Systems and methods for providing individual items to a pick-up robot

Abstract

A supply system (100) comprises a pickup-surface (102) for supporting the individual items to be picked up by the pick-up robot, an upstream buffer (106) configured to receive multiple items and to provide at least a portion of the multiple items to a transfer unit (108), and the transfer unit (108) coupled to the upstream buffer (106), wherein the transfer unit (108) is configured to receive the at least portion of the multiple items from the upstream buffer (106), and intermittently transfer and disperse the at least portion of the multiple items from the transfer unit (108) onto the pick-up surface (102).

Description

SYSTEMS AND METHODS FOR PROVIDING INDIVIDUAL ITEMS TO A PICK-UPROBOTTECHNICAL FIELD

[0001] The present invention relates generally to systems and methods for providing individual biological items to a pick-up robot for picking and handling. Specifically, the present invention relates to automated supply systems and associated methods for distributing multiple aggregated biological items in a dispersed arrangement, thereby facilitating the easy pick-up by a pick-up robot.BACKGROUND

[0002] In various industrial and agricultural settings, the handling and distribution of multiple biological items, such as biological materials, plant cuttings, products, and other similar items, may present logistical challenges.

[0003] Automation in supply systems can increase efficiency and productivity of various logistical tasks and minimize labour cost. One example of agricultural logistical task is the process of sticking plant cuttings to grow new plants. This task involves taking small sections of a plant, which have the potential to grow independently, and sticking them into a small pot or tray filled with soil. These cuttings, are selected and prepared, are then nurtured in a controlled environment to develop roots and eventually grow into new, individual plants. The process of sticking can be automated by employing a pick-up robot. The pick-up robot is designed to delicately handle the small plant cuttings, accurately positioning them in the soil-filled pots or trays.

[0004] To minimize the human task and enhance efficiency, it is advantageous to automate the process of singulation. WO2013174893A1 discloses an apparatus for object separation having a conveyor belt for object placement and an actuator. The actuator, consisting of a drive axis and an actuating structure, converts a rotational motion into perpendicular movement relative to the conveyor belt's surface. The actuating structure is configured to create the perpendicular movement in the conveyor belt in the perpendicular direction. However, the solution disclosed in WO2013174893A1 cannot accommodate a large volume of biological items as input since it only contains one conveyor belt vibrating vertically for singulating. When a large volume of biological items is provided, an aggregated mass or bulk of biological items is formed, and the conveyor belt would not be able to singulate all biological items before providing to a pick-up robot.

[0005] NL1018278 discloses a seedling planting arrangement to transport seedlings using vibrating gutters. Pressurized air flow is used to blow seedlings apart. Plant items are temporarily held in a dispensing mechanism that consists of a grid of pins. A slider 82 movesthe seedlings over the grid to it push onto the next conveyor / belt. WO9203364A1 discloses a parts feeding system for automated manufacturing. These parts are fed onto a vibrating platform, which is tilted towards a conveyor belt for further downstream processing.

[0006] The present invention aims to improve at least one aspect of the prior art systems and methods. The Background section of this document is provided to place embodiments of the present invention in technological and operational context to assist those skilled in the art understanding the scope and utility of the present invention. Unless explicitly identified as such, no statement herein is admitted being prior art merely by its inclusion in the Background section.SUMMARY

[0007] It is an object of the present invention to provide systems and methods for singulating aggregated biological items and providing to a pick-up robot for picking the biological items individually.

[0008] According to a first aspect of the invention, the present disclosure is directed to a supply system for dispersing aggregated biological items and subsequently providing those biological items to a pick-up robot. To ensure sufficient singulation of the aggregated biological items even when provided in bulk, the present invention provides an automated supply system for providing individualized or singulated biological items to a pick-up robot. It is advantageous to supply the plant cuttings in bulk, where the singulation of individual cuttings is managed by an automated supply system. Such supply system may separate and organize the bulk cuttings into individual units, ready for e.g. a pick-up robot to insert them into soil. Such a streamlined approach, integrating bulk handling with precise singulation, optimizes the entire planting process. By reducing manual labor and increasing the accuracy and speed of planting, this automated supply system can play a useful role in modern agricultural practices, particularly in large-scale facilities.

[0009] In embodiments, the supply system comprises an upstream buffer and / or a transfer unit and / or a downstream pick-up surface.

