Method and system for separating plant materials

Abstract

The present disclosure relates to a method for separating plant materials, comprising providing a plurality of plant materials at a conveyor input of a conveyor, wherein the conveyor is air permeable and arranged to transport the plant materials in a conveying direction, detecting, using a detection unit, plant materials present on the conveyor to generate detection data, determining, using a processor, from the detection data position data indicative of the position of a plurality of the plant materials present on the conveyor, determining, using the processor, at least one characteristic of at least one plant material of the plurality of plant materials based on the position data, and directing, using the processor, a nozzle to expel a jet of pressurized gas to be expelled from the first side of the conveyor to move one or more plant materials away from the first conveying surface based on the at least one characteristic of at least one plant material present on the conveyor.

Description

[0001] METHOD AND SYSTEM FOR SEPARATING PLANT MATERIALS

[0002] The present invention relates to a method and system for separating objects, in particular plant materials such as plant cuttings.

[0003] In plant breeding, cuttings from other plants are commonly used for growing new plants. For this purpose, the cuttings have to be inserted in a growth medium. To increase efficiency, it is an object to automate the insertion process. For this purpose, cuttings have to be grabbed by an insertion device. For this to work, it is important that cuttings are individually provided to such an insertion device. However, commercially available cuttings are commonly provided in a clumped manner, as a result of them being for example baled, and / or held in a (vacuum-sealed) bag. This requires the cuttings to be separated before they can be provided to a device for inserting them into a growth medium, which is a labour-intensive process. The increased efficiency of automating insertion of the cuttings into a growth medium is thus partially negated / reduced. It is an object of the present invention to provide for a method and device which at least partially achieves this object.

[0004] This object is at least partially achieved by a method according to appended claim 1, in particular by a method for separating plant materials, comprising the steps of:

[0005] - providing a plurality of plant materials at conveyor, preferably at a conveyor input of the conveyor, wherein the conveyor is air permeable and arranged to transport the cuttings on a first side of the conveyor in a conveying direction from a conveyor input to a conveyor output;

[0006] - detecting, using a detection unit, cuttings present on the conveyor to generate detection data;

[0007] - determining, using a processor, from the detection data position data indicative of the position of a plurality of the plant cuttings present on the conveyor;

[0008] - determining, using the processor, at least one characteristic of at least one cutting of the plurality of cuttings based on the position data;

[0009] - directing, using the processor, a least one nozzle to expel a jet of pressurized gas to be expelled from the first side of the conveyor to move one or more cuttings away from the first conveying surface based on the at least one characteristic of at least one cutting present on the conveyor.

[0010] Thus, cuttings that are overlapping and / or tangled with other cuttings are detected and then removed from the conveyor and / or ejected to cause to move backwards to a more proximal position on the conveyor (i.e. a position more closer to the conveyor input). This is effective in allowing only separate cuttings to exit the conveyor at the conveyor outlet. Therefore, individual cuttings are provided to allow them to be easily and reliably picked up by downstream devices, such as automatic insertion devices.The at least one characteristic of a cutting is indicative of at least the position of the cutting relative to at least one other cutting present on the conveyor.

[0011] The relative position of cuttings may be considered to be reliably indicative for cuttings being sufficiently separate from other cuttings or not. Thus, a certain minimum distance may be determined for cuttings to pass through the conveyor. Cuttings with a lower minimum distance to another cutting, or no distance, are likely to overlap and may thus be removed from the conveyor.

[0012] A degree of overlap between cuttings may be acceptable. In such cases, a mutual distance between cuttings may be zero, while the position of these cuttings is still acceptable. Thus, additionally or alternatively, the at least one characteristic may be indicative of a degree of overlap between a cutting and at least one other cutting. The degree of overlap may be defined based on the fraction of a surface area of a cutting that is overlapping with another cutting.

[0013] Automated image recognition software is preferably used for detecting cuttings and their position. Usually, these types of software generate a virtual box around a cutting. The software may determine the likelihood of one or more individual cuttings present in the virtual box to be properly separated and / or positioned relative to other cuttings so as to allow for individual discharge of the cuttings (for instance, separated and / or positioned relative to each other in a manner which allows for individual picking up of cuttings by means of a pick-and-place unit). For example, determining a relative distance between box edges can be indicative of cuttings being sufficiently separated from other cuttings if that distance exceeds a threshold.

[0014] Furthermore, the software may be configured to determine a measure (criterion) for the likelihood of individual cuttings to be properly picked up at a downstream position by a pick-and-place unit and to select cuttings having an insufficiently large likelihood to be ejected (i.e. expelled) by the at least one nozzle. The determination of the likelihood may be made dependent on the type of cuttings to be picked up.

[0015] A degree of overlap may also be acceptable. In such cases, the fraction of a virtual box around a cutting that is overlapping with one or more other virtual boxes around other cuttings may be indicative of a degree of overlap of a cutting. An alternative detection unit may also be utilized.

[0016] Preferably, the at least one characteristic is at least indicative of a degree of overlap between at least one cutting and at least one other cutting, wherein the processor is arranged to direct a nozzle to expel a jet of pressurized gas away from the first side of the conveyor to move the at least one cutting away from the first conveying surface if the degree of overlap exceeds a predetermined threshold.

[0017] A degree of overlap may be determined using other characteristics, such as relative distance between cuttings. A relative distance between cuttings being below a minimum threshold may be used as an indicator of overlap, thus using ‘degree of overlap’ as an essentially Boolean parameter. Thus, ‘degree of overlap’ should be understood broadly.Preferably, the step of directing a jet of pressurized gas comprises directing a jet of pressurized gas in a direction with a component opposite the conveying direction to move a cutting away from the first conveying surface, as well as in the direction of the conveyor input.

[0018] This results in cuttings being propelled back upstream towards the inlet of the conveyor. Gravity then preferably causes the ejected cuttings to land back on the conveyor upstream of the nozzle. Both the jet of gas (preferably air) and the impact onto the conveyor aids in separating cuttings that were previously not sufficiently separate. This also means that substantially all cuttings that are provided at the input of the conveyor eventually pass the nozzle to then exit the conveyor, which provides for a predictable output of cuttings.

[0019] Preferably, the at least one nozzle is arranged on a second side of the conveyor, and wherein the nozzle is arranged to expel a jet of pressurized gas through the conveyor from the second side to the first side.

[0020] Air, or other gas, is thus blown through the conveyor belt. This may be done in a continuous flow of air but it is also possible to provide varying air flows. This allows for a simple and effective setup. This expulsion of gas may be in a substantially continuous burst, or alternatively for example in a pulsating manner, which may be beneficial in certain applications. Preferably, the conveyor comprises a perforated endless belt. The nozzle is then preferably arranged inside the endless belt, with the belt running in the conveying direction above the nozzle, and back underneath the nozzle.

