Method and system for planting a rooted cutting into a substrate

Abstract

Disclosed is a method for planting a rooted cutting (23) into a substrate (15), the method being performed by a robotic planting system (100) and comprising: gripping, with an end effector (2) of the robotic planting system (100), two sheets (20) having a rooted cutting (23) sandwiched between them; positioning the gripped sheets (20) with the rooted cutting (23) above a container (14) holding a substrate (15); and at least partially pushing the sheets (20) into the substrate (15) to plant the rooted cutting (23) into the substrate (15). A corresponding system (100) for planting a rooted cutting (23) into a substrate (15) is also disclosed herein.

Description

[0001] P&G IP GmbH - 1 - 30A-165 248

[0002] Method and system for planting a rooted cutting into a substrate

[0003] Traditionally, plants have been cultivated by manually planting seeds into a substrate. As substrate, for example, soil, perlite, vermiculite, coir, mineral wool, or expanded clay pellets can be used. Some plants can be reproduced from cuttings. To this end, plant cuttings, e.g., parts of a stem, branch or root of a mother plant, can be collected and manually planted into a substrate one by one. The cuttings may then develop their roots within said substrate. It is also known to plant unrooted cuttings into a substrate held by a small container, and then transfer the rooted cutting for further cultivation from the small container to a larger container holding a suitable substrate. However, these processes are quite cumbersome.

[0004] In view of this and other problems, an improved method and system for planting a rooted cutting into a substrate are provided herein. The invention in accordance with the independent claims is deemed to be particularly efficient while ensuring a reliable and successful cultivation of the planted rooted cutting.

[0005] According to a first aspect of the present disclosure, a method for planting a rooted cutting into a substrate is provided. The method is performed by a robotic planting system (e.g., according to the second aspect described below). The method comprises: gripping, with an end effector of the robotic planting system, two sheets having a rooted cutting sandwiched between them; positioning the gripped sheets with the rooted cutting above a container holding a substrate; and at least partially pushing the sheets into the substrate to plant the rooted cutting into the substrate.

[0006] The rooted cutting may be a cutting taken from a stem, branch or root of a mother plant. The rooted cutting may have a length of several millimeters to several centimeters, for example a length between 10mm and 75mm. The cutting is referred to as "rooted" cutting, as it comprises roots that it developed after having been taken from the mother plant.

[0007] The substrate held by the container is preferably suitable for cultivating the rooted cutting after being planted therein. The substrate may comprise or consist of inorganic material. The substrate may comprise or consist of organic material. The substrate may comprise or be soil, perlite, vermiculite, coir, mineral wool, or expanded clay pellets.P&G IP GmbH - 2 - 30A-165 248

[0008] The two sheets comprise a first sheet and a second sheet. The two sheets may be made from a similar material, but it is also possible for the two sheets to be made from different materials. Each of the two sheets may be formed at least in part of biodegradable material. Preferably, the term "biodegradable" as used herein is understood to mean that the materials used for forming the two sheets will biologically degrade within a period of no longer than 50 days after being planted into the substrate, and more preferably will biologically degrade within a period of no longer than 28 days after being planted into the substrate, most preferably within a period of about 10 days after being planted into the substrate. Ideally, the materials used for forming the two sheets will slowly degrade when exposed to water or an aqueous solution. The biodegradable material may have a liquid retaining capacity of at least about 100 g liquid per 100 g of biodegradable material dry weight. In other words, the resulting sheet will be able to retain at least its own dry weight of liquid, and preferably at least twice or three times its own dry weight of liquid (which means a retaining capacity of at least about 200g liquid per 100g of biodegradable material dry weight, and preferably at least about 300g liquid per 100g of biodegradable material dry weight). This will enable the resulting sheets to soak up and retain enough liquid and associated nutrients to ensure rooting of an unrooted cutting once it has been placed between the two sheets. The sheets are preferably designed such that they are able to absorb the required amount of liquid quickly, that is, within a period of approximately one second up to several tens of seconds (e.g., no more than a minute). The liquid retaining characteristics of the sheets may be achieved, for example, by means of cellulose as a constituent of the material used in making the sheets. Both sheets may thus be paper fiber webs, preferably based on cellulose fibers. However, other or additional substances may also be used, for example so-called superabsorbers as well as plastic fibres or natural fibres. One or both of the two sheets may be made from a water-permeable material, for example a fiber material. The fiber material may comprise any combination of cellulose fibers, cotton fibers, plastic fibers, glass fibers, carbon fibers. In one example, the fiber material is paper. Each sheet may have a thickness of several tens of micrometers to a few millimeters, preferably between 20pm and 500pm.

