Patent Publication Number: US-2022210966-A1

Title: Apparatus and method for planting trees

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The current application is a continuation of U.S. patent app. Ser. No. 16/411,966, filed May 14, 2019, which is a continuation of PCT App. No. PCT/CA2017/051436, filed Nov. 29, 2017, and which claims priority from U.S. Provisional Ser. No. 62/427,212, filed Nov. 29, 2016, and U.S. Provisional Ser. No. 62/579,466, filed Oct. 31, 2017, all of which are hereby incorporated herein by reference. 
    
    
     FIELD OF THE DISCLOSURE 
     The disclosure is directed generally at agricultural products and, more specifically, at an apparatus and method for planting trees. 
     BACKGROUND OF THE DISCLOSURE 
     In the forestry industry it is common to plant new trees to replace trees that have been harvested. In the past, new trees tended to be manually planted, which is very labour intensive, can be slow, and the reliability may not be consistent. 
     Over the years, there have been attempts to provide automated systems for planting trees. Frequently, these solutions have been hybrid solutions providing some automation but may still require substantial human involvement. For example, some systems combine manual planting with automated delivery of saplings. More automated solutions have included a planting arm or similar system provided to a piece of equipment. These solutions often sacrificed correct planting for speed. Although the planting is automated, seedlings were still required to be frequently reloaded and the cost of parts and repairs is significantly high. 
     It is, therefore, desirable to provide an improved apparatus and method for planting trees. 
     SUMMARY OF THE DISCLOSURE 
     In a first aspect, the present disclosure provides an apparatus for planting trees. 
     In a second aspect, the present disclosure provides a method for planting trees. 
     In a third aspect of the disclosure, there is provided an apparatus for planting seedlings including a planting head for planting the seedlings; a seedling handling system; and a seedling chute system; wherein seedlings are transferred from the seedling handling system to the planting head, via the seedling chute system, for automated individual planting of the seedlings by the planting head. 
     In another aspect, the apparatus further includes a frame portion for mounting the planting head to a vehicle, the frame portion including a mounting apparatus and a set of supports, each of the set of supports connected at one end to the mounting apparatus and at an opposite end to the planting head. In another aspect, the set of supports are connected via spherical bushings to the mounting apparatus. In a further aspect, the set of supports are connected to the planting head via spherical bushings. 
     In yet a further aspect, the planting head includes a bladed pocket including a set of retractable blades and a body; wherein when the bladed pocket is in a closed position, the set of retractable blades and the body form a substantially continuous perimeter to hold a seedling and when the bladed pocket is in an open position, the set of retractable blades and the body retract relative to each allow allowing the seedling to pass through the bladed pocket. The planting head further may further include at least one tamper portion. In another aspect, the planting head further includes a set of pumps for controlling the retractable blades. In another aspect, the planting head also includes a set of pumps for controlling the at least one tamper portion. The set of pumps may be pneumatic or hydraulic pumps. 
     In yet another aspect, the seedling handling system includes a set of chambers for receiving a set of seedling trays, wherein the set of seedling trays house a set of seedlings arranged in individual rows within each seedling tray. In a further aspect, adjacent rows within each seedling tray are offset with respect to each other. In yet a further aspect, the set of chambers are controlled by a control system to position a new seedling tray in a loading position once a previous seedling tray is emptied. 
     In another aspect, the seedling chute system includes a loader including a robotic arm; a set of gripping mechanisms attached to the robotic arm; and a sliding mechanism allowing the loader to move with respect to the set of chambers to retrieve the row of seedlings. In a further aspect, the gripping mechanisms include a pair of finger portions; and an apparatus for moving the pair of finger portions towards and away from each other. 
     In yet a further aspect, the apparatus further includes a ripping blade. In another aspect, the apparatus further includes at least one soil fracturing disc. In yet another aspect, the apparatus further includes a set of fertilizer blades. In another aspect, the set of fertilizer blades is integrated with the ripping blade. In yet another aspect, the apparatus includes a water delivery system. 
