Methods and systems for planting biological items in a cultivation medium

Abstract

The disclosure relates to methods and systems for planting biological items in a cultivation medium. The method comprises inserting a planting head loaded with provided biological items into the cultivation medium and through apertures of a wire mesh provided on the cultivation medium. During planting, the position of the planting head is controlled such that the planting head is positioned with respect to the wire mesh. This allows not only repeatedly inserting the planting head into the planting apertures at predetermined positions with respect to that planting aperture, but also inserting the biological item at a predetermined depth, since the wire mesh is positioned onto the cultivation medium. This results in more homogenous planting and subsequently in a more regular growth of the planted biological items.

Description

METHODS AND SYSTEMS FOR PLANTING BIOLOGICAL ITEMS IN A CULTIVATION MEDIUMBACKGROUND OF THE INVENTION1. Field of the Invention

[0001] The present invention relates generally to methods and systems for planting biological items in a cultivation medium.2. Description of the Related Art

[0002] In agricultural settings, biological items are distributed, handled and planted depending on the purposes. For planting tasks, biological items such as seeds, small plant cuttings, seedlings (young plants with roots), and seedlings with soil attached to the root portion are planted at least partially into a cultivation medium such as soil. The present invention allows automating the planting tasks.

[0003] A wire mesh can be used on top of the cultivation soil. The plants can grow through planting apertures of the mesh. The wire mesh can move upwards together with the plants for supporting the plant during their growth. An example of wire mesh can be found in European patent application EP1621061A1 and EP1397045B1. EP1397045B1 discloses positioning a plant with clod on the plant bed. JP2004024113A discloses a seedling planting apparatus that can be inserted into the soil.

[0004] In previous methods and systems for planting biological items, irregularities occurred during growth of the planted biological items. Even though the supplied biological items would have similarities, some of the planted biological items would not grow in the cultivation medium. Some planted biological items would grow at different speeds from others. In some instances, some biological items would develop ahead or after other similar biological items.

[0005] There is a particular need to create a higher degree of similar developments in planted biological items, such as plants, in particular chrysanthemum, wherein the biological items that are to be planted preferably have root portions that include soil.BRIEF SUMMARY OF THE INVENTION

[0006] The present invention addresses these problems by providing a method for planting biological items in a cultivation medium. The biological items preferably have a root portion and preferably have soil attached to the root portion. In embodiments, the method comprises loading one or more biological items in a planting head and wherein planting the biological item in the cultivation medium by at least partially comprises inserting the planting head into the cultivation medium to release the one or more biological items at a depth that is underneath the wire mesh. Accordingly, the planting head is used to penetrate the cultivation medium and the planting head can be used to guide the biological item during planting. In particular, the root part of the biological items is loaded into the planting head and is thereby brought into the cultivationmedium. The result is that root part is protected from potential external forces that could result in damage to the roots, resulting in irregularities during further growth. EP1397045 lacks disclosure of a planting head into which biological items can be loaded and lacks disclosure of inserting a planting head into the cultivation medium. EP1397045 disclose grabbing the clod of a plant and positioning that clod on the soil.

[0007] In embodiments, a wire mesh is provided on top of the cultivation medium. The wire mesh comprises multiple planting apertures. The wire mesh can be used during subsequent growth of the planted biological items for support or separation between adjacent planted biological items. During planting the wire mesh is on or close to the top layer of the cultivation medium. The wire mesh can have 10-20cm rectangular or square or polygon planting apertures.

[0008] In embodiments, planting further comprises positioning the planting head with respect to the wire mesh. The relative position of the planting head relative to the wire mesh is based on a determined position of at least a part of the wire mesh. This allows that the planting with the planting head is adapted to the position of the wire mesh and especially with respect to the planting apertures. By driving the position of the planting head between multiple positions relative to the wire mesh, the planting head can be moved along a predetermined path with respect to the wire mesh. This allows positioning the planting head such that after planting the planted biological item is more supported by the wire mesh, during the subsequent growth.

[0009] In embodiments, the method comprises repeating the planting and positioning the planting head with respective biological items with respect to the wire mesh for multiple respective planting apertures. For a regular wire mesh, this results in positioning the respective biological items in a regular pattern with respect to the wire mesh, resulting in subsequent support by the wire mesh that is generally similar for each planted biological item, which subsequently results in more regular growth of the biological items.

[0010] In embodiments, the planting head plants the biological items through one of the planting apertures in the wire mesh positioned on the cultivation medium. The planting aperture will have a contour formed by a part of the wire mesh. The planting head is then positioned with respect to the wire mesh based on a determined position of one or more parts of that contour of the planting aperture through which the biological item is planted. This allows positioning the planting head, and thereby the resulting position of the biological items after planting, in relation to the wire mesh and the apertures formed therein.

[0011] In embodiments, planting comprises inserting the planting head in the cultivation medium at a predetermined insertion location. The predetermined insertion location is a location determined with respect to the wire mesh. The predetermined insertion location of several biological items inserted into the cultivation medium can be a central I middle location of planting apertures in the wire mesh. The method determines a position of a part of the contour formed by the wire mesh of the planting aperture through which the biological item is planted and uses that determined position to insert the planting head at a desired relative position in the cultivation medium.

[0012] Preferably planting comprises positioning the planting head in a predetermined position above the planting aperture before inserting. From that predetermined position, referred to as firing position, the planting head is moved towards the planting aperture, preferably towards the predetermined insertion position. The orientation from firing position to insertion position determines the orientation of e.g. the stem of the biological item that is subsequently planted. The predetermined firing position is preferably in a vertical line above the predetermined insertion position in the planting aperture through which the biological item is planted.

[0013] In embodiments, planting comprises inserting the planting head to a predetermined depth into the cultivation medium, and preferably repeating that in subsequent planting steps. The insertion allows releasing and positioning the biological items at predetermined depths, subsequent growth will be more regular. However, a cultivation medium, such as soil, can be soft and rather flexible, making it difficult to control the depth during planting.

[0014] Preferably the predetermined depth is a position of the planting head with respect to the wire mesh, under the wire mesh, based on the determined position of at least the part of the wire mesh. By determining a position of the wire mesh and positioning the inserted planting head with respect to that determined position, a regular depth for the planted biological items can be obtained. The one or more biological items can then be released at the depth. The wire mesh is supported by the cultivation medium and will have a general constant height position with respect to the cultivation medium.