[0010] In embodiments, the upstream buffer is configured to receive, and preferably hold, aggregated biological items and a transfer unit disposed downstream from the upstream buffer. The transfer unit comprises a dispersing platform configured to disperse an amount of aggregated biological items onto a pick-up surface. The dispersing platform can receive a portion or an amount of aggregated biological items from the buffer and disperse that amount of biological items onto a pick-up surface disposed downstream from the transfer unit. The pick-up surface is arranged for supporting dispersed biological items and subsequently providing the individual biological items to be picked up by the pick-up robot.

[0011] “Upstream” and “downstream” are terms used to indicate the direction of the process flow where the items are handles. “Upstream” refers to the earlier stages of the process such as initial bulk supply where the items enter the supply chain and begin their journey throughvarious stages. On the other hand, “downstream” refers to the later stages such as providing dispersed singulated biological items to a pick-up robot. The terms can be indicative of a relative direction which can be used to indicate the position of an element in the entire process relative to another element.

[0012] In embodiments, the dispersing platform may be configured to generate a vibrational motion. The vibrational motion can be a repetitive motion or can be generated in form of the random impulses. The vibrational motion allows the aggregated biological items to move and separate from each other. The vibrational motion can be adjusted by various parameters including intensity and frequency. By fine-tuning these parameters, the dispersing platform can accommodate and disperse various types and sizes of biological materials, ensuring that they are dispersed gently yet effectively. The intensity of the vibration determines how forcefully the items are agitates, while the frequency determined by a period, time between subsequent vibrations, can influence the speed of the supply to the pick-up surface. The vibrational motion may be generated by a drive connected to the dispersing platform. The drive can be a rotational drive, e.g having an excentre connected via an arm to the dispersing platform. The dispersing platform can be held in guides that guide the motion of the dispersing platform. The frequency and amplitude of the vibration can be controlled precisely to match the characteristics of the items being handled, ensuring that they are singulated effectively without damage. The vibrational motion can be generated periodically with a frequency determined by a period, time interval between one vibration and a subsequent vibration. The period and the vibration intensity maybe controlled by a computer, a network, or by a local control system preferably having a user-interface for receiving user inputs.

[0013] In embodiments, the desired vibrational motion can be determined based on one or more following criteria: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input. A suitable sensor can be provided to determine any of the previously mentioned criteria. A weighing scale can be present. In other embodiments, the weight can be determined based on image recognition. The vibrational motion can be set in accordance to the determined desired vibration motion.

[0014] In embodiments, the dispersing platform may be formed by an array of generally parallel elongated rods releasably mounted in the transfer unit in the path from the upstream buffer to the pick-up surface. The array of generally parallel elongated rods may have a periodic structure defining a pitch, distance between centers of adjacent rods. The pitch, the distance between any two adjacent rods, may be substantially the same for all pairs of adjacent rods or can vary. Having a constant pitch or distance between any pair of adjacent rods helps to ensure that biological items disposed at any position on the rods are dispersed by the rods comprised by the dispersing platform with a substantially equal dispersing capacity. This creates a reliable and reproducible dispersing of biological items by the dispersing platform. The pitch may bedetermined based on the logistical needs of the process. The rods may be configured to move such that the pitch can be varied in a controlled manner. The pitch can be selected based on the size of the individual biological items such that the items when aggregated can generally be held on the dispersing platform and be dispersed through the open space between the rods moving downwards onto the pick-up surface. The pitch should not be too large in order to prevent that the aggregated biological items can fall down through the spacings between the rods without having been sufficiently dispersed. The rods may be provided with a surface area (projected size seen in the direction of travel of the biological items) with a roughness or friction coefficient with respect to the biological items to be dispersed. Different materials and / or coatings may be used for the surface area to provide the desired roughness or friction coefficient, including a metal, polymer, glass, wood, or any other material suitable for providing the desired roughness or friction coefficient, or any type of coating or substrate which may engender the desired roughness or friction coefficient of the rods. Having rods with higher roughness or friction coefficient may help in dispersing the biological items as this allows the rods to engage the biological with relatively greater grip upon the same vibration of the rods, as the biological items will be less likely to slide against the surface of the rods due to greater friction force being exerted on the biological items by the rods.