     In a fourth aspect of the disclosure, there is provided a method of planting seedlings including retrieving a row of seedlings for planting; delivering one of the seedlings from the row of seedlings to a planting head; planting the seedling; determining if there are any more seedlings from the row of seedlings for planting; and delivering a next seedling for planting if there are more seedlings or retrieving a new row of seedlings for planting if there are no more seedlings. 
     Other aspects and features of the present disclosure will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments in conjunction with the accompanying figures. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
       Embodiments of the present disclosure will now be described, by way of example only, with reference to the attached Figures. 
         FIG. 1  illustrates an apparatus for planting trees according to an embodiment; 
         FIG. 2  illustrates an empty seedling handling system according to an embodiment; 
         FIG. 3  illustrates a loaded seedling handling system; 
         FIG. 4  illustrates a seedling chute system according to an embodiment; 
         FIGS. 5A and 5B  illustrate a front and side view of a planting head in a raised position; 
         FIGS. 6A and 6B  illustrate a front and side view of a planting head in a partially lowered position; 
         FIGS. 7A and 7B  illustrate a front and side view of a planting head in a lowered position; 
         FIGS. 8A and 8B  illustrate a front and side view of a planting head in a lowered and extended position; 
         FIGS. 9A and 9B  illustrate a front and side view of a planting head in a lowered and closed position; 
         FIGS. 10A and 10B  illustrate a front and side view of the planting head of  FIGS. 9A and 9B  in a lowered and semi-open position; 
         FIGS. 11A and 11B  illustrate a front and side view of the planting head of  FIGS. 9A and 9B  in a lowered and open position; 
         FIG. 12  illustrates a surface clearing blade according to an embodiment; 
         FIG. 13  illustrates a ripping blade and soil fracturing discs according to an embodiment; 
         FIG. 14  illustrates fertilizing blades according to an embodiment; 
         FIGS. 15 a  to 15 c    are perspective views of another embodiment of a loader; 
         FIGS. 16 a  to 16 e    are various views of another embodiment of a seedling tray; 
         FIG. 17  is a photograph of a seedling tray with seedlings; 
         FIG. 18  is a side view of a loader and a seedling tray; 
         FIG. 19  is a view of a loader removing seedlings from a seedling tray; and 
         FIG. 20  is a flowchart outlining a method of planting trees. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     Generally, there is provided an apparatus and method for planting trees. It is intended that the apparatus and method provide for continuous tree planting. Herein, “continuous tree planting” refers to planting trees (e.g. seedlings) with an apparatus such that the apparatus continuously advances during planting. In the embodiments described below, a planting head of the apparatus intermittently contacts the ground to plant each seedling as the apparatus continually advances. The intermittent contact between the planting head and the ground is such that the planting head contacts the ground to plant a seedling and minimally disturbs or does not disturb the soil between adjacent seedlings when it is not in contact with the ground. The apparatus may also include a seedling handling system, which may hold a high capacity of seedlings in a standard tray format. The apparatus is intended to provide for robust planting that may be used in various environments. 
     It is intended that the method for planting trees includes loading a seedling handling system with standard capacity seedlings to be planted. A loader loads the seedlings from the seedling handling system to a seedling chute system. The seedling chute system feeds the seedlings to a planting head that is adapted to plant the seedlings while the planting apparatus continues moving to the next planting location. In one embodiment, the planting apparatus is mounted to a vehicle. 
       FIG. 1  illustrates an apparatus  100  for planting trees. The apparatus may be connected to a tractor  110  or other towing vehicle via an attachment mechanism  120 . In one embodiment, the attachment mechanism may be a hitch or the like. Alternatively, the apparatus  100  may be mounted to the tractor or towing vehicle. The apparatus  100  may further include a water irrigation tank or system  190  (or a water delivery system) for performing various tasks such as, but not limited, watering the seedlings after they are planted, flushing and/or cleaning various parts of the apparatus and other components that go into or contact the ground and/or to mist or hydrate the seedlings in the seedling handling system. 