[0015] In embodiments, inserting the planting head into the cultivation medium to the predetermined depth comprises contacting a portion of the contour of the planting aperture through which the biological item is planted. The planting head can have a sensor or stop, which touches I contacts I senses the portion, preferably during insertion. This allows using a mostly mechanical sensor for determining a position of the mesh and thereby setting the depth for insertion mechanically. In embodiments, the insertion movement of the planting head is stopped dependent on the planting head contacting the portion of the contour or wire mesh. Different detection / sensing techniques are available and can be used for detecting the contour or wire mesh. In embodiments, the planting head has a stop that detects pressure. When a predetermined threshold, such as a pressure, is detected, the insertion movement of the planting head is stopped.

[0016] In embodiments, one or more biological items are loaded into the planting head that is inserted. By loading before inserting the planting head into the cultivation medium, the inserting of the planting head in the cultivation medium also brings the biological item, and preferably the root portion thereof, into the cultivation medium. In embodiments, planting comprises creating an indentation in the cultivation medium. Inserting the planting head into the cultivation medium can create the indentation. The one or more biological items can be moved in the planting head that created the indentation.

[0017] Planting comprises, after inserting, releasing the loaded biological items in the cultivation medium. Releasing can comprise opening the planting head at an insertion end. Byreleasing the biological items, while the planting head is inserted in the soil, the biological items are positioned under the wire mesh. Opening can comprise moving at least one of two housing parts of the planting head with respect to other. Opening results in enlarging the indentation in the cultivation medium and allowing the biological item to move out of the planting head at the insertion end.

[0018] In embodiments, the method further comprises retrieving the opened planting head out of the cultivation medium. Preferably retrieving comprises moving the inserted planting head backwards along the insertion path. This way of planting and retrieving the planting head prevents exerting high forces on the biological items, in particular on the sensitive roots. By reducing any force exerted on the roots, the subsequent growth of the biological items is more regular and loss of biological items is prevented.

[0019] In embodiments, the planting head is opened when inserted allowing the release of the items. The opening is at the predetermined depth in the cultivation medium. The cultivation medium will provide support for the released biological items. The one or more biological items move out of the planting head during retrieving via the opened side of the planted head. By retracting the planting head from the cultivation soil in opened state, the biological item is put in the cultivation medium during retrieving of the planting head out of the cultivation medium.

[0020] In embodiments, one or more biological items are loaded in a second planting head or in multiple planting heads. Planting comprises at least partially inserting the planting head and the second or multiple planting heads into the cultivation medium in different planting apertures of the wire mesh. This allows multiple insertions during the same period, reducing the planting time. The respective positioning of the multiple planting heads with respect to each respective planting aperture, the insertion position with respect to the respective planting aperture, the firing position with respect to the respective planting aperture and / or the depth is set similarly for the biological items. This decreases irregular growth.

[0021] One or more biological items in the planting head can be loaded one end of the planting head, whereas the one or more loaded biological items are planted into the cultivation medium via an opposite end of the planting head. This reduces grasping force. Preferably the biological items are loaded with root parts first.

[0022] The loading preferably comprises preloading the one or more biological items into an intermediate distributor. The intermediate distributor can comprise multiple buffers for biological items, corresponding with the number of planting heads. Subsequently the one or more biological items are loaded from the distributor into the planting head. This allows loading and buffering the biological items independent from the subsequent insertion and planting.

[0023] Preferably loading into the planting head comprises opening the distributor to load, preferably by gliding, the one or more biological items from the distributor into the planting head,

[0024] In embodiments, biological items are supplied, e.g. in trays. The trays can be loaded on support platforms on the planting systems that move within green houses for planting. The supplied biological items are loaded, e.g. by a robot arm, into the intermediate distributor and / orin the planting heads. Accordingly, the invention allows supplying biological items at one or more central supply points, distributing from that central point to several buffers of the intermediate distributor, and loading the planting heads from the intermediate distributor. During planting with the loaded planting heads, the intermediate distributor can be filled.

[0025] Another aspect of the invention comprises a planting head for planting biological items in a cultivation medium. The planting head is improved to allow planting at predetermined depths for biological items, such as plants with roots and soil attached thereto. The planting head is mountable on a planting device or system. This allows replacing the planting head. The planting head can comprise an entry for loading one or more biological items in the planting head. Preferably the biological items are loaded by gliding the biological into the planting head, the planting head having a hollow, preferably round or cylindrical, most preferably funnel-like, body. By loading the biological items into the planting head, the biological items are protected against external forces.

[0026] In embodiments, the planting head has an insertion end for inserting the planting head into the cultivation medium. This allows creating an indentation or hole in the cultivation medium into which the biological items can be planted.

[0027] According to one aspect of the invention disclosed herein, the planting head has a stop for engaging the cultivation medium and / or a wire mesh positioned on the cultivation medium. The stop allows to register the engagement with soil or mesh and as a result the insertion action of the planting head can be stopped / paused. The stop thus allows to stop the insertion at a predetermined depth, resulting in more regular planting of the biological items, when that planting head is used for multiple planting.

[0028] In embodiments, the stop is positioned at a predetermined position with respect to the insertion end, so that the insertion end is arranged to be inserted into the cultivation medium with a predetermined depth.

[0029] In embodiments, the stop is formed by a side arm. The side arm extends in a sideward direction, generally perpendicular to the direction entry - insertion end. The side arm can comprise a relatively large surface area so that it will bump with the mesh and / or the soil.

[0030] In embodiments, the insertion end has a closed state for holding one or more biological items. In the closed state the planting head can be inserted into the cultivation medium. The closed state allows penetrating the cultivation medium, while protecting good held within the insertion end.

[0031] In embodiments, the insertion end has an opened state for releasing the one or more biological items from the insertion end, after insertion and during retrieving.

[0032] In embodiments, the insertion end comprises preferably at least two insertion parts that can be moved with respect to each other. In embodiments, at least one insertion part is pivotable connected to the planting head. The insertion end is more preferably formed as a beak. The opening allows releasing the biological items from the insertion end, which allows planting the biological item at desired predetermined depths.

[0033] In embodiments, the stop comprises a pressure sensor.

[0034] Another aspect of the invention provides a planting system for planting biological items in a cultivation medium. In embodiments, the planting system has a frame. The frame allows mounting of respective devices, including actuated wheels or other guides for moving the system over the ground or over rails provided in e.g. a green house.

[0035] In embodiments, a planting head with a loading end for receiving biological items and insertion end for insertion into the cultivation medium. The loading end can be an entry point. In embodiments, the planting head will have a hollow, funnel like shape, converging towards the insertion end. The insertion end can be inserted and penetrate the cultivation medium in which biological items are to be planted. The planting head allows gliding the biological item from the entry point to the insertion end.

[0036] In embodiments, the planting system comprises a biological item supply for supplying one or more biological items into the loading end of the planting head. The biological item supply can be stock of biological items, received e.g. as tray or container with biological items. The biological item supply is arranged to transport the biological items to and into the loading end.

