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WO2009100917A1 - Machine à découper - Google Patents

Machine à découper Download PDF

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Publication number
WO2009100917A1
WO2009100917A1 PCT/EP2009/001016 EP2009001016W WO2009100917A1 WO 2009100917 A1 WO2009100917 A1 WO 2009100917A1 EP 2009001016 W EP2009001016 W EP 2009001016W WO 2009100917 A1 WO2009100917 A1 WO 2009100917A1
Authority
WO
WIPO (PCT)
Prior art keywords
stem
sensor
cutting machine
cutting
characteristic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2009/001016
Other languages
English (en)
Other versions
WO2009100917A8 (fr
Inventor
Luiz Momesso Evaristo, Jr.
Jakob Andreas Leuenberger
Markus Roggli
José Geraldo Martins DOS SANTOS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Syngenta Participations AG
Original Assignee
Syngenta Participations AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB0802855A external-priority patent/GB0802855D0/en
Priority claimed from GBGB0802853.2A external-priority patent/GB0802853D0/en
Application filed by Syngenta Participations AG filed Critical Syngenta Participations AG
Priority to AU2009214259A priority Critical patent/AU2009214259B8/en
Priority to CN2009801087974A priority patent/CN101969756A/zh
Priority to MX2010008867A priority patent/MX2010008867A/es
Publication of WO2009100917A1 publication Critical patent/WO2009100917A1/fr
Publication of WO2009100917A8 publication Critical patent/WO2009100917A8/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A01D43/08—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
    • A01D43/085—Control or measuring arrangements specially adapted therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F29/00—Cutting apparatus specially adapted for cutting hay, straw or the like
    • A01F29/09—Details
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G2/00—Vegetative propagation
    • A01G2/30—Grafting
    • A01G2/35—Cutting; Inserting