     In one embodiment, the apparatus  100  includes a planting head  130 , a seedling handling system  140 , and a seedling chute system  150 . The apparatus  100  may further include a ripping blade  160 , at least one soil fracturing disc  170  and fertilizing blades  180 . Although shown separately in  FIG. 1 , the fertilizing blades  180  may be integrated with the ripping blade  160 . 
     The ripping blade  160  operates to loosen the soil as the tractor  110  drives over the ground where the seedlings are to be planted. The loosening of the soil assists to establish an area for the tap root of the seedling, or tree, to be planted to improve the resistance to drought of the newly planted seedlings. The at least one soil fracturing disc  170  operates to replace some of the soil that was removed by the ripping blade  160  but, preferably, does not fill up the area where the soil was loosened. The at least one soil fracturing disc  170  may also break up the top soil to improve root penetration of the seedling. The fertilizing blades  180  provide fertilizer to the area where the seedling or seedlings are to be planted (or, in other words, where the soil was loosened) to provide nourishment to the seedling and the soil. 
     The water tank  190  is preferably integrated within a support system  195  that provides support to the planting head  130 , seedling handling system  140  and seedling chute system  150 . The apparatus  100  may include wheels  200 . In some embodiments, the apparatus  100  may further include a retractable ladder  210  or other access mechanism in order to allow an operator to access the seedling handling system  140  and other parts of the apparatus  100 . 
     In this example embodiment, the tractor  110  (or system) may include a surface clearing blade  220  that is connected to the front of the tractor  110 . The surface clearing blade  220  operates to clear the loose soil and debris in front of the tractor  110  as the tractor moves forward. In one embodiment, the surface clearing blade  220  pushes the soil and/or debris away from the path of the tractor  110 . The apparatus  100  is intended to provide for a fully automated tree planting system. The apparatus is intended to be sufficiently robust in order to operate in various environments, for example, bumpy or rocky terrain and the like. 
       FIGS. 2 and 3  are perspective views of the seedling handling system  140  with  FIG. 2  showing an empty seedling handling system  140  that is detached from the apparatus  100  and  FIG. 3  showing the seedling handling system  140  loaded with seedlings  415 . The seedling handling system  140  includes a plurality of chambers  400  for receiving seedling trays  412  that house the seedlings. Each chamber  400  is intended to be sized to fit or receive one tray  412  of seedlings  415  (see  FIG. 3 ). The chambers  400  may be connected and driven by a gear and drive system  410  such that once all the seedlings  415  within a tray  412  have been removed to be transferred or delivered to the seedling chute system  150 , the chamber  400  may be rotated away such that a subsequent chamber  400  loaded with at least one tray  412  of seedlings  415  can be rotated to the loading position  405  to be emptied by seedling chute system  150 . The retrieval of seedlings  415  may be performed by the seedling chute system at a loading position  405 . The gear and drive system (which in one embodiment can be a chain and sprocket drive system)  410  may be covered by an optional cover  420 . 
     In the embodiment shown in  FIG. 3 , it is intended that the seedling handling system  140  is able to hold or accommodate any number of seedlings in flats or trays  412  without the use of additional trays or the need to separate individual seedlings from the trays  412 . In  FIG. 3 , each chamber  400  is sized to hold six trays of seedlings  415 , however, it should be noted that other configurations of seedling handling system  140  are possible and within the scope of the present disclosure. 
       FIG. 4  illustrates one embodiment of seedling chute system  150 . As shown, a chamber  400  with seedlings  415  is positioned at the loading position  405 . In one embodiment, the chamber  400  is rotated into the loading position by the gear and drive system  410  after the seedling tray in the adjacent chamber has been emptied. The apparatus may include a controller  471 , or processor, to control the movement of the gear and drive system  410  or this may be controlled via a set of sensors that sense when a seedling tray is empty. Alternatively, the apparatus may include a controller that is pre-programmed with the characteristics of the seedling trays so that once a chamber of seedlings is emptied, the next chamber is moved to the loading position  405 . This may also be performed using a combination of these different controls. 