[0037] In embodiments, the planting system comprises a detector arranged to determine a position of at least a part of a wire mesh provided on the cultivation medium, the wire mesh having multiple planting apertures. After planting, the wire mesh can support the planted biological items.

[0038] In embodiments, a planting head drive is provided on the frame of the planting system, the planting head drive is arranged to position the planting head, including for driving the planting head into the cultivation medium. In embodiments the planting head drive is also arranged to release the received biological item, preferably in an inserted state, in which the planting head is inserted into the cultivation medium to a depth under the wire mesh. In embodiments, the planting head drive can comprise multiple actuators, located at different positions in the planting system. The planting head drive can also comprise an actuator for the wheels of the planting system that allow moving the planting system within a green house. Driving the wheels also results in moving / positioning the planting head with respect to the outside world.

[0039] In embodiments, a controller is arranged to control the planting head drive to control the position of the planting head with respect to wire mesh based on the determined position of at least a part of the wire mesh. By detecting the wire mesh, the planting head drive can be controlled to bring the planting head to a desired relative position with respect to that mesh. This allows increasing the similarity during respective planting actions of biological items, reducing irregularities.

[0040] In embodiments, the controller is further arranged to control the planting head drive to insert the planting head into the cultivation medium through one of the planting apertures of the wire mesh. The contour formed by the wire mesh will subsequently surround the plant. The determined position is a position of a contour formed by the wire mesh of one of the plantingapertures through which the biological item is planted. By planting at similar relative positions, irregular positioning is reduced, resulting in more similar growth patterns during subsequent growth the planted biological items. In embodiments, the controller is further arranged to control the planting head drive to release the planting head into the cultivation medium at a depth in the cultivation medium, preferably below or underneath the wire mesh. Releasing the biological items at a depth under the wire mesh positions the biological items at a position where they can grow. The combined insertion and release results in an accurate positioning of the biological items.

[0041] In embodiments, the planting system comprises one or more moving devices, such as wheels, wherein the planting head drive is arranged to control the moving device / wheels for moving the planting system with planting head to the position with respect to the wire mesh.

[0042] In embodiments, the controller is arranged to control the planting head drive to insert the planting head in the cultivation medium at a predetermined insertion location with respect to the wire mesh, preferably with respect to the contour formed by the wire mesh of the planting aperture through which the biological item is planted. The detector is arranged to determine a position of a part of the contour.

[0043] In embodiments, the controller is arranged to control the planting head drive to position the planting head, preferably the loaded planting head, in a predetermined firing position above the planting aperture before inserting.

[0044] In embodiments, the predetermined firing position is in a vertical line above the predetermined insertion position in the planting aperture through which the biological item is planted.

[0045] In embodiments, the controller is adapted to control the planting head drive to insert the planting head to a predetermined depth into the cultivation medium. At that predetermined depth, the planting head is under the wire mesh. At that predetermined depth, the biological item loaded in the planting head can be released.

[0046] In embodiments, the predetermined depth is a position of the planting head with respect to the wire mesh based on the determined position of at least the part of the wire mesh. As the wire mesh is generally deployed onto the cultivation medium, the mesh is generally at the same level as the top of the soil. In an example, the planting head is inserted to a depth of 10cm under the wire mesh.

[0047] In embodiments, the detector is arranged acquire one or more image of parts of the wire mesh to determine a position thereof. The detector can be in a predetermined position with respect to the frame and / or planting head, thereby allowing to process the acquired image to obtain an instruction for the firing depth of the planting head during insertion and for release of the biological items.

[0048] In embodiments, the detector is arranged to contact the wire mesh, preferably a portion of the wire mesh forming the contour of the planting aperture through which the biological item is planted. In embodiments, the controller is adapted to stop the planting head drive insertingthe planting head into the cultivation medium dependent on the detector contacting the wire mesh.

[0049] In embodiments, the detector comprises a pressure sensor. Upon detection of a threshold pressure, a trigger signal can be provided to the controller and the controller can subsequently stop the insertion.

[0050] In embodiments, the detector is a stop, preferably mounted on the planting head, wherein the stop is more preferably formed by a side arm extending in a direction perpendicular to the direction loading side - insertion end of the planting head. The stop can, during insertion, bump into the grid or to the cultivation medium. When the stop senses a predetermined threshold, further insertion can be stopped by the controller.

[0051] In embodiments, the detector is positioned at a predetermined position with respect to the insertion end of the planting head, so that the insertion end is arranged to be inserted into the cultivation medium with a predetermined depth.

[0052] In embodiments, the controller is adapted to, after inserting, release the one or more biological items from the planting head in the cultivation medium.

[0053] In embodiments, the insertion end of the planting head is arranged to form an indentation in the cultivation medium. Preferably the one or more biological items loaded in the planting head are held in the hollow, preferably funnel like shaped, insertion end.

[0054] In embodiments, the insertion end of the planting head has a closed state for holding the one or more biological items. In embodiments, the planting head has a closed state for inserting into the cultivation medium. This allows inserting the loaded planting head into the cultivation medium without exerting force on the sensitive root end of the biological items. In embodiments, the planting head has an opened state for releasing the one or more biological items from the insertion end. This releases the loaded biological item at the predetermined insertion depth.

[0055] In embodiments, the insertion end comprises preferably at least two insertion parts that can be moved with respect to each other. In embodiments, the planting head drive is arranged to move the two insertion parts with respect to each other. Opening the insertion end, allows releasing the biological items from that insertion end that is inserted into the cultivation medium. In some embodiments, the opening of the planting head results in increasing the indentation in the cultivation medium.

[0056] In embodiments, at least one insertion part is pivotable mounted onto the planting head, wherein the insertion end is more preferably formed as a beak.

[0057] In embodiments, the controller is adapted to control the planting head drive to retrieve the opened planting head out of the cultivation medium. Preferably the planting head drive is arranged to insert and retrieve the planting head along similar paths. The biological material exiting the planting head can happen simultaneously with retrieving the planting head.

[0058] In embodiments, the controller is adapted to open the planting head when the planting head is inserted into the cultivation medium, preferably at the predetermined depth, into the cultivation medium.

[0059] In embodiments, the planting system comprises at least a second or more planting heads. The controller can be adapted to control the planting head drive to insert the planting head and the second or more planting heads into the cultivation medium in different planting apertures of the wire mesh.

[0060] In embodiments, the controller is adapted to control the planting head drive to position the second or more planting heads with respect to the wire mesh based on a second (different) determined position of at least a part of the wire mesh.

[0061] In embodiments, the biological item supply is arranged to load the one or more biological items in the planting head before inserting the planting head into the cultivation medium, preferably before moving the planting head to the firing position.