[0015] The supply system is configured to provide the amount of aggregated biological items from the upstream buffer to the transfer unit. In embodiments, the supply system is configured to intermittently supply amounts of aggregated biological items from the upstream buffer to the transfer unit. This results in periods without supply to the transfer unit and dispersing platform, which allows the dispersing platform to use its capacity to disperse the biological items. In embodiments, the amount of aggregated biological items is determined based on a dispersing capacity of the dispersing platform. The dispersing capacity of the dispersing platform is related to an amount of biological items it can handle to disperse from aggregated to a sufficiently singulated form. This capacity may be dependent on the types of biological items, density, volume, length, shape, weight, and other characteristics related to the biological items. If too many aggregated items exceeding the dispersing capacity of the dispersing platform are placed on the dispersing platform in a time period, the items may cloak or jam the dispersing platform such that the supply system does not function properly and / or the singulating is not sufficient. If the received amount of biological items is too high and dense, exceeding the dispersing capacity of the dispersing platform, the process of dispersing may become less effective or even effectless such that the biological items are not suitably dispersed for subsequent handling by the pick-up robot. By providing a dispersing capacity that is more than what is needed to singulate a predetermined amount of aggregated biological items, sufficient singulation is ensured. The singulating capacity can be dependent on many mechanical or operational variables, many of which will be discussed in the following, including the impulse provided to the biological items, a height and / or distance between transfer unit and pick-up surface,

[0016] In embodiments, the upstream buffer can receive initial bulk supply of biological items. The biological items are often aggregated into a large volume. The upstream buffer can temporarily hold the items thereby acting as a reservoir that balances the flow between different stages of the process. The upstream buffer holds aggregated biological items separate from the supply surface for the pick-up robot. This buffer can dynamically adjust the supply of plant cuttings to the next stage, in embodiments formed by a transfer unit with disperser, depending on the logistical conditions and needs. The upstream buffer can take various forms such as a conveyor belt, a sloped sliding surface, a funnel, or other mechanisms suited to receive bulk supply of aggregated biological items.

[0017] For instance, if the automated singulation system or the pick-up robot is temporarily slowed down or halted due to maintenance or other operational reasons, the buffer ensures a steady supply once these systems resume. In embodiments, the supply to a dispersing platform and the supply to the pick-up robot are separated. This not only enhances efficiency but also ensures continuity in the planting process, thereby optimizing overall productivity and reducing potential bottlenecks in the agricultural supply chain. In embodiments, when the upstream buffer provides at least a portion of the aggregated biological items to a transfer unit, the timing and speed of the provision are determined based on the logistical conditions, needs, or a user input.

[0018] In embodiments, the transfer unit can be coupled to the upstream buffer located downstream from the upstream buffer. The dispersing platform of the transfer unit may temporarily hold and / or disperse the amount of aggregated biological items onto another surface. The dispersing platform may have a horizontal surface on which the biological items can be located. The dispersing platform may be configured to disperse the biological item into a downward direction on the other surface, utilizing the force of gravity to aid in the distribution process. The distance between the items may increase when the vertical distance between the dispersing platform the other surface becomes larger. The other surface can be a pick-up surface for supporting dispersed biological items and subsequently providing to a pick-up robot.

[0019] In embodiments, the dispersing platform can be configured to generate random impulses and exert random forces on the supplied or received amount of aggregated biological items in multiple directions. The random (directions of) accelerations and / or forces facilitate a more randomized dispersing of the biological items such that the biological items are effectively spread out on the pick-up surface. The pick-up surface can, in any embodiment, be formed by a conveyor. The pick-up surface, preferably the conveyor, can be connected to an actuator for actuating the pick-up surface / conveyor in a generally vertical direction, in accordance with EP 2 852 543, incorporated by reference in its entirety.

[0020] In embodiments, the dispersing platform may be formed by a plate. The plate may comprise a flat surface for supporting the received biological items. The plate may be parallel to the pick-up surface, or slopped in the downstream direction such that when the items on theplate are agitated by a vibrational motion, the items are inclined to move toward the downstream direction due to the gravitational force.

[0021] In embodiments, the pick-up surface may be located below the transfer unit. Then the transfer unit can disperse the biological items onto the pick-up surface in a direction of the gravity. In this case, the distance between the transfer unit and the pick-up surface affects the results of the dispersion. The pick-up surface may be configured to vibrate generally perpendicular to the pick-up surface for further disperse the received dispersed biological items, received from the transfer unit. The pick-up surface may be a conveyor belt in form of an endless loop with two rollers, providing the received dispersed biological items to the pick-up robot.

