container 310B (430). Next, the controller 340 may read a predetermined array order of the plurality of package assemblies 10, where the predetermined array order includes a final receiver 312 for each package assembly 10 in the planting container 310A. The controller 340 may also determine a final receiver 312 for each package assembly 10 from the predetermined array order (435).
  • the controller 340 may compare the initial receivers 112 of each package assembly 10 in the supply containers 310B to the final receiver 312 of each package assembly 10 (440). The controller 340 then selects the package assembly 10 from a supply container 310B to move to its corresponding final receiver 312 in the planting container 310A (445). The controller 340 may then instruct the robot 330 to pick up the selected package assembly 10 and move it to its corresponding final receiver 312 (450). The controller 340 may continue to instruct the robot 330 to repeatedly pick up subsequent package assemblies 10 and place them into a corresponding receiver of the planting container 310A until the plurality of package assemblies are in the desired planting order of the planting container 310A (455).
  • a system for sorting a plurality of package assemblies of seeds in a container comprising: the container comprising a plurality of receivers, wherein the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns; a scanner configured to read marking indicia on each package assembly of the plurality of package assemblies; a robot configured to individually pick up each package assembly of the plurality of package assemblies; a controller comprising: a processor; and non-transitory memory storing instructions that, when executed by the processor, cause the controller to: instruct the scanner to read the indicia on each package assembly; determine an initial receiver for each package assembly; determine a location of any empty receivers in the container; instruct the robot to pick up a first package assembly from its corresponding initial receiver and place it into a temporary receiver of the plurality of receivers; and instruct the robot to pick up a second package assembly from its corresponding initial receiver and place it into a first final receiver of the plurality of receivers.
  • Clause 3 The system of clause 2, wherein the predetermined array order designates a final receiver for each package assembly located in the container.
  • Clause 4 The system of clause 3, wherein the predetermined array order corresponds to a planting order of seeds contained in each package assembly of the plurality of package assemblies in the container.
  • Clause 5 The system of clause 1, further comprising the controller instructing the robot to move the plurality of package assemblies until each package assembly of the plurality of package assemblies are placed in their corresponding final receiver as determined by predetermined array order.
  • each package assembly has a clamshell structure with a flange portion.
  • Clause 12 The system of clause 1, wherein the plurality of columns is within a range of 2 and 10 and the plurality of rows is within a range of 2 and 50.
  • Clause 13 The system of clause 1, wherein the scanner comprises a plurality of scanners such that each scanner of the plurality of scanners is configured to scan two columns of the plurality of columns of the array.
  • Clause 14 The system of clause 1, wherein the controller sends an alert if an error has occurred during placement of one of the plurality of package assemblies.
  • a system for sorting a plurality of package assemblies of seeds in a container comprising: the container comprising a plurality of receivers, wherein the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns; each package assembly of the plurality of package assemblies has a clamshell structure with a flange portion with an indicia on an external surface of the package assembly; a scanner configured to read the indicia on each package assembly; a robot configured to individually pick up each package assembly; and a controller comprising a processor and a non-transitory computer readable medium storing computer readable instructions that, when executed by a controller, causes the controller to at least: instruct the scanner to read the indicia on each package assembly; determine an initial receiver for each package assembly; determine a location of any empty receivers in the container; read a predetermined array order of the plurality of package assemblies, wherein the predetermined array order includes a final receiver for each package assembly; identify a first final receiver
  • Clause 16 The system of clause 15, wherein the non-transitory computer readable medium storing computer readable instructions that, when executed by the controller, causes the controller to at least: upon determining the first final receiver has a second package assembly in the first final receiver, instruct the robot to pick up the second package assembly to a temporary receiver.
  • Clause 17 The system of clause 16, wherein the temporary receiver is an empty receiver in the container or a designated holding receiver located adjacent the container.
  • Clause 18 The system of clause 15, wherein the non-transitory computer readable medium storing computer readable instructions that, when executed by the controller, causes the controller to at least: identify a second final receiver for a second package assembly of the plurality of package assemblies from the predetermined array order; determine if the second final receiver is empty; and instruct the robot to pick up the second package assembly from its corresponding initial receiver and place the second package assembly in the second final receiver.
  • Clause 19 The system of clause 15, wherein the predetermined array order corresponds to a planting order of seeds contained in each package assembly of the plurality of package assemblies in the container.
  • Clause 21 The system of clause 15, further comprising the controller instructing the robot to move the plurality of package assemblies until each package assembly of the plurality of package assemblies are placed in their corresponding final receiver as determined by predetermined array order.
  • a system for sorting a plurality of seed packages into a predetermined planting order within a container comprising: a plurality of seed packages filled with seeds, wherein each seed package is filled with seeds of a single plant variety, and multiple seed packages are filled with seed of the same plant variety; the container comprising a plurality of receivers, wherein the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns, and wherein the seed packages are incorrectly ordered; a controller comprising a processor; a scanner configured to read indicia on each seed package; a robot configured to individually pick up each seed package; and a non-transitory computer readable medium storing computer readable instructions that, when executed by a controller, causes the controller to at least: instruct the scanner to read the indicia on each seed package; determine an initial receiver for each seed package based on data from the scanned indicia of each seed package; determine a location of any empty receivers in the container; read a
  • Clause 23 The system of clause 22, wherein the robot comprises a robotic arm.
  • each seed package of the plurality of seed packages comprises a clamshell structure with a flange portion with an indicia on an external surface of each seed package, and each seed package is oriented in the same direction within the container.
  • Clause 26 The system of clause 22, further comprising the processor instructing the robot to move the plurality of seed packages until each seed package of the plurality of seed packages are placed in their corresponding final receiver as determined by predetermined array order.
  • Clause 27 The system of clause 22, wherein the controller determines a path for the robot by selecting a nearest seed package that contains a seed variety to be planted next in the predetermined planting order.
