A method and system for creating pockets in substrate materials for planting plant propagules

Abstract

The present disclosure relates to a method, a computer program product, and a system for creating pockets in a substrate material for planting plant propagules. The method (100) comprises determining (110) pocket parameters; controlling (120) relative position of an electromagnetic radiation source (310) and the substrate material (210); and cutting (130) a pocket (211) in the substrate material (210) based on the determined pocket parameters utilizing an electromagnetic radiation source (310).

Description

[0001] Title

[0002] A method and system for creating pockets in substrate materials for planting plant propagules

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to planting plant propagule, planting plant embryos, pockets for plant embryos and plant propagules, electromagnetic radiation sources for cutting and engraving, laser cutting pockets, and laser cutting polymer substrates.

[0005] BACKGROUND ART

[0006] Plug planting is a common practice in the horticulture industry. In this method, plant propagule such as plant seeds, cuttings or embryos are grown in a small container called a plug with or without a pocket. The plug is then transplanted into the soil when the plant is ready to be planted in the ground. This method is used to ensure that the plant has a healthy root system before it is transplanted, which can increase the chances of survival and growth. Plug planting is commonly used for growing seedlings of vegetables, flowers, and trees, and is also used for cloning plants through tissue culture as it provides a cost-efficient approach.

[0007] Plug planting has several advantages over traditional planting methods. Since the plant is grown in a small container, it develops a healthy root system before being transplanted into the soil. This reduces the risk of transplant shock and increases the chances of survival and growth. Plug planting may allow a plurality of plant to grows under similar conditions in the same size and type of container, which results in more uniform growth and development. Plug planting further allows for more efficient use of space and resources, which can lead to increased production and higher yields. In plug planting the plant may initially be grown in a smaller plug and later be transplanted as a young plantlet to larger plug arranged to be planted in the soil.

[0008] There is a need for improved solutions for plug planting of plant propagules.

[0009] SUMMARY OF THE INVENTION

[0010] The inventors have discovered a solution utilizes electromagnetic radiation to cut pockets for planting plant propagules in polymer substrate materials, such as using a laser cutter to cut pockets in plastic foam or packed fibres, provides an accurate and reproducible pocket cutting solution. Furthermore, experimental data indicate that pockets cut in fibres of polylactic acid by laser are, surprisingly, at least as good as manual pockets for plant establishment when using robotic plant insertion.

[0011] The ease of pocket cutting varies for different substrates, whereby working a new substrates typically requires new cutting parameters.

[0012] One object of the invention is to provide a solution to reproducibly cut pockets for planting plant propagules in substrate materials.

[0013] This has in accordance with the present disclosure been achieved by means of a method for cutting pockets for plant propagules in substrate materials utilizing an electromagnetic radiation source. The method comprises

[0014] - determining pocket parameters;

[0015] - controlling relative position of an electromagnetic radiation source and the substrate material; and

[0016] - cutting a pocket in the substrate material based on the determined pocket parameters utilizing an electromagnetic radiation source.

[0017] This has the advantage of allowing for easy adjustments in size and geometry of the cut pocket between subsequent pockets being cut. This further allows for cutting a plurality of pockets in substrate materials reproducibly, thus allowing subsequent steps such as inserting plant propagules to have a high success rate. The use of electromagnetic radiation to cut further allows for a sterile environment for a plant propagule to be introduced into.

[0018] Furthermore, pockets formed by an electromagnetic radiation source controlled by a computer are reproducible and allow for subsequent computer controlled insertion of plant embryos.

[0019] In some embodiments, the method comprises a step of verifying the cut pocket, wherein verifying the pocket comprises measuring the cut pocket utilizing a set of sensors, and comparing the corresponding measurement values with the determined pocket parameters and / or a set of predetermined criteria for a cut pocket; and wherein, upon said comparison satisfies at least one criterion, the pocket is cut with the electromagnetic radiation source based on said comparison and / or the pocket is determined not suitable for insertion of a plant propagule.

[0020] This has the advantage of allowing for correcting detected faults with the cut pocket. This further provides a verification of cut pockets being suitable or unsuitable for insertion of a plant propagule. In some embodiments, the method comprises a step of inserting the plant propagule into said cut pocket utilizing a plant propagule inserting device.

[0021] In some embodiments, the method comprises a step of verifying the insertion of the plant propagule, wherein verifying the insertion comprises measuring the plant propagule at the cut pocket utilizing the set of sensors, and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule, and wherein, upon said comparison satisfies at least one criterion, the plant propagule is adjusted and / or replaced utilizing the plant propagule inserting device based on said comparison, and / or the pocket and / or the plant propagule is determined not suitable for use based on said comparison.

[0022] This has the advantage of allowing for correcting incorrectly inserted plant propagules. This further provides a verification of which cut pockets contain a successfully inserted plant propagule.

[0023] The present disclosure further relates to a computer program product comprising a non- transitory computer-readable storage medium having thereon a computer program comprising program instructions, the computer program being loadable into a processor and configured to cause the processor to perform the previously disclosed method.

[0024] The present disclosure further relates to a system for creating pockets in a substrate material for planting plant propagules. The system comprises a computer, an electromagnetic radiation source, and a plant propagule inserting device, wherein the system is arranged to accept a substrate material and a plant propagule, wherein said electromagnetic radiation source is arranged to cut a pocket in said substrate material based on determined pocket parameters, wherein said plant propagule inserting device is arranged to insert said plant propagule into the cut pocket, and wherein the computer is arranged to

[0025] - determine the pocket parameters,

[0026] - cut the pocket in the substrate material based on the determined pocket parameters by controlling the electromagnetic radiation source, and

[0027] - insert the plant propagule into said cut pocket by controlling the plant propagule inserting device.

[0028] Pockets formed by an electromagnetic radiation source controlled by a computer are reproducible and allow for subsequent computer controlled insertion of plant embryos.

[0029] In some embodiments, the system comprises a set of sensors arranged to measure the cut pocket and / or the insertion of the plant propagule into said cut pocket, wherein the system is arranged to - verify the cut pocket, wherein verifying the pocket comprises measuring the cut pocket and comparing the measurement values with the pocket parameters and / or a set of predetermined pocket criteria, and wherein, upon said comparison satisfies at least one criterion, the pocket is cut with the electromagnetic radiation source based on said comparison and / or the pocket is determined not suitable for insertion of a plant propagule, and / or

[0030] - verify the insertion of the plant propagule, wherein verifying the insertion comprises measuring at the cut pocket and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule, and wherein, upon said comparison satisfies at least one criterion, the plant propagule is adjusted and / or replaced based on said comparison, and / or the pocket is determined not suitable for use.

[0031] This has the advantage of allowing for incorrectly cut pockets and inserted plan propagules to be corrected.

[0032] In some embodiments, the electromagnetic radiation source comprises a laser cutter and / or laser engraver, and wherein the system is arranged to cut pockets in a plastic substrate material and / or a polymer substrate material.

[0033] This has the advantage of allowing for an accurate and reproducible cutting of pockets in the substrate material.

[0034] In some embodiments, the system comprises a set of sensors arranged to measure the cut pocket and / or the insertion of the plant propagule into said cut pocket, wherein the system is arranged to

[0035] - verify the cut pocket, wherein verifying the pocket comprises measuring the cut pocket and comparing the measurement values with the pocket parameters and / or the set of predetermined pocket criteria, and wherein the pocket parameters and / or pocket cutting procedure is adjusted for the subsequent cut pocket based on said comparison; and / or

[0036] - verify the insertion of the plant propagule, wherein verifying the insertion comprises measuring at the cut pocket and comparing the measurement values with the set of predetermined criteria for an inserted plant propagule, and wherein the pocket parameters and / or plant propagule inserting procedure is adjusted for the subsequent cut pocket and / or plant propagule insertion based on said comparison.