[0009] The two sheets may be arranged in a stack-like manner on top of one another. The two sheets may form two layers of a stack. The two sheets may be arranged to overlap one another entirely. Each of the two sheets may be essentially planar. One or both of the two sheets may have a width of several centimeters, for example 3-7cm, and a height of several centimeters, for example 2.5-10cm. One or both of theP&G IP GmbH - 3 - 30A-165 248

[0010] two sheets may have a rectangular or square outline. The rooted cutting may extend and / or grow in a height direction of the two sheets from a bottom portion of each of the two sheets to a top portion of each of the two sheets. Only one rooted cutting may be sandwiched between the two sheets.

[0011] The two sheets having the rooted cutting sandwiched therebetween may have been used to root the cutting, for example without use of a substrate. The rooted cutting may have developed its roots while being sandwiched between the two sheets. The method may comprise producing the rooted cutting sandwiched between the two sheets from an unrooted cutting sandwiched between the two sheets. The method may comprise inserting an unrooted cutting between the two sheets, and producing the rooted cutting sandwiched between the two sheets from the inserted unrooted cutting.

[0012] The container that is holding the substrate may be part of a container assembly that comprises a plurality of containers. The plurality of containers may be arranged in a (e.g., triangular, rectangular or square) pattern. The plurality of containers may be attached to one another. In one example, the container or the plurality of containers is formed from a water-permeable material. The plurality of containers may be formed from a continuous material.

[0013] The pushing may be performed such that (e.g., only) a bottom portion of each of the two sheets, at which bottom portion roots of the rooted cutting are arranged, is pushed into the substrate (e.g., first). The pushing may be performed such that a top portion of each of the two sheets, at which top portion leaves of the rooted cutting are arranged, is not pushed into the substrate or pushed into the substrate last (e.g., after the bottom portions have been pushed into the substrate).

[0014] For example, the gripping comprises deforming, with the end effector, the two sheets by moving a first section of at least one of the two sheets and a second section of at least one of the two sheets closer to one another, in particular when viewed along a viewing direction that is parallel to a surface normal of one or both of the two sheets. Moving the first section and the second section closer to one another may comprise moving the first section along a first movement direction and / or moving the second section along a second movement direction.

[0015] For example, the gripping comprises deforming, with the end effector, the two sheets by moving a first overlapping portion of the two sheets and a secondP&G IP GmbH - 4 - 30A-165 248

[0016] overlapping portion of the two sheets closer to one another. At each of the overlapping portions, the two sheets overlap one another when viewed along a viewing direction that is parallel to a surface normal of one or both of the sheets. Moving the first overlapping portion and the second overlapping portion closer to one another may comprise moving the first overlapping portion along a first movement direction and / or moving the second overlapping portion along a second movement direction. The first section may be part of the first overlapping portion. The second section may be part of the second overlapping portion.

[0017] The gripping may comprise clamping, with the end effector, the first overlapping portion and the second overlapping portion together (e.g., with a predefined clamping pressure and / or clamping force). The gripping may comprise clamping, with the end effector, two sections of each of the two sheets together (e.g., with a predefined clamping pressure and / or clamping force). The gripping may comprise clamping together (e.g., with a predefined clamping pressure and / or clamping force), with the end effector, the first section of the first sheet, the first section of the second sheet, the second section of the second sheet, and the second section of the first sheet, for example such that these sections form a stack in this particular sequence. Preferably, the clamping is conducted such that a damage of the cutting and of the two sheets is avoided. Such a damage may comprise a sealing of open pores of the sheets, a destruction of plant cells of the cutting or a breaking of the sheets or cutting.

[0018] For example, the first section and the second section are arranged on different sides of the cutting (e.g., when viewed along a viewing direction that is parallel to a surface normal of one or both of the sheets). The first section and the section may be spaced from one another (e.g., only) in a width direction of the two sheets. The two overlapping portions may be arranged on different sides of the cutting (e.g., when viewed along a viewing direction that is parallel to a surface normal of one or both of the sheets). The two overlapping portions may be spaced from one another (e.g., only) in a width direction of the two sheets. The two different sides may be spaced from one another (e.g., only) in a width direction of the two sheets.