Definitions

  • the present invention generally refers to a cutting machine and more specifically the invention refers to a machine to cut stem segments with desired characteristics.
  • the invention is particularly useful to cut stem segments of graminaceous plants (from the Gramineae / Poaceae family), such as plants of the Saccharum spp, including sugar cane.
  • the invention also relates to a method for cutting stems of such plants comprising a desired characteristic.
  • Stem the caulis or stalk of the culm part of a graminaceous plant, i.e. the main trunk of a plant, specifically a primary plant axis that develops buds and shoots.
  • Sett a stem segment, section or cutting having one or more nodes.
  • Node the location in the stem where the bud or gemma is formed in a graminaceous plant.
  • Bud or gemma the embryo, spore or germ of a graminaceous plant.
  • Germinate / germination the emergence of a new plant from a bud.
  • Graminaceous plants are usually formed by a stem which comprises several nodes and intemodes along its length.
  • the node comprises the bud (or gemma) of the plant, that may be used to yield a new plant, e.g. for a crop.
  • Examples of graminaceous plants include bamboos
  • sugar cane particularly, it is being highlighted by the media as an alternative to fossil fuels, as the alcohol obtained by the fermentation of such plants appears to be the promise of a renewable and clean fuel.
  • the plantation area of sugar cane is increasing worldwide as well as the investments in factories to produce alcohol.
  • the seed of sugar cane is a dry one-seeded fruit or caryopsis formed from a single carpel, the ovary wall (pericarp) being united with the seed-coat (testa).
  • the seeds are ovate, yellowish brown and very small, about 1 mm long.
  • the seed of sugar cane only germinates under specific environmental characteristics, such as a constant warm and humid climate conditions. Such climatic conditions are not found everywhere that sugar cane is grown, and therefore germination of sugar cane seed is not always guaranteed.
  • the seed of a sugar cane is not sown, but rather the cane is propagated vegetatively by planting a stem segment (or part of a stalk or culm or seedling).
  • the stem of sugar cane, as well as the stem of graminaceous plants comprises several nodes, from which new plants grow.
  • the traditional planting process of sugar cane involves the reservation of an area of the crop to be used as a source of plants for re- planting, since the nodes are comprised in the stem.
  • the plants used for replanting are harvested and then cut in segments of approximately 20-50 cm so that at least 2 nodes are present in each stem segment (sett). Cutting the stems is needed to break apical dominance that otherwise causes poor germination when using full length (uncut) stems.
  • the segments are cut to have at least 2 buds to assure germination, because not every bud germinates.
  • Current machines used to cut sugar cane segments are not able to identify any characteristic in the stem, and therefore the precise position of the cut sites is determined at random.
  • the setts are disposed horizontally, over one another in furrows of the ploughed soil, which are generally wide at ground level and deep (40 to 50 cm wide and 30 to 40 cm deep), and then lightly covered with soil.
  • the sugar cane stems are randomly cut usually to a length of between approximately 20cm and 50 cm, a length guaranteed to comprise 2-4 nodes. This is because buds do not emerge at all nodes.
  • the random cut of the stem can damage the nodes and the buds, or the nodes may be very near to the edge of the segment, preventing germination of a bud from that node.
  • the random cutting does not identify other particular characteristics of the stem, such as damaged, diseased or rotten stem segments that may effect the germination of the buds.
  • Japanese Patent Application Publication Numbers 1991-251104 and 2003-038017 relate to cutting devices for plants that use vision-based sensing technology.
  • optical sensors are problematic, especially for cutting graminaceous plants for several reasons. Firstly, leaf material along the stem of graminaceous plants hides the location of nodes, and so the use of a vision-based sensor would require thorough cleaning of the stem to remove all leaf tissue before sensing. The process of cleaning the stems is time consuming, and can damage buds developing at the nodes.
  • the cutting environment is dirty due to the presence of dust from cutting, and sap from cut stems - which can obscure vision sensors and lead to slow or inaccurate sensing of nodes.
  • a cutting machine particularly a machine to cut stem segments of a graminaceous plant, comprising a sensor to identify at least one characteristic of the stem, means to place the stem in a determined position for cutting, depending on the response of said sensor, and means to cut the stem; wherein said sensor to identify at least one characteristic of the stem, said means to place the stem in a determined position, and said means to cut the stem are interconnected to each other and controlled by a controlling means in order to cut the stem at a particular position depending on the presence of said identified characteristic; characterized in that the sensor is selected from the group consisting of a pressure transducer sensor, a capacitive sensor, an ultrasound sensor, an x-ray sensor, a magnetic sensor, and a microwave sensor.
  • - Said stem is cut to a pre-determined length.
  • stem of a Saccharum spp also generally known as sugar cane.
  • stem of a Bambusoideae plant such as a bamboo.
  • - Said stem is a stem of a elephant-grass plant (Pennisetum purpureum).
  • - Said sensor to identify at least one characteristic of the stem is a pressure transducer sensor, a capacitive sensor, an ultrasound sensor, an x-ray sensor, a magnetic sensor, or a microwave sensor.
  • - Said sensor comprises at least two metallic surfaces between which the sugar cane stem passes, the distance between which may vary depending on the diameter of the stem.
  • the surfaces may take any conformation, such as plates, bars, blocks, discs, cylinders or the like.
  • the metallic surfaces may apply a pressure to the stem as it is passing between them, so that the stem touches both surfaces.
  • - Said pressure may be applied via any suitable mechanism, such as springs, compressed air, hydraulic pressure or the like.
  • said surfaces may be in the form of cylinders.
  • At least one of said cylinders has a frustoconical shape.
  • said magnetic sensor is an electromagnetic sensor.
  • said sensor may be an electromagnetic sensor that comprises two metallic cylinders between which the sugar cane stem passes, said cylinders applying a pressure to the stem as it is passing between them.
  • the sensor may be an electromagnetic sensor that comprises a body of cylindrical shape and a plurality of metal electrodes made of metallic thin plates that generate the electromagnetic field, said plates are disposed in one of its ends in a regular spaced manner around the perimeter of said cylindrical body, and at the other ends of said plates have free ends to allow the stem to pass through.
  • water is applied to the stem before it passes through the sensor.
  • Said means to cut the stem is one or more of a knife, a circular knife, a scythe, a circular saw, a plasma cutting system, a laser cutting system, a high pressure water cutting (optionally comprising abrasive means), a stamping device, or a shear device.
  • - Said means to cut the stem comprises two knives spaced apart at a predetermined distance.
  • - Said means to place the stem in a determined position for cutting is one or more of: rotating pulleys, a conveying belt, a conveying chain, one or more claws, or rollers, driven by appropriate means.
  • Said characteristic identified in the stem is the position of a node in the stem.
  • - Said characteristic identified in the stem is damage.
  • - Said characteristic identified in the stem is the presence of disease or pests.
  • controlling means is a Programmable Logic Circuit (PLC) or a Computer Numeric Control (CNC) system, which in turn controls the cutting machine to cut the stem with the desired characteristic, depending on the response of said means to identify at least one characteristic of the stem.
  • PLC Programmable Logic Circuit
  • CNC Computer Numeric Control
  • - Said sensor comprises a set to generate a digital output to said controlling means.
  • - Said set comprises a frequency generator; a set-up transformer; a frequency filter; a signal amplifier; a programmable digital processor; and a digital output, when an electromagnetic sensor is used.
  • - Said machine may cut multiple stems substantially simultaneously.
  • - Said machine may cut a single stem at multiple positions substantially simultaneously.
  • Said length is comprised within the range from about 2 to about 12 cm, suitably from about 3 to about 8 cm, more suitably from about 3.5 to about 4.5 cm, and particularly about 4 cm.
  • the invention also discloses a method for cutting stems using a machine as described above.
  • FIG. 1 is a schematic side cross-sectional view of a cutting machine according to an embodiment of the present invention
  • FIG. 2 is a schematic perspective view of the cutting machine of figure 1 ;
  • FIG. 3 is a block diagram showing an exemplificative embodiment of a sensor set