[0037] This has the advantage of allowing for subsequent pocket cuts or plant propagule insertions to be improved based on the measurement data. This further allows for the pocket parameters to be dynamically updated based on measurements of previous cut pockets or inserted plant propagules.

[0038] The present disclosure further relates to a plug for planting plant propagules, the plug comprises a substrate material comprising at least one cut pocket , wherein each pocket is arranged to accept a plant propagule, and wherein the at least one pocket is cut in a plastic substrate material and / or a polymer substrate material utilizing a laser cutter and / or a laser engraver.

[0039] BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Fig. 1 shows schematically a method for creating a pocket in a substrate for a plant propagule.

[0041] Fig. 2a-c show a substrate comprising cut pockets for planting plant propagules.

[0042] Fig. 3 shows schematically a system for cutting a pocket in a substrate and inserting a plant propagule into said pocket.

[0043] Fig. 4a-c show schematically cutting a pocket in a substrate with an auxiliary hole.

[0044] Fig. 5 depicts schematically a data processing unit comprising a computer program product for creating a pocket in a substrate for a plant propagule.

[0045] DETAILED DESCRIPTION

[0046] Throughout the figures, same reference numerals refer to same parts, concepts, and / or elements. Consequently, what will be said regarding a reference numeral in one figure applies equally well to the same reference numeral in other figures unless explicitly stated otherwise.

[0047] Terms and expressions

[0048] The term substrate material relates to a material suitable for cutting a pocket into. Herein the same reference number is typically used for the uncut substrate material, the substrate material comprising cut pockets, and the substrate material comprising cut pockets and inserted plant propagules. For example, the substrate material may be a plastic foam or a material of packed plastic fibres.

[0049] The term polymer relates to both naturally occurring polymers and synthetic polymers. Typically, the polymers are arranged to melt and / or vaporise when heated. Polymers with high decomposition temperatures will typically vaporise when rapidly heated, such as when heated by a laser.

[0050] The term plastic relates to synthetic or naturally occurring polymers.

[0051] The term foam relates to lightweight materials with gas filled or porous structures.

[0052] The term fibre material relates to a material of long, thin, and flexible strands. For example, a material with long, thin, and flexible strands of polymers or plastics, such as fibres obtained from recycled polyethylene terephthalate, PET. For example, the fibre material may be produced by needling.

[0053] The term natural fibre relates to fibres derived from natural sources such as plants, animals, or minerals. Examples of natural fibres are cotton, flax, jute, hemp, and wool.

[0054] The term plant fibre relates to fibres that are specifically derived from plants. Examples of natural fibres are cotton, flax, jute, hemp, and bamboo. Typically, plant fibres are composed primarily of lignocellulose.

[0055] The term pocket relates to an indentation or cavity in a substrate. For example, a pocket in a substrate for a plant propagule may be the shape of a cylinder and the top end being open to the environment. A pocket may have an irregular shape with a varying cross-section along the pocket. It is to be understood that a pocket may be cut at an angle so that from a top-down perspective of the substrate material, material may be removed below remaining parts of the substrate material. Typically, the pocket geometry is selected based on the size of the plant embryo or plant tissue intended to grow in said pocket.

[0056] The term pocket parameters relates to a set of values indicative the desired shape and position of the cut pocket. It is to be understood that the pocket parameters may describe a desired pocket shape, and / or may describe a set of cutting instructions for an electromagnetic radiation source that is expected to result in a cut pocket of the desired pocket shape. For example, an electromagnetic radiation source may be arranged to cut a pocket in a substrate material based on a set of pocket parameters.

[0057] The term electromagnetic radiation source relates to a device able to provide electromagnetic radiation, EMR. Herein the term is used to describe devices able to cut or engrave substrate materials with EMR. Examples of electromagnetic radiation sources are laser cutters and laser engravers. Typically, devices comprising an electromagnetic radiation source also comprise optics, actuators and / or control circuitry arranged to focus and / or direct the EMR. The terms laser cutter and laser engraver relates to devices that uses a laser beam to cut, etch, and / or engrave substrates. Typically, the laser cutter cuts with a laser beam focused through a lens and directed at the part of the substrate to be cut, which is then vaporized and / or melted by the heat from the electromagnetic radiation. It is to be understood that the laser cutter typically comprises control circuitry and a computer arranged to receive instructions and / or patterns to control the laser beam, such as pocket parameters.

[0058] The term plant propagule relates to any plant material used for the purpose of plant propagation. For example, in asexual reproduction, a propagule is often a stem or shoot cutting, while in sexual reproduction, a propagule may be a seed or a spore. Herein, the term plant propagule also comprises plant embryos and other early stages in the development of a plant.

[0059] The term plant embryo relates to a precursor to a mature plant. In the context of planting in a pocket, a plant embryo refers to the early developmental stage of a plant that may grown in a small container.

[0060] The term plant propagule inserting device relates to a device arranged to insert plant propagules into pockets of substrate materials for growing said plant propagule. Typically, plant propagule inserting devices are automatic and utilize digital cameras to detect pockets for plant propagule insertion.

[0061] Throughout the examples the term plant propagule is used to described the plant material inserted into the cut pocket. It is to be understood that the examples also relate to plant tissue, such as parts of leaf, stem, root, petiole, hypocotyl, cotyledon, and / or meristem.

[0062] Fig. 1 shows an example method for creating a pocket in a substrate for a plant propagule. The method comprises

[0063] - determining 110 pocket parameters;

[0064] - controlling 120 relative position of an electromagnetic radiation source and the substrate material;

[0065] - cutting 130 a pocket in the substrate material based on the determined pocket parameters utilizing the electromagnetic radiation source.

[0066] It is to be understood that the cutting 130 the pocket in the substrate material typically is caused by electromagnetic radiation, EMR, from the electromagnetic radiation source providing heat to a region of the substrate material which causes material in said region to melt and / or vaporize. In some examples, cutting 130 the pocket in the substrate material comprises providing a flow of gas to the region being cut. Typically, the flow of gas is used to remove melted or vaporized material and / or to control the temperature of the substrate being radiated, such as to minimizing the risk of fire.

[0067] In some examples, cutting 130 the pocket in the substrate material is performed by vaporizing utilizing electromagnetic radiation. In some of these examples, cutting 130 the pocket in the substrate material is performed by laser-induced vaporization.

[0068] In some examples, determining 110 pocket parameters is based on predetermined pocket parameters. In some examples, determining 110 pocket parameters is based on user input indicative of pocket parameters and / or a pocket shape. In some examples, determining 110 pocket parameters is based on measurement data indicative of measurements of the substrate material and / or a previously cut pocket. In some examples, determining 110 pocket parameters comprises updating the determined pocket parameters based on measurement data indicative of the pocket being cut. For example, measurement data may be obtained by measuring the properties of one or more previously cut pockets while using one set of pocket parameters, and utilizing said measurement data to alter the corresponding pocket parameters.

[0069] It is to be understood that controlling 120 relative position of the electromagnetic radiation source and the substrate material relates to moving and / or rotating the substrate or the electromagnetic radiation source, or adjusting the optics and / or mirrors relating to the electromagnetic radiation source. For example, controlling 120 relative position of the electromagnetic radiation source and the substrate material may consist of positioning the substrate material in the beam path of the electromagnetic radiation source. The method 100 may repeatedly alternate between the steps of controlling 120 relative position and the step of cutting 130 in the substrate material.