[0019] The gripping may comprise deforming, with the end effector, the two sheets by forming a loop between the first section and the second section with the cutting being arranged in said loop. The gripping may comprise deforming, with the end effector, the two sheets by forming a loop between the first overlapping portion and the second overlapping portion with the cutting being arranged in said loop. The loopP&G IP GmbH - 5 - 30A-165 248

[0020] may be a closed loop with its ends preferably formed by clamping regions clamped together by the end effector for gripping the two sheets. The loop may have a central loop axis that extends essentially in parallel with the height direction of the two sheets and / or the main growing direction of the rooted cutting.

[0021] For example, a longitudinal direction of at least one of the two overlapping portions extends essentially in parallel or under a small angle (e.g., an angle below 45°, preferably below 30°) to a main growing direction of the rooted cutting. The longitudinal directions of two overlapping portions may differ from one another and may in particular be non-parallel. The main growing direction of the rooted cutting may correspond to the height direction of the two sheets and / or may extend from the bottom portion of the two sheets toward the top portion of the two sheets.

[0022] The gripping may comprise moving a first gripping finger of the end effector and a second gripping finger of the end effector towards one another. The two gripping fingers may be arranged in parallel before being moved towards one another. The gripping may comprise translationally any / or rotationally moving the first gripper finger (e.g., while also moving the second griping finger or while holding the second gripper finger in a static pose). The gripping may comprise translationally any / or rotationally moving the second gripper finger (e.g., while also moving the first griping finger or while holding the first gripper finger in a static pose).

[0023] For example, the first gripping finger is associated with the first section and / or the first overlapping portion. For example, the second gripping finger is associated with the second section and / or the second overlapping portion. The first gripping finger may be used to contact, press and / or move the first section and / or the first overlapping portion. The second gripping finger may be used to contact, press and / or move the second section and / or the second overlapping portion.

[0024] The gripping may comprise pressing the first gripping finger onto the first section and / or onto the first overlapping portion in a first pressing direction, and pressing the second gripping finger onto the second section and / or onto the second overlapping portion in a second pressing direction, while moving the first gripping finger and the second gripping finger towards one another, in particular by {i} moving the first gripping finger in a (e.g., the) first gripping direction that differs from the first pressing direction and / or the second pressing direction and / or {ii} moving the second gripping finger in a (e.g., the) second gripping direction that differs from the first pressing direction and / or the second pressing direction. The firstP&G IP GmbH - 6 - 30A-165 248

[0025] gripping direction may correspond to the first movement direction. The second gripping direction may correspond to the second movement direction.

[0026] For example, the first gripping direction and / or the first movement direction is orthogonal to the first pressing direction. Alternatively, or in addition, the second gripping direction and / or the second movement direction may be orthogonal to the second pressing direction.

[0027] The gripping may comprise pressing the first gripping finger and the second gripping finger towards a holder of the robotic planting system on which the two sheets with the sandwiched rooted coupling are arranged. The two sheets to be gripped may lie flat on said holder. The method may comprise arranging the two sheets with the sandwiched rooted cutting on the holder, preferably such that they lie flat on said holder.

[0028] For example, the first pressing direction is essentially parallel to the second pressing direction. The first pressing direction and / or the second pressing direction may correspond to the direction of gravitation.

[0029] The positioning may comprise moving a robotic arm of the robotic planting system such that the end effector, which is carried by the robotic arm, is moved from a pickup pose, where the end effector gripped the two sheets during the gripping, to a planting pose above the container. The pick-up pose may be a pose in which the two gripping fingers are pressing onto the holder. The positioning may comprise moving the end effector with the gripped two sheets and the sandwiched rooted cutting away from the holder. The container may have a container opening at a top thereof, through which the two sheets with the sandwiched rooted cutting can be inserted. The pick-up pose may then be located above said container opening. The planting pose may be a pose from which the two sheets with the sandwiched rooted cutting can be inserted into the substrate on a linear movement path which may extend in parallel to the height direction of the two sheets and / or the main growing direction of the rooted cutting and / or a central axis of the loop.

[0030] The at least partially pushing may comprise moving the robotic arm such that the end effector is moved (e.g., along the linear movement path) from the planting position above the container to a drop-off pose in which the sheets gripped by the end effector are at least partially arranged in the substrate. In the drop-off pose, the gripping fingers may also be arranged in the substrate.P&G IP GmbH - 7 - 30A-165 248

[0031] A "pose" as understood herein means at least one of a position and an orientation. The pick-up pose, planting pose and / or drop-off pose may be defined in six degrees of freedom. Different pick-up poses may differ from one another not only in a spatial position of the end effector, but also in an orientation and / or rotation of the end effector. The same may be true for different planting poses and / or different drop-off poses.