[0021] Preferably, the step of detecting cuttings present on the conveyor by the detection unit comprises detecting the position of cuttings in a width dimension of the conveyor, wherein the width dimension extends in a direction perpendicular to the conveying direction, wherein the steps of determining the position data additionally comprises determining the position of a cutting in the width dimension.

[0022] This provides information that can be used to provide jets of air at different points across the width of the conveyor, allowing for more targeted ejection of cuttings. As an alternative, a jet of gas may be blown through the entire width of the conveyor, which may be particularly effective for narrow conveyors. However, this also results in possible sufficiently separate cuttings that are next to overlapping cuttings in the width direction of the conveyor being also, unnecessarily, ejected.

[0023] Preferably, the at least one nozzle comprises an array of nozzles comprising a at least one independently controllable nozzles. Preferably, the array of independently controllable nozzles comprises a plurality of independently controllable nozzles extending at least in a width direction of the conveyor, perpendicular to the conveying direction, wherein the processor is arranged to independently control each independently controllable nozzle.Additionally or alternatively, the at least one nozzle may comprise one or more independently controllable nozzles which are movable in a width direction of the conveyor, at least with a component perpendicular to the conveying direction, wherein the processor is arranged to control the position of the one or more independently controllable nozzles.

[0024] This allows for more selective ejection of cuttings, see also the explanation above.

[0025] Preferably, the at least one nozzle comprises at least two arrays of nozzles, wherein the at least two arrays of nozzles are spaced apart by a nonzero distance in the conveying direction.

[0026] Thus, nozzles, preferably independently controllable nozzles, are provided in at least two different locations in the conveying direction. This allows for a second array of nozzles, which is further downstream in the conveying direction than the first array of nozzles, to function as a backup. Any non-separate cuttings that inadvertently pass the first array of nozzles may then still be ejected from the conveyor by the second array. Additionally or alternatively, only a single array of the at least two arrays may be used, thus allowing for ejection of cuttings from the conveyor at different locations in the conveying direction. This, in particular in combination with momentarily speeding up or slowing down the conveyor, may be used to momentarily increase or decrease the output rate of cuttings, which allows for a more consistent actual output rate of cuttings. Gaps between cuttings in the conveying direction may be inadvertently created as a result of ejection of cuttings from the conveyor, and / or intermittent infeed of cuttings at the conveyor inlet.

[0027] Momentarily increasing the speed of the conveyor, and preferably using a more downstream (array of) nozzle(s) allows for this gap to be reduced at the output of the conveyor, in particular at an optional output conveyor which receives cuttings from the conveyor. Vice versa, momentarily slowing down the conveyor and preferably using a more upstream (array of) nozzle(s) may momentarily reduce the output rate to increase the gap between cuttings provided at a point beyond the outlet of the conveyor, in particular on the aforementioned optional output conveyor receiving cuttings from the conveyor.

[0028] Preferably, the position data comprises data indicative of the distance between at least two cuttings in the conveying direction.

[0029] This facilitates the aforementioned control of the output rate of cuttings, in particular increasing or reducing the average spacing between cuttings received at a point downstream of the conveyor outlet, such as on an output conveyor that receives cuttings from the conveyor.

[0030] Preferably, the method additionally comprises a step of adjusting the position of the at least one nozzle, in particular at least one array of at least one independently controllable nozzle in the conveying direction, wherein the processor is arranged to control the position of the at least one nozzle in the conveying direction based on the position data.

[0031] A nozzle, in particular an array of one or more independently controllable nozzles placed furthest downstream in the conveying direction relative to other more upstream nozzles may beused as a general backup nozzle to eject any remaining non-separate (or failing another criterium) cuttings, while the more upstream one(s) are used for the above mentioned functionality.

[0032] This facilitates the aforementioned functionality.

[0033] In an embodiment, the method additionally comprises a step of adjusting a rotational position of the at least one nozzle around an axis at least partially perpendicular to the conveying direction, wherein the processor is arranged to control the rotational position of the at least one nozzle based on the position data.

[0034] Preferably, the method additionally comprises a step of adjusting the pressure of the gas expelled by the at least one nozzle, wherein the processor is arranged to control said pressure. Optionally, the gas pressure of one or more independently controllable nozzles may be adjusted independently.

[0035] This allows for control of the trajectory of cuttings ejected from the conveyor.

[0036] Preferably, the step of detecting cuttings on the conveyor comprises the steps of detecting cuttings both before passing the at least one nozzle and after passing the at least one nozzle, wherein the step of determining position data comprises the steps of determining position data of at least one cutting before passing the at least one nozzle and after passing the at least one nozzle.

[0037] Preferably, the method additionally comprises a step of varying, using the processor, the conveying speed of the conveyor.

[0038] This provides the aforementioned benefits.

[0039] Preferably, the step of varying the conveying speed of the conveyor comprises varying the conveying speed based on a distance between at least two cuttings in the conveying direction, preferably after having passed the at least one nozzle.

[0040] This provides the aforementioned benefits.

[0041] Preferably, the step of providing a plurality of plant cuttings at the conveyor input comprises a step of dosing cuttings provided to the conveyor input using a dosing unit.

[0042] As cuttings are typically provided in a heavily intertwined from, for example as a result of having been stored in a container such as a (vacuum sealed) bag, it is beneficial to process these cuttings by dosing them onto the conveyor, such that a limited and controllable input rate of cuttings is provided to the conveyor.

[0043] Preferably, the dosing unit comprises a cyclically moving tray, wherein the dosing unit is arranged to receive clumped cuttings and at least partially break down said clumped cuttings to dose the cuttings onto the conveyor.

[0044] Thus, the dosing unit shakes or vibrates heavily clumped cuttings to at least partially untangle them before they are placed on the conveyor.

[0045] Preferably, the method additionally comprises a step of providing cuttings, using the conveyor, at the conveyor output to a pull nose conveyor, wherein the method further comprises astep of, using the pull nose conveyor, providing cuttings to predetermined locations on an output conveyor.

[0046] A pull nose conveyor is a conveyor of variable length, wherein the output end is arranged to extend and retract. This allows a pull nose conveyor to place objects at specific points on a subsequent conveyor or other device. Thus, a pull nose conveyor functions as a short term buffer to smoothen a variable or otherwise inconsistent or intermittent input rate of objects to a more constant output rate of objects, corresponding to a more constant input rate of objects on another conveyor which receives objects from the pull nose conveyor. This also provides the aforementioned benefits resulting from a more constant output rate of cuttings.

[0047] Preferably, the processor is arranged to control the pull nose conveyor on the basis of a distance between at least two cuttings in the conveying direction.

[0048] This facilitates a more constant output rate of cuttings, in particular a more constant input rate of cuttings on a conveyor that receives cuttings from the pull nose conveyor.