[0022] In embodiments, the supply system may comprise one or more sensors to detect and monitor the conditions of the supply system such as (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, and (iv) condition of the items dispersed on the pick-up surface. The monitoring can be carried out by optical sensors which can visually inspect and analyze the characteristics and status of the items, weight sensors for precisely measuring the load on the various surfaces.

[0023] In embodiments, the supply system can be controlled by a user interface which allows intuitive and user-friendly manual control over the supply system, a computer having non- transitory computer-readable media wherein the computer may be programmed to carry out the supply processes automatically, or a network which allows controlling the supply system remotely. Monitored data of the supply system can be displayed to a user or transmitted to the computer or the network for further processing.

[0024] According to a second aspect of the invention, the present disclosure is directed to a method for dispersing aggregated biological items and subsequently providing to a pick-up robot. The robot can pick-up the biological items from a pick-up platform. Preferably singulated biological items are provided on the pick-up platform for picking-up by the robot. To improve singulation, In embodiments, the method can comprise the step of receiving aggregated biological items, preferably at an upstream buffer. In embodiments, the method can comprise the step of providing an amount from the aggregated biological items, preferably from the upstream buffer to a dispersing platform, preferably based on a dispersing capacity of the dispersing platform. Preferably the dispersing platform is formed by an array of generally parallel elongated rods and is mounted in the path from upstream buffer to the pick-up surface. In embodiments, the method can comprise the step of vibrating the dispersing platform to disperse the received amount of the aggregated biological items, preferably onto a pick-up surface. In embodiments, the method can comprise the step of providing the individual biological items on the pick-up platform to the pick-up robot. The vibrating dispersing platform formed byparallel rods, results in additional singulation of the biological items before they are fed onto the pick-up surface.

[0025] The method may further comprise steps of: vibrating the received amount of the aggregated biological items for dispersing; and / or filtering out a portion of received amount of the aggregated biological items not suitable for pick-up

[0026] In embodiments, the method may be carried out using any of the features disclosed in relation to the supply system of the first aspect of the present invention.BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will now be described more fully hereinafter with reference to the accompanying drawings, showing several embodiments of the invention. However, this invention should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the spirit and scope of the invention to those skilled in the art. The reference is made to the appended figures. Any of the features disclosed herein, either in relation to claims, clauses or the embodiments of the figures, can be combined, unless explicitly indicated as not combinable, and those combinations can be the subject of a continuation and / or divisional application.

[0028] FIG.1 illustrates a view of a supply system of the present invention.

[0029] FIG. 2 illustrates a further view of the supply system of FIG. 1.

[0030] FIG. 3 illustrates an embodiment of a transfer unit coupled to an upstream buffer.

[0031] FIGs. 4A-4B illustrate more embodiments the transfer unit of FIG. 3.

[0032] FIG. 5 illustrates another embodiment of the transfer unit of the supply system.

[0033] FIG. 6A illustrates yet another embodiment of the supply system.

[0034] FIG. 6B illustrates a side view of the supply system of FIG. 6A.DETAILED DESCRIPTION OF THE DRAWINGS

[0035] For simplicity and illustrative purposes, the present invention is described by referring mainly to exemplary embodiments thereof. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be readily apparent to one of ordinary skill in the art that the present invention may be practiced without limitation to these specific details. In this description, well known methods and structures have not been described in detail so as not to unnecessarily obscure the present invention.

[0036] FIG. 1 illustrates an embodiment of a supply system 100 of the first aspect of the present invention. The supply system 100 is configured to provide biological items to a pick-up robot for picking-up the biological items individually. The biological items may comprise at least one of plants, plant material, biological material, cuttings, sprouts, and seeds.

[0037] Multiple biological items may be loaded or stacked first in a buffer 106 in bulk. A ‘buffer’ refers to a storage area or system where items may be temporarily held before being supplied to another location for further processing, sorting, or transportation. The buffer 106 ensures smooth workflow and efficiency in handling items in an automated system such as the supply system 100 of FIG. 1. ‘In bulk’ indicates that the biological items may be stacked and / or densely packed biological items. ‘In bulk’ can also refer to batches, e.g. packed in a container or in sack.