[0070] In some examples, controlling 120 the relative position of the electromagnetic radiation source and the substrate material comprises moving and / or rotating the substrate material, and / or redirecting the beam path of the electromagnetic radiation source.

[0071] In some examples, cutting 130 the pocket in the substrate material comprises cutting a cylinder shape in the substrate material. In some of these examples, cutting 130 the pocket in the substrate material comprises cutting a pocket corresponding to a stack of cylinders with different diameters.

[0072] In some examples, the method further comprises the step of inserting 150 the plant propagule into said cut pocket utilizing a plant propagule inserting device. In some examples, inserting 150 the plant propagule into said cut pocket is based on the determined pocket parameters. Typically, the determined pocket parameters are indicative of the geometry and position of the cut pocket. In some examples, inserting 150 the plant propagule into said cut pocket is based on a captured digital image of the substrate material comprising said cut pocket.

[0073] In some examples, the step of inserting 150 the plant propagule into said cut pocket comprises controlling the relative position of the substrate material and the plant propagule inserting device.

[0074] In some examples, the method comprises a step of verifying 140 the cut pocket, wherein verifying the pocket comprising measuring the cut pocket and comparing the measurement values with the determined pocket parameters and / or predetermined pocket criteria, and wherein upon said comparison satisfies at least one criterion the pocket is cut with the electromagnetic radiation source based on said comparison and / or the pocket is deemed not suitable for insertion of a plant propagule. For example, if a measurement of a cut pocket indicates a faulty pocket then the faulty pocket may either be cut again or the faulty pocket may be mechanically or digitally labelled to not be used to insert a plant propagule. In some of these examples, information indicative of a pocket being digitally labelled to not be used is stored in a memory, and inserting 150 the plant propagule into said cut pocket is based on said stored information to not use a pocket. In some examples, verifying 140 the cut pocket is performed while cutting 130 the pocket in the substrate material, wherein cutting 130 the pocket is based on comparing the measurement values of the pocket being cut with the determined pocket parameters and / or predetermined pocket criteria.

[0075] It is to be understood that typically creating a pocket in a substrate is performed in a repeating fashion to form a plurality of cut pockets in an array of substrates, or a plurality of substrates. Information indicative of deviations in cut pockets may be utilized in subsequent pocket cuts to achieve a cut pocket that better matches the determined pocket parameters. A reason for such deviations may be that a batch of substrate material may be easier or harder than normal to cut through with the electromagnetic radiation source.

[0076] In some examples, verifying 140 the cut pocket comprises measuring the cut pocket and comparing the measurement values with the determined pocket parameters and / or predetermined pocket criteria, and wherein the pocket parameters and / or pocket cutting are adapted for the subsequent substrate material is based on said comparison.

[0077] In some examples, the method comprises a step of verifying 160 the insertion of the plant propagule, wherein verifying the insertion comprising measuring the plant propagule at the cut pocket and comparing the measurement values with predetermined criteria for an inserted plant propagule, and wherein, upon said comparison satisfies at least one criterion, the plant propagule is moved by the propagule insertion device based on said comparison and / or the pocket or plant propagule is deemed not to be salvageable. In some of these examples, information indicative of the pocket or plant propagule not being deemed salvageable is stored on the memory.

[0078] In some examples, verifying 160 the insertion comprises measuring the plant propagule at the cut pocket utilizing the set of sensors, and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule, and wherein, upon said comparison satisfies at least one criterion, the plant propagule is adjusted and / or replaced utilizing the plant propagule inserting device based on said comparison, and / or the pocket and / or the plant propagule is determined not suitable for use based on said comparison.

[0079] In some examples, the method 100 comprises cutting 130 one or more pockets, and thereafter inserting 150 plant propagules into cut pockets by controlling the plant propagule inserting device until each of said one or more pockets either is determined to comprise an acceptably inserted plant propagule or is determined not suitable for use. In some of these examples, the insertion of said one or more pockets are repeatedly verified 160.

[0080] In some examples, verifying 160 the insertion of the plant propagule comprises measuring at the cut pocket and comparing the measurement values with predetermined criteria for an inserted plant propagule, and wherein the pocket parameters, pocket cutting, and / or plant propagule insertion for the subsequent substrate material is adapted based on said comparison.

[0081] It is to be understood that the step of verifying 140 the cut pocket or the step of verifying 160 the insertion of the plant propagule may be performed to adjust the cut pocket or plant propagule insertion, and / or to obtain information suitable to adjust subsequent pocket cutting and / or subsequent plant propagule inserting.

[0082] It is to be understood that the determined pocket parameters, the criteria for cut pockets, and the criteria for inserted plant propagule typically depends on the substrate material and the type of plant propagule to be inserted. In some examples, the pocket parameters, the criteria for cut pockets, and / or the criteria for inserted plant propagule are specifically determined for each type of substrate material and plant propagule. In some examples, the method comprises an initial step of measuring the uncut substrate material and / or the plant propagule to be inserted, and wherein the pocket parameters, the criteria for cut pockets, and / or the criteria for inserted plant propagule are determined based on said measurement values.

[0083] In some examples, the substrate material is a plastic substrate. In some examples, the substrate material comprises fibres of plastic material and / or fibres of polymer material. In some of these examples, the substrate material consists of plastic fibres and / or polymer fibres. In some examples, the substrate material is a material produced by needling polymer fibres. In some examples, the substrate material comprises felted polymer material. An advantage of cutting 140 a pocket in a substrate material consisting of plastic fibres is that plastic melted by the electromagnetic radiation may seep into the voids of the substrate material and make room for the pocket. Whereas, a substrate material consisting of solid plastic may require the melted plastic to be actively removed or evaporated to form the pocket.

[0084] In some examples, the substrate material comprises fibres of polylactic acid, PLA. In some of these examples, the substrate material is produced by needling PLA fibres.

[0085] In some examples, the substrate material has the shape of a grow plug, or an assembly of grow plugs. I some of these examples, the substrate material has the shape of a cylinder and / or a cuboid.

[0086] In some examples, the substrate material comprises foam of plastic material and / or foam of polymer material. In some of these examples, the substrate material consists of foam of plastic material and / or foam of polymer material.

[0087] In some examples, electromagnetic radiation source comprises a laser cutter, a laser engraver, an electron beam cutter, an X-ray cutter, and / or a gamma-ray cutter.

[0088] In some examples, the electromagnetic radiation source is arranged to radiate the substrate material in a spot of at most 1000 pm in diameter. In some of these examples, said spot diameter is at most 500 pm, at most 200 pm, at most 100 pm, or at most 50 pm. The term spot relates to the region on the substrate material irradiated by the EMR during one point in time.

[0089] In some examples, the electromagnetic radiation source is arranged to sweep the radiation spot across the substrate material based on said pocket parameters. In some of these examples, the electromagnetic radiation source is arranged to sweep the radiation spot across the substrate material and modulate radiation intensity based on said pocket parameters, such as providing pulsed radiation according to a pattern defined by the pocket parameters.

[0090] In some examples, the electromagnetic radiation source is arranged to provide at least 5 Watts of radiation energy to the substrate material.