  • - Figures 4a, 4b and 4c illustrate the back, side and front view of a sensor according to an embodiment of the present invention
  • FIGS. 5 to 7 are graphics that demonstrate the identification of a characteristic in the stem
  • FIG. 8 illustrates an electromagnetic sensor according to a particular embodiment of the present invention.
  • FIG. 9 is a schematic illustration of a stem, particularly a sugar cane stem, passing through the electromagnetic sensor of the present invention.
  • the cutting machine (10) of the present invention is schematically represented in figures 1 and 2.
  • the figures disclose a particular and exemplificative embodiment of the machine of the invention, which is used to identify and cut stem segments of sugar cane.
  • the machine of the invention is directed to cutting stem segments
  • stem segments comprising at least one characteristic
  • the machine of the invention is particularly useful to cut stem segments of graminaceous plants, particularly Saccharum spp, such as sugar cane.
  • a characteristic of the stem segment is, for instance, a node comprising a bud.
  • stem segments may be cut to contain at least one node.
  • the stem is cut so that each stem segment only has one node.
  • stem or stem segments may not be desired to be comprised in the stem or stem segments to plant, such as the presence of damage, disease, pests, or rotten segments.
  • the stem segment will not be used, but rather discarded.
  • the embodiment represented in figures 1 and 2 illustrates the machine comprising means to identify at least one characteristic of the stem, such as a sensor (24); means (60, 61 ) to place the stem in position for cutting; means (51 , 52) to cut the stem in a segment; and controlling means (30), which controls the cutting position of the stem (40) to obtain a segment (41 ) with a determined length (L) and a desired characteristic, depending of the response of the identification means (24).
  • the characteristic is one node (42) in the stem.
  • the sensor to identify at least one characteristic of the stem is selected from the group consisting of a pressure transducer sensor, capacitive sensor, uiirasound sensor, x-ray sensor, microwave sensor and magnetic sensor.
  • the senor is selected from the group consisting of an x-ray sensor, a magnetic sensor and a microwave sensor. In another embodiment, the sensor is an x-ray or magnetic sensor. In one embodiment, the sensor is a microwave sensor. In another embodiment, the sensor is an x- ray sensor. In another embodiment, the sensor is a magnetic sensor. Suitably, the magnetic sensor is an electromagnetic sensor. According to the disclosed embodiment, the sensor (24) used to identify a specific characteristic in the stem is an electromagnetic sensor.
  • the electromagnetic waves reflecting from a certain material can be transformed into a wave pattern that enables a certain characteristic of the material to be identified. That is the principle of the electromagnetic resonance machines used in the diagnoses of human body internal tissues, for example.
  • the magnetic resonance frequency is measured between two metallic surfaces and frequency is interpreted by a transducer.
  • the node is more rigid and comprises less water than the average rigidity and water content of the rest of the stem. Therefore, a node can be identified using an electromagnetic field, since its lower water concentration and higher rigidity (fiber content) will cause a different electromagnetic wave response with respect to the rest of the stem.
  • Damaged, diseased or rotten stem sections can also be detected since these also exhibit a different fiber and water content compared to the rest of the stem.
  • the sensor comprises at least two metallic surfaces between which the sugar cane stem passes.
  • the distance between the surfaces may vary to accommodate variations in stem diameter.
  • the surfaces may take any conformation, such as plates, bars, blocks, discs, cylinders or the like.
  • the surfaces may apply a pressure to the stem as it is passing between them, so that the stem touches both surfaces. This facilitates detection of the node - for example if a pressure sensor is used, slight movement of one or both of the surfaces will be detected when a node passes between them, since the stem diameter is slightly wider at the position of a node, that protrudes slightly from the rest of the stem.
  • the pressure may be applied via any suitable mechanism, such as springs, compressed air, hydraulic pressure or the like.
  • said surfaces may be in the form of cylinders.
  • at least one of said cylinders has a frustoconical shape to facilitate entry of the sugar cane stem into the sensor unit and align it between the surfaces.
  • water is applied to the stem, for example by spraying or passing through a water bath, prior to sensing (e.g. before the stem passes through the sensor device).
  • This improves the electrical conductivity, and therefore enhances the strength of the signal by up to 50%. This enables faster and more accurate sensing of the stem characteristic.
  • the controlling means (30) shall interpret the information sent by the sensor to perform the conjugated action of controlled and automated cutting.
  • Such controlling means (30) may be, for instance, a Programmable Logic Circuit (PLC) or a Computer Numeric Control (CNC) system, which receives a digital signal with specific digital data that will lead the control of the cutting machine, as will be explained with more details below.
  • PLC Programmable Logic Circuit
  • CNC Computer Numeric Control
  • the cutting means may be any suitable means to cut a stem, particularly a sugar cane stem, such as, but not limited to, a knife, a circular knife, a scythe, a guillotine, a circular saw, stamping means, shearing means, or high pressure water cutting device (optionally comprising abrasive means, such as sand).
  • Other non-mechanical means may also be employed, such as plasma cutting and laser cutting systems.
  • a circular knife is used, and particularly two circular knives (51 , 52) spaced apart to a predetermined length (L) are used.
  • the knives may act concomitantly to improve the productivity of the cutting, i.e. the cutting of stem segments to the determined length may be carried out in one single cutting step.
  • the knives are properly actuated. Actuation of the knives may be achieved by any suitable actuation means, such as pneumatic cylinders, hydraulic cylinders, or servomotors, as are well known to those skilled in the art.
  • the means to place the stem in an appropriate position for cutting may be any suitable means to controllably drive the stem in order to have a segment (41 ) of the stem cut with a desired characteristic.
  • Such means may be, for example rotating pulleys, conveying belts or chains, driven by appropriate means such as servomotors, hydraulic or steam motors to controllably drive the stem in a determined position, either vertically or horizontally.
  • any sensor may be used to detect a characteristic of the sugar cane stem, and the description below in relation to a particular embodiment will consider an electromagnetic sensor.
  • the electromagnetic sensor is one such as that schematically disclosed in figure 8. Due to the varying physical characteristics of sugar cane, in particular the variations in stem length and diameter (sugar cane stems are rarely rectilinear), the use of a sensor disclosed in this embodiment has proved to be efficient in detecting a desired stem characteristic.
  • the electromagnetic sensor (24) is formed by two metallic cylinders (245, 246) between which the sugar cane stem (40) passes. The cylinders rotate around their central axis, which are fixed to means that allow a variation with respect the distance (D) between then. Therefore, the variation in the distance (D) between the cylinders will allow the passage of sugar cane stems (40) of different diameters.
  • the means which fixes the cylinders and allows the variation in the distance between them also applies a pressure to the sugar cane stem while it is passing through the sensor. The pressure applied to the stem facilitates detection of the node (42) location in the stem.
  • the means that fixes the cylinders and allows the variation in the distance between them, at the same time applying a certain pressure to the stem may be for example, but not limited to, coil springs (243, 244), springs, cylinders with compressed air, or cylinders with hydraulic pressure, among others.
  • One or both cylinders may have a frusto-conical shape (246) in order to facilitate the entrance of the sugar cane stem in the sensor, since there may be variations in the stem diameter.
  • the metallic alloy of the cylinders may be any metallic material suitable to generate an electrical field and consequently an electromagnetic field, such as steel, stainless steel, aluminum, copper, nickel, bronze, or their mixtures or alloys. In particular, bronze is used.
  • the senor (24) is connected to a set (20) that has the function of generating the electromagnetic field and also collecting and interpreting the data generated by the sensor reading.
  • FIG. 3 An example of a sensor set (20) is schematically represented in figure 3. As will be appreciated by those skilled in the art, this sensor set is an example of an embodiment, and many variations may be developed to produce digital data depending on the sensor reading.