[0049] In an embodiment, the method additionally comprises comprising a step of catching, using a catch tray, cuttings moved away from the conveyor by the jet of pressurized gas.

[0050] In this embodiment, overlapping and / or tangled cuttings are removed from the conveyor altogether, and thus not propelled back upstream for another pass over the nozzles. This may be beneficial when cuttings are used that, when intertwined, are not reliably separated by the jet of air provided by the at least one nozzle and / or the subsequent impact back onto the conveyor.

[0051] Preferably, the method additionally comprises comprising a step of intercepting cuttings moved away from the conveyor by a jet of pressurized gas by means of a member arranged between the conveyor input and the at least one nozzle. Said member may comprise for example a plate and / or a mesh.

[0052] The ejected cuttings thus impact this member, and may subsequently impact the conveyor. This additional impact may further aid in separating cuttings.

[0053] Preferably, the member is arranged with a leading edge in the approximate trajectory of cuttings moved away from the conveyor by a jet of pressurized gas, such that a stream of cuttings moved away from the conveyor is split in two parts.

[0054] This may additionally aid in separating cuttings. This also results in ejected cuttings not falling back onto the conveyor at the (approximate) same point. The ejected cuttings all falling back onto the conveyor at the same point may cause additional, new, entanglement of cuttings. Thus, the leading edge may alleviate this.

[0055] Another aspect relates to a system arranged for performing a method as described above, in particular to a system for separating plant cuttings, comprising:- an air permeable conveyor extending between a conveyor input and a conveyor output, and arranged to transport cuttings on a first surface of the conveyor in a conveying direction from the conveyor input to the conveyor output;

[0056] - detection unit arranged to detect cuttings present on the conveyor and generate detection data indicative of the presence of at least one cutting present on the conveyor;

[0057] - a processor arranged to receive detection data from the detection unit, and to generate, using the detection data, position data indicative of the position of the at least one cutting present on the conveyor;

[0058] - a nozzle arranged to direct a jet of pressurized gas from the first surface away from the first surface of the conveyor such that a cutting present on the first surface is moved away from the first surface by the jet of pressurized gas;

[0059] wherein the processor is arranged to determine, based on the position data, at least one characteristic of at least one cutting, and wherein the processor is arranged to control the at least one nozzle to expel a jet of pressurized gas based on the at least one characteristic.

[0060] Preferably, the conveyor extends across a width in a direction perpendicular to the conveying direction, wherein the processor is arranged to determine data indicative of the location of a cutting in the width direction of the conveyor as part of the position data.

[0061] Preferably, the at least one nozzle is arranged to direct pressurized gas away from the first surface at a plurality of different locations over the width of the conveyor, wherein the processor is further arranged to control the location of where pressurized gas is directed through the conveyor based on the data indicative of the location of a cutting in the width direction of the conveyor as part of the position data.

[0062] Preferably, the at least one nozzle comprises an array of a plurality of independently controllable nozzles, wherein the processor is arranged to independently control the independently controllable nozzles based on the position data.

[0063] Preferably, the processor is arranged to control the conveying speed of the conveyor. Preferably, the detection unit is arranged to detect cuttings both before and after passing the nozzle, and wherein the processor is arranged to determine data indicative a distance between at least two cuttings in the conveying direction both before and after passing the nozzle as part of the position data.

[0064] Preferably, the processor is arranged to control the conveying speed of the conveyor based on the data indicative of a spacing between cuttings along the conveying direction.

[0065] Preferably, the at least one nozzle is movably arranged in the system, wherein the at least one nozzle is movable along the conveying direction, wherein the processor is arranged to move the at least one nozzle along the conveying direction based on at least the position data.Preferably, the at least one nozzle is arranged to be rotatable around an axis with a component perpendicular to the conveying direction, wherein the processor is arranged to adjust the rotational position of the at least one nozzle based on at least the position data.

[0066] Preferably, the system comprises at least two nozzles spaced apart in the conveying direction.

[0067] Preferably, the system comprises at least two arrays of a plurality of independently controllable nozzles spaced apart in the conveying direction.

[0068] Preferably, the detection unit comprises an imaging means arranged to generate image data, wherein the detection data comprises imaging data generated by the imaging means.

[0069] Preferably, the system additionally comprises a catch tray arranged to catch cuttings moved away from the first surface.

[0070] Preferably, the system additionally comprises a plate and / or a mesh arranged between the at least one nozzle and the conveyor inlet, wherein the plate / mesh is arranged to intercept cuttings moved away from the first surface.

[0071] Preferably, the plate and / or mesh is arranged to intercept a stream of cuttings moved away from the first surface to approximately split said stream in two streams of cuttings, wherein the plate and / or mesh is preferably arranged to direct both streams approximately towards the conveyor inlet.

[0072] Preferably, the system additionally comprises a pull nose conveyor arranged to receive cuttings from the conveyor output of the conveyor.

[0073] Preferably, the processor is arranged to control the pull nose conveyor based on the position data.

[0074] Preferably, the system additionally comprises a dosing unit arranged to receive clumped and to at least partially break down the clumped cuttings to provide at least partially separated cuttings to the conveyor inlet.

[0075] Preferably, the dosing unit comprises a cyclically moving tray arranged to shake the cuttings to at least partially separate the cuttings to be provided to the conveyor inlet.

[0076] It will be appreciated that the method and system described herein may also be used to process objects other than plant materials such as cuttings to separate said objects, thereby providing similar benefits. For example, seeds or other plant materials may be used, or non-plant materials.

[0077] The present invention is further illustrated by the following figures, which show a preferred embodiment of the device according to the invention, and are not intended to limit the scope of the invention in any way, wherein:

[0078] figure 1 shows a first embodiment of a system for separating plant materials;

[0079] figure 2 shows a second embodiment of a system for separating plant materials;figure 3 shows a third embodiment of a system for separating plant materials;

[0080] figure 4 shows a fourth embodiment of a system for separating plant materials; figure 5 shows a fifth embodiment of a system for separating plant materials

[0081] Example embodiments will now be described more fully hereinafter with reference to the accompanying drawings. That which is encompassed by the claims may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example. Furthermore, like numbers refer to the same or similar elements or components throughout.

[0082] It is noted that, as used herein and in the appended claims, the singular forms “a”, “an”, and “the” include plural referents unless the context clearly dictates otherwise. It is further noted that the claims may be drafted to exclude any optional element. As such, this statement is intended to serve as antecedent basis for use of such exclusive terminology as “solely,” “only” and the like in connection with the recitation of claim elements, or use of a “negative” limitation.