[0062] In embodiments, the biological item supply preferably comprises an intermediate distributor for receiving one or more biological items, wherein the intermediate distributor is arranged to supply the one or more biological items to the one or more planting head, preferably to load the one or more biological items into the loading end of the planting head.

[0063] In embodiments, the intermediate distributor comprises a door arranged to be opened to unload the one or more biological items from the intermediate distributor. In embodiments, the intermediate distributor preferably comprises a gutter for guiding the one or more biological items. Gliding results in lowering the pressures exerted on the biological material.

[0064] In embodiments, the biological items supply comprises a support surface for receiving a biological items holder, such as a tray, and the biological items supply comprises a robot arm for loading one or more biological items supplied to the support surface into the intermediate distributor and / or in the one or more planting heads.

[0065] In embodiments, the planting head drive is arranged to move the planting head into a loading position with respect to the intermediate distributor, preferably under the intermediate distributor.

[0066] In embodiments, the controller is adapted to control the biological items supply to load one or more biological items in the intermediate distributor, while controlling the planting head drive to insert the planting head into the cultivation medium.

[0067] 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.BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The features and advantages of the invention will be appreciated upon reference to the following drawings, in which:

[0069] FIG.1 illustrates a planting system 100 for planting biological items in a cultivation medium.

[0070] FIG. 2 illustrates the planting system 100 of FIG. 1 from a different angle.

[0071] FIG. 3 illustrates a side view of a planting head assembly which can be used in all embodiments described herein.

[0072] FIG. 4a illustrates a rear view of a planting head assembly which can be used in any embodiment described herein.

[0073] FIG. 4b illustrates a side view of the planting head assembly of FIG. 4a inserted in the cultivation medium to a predetermined depth determined by the side arm.

[0074] FIG. 5 illustrates a side view of the planting head assembly of FIG. 4 inserted in the cultivation medium to a predetermined depth determined by the side arm.

[0075] FIG. 6 illustrates a planting head assembly 130 in an open position where biological items 170 may be released in the cultivation medium.

[0076] FIG. 7 illustrates a planting head assembly 130 in an opened state retrieved from the cultivation medium.

[0077] FIG. 8A-8D illustrate embodiments of planting head assembly 800 in which biological items are provided by an intermediate distributor 150, 810.DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

[0078] 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.

[0079] FIG. 1 illustrates a planting system 100 for planting biological items in a cultivation medium. The planting system 100 can be installed on a cultivation medium 105, e.g. supported by rails 114. The cultivation medium can be soil within a green house. FIG.1 shows e.g. cultivation medium suitable for growing chrysanthemum.

[0080] The planting system 100 comprises one or more wire meshes 110 having plurality of planting apertures 112 formed in the wire meshes 110. Wire mesh 110 has rectangular planting apertures. The wire mesh is, when biological items are to be planted, located generally on top of the cultivation medium 105.

[0081] The planting system 100 comprises a planting station 120 which can be moved 116 to a desired location on the mesh 110. For example, the planting station 120 shown in FIG. 1 is installed on a rail assembly 114 on which the planting station 120 can be moved along a rail axis 116 defined by the rail assembly 114 via actuating the wheels 122 of the planting system 120 placed on top of the rail assembly 114. The rail assembly 114 is not necessarily in a linear configuration as shown in FIG. 1 . Any transporting means suitable can be used to move the planting station 120 to desired locations on the cultivation medium (not shown). The movement of the planting station 120 may be controlled manually, or controlled by motorized transport system which may be controlled by a user next to the system or controlled by a computer either locally installed in the planting station 120 or a computer in remote communication with the planting station 120 for controlling the movements of the planting station 120.

[0082] The planting station 120 further comprises one or more planting head assemblies130 comprising several planting heads. The planting heads are configured to make direct contact to the cultivation medium for planting biological items. The planting head assemblies 130 may be installed on a pivot axis 132 on which the planting head assembly 130 can pivot along the axis direction 116 defined by the rail assembly 114 in a manual or a controlled manner.

[0083] The planting head assemblies 130 can be further configured to transversely movable along the pivoting axis 132. The combination of the movement along the pivoting axis 132 and the movement of the planting station 120 along the rail axis 116 allows positioning the planting head assemblies 130 to a desired locations such as vertically above desired planting apertures of the mesh 110.

[0084] FIG. 2 illustrates the planting system 100 of FIG. 1 from a different angle. The planting station 120 may further comprise one or more supply assemblies 140 which are configured to receive plurality of biological items in bulk, to store the biological items. Trays with biological items can be supplied here and supported temporarily during unloading of the biological items into the planting system 100.

[0085] The biological item supply provides the biological items to the planting head assembly 130, e.g. via the intermediate distributor 150. The intermediate distributor can function as a buffer, which can temporarily store the biological items and distribute to the planting head assembly 130 for carrying out the planting tasks. The biological item supply received biological items and supplies them to the planting heads.

[0086] As illustrated, the one or more supply assemblies 140 may be configured to provide a plurality of biological items to one or more pick-up locations or buffers 142. The planting station 120 may further comprise one or more pick-and-place means 144, such as robot arms. The pick- and-place means 144 may be configured to pick up an individual biological item from the pick-up location 142 and subsequently provide it either directly to the planting head assembly 130 or indirectly via an intermediate distributor 150 which may receive biological items when a planting head assembly 130 is carrying out the planting tasks and swiftly provide more biological items tothe planting head assembly for the subsequent planting operation. This may improve the logistical efficiency such that the planting assembly 130 of several planting heads is loaded immediately after a planting operation. The planting head assembly 130 may be configured to pivot between a loading position and a planting position. When in the loading position, the planting head assembly 130 may be positioned such that it can receive biological items being released from the intermediate distributor 150. When the planting head assembly is pivoted to a planting position, the intermediate distributor 150 may configured to receive and store biological items for further providing to the planting head assembly 130 when the planting head assembly 130 pivots back to the loading position after the directly previous planting operation.

[0087] The biological items may be first provided to the planting system 100 in bulk to the supply assemblies 140. The supply assemblies 140 may store biological items in a stacked configuration where plurality of trays accommodating biological items can be stacked on top of each other. The biological items may then be provided to the pick-up location 142. Subsequently, the biological items are picked up by a pick-and-place means 144 , either individually or in group, and supplied to the planting head assembly 130.

[0088] Alternatively, the biological items may be provided to an intermediate distributor 150 before the intermediate distributor 150 further provides the biological items to the planting head assembly 130.