  • a system for arranging a plurality of package assemblies of seeds comprising: a planting container comprising a first plurality of receivers, wherein the first plurality of receivers is arranged in a first array that comprises a plurality of rows and a plurality of columns; a supply container comprising a second plurality of receivers, wherein the second plurality of receivers is arranged in a second array that comprises a plurality of rows and a plurality of columns, wherein the supply container has a plurality of package assemblies of seeds located individually in the second plurality of receivers; a scanner configured to read marking indicia on each package assembly of the plurality of package assemblies of seeds located in the supply container; a robot configured to individually pick up each package assembly of seeds of the plurality of package assemblies of seeds; a controller comprising: a processor; and a non-transitory memory storing instructions that, when executed by the processor, cause the controller to: instruct the scanner to read the indicia on each package assembly of seeds; and instruct the
  • Clause 30 The system of clause 29, wherein the predetermined array order designates a final receiver of the planting container for each package assembly of seeds of the plurality of package assemblies of seeds.
  • Clause 31 The system of clause 30, wherein the predetermined array order corresponds to a planting order of seeds contained in each package assembly of seeds of the plurality of package assemblies of seeds in the planting container.
  • Clause 32 The system of clause 28, further comprising the controller instructing the robot to move the plurality of package assemblies until each package assembly of the plurality of package assemblies are placed in their corresponding final receiver as determined by predetermined array order.
  • each package assembly has a clamshell structure with a flange portion.
  • Clause 34 The system of clause 33, wherein the robot comprises a robotic arm that includes a first pair of fingers and a second pair of fingers that move toward each other to clamp onto the flange portion of the package assembly when the robotic arm picks up the package assembly.
  • Clause 35 The system of clause 34, wherein the first pair of fingers and the second pair of fingers move away from each other to release the package assembly.
  • each receiver of the first plurality of receivers has a slot that receives the flange portion of the clamshell structure.
  • Clause 37 The system of clause 28, wherein the plurality of columns is within a range of 2 and 10 and the plurality of rows is within a range of 2 and 50.
  • Clause 38 The system of clause 28, wherein the scanner comprises a plurality of scanners such that each scanner of the plurality of scanners is configured to scan two columns of the plurality of columns of the second array.
  • Clause 44 The system of clause 28, wherein the supply container comprises a plurality of supply containers, wherein the robot is located between a first supply container and a second supply container of the plurality of supply containers.
  • a system for ordering a plurality of package assemblies of seeds in a planting container comprising: a robot configured to individually pick up each package assembly of the plurality of package assemblies; wherein each package assembly of the plurality of package assemblies has a clamshell structure with a flange portion; and wherein the robot comprises a robotic arm that includes a first pair of fingers and a second pair of fingers that move toward each other to clamp onto the flange portion of each package assembly when the robotic arm picks up each package assembly.
  • Clause 47 The system of clause 45, wherein the first pair of fingers and the second pair of fingers move in sync such that a clamping force on the flange portion is applied equally.
  • each finger of the first pair of fingers has a notch that receives a hinge portion of each package assembly when the first pair of fingers and the second pair of fingers clamp onto the flange portion of each package assembly.
  • the system of cause 45 further comprising: a scanner configured to read marking indicia on each package assembly of the plurality of package assemblies; a controller comprising: a processor; and a non-transitory memory storing instructions that, when executed by the processor, cause the controller to: obtain scanned information from the scanner regarding the marking indicia on each package assembly; determine an order of each package assembly of the plurality of package assemblies for each receiver of the planting container based upon a desired planting order of the seeds in each package assembly; and instruct the robot to place each package assembly into a designated receiver of the planting container that corresponds to the desired planting order for the seeds in each package assembly.
  • Clause 54 The system of clause 53, wherein if a first package assembly of the plurality of package assemblies is initially located in an incorrect receiver in the planting container compared to the designated receiver, the controller instructs the robot to place the first package assembly into a temporary receiver.
  • Clause 55 The system of clause 53, wherein the plurality of package assemblies is moved from one or more supply containers into the planting container.
  • Clause 56 The system of clause 53, wherein the desired planting order is arranged to represent a replicated experimental field design, and the controller determines each package assembly to select for transfer based upon a distance of the package assembly to a current location of the robotic arm.
  • each supply container comprising a plurality of receivers, wherein the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns, wherein each supply container of the plurality of supply containers comprises the plurality of package assemblies of seeds located individually in at least a portion of the plurality of receivers of the plurality of supply containers; and wherein the scanner is configured to read the marking indicia on each package assembly of the plurality of package assemblies of seeds located in the plurality of supply containers; and wherein the non-transitory memory storing instructions that, when executed by the processor, cause the controller to: instruct the robot to pick up a first package assembly of seeds of the plurality of package assemblies from its corresponding initial receiver in one of the plurality of supply containers and place it into a first final receiver of the planting container that corresponds to the desired planting order for the seeds of the first package assembly.
  • Clause 59 The system of clause 57, wherein the plurality of supply containers, the planting container, and the robot are located in an enclosure.
  • Clause 60 The system of clause 59, wherein the robot is slidably coupled to a support beam located within the enclosure, wherein the support beam extends across a portion of the enclosure; and wherein the planting container is coupled to the robot such that the planting container slides with the robot.
  • a robot configured to place a plurality of package assemblies of seeds in a container comprising: the robot is configured to individually pick up a first package assembly of the plurality of package assemblies, wherein the robot comprises a robotic arm that includes an adapter connected to a first pair of fingers arranged on a first side of the adapter and a second pair of fingers arranged on a second side of the adapter; wherein the container comprises a plurality of receivers, wherein the plurality of receivers is arranged in an array that comprises a plurality of rows and a plurality of columns; wherein the first package assembly has a clamshell structure with a flange portion, a hinge portion, and a cavity portion; and wherein when the robot picks up the first package assembly, the first pair of fingers and the second pair of fingers move toward each other to clamp onto the flange portion of the first package assembly.
  • Clause 64 The robot of clause 62, wherein the first pair of fingers is connected by a first connecting member, wherein the first pair of fingers and the first connecting member form a unitary member.
  • each finger of the first pair of fingers has a notch that receives the hinge portion of each package assembly, wherein the notch is between each finger of the first pair of fingers and the first connecting member.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Sowing (AREA)