[0091] In some examples, the plant propagule is a plant embryo. In some of these examples, the plant propagule is a tree embryo. In a preferred example, the substrate material comprises fibres of plastic material, and the electromagnetic radiation source comprises a laser cutter and / or a laser engraver. The combination of a substrate material of plastic fibres with laser EMR source allows for rapid, precise, and reproducible cutting of pockets for plant propagules, such as plant embryos.

[0092] In some examples of the method, inserting 150 the plant propagule into said cut pocket is performed manually and / or automatically.

[0093] In some examples, the method comprises automatically cutting a pocket in a substrate. In some of these examples, the method further comprises automatically inserting a plant propagule into said cut pocket.

[0094] In some examples, the method comprises automatically cutting a plurality of pocket in a substrate material or an array of substrate materials. In some of these examples, the method further comprises automatically inserting plant propagules into said plurality of cut pockets.

[0095] In some examples, the method further comprises a step of measuring at the substrate material utilizing a set of sensors, and cutting the pocket and / or inserting the plant propagule based on said measurement at the substrate material.

[0096] In some examples, determining 110 pocket parameters is performed automatically utilizing a computer. In some examples, controlling 120 relative position is performed automatically utilizing a computer. In some of these examples, the computer automatically controls a set of sensors to measure the substrate material and the electromagnetic radiation source positions, and controls 120 the relative position based on said measurement. In some examples, the computer automatically controls 120 the relative position based on a set of predetermined instructions for cutting pockets in substrates.

[0097] In some examples, cutting 130 a pocket in the substrate material is performed automatically utilizing a computer. In some of these examples, the computer automatically controls a set of sensors to measure the substrate material and the pocket being cut, and cuts 130 the pocket based on said measurement. In some examples, inserting 150 the plant propagule into said cut pocket is performed automatically utilizing a computer. In some examples, inserting 150 the plant propagule into said cut pocket comprises the computer automatically controls the set of sensors to measure the cut pocket and inserting the plant propagule based on said measurement. In some of these examples, the set of sensors capture a digital image of the cut pocket.

[0098] In some examples, the computer automatically controls the set of sensors to measure the inserted plant propagule at the cut pocket after inserting 150 the plant propagule. In some examples, a step of verifying 140 the cut pocket is performed automatically utilizing a computer. In some examples, a step of verifying 160 the insertion of the plant propagule is performed automatically utilizing a computer. In some of these examples, the computer automatically controls a set of sensors to measure the inserted plant propagule at the cut pocket, and verifies 160 the insertion based on said measurement. In some examples, the method 100 is a computer implemented method.

[0099] In some examples, cutting 130 the pocket in the substrate material comprises cutting at least one auxiliary hole leading from the main volume of the cut pocket to a surface of the substrate material. For example, for a substrate material with a top surface and an opposite bottom surface, the cut pocket may be cut out from the top surface, and the drainage hole leads from the main volume of the cut pocket to the bottom surface of the substrate material. In some examples, the auxiliary hole arranged for guiding root growth, medium supply or drainage, and / or hydroponic tubes. In some of these examples, the at least one auxiliary hole leading from the main volume of the cut pocket towards a surface of the substrate material, wherein the auxiliary hole stops short of said surface. In some examples, the auxiliary hole is at most half the diameter of the diameter of the opening of the pocket.

[0100] In some examples, the method 100 is performed in an assembly line, wherein the input is substrate materials, and the output is substrate materials with at least one cut pocket for plant propagules.

[0101] In some examples, the method 100 is performed in an assembly line, wherein the input is substrate materials and plant propagules, and the output is substrate materials with at least one cut pocket for plant propagules with a plant propagule inserted.

[0102] In some examples, the method comprises growing the inserted plant propagule in the cut pocket. In some of these examples, the method further comprises

[0103] - providing a second substrate;

[0104] - determining 110 pocket parameters for a pocket in said second substrate;

[0105] - controlling 120 relative position of an electromagnetic radiation source 310 and the substrate material;

[0106] - cutting 130 a pocket in the second substrate material based on the determined pocket parameters utilizing the electromagnetic radiation source; and

[0107] - inserting 150 the grown plant propagule into said cut pocket of the second substrate utilizing an plant propagule inserting device.

[0108] In some examples, the method further comprises extracting the grown plant propagule from the cut pocket. In some of these examples, the method further comprises transplanting the extracted grown plant propagule to the outdoors and / or a greenhouse .

[0109] In some examples, the method 100 is a computer implemented method.

[0110] Fig. 2a-c show example substrate materials comprising cut pockets for planting plant propagules. Fig. 2a depicts a top down view of an array of substrates 200 comprising twenty-five substrate materials 210 each with a cut pocket 211. Fig. 2b shows one substrate material 210 of the array of substrates 200 with one pocket 211. Fig. 2c shows a side-view of the substrate material 210 with a pocket from fig. 2b.

[0111] In some examples, the substrate material 210 comprises a plastic material and / or a polymer material. In some of these examples, the substrate material 210 comprises polymer fibres, polymer foam, plastic fibres, and / or plastic foam.

[0112] In some examples, the substrate material 210 comprises natural fibres. In some of these examples, the substrate material 210 comprises plant fibres. In some of these examples, the substrate material 210 comprise hemp fibres, jute fibres, flax fibres, kenaf fibres, bamboo fibres, cotton fibres, and / or ramie fibres. In some examples, the substrate material 210 comprises lignocellulose, cellulose and / or hemicellulose.

[0113] In some examples, the substrate material 210 comprises polylactic acid, PLA, polycarbonate, PC, polyvinyl Chloride, PVC, polyethylene, PE, polypropylene, PP, polyhydroxyalkanoates, PHA, polybutylene succinate, PBS, polycaprolactone, PCL, polyglycolic acid, PGA, and / or polylactic acid-co-glycolic acid, PLGA.

[0114] In some examples, the substrate material 210 comprises natural fibres and / or any of the above listed polymers. In some of these examples, the substrate material 210 comprises hemp fibres, jute fibres, flax fibres, kenaf fibres, bamboo fibres, cotton fibres, ramie fibres, and / or any of the above listed polymers.

[0115] In some examples, the substrate material 210 comprises hydrophilic polymer fibres. In some examples, the substrate material 210 comprises natural fibres and / or synthetic fibres treated to become hydrophilic. In some of these examples, the natural fibres and / or synthetic fibres are coated with a hydrophilic compound.

[0116] In some examples, the substrate material 210 comprises polymer fibres, wherein the polymer fibres are constituted of polylactic acid, PLA. Polylactic acid is an environmentally friendly thermoplastic. In some of these examples, the fibre forming substance is a lactic acid polymer in which at least 85% by weight are lactic acid ester units derived from naturally occurring sugars, that may be extracted from e.g. sugar beets and corn. Although biodegradable, polylactic acid is quite durable in most applications. In fact, PLA does not readily degrade unless it is exposed to prolonged times of high humidity and elevated temperatures (> 60°C) which results in rapid decomposition of the fibre.

[0117] Polylactic acid fibres are commercially available from Holland BioProducts (Nijmegen, the Netherlands) with the brand name, “Whiteplug Sow”. These plugs consist of a polylactic, PLA, stable fibre with flakes of a super absorbent polymer of poly-potassium acrylic co-polymer applied thereon. Such PLA material may be used in the present invention with or without, preferably without, the acrylic co-polymer flakes.

[0118] In some examples, the substrate material 210 consists of at least 60 weight % polymer fibres. In some of these examples, the polymer fibre amount is at least 70 wt%, at least 80 wt%, at least 90 wt%, or at least 95 wt%. Herein the term “weight %” relates to the dry weight.