[0089] The biological items provided to the planting head assembly 130 then is at least partially inserted into a cultivation medium (not shown, below the mesh 110) by the planting head assembly 130. The planting head assembly 130 partially passes through an aperture 112 of the mesh 110 to the cultivation medium. Subsequently, the planting head assembly 130 can open and releases the biological items within or onto the cultivation medium, releasing the biological item below the wire mesh. After releasing the biological items at least partially within the cultivation medium, the planting head assembly 130 may be retracted above the mesh 110 for loading next biological item(s). During retreat, the planting head assembly 130 can remain open.

[0090] Planting station 120 may further comprise a user interface with a display 122. The user interface can control and display the status of the planting operation such as the amount of panted biological items, functioning status of all components related to the planting system 100, amount loaded biological items in the supply assemblies 140, speed of planting, and any information that is relevant for the planting operation. The user interface may further allow a user to control the system, for example the speed of planting, movements of the planting head assembly 130, pick-and-place means 144, and any other components of the planting system 100.

[0091] FIG. 3 illustrates a side view of a planting head assembly 130 which can be used in all embodiments described herein. The planting head assembly 130 comprises a arm 131 which is connected to a planting station 120 as shown in FIG. 1 and FIG. 2. The embodiment shown in FIG. 3 is in the planting position where the arm 131 extends approximately perpendicular to the top surface of the cultivation medium in the direction of gravitational force.

[0092] The planting head assembly 130 further comprises a hollow planting head 133. The planting head 133 may configured to have two different positions: (1) closed position and (2) open position. FIG.3 shows the closed position.

[0093] In the closed position, as shown in FIG. 3, the planting head can accommodate biological items within the hollow space inside the planting head 133 forming container 136. The container 136 in formed by a back panel 134 and a cover 135. The cover 135 covers the sides and bottom of the container 136 formed but does not cover the top of the container 136 so that biological items may enter the container 136 from the top entry point. In the closed position, the bottom of the container is closed such that the biological items in the container 136 cannot fall out of the container 136.

[0094] The planting head 133 may comprise one or more rotation axes 138 which allow actuating and pivoting of the cover 135 with respect to the back panel 134 and transform the container 136 to the open position (shown in FIG.5). The rotation of the cover 135 along the rotation axes 138 may be carried out in a controlled manner by an actuation assembly 139 of the planting head assembly 130. The actuation assembly 139 may comprise a piston which can rotate the cover 135 from one position to another. The actuation assembly 139 may further comprise a spring to provide aid for the actuation operation. The actuation assembly 139 may be controlled manually by a user or by a controlling system of a computer of any form familiar to skilled person in the art of mechanical engineering.

[0095] FIG. 4a illustrates a rear view of an embodiment of a planting head assembly 130 which can be used in any embodiment described herein. In this embodiment, the planting head assembly 130 further comprises a side arm 160 having a lateral length Ls which is defined from the center 162 of the back panel 162 to the lateral distal end 164 of the side arm 160. The side arm’s lateral length Ls is larger than half of the lateral dimension of an aperture 112 of the mesh 110 such that when the planting head assembly 130 is inserted into the cultivation medium through a center of an aperture 112, the side arm 160 would make physical contact with the mesh 110. The physical contact, when the planting head assembly 130 is lowering, would insert a resisting upward force to the side arm 160 hence the planting head assembly 130. This resisting upward force can be detected by a control system controlling the planting system 100 and subsequently halt the lowering movement of the planting head assembly 130 when the resisting upward force exceeds a predetermined value. This way, the side arm 160 allows the planting system 100 to stop descending motion of the planting head assembly 130 into the soil at a predetermined position which is defined by the location at which the side arm 160 is installed. The position of the side arm 160 may be adjusted with a fastener 166 which can be configured to fasten the side arm at different vertical locations with respect to the pack panel 134.

[0096] FIG. 4b illustrates the planting head assembly 130 while inserted into cultivation medium 105. Wire mesh 110 has square shaped planting apertures and is positioned on cultivation medium 105. Rails 114 is also visible.

[0097] Side arm 160 contacts the contour of a planting aperture 112 into which planting head 133 is inserted. The side arm 160 acts as a stop. The controller of the planting head assembly is arranged to stop the insertion of the planting head 133 when the side arm 160 contacts the contour.

[0098] Further detectors can be provided to determine a position of the wire mesh 110. By determining a position of the wire mesh, the position of the planting head 130 can be controlled dependent on that determined position. First a firing position can be controlled. This is a position of the planting head above the cultivation medium 105. From the firing position, the planting head starts the path of inserting the closed planting head into the cultivation medium. The firing position is a position e.g. vertically above the middle of the desired planting aperture into which the biological item is to be planted. A part of the contour of the desired planting aperture can be detected and the planting head is subsequently positioned with respect to that contour. Suitable drives can be provided for moving the individual planting head or for moving multiple planting heads in a planting head assembly in any of the horizontal direction.

[0099] From that firing position, preferably a downward, more preferably a vertical insertion path is followed towards the insertion position and to a predetermined depth in the cultivation medium under the wire mesh. This allows releasing the biological items at a depth under the wire mesh. Also the predetermined depth and / or the position under the wire mesh can be controlled and driven based on detection by detectors for the wire mesh. By positioning, inserting and releasing the biological items at a depth under the wire mesh, a consistent positioning at a desired and generally constant depth is obtained, resulting in a generally uniform growth after planting.

[0100] FIG. 5 illustrates a side view of the planting head assembly 130 of FIGS. 4a and 4b inserted in the cultivation medium to a predetermined depth determined by the side arm. The side arm 160 is making physical contact with mesh 110 such that the planting system 100 can halt the descending movement of the planting head assembly 130 when the physical contact is detected via the resisting upward force inserted on the planting head assembly 130 from the mesh 110. As a result, the planting head assembly 130 is inserted into the cultivation medium beneath the mesh 110 to a predetermined depth d. This predetermined depth d can be adjusted by adjusting the vertical position of the side arm 160 with respect to the back panel 134. One or more biological items 170 can be stored at least partially within the container 136. The biological items 170 can be released from the container 136 into the cultivation medium at the predetermined depth below the wire mesh by configuring the planting head assembly 130 from the closed position (shown in FIG. 5) to an open position which is illustrated in FIG. 6.

[0101] FIG. 6 illustrates an embodiment of a planting head assembly 130 of FIG. 5 in an open position where biological items 170 may be released in the cultivation medium 105. The actuation assembly 139 is actuated to rotate the cover 135 to an open position such that the bottom of the container 136 is open to the cultivation medium. As shown in FIG. 6, a root portion 172 of the biological items 170 can be placed in the cultivation medium. The planting headassembly 130 can then be retracted upward in the vertical direction to exit the cultivation medium while leaving the biological items 170 in the cultivation medium right below the mesh 110 as shown in FIG. 7.