     A loader  450  is configured to retrieve a plurality (such as a row) of seedlings  415  from tray  412  when tray  412  is positioned at loading position  405 . In some cases, the loader  450  may be configured to retrieve four (4) seedlings  415 . In an alternative embodiment, such as disclosed below, the loader  450  may be configured to retrieve seven (7) seedlings at one time. It will be understood that the loader  450  may retrieve more or less seedlings  415  from tray  412  depending on the arrangement of the seedlings  415  in tray  412 . In some cases, the loader  450  will include a plurality of sections  455  with each section  455  corresponding to the size of a seedling receptacle  418  within tray  412 . Alternatively, the loader may include a plurality of gripping mechanisms with each gripping mechanism corresponding to a seedling receptacle within tray  412 . 
     The loader  450  may be connected to a frame  460  attached to the seedling handling system  140 . The frame  460  may include a sliding mechanism  465 , or other moveable mechanism that facilitates the loader  450  to retrieve seedlings  415  from tray  412 . This may be controlled by the controller  471 . The loader  450  includes an arm portion  452  connected to a set of loader sections  455 . In the embodiment shown in  FIG. 4 , loader  450  is shown to slide under and remove seedlings  415  from tray  412  within the chamber  400  of the seedling handling system  140  via the set of loader sections. Upon retrieval of seedlings  415  from tray  412 , sliding mechanism  465  may slide the loader  450  towards chute  470  to deposit the seedlings. The sliding mechanism  465  is intended to move laterally and vertically with respect to the frame  460  of the seedling chute system  150  to facilitate retrieval of seedlings  415  by loader  450  and deposit of seedlings  415  by loader  450  into chute  470  for transfer or delivery to planting head  130 . In one embodiment, the loader  450  is intended to move longitudinally along sliding mechanism  465  to retrieve consecutive groups of seedlings  415  to load in a chute  470 . 
     The chute  470  may include compartments  475  in a similar sizing, or design, as the loader sections  455  or the design of the seedling tray  412 . Each compartment  475  may be configured to receive a single seedling  415  and lowers each seedling to the planting head  130 . In an embodiment, each of the compartments  475  can have an independently-controlled valve therein (not shown). In one embodiment, the compartments can be pneumatically controlled. At a correct, or predetermined time, each valve can open independently and allow the seedling in the corresponding compartment  475  to drop via gravity down the chute  470  and into the planting head  130  (e.g. the 3-bladed pocket) for planting. In an alternative embodiment, the seedling can be inserted into the pocket via other pressures or forces, such as, but not limited to water or air. In an alternative embodiment, each compartment may be opened based on signals from a controller. It is intended that by providing a plurality of seedlings  415  to be received by the compartments  475  of chute  470 , the frequency with which the planting head  130  has to travel up to receive seedlings may be decreased and the efficiency and productivity of the method and apparatus of the disclosure may be increased. 
       FIGS. 5A to 8B  illustrate the longitudinal movement of the planting head  130  with respect to the seedling handling system  140 . 
       FIG. 5A  illustrates a front view of the planting head  130  at a raised position. The planting head  130  is configured to receive seedlings  415  from seedling chute system  150  and plant seedlings  415  into the ground. 
     To plant seedlings  415  into the ground, the planting head  130  is configured to slide longitudinally and translate laterally (relative to the tractor  110 ) as the tractor moves. Planting head  130  is configured to travel between the raised position ( FIGS. 5A and 5B ) and a lowered position ( FIGS. 7A and 7B ), the raised position for receiving seedlings  415  from the seedling chute system  150  and the lowered position for planting the seedlings  415  into the ground. 