[0032] In the pick-up pose, a central portion of the first sheet may be arranged above a central portion of the second sheet. Each central portion may be in contact with (e.g., the stem of) the cutting. The central portions may overlap one another and / or be arranged opposite to one another. In the planting pose and / or in the drop-off pose, the central portion of the first sheet may be arranged above the central portion of the second sheet, at a same height as the central portion of the second sheet or below the central portion of the second sheet. That is, the two sheets may or may not be flipped (e.g., by 180°) before being inserted into the substrate (e.g., at a sharp angle relative to a surface normal of the substrate held by the container).

[0033] The method may comprise releasing the two sheets and the rooted cutting from the end effector. The releasing may comprise moving the first gripping finger and the second gripping finger away from one another, for example by reversing the movement of the gripping fingers that was used for gripping the two sheets and the sandwiched rooted cutting. The releasing may comprise moving the first gripping finger opposite to the first gripping direction and / or moving the second gripping finger opposite to the second gripping direction.

[0034] The at least partially pushing may comprise pushing, with a pushing unit of the end effector, the two sheets at least partially into the substrate while or after the end effector releases the two sheets and the rooted cutting.

[0035] The at least partially pushing may comprise pushing the two sheets into the substrate along a pushing direction that differs from {i} a first gripping direction along which the first section and / or the first overlapping portion was moved during the gripping and / or {ii} a second gripping direction along which the second section and / or the second overlapping portion was moved during the gripping.

[0036] For example, the pushing direction is essentially orthogonal to the first gripping direction and / or the second gripping direction.P&G IP GmbH - 8 - 30A-165 248

[0037] The at least partially pushing may comprise pushing, with the pushing unit, the two sheets into the substrate along the pushing direction. The pushing direction may be parallel to the linear movement path. The at least partially pushing may comprise contacting, with the pushing unit, only or at least the top portion of one or both sheets to push the two sheets along the pushing direction. The at least partially pushing may comprise contacting, with the pushing unit, only the top portion of one or both sheets that is part of the loop.

[0038] For example, the space between the two sheets is free from a substrate. The rooted cutting may be the only component that is arranged between the two sheets. All overlapping portions of the two sheets may be in contact with one another, except for portions between which the rooted cutting is located.

[0039] At least one of the two sheets may be water-permeable, as exemplified above.

[0040] For example, the two sheets form a (e.g., exactly one) pocket comprising an opening at a top portion with the rooted cutting extending through said opening, the pocket further comprising a bottom portion with the roots of the rooted cutting being arranged at the bottom portion, the pocket further comprising two sealing portions, each extending between the bottom portion and the top portion with the two sheets being fixed to one another at least in the two sealing portions. The top portion of the pocket may be formed by the top portions of both sheets. The bottom portion of the pocked may be formed by the bottom portions of both sheets. The pocket may comprise a third sealing portion extending in the width direction of the two sheets between the first sealing portion and the second sealing portion. The first, second and third sealing portion may each be essentially linear. The first, second and third sealing portions may form three sides of a trapezoidal outline of the pocket. The pocket may be bounded by the sealing portions.

[0041] The first overlapping portion may correspond to a first sealing portion of the two sealing portions and the second overlapping portion may correspond to a second sealing portion of the two sealing portions. The first sealing portion and the second sealing portion may correspond to the non-parallel opposing sides of the trapezoidal outline of the pocket.

[0042] The method may comprise moving the end effector (e.g., in reverse along the linear movement path) away from the substrate into which the rooted cutting was inserted.P&G IP GmbH - 9 - 30A-165 248

[0043] The method may be repeated for another pair of sheets with sandwiched rooted cutting, thereby preferably using another container (e.g., of the container assembly).

[0044] According to a second aspect, a robotic planting system for planting a rooted cutting into a substrate is provided. The robotic planting system is configured to perform the method according to the first aspect.

[0045] The robotic planting system may comprise at least one of the following components: the end effector configured to grip the two sheets having the rooted cutting sandwiched between them; a processor configured to control the robotic planting system to perform the method according to the first aspect; a memory storing instructions which, when executed by a / the processor, cause the processor to control the robotic planting system to perform the method according to the first aspect; the first gripping finger and the second gripping finger, the fingers configured move towards one another to grip the two sheets; the holder configured such that the two sheets with the sandwiched rooted coupling can be arranged thereon; the pushing unit configured to push the two sheets at least partially into the substrate; the robotic arm carrying the end effector and configured to move the end effector; the two sheets having the rooted cutting sandwiched between them; the container holding the substrate.