  • This set according to this example comprises a frequency generator (21), a transformer (22), a frequency filter (23), a signal amplifier (25), a programmable digital processor (26), and a digital output (27).
  • the high-frequency generator (21 ) may be any suitable means to generate a high- frequency sinusoidal electrical wave capable of producing an electric field and consequently a magnetic field in the sensor, as will be explained in more details below.
  • the sinusoidal wave may be an alternated electric current, preferably having a relative high voltage and low current.
  • the current and voltage may be determined empirically by those skilled in the art depending on the response of the electromagnetic waves to the characteristics of the sugar cane stem which are desirous to be identified.
  • a set-up transformer (22) may also be employed after the frequency generator in order to increase the voltage.
  • a voltage from about 10 to about 2,000 Vpp (Volts peak to peak), particularly from about 50 to about 1 ,500 Vpp, and more particularly around 150 Vpp is suitable to produce an electromagnetic field in the sensor to identify a characteristic in the stem.
  • the current set in a range from about 50 to about 500 nA (milli Amperes), particularly from about 100 to about 250 mA, and more particularly around 200 mA has also proved to be suitable to identify a characteristic in the stem.
  • the frequency used in the generator may also be determined by a man skilled in the art, and according to this embodiment a suitable frequency is set from about 800 kHz to about 7.2 MHz, particularly from about 1 MHz to about 3 MHz, and more particularly about 2 MHz.
  • the set-up transformer (22), as mentioned above, may be used to increase the voltage produced by the frequency generator.
  • the transformer may increase the current as necessary to achieve the desired voltage, depending on the voltage output of the generator. For example, the transformer may increase the voltage by 1 up to 20 times, and more particularly by about 15 times if the signal generated by the high-frequency generator has about 10 Vpp.
  • the amplified signal in the output of the transformer will have about 150 Vpp, taking into consideration the ranges mentioned above.
  • the transformer may be suppressed if the current and voltage generated by the generator is suitable for the purposes of creating a detectable electromagnetic field in the sensor, particularly within the ranges of voltage, current and frequency exemplified above.
  • the signal coming from the generator and transformer is injected in a frequency filter (23), the function of which, as those skilled in the art will appreciate, is to identify the variation in the electromagnetic waves generated and detected by the sensor.
  • Figure 5 illustrates an example of a signal that can be detected by the sensor (24) and separated in the filter (23).
  • This graphic shows the variation in the voltage of the signal with time, when a stem, particularly a sugar cane stern, is passing through the sensor (24).
  • the voltage V 0 is higher.
  • the voltage decreases ( ⁇ at t 2 ) and the node, containing less water than the average water content of the stem and being more rigid, causes a perturbation in the wave, which can be detected at t 3 .
  • the signal stabilizes at U and the voltage increases again when the stem leaves the sensor (24) at t 5 .
  • the wave pattern is amplified in the amplifier (25), converted into an analog derivative signal (Figure 6), and converted into a digital signal to generate a digital data output ( Figure 7) (see also reference 27 and Figure 3).
  • the digital data output (27) is generated by a programmable processor (26), which is used to interpret the analog signal, convert it into a digital signal to produce a digital data representative of a characteristic of the stem which is desired to identify, such as the node in this explanative example.
  • the digital data output (27) is connected to a PLC or CNC (30), which coordinates the drive means and the cutting means of the machine to cut the stem in the desired location.
  • a PLC or CNC which coordinates the drive means and the cutting means of the machine to cut the stem in the desired location.
  • both the PLC or CNC are programmable systems to perform certain coordinated operations in a machine, depending on the digital signal output from the sensor set. Therefore, once the digital signal (represented in figure 7) goes to the PLC or CNC, the exact location of the node in the stem is identified, and the PLC or CNC drives the drive means of the stem to a correct placement for cutting, as will be described below.
  • the electromagnetic sensor may be one such as that disclosed schematically in figures 4a to 4c. Due to the varying physical characteristics of sugar cane, in particular the variations in stem length and diameter such that it is rarely rectilinear, the use of a sensor has proved to be efficient in detecting a desired stem characteristic.
  • the electromagnetic sensor has a body (241 ) of cylindrical shape and is formed by a plurality of metal electrodes, made of metallic thin plates (242) that generate the electromagnetic field.
  • the electrodes are fixed at one end in a regularly spaced manner around the perimeter of the cylindrical body (241 ), which is preferably made of insulating material (such as a polymer) to avoid interference with the electromagnetic field, while the other end of the electrodes have free ends which will allow the sugar cane stem to pass through.
  • the sensor employed may be also an x-ray or microwave sensor, wherein such sensors will have different responses with respect to particular characteristics along the length of the stem.
  • the x-ray sensor may detect a different concentration or type of organic tissues in the node.
  • the microwave sensor may have a different response due to the lower water concentration in the node, since microwaves are responsive to water molecules.
  • the sensor set will also have a different configuration depending on the type of sensor used. For example, if x-ray or microwave sensors are used, a variation in the x-ray field or in the microwave field may be responsive to the generation of the digital signal for the PLC or CNC, indicating the characteristic of the stem which is desired to be detected, such as the node.
  • the sugar cane stem (40) is introduced in the sensor (24), driven by the rotating pulleys (60, 61 ) that grasp the stem and drive it through the sensor.
  • other driving means may be employed such as conveyors where the sugar cane stem lays on a conveyor belt and is passed through the sensor.
  • the stem is then stopped at that position and the knives are actuated to perform the cutting.
  • the sugar cane stem segment (41 ) with a desired length (L) and containing a single node (42) in its middle portion is obtained, and any leftover intemode sections (43) are discharged or reused for animal feeding, for example.
  • the knives (51 , 52) are re-set, another bud will be identified by the sensor (24), and the pulleys or conveyor will place the next segment for cutting. The process is repeated until the stem is finished, and another stem restarts the whole process.
  • the length (L) of the segment (41) that will be cut may vary according to specific requirements, such as the type of the sugar cane or the desired length of the segment that has been shown to be a sufficient length to allow the germination of the bud. It has been observed that a length from about 2 to about 12 cm, particularly from about 3 to 8 cm, more particularly from about 3.5 to 4.5 cm, preferably about 4 cm is suitable to guarantee the germination of the bud, when one node (42) is comprised in the segment (41 ).
  • the precise segment length is not critical, and the lengths above may be interpreted as approximate.
  • the senor (24) is piaced before the pulleys (60, 61 ).
  • the sensor may be placed in any location along the stem, even after the pulleys, but obligatorily before the knives (51 , 52), since what determines the cutting position is the relative distance between the sensor (24), when the bud is detected, and the middle portion of the knives (51 , 52), i.e. L/2.
  • the PLC controls the process based on the digital information coming for the sensor set, to synchronize the pulleys or conveyor and the knives.
  • the moving and placing of the sugar cane stem are achieved by means of the pulleys or conveyor driven by motors.
  • any suitable means to control the introduction of the stem in the cutting apparatus may also be used.
  • the cutting machine of the invention may use any suitable means to cut the stem.
  • two circular knives are used, but other types of knives, scythes, circular saws, plasma or laser cutting systems etc may also be employed.
  • the activation of the knives may be performed by any suitable means, for example using servomotors, pneumatic cylinders, hydraulic cylinders, and the like.
  • the machine elements for performing the cut of the sugar cane may be determined by those skilled in the art.
  • multiple stems may be simultaneously aligned for cutting, and the cutting may be performed at once, thus obtaining multiple segments in one single cutting operation. That is the case, for example, when multiple sensors are aligned in parallel, and each stem is introduced in each sensor and than placed for cutting in parallel.
  • a guillotine-like cutting means may be employed to cut several stem segments at once.