     As shown in  FIGS. 5A to 8B , a body  250  of the planting head  130  is coupled to at least one sliding component such that the planting head can move between the raised and lowered positions. The body  250  provides stability to planting head  130 . Since the height of the planting head  130  should preferably remain below the seedling handling system  140  (e.g. to receive seedlings via gravity), at least one vertical cylinder or pump may extend above seedling handling system  140 . In the embodiment of  FIG. 5A , two cylinders  550  (as shown in  FIG. 8A  (where one is in front of the other) are used, and connected in parallel. A first cylinder is connected from the base to the sliding component  310 , and the second is connected from the sliding component  310  to a planting head sliding mount. This provides that the cylinders are overlapped but utilizes their full stroke length. 
     In the embodiment described herein, two supports  300   a  and  300   b  are provided that operate simultaneously although other arrangements involving more or less supports may be possible and their operation may be staggered in time. Although hidden in  FIG. 5 a   , it will be understood that there are corresponding supports behind supports  300   a  and  300   b . The supports  300   a  and  300   b  facilitate movement of the planting head  130  between the raised position (see  FIGS. 5A and 5B ) and the lowered position (see  FIGS. 7A and 7B ), through a partially-raised position (see  FIGS. 6A and 6B ), where in the raised position the body  250  of planting head  130  is spaced a greater distance from the ground than when the planting head  130  is in the partially-raised position. In the partially-raised position, the body  250  of planting head  130  is spaced a greater distance from the ground than when the planting head  130  is in the lowered position. 
     In the embodiments shown in  FIGS. 5A to 8B , the supports  300   a  and  300   b  rotatably couple to at least one longitudinal shaft  310  of the planting head  130  via a mounting portion  315  at couple points  316  and  317 . In one embodiment, the couple points  316  and  317  are spherical bushings. Couple  315  provides that, upon actuation of cylinder  320 , body  250  of planting head  130  can travel between the raised position and the partially-raised position by rotation of supports  300   a  and  300   b  about couple, of pivot points  316  and  317 , respectively about horizontal (or substantially horizontal) axes transverse and spaced from shaft  500 . In the current embodiment, the supports  300   a  and  300   b  can be seen as parallel arms. Coupling apparatus  315  slidingly couples to shaft  500  to provide for sliding movement of the coupling apparatus  315  in a transverse direction relative to the axes of rotation of supports  300   a  and  300   b  to provide for movement of the planting head  130  in a vertical direction between the partially-raised position (see  FIGS. 6A and 6B ) and the lowered position (see  FIGS. 7A and 7B ). 
     Body  250  of planting head  130  rotatably couples to supports  300   a  and  300   b  at couple, or pivot points,  318  and  319 . As previously described, upon actuation of cylinder  320 , body  250  of planting head  130  travels between the raised position, the partially-raised position and the lowered position as supports  300   a  and  300   b  rotate about couple, or pivot, points  316  and  317 , respectively. To maintain body  250  in a vertical orientation with respect to the ground (e.g. to maintain a face of body  250  to be substantially perpendicular to the ground), body  250  rotates about a horizontal axis transverse and spaced from shaft  500  at couple points  318  and  319  while planting head  130  travels between the raised position and the partially-raised position (e.g. while supports  300   a  and  300   b  rotate about couple points  316  and  317 , respectively). 
       FIGS. 6A and 6B  illustrate a front view and a side view, respectively, of the planting head  130  at the partially-raised position. In the current figures, supports  300   a  and  300   b  rotate, such as in a clockwise direction, about couple points  316  and  317 , respectively to lower body  250  to be proximate to the ground relative to the raised position. Additionally, body  250  has rotated about couple points  318  and  319  in a clockwise direction to maintain a vertical orientation of the face of body  250  relative to the ground. The partially-raised position provides that the body  250  is proximate to the ground to prepare for planting seedlings  415 , but protects against the body  250  striking the ground and thereby damaging seedling  415 . 