[0102] FIG. 8A-8D illustrate embodiments of planting head assembly 800 in the loading position and the planting position respectively. As described for embodiments of FIG. 1 and 2, the planting head assemblies 800, 130 can be configured to pivot with respect to a rotational axis 134.

[0103] In the embodiments illustrated in FIG. 8A-8B, the planting system 100 comprises at least one intermediate distributor 150, 810 which can store biological items 820 and provide the biological items to the container 836 of the planting head assembly 800. FIG. 8A illustrates an embodiment that the planting head assembly 800 is pivoted to a loading position where the container 836 is positioned below the bottom surface 812 of the intermediate distributor 810. The intermediate distributor 810 may be configured to open the bottom surface 812, using a similar mechanism of the container 136 of FIG. 7, via an intermediate distributor actuator 814. When the bottom surface 812 is open, the biological items in the intermediate distributor 810 can fall onto the container 836 of the planting head assembly 800. Subsequently, the intermediate distributor actuator 814 may close the bottom surface 812 of the intermediate distributor 810 for receiving next biological items. As illustrated in FIG. 8B, the planting head assembly 800 containing biological items 820 may pivot away from the intermediate distributor 810 to the planting position where the vertical arm 831 is perpendicular to the top surface of the cultivation medium.

[0104] FIG. 8C illustrates a planting head assembly 800 being underneath the intermediate distributor 810 in the loading position. A biological item 820 is being loaded in the intermediate distributor 810 via a top opening 811 of the intermediate distributor 810.

[0105] FIG. 8D illustrates the biological item 820 being released from the intermediate distributor 810 and being disposed in the container 136 of the planting head assembly 810.

[0106] 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.

[0107] In the following, clauses are provided providing embodiments of the invention: [clause 1 .] A method for planting biological items in a cultivation medium, wherein the method comprises steps of: providing a wire mesh on top of the cultivation medium, wherein the wire mesh comprises multiple planting apertures, loading one or more biological items in a planting head, planting the one or more biological items in the cultivation medium by at least partially inserting the planting head into the cultivation medium,wherein planting further comprises positioning the planting head with respect to the wire mesh based on a determined position of at least a part of the wire mesh.[clause 2.] Method according to clause 1 , wherein planting and positioning with respect to the wire mesh is repeated for multiple planting apertures with generally the same positioning, wherein planting the one or more biological items in the cultivation medium comprises releasing the one or more biological items at a depth under the wire mesh, wherein the method preferably further comprises inserting the planting head into the cultivation medium through one of the planting apertures, and wherein the determined position is a position of a contour formed by the wire mesh of one of the planting apertures through which the biological item is planted.[clause 3.] Method according to clause 1 or 2, wherein the step of planting comprises inserting the planting head in the cultivation medium at a predetermined insertion location with respect to the wire mesh, preferably with respect to the contour formed by the wire mesh of the planting aperture through which the biological item is planted, wherein preferably planting comprises positioning the planting head in a predetermined firing position above the planting aperture before inserting, wherein more preferably the predetermined firing position is in a vertical line above the predetermined insertion position in the planting aperture through which the biological item is planted.[clause 4.] Method according to any of the preceding clauses, wherein planting comprises inserting the planting head to a predetermined depth into the cultivation medium, preferably under the wire mesh, wherein preferably the predetermined depth is a position of the planting head with respect to the wire mesh based on the determined position of at least the part of the wire mesh, wherein preferably inserting the planting head into the cultivation medium to the predetermined depth comprises the planting head contacting a portion of the wire mesh forming the contour of the planting aperture through which the biological item is planted, wherein more preferably inserting is stopped dependent on the planting head contacting the wire mesh.[clause 5.] Method according to any of the preceding clauses, wherein one or more biological items are loaded into the planting head before inserting the planting head into the cultivation medium, wherein preferably planting comprises, after inserting, releasing the loaded biological items in the cultivation medium, preferably under the wire mesh, wherein preferably planting comprises creating an indentation in the cultivation medium, preferably by inserting the planting head into the cultivation medium, wherein preferably the one or more biological items loaded in the planting head are moved into the indentation, wherein preferably the method further comprises retrieving the opened planting head out of the cultivation medium. wherein preferably the planting head is opened when inserted, preferably at the predetermined depth, into the cultivation medium, wherein more preferably the one or morebiological items move out of the planting head via the opened side of the planted head, preferably during retrieving of the planting head out of the cultivation medium.[clause 6.] Method according to any of the preceding clauses, wherein the method comprises loading one or more biological items in a second planting head and wherein planting comprises at least partially inserting the planting head and the second planting head into the cultivation medium in different planting apertures of the wire mesh, wherein planting the biological item in the second planting head further comprises positioning the second planting head with respect to the wire mesh based on a second (different) determined position of at least a part of the wire mesh.[clause 7.] Method according to any of the preceding clauses, wherein loading the one or more biological items in the planting head comprises loading the one or more biological items into one end of the planting head, whereas the one or more loaded biological items are planted into the cultivation medium via an opposite end of the planting head, wherein the loading preferably comprises preloading the one or more biological items into a distributor and subsequently loading the one or more biological items from the distributor into the planting head, wherein preferably loading into the planting head comprises opening the distributor to load, preferably by gliding, the one or more biological items from the distributor into the planting head, wherein biological items are supplied, e.g. in trays, and the supplied biological items are loaded by a robot arm into the distributor and / or in the planting heads.[clause 8.] A planting head for planting biological items in a cultivation medium, wherein the planting head is mountable on a planting device and the planting head comprises: an entry for loading one or more biological items in the planting head, an insertion end for inserting the planting head into the cultivation medium, wherein planting head has a stop for engaging the cultivation medium and / or a wire mesh positioned on the cultivation medium.[clause 9.] Planting head according to clause 8, wherein the stop is positioned at a predetermined position with respect to the insertion end, so that the insertion end is arranged to be inserted into the cultivation medium with a predetermined depth, and / or the stop is formed by a side arm, and / or the insertion end has a closed state for holding one or more biological items and for inserting into the cultivation medium and has an opened state for releasing the one or more biological items from the insertion end, and / or the insertion end comprises preferably at least two insertion parts that can be moved with respect to each other, preferably comprising at least one insertion part that is pivotable onto the planting head, wherein the insertion end is more preferably formed as a beak, the stop comprises a pressure sensor.[clause 10.] A planting system for planting biological items in a cultivation medium, wherein the planting system has a frame and comprises: a planting head with a loading end for receiving biological items and insertion end for insertion into the cultivation medium, a biological item supply for supplying one or more biological items into the loading end of the planting head, a detector arranged to determine a position of at least a part of a wire mesh provided on the cultivation medium, the wire mesh having multiple planting apertures, a planting head drive for positioning the planting head, including for driving the planting head into the cultivation medium, and preferably for releasing the one or more biological items a controller arranged to control the planting head drive to position the planting head with respect to wire mesh based on the determined position of at least a part of the wire mesh and preferably for releasing the one or more biological items at a depth under the wire mesh.[clause 11 .] Planting system according to clause 10, wherein the controller is further arranged to control the planting head drive to insert the planting head into the cultivation medium through one of the planting apertures, and wherein the determined position is a position of a contour formed by the wire mesh of one of the planting apertures through which the biological item is planted, wherein the planting system comprises one or more moving devices, such as wheels, wherein the planting head drive is arranged to control the wheels for moving the planting system with planting head to the position with respect to the wire mesh.[clause 12.] Planting system according to clause 10 or 11 , wherein the controller is arranged to control the planting head drive to insert the planting head in the cultivation medium at a predetermined insertion location with respect to the wire mesh, preferably with respect to the contour formed by the wire mesh of the planting aperture through which the biological item is planted, wherein preferably the controller is arranged to control the planting head drive to position the planting head, preferably the loaded planting head, in a predetermined firing position above the planting aperture before inserting, wherein more preferably the predetermined firing position is in a vertical line above the predetermined insertion position in the planting aperture through which the biological item is planted.[clause 13.] Planting system according to any of the clauses 10-12, wherein the controller is adapted to control the planting head drive to insert the planting head to a predetermined depth into the cultivation medium, preferably under the wire mesh, wherein preferably the predetermined depth is a position of the planting head with respect to the wire mesh based on the determined position of at least the part of the wire mesh, wherein preferably the detector is arranged to contact the wire mesh, preferably a portion of the wire mesh forming the contour of the plant aperture through which the biological item is planted, wherein more preferably the controller is adapted to stop the planting head driveinserting the planting head into the cultivation medium dependent on the detector contacting the wire mesh, wherein preferably the detector comprises a pressure sensor, wherein preferably the detector is a stop, preferably mounted on the planting head, wherein the stop is more preferably formed by a side arm, wherein preferably the detector is positioned at a predetermined position with respect to the insertion end of the planting head, so that the insertion end is arranged to be inserted into the cultivation medium with a predetermined depth.[clause 14.] Planting system according to any of preceding clauses 10-13, wherein the controller is adapted to, after inserting, release the one or more biological items from the planting head in the cultivation medium, preferably under the wire mesh, wherein preferably the insertion end of the planting head is arranged to form an indentation in the cultivation medium, wherein preferably the one or more biological items loaded in the planting head are held in the insertion end, wherein preferably the insertion end of the planting head has: o a closed state for holding the one or more biological items and for inserting into the cultivation medium and o an opened state for releasing the one or more biological items from the insertion end, wherein the insertion end comprises preferably at least two insertion parts that can be moved with respect to each other, wherein preferably planting head drive is arranged to move the two insertion parts with respect to each other, wherein preferably at least one insertion part is pivotable mounted onto the planting head, wherein the insertion end is more preferably formed as a beak, wherein preferably the controller is adapted to control the planting head drive to retrieve the opened planting head out of the cultivation medium, wherein preferably the controller is adapted to open the planting head when the planting head is inserted into the cultivation medium, preferably at the predetermined depth, into the cultivation medium.[clause 15.] Planting system according to any of the clauses 10-14, wherein the planting system comprises at least a second or more planting heads and wherein controller is adapted to control the planting head drive to insert the planting head and the second or more planting heads into the cultivation medium in different planting apertures of the wire mesh, wherein the controller is preferably adapted to control the planting head drive to position the second or more planting heads with respect to the wire mesh based on a second (different) determined position of at least a part of the wire mesh.[clause 16.] Planting system according to any of the clauses 10-15, wherein the biological item supply is arranged to load the one or more biological items in the planting head before insertingthe planting head into the cultivation medium, preferably before moving the planting head to the firing position, wherein the biological item supply preferably comprises an intermediate distributor for receiving one or more biological items, wherein the intermediate distributor is arranged to supply the one or more biological items to the one or more planting head, preferably to load the one or more biological items into the loading end of the planting head, the intermediate distributor preferably comprises a door arranged to be opened to unload the one or more biological items from the intermediate distributor, wherein the intermediate distributor preferably comprises a gutter for guiding the one or more biological items, wherein the biological items supply comprises a support surface for receiving a biological items holder, such as a tray, and the biological items supply comprises a robot arm for loading one or more biological items supplied to the support surface into the intermediate distributor and / or in the one or more planting heads. wherein the planting head drive is preferably arranged to move the planting head into a loading position with respect to the intermediate distributor, preferably under the intermediate distributor, wherein preferably the controller is adapted to control the biological items supply to load one or more biological items in the intermediate distributor, while controlling the planting head drive to insert the planting head into the cultivation medium.