  • more than one, or all nodes in a single stem may be cut simultaneously, by detecting the position of each node, and cutting the stem segments using multiple cutting devices or by activating certain knives depending on the position of the nodes in the stem.
  • the sugar cane stem is not placed in position for cutting, but rather stands still and the cutting means are moved and placed in position to cut the segment with the desired characteristic.
  • the undesired characteristic in the stem may be the presence of damage or disease, for example caused by pests, or rotten sections of stem.
  • damage or disease for example caused by pests, or rotten sections of stem.
  • pests that attack graminaceous plants, and particularly sugar cane are:
  • Larvae such as Diatraea saccharalis and Telchin licus licus.
  • Plant lice such as Rhopalosiphum maidis and Melanaphis sacchari.
  • Beetles such as Migdolus fryanus, Sphenophorus levis, Diloboderus spp,
  • Euetheola spp Ligynus spp, Stenocrates spp, Phytal ⁇ s spp, Phyllophaga spp and several species of the Scarabaeidae family.
  • Termites such as those from the Termitidae family, Cornitermes genus (e.g. C. cumulates); and those from the Rhinotermitidae family (e.g. Heterotermes tenuis, H. longiceps).
  • Nematodes such as Meloidogyne spp, Helycotilenchus spp. and Pratylenchus spp.
  • Caterpillars such as Elasmopalpus lignosellus, Spodoptera frugiperda, and Mods latipes.
  • Cicadas such as Notozulia entrehana, Deois schach, Aeneolamia selecta, Deois flavopicta, Mahanarva fimbriolata, Mahanarva posticata and Kanaina vittata.
  • Such pests may cause a modification in the stem structure.
  • Such modification in the structure of the stem may be empirically detected by an identification means, such as the electromagnetic sensor or other types of sensors, as exemplified above.
  • the stem may be rotten, and such characteristic may also be empirically detected with the machine of the invention.
  • a digital signal may be sent to the PLC or CNC ordering a segment of the stem to be discarded, or the whole stem if necessary.
  • the disposal of the segment or the whole stem may be operated by not cutting the segment, and forwarding the stem until the undesired characteristic is no longer observed in the stem, and the desired characteristic is identified.
  • the invention also discloses a method for cutting stem segments of a graminaceous plant, comprising identifying at least one characteristic of the stem using a sensor selected from the group consisting of a pressure transducer sensor, a capacitive sensor, an ultrasound sensor, a x-ray sensor, a magnetic sensor, and a microwave sensor; placing the stem in a determined position for cutting, depending on the response of said sensor; and cutting the stem at a particular position depending on the presence of said identified characteristic.
  • a sensor selected from the group consisting of a pressure transducer sensor, a capacitive sensor, an ultrasound sensor, a x-ray sensor, a magnetic sensor, and a microwave sensor; placing the stem in a determined position for cutting, depending on the response of said sensor; and cutting the stem at a particular position depending on the presence of said identified characteristic.
  • the method is carried out using the machine as described above.
  • water is applied to the stems before passing through the sensor, in order to enhance the electrical conductivity of the stem and thus the identification of a desired or undesired characteristic in the stem.
  • Wetting of the stems may be achieved, for example, by spraying them with water or passing them through a water bath prior to sensing and cutting.
  • the present invention also includes the pre-sensing of stem characteristics, for cutting at a later point in time.
  • a sensor may be used to detect a particular characteristic of the stem as described above, and the stem marked at the position of that characteristic to facilitate subsequent cutting. Marking of the stem may be using any suitable means for example a coloured marker, LJV tag, or physical notch in the stem. A simple sensor system could then be employed later to detect the marker (compared to the complex sensor required to detect the stem characteristic in the first place) for positioning the cutting location.
  • the present invention also includes a particular arrangement of an electromagnetic sensor, that is particularly useful for detecting characteristics in the stem of a graminaceous plant, whose stems are rarely rectilinear and may vary in diameter and length. It has been observed that a better result may be achieved when the sensor surrounds the stem. In other words, the reading of certain characteristics in the stem is more accurate if the sensor is not only close to the stem, but rather surrounds it due to the differences from a stem to another.
  • One particular electromagentic sensor arrangement of the present invention consists of an electromagnetic sensor comprising a frame with at least two electrodes of elongated thin metal plates equidistantly disposed around the perimeter of said frame.
  • the frame may have a circular, hexagonal, octagonal, quadratic or irregular shape; the frame has an discontinuous perimeter; the frame comprises 3 to 12 electrodes; the frame comprises more than 12 electrodes; the electrodes are disposed in an angle in relation to a cross-axis of the frame; said angle is comprised between 0° and 90°, particularly between 10° and 60°, more particularly between 15° and 50°, and even more particularly about 45°; and/or the frame is made of an electrical- insulating material.
  • FIGS 4a to 4c represent a particular embodiment of the sensor (24) of the present invention.
  • the sensor (24) comprises a frame (241) having at least two elongated electrodes (242).
  • the frame represented in the drawings, according to this particular embodiment, has a circular shape.
  • the frame may assume different shapes, such as a hexagonal or octagonal shape, or even a quadratic or irregular shape.
  • the frame may assume any shape determined by those skilled in the art, provided that at least two electrodes are fixed in a equidistant manner around the perimeter of said frame.
  • the frame may also comprise a continuous or discontinuous perimeter.
  • a discontinuous perimeter it might be interpreted that the frame may present detached segments, such as segments of a circle.
  • the frame may not even be located in its whole perimeter, provided that at least two electrodes are disposed around the perimeter in a equidistant manner.
  • the frame shall comprise at least two electrodes to generate an electrical field and consequently a magnetic field.
  • the figures illustrate an embodiment comprising 8 electrodes (242), but more or less than 8 electrodes may be arranged in the frame.
  • the electrodes (242) are made of metallic material to permit the passage of an electrical current and the frame is preferably made of an electrical-insulating material, to avoid electrical interference with the electrodes.
  • Such electrical-insulating material may be for example a polymer, such as, but without limitation, polytetrafluoroethylene, nylon, polyester etc.
  • the electrodes shall have an elongated and thin form so that they can resiliently flex and facilitate the passage of a stem through them.
  • the dimensions of the electrodes such as their length and thickness, may be determined by a man skilled in the art, provided that the electrnrifts may flex without rupture when a stern is passing through them.
  • the electrodes need to return to their original position after being made to flex.
  • the electrodes (242) shall be equidistantly disposed around the perimeter of the frame (241). "Equidistantly disposed" means that the electrodes shall be equidistant to one another taking into consideration the whole perimeter of the frame.
  • the electrodes are spaced apart at 45° each, since there are 8 electrodes distributed in a 360° perimeter of the frame.
  • a different number of electrodes will lead to a different distribution, such as each electrode at 120° when 3 electrodes are present, 90° when 4 electrodes are present, 72° when 5 electrodes are present and so on, taking into consideration a circular frame.
  • the same principle may be used for frames of different shapes. For instance, in a octagonal shape, 8 electrodes may be disposed in each side of the octahedron.
  • the electrodes (242) are disposed in an angular position in relation to a cross-axis of the frame. This angular position may be desired to facilitate the introduction of the stem in the electrode.
  • the angle may vary within the range of 0° (i.e. there is no angulation and the electrodes are parallel to the cross-axis of the frame) to 90° (i.e. the electrodes are perpendicular in relation to the cross-axis of the frame).
  • the angle is within the range of 10° and 60°, more preferably between 15° and 50°, and even more preferably about 45°.
  • the electrodes may be connected by suitable means to a electrical contact (not shown) to allow the passage of an electrical current to generate the electromagnetic field in such electrodes.
  • Figure 9 schematically illustrates the sensor (24) of the invention having a stem (40), particularly a sugar cane stem, passing through it.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Botany (AREA)
  • Developmental Biology & Embryology (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
  • Agricultural Chemicals And Associated Chemicals (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