[0083] Figure 1 shows an schematic side view of a first embodiment of a system 1A for separating plant materials C (in the following description reference may be made to plant cuttings or simply “cuttings”, although it is clear that other kind of plant materials could also be used) arriving from a supply unit 20. The supply unit could be a conveyor, for instance an endless belt conveyor or any other conveyor suitable for transporting the plant materials towards the system 1A. The system 1A comprises an air permeable (main) conveyor 4, preferably comprising a perforated (endless) belt rotatably driven by a drive unit. The perforated endless belt may be made of gauze or gauze like material or be made of a sheet wherein perforations have been made. The perforations of the perforated belt are such that gas (in most cases air) may pass. Plant materials C are supplied to the conveyor 4 at a conveyor input 4a and transported towards a conveyor output 4b in a conveying direction De. During transport the materials C are supported on a first, upward facing, conveying surface S 1.

[0084] In the present disclosure the cuttings are denoted by the reference character C while a number 1, 2, 3 or 4 denotes the position wherein the cutting is currently located, i.e. Cl for cuttings on a supply unit 20 (for instance, an endless conveyor belt) upstream of the system, C2 for cuttings on a dosing unit 7 of the system (if present), C3 for cuttings on the conveyor 2 in the field of view F of the imaging means 2, C4 for cuttings on the conveyor 2 downstream of cuttings C3 and C5 for cuttings that have arrived in the catch tray 6 (cf. figure 2) to be described later.

[0085] The system 1A further comprises a detection unit 30 configured to detect plant materials such as cuttings C resting on the conveying surface S 1 of the conveyor 4, and to generate detection data representative of the detection. In embodiments of the present disclosure, the detection unit 30 comprises an imaging unit (imaging means) 31. In the embodiments shown in the figuresimaging unit 31 comprises a camera 2, mounted above the conveyor 4, to image cuttings C present on the first conveying surface S 1 , within a field of view F. The detection unit 30 shown in the figures may comprise one or more separate imaging units 31 such as cameras 2, 22, which may be located in different positions. In addition, the field of view F may be wider than shown, and cover additional components of the system 1A.

[0086] In embodiments of the present disclosure the detection unit 30 is configured to generate detection data based on which a processor 3 (to be described later) is able to determine position data representative of the respective positions of the plant materials on the conveyor surface S 1. Plant materials are potentially in a state wherein two or more of the plant materials (i.e. pieces of plant material, for instance, different cuttings) are mutually entangled and therefore travel together (as a group) in the conveying direction De. The processor 7 is further configured to determine, based on the detection data or on the position data determined from the detection data, one or more characteristics of the plant materials. Based on the determined characteristics the processor may decide whether or not to separate plant materials.

[0087] A nozzle 5, in this embodiment an array comprising a plurality of independently controllable nozzles extending in the width direction of the conveyor 4, is arranged below the first conveying surface SI, in this embodiment inside the endless belt 4. The nozzle 5 produces a jet of air which is expelled upwards through the (perforations of the) conveying surface S 1 , such that cuttings passing over the nozzle 5 may be propelled upwards and moved away from the conveying surface. The nozzle 5 faces the second conveying surface S2, which is the side of the perforated belt 4 opposite the upwards facing first conveying surface S 1.

[0088] The earlier-mentioned processor 3, in the figure shown to be integrated into the detection unit 30, but not necessarily so, receives detection data, in the form of image data, from the detection unit 30, and determines from the detection data the position of preferably each cutting C3 present in the field of view F of the detection unit 30, thereby generating position data. This position data comprises at least relative positions of cuttings C3, such that overlapping cuttings may be detected as a characteristic. When overlapping cuttings are detected, the processor activates one or more of the independently controllable nozzles, preferably the one closest to the overlapping cuttings in the width direction of the conveyor, to produce a jet of pressurized gas once or just before and / or right after the overlapping cuttings pass over the nozzle 5 and direct the same towards the approaching overlapping cuttings. The timing of the jet of pressurized gas relative to the position of target cuttings may be adjusted. The processor is configured to activate one or more nozzles in such a manner that overlapping cuttings are propelled away from the first conveying surface in a trajectory T. The nozzle 5 is angled to produce a jet of pressurized gas in a backward slanted manner, i.e. in a direction both upwards as well as towards the conveyor input 4a, such that (overlapping) cuttings are propelled backwards in the direction of the conveyor inlet4a, i.e. upstream. The angle (a) between the direction of a nozzle and the horizontal direction may be in the range of 20-70 degrees, preferably between 45 and 70 degrees.

[0089] The processor is 3 configured to activate / deactivate the one or more nozzles such that nonoverlapping cuttings C4, or at least cuttings C4 with a at least a minimal relative distance and / or a maximum fraction of overlap with at least one other cutting, are permitted to pass the nozzles 5 by the processor 3 (i.e. by refraining from activating the associated nozzles), while other cuttings are caused to be propelled away for singling the plant cuttings.

[0090] An optional dosing unit 7 is provided at the conveyor inlet 4a. The dosing unit 7 is configured to receive cuttings Cl from the supply unit 20 which cuttings Cl may be significantly clumped together, for example as a result of the cuttings previously being held in a bag or other container. The dosing unit 7 may be configured to at least partially declump or disentangle the cuttings arriving from the supply unit 20. The dosing unit 7 may comprise a cyclically movable and / or vibrating tray which essentially shakes the cuttings Cl to at least partly separate the cuttings to a partly separated state (herein also referred to as a singled out state) resulting in cuttings C2, such that the system for separating cuttings 1, in particular the nozzle 5, may be more effective in further separating the cuttings. Cuttings arriving from the dosing unit 7 and not being in a fully singled out state need to be processed by the system to further separate them in individual cuttings in order to be able to provide the cuttings to the output conveyor 10.

[0091] Figure 2 shows a second embodiment of a system IB for separating cuttings C. Compared to the first embodiment of figure 1, a catch tray 6 is positioned at a position above the conveyor 2. The catch tray 6 is configured to catch the cuttings C5 that have been propelled away from the first conveying surface SI with trajectory T2. Cuttings caught in the catch tray 6 may be collected and removed from time to time or may be discharged via a separate discharge conveyor (not shown).