Claims

CLAIMS1. A method for planting biological items in a cultivation medium, wherein the method comprises steps of: providing a wire mesh on top of the cultivation medium, wherein the wire mesh comprises multiple planting apertures, loading one or more biological items in a planting head, planting the biological item in the cultivation medium by at least partially inserting the planting head into the cultivation medium and releasing the one or more biological items at a depth under the wire mesh, wherein planting further comprises positioning the planting head with respect to the wire mesh based on a determined position of at least a part of the wire mesh.

2. Method according to claim 1 , wherein planting comprises inserting the planting head to a predetermined depth into the cultivation medium,3. Method according to claim 2, wherein the predetermined depth is a position of the planting head with respect to the wire mesh based on the determined position of at least the part of the wire mesh, wherein preferably inserting the planting head into the cultivation medium to the predetermined depth comprises the planting head contacting a portion of the wire mesh forming the contour of the planting aperture through which the biological item is planted, wherein more preferably inserting is stopped dependent on the planting head contacting the wire mesh.

4. Method according to any of the preceding claims, wherein one or more biological items are loaded into the planting head before inserting the planting head into the cultivation medium, wherein preferably planting comprises, after inserting, releasing the loaded biological items in the cultivation medium, preferably at a predetermined depth, preferably under the wire mesh, wherein preferably planting comprises creating an indentation in the cultivation medium, preferably by inserting the planting head into the cultivation medium, wherein preferably the one or more biological items loaded in the planting head are moved into the indentation, wherein preferably the method further comprises retrieving the opened planting head out of the cultivation medium. wherein preferably the planting head is opened when inserted, preferably at the predetermined depth, into the cultivation medium, wherein more preferably the one or more biological items move out of the planting head via the opened side of the planted head, preferably during retrieving of the planting head out of the cultivation medium.

5. Method according to any of the previous claims, wherein planting and positioning with respect to the wire mesh is repeated for multiple planting apertures with generally the same positioning,wherein the method preferably further comprises inserting the planting head into the cultivation medium through one of the planting apertures, and wherein the determined position is a position of a contour formed by the wire mesh of one of the planting apertures through which the biological item is planted.