[0038] The supply system 100 comprises an upstream buffer 106 which can temporarily hold items. The upstream buffer 106 is connected for supplying biological items to the transfer unit. The buffer 106 can hold aggregated biological items before transporting the biological items to a desired location for further handling. The buffer 106 is, at least partially, disconnected from the supply to the pick-up robot.

[0039] The upstream buffer 106 may be a conveyor belt assembly, roller conveyor assembly, chain conveyor assembly, a slopped sliding surface, a funnel, a smooth inclined plane of a chute conveyor, a slat conveyor, or any buffer system suitable for the purpose of receiving and holding multiple biological items. What is shown in FIG. 1 as the example is a conveyor belt. The upstream buffer surface 116 may be a conveyor belt disposed as an endless loop over two rollers.

[0040] The upstream buffer 106 may contain an upstream buffer surface 116 for holding the biological items. A suitable entry point is available to drop the biological items into the buffer.

[0041] The upstream surface may be configured to transport the items on the upstream buffer surface 116 in a downstream direction which is a direction where the items are supposed to be supplied to. The transportation may be controlled according to the logistical situation of the supply system 100.

[0042] In embodiments, the upstream buffer surface 116 may be configured to continuously or non-continuously vibrate in a direction substantially perpendicular to the upstream buffer surface 116. This perpendicular vibrational motion of the upstream buffer surface 106 may scatter the multiple items supplied on the upstream buffer surface 116 in bulk dispersing the multiple items on the upstream buffer surface 116. A predetermined amount of the biological items can be transported from the upstream buffer 106 downstream to a transfer unit 108.

[0043] In other embodiments, the downstream transfer unit 108 is arranged to take in an amount from the buffer 106. In embodiments, the supply from the buffer 106 is implemented by the downstream device.

[0044] The transfer unit 108 may be configured to be coupled to the upstream buffer 106 via a connecting assembly 136. The connecting assembly 136 is formed by connecting plates 128connecting the transfer unit 108 to the upstream buffer 106, and preferably at the same time serves as a supporting element for containing the items in a receiving space, a dispersing platform 130, for biological items of the transfer unit 108. The transfer unit 108 may be coupled to the upstream buffer 106 at a buffer distal end 126 in the downstream direction (x-direction in FIG.1).

[0045] The transfer unit 108 comprises a dispersing platform 130 configured to receive (or take- in) an amount of the aggregated biological items and disperse the amount of aggregated biological items onto the pick-up surface 102.

[0046] The dispersing platform 130 may form a surface that is lower than the upstream buffer surface 116 in the vertical direction. In this manner, the items from the upstream buffer surface 116 can fall onto the dispersing platform 130 by the gravitational force. The dispersing can be done by mechanically agitating the aggregated biological items for example using random impulses or vibrational motions.

[0047] The dispersing platform 130 can be formed by an array of rods or by a plate. The dispersing platform 130 can be configured to vibrate. The vibration may be generated by a drive connected to the dispersing platform 130. The drive can be a rotational drive. The frequency and amplitude of the vibration can be controlled precisely to match the characteristics of the items being handled, ensuring that they are singulated effectively without damage. The vibrational motion may be in any of x-, y-, and z-directions or any combination of x-, y-, and z- directions. The use of vibration is advantageous as it can be finely tuned for different types of biological items, and different status of the supply system 100. The vibrational motion can be generated periodically with a frequency determined by a period, time interval between one vibration and a subsequent vibration. The period and the vibration intensity maybe controlled by a computer, a network, or by a local control system preferably having a user-interface for receiving user inputs.

[0048] FIG. 2 illustrates a view of the supply system 100 of FIG.1 at a different angle as indicated by the reference to xyz-coord inate systems shown. As shown in FIG. 2, the pick-up surface 102 can be located below the upstream buffer 106 and the transfer unit 108. The aggregated biological items are first supplied in bulk on the upstream buffer surface 116 of the upstream buffer 106. As the upstream buffer surface 116 rolls in the downstream direction (x- direction on the upstream buffer surface 116), a partial amount of the aggregated biological items can fall onto the dispersing platform 130 of the transfer unit 108. Since the dispersing platform 130 is located above the pick-up surface, the vibration of the dispersing platform 130 will result in dispersing the amount of aggregated biological items onto the pick-up surface 102.