L'invention concerne généralement une machine à découper permettant de découper des segments de tige présentant des caractéristiques souhaitées. L'invention est particulièrement utile pour découper des segments de tige de plantes graminées (de la famille Gramineae / Poaceae), telles que les Saccharum spp, y compris la canne à sucre. Selon un mode de réalisation de l'invention, la machine à découper comprend un capteur (24) pour identifier au moins une caractéristique de la tige (40), des moyens (60, 61) pour placer la tige dans une position déterminée pour le découpage, en fonction de la réponse dudit capteur, et des moyens pour découper la tige, ledit capteur pour identifier au moins une caractéristiques de la tige et lesdits moyens pour découper la tige étant interconnectés, et un moyen de commande (30) pour découper la tige à une position particulière en fonction de la présence de ladite caractéristique identifiée. La machine à découper est caractérisée en ce que le capteur est sélectionné dans le groupe composé d'un capteur de pression, d'un capteur capacitif, d'un capteur à ultrasons, d'un capteur de rayons X, d'un capteur magnétique et d'un capteur à micro-ondes.
PCT/EP2009/001016 2008-02-15 2009-02-13 Machine à découper Ceased WO2009100917A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2009214259A AU2009214259B8 (en) 2008-02-15 2009-02-13 Cutting machine
CN2009801087974A CN101969756A (zh) 2008-02-15 2009-02-13 切割机
MX2010008867A MX2010008867A (es) 2008-02-15 2009-02-13 Maquina de corte.