[0119] In some examples, the polymer fibres comprise fibres with a thickness in the range of 10 to 100 pm, 20 to 80 pm, 25 to 70 pm, 30 to 60 pm, and / or 35 to 55 pm.

[0120] In some examples, the polymer fibres comprise the polylactic acid fibres with a thickness in the range of 10 to 100 pm, 20 to 80 pm, 25 to 70 pm, 30 to 60 pm, and / or 35 to 55 pm. Preferably the polymer fibre thickness is 35-45 pm in diameter. In some of these examples, the polymer fibres are non-hollow.

[0121] In some examples, the substrate material 210 is biodegradable.

[0122] In some examples, the substrate material 210 is an elastic material. It is to be understood that elasticity is a desirable substrate material property as it allows for direct contact between a plant propagule inserting device and the substrate material 210 with a low risk of damage to the plant propagule inserting device, the plant propagule being inserted, or the substrate material 210, as compared to direct contact between two rigid objects. That is to say, a plant embryo being inserted is at a significant risk of getting crushed between a rigid substrate and a part of a plant propagule inserting device holding said plant embryo. Furthermore, the use of a resilient substrate material 210, such as an elastic substrate material 210 that returns to its previous shape, facilitates convenient embedding of a plant embryo by an automated system comprising a plant propagule inserting device. With a resilient substrate material 210, a hole or rift can be made in the substrate material 210 at the cut pocket 211 in which the plant embryo is placed, and thereafter the hole or rift may close itself at least in part due to the resilience of the substrate material 210 or may be mechanically closed.

[0123] In some examples, the substrate material 210 is a compressible and resilient solid substrate comprising a plurality of hydrophilic and biodegradable polymer fibres.

[0124] In some examples, the substrate material 210 is arranged to be compressed at least 3 mm by applying a pressure of less than 0.08 N / mm2. In some of these examples, the substrate material 210 is arranged to be compressed at least 3 mm by applying a pressure of less than 0.04 N / mm2.

[0125] In some examples, the substrate material 210 is arranged to, after applying a pressure to compress the substrate material 210, return to near its original shape. In some examples, the substrate material 210 is arranged to return to its original shape within 10 minutes, within 5 to 10 minutes, or within less than 60 seconds, such as within less than 30 seconds or less, with no permanent depression. In some examples, the substrate material 210 is arranged to, after applying a pressure of a pressure of less than 0.1 N / mm2to compress the substrate material 210, return to near its original shape.

[0126] In some examples, the substrate material 210 is free of loose adhesive material, and / or the substrate material 210 is substantially free of particulate matter of less than 0.015 mm width and 2 mm length.

[0127] In some examples, the substrate material 210 has a water retention capacity of 0.3-1.2 cm3. In some of these examples, said water retention capacity is 0.5-1.2 g / cm3, or 0.7-1.0 g / cm3.

[0128] In some examples, the substrate material 210 comprises non-porous polymer fibres. In some of these examples, the polymer fibres of the substrate material 210 are non-porous. This is advantageous when an aqueous medium that has been added to the cut pocket 211 is to be washed out of substrate material 210. When the polymer fibres are non-porous, the wash solution can readily access the entire internal surface area of the substrate material 210.

[0129] Utilizing substrate material 210 with non-porous polymer fibres may facilitate washing in a relatively short time, and hinders aqueous medium from penetrating into the polymer fibres.

[0130] In some examples, the substrate material 210 has a thickness of at least 5 mm. In some examples, the substrate material 210 has a thickness of at most 100 mm, or at most 50 mm. In some examples, the substrate material 210 has a thickness in the range of 10 to 40 mm. In some of these examples, the substrate material 210 has a thickness in the range of 20 to 30 mm. For substantially cuboid shaped substrate materials “the thickness of the substrate material” relates to a distance between the surface where the pocket is cut and to the opposite surface.

[0131] In some examples, the cut pocket 211 has an opening diameter in the range of 1 to 10 mm. In some of these examples, the cut pocket 211 has an opening diameter in the range of 2 to 5 mm, or an opening diameter in the range of 3 to 4 mm.

[0132] In some examples, the cut pocket 211 has a depth of at least 1 mm, or at least 2 mm. In some examples, the cut pocket 211 has a depth in the range of 1 to 15 mm. In some of these examples, the cut pocket 211 has a depth in the range of 2 to 8 mm, or a depth in the range of 4 to 6 mm. In some examples, the cut pocket 211 runs through the thickness of the substrate material 210.

[0133] In some examples, the cut pocket 211 has an opening diameter of 2.25, 2.75, 3, or 3.5 mm, and comprises a cylindrical shape of the corresponding diameter with a depth in the range of 2 to 5 mm.

[0134] In some examples, the cut pocket 211 further comprises an auxiliary channel through the thickness of the substrate material 210. In some examples, the cut pocket 211 further comprises an auxiliary channel extending through at most 99% the thickness of the substrate material 210. In some of these examples, the auxiliary channel extends a distance of at least 30% the thickness of the substrate material 210. In some of these examples, the auxiliary channel is at most 3 mm in diameter or at most 2 mm in diameter. The auxiliary channel may be utilized for guiding root growth, medium supply or drainage, and / or hydroponic tubes.

[0135] In some examples, the auxiliary channel is at most 5 mm, at most 3 mm, at most 2 mm, at most 1.5 mm, or at most 1 mm in diameter. In some of these examples, the length of the auxiliary channel is at least 2 mm, at least 3 mm, at least 5 mm, or at least 10 mm.

[0136] In some examples, the auxiliary channel has a diameter of at most 50% of the opening diameter of the cut pocket 211. In some of these examples, the auxiliary channel has a diameter of at most 40%, at most 30%, at most 20%, at most 10%, or at most 5% of the opening diameter of the cut pocket 211.

[0137] It is to be understood that the opening of the cut pocket 211 is different from any opening in the substrate material formed by the auxiliary channel. An example substrate material with an auxiliary channel is depicted in fig. 4c. In some examples, the cut pocket 211 has an opening diameter in the range of 2 to 6 mm, and a depth of at least 2 mm.

[0138] Experimental data indicates that for a substrate material with fibres of polylactic acid, laser cut pockets are at least as good as handmade pockets for plant establishment in 2-4 mm pockets when utilizing a robotic insertion device, which shows that laser cutting a polymer may result in a pocket suitable for plant establishment. Said experimental data is based on non-adaptive laser cutting of pockets, plant establishment is expected to significantly improve by adapting how the pocket is cut based on the plant propagule to be inserted and / or evaluations of previous cut pockets or insertions.

[0139] In the example shown in fig. 2a the array of substrates 200 was separated into twenty-five substrate materials 210 prior to cutting pockets 211 in each substrate material 210. It is to be understood that another option is cutting the pockets 211 prior to separating the array of substrates 200 into twenty-five separate substrate materials 210. The example shown in fig. 3 depicts a substrate material 210 with one cut pocket 211 , but the examples also relate to cutting a plurality of pockets into one substrate corresponding to the array of substrates 200 prior to separation. The insertion of a plurality of plant propagule may further be performed into a plurality of pockets of one substrate corresponding to the array of substrates 200 prior to separation.

[0140] In some examples, the substrate material 210 comprises a fibre material and / or a foam material.

[0141] The substrate material 210 of the array of substrates 200 shown in fig. 2b-c represents a region around one cut pocket 211. Typically, substrate materials 210 represent some repeating cell that may be part of an array of substrates 200, such as shown in fig. 2a by the array of substrates 200 consisting of 5x5 cuboid substrate materials 210.