[0049] FIG. 3 illustrates an embodiment of an upstream buffer 306 and the transfer unit 308 coupled to each other. In this embodiment, the transfer unit 308 is releasably mechanically connected to the upstream buffer 306 at a buffer distal end 326 of the upstream buffer 306. Biological items loaded on the upstream buffer surface 316 may be transferred to the bufferdistal end 326 for example by a conveyor belt. The transfer unit 308 may comprise a dispersing device 330 for dispersing the biological items. The transferred biological items are dispersed onto a pick-up surface (not shown) below the transfer unit 308.

[0050] The dispersing platform 330 is formed by an array of generally parallel elongated rods 332 releasably mounted in the path from the upstream buffer 306 to the pick-up surface (not illustrated in FIG.3). The rods may be configured to vibrate in any of x-, y-, and z-directions. The vibrational motion can be rotational, linear, or non-linear. The spacings between the rods allow the biological items to fall through the spacings and be dispersed onto the pick-up surface (not shown) below the dispersing platform 330. The rods 332 may be coupled to a drive which is configured to generate the vibrational motion of the rods 332.

[0051] The drive may be controlled by a user, a computer, or a network such that the vibration intensity and frequency are tailored to the logistical needs of the supply task at hand. The drive may be further configured to control the pitch, center-to-center distance, of the array of rods 332 depending on the needs and conditions of the supply system. The transfer unit 308 may further comprise one or more sensors to detect and monitor the amount and / or weight of the biological items currently on the dispersing platform 330. The one or more sensors may also be configured to detect and monitor pick-up surface below the dispersing platform 330 so that the items dispersed onto the pick-up surface can be detected and monitored.

[0052] FIG. 4A illustrates another embodiment of transfer unit 408. The transfer unit 408 comprises an array of generally parallel elongated rods 432. In this embodiment, the array rods 432 are disposed in the x-y plane while the rod axes are generally in the y-direction. The pitch 434 (or spacing) of the rods 432 in this embodiment is relatively large such that larger items can pass through without obstruction. Contrarily, FIG. 4B illustrates a pitch 434’ which is smaller than that of the embodiment shown in FIG. 4A. The pitch of the rods 432 may be determined based on one or more following criteria: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input. After setting the pitch of the rods 432 on the basis of one or more of the criteria (i)-(v), the pitch between the rods 432 may be set to be constant so that the distance between pairs of adjacent rods is substantially the same for any pair of adjacent rods 432.

[0053] The array of rods 432 is releasably coupled to the transfer unit 408 such that it is replaceable according to the needs of the supply task at hand. The array of rods may be releasably coupled to a vibration drive 460 of the transfer unit 408. The array of rods 432 may comprise multiple rows, each row being position above the other.

[0054] The rods 432 may be provided with a surface area with different roughness or friction coefficient with respect to the biological items to be dispersed to allow the rods 432 to engage the biological items with the desired friction force upon vibration of the rods 432. Having rods 432 releasably mounted allows mounting the desired rods 432 for the dispersal of certain typesof biological items, the desired rods 432 depending on the type of biological items to be dispersed.

[0055] FIG. 5 illustrates another embodiment of a transfer unit 508, wherein the transfer unit 508 comprises a dispersing platform 530 which is formed by a plate 570 having a closed transfer surface 570. The plate 570 is configured to vibrate such that the items on top of the plate 570 are dispersed and proceed in the downstream direction (x-di recti on). The biological items then subsequently fall onto the pick-up surface (not shown) located below the transfer unit 508. The plate 570 may be slopped such that among the forces exerted on the biological items by the plate 570, the forces in positive x-direction (downstream direction) is larger than the forces in negative x- or y-directions.

[0056] FIG. 6A illustrates yet another embodiment of a supply system 600 having a transfer unit 608 coupled to an upstream buffer 606, wherein the transfer unit 608 comprises a dispersing platform 630 which comprises a sieve or filter plate 674. The sieve or filter plate 674 have a plurality of sieve openings which allows at least an undesired portion of the biological items to be sieved and be fallen through the plurality of sieve openings to a sieved item container 676. The sieve openings are optimized in size such that the sieve openings allow undesired items to fall into the sieved item container 676 and not proceed to fall onto the pick-up surface 602. Similar to the dispersing platforms of other embodiments, the sieved plate 674 may be configured to vibrate via a drive.