6. Method according to any of the previous claims, wherein the step of planting comprises inserting the planting head in the cultivation medium at a predetermined insertion location with respect to the wire mesh, preferably with respect to the contour formed by the wire mesh of the planting aperture through which the biological item is planted, wherein preferably planting comprises positioning the planting head in a predetermined firing position above the planting aperture before inserting, wherein more preferably the predetermined firing position is in a vertical line above the predetermined insertion position in the planting aperture through which the biological item is planted.

7. Method according to any of the preceding claims, wherein the method comprises loading one or more biological items in a second planting head and wherein planting comprises at least partially inserting the planting head and the second planting head into the cultivation medium in different planting apertures of the wire mesh, wherein planting the biological item in the second planting head further comprises positioning the second planting head with respect to the wire mesh based on a second (different) determined position of at least a part of the wire mesh.

8. Method according to any of the preceding claims, wherein loading the one or more biological items in the planting head comprises loading the one or more biological items into one end of the planting head, whereas the one or more loaded biological items are planted into the cultivation medium via an opposite end of the planting head, wherein the loading preferably comprises preloading the one or more biological items into a distributor and subsequently loading the one or more biological items from the distributor into the planting head, wherein preferably loading into the planting head comprises opening the distributor to load, preferably by gliding, the one or more biological items from the distributor into the planting head, wherein biological items are supplied, e.g. in trays, and the supplied biological items are loaded by a robot arm into the distributor and / or in the planting heads.

9. A planting system for planting biological items in a cultivation medium, wherein the planting system has a frame and comprises: a planting head with a loading end for receiving biological items and insertion end for insertion into the cultivation medium, a biological item supply for supplying one or more biological items into the loading end of the planting head, a detector arranged to determine a position of at least a part of a wire mesh provided on the cultivation medium, the wire mesh having multiple planting apertures,a planting head drive for positioning the planting head, including for driving the planting head into the cultivation medium and for releasing the one or more biological items, a controller arranged to control the planting head drive to position the planting head with respect to wire mesh based on the determined position of at least a part of the wire mesh and to release the one or more biological item at a depth under the wire mesh.

10. Planting system according to claim 9, wherein the controller is adapted to control the planting head drive to insert the planting head to a predetermined depth into the cultivation medium,11 . Planting system according to claim 10, wherein the predetermined depth is a position of the planting head under the wire mesh based on the determined position of at least the part of the wire mesh, wherein preferably the detector is arranged to contact the wire mesh, preferably a portion of the wire mesh forming the contour of the plant aperture through which the biological item is planted, wherein more preferably the controller is adapted to stop the planting head drive inserting the planting head into the cultivation medium dependent on the detector contacting the wire mesh, wherein preferably the detector comprises a pressure sensor, wherein preferably the detector is a stop, preferably mounted on the planting head, wherein the stop is more preferably formed by a side arm, wherein preferably the detector is positioned at a predetermined position with respect to the insertion end of the planting head, so that the insertion end is arranged to be inserted into the cultivation medium with a predetermined depth.

12. Planting system according to any of preceding claims 9-11 , wherein the controller is adapted to, after inserting, release the one or more biological items from the planting head in the cultivation medium, wherein preferably the insertion end of the planting head is arranged to form an indentation in the cultivation medium, wherein preferably the one or more biological items loaded in the planting head are held in the insertion end, wherein preferably the insertion end of the planting head has: o a closed state for holding the one or more biological items and for inserting into the cultivation medium and o an opened state for releasing the one or more biological items from the insertion end, wherein the insertion end comprises preferably at least two insertion parts that can be moved with respect to each other, wherein preferably planting head drive is arranged to move the two insertion parts with respect to each other, wherein preferably at least one insertion part is pivotable mounted onto the planting head, wherein the insertion end is more preferably formed as a beak,wherein preferably the controller is adapted to control the planting head drive to retrieve the opened planting head out of the cultivation medium, wherein preferably the controller is adapted to open the planting head when the planting head is inserted into the cultivation medium, preferably at the predetermined depth, into the cultivation medium.

13. Planting system according to any of the claims 9-12, wherein the controller is further arranged to control the planting head drive to insert the planting head into the cultivation medium through one of the planting apertures, and wherein the determined position is a position of a contour formed by the wire mesh of one of the planting apertures through which the biological item is planted, wherein the planting system comprises one or more moving devices, such as wheels, wherein the planting head drive is arranged to control the wheels for moving the planting system with planting head to the position with respect to the wire mesh.

14. Planting system according to any of the claims 9 - 13, wherein the controller is arranged to control the planting head drive to insert the planting head in the cultivation medium at a predetermined insertion location with respect to the wire mesh, preferably with respect to the contour formed by the wire mesh of the planting aperture through which the biological item is planted, wherein preferably the controller is arranged to control the planting head drive to position the planting head, preferably the loaded planting head, in a predetermined firing position above the planting aperture before inserting, wherein more preferably the predetermined firing position is in a vertical line above the predetermined insertion position in the planting aperture through which the biological item is planted.

15. Planting system according to any of the claims 9-14, wherein the planting system comprises at least a second or more planting heads and wherein controller is adapted to control the planting head drive to insert the planting head and the second or more planting heads into the cultivation medium in different planting apertures of the wire mesh, wherein the controller is preferably adapted to control the planting head drive to position the second or more planting heads with respect to the wire mesh based on a second (different) determined position of at least a part of the wire mesh.

16. Planting system according to any of the claims 9-15, wherein the biological item supply is arranged to load the one or more biological items in the planting head before inserting the planting head into the cultivation medium, preferably before moving the planting head to the firing position, wherein the biological item supply preferably comprises an intermediate distributor for receiving one or more biological items, wherein the intermediate distributor is arranged to supply the one or more biological items to the one or more planting head, preferably to load the one or more biological items into the loading end of the planting head, the intermediate distributor preferably comprises a door arranged to be opened to unload the one or more biological items fromthe intermediate distributor, wherein the intermediate distributor preferably comprises a gutter for guiding the one or more biological items, wherein the biological items supply comprises a support surface for receiving a biological items holder, such as a tray, and the biological items supply comprises a robot arm for loading one or more biological items supplied to the support surface into the intermediate distributor and / or in the one or more planting heads. wherein the planting head drive is preferably arranged to move the planting head into a loading position with respect to the intermediate distributor, preferably under the intermediate distributor, wherein preferably the controller is adapted to control the biological items supply to load one or more biological items in the intermediate distributor, while controlling the planting head drive to insert the planting head into the cultivation medium.

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