Abstract

Un système et un appareil pour placer des ensembles emballage de graines dans un récipient de plantation comprennent un robot, un dispositif de commande et un dispositif de balayage. Le dispositif de balayage balaye un agencement initial d'ensembles emballage de graines. Un dispositif de commande détermine le récepteur initial des emballages de graines sur la base des données de balayage et détermine ensuite un emplacement de récepteur final dans le récipient de plantation pour chaque ensemble emballage de graines sur la base d'un ordre de plantation prédéterminé. Le dispositif de commande ordonne ensuite au robot de saisir et de déplacer individuellement les emballages de graines dans un récepteur correspondant du récipient de plantation jusqu'à ce qu'ils soient agencés dans l'ordre de plantation prédéterminé. Le robot peut comprendre un bras robotisé qui comprend une première paire de doigts et une seconde paire de doigts qui se déplacent l'une vers l'autre pour se serrer sur une partie rebord de chaque ensemble emballage lorsque le bras robotisé saisit chaque ensemble emballage.
EP24764443.8A 2023-02-28 2024-02-27 Appareil et système pour agencer des ensembles emballage de graines Pending EP4672952A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202363448758P 2023-02-28 2023-02-28
PCT/US2024/017421 WO2024182359A1 (fr) 2023-02-28 2024-02-27 Appareil et système pour agencer des ensembles emballage de graines

Publications (1)

Publication Number Publication Date
EP4672952A1 true EP4672952A1 (fr) 2026-01-07

Family

ID=92590862

Family Applications (1)

Application Number Title Priority Date Filing Date
EP24764443.8A Pending EP4672952A1 (fr) 2023-02-28 2024-02-27 Appareil et système pour agencer des ensembles emballage de graines

Country Status (3)

Country Link
EP (1) EP4672952A1 (fr)
CL (1) CL2025002527A1 (fr)
WO (1) WO2024182359A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6243987B1 (en) * 1999-09-01 2001-06-12 Organitech Ltd. Self contained fully automated robotic crop production facility
CA2700930C (fr) * 2007-09-26 2013-07-23 Pioneer Hi-Bred International, Inc. Appareil et procede de conditionnement d'articles pour leur stockage et leur identification
WO2009064273A1 (fr) * 2007-11-16 2009-05-22 Paul Appelbaum Appareil et procédé pour emballer des articles dans des emballages en plastique transparent
US11148295B2 (en) * 2018-06-17 2021-10-19 Robotics Materials, Inc. Systems, devices, components, and methods for a compact robotic gripper with palm-mounted sensing, grasping, and computing devices and components
US12108698B2 (en) * 2018-07-01 2024-10-08 Monsanto Technology Llc Automated seed planting and evaluation
CN111646082B (zh) * 2019-11-29 2022-11-11 北京极智嘉科技股份有限公司 容器存储系统、仓储系统、机器人控制方法和机器人

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WO2024182359A1 (fr) 2024-09-06
CL2025002527A1 (es) 2025-12-12

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