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0802855A GB0802855D0 (en) 2008-02-15 2008-02-15 Electromagnetic sensor
GBGB0802853.2A GB0802853D0 (en) 2008-02-15 2008-02-15 Cutting machine
GB0802855.7 2008-02-15
GB0802853.2 2008-02-15

Publications (2)

Publication Number Publication Date
WO2009100917A1 true WO2009100917A1 (fr) 2009-08-20
WO2009100917A8 WO2009100917A8 (fr) 2010-06-03

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ID=40956673

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/001016 Ceased WO2009100917A1 (fr) 2008-02-15 2009-02-13 Machine à découper

Country Status (4)

Country Link
CN (1) CN101969756A (fr)
AU (1) AU2009214259B8 (fr)
MX (1) MX2010008867A (fr)
WO (1) WO2009100917A1 (fr)

Cited By (15)

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WO2013026169A1 (fr) * 2011-08-25 2013-02-28 Transformix Engineering, Inc. Agencement de coupe, et dispositifs, systèmes et procédés associés
CN103286057A (zh) * 2013-05-24 2013-09-11 慈溪市匡堰盈兴竹制品厂 竹子切割机
WO2014029027A1 (fr) * 2012-08-24 2014-02-27 Transformix Engineering, Inc. Agencement de coupe et dispositifs, systèmes et procédés associés
ITPN20120067A1 (it) * 2012-10-30 2014-05-01 M D S S N C Di Ronzani Giuseppe Procedimento ed apparecchiatura per il taglio di tralci di piante
WO2015021105A1 (fr) * 2013-08-06 2015-02-12 Harris Paul A Appareil de coupe de tige et procédés associés
WO2015128163A1 (fr) 2014-02-28 2015-09-03 Basf Se Procédé de détection d'un noeud et/ou d'un bourgeon sur une tige d'une plante graminée
CN105248022A (zh) * 2015-10-26 2016-01-20 广西大学 甘蔗输送装置
US9271448B2 (en) 2010-06-09 2016-03-01 Basf Se Method for cultivating sugar cane
US9615503B2 (en) 2011-09-23 2017-04-11 Basf Se Method for cultivating sugar cane
CN107182353A (zh) * 2017-06-29 2017-09-22 贺州思通信息技术有限公司 一种甘蔗砍种装置
CN108781585A (zh) * 2017-05-03 2018-11-13 贵港市厚顺信息技术有限公司 甘蔗砍种装置
CN109168499A (zh) * 2018-09-30 2019-01-11 广西民族大学 一种甘蔗预切种工作站
CN109964582A (zh) * 2019-04-25 2019-07-05 文登市大德兴农庄农产品有限公司 一种丹参根段种植的种根切割装置及其使用方法
DE102019004848A1 (de) * 2019-07-12 2021-01-14 RoBoTec PTC GmbH Vorrichtung und Verfahren zum Vermehren von Pflanzen
US10966373B1 (en) * 2017-05-10 2021-04-06 Robert Kaleck Apparatus for automatic stem cutting for plant propagation