[0046] The first gripping finger and the second gripping finger may each be formed as essentially rigid components that do not deform upon gripping the two sheets with the sandwiched rooted cutting. In another variant, at least one of the gripping fingers may be configured to elastically deform upon gripping the two sheets with the sandwiched rooted cutting. The two gripping fingers may be arranged in parallel before gripping the two sheets, and may also be arranged in parallel when gripping the two sheets. The two gripping fingers may extend away from a connection portion of the end effector.

[0047] The holder may have a substantially flat surface on which the two sheets can be arranged. The holder may be configured to be movable (e.g., relative to a base of the robotic arm). The holder may be part of a conveyor belt. The conveyor belt may be configured to transport the two sheets with the sandwiched rooted cutting from a transportation location towards the end effector such that the end effector can grip the two sheets when in the pick-up pose.P&G IP GmbH - 10 - 30A-165 248

[0048] The pushing unit may comprise a contact portion configured to come into direct contact with one or both sheets for pushing the two sheets. The contact portion may be rounded and / or made from soft material such as rubber in order to prevent damaging the sheets and / or the sandwiched rooted cutting when pushing the same. The pushing unit may comprise an essentially flat portion (e.g., formed by a metal sheet that is optionally covered by a soft material), with the contact portion being arranged at a linear front edge of said flat portion. The pushing unit, in particular the flat portion thereof, may be arranged in parallel to first gripping direction and / or the second gripping direction and / or the first gripping finger and / or the second gripping finger. The pushing unit, in particular the flat portion, may be arranged in parallel to the pushing direction.

[0049] The robotic arm may be configured to move the end effector in three, four, five or six degrees of freedom.

[0050] The features described for the first aspect are similarly applicable to the second aspect and vice versa.

[0051] The first sheet may correspond to at least a part of the "first wall-forming member" and the second sheet may correspond to at least a part of the "second wall-forming member" as disclosed in PCT / EP2022 / 087668, published as WO 2024 / 133891 Al and / or as disclosed in PCT / EP2022 / 087668, published as WO 2024 / 132175 Al. The pocket disclosed herein may correspond to the "pocked" as disclosed in PCT / EP2022 / 087668 and / or as disclosed in PCT / EP2022 / 087668. The entire contents of PCT / EP2022 / 087668 and of PCT / EP2022 / 087668 are incorporated herein by reference.

[0052] Exemplary embodiments will now be described with reference to the figures, wherein similar structural or functional features are given similar reference signs, and wherein:

[0053] Fig. 1 illustrates a schematic diagram of an exemplary robotic planting system in accordance with the present disclosure;

[0054] Fig. 2 illustrates a schematic drawing of an exemplary end effector in accordance with the present disclosure;

[0055] Fig. 3 illustrates a first state of the exemplary end effector;P&G IP GmbH - 11 - 30A-165 248

[0056] Fig. 4 illustrates a second state of the exemplary end effector;

[0057] Fig. 5 illustrates a third state of the exemplary end effector;

[0058] Fig. 6 illustrates the end effector in a pick-up pose;

[0059] Fig. 7 illustrates the end effector in a planting pose;

[0060] Fig. 8 illustrates a rooted cutting inserted by the end effector into a substrate held by a container; and

[0061] Fig. 9 illustrates method steps of a method in accordance with the present disclosure.

[0062] As can be seen in Fig. 1 and Fig. 2, an exemplary robotic planting system 100 comprises an end effector 2 configured to grip two sheets 20, 21 having a rooted cutting 23 sandwiched between them. This means that at least a portion of the rooted cutting is arranged between the two sheets 20, 21, preferably a portion of a stem 22 of the cutting 23 and the roots 26 of the cutting 23. The end effector 2 comprises a first gripping finger 6 and a second gripping finger 8, the fingers 6, 8 configured move towards one another to grip the two sheets 20, 21. The two fingers 6, 8 extend essentially in parallel to one another and are spaced apart. The first gripping finger 6 is configured to move along a first gripping direction 32, whereas the second gripping finger 8 is configured to move along a second gripping direction 34 to grip the two sheets 20, 21. These directions 32, 34 in the illustrated example oppose one another and are perpendicular to the longitudinal axes of the two fingers.