[0057] FIG. 6B illustrates a side view of the supply system 600 of FIG. 6A. A portion from the held biologicial items in the upstream buffer may be transferred on a sieved plate 674 of the transfer unit 608. The items on the sieve / plate 674 may fall through the sieve openings of the sieve / plate 674. The falling may be amplified by a vibrational motion of the sieve / plate 674 driven by a drive. The transfer unit 608 may comprise a flap 678 configured to guide the fallen items into the sieved item container 676. The flap 678 may be install at a distal end of the transfer unit 608 in the supply direction of the items (x-direction in FIG. 6B).

[0058] The present invention may, of course, be carried out in other ways than those specifically set forth herein without departing from essential characteristics of the invention. The present embodiments are to be considered in all respects as illustrative and not limitative, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

[0059] In the following clauses are provided:Clause 1. A supply system for dispersing aggregated biological items and subsequently providing to a pick-up robot, the supply system comprising:- an upstream buffer;- a transfer unit disposed downstream from the upstream buffer;- a dispersing platform disposed within the transfer unit, wherein the dispersing platform is configured to disperse an amount of aggregated biological items onto a pick-up surface; and- the pick-up surface disposed downstream from the transfer unit for supporting dispersed biological items and subsequently providing to the pick-up robot; wherein the supply system is configured to:- receive aggregated biological items at the upstream buffer;- provide the amount of the aggregated biological items from the upstream buffer to the transfer unit, wherein the amount of aggregated biological items is determined based on a dispersing capacity of the dispersing platform.Clause 2. The supply system of clause 1 or any claim or clause or embodiment, wherein the dispersing platform is configured to generate random impulses and exert random forces on the amount of aggregated biological items in multiple directions.Clause 3. The supply system of any of preceding clauses or any claim or clause or embodiment, wherein the dispersing platform is configured to generate a vibrational motion. Clause 4. The supply system of clause 3 or any claim or clause or embodiment, wherein the dispersing platform is configured to determine a vibration intensity and / or frequency of the vibrational motion based on one or more following criteria: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input.Clause 5. The supply system of any of preceding clauses or any claim or clause or embodiment, wherein the dispersing platform is formed by an array of generally parallel elongated rods releasably mounted in the transfer unit in the path from the upstream buffer to the pick-up surface.Clause 6. The supply system of clause 5 or any claim or clause or embodiment, wherein the array of generally parallel elongated rods defines a pitch, a distance between centers of adjacent rods, determined based on one or more following criteria: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input, preferably the dispersing platform comprises a pitch controller configured to adjust the pitch.Clause 7. The supply system of any of clauses 5-6 or any claim or clause or embodiment, wherein the array of generally parallel elongated rods is arranged in multiple rows, each row being positioned above the other.Clause 8. The supply system of any of clauses 2-4 or any claim or clause or embodiment, wherein the dispersing platform is formed by a plate.Clause 9. The supply system of clause 8, wherein the plate comprises a sieve having a plurality of sieve openings.Clause 10. The supply system of clause 9 or any claim or clause or embodiment, wherein the transfer unit further comprises a sieved item container configured to receive biological items fallen through the sieve of the plate.Clause 11. The supply system of clause 10 or any claim or clause or embodiment, wherein the transfer unit further comprises a flap configured to guide the fallen items into the sieved item container.Clause 12. The supply system of any of preceding clauses or any claim or clause or embodiment, wherein the system further comprises at least one sensor to detect at least one of conditions including: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input.Clause 13. The supply system of any of preceding clauses or any claim or clause or embodiment, wherein the upstream buffer and the pick-up surface are any combination of: (i) conveyor belt, (ii) a slopped sliding surface, and (iii) a funnel.Clause 14. A method for dispersing aggregated biological items and subsequently providing to a pick-up robot, the method comprises the steps of: a. receiving aggregated biological items; b. providing an amount of the aggregated biological items dependent on a dispersing capacity; c. dispersing the received amount of the aggregated biological; d. providing the individual items to the pick-up robot.Clause 15. The method of clause 14 or any claim or clause or embodiment, wherein the method further comprises steps of: e. vibrating the received amount of the aggregated biological items for dispersing; and / or, f. filtering out a portion of received amount of the aggregated biological items not suitable for pick-up.Clause 16. A method for dispersing aggregated biological items with a dispersing platform and subsequently providing to a pick-up robot, the method comprises the steps of: a. receiving aggregated biological items; b. providing an amount of the aggregated biological items to a dispersing platform; c. vibrating the received amount of the aggregated biological items with the dispersing platform for dispersing; d. dispersing the received amount of the aggregated biological items over a pickup platform;e. providing the individual biological items on the pick-up platform to the pick-up robot.[Clause 17] The method of clause 16 or any claim or clause or embodiment, wherein the amount of aggregated biological items provided from the upstream buffer to the dispersing platform is determined based on a dispersing capacity of the dispersing platform.