[0142] The invention relates to a plug for planting a plant propagule, wherein the plug comprises a substrate material 210 comprising at least one cut pocket 211 , wherein each pocket 211 is arranged to accept a plant propagule, and wherein the at least one pocket 211 is cut in a plastic substrate material 210 utilizing an electromagnetic radiation source, such as a laser cutter and / or a laser engraver.

[0143] In some examples, the plug for planting a plant propagule is formed by any method 100 according to description of fig. 1.

[0144] In some examples, the plug for planting a plant propagule comprises polylactic acid, PLA, polycarbonate, PC, polyvinyl Chloride, PVC, polyethylene, PE, polypropylene, PP, polyhydroxyalkanoates, PHA, polybutylene succinate, PBS, polycaprolactone, PCL, polyglycolic acid, PGA, polylactic acid-co-glycolic acid, PLGA, hemp fibres, jute fibres, flax fibres, kenaf fibres, bamboo fibres, cotton fibres, and / or ramie fibres.

[0145] In some examples, plug for planting a plant propagule comprise a cut pocket 211 with an opening diameter in the range of 1 to 10 mm. In some of these examples, the cut pocket 211 has an opening diameter in the range of 2 to 5 mm, or an opening diameter in the range of 3 to 4 mm.

[0146] In some examples, the cut pocket 211 has a depth of at least 1 mm, or at least 2 mm. In some examples, the cut pocket 211 has a depth in the range of 1 to 15 mm. In some of these examples, the cut pocket 211 has a depth in the range of 2 to 8 mm, or a depth in the range of 4 to 6 mm. In some examples, the cut pocket 211 runs through the thickness of the plug.

[0147] In some examples, the cut pocket 211 has an opening diameter of 2.25, 2.75, 3, or 3.5 mm, and comprises a cylindrical shape of the corresponding diameter with a depth in the range of 2 to 5 mm.

[0148] In some examples, the cut pocket 211 further comprises an auxiliary channel through the thickness of the plug. It is to be understood that examples relating to the cut pocket 211 for the substrate material 210 and the substrate material properties correspond to examples the cut pocket of the plug and the plug properties.

[0149] Fig. 3 shows schematically a system for cutting a pocket in a substrate and inserting a plant propagule into said pocket. The system 300 comprises an electromagnetic radiation source 310, a plant propagule inserting device 320, and a computer 350. Fig. 3 illustrates the system 300 and a part 210 of a substrate being processed in an assembly line, wherein each column represents a step on the assembly line with a device of the system 300 and the part 210 of the substrate to be processed shown in a cross-sectional side view (middle) and a top- down view (bottom).

[0150] The system 300 is arranged to accept a substrate material 210 and a plant propagule 321. The electromagnetic radiation source 310 is arranged to cut a pocket 211 in a part 210 of the substrate material utilizing electromagnetic radiation, ERM, 311 based on determined pocket parameters. The plant propagule inserting device 320 is arranged to insert said plant propagule 321 into said cut pocket 211. The computer 350 is arranged to

[0151] - determine the pocket parameters,

[0152] - cut the pocket 211 in the substrate material 210 based on the determined pocket parameters by controlling the electromagnetic radiation source 310, and

[0153] - insert the plant propagule 321 into said cut pocket 211 by controlling the plant propagule inserting device 320.

[0154] The part 210 of the substrate being processed corresponds to the part 210 of the substrate shown in fig. 2a-c. It is to be understood that typically, a system 300 would process an array of substrate materials 200 configured to have a plurality of cut pockets 211, such as shown in fig. 2a. Fig. 3 depicts cutting and inserting a plant propagule into a single cut pocket 211 of a substrate material 210 for readability.

[0155] In some examples, the computer 350 is arranged to cut the pocket in the substrate material as a cylinder shape in the substrate material. In some of these examples, the computer 350 is arranged to cut the pocket in the substrate material as a stack of cylinders with different diameters. For example, a cut pocket in the substrate material may have the shape of a stack of cylinders (not shown) corresponding to a stack of two cylinders, a first cylinder 5 mm deep with a diameter of 5 mm connected at the bottom to a second cylinder 5 mm deep with a diameter of 3 mm.

[0156] In some examples, the system 300 comprises a set of sensors 330 arranged to measure the state of the system 300 and / or the state of any accepted substrate material 210. In some of these examples, the computer 350 is arranged to control the set of sensors 330 and obtain measurement values from said set of sensors 330.

[0157] In some examples, the computer 350 is arranged to detect and measure pre-cut opening(s) and / or markings indicative of pocket locations in said accepted substrate material 210, and is arranged to cut pockets in said substrate material 210 based on the predetermined parameters and any measurement values corresponding to said pre-cut opening(s) and / or markings. For example, the accepted substrate material 210 may have a pre-cut opening located inside the pocket to be cut by the system 300, whereby less of the substrate material 210 needs to be melted and / or vaporized by the system 300 to form the cut pocket 211 compared to a substrate material 210 without the pre-cut.

[0158] In some of these examples, the computer 350 is arranged to control the set of sensors 330 and obtain measurement values from said set of sensors 330. The set of sensors 300 may be configured to capture images of the substrate material 210 to determine the pocket 211 position and facilitate transfer of the plant embryo to a correct position in the pocket 211.

[0159] In some examples, the system 300 comprises a set of sensors 330 arranged to measure the cut pocket 211 and / or the insertion of the plant propagule 321 into said cut pocket 211. In some of these examples, the computer 350 is arranged to

[0160] - verify the cut pocket 211, wherein verifying the pocket 211 comprises measuring the cut pocket 211 utilizing the set of sensors 330, and comparing the measurement values with the pocket parameters and / or a set of predetermined pocket criteria, and wherein, upon said comparison satisfies at least one criterion, the pocket 211 is cut with the electromagnetic radiation source 310 based on said comparison and / or the pocket 211 is determined not suitable for insertion of a plant propagule 321 , and / or

[0161] - verify the insertion of the plant propagule 321 , wherein verifying the insertion comprises measuring at the cut pocket 211 and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule 321 , and wherein, upon said comparison satisfies at least one criterion, the plant propagule 321 is adjusted and / or replaced based on said comparison, and / or the pocket 211 is determined not suitable for use.

[0162] The expression “the plant propagule is replaced” relates both to swapping out the inserted plant propagule, and to inserting another plant propagule if the pocket lacks a plant propagule after the initial insertion attempt. It is to be understood that the computer may be arranged to, upon determining that the cut pocket 211 is empty, repeat the step of inserting another plant propagule 321 into said cut pocket 211 by controlling the plant propagule inserting device 320.

[0163] In some examples, the computer is arranged to cut one or more pockets 211, and thereafter inserting plant propagules 321 into cut pockets 211 by controlling the plant propagule inserting device 320 until each of said one or more pockets 211 either is determined to comprise an acceptably inserted plant propagule or is determined not suitable for use.

[0164] In some of these examples, the computer 350 is arranged to store information indicative of any pocket 211 determined not suitable for insertion of a plant propagule 321 , and / or any pocket 211 determined not suitable for use in a memory storage. In some of these examples, the computer 350 is arranged to insert the plant propagule 321 into said cut pocket 211 by controlling the plant propagule inserting device 320 based on said stored information indicative of any pocket 211 determined not suitable for insertion of a plant propagule 321.

[0165] In some examples, verifying the cut pocket 211 and / or verifying the insertion of the plant propagule 321 utilizes a corresponding machine learning algorithm trained to detect a cut pocket 211 and / or detect the insertion of a plant propagule 321.