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CN103636331B (zh) * 2013-12-04 2016-09-21 中国农业大学 一种基于激光切割的组培苗快速移植机及其移植方法
CN104441011B (zh) * 2013-12-11 2016-06-15 邱逸奎 钩藤切段机
CN107054969A (zh) * 2017-01-06 2017-08-18 广西大学 一种甘蔗取种的输送及检测装置
CN107173828A (zh) * 2017-06-02 2017-09-19 吴慧 一种山药食品加工专用智能削皮切断设备
CN107333066B (zh) * 2017-08-04 2023-04-25 钦州学院 一种甘蔗蔗种识别系统
CN107718081B (zh) * 2017-10-24 2019-03-12 邱逸奎 一种自动切钩藤机
CN112056087B (zh) * 2019-06-11 2024-01-30 中国科学院沈阳自动化研究所 一种小型切段式履带甘蔗收获机感应系统及控制方法
CN110583140B (zh) * 2019-08-20 2022-07-05 广西壮族自治区农业科学院 一种甘蔗健康种茎生产线
CN110547066B (zh) * 2019-08-20 2022-07-05 广西壮族自治区农业科学院 一种甘蔗种茎切种生产线
CN116076366A (zh) * 2023-02-20 2023-05-09 山东农业工程学院 一种数控等离子切割技术的芍药茎尖剥离脱毒方法及其应用

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EP0406132A1 (fr) * 1989-06-26 1991-01-02 Leotronic Procédé et dispositif destiné à découper des tiges végétales pleines en vue de produire des boutures
EP1360891A1 (fr) * 2002-05-10 2003-11-12 Deere & Company Dispositif pour ajuster la longueur de coupe d'une hacheuse

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9271448B2 (en) 2010-06-09 2016-03-01 Basf Se Method for cultivating sugar cane
WO2013026170A1 (fr) * 2011-08-25 2013-02-28 Transformix Engineering, Inc. Agencement de coupe, et dispositifs, systèmes et procédés associés
WO2013026169A1 (fr) * 2011-08-25 2013-02-28 Transformix Engineering, Inc. Agencement de coupe, et dispositifs, systèmes et procédés associés
US9615503B2 (en) 2011-09-23 2017-04-11 Basf Se Method for cultivating sugar cane
WO2014029027A1 (fr) * 2012-08-24 2014-02-27 Transformix Engineering, Inc. Agencement de coupe et dispositifs, systèmes et procédés associés
ITPN20120067A1 (it) * 2012-10-30 2014-05-01 M D S S N C Di Ronzani Giuseppe Procedimento ed apparecchiatura per il taglio di tralci di piante
CN103286057A (zh) * 2013-05-24 2013-09-11 慈溪市匡堰盈兴竹制品厂 竹子切割机
WO2015021105A1 (fr) * 2013-08-06 2015-02-12 Harris Paul A Appareil de coupe de tige et procédés associés
WO2015128163A1 (fr) 2014-02-28 2015-09-03 Basf Se Procédé de détection d'un noeud et/ou d'un bourgeon sur une tige d'une plante graminée
CN105248022A (zh) * 2015-10-26 2016-01-20 广西大学 甘蔗输送装置
CN108781585A (zh) * 2017-05-03 2018-11-13 贵港市厚顺信息技术有限公司 甘蔗砍种装置
US10966373B1 (en) * 2017-05-10 2021-04-06 Robert Kaleck Apparatus for automatic stem cutting for plant propagation
US11399470B1 (en) * 2017-05-10 2022-08-02 Robert Kaleck Automatic stem cutting for plant propagation
CN107182353A (zh) * 2017-06-29 2017-09-22 贺州思通信息技术有限公司 一种甘蔗砍种装置
CN109168499A (zh) * 2018-09-30 2019-01-11 广西民族大学 一种甘蔗预切种工作站
CN109168499B (zh) * 2018-09-30 2023-07-18 广西民族大学 一种甘蔗预切种工作站
CN109964582A (zh) * 2019-04-25 2019-07-05 文登市大德兴农庄农产品有限公司 一种丹参根段种植的种根切割装置及其使用方法
CN109964582B (zh) * 2019-04-25 2023-12-12 文登市大德兴农庄农产品有限公司 一种丹参根段种植的种根切割装置及其使用方法
DE102019004848A1 (de) * 2019-07-12 2021-01-14 RoBoTec PTC GmbH Vorrichtung und Verfahren zum Vermehren von Pflanzen
US12477998B2 (en) 2019-07-12 2025-11-25 RoBoTec PTC GmbH Device and method for propagating plants

Also Published As

Publication number Publication date
AU2009214259B2 (en) 2013-07-04
AU2009214259B8 (en) 2013-10-31
MX2010008867A (es) 2010-08-31
CN101969756A (zh) 2011-02-09
AU2009214259A1 (en) 2009-08-20
WO2009100917A8 (fr) 2010-06-03

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