[0063] The system 100 comprises a pushing unit 30 configured to push the two sheets 20, 21 at least partially into a substrate 15 held by a container 14. In the illustrated example, the pushing unit 30 is part of the end effector 2 and comprises a flat metal plate 31 that extends in parallel to the gripping fingers. The metal plate 31 is configured to move toward the distal tips 7, 9 of the two fingers 6, 8 along a pushing direction 40 that is perpendicular to the gripping directions 32, 34 of the two fingers 6, 8. In order to avoid the two sheets 20, 21 and the cutting 23 from being damaged, the distal edge 33 of the metal plate 31 is rounded off or covered with a protective layer.P&G IP GmbH - 12 - 30A-165 248

[0064] The system 100 further comprises a holder 10 configured such that the two sheets 20, 21 with the sandwiched rooted cutting 23 can be arranged thereon. This holder 10 can be part of a conveyor belt 11 that transports different pairs of respective two sheets 20, 21 with sandwiched cuttings 23. The two sheets 20, 21 are placed in such a manner on the conveyor belt 11 that they lie flat, as in particular shown in Fig. 1.

[0065] The system 100 further comprises a robotic arm 4 carrying the end effector 2 and configured to move the end effector 2. The end effector 2 is preferably arranged at a distal end 5 of the robotic arm 4 which is configured to move the end effector 2 in six degrees of freedom, DOF. This allows for positioning the end effector 2 in a pickup pose (step 902) in which it can grip the two sheets 20, 21 with the sandwiched rooted cutting 23 (see also Fig. 6), moving the end effector 2 away from the conveyor belt 11 into a planting pose above the container 14 (see also Fig. 7), and, if desired, also moving the end effector 2 into a drop-off pose such that the fingers 6, 8 are located inside the substrate 15, thereby positioning the gripped two sheets 20, 21 within the substrate. In the end, the two sheets 20, 21 with the interposed rooted cutting 23 are planted in the substrate (see also Fig. 8).

[0066] The system 100 further comprises a first camera 12 configured to acquire an image of the container 14 holding the substrate 15, which allows localizing said container 14 relative to the robotic arm 4 and the end effector 2. In case the container 14 is part of a container assembly 16 (e.g., a matrix of containers 14), it is also possible to determine which of these containers 14 is free from already planted cuttings and should be provided with a rooted cutting 23 next. The location of the container 14 relative to the robotic arm 4 may alternatively be predefined. In this case, it is not required to localize the container 14 via the camera 12, which means the camera 12 may be used only for determining which container 14 is free from a cutting, or the camera 12 may even be omitted entirely.

[0067] The system 100 further comprises a second camera 18 configured to acquire an image of the two sheets 20, 21 with the sandwiched cutting 23 arranged on the conveyor belt 11, which allows localizing the two sheets 20, 21 relative to the robotic arm 4 and the end effector 2. Therefore, the system 100 can automatically detect the location of the two sheets 20, 21 with the interposed rooted cutting 23 on the conveyor belt 11, position the end effector 2 in the corresponding pick-up pose, grip the two sheets 20, 21 from the conveyor belt 11, and move the end effector 2 such that the rooted cutting 23 inside the two sheets 20, 21 is planted into the substrateP&G IP GmbH - 13 - 30A-165 248

[0068] 15 held by the localized container 14. The pick-up pose may be defined in six degrees of freedom, i.e., the end effector 2 may not only have a different spatial position, but also a different rotational pose from one pick-up pose to another.

[0069] The system 100 also comprises a processor 3 as well as a memory 5 storing instructions which, when executed by the processor 3, cause the processor 3 to control the robotic planting system 100 to perform the above and other steps disclosed herein to plant the rooted cutting(s) 23 into the substrate 15.

[0070] In the example of Fig. 3 and Fig. 4, the two sheets 20, 21 are fixed to one another in a plurality of sealing portions 44, 46, 48 that are boundaries of a pocket 49 formed by the two sheets. The two sheets 20, 21 may also be fixed to one another by additional sealing portions such as the sealing portion 50 extending in parallel to a top side of the two sheets 20, 21. At the sealing portions 44, 46, 48, 50, glue 48 may have been selectively disposed and / or solidified to fix the two sheets 20, 21 to one another. The pocket 49 has a bottom end 54 at which the roots 26 of the rooted cutting 23 are located and a top portion 56 with an opening 52 through which an unrooted cutting was previously inserted for producing the rooted cutting 23.

[0071] In particular, for producing the rooted cutting 23, an unrooted cutting can be inserted into the pocket 49. Next, the two sheets 20, 21, together with the unrooted cutting, may be partially submerged in water enriched with minerals. As the two sheets 20, 21 are formed from water-permeable material such as paper, the water will be guided to the inserted cutting 23 which then develops the roots 26. Notably, no substrate is required in this production phase. Accordingly, the pocket 49 formed by the two sheets 20, 21 is free from substrate during the production of the rooted cutting 23 and also when being picked up by the end effector 2. This enables that the two sheets 20, 21 lie flat on the holder 10 when being picked up.