[0092] Figure 3 shows a third embodiment of a system 1C for separating cuttings C. The system of figure 3 largely corresponds to the system 1A of figure 1. System 1C comprises two arrays of nozzles 5a, 5b. The arrays 5a, 5b are offset in the conveying direction De. The arrays 5a, 5b are independently controllable. This allows the second array 5b to function as a backup or failsafe for the first array 5 a, providing a second opportunity for propelling overlapping cuttings away from the conveying surface SI if they have passed the first array 5a. Additionally or alternatively, the (the individual one or more nozzles of each of) arrays 5a, 5b may be controlled independently to provide a more consistent output flow rate (for instance, a more continuous flow in the sense of a more even distribution of singled cuttings over the conveyor surface) of cuttings at the conveyor output 4b. A further conveyor 8, for instance a pull nose conveyor, may be arranged downstream of the conveyor 4 to receive separated cuttings C4 for further processing. The pull nose conveyor 8 has a extendable and retractable tip 9 that may be moved back and forth in direction Dp to place cuttings at specific locations on an output conveyor 10, and may be controlled to provide a moreconsistent flow of cuttings on the output conveyor 10 to allow for more efficient downstream discharge process. The detection unit 30 may further be configured to detect cuttings after they have passed the arrays of nozzles 5a, 5b. This may for instance be accomplished by detection unit 30 with an extend field of view (FOV) and / or by making use of a second detection unit 35, for instance a detection unit comprising a camera (figure 5 showing a further embodiment of a system IE), placed downstream of the first camera 2. Based on this information, the processor 3 connected to both the first detection unit 30 and the second detection unit 35 can control the pull nose conveyor 8 to deliver a more constant flow (for instance a more constant number of singled cuttings per unit of time received by the discharge conveyor) of cuttings to the discharge conveyor 10, herein also referred to as the output conveyor. It should be noted that the pull nose conveyor 8 can also be used in combination with any of the other embodiments of the system 1A-1E.

[0093] While in figure 5 the situation is shown wherein two cameras 2’, 22’ have been arranged in series behind each other, the cameras could also be arranged in position slightly offset in a lateral direction. Furthermore, while in figure 5 the two fields of view of the cameras 2’, 22’ partially overlap, in other figures this is not the case. The field of view of the second camera 22’ is shown to cover the (main) conveyor 4 at a region more distance from the position of the supply unit than the field of view of the first camera. In this embodiment the field of view of the second camera may cover only a part of the (main) conveyor 4 or, in other embodiments, cover both an end part of the (main) conveyor 4 and (a part of) the discharge conveyor 10 (not shown in figure 5). In the latter embodiments the processor 3 may take information from at least the second camara 22’ to operate both the (main) conveyor 4 and the discharge conveyor 10, for instance the achieve an optimal (even) distribution of the plant materials over the upper surface of the discharge conveyor 10.

[0094] The embodiments of the system 1A-1E, especially system 1c of figure 3, may further comprise a plate 11 (which may be a solid plate, a perforated plate, a mesh and / or a plate-shaped element) arranged in the paths T3, T4 of cuttings propelled away from the conveyor 4 by the nozzles 5a, 5b. Preferably, the plate 11 is arranged in a forward slanted manner so as to cause the cuttings impacting the plate to move downward such that the cuttings propelled away by the nozzles 5a (or even 5b) are caused to be directed back to the conveyor 4. The cuttings ending on top of the conveyor are then ready to be singled out again by the system.

[0095] The cuttings impacting the plate 11 aid in separating the cuttings. In addition, the plate 11 may be arranged such that a leading edge 1 la is in the path T3, T4 of cuttings ejected from the conveyor 4, guiding a part of the stream of cuttings under the plate 11 and another part over the plate 11, further aiding in separating of cuttings. A trailing edge, also referred to as bottom edge 1 lb, of the plate may be arranged near the conveyor inlet 4a to form part of the dosing unit 7 to dose bales of cuttings Cl onto the conveyor in a partly separated state. It should be noted that the functions of edges 1 la, b can also be fulfilled by two separate parts, the edges 1 la, b thus not beingpart of the same plate. It should be noted that the plate 11, as well as the edges 1 la, b can also be used in combination with any of the other embodiments of the system (with and without a separate dosing unit).

[0096] Figure 4 shows a fourth embodiment of a system ID for separating plant cuttings C. The nozzle 5 comprises two arrays of nozzles 5a, 5b which are movable along the conveying direction De in direction Dn. More specifically, one or more motor drives (not shown) may be provided to allow the processor to move the nozzles 5a and / or nozzles 5b back and forth, preferably synchronously with the movement of the (upper part) of the perforated conveyor belt of the conveyor 4.

[0097] The conveyor 4 may be configured to have a controllable variable conveying speed. Together with the moving arrays of nozzles 5a, 5b, the conveyor 4 can thus be used to deliver a more consistent flow rate of cuttings to the conveyor output 4b, and thus the output conveyor 10, thereby at least approximating the functionality of the pull nose conveyor 8 of the third embodiment. The detection unit 30, 35 is further also able to detect the position of cuttings after having passed the arrays of nozzles 5a, b, allowing the processor 3 to control the conveying speed of the conveyor 4 and the position of the arrays of nozzles 5a, b based on that information.

[0098] As mentioned above, the method and system may involve adjusting the pressure of the gas expelled by the at least one nozzle. This can be done to make the method and system even more suitable for the handling of a great variety of different kinds of plant materials, sizes and / or properties of the plant materials, condition of the plant materials (for instance, relatively wet or relatively dry), actual amount of plant materials arriving at the conveyor inlet, etc, and / or to increase the reliability of the separation operation.

[0099] The earlier-mentioned processor may be configured to control the level of the pressure of the pressurized gas expelled by the system (i.e. controlling the one or more nozzles and / or the source of the pressurized gas, like air).

[0100] In a further embodiment the processor is configured to a determine the gas pressures that would be suitable for expelling different pieces of plant materials present on the conveyor, depending on their individual sizes and / or on the total number of plant materials being present locally on the conveyor, and to control the nozzles accordingly using the suitable gas presures. This determination by the processor is based on sensor information, for instance based on visual information received from a camera, such as a camera forming part of the detection unit.

[0101] To give an example. Based on the size of the cuttings, the required pressure(s) for each of the nozzles individually or for a set of nozzles collectively may be calculated: smaller cuttings require a lower air pressure, while larger and heavier cuttings need a higher pressure. Alternatively or additionally, not only the size of individual cuttings may be taken into account, but also the total amount of cuttings that need to be blown back. When there is temporarily a largeaccumulation of cuttings on the conveyor, more pressure is generally required than when there are only a few overlapping (i.e. intertwingled or mutually entangled) cuttings. The processor may be configured to automatically adjust the gas pressure based on this situation.

[0102] It is to be understood that this invention is not limited to particular aspects described, and, as such, may vary. It is also to be understood that the terminology used herein is for the purpose of describing particular aspects only, and is not intended to be limiting, since the scope of the present invention will be limited only by the appended claims.

[0103] Embodiments:

[0104] 1. Method for separating plant cuttings, comprising the steps of:

[0105] providing a plurality of plant cuttings at conveyor, preferably at a conveyor input of the conveyor, wherein the conveyor is air permeable and arranged to transport the cuttings on a first side of the conveyor in a conveying direction from a conveyor input to a conveyor output;

[0106] detecting, using a detection unit, cuttings present on the conveyor to generate detection data;

[0107] determining, using a processor, from the detection data position data indicative of the position of a plurality of the plant cuttings present on the conveyor;

[0108] determining, using the processor, at least one characteristic of at least one cutting of the plurality of cuttings based on the position data;

[0109] directing, using the processor, at least one nozzle to expel a jet of pressurized gas to be expelled from the first side of the conveyor to move one or more cuttings away from the first conveying surface based on the at least one characteristic of at least one cutting present on the main conveyor.