       FIGS. 7A and 7B  show a front view and a side view, respectively, of the planting head  130  at the lowered position. After movement of planting head  130  to the partially-raised position, to plant a seedling  415 , the body  250  is lowered into the ground by sliding the coupling apparatus  315  vertically towards the ground along shaft  310  until a tip  285  of body  250  creates a hole in the ground. 
       FIGS. 8A and 8B  illustrate a front and side view, respectively, of the planting head  130  at a lowered and extended position. After tip  285  of body  250  creates a hole in the ground for planting a seedling, to provide for continuous movement of the tractor  110  during planting, couple  315  continues to slide vertically towards the ground along shaft  310 . As the coupling apparatus  315  slides vertically towards the ground, supports  300   a  and  300   b  begin to rotate about couple points  316  and  317  in a counter-clockwise direction such that supports  300   a  and  300   b  approach a horizontal orientation with respect to the ground. Rotation of supports  300   a  and  300   b  counter-clockwise towards a horizontal orientation with respect to the ground provides that the body  250  may maintain its position in the hole created by tip  285  as the tractor  110  continues its movement away from the hole to provide the seedling  415  to rest within the hole. 
     It should be noted that as the planting head  130  travels between the position shown in  FIGS. 7A and 7B  and the position shown in  FIGS. 8A and 8B , the coupling apparatus  315  vertically slides to the ground under the force of gravity in what may be considered a hydraulic float state as both ends of the cylinder are vented to allow it to float freely. Also, the supports  300   a  and  300   b  are rotating due to the force applied by the coupling apparatus  315  as the coupling apparatus  315  drops. Pressure may be relieved on the “rod end” of cylinder  320  using a hydraulic pressure relieving valve (not shown) to provide for the body  250  of the planning head  130  to essentially “rest” in the planting position without excessive lateral forces acting in the same axis as the length of the apparatus  100  that would tend to push it out of its positon fore and aft with respect to the direction of travel of the apparatus  100 . Alternatively, the pressure in the cylinder(s)  550  are controlled to control the downward force of the planting head such that the planting head is inserted or urged into the ground under a specific pressure. Holding that pressure in the cylinder or cylinders  550  allows for elevation changes in the tractor or apparatus to be experienced without affecting the planting of the seedling or changing the position of the planting head. 
     In one embodiment, the flexibility or tilting of the body  250  of the planting head  130  to allow for side-to-side motion is preferably implemented using spherical bearings in, for example, 8 locations connecting supports  300   a  and  300   b  with the coupling apparatus  315  and body  250  (and the supports hidden behind  300   a  and  300   b ). In one embodiment, there is a tie-shaft to connect the two  300   b  arms to the pivot location  319  that permits full articulation of the planting head  250 . This system allows the lower tip of the planting head  250  to move side-to-side if an external force is exerted on it in this direction, again, allowing it to “rest” in its position in the ground during planting. 
     It is intended that the planting head  130  is adapted to quickly release each seedling  415  to provide for continuous planting while the tractor  110  remains in motion.  FIGS. 9A to 11B  show the movement of planting head  130  from a closed position to an open position (through a semi-open position) to provide for the release and planting of seedlings  415  when the planting head is in the lowered position. 
       FIGS. 9A and 9B  illustrate front and side views of the planting head  130  in a closed position (e.g. a position when the planting head is configured to receive a seedling  415  (not shown) from the seedling chute system  150 ). In the closed position, planting head  130  includes a bladed pocket  260  which is raised and lowered in relation to the ground. In the current embodiment, the bladed pocket  260  is formed by a plurality of retractable blades  265  and the body  250 , where retractable blades  265  and body  250  co-operate to form a substantially continuous perimeter configured to hold a seedling  415 . In the current embodiment, the bladed pocket  260  is triangular in shape, however, other shapes are contemplated. Bladed pocket  260  is configured to hold a seedling  415  when the planting head  130  is in the closed position. In the embodiment shown, retractable blades  265  are shaped such that a seedling can be inserted into a top portion of pocket  260  but is closed such that the seedling does not fall through a bottom portion of pocket  260 , thereby providing for pocket  260  to support a seedling  415  above the ground. Retractable blades  265  are configured to retract relative to each other (e.g. in a direction away from each other) to disrupt the continuous perimeter of pocket  260 . Upon retraction of blades  265  with respect to each other and the disruption of the perimeter of pocket  260 , a seedling  415  supported by the co-operation of blades  265  and body  250  will fall or be urged to pass through the bottom portion of pocket  260  (e.g. the blades  265  will release the seedling  415  from pocket  260 ). This will be described in more detail below. 