[0166] In fig. 3 the set of sensors 330 are depicted in a step after inserting the plant propagule 321, it is to be understood that the set of sensors 330 may measure before, between, or after the process steps of cutting with EMR and inserting the plant propagule 321 , and / or during any of said process steps.

[0167] In some examples, the system 300 comprises a set of sensors 330 arranged to measure at the substrate material 210, wherein the computer 350 is arranged to control the set of sensors 330 to provide measurement data, and is arranged to control to the electromagnetic radiation source 310 to cut the pocket 211 based on said measurement data, and / or to control the plant propagule inserting device 320 to insert said plant propagule 321 into said cut pocket 211 based on said measurement data. In some examples, the computer 350 is arranged to control the set of sensors 330 to measure at the substrate material 210 during the pocket cutting and / or plant propagule 321 insertion, and control the electromagnetic radiation source 310 and / or the plant propagule inserting device 320 based on said measurements.

[0168] In some examples, the computer 350 comprises a memory storage (not shown) arranged to store said set of predetermined pocket criteria, said set of predetermined criteria for an inserted plant propagule 321 , and / or said measurement data. In some examples, the memory storage is arranged to store information indicative of a pocket determined not suitable for insertion of a plant propagule 321. In some of these examples, the computer 350 is arranged to not insert a plant propagule 321 into a pocket determined not suitable.

[0169] In some examples, the computer 350 determines the pocket parameters, wherein determining pocket parameters comprises obtaining an input indicative of the pocket parameters, and / or calculating pocket parameters based on measurement values from the set of sensors 330.

[0170] In some examples, the computer 350 comprises a communication interface (not shown) arranged to obtain input indicative of the pocket parameters.

[0171] It is to be understood that the system 300 for cutting a pocket in a substrate and inserting a plant propagule 321 into said pocket under operation, typically, cuts pockets and inserts plant propagules 321 in a large number of substrate materials 210. As a batch of substrate materials 210 and / or a batch of plant propagules may have similar properties, it may favourable to adjust the pocket cutting and plant propagule insertion based on a measured success of the previous pocket cut and / or the previous plant propagule insertion, such as dynamically determining the pocket parameters, instead of being restricted to use the same pocket parameters for a full batch of multiple substrate materials 210.

[0172] In some examples, the computer 350 is arranged to verify the cut pocket 211 , wherein verifying the pocket 211 comprises measuring the cut pocket 211 by controlling said set of sensors 330, and comparing the measurement values with the pocket parameters and / or a set of predetermined pocket criteria, and the computer 350 is arranged to adapt the pocket parameters and / or pocket cutting process for cutting a subsequent pocket 211 based on said comparison. In some examples, determining the pocket parameters is based on measurement data indicative of a previous cut pocket. In some examples, the computer 350 stores information indicative of said adaption on the memory storage.

[0173] In some examples, the computer 350 is arranged to verify the insertion of the plant propagule 321 , wherein verifying the insertion comprises measuring at the cut pocket 211 by controlling said set of sensors 330, and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule 321 , and the computer 350 is arranged to adapt the pocket parameters, pocket cutting process, and / or plant propagule insertion process for the subsequent substrate material 210 based on said comparison. In some examples, determining the pocket parameters is based on measurement data indicative of a previous inserted plant propagule 321. In some examples, the computer 350 stores information indicative of said adaption on the memory storage. In some examples, the computer 350 is arranged to store information indicative of the pocket parameters used to cut the pocket on the memory storage.

[0174] In some examples, the electromagnetic radiation source 310 comprise a laser cutter, a laser engraver, an electron beam cutter, an X-ray cutter, and / or a gamma-ray cutter.

[0175] In some examples, the plant propagule inserting device 320 comprises a mechanical actuator arranged to move plant propagules 321 , and / or a device arranged to pneumatically move plant propagules 321.

[0176] In some examples, the system 300 is configured to accept a substrate, wherein the substrate material comprises or consists of polymer fibres, plastic fibres, polymer foam and / or plastic foam. In some examples, the substrate material comprises and / or consists of polylactic acid, PLA, polycarbonate, PC, polyvinyl Chloride, PVC, polyethylene, PE, polypropylene, PP, polyhydroxyalkanoates, PHA, polybutylene succinate, PBS, polycaprolactone, PCL, polyglycolic acid, PGA, and / or polylactic acid-co-glycolic acid, PLGA.

[0177] In some examples, the set of sensors 330 comprises at least one optical sensor, camera, pressure sensor, temperature sensor, capacitive sensor, proximity sensor, and / or actuation position sensor.

[0178] In some examples, the system 300 comprises a device (not shown) for providing a flow of gas to the pocket 211 being cut. Typically, the flow of gas is used to remove melted or vaporized material and to control the temperature of the substrate material 210.

[0179] In some examples, the system 300 comprises a transport system (not shown) arranged to transport the substrate material from the electromagnetic radiation source 310 to the plant propagule inserting device 320. In some examples, the transport system is arranged to transport the substrate material to the electromagnetic radiation source 310, and / or from the plant propagule inserting device 320. In some examples, the computer 350 is arranged to control the transport system.

[0180] In some examples, the computer 350 is arranged to cut at least one auxiliary hole leading from the cut pocket 211 to a surface of the substrate material 210. For example, for a substrate material with a top surface and a bottom surface, the cut pocket 211 may be cut out into the top surface, and the auxiliary hole leads from the cut pocket 211 to the bottom surface. In some examples, the auxiliary hole is arranged to guide root growth and / or server as a drainage hole for the cut pocket 211.

[0181] In some examples, the system 300 comprises a device (not shown) for controlling relative position of the electromagnetic radiation source 310 and the substrate material 210, wherein the computer 350 is arrange to control said device for controlling relative position to position the substrate material, the electromagnetic radiation source 310, and / or the plant propagule inserting device 320. In some of these examples, the computer 350 is arranged to control said device for controlling relative position based on measurement data obtained by the set of sensors 330.

[0182] In some examples, the system 300 comprises and / or is comprised in an assembly line, wherein the input is substrate materials 210 and plant propagules 321, and the output is substrate materials 210 with at least one cut pocket 211 for plant propagules 321 with a plant propagule 321 inserted.

[0183] The invention further relates to a system for cutting a pocket for inserting a plant propagule in a substrate. The system 300 comprises a computer 350 and an electromagnetic radiation source 310. The system 300 is arranged to accept a substrate material 210. The electromagnetic radiation source 310 is arranged to cut a pocket 211 in the substrate material 210 utilizing electromagnetic radiation, ERM, 311 based on determined pocket parameters. The computer 350 is arranged to

[0184] - determine the pocket parameters, and

[0185] - cut the pocket 211 in the substrate material 210 based on the determined pocket parameters by controlling the electromagnetic radiation source 310.

[0186] In some examples, the system 300 comprises a set of sensors 330 arranged to measure the cut pocket 211. In some of these examples, the system 300 is arranged to

[0187] - verify the cut pocket 211, wherein verifying the pocket 211 comprises measuring the cut pocket 211 and comparing the measurement values with the pocket parameters and / or a set of predetermined pocket criteria, and wherein, upon said comparison satisfies at least one criterion, the pocket 211 is cut with the electromagnetic radiation source 310 based on said comparison and / or the pocket 211 is determined not suitable for insertion of a plant propagule 321.