[0072] As shown, with the end effector 2 in the pick-up pose, the two gripping fingers 6, 8 are pressed onto the two sheets 20, 21 along respective pressing directions 36, 38. Thereby, each gripping finger 6, 8 comes into contact with a respective section 37, 39 of the topmost sheet 20 of the two sheets 20, 21 that are arranged on top of one another like a stack, with the rooted cutting 23 arranged between the two sheets 20, 21. It can also be seen that due to the overall trapezoidal outline of the pocket 49, each finger 6, 8 crosses one of the sealing portions 44, 48 that form the non-parallel sides of the pocket.P&G IP GmbH - 14 - 30A-165 248

[0073] When the two fingers 6, 8 are moved towards one another, to thereby grip the two sheets 20, 21 with the rooted cutting 23 sandwiched between them (step 904), the respective sections 37, 39 of the topmost sheet 20, and the parts of the sealing portions 44, 48 pressed onto by the fingers 6, 8, are moved along the gripping directions 32, 34 towards one another. As the sheets 20, 21 are only a few hundred micrometers thick, they deform upon this movement, thereby forming a loop 58 that extends upwards from the holder 10 away from the fingers 6, 8. As the sections 37, 39 that are moved by the fingers 6, 8 are located on opposite sides of the rooted cutting 23, the rooted cutting 23 is arranged between portions of the two layers 20, 21 that are part of the loop 58. The movement of the fingers 6, 8 towards one another stops when they are either a predefined clamping distance spaced apart from one another and / or when they exert a predefined compression force onto the two layers of each sheet 20, 21 clamped between the fingers 6, 8. This clamping ensures that the two layers 20, 21 together with the sandwiched rooted cutting 23 are reliably held by the end effector 2. At least the stem 22 of the rooted cutting 23 is preferably not clamped between the fingers 6, 8 in this state, which prevents damage thereto.

[0074] As shown in Fig. 5, the pushing unit 30 can be used to push the loop 58 formed by the two sheets 20, 21 together with the inserted rooted cutting 23 into the pushing direction 40 towards the distal ends 7, 9 of the fingers 6, 8. This pushing (step 906) can be performed with the end effector 2 in the planting pose and preferably takes place shortly after the two gripping fingers 6, 8 have been moved apart from one another to release the two sheets 20, 21. When pushing the two sheets 20, 21 in this manner, the bottom portion 54 of the pocket with the roots 26 will be inserted into the substate 15 held by the container 14. The pushing can be continued until only a small part of the sheets 20, 21 or only the leaves 24 of the rooted cutting 23 extend above an upper surface 17 of the substrate 15 held by the container 14.

[0075] In addition, or as an alternative to pushing the sheets 20, 21 with the pushing unit 30, it is possible to move the end effector 2 along a preferably linear movement path into a drop-off pose, in which the fingers 6, 8 are then moved apart from one another to release the sheets 20, 21. In this case, the pushing is performed by movement of the entire end effector 2. In either case, the end effector 2 is retracted after having released the two sheets 20, 21, thereby leaving the two sheets 20, 21 and the cutting planted 23 inside the substrate 15.P&G IP GmbH - 15 - 30A-165 248

[0076] Various modifications to the techniques described herein are possible and will be apparent to those skilled in the art. The method according to the first aspect may be combined with feature described herein above with respect to the figures and vice versa. The same applies to the system according to the second aspect.

Claims

P&G IP GmbH - 16 - 30A-165 248Claims1. A method for planting a rooted cutting into a substrate, the method being performed by a robotic planting system and comprising:gripping, with an end effector of the robotic planting system, two sheets having a rooted cutting sandwiched between them;positioning the gripped sheets with the rooted cutting above a container holding a substrate; andat least partially pushing the sheets into the substrate to plant the rooted cutting into the substrate.

2. The method of claim 1, wherein the gripping comprises deforming, with the end effector, the two sheets by moving a first overlapping portion of the two sheets and a second overlapping portion of the two sheets closer to one another.

3. The method of claim 2, wherein the gripping comprises clamping, with the end effector, the first overlapping portion and the second overlapping portion together.

4. The method of claim 2 or 3, wherein the two overlapping portions are arranged on different sides of the cutting.

5. The method of claim 4, wherein the gripping comprises deforming, with the end effector, the two sheets by forming a loop between the first overlapping portion and the second overlapping portion with the cutting being arranged in said loop.