[0110] 2. Method according to the preceding embodiment, wherein the at least one characteristic of a cutting is indicative of at least the position of the cutting relative to at least one other cutting present on the main conveyor.

[0111] 3. Method according to any of the preceding embodiments, wherein the at least one characteristic is at least indicative of a degree of overlap between at least one cutting and at least one other cutting, wherein the processor is arranged to direct a nozzle to expel a jet of pressurized gas away from the first side of the conveyor to move the at least one cutting away from the first conveying surface if the degree of overlap exceeds a predetermined threshold.

[0112] 4. Method according to any of the preceding embodiments, wherein the step of directing a jet of pressurized gas comprises directing a jet of pressurized gas in a direction with a component opposite the conveying direction to move a cutting away from the first conveying surface, as well as in the direction of the conveyor input.

[0113] 5. Method according to any of the preceding embodiments, wherein the at least one nozzle, optionally an array comprising a plurality of nozzles, is arranged on a second side of the conveyor,and wherein the at least one nozzle is arranged to expel a jet of pressurized gas through the main conveyor from the second side to the first side.

[0114] 6. Method according to any of the preceding embodiments, wherein the step of detecting cuttings present on the main conveyor by the detection unit comprises detecting the position of cuttings in a width dimension of the main conveyor, wherein the width dimension extends in a direction perpendicular to the conveying direction, wherein the steps of determining the position data additionally comprises determining the position of a cutting in the width dimension.

[0115] 7. Method according to any of the preceding embodiments, wherein the at least one nozzle comprises an array of nozzles comprising a plurality of independently controllable nozzles extending at least in a width direction of the conveyor, perpendicular to the conveying direction, wherein the processor is arranged to independently control each independently controllable nozzle.

[0116] 8. Method according to the preceding embodiment, wherein the at least one nozzle comprises at least two arrays of nozzles, wherein the at least two arrays of nozzles are spaced apart by a nonzero distance in the conveying direction.

[0117] 9. Method according to any of the preceding embodiments, wherein the position data comprises data indicative of the distance between at least two cuttings in the conveying direction.

[0118] 10. Method according to the preceding embodiment, additionally comprising a step of adjusting the position of the at least one nozzle in the conveying direction, optionally also in a transversal direction perpendicular to the conveying direction, wherein the processor is arranged to control the position of the at least one nozzle in the conveying direction based on the position data.

[0119] 11. Method according to any of the preceding embodiments, additionally comprising a step of adjusting a rotational position of the at least one nozzle around an axis at least partially perpendicular to the conveying direction, wherein the processor is arranged to control the rotational position of the at least one nozzle based on the position data.

[0120] 12. Method according to any of the preceding embodiments, wherein the step of detecting cuttings on the main conveyor comprises the steps of detecting cuttings both before passing the at least one nozzle and after passing the at least one nozzle, wherein the step of determining position data comprises the steps of determining position data of at least one cutting before passing the at least one nozzle and after passing the at least one nozzle.

[0121] 13. Method according to any of the preceding embodiments, further comprising a step of varying, using the processor, the conveying speed of the main conveyor.

[0122] 14. Method according to at least embodiment 12 and 13, wherein the step of varying the conveying speed of the main conveyor comprises varying the conveying speed based on a distance between at least two cuttings in the conveying direction, preferably after having passed the at least one nozzle.15. Method according to any of the preceding embodiments, wherein the step of providing a plurality of plant cuttings at the conveyor input comprises a step of dosing cuttings provided to the conveyor input using a dosing unit.

[0123] 16. Method according to the preceding embodiment, wherein the dosing unit comprises a cyclically moving tray, wherein the dosing unit is arranged to receive clumped cuttings and at least partially break down said clumped cuttings to dose the cuttings onto the main conveyor.

[0124] 17. Method according to any of the preceding embodiments, further comprising a step of providing cuttings, using the main conveyor, at the conveyor output to a pull nose conveyor, wherein the method further comprises a step of, using the pull nose conveyor, providing cuttings to predetermined locations on an output conveyor.

[0125] 18. Method according to the preceding embodiment and at least embodiment 12, wherein the processor is arranged to control the pull nose conveyor on the basis of a distance between at least two cuttings in the conveying direction.

[0126] 19. Method according to any of the preceding embodiments, further comprising a step of catching, using a catch tray, cuttings moved away from the conveyor by the jet of pressurized gas.

[0127] 20. Method according to any of the preceding embodiments 1 - 17, further comprising a step of intercepting cuttings moved away from the conveyor by a jet of pressurized gas by means of a plate arranged between the conveyor input and the at least one nozzle.

[0128] 21. Method according to the preceding embodiment, wherein the plate is arranged with a leading edge in the approximate trajectory of cuttings moved away from the conveyor by a jet of pressurized gas, such that a stream of cuttings moved away from the conveyor is split in two parts.

[0129] 22. System arranged for performing a method according to any of the method embodiments.

[0130] 23. System for separating plant cuttings, comprising:

[0131] an air permeable main conveyor extending between a conveyor input and a conveyor output, and arranged to transport cuttings on a first surface of the main conveyor in a conveying direction from the conveyor input to the conveyor output;

[0132] detection unit arranged to detect cuttings present on the conveyor and generate detection data indicative of the presence of at least one cutting present on the main conveyor;

[0133] a processor arranged to receive detection data from the detection unit, and to generate, using the detection data, position data indicative of the position of the at least one cutting present on the main conveyor;

[0134] a nozzle arranged to direct a jet of pressurized gas from the first surface away from the first surface of the main conveyor such that a cutting present on the first surface is moved away from the first surface by the jet of pressurized gas;wherein the processor is arranged to determine, based on the position data, at least one characteristic of at least one cutting, and wherein the processor is arranged to control the at least one nozzle to expel a jet of pressurized gas based on the at least one characteristic.

[0135] 24. System according to the preceding embodiment , wherein the conveyor extends across a width in a direction perpendicular to the conveying direction, wherein the processor is arranged to determine data indicative of the location of a cutting in the width direction of the conveyor as part of the position data.

[0136] 25. System according to the preceding embodiment, wherein the at least one nozzle is arranged to direct pressurized gas away from the first surface at a plurality of different locations over the width of the conveyor, wherein the processor is further arranged to control the location of where pressurized gas is directed through the conveyor based on the data indicative of the location of a cutting in the width direction of the conveyor as part of the position data.