Claims

Claims1. A supply system for dispersing aggregated biological items and subsequently providing to a pick-up robot, the supply system comprising:- an upstream buffer;- a transfer unit disposed downstream from the upstream buffer;- a dispersing platform disposed within the transfer unit, wherein the dispersing platform is configured to disperse an amount of aggregated biological items onto a pick-up surface, wherein the dispersing platform is formed by an array of generally parallel elongated rods mounted in the transfer unit in the path from the upstream buffer to the pick-up surface, wherein the dispersing platform is configured to generate a vibrational motion; and- the pick-up surface disposed downstream from the transfer unit for supporting dispersed biological items and subsequently providing to the pick-up robot; wherein the supply system is configured to:- receive aggregated biological items at the upstream buffer;- provide the amount of the aggregated biological items from the upstream buffer to the transfer unit.

2. The supply system of claim 1, wherein the dispersing platform is configured to generate random impulses and exert random forces on the amount of aggregated biological items in multiple directions.

3. The supply system of claim 1 or 2, wherein the amount of aggregated biological items provided from the upstream buffer to the transfer unit is determined based on a dispersing capacity of the dispersing platform.

4. The supply system of any of the claims 1-3, wherein the dispersing platform is configured to determine a vibration intensity and / or frequency of the vibrational motion based on one or more following criteria: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input.

5. The supply system of any of preceding claims, wherein the generally parallel elongated rods are releasably mounted in the transfer unit.

6. The supply system of any of the previous claims, wherein the array of generally parallel elongated rods defines a pitch, a distance between centers of adjacent rods, determined based on one or more following criteria: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight of the items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input, preferably the dispersing platform comprises a pitch controller configured to adjust the pitch.

7. The supply system of any of claims 5-6, wherein the array of generally parallel elongated rods is arranged in multiple rows, each row being positioned above the other.

8. A supply system for dispersing aggregated biological items and subsequently providing to a pick-up robot, the supply system comprising:- an upstream buffer;- a transfer unit disposed downstream from the upstream buffer;- a dispersing platform disposed within the transfer unit, wherein the dispersing platform is configured to disperse an amount of aggregated biological items onto a pick-up surface; and- the pick-up surface disposed downstream from the transfer unit for supporting dispersed biological items and subsequently providing to the pick-up robot; wherein the supply system is configured to:- receive aggregated biological items at the upstream buffer;- provide the amount of the aggregated biological items from the upstream buffer to the transfer unit wherein the dispersing platform is formed by a plate.

9. The supply system of claim 8, wherein the plate comprises a sieve having a plurality of sieve openings.

10. The supply system of claim 9, wherein the transfer unit further comprises a sieved item container configured to receive biological items fallen through the sieve of the plate.11.The supply system of claim 10, wherein the transfer unit further comprises a flap configured to guide the fallen items into the sieved item container.

12. The supply system of any of preceding claims, wherein the system further comprises at least one sensor to detect at least one of conditions including: (i) type of the received items, (ii) singulation status of the items dispersed on the pick-up surface, (iii) weight ofthe items dispersed on the pick-up surface, (iv) condition of the items dispersed on the pick-up surface, or (v) a user input.

13. The supply system of any of preceding claims, wherein the upstream buffer and the pick-up surface are any combination of: (i) conveyor belt, (ii) a slopped sliding surface, and (iii) a funnel.

14. A method for dispersing aggregated biological items and subsequently providing to a pick-up robot on a pick-up platform, the method comprises the steps of: a. receiving aggregated biological items in an upstream buffer; b. providing an amount of the aggregated biological items from the upstream buffer to a dispersing platform formed by an array of generally parallel elongated rods, the dispersing platform mounted in a path from the upstream buffer to the pick-up surface; c. vibrating the dispersing platform to disperse the received amount of the aggregated biological items over the pick-up platform; d. providing the biological items on the pick-up platform to the pick-up robot.

15. The method of claim 14, wherein the amount of aggregated biological items provided to the dispersing platform is determined based on a dispersing capacity of the dispersing platform.

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