     In the embodiments shown herein, two retractable blades  265  are shown which are operated simultaneously, however other arrangements involving more blades may be possible and their operation may be slightly staggered in time. The two retracting blades lift up and out of the way so that the planting head  130  only has to lift out of the ground slightly before it can move forward with the tractor. The design and/or motion of the retractable blades is designed or selected such that the retracting blades do not collide and push the freshly planted seedling over by its stem as the tractor advances forward. 
     The planting head  130  also includes at least one tamper portion  270 . In the embodiment shown herein, two tamper portions  270   a  and  270   b  are shown although other configurations with more or less tamper portions are possible. Retractable blades  265  and tamper portions  270   a  and  270   b  may be moveable or controlled via pneumatic or hydraulic pumps  280   a  to  280   d . In the embodiments shown, pumps  280   b  and  280   d  can retract the retractable blades  265  while pumps  280   a  and  280   c  can move tamper portions  270   a  and  270   b , respectively. In some cases, gravity may be used to provide for the dropping of the planting head  130  and friction may be used to hold the planting head  130 . 
       FIGS. 10A and 10B  illustrate the planting head  130  in a semi-open position. Herein, pumps  280   b  and  280   d  have actuated to partially retract blades  265  with respect to each other showing the tip  285  of the planting head  130 . It is intended that the tip  285  be sufficiently pointed and rigid to provide support and an indentation in the ground for the seedling during the planting process. The seedling  415  (not shown) is intended to be released from pocket  260  adjacent to the tip  285  in the indentation or hole provided by the vertical movement of the planting head  130  into the ground. Tamper portions  270   a  and  270   b  are intended to aid in planting seedlings  415  by reducing the amount of soil that might fall back into the hole and potential injure or damage the seedling  415 . Tamper portions  270   a  and  270   b  may also have shoes attached (not shown) to indicate the proper depth of the planting tip  285  in the ground by lifting slightly from the lowered position due to the upward acting force of the soil. Once the retractable blades  265  have retracted and the seedling has fallen into the formed hole, the tamping portions  270   a  and  270   b  can compress the soil on an angle toward the root plug of the seedling to cover the root plug with soil for the completion of a successful seedling planting operation. If roots are exposed to air they will die, so the soil is preferably compressed against the roots to improve the chance of or ensure the survival and health of the seedling. 
       FIGS. 11A and 11B  illustrate the planting head  130  in a fully retracted position. As previously described, as the pumps  280   b  and  280   d  actuate, the retractable blades  265  retract with respect to each other (e.g. in a direction away from each other) to provide for release of seedling  415  from pocket  260 . Actuation of pumps  280   b  and  280   d  also provides for blades  265  to tilt upwards in a direction opposed to the ground. As shown in  FIG. 11B , retractable blades  265  are coupled to pump  280  via a coupling  290 . As shown as an example, actuation of pump  280   d  provides for rotation of coupling  290  about couple point  295 . Retractable blade  265  thereby is lifted away from the ground while tamper portion  270  maintains contact with the ground. 
     In some cases, spherical bearings or bushings may be used which is/are intended to allow for some undesired movement in the rotation and/or translation of the planting head without affecting the planting process. Allowing for the reaction to undesired rotation and/or translation is intended to provide the ability to deal with bumps or rocks in the soil as the tractor moves forward. 