[0137] 26. System according to the preceding embodiment, wherein the at least one nozzle comprises an array of a plurality of independently controllable nozzles, wherein the processor is arranged to independently control the independently controllable nozzles based on the position data.

[0138] 27. System according to any of the preceding system embodiments, wherein the processor is arranged to control the conveying speed of the conveyor.

[0139] 28. System according to any of the preceding system embodiments, wherein the detection unit is arranged to detect cuttings both before and after passing the at least one nozzle, and wherein the processor is arranged to determine data indicative a distance between at least two cuttings in the conveying direction both before and after passing the at least one nozzle as part of the position data.

[0140] 29. System according to the preceding embodiment, wherein the processor is arranged to control the conveying speed of the conveyor based on the data indicative of a spacing between cuttings along the conveying direction.

[0141] 30. System according to any of the preceding system embodiments, wherein the at least one nozzle is movably arranged in the system, wherein the at least one nozzle is movable along the conveying direction, wherein the processor is arranged to move the at least one nozzle along the conveying direction based on at least the position data.

[0142] 31. System according to any of the preceding system embodiments, wherein the at least one nozzle is arranged to be rotatable around an axis with a component perpendicular to the conveying direction, wherein the processor is arranged to adjust the rotational position of the at least one nozzle based on at least the position data.

[0143] 32. System according to any of the preceding system embodiments, wherein the system comprises at least two nozzles spaced apart in the conveying direction.33. System according to at least the preceding embodiment and embodiment 26, wherein the system comprises at least two arrays of a plurality of independently controllable nozzles spaced apart in the conveying direction.

[0144] 34. System according to any of the preceding system embodiments, wherein the detection unit comprises an imaging means arranged to generate image data, wherein the detection data comprises imaging data generated by the imaging means.

[0145] 35. System according to any of the preceding system embodiments, further comprising a catch tray arranged to catch cuttings moved away from the first surface.

[0146] 36. System according to any of the preceding system embodiments 23 - 35, further comprising a plate arranged between the at least one nozzle and the conveyor inlet, wherein the plate is arranged to intercept cuttings moved away from the first surface.

[0147] 37. System according to the preceding embodiment, wherein the plate is arranged to intercept a stream of cuttings moved away from the first surface to approximately split said stream in two streams of cuttings, wherein the plate is preferably arranged to direct both streams approximately towards the conveyor inlet.

[0148] 38. System according to any of the preceding system embodiments, further comprising a pull nose conveyor arranged to receive cuttings from the conveyor output of the main conveyor.

[0149] 39. System according to the preceding embodiment and at least embodiment 28, wherein the processor is arranged to control the pull nose conveyor based on the position data.

[0150] 40. System according to any of the preceding system embodiments, further comprising a dosing unit arranged to receive clumped and to at least partially break down the clumped cuttings to provide at least partially separated cuttings to the conveyor inlet.

[0151] 41. System according to the preceding embodiment, wherein the dosing unit comprises a cyclically moving tray arranged to shake the cuttings to at least partially separate the cuttings to be provided to the conveyor inlet.

[0152] 42. System according to any of the preceding system embodiments, arranged for executing a method according to any of the preceding method embodiments.

[0153] According to further aspects the method and system are configured for separating objects, especially for separating mutually entangled objects, arranging the separated objects in a disentangled state on the conveyor and conveying the separated objects in the disentangled state to a conveyor outlet. The disentangled state here is meant to mean that the individual plant materials (i.e. the individual pieces of plant materials) that originally were provided on the conveyor in a mutually entangled state have been at least partially been detached from each other (by taking them apart).

[0154] The objects may be plant materials of any kind, such as (not limitative):

[0155] - (plant) cuttings, more specifically rooted or unrooted cuttings;- plant materials grown from roots and cut with root sprout;

[0156] - plant materials without stem or stalk, essentially only containing leaf material (for instance, succulent plant material); and / or

[0157] - tissue cultured plant materials (for instance grown ‘in vitro’, for instance in Agar-agar). The structures and methods of the embodiments described herein may not only be usable to separate plant cuttings, but also any (combination) of the above-mentioned other kinds of plant materials.

Claims

CLAIMS1. Method for separating plant materials, comprising the steps of:providing a plurality of plant materials at a conveyor, wherein the conveyor is air permeable and arranged to transport the plant materials on a first side of the conveyor in a conveying direction from a conveyor input to a conveyor output;detecting, using a detection unit, plant materials present on the conveyor to generate detection data;determining, using a processor, from the detection data position data indicative of the position of a plurality of the plant materials present on the conveyor;determining, using the processor, at least one characteristic of at least one plant material of the plurality of plant materials based on the position data;directing, using the processor, at least one nozzle to expel a jet of pressurized gas to be expelled from the first side of the conveyor to move one or more plant materials away from the first conveying surface based on the at least one characteristic of at least one plant material present on the conveyor, wherein the at least one characteristic of a plant material is indicative of at least the position of the plant material relative to at least one other plant material present on the conveyor.

2. Method according to any of the preceding claims, wherein the at least one characteristic is at least indicative of a degree of overlap between at least one plant material and at least one other plant material, wherein the processor is arranged to direct a nozzle to expel a jet of pressurized gas away from the first side of the conveyor to move the at least one plant material away from the first conveying surface if the degree of overlap exceeds a predetermined threshold.

3. Method according to any of the preceding claims, wherein the step of directing a jet of pressurized gas comprises directing a jet of pressurized gas in a direction with a component opposite the conveying direction to move a plant material away from the first conveying surface, as well as in the direction of the conveyor input.

4. Method according to any of the preceding claims, wherein the at least one nozzle, optionally an array comprising a plurality of nozzles, is arranged on a second side of the conveyor, and wherein the at least one nozzle is arranged to expel a jet of pressurized gas through the conveyor from the second side to the first side.

5. Method according to any of the preceding claims, wherein the step of detecting plant materials present on the conveyor by the detection unit comprises detecting the position of plant materials in a width dimension of the conveyor, wherein the width dimension extends in a direction perpendicular to the conveying direction, wherein the steps of determining the position data additionally comprises determining the position of a plant material in the width dimension.

6. Method according to any of the preceding claims, wherein the at least one nozzle comprises an array of nozzles comprising a plurality of independently controllable nozzles extending at least in a width direction of the conveyor, perpendicular to the conveying direction, wherein the processor is arranged to independently control each independently controllable nozzle.

7. Method according to the preceding claim, wherein the at least one nozzle comprises at least two arrays of nozzles, wherein the at least two arrays of nozzles are spaced apart by a nonzero distance in the conveying direction.

8. Method according to any of the preceding claims, wherein the position data comprises data indicative of the distance between at least two plant materials in the conveying direction.

9. Method according to the preceding claim, additionally comprising a step of adjusting the position of the at least one nozzle in the conveying direction, optionally also in a transversal direction perpendicular to the conveying direction, wherein the processor is arranged to control the position of the at least one nozzle in the conveying direction based on the position data.