6. The method of any one of claims 2 to 5, wherein a longitudinal direction of at least one of the two overlapping portions extends essentially in parallel or under a small angle to a main growing direction of the rooted cutting.

7. The method of any one of claims 1 to 6, wherein the gripping comprises moving a first gripping finger of the end effector and a second gripping finger of the end effector towards one another.

8. The method of claim 7 and at least claim 2, wherein the first gripping finger is associated with the first overlapping portion and the second gripping finger is associated with the second overlapping portion.P&G IP GmbH - 17 - 30A-165 2489. The method of claim 8, wherein the gripping comprises pressing the first gripping finger onto the first overlapping portion in a first pressing direction and pressing the second gripping finger onto the second overlapping portion in a second pressing direction while moving the first gripping finger and the second gripping finger towards one another by moving the first gripping finger in a first gripping direction that differs from both the first and the second pressing direction and / or by moving the second gripping finger in a second gripping direction that differs from both the first and the second pressing direction.

10. The method of claim 9, wherein the first gripping direction is orthogonal to the first pressing direction and / or the second gripping direction is orthogonal to the second pressing direction.

11. The method of claim 9 or 10, wherein the gripping comprises pressing the first gripping finger and the second gripping finger towards a holder of the robotic planting system on which the two sheets with the sandwiched rooted coupling are arranged.

12. The method of any one of claims 9 to 11, wherein the first pressing direction is essentially parallel to the second pressing direction.

13. The method of any one of claims 1 to 12, wherein the positioning comprises moving a robotic arm of the robotic planting system such that the end effector, which is carried by the robotic arm, is moved from a pick-up pose, where the end effector gripped the two sheets during the gripping, to a planting pose above the container.

14. The method of claim 13, wherein the at least partially pushing comprises moving the robotic arm such that the end effector is moved from the planting pose above the container to a drop-off pose in which the sheets gripped by the end effector are at least partially arranged in the substrate.

15. The method of any one of claims 1 to 14, wherein the at least partially pushing comprises pushing, with a pushing unit of the end effector, the two sheets at least partially into the substrate while or after the end effector releases the two sheets and the rooted cutting.P&G IP GmbH - 18 - 30A-165 24816. The method of any preceding claim as far as depending on at least claim 2, wherein the at least partially pushing comprises pushing the two sheets into the substrate along a pushing direction that differs from a first gripping direction along which the first overlapping portion was moved during the gripping and / or a second gripping direction along which the second overlapping portion was moved during the gripping.

17. The method of claim 16, wherein the pushing direction is essentially orthogonal to the first gripping direction and / or the second gripping direction.

18. The method of claim 15 and 16, wherein the at least partially pushing comprises pushing, with the pushing unit, the two sheets into the substrate along the pushing direction.

19. The method of any one of claims 1 to 18, wherein the space between the two sheets is free from a substrate.

20. The method of any one of claims 1 to 19, wherein at least one of the two sheets is water-permeable.

21. The method of any one of claims 1 to 20, wherein the two sheets form a pocket comprising an opening at a top portion with the rooted cutting extending through said opening, the pocket further comprising a bottom portion with the roots of the rooted cutting being arranged at the bottom portion, the pocket further comprising two sealing portions, each extending between the bottom portion and the top portion with the two sheets being fixed to one another at least in the two sealing portions.

22. The method of claim 21 as far as depending on at least claim 2, wherein the first overlapping portion corresponds to a first sealing portion of the two sealing portions and the second overlapping portion corresponds to a second sealing portion of the two sealing portions.

23. A robotic planting system configured to perform the method according to any one of claims 1 to 22.

24. The robotic planting system of claim 23, further comprising at least one of the following components:P&G IP GmbH - 19 - 30A-165 248the end effector configured to grip the two sheets having the rooted cutting sandwiched between them;a processor configured to control the robotic planting system to perform the method defined in any one of claims 1 to 22;a memory storing instructions which, when executed by a / the processor, cause the processor to control the robotic planting system to perform the method defined in any one of claims 1 to 22;the first gripping finger and the second gripping finger, the fingers configured move towards one another to grip the two sheets;the holder configured such that the two sheets with the sandwiched rooted coupling can be arranged thereon;the pushing unit configured to push the two sheets at least partially into the substrate;the robotic arm carrying the end effector and configured to move the end effector;the two sheets having the rooted cutting sandwiched between them; the container holding the substrate.

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