[0188] Fig. 4a-c depicts schematically cutting a pocket 211 in a substrate material 210 with an auxiliary hole. Fig. 4a depicts a computer 350 controlling an electromagnetic radiation source 310 to cut a pocket 211 in a substrate material 210. Fig. 4b depicts the main volume of the pocket 211 having been cut out of the substrate material 210, and the computer 350 controlling the electromagnetic radiation source 310 to cut the auxiliary hole through the substrate to allow guiding root growth or drainage from the main volume of the cut pocket 211. Fig. 4c depicts the resulting cut pocket 211 with an auxiliary hole.

[0189] In some examples, the auxiliary hole is cut at an angle from the elongation of the main volume of the pocket 211. In some of these examples, the angle is at most 60° from the direction of the elongation. In some examples, the auxiliary hole has one opening, such as not fully penetrating the substrate 210.

[0190] It is to be understood that the cutting the whole pocket 211 with the electromagnetic radiation source 310 as shown in fig. 4a-b may be performed in one cutting operation. The computer 350 may be arranged to cut the pocket 211 including its auxiliary channel in one step.

[0191] In some examples, the computer 350 is arranged to measure the pocket 211 being cut utilizing a set of sensors, and control the electromagnetic radiation source 310 based on said measurement, such as cutting the auxiliary hole based on measuring the cut main volume of the pocket 211.

[0192] Fig. 5 depicts schematically a data processing unit comprising a computer program product for cutting a pocket for planting plant propagules utilizing an electromagnetic radiation source. Fig. 5 depicts a data processing unit 410 comprising a computer program product comprising a non-transitory computer-readable storage medium 412. The non-transitory computer-readable storage medium 412 having thereon a computer program comprising program instructions.

[0193] The computer program is loadable into a data processing unit 410 and is configured to cause a processor 411 to carry out the method.

[0194] In some examples, the data processing unit 410 is or is comprised in the computer 350 in the examples relating to fig. 3 or fig. 4.

[0195] In some examples, the computer program product is further arranged to insert a plant propagule into said cut pocket by controlling a plant propagule inserting device.

[0196] In some examples, the computer program product is further arranged to control a set of sensors to measure at a substrate material, and to cut a pocket in said substrate material and / or insert a plant propagule into said substrate material based on said measurement.

Claims

CLAIMS1. A method for creating pockets in a substrate material for planting plant propagules, the method (100) comprises- determining (110) pocket parameters;- controlling (120) relative position of an electromagnetic radiation source (310) and the substrate material (210); and- cutting (130) a pocket (211) in the substrate material (210) based on the determined pocket parameters utilizing an electromagnetic radiation source (310).

2. The method according to claim 1, further comprising a step of verifying (140) the cut pocket (211), wherein verifying (140) the pocket (211) comprises measuring the cut pocket (211) utilizing a set of sensors (330), and comparing the corresponding measurement values with the determined pocket parameters and / or a set of predetermined criteria for a cut pocket; and wherein, upon said comparison satisfies at least one criterion, the pocket (211) is cut with the electromagnetic radiation source (310) based on said comparison and / or the pocket (211) is determined not suitable for insertion of a plant propagule (321).

3. The method according to claim 1 or 2, further comprising a step of inserting (150) the plant propagule (321) into said cut pocket (211) utilizing a plant propagule inserting device (320).

4. The method according to claim 3, further comprising a step of verifying (160) the insertion of the plant propagule (321), wherein verifying (160) the insertion comprises measuring the plant propagule (321) at the cut pocket (211) utilizing the set of sensors (330), and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule (321), and wherein, upon said comparison satisfies at least one criterion, the plant propagule (321) is adjusted and / or replaced utilizing the plant propagule inserting device (320) based on said comparison, and / or the pocket (211) and / or the plant propagule (321) is determined not suitable for use based on said comparison.

5. The method according to any preceding claim, wherein substrate material (210) is a plastic material and / or a polymer material.

6. The method according to any preceding claim, wherein the electromagnetic radiation source (310) comprises a laser cutter and / or a laser engraver.

7. The method according to any preceding claim, wherein the plant propagule (321) comprises a plant embryo.

8. A computer program product comprising a non-transitory computer-readable storage medium (412) having thereon a computer program comprising program instructions, thecomputer program being loadable into a processor (411) and configured to cause the processor (411) to perform the method (100) for creating pockets (211) in a substrate material (210) for planting plant propagules (321) according to any one of the preceding claims.

9. A system for creating pockets in a substrate material for planting plant propagules, the system (300) comprises a computer (350), an electromagnetic radiation source (310), and a plant propagule inserting device (320), wherein the system (300) is arranged to accept a substrate material (210) and a plant propagule (321), wherein said electromagnetic radiation source (310) is arranged to cut a pocket (211) in said substrate material (210) based on determined pocket parameters, wherein said plant propagule inserting device (320) is arranged to insert said plant propagule (321) into the cut pocket (211), and wherein the computer (350) is arranged to- determine the pocket parameters,- cut the pocket (211) in the substrate material (210) based on the determined pocket parameters by controlling the electromagnetic radiation source (310), and- insert the plant propagule (321) into said cut pocket (211) by controlling the plant propagule inserting device (320).

10. The system according to claim 9, wherein the system (300) comprises a set of sensors (330) arranged to measure the cut pocket (211) and / or the insertion of the plant propagule (321) into said cut pocket (211), wherein the system (300) is arranged to- verify the cut pocket (211), wherein verifying the pocket (211) comprises measuring the cut pocket (211) and comparing the measurement values with the pocket parameters and / or a set of predetermined pocket criteria, and wherein, upon said comparison satisfies at least one criterion, the pocket (211) is cut with the electromagnetic radiation source (310) based on said comparison and / or the pocket (211) is determined not suitable for insertion of a plant propagule (321), and / or- verify the insertion of the plant propagule (321), wherein verifying the insertion comprises measuring at the cut pocket (211) and comparing the measurement values with a set of predetermined criteria for an inserted plant propagule (321), and wherein, upon said comparison satisfies at least one criterion, the plant propagule (321) is adjusted and / or replaced based on said comparison, and / or the pocket (211) is determined not suitable for use.

11. The system according to claim 9 or 10, wherein the electromagnetic radiation source (310) comprises a laser cutter and / or laser engraver, and wherein the system (300) is arranged to cut pockets in a plastic substrate material (210) and / or a polymer substrate material (210).

12. The system according to any of claims 9 to 11, wherein the system (300) comprises a set of sensors (330) arranged to measure the cut pocket (211) and / or the insertion of the plant propagule (321) into said cut pocket (211), wherein the system (300) is arranged to- verify the cut pocket (211), wherein verifying the pocket (211) comprises measuring the cut pocket (211) and comparing the measurement values with the pocket parameters and / or the set of predetermined pocket criteria, and wherein the pocket parameters and / or pocket cutting procedure is adjusted for the subsequent cut pocket based on said comparison; and / or- verify the insertion of the plant propagule (321), wherein verifying the insertion comprises measuring at the cut pocket (211) and comparing the measurement values with the set of predetermined criteria for an inserted plant propagule (321), and wherein the pocket parameters and / or plant propagule inserting procedure is adjusted for the subsequent cut pocket and / or plant propagule insertion based on said comparison.

13. A plug for planting plant propagules, the plug comprises a substrate material (210) comprising at least one cut pocket (211) , wherein each pocket (211) is arranged to accept a plant propagule (321), and wherein the at least one pocket (211) is cut in a plastic substrate material (210) and / or a polymer substrate material (210) utilizing a laser cutter and / or a laser engraver.

Images