10. Method according to any of the preceding claims, additionally comprising a step of adjusting a rotational position of the at least one nozzle around an axis at least partially perpendicular to the conveying direction, wherein the processor is arranged to control the rotational position of the at least one nozzle based on the position data.

11. Method according to any of the preceding claims, wherein the step of detecting plant materials on the conveyor comprises the steps of detecting plant materials both before passing the at least one nozzle and after passing the at least one nozzle, wherein the step of determining position data comprises the steps of determining position data of at least oneplant material before passing the at least one nozzle and after passing the at least one nozzle.

12. Method according to any of the preceding claims, further comprising a step of varying, using the processor, the conveying speed of the conveyor.

13. Method according to at least claim 11 and 12, wherein the step of varying the conveying speed of the conveyor comprises varying the conveying speed based on a distance between at least two plant materials in the conveying direction, preferably after having passed the at least one nozzle.

14. Method according to any of the preceding claims, wherein the step of providing a plurality of plant materials at the conveyor input comprises a step of dosing plant materials provided to the conveyor input using a dosing unit.

15. Method according to the preceding claim, wherein the dosing unit comprises a cyclically moving tray, wherein the dosing unit is arranged to receive clumped plant materials and at least partially break down said clumped plant materials to dose the plant materials onto the conveyor.

16. Method according to any of the preceding claims, further comprising a step of providing plant materials, using the conveyor, at the conveyor output to a pull nose conveyor, wherein the method further comprises a step of, using the pull nose conveyor, providing plant materials to predetermined locations on an output conveyor.

17. Method according to the preceding claim and at least claim 11, wherein the processor is arranged to control the pull nose conveyor on the basis of a distance between at least two plant materials in the conveying direction.

18. Method according to any of the preceding claims, further comprising a step of catching, using a catch tray, plant materials moved away from the conveyor by the jet of pressurized gas.

19. Method according to any of the preceding claims 1 - 16, further comprising a step of intercepting plant materials moved away from the conveyor by a jet of pressurized gas by means of a plate arranged between the conveyor input and the at least one nozzle.

20. Method according to the preceding claim, wherein the plate is arranged with a leading edge in the approximate trajectory of plant materials moved away from the conveyor by a jet of pressurized gas, such that a stream of plant materials moved away from the conveyor is split in two parts.

21. System arranged for performing a method according to any of the method claims.

22. System for separating plant materials, comprising:an air permeable conveyor extending between a conveyor input and a conveyor output, and arranged to transport plant materials on a first surface of the conveyor in a conveying direction from the conveyor input to the conveyor output;detection unit arranged to detect plant materials present on the conveyor and generate detection data indicative of the presence of at least one plant material present on the conveyor;a processor arranged to receive detection data from the detection unit, and to generate, using the detection data, position data indicative of the position of the at least one plant material present on the conveyor;a nozzle arranged to direct a jet of pressurized gas from the first surface away from the first surface of the conveyor such that a plant material present on the first surface is moved away from the first surface by the jet of pressurized gas;wherein the processor is arranged to determine, based on the position data, at least one characteristic of at least one plant material, and wherein the processor is arranged to control the at least one nozzle to expel a jet of pressurized gas based on the at least one characteristic, wherein the at least one characteristic of a plant material is indicative of at least the position of the plant material relative to at least one other plant material present on the conveyor.

23. System according to the preceding claim , wherein the conveyor extends across a width in a direction perpendicular to the conveying direction, wherein the processor is arranged to determine data indicative of the location of a plant material in the width direction of the conveyor as part of the position data.

24. System according to the preceding claim, wherein the at least one nozzle is arranged to direct pressurized gas away from the first surface at a plurality of different locations over the width of the conveyor, wherein the processor is further arranged to control the locationof where pressurized gas is directed through the conveyor based on the data indicative of the location of a plant material in the width direction of the conveyor as part of the position data.

25. System according to the preceding claim, wherein the at least one nozzle comprises an array of a plurality of independently controllable nozzles, wherein the processor is arranged to independently control the independently controllable nozzles based on the position data.

26. System according to any of the preceding system claims, wherein the processor is arranged to control the conveying speed of the conveyor.

27. System according to any of the preceding system claims, wherein the detection unit is arranged to detect plant materials both before and after passing the at least one nozzle, and wherein the processor is arranged to determine data indicative a distance between at least two plant materials in the conveying direction both before and after passing the at least one nozzle as part of the position data.

28. System according to the preceding claim, wherein the processor is arranged to control the conveying speed of the conveyor based on the data indicative of a spacing between plant materials along the conveying direction.

29. System according to any of the preceding system claims, wherein the at least one nozzle is movably arranged in the system, wherein the at least one nozzle is movable along the conveying direction, wherein the processor is arranged to move the at least one nozzle along the conveying direction based on at least the position data.

30. System according to any of the preceding system claims, wherein the at least one nozzle is arranged to be rotatable around an axis with a component perpendicular to the conveying direction, wherein the processor is arranged to adjust the rotational position of the at least one nozzle based on at least the position data.

31. System according to any of the preceding system claims, wherein the system comprises at least two nozzles spaced apart in the conveying direction.

32. System according to at least the preceding claim and claim 25, wherein the system comprises at least two arrays of a plurality of independently controllable nozzles spaced apart in the conveying direction.

33. System according to any of the preceding system claims, wherein the detection unit comprises an imaging means arranged to generate image data, wherein the detection data comprises imaging data generated by the imaging means.

34. System according to any of the preceding system claims, further comprising a catch tray arranged to catch plant materials moved away from the first surface.

35. System according to any of the preceding system claims 22 - 34, further comprising a plate arranged between the at least one nozzle and the conveyor inlet, wherein the plate is arranged to intercept plant materials moved away from the first surface.

36. System according to the preceding claim, wherein the plate is arranged to intercept a stream of plant materials moved away from the first surface to approximately split said stream in two streams of plant materials, wherein the plate is preferably arranged to direct both streams approximately towards the conveyor inlet.

37. System according to any of the preceding system claims, further comprising a pull nose conveyor arranged to receive plant materials from the conveyor output of the conveyor.

38. System according to the preceding claim and at least claim 27, wherein the processor is arranged to control the pull nose conveyor based on the position data.

39. System according to any of the preceding system claims, further comprising a dosing unit arranged to receive clumped and to at least partially break down the clumped plant materials to provide at least partially separated plant materials to the conveyor inlet.

40. System according to the preceding claim, wherein the dosing unit comprises a cyclically moving tray arranged to shake the plant materials to at least partially separate the plant materials to be provided to the conveyor inlet.

41. System according to any of the preceding system claims, arranged for executing a method according to any of the preceding method claims.

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