     One embodiment of the planting process will now be described. The embodiment is disclosed with the assumption that the planting head is in the lowered position with seedlings already transferred into the seedling chute system and the pocket  260  empty. 
     As the tractor moves forward, the tip  285  prepares a hole for the seedling to be planted and the tamper portions stir the loose ground around the hole. A set of sensors, not shown, transmit signals to the controller representing the position of the tamper portions. In one embodiment, as the hole is being prepared, a seedling is transferred into the pocket via the seedling chute system. In another embodiment, the seedling is transferred once the blades are closed to form a pocket. Sensors are preferably located proximate the retractable blades to determine when the blades are closed (thereby forming the pocket) and when the blades are retracted (thereby not forming the pocket). In a preferred embodiment, the seedling is released into the pocket only when the sensors sense that the pocket is formed. The bottom of the pocket is in the hole that is prepared by the tip  285 . This is the position schematically shown in  FIGS. 9A and 9B . 
     In another embodiment, the controller may control the seedling chute system to release a seedling when the tamper portions are in a predetermined position, such as a tamping position whereby the tamper portions are either stirring the loose ground or tamping the soil, or both, and when the pocket has been formed. 
     As the truck continues to move forward, once the tamper portions have reached a second pre-determined position or based on a time period that has elapsed, the controller transmits a signal to the planting head to move into the planting position, such as schematically shown in  FIGS. 10A and 10B . As the retractable blades of the planting head open, or retract, to allow the seedling to drop into the hole created by the tip  285 , the tamper portions  270  move away from the seedling so as not to interfere with the planting of the seedling. In the preferred embodiment, the tamper portions are retracted along an axis by the pumps. 
     As discussed above, in order to plant the seedlings, the retractable blades open away from each other allowing the seedling to slide into the hole. In a preferred embodiment, the design of the retractable blades provides a guiding system to direct the seedling into the desired position. After the seedling is planted into the hole, the seedling preferably passes through an opening between the retracted blades as the tractor continues moving forward so that contact between the blades and the planted seedling is less likely or avoided. 
     As the tractor moves forward, the blades  265  are then pulled away from the ground in order to receive the next seedling. As the blades move away from the ground, the tamper portions are then urged back towards the ground (as schematically shown in  FIGS. 11A and 11B ). While the retractable blades are retracting, the tamper portions move towards the tamping position to tamp the soil around the root plug. As the retractable blades are being retracted, they are also closed in order to create the blade pocket to receive the next seedling. 
     After, or while, being retracted, the blades are closed and the pocket returns to the position of  FIGS. 9A and 9B  whereby a new seedling can then be transferred (such as by gravity) into the closed pocket. The process is then repeated for each of the seedlings transferred from the chute system. 
     After all the seedlings from the chute system have been planted, the seedling chute system and the planting head are urged by the supports  300   a  and  300   b  back to the seedling handling system in order to receive a next set of seedlings from the loader. Since the tractor continues to move as the seedlings are being planted, it is desired that the system is set up such that the motion of the seedling chute system and planting head is pre-programmed to obtain seedlings from the chute seedling system after the row of seedlings are planted and the timing of the apparatus designed to provide continuous planting. In one embodiment, this is controlled by the controller. 
     For instance, if the seedling tray contained rows of seven seedlings, the motion of the planting head after the first six seedlings are planted is to return to obtain another one from the chute seedling system, however, after the seventh seedling is planted, the chute seedling system and the planting head move from the lower position to the raised position to receive another set (or row) of seedlings from the seedling handling system. The motion of the planting head is preferably pre-programmed and based on an understanding of the capacity of the seedling tray. 
     In a preferred embodiment, use of spherical bushings provide multi-degrees of motion to the supports and planting head. Use of the spherical bushings allow the planting apparatus to compensate when the tractor is passing over uneven ground. In other words, the couple points, or the linkages are flexible. The spherical bushings allow the tractor to continue to move over the land, even if uneven, without affecting the planting of the seedlings. As such, the seedlings remain in a planted position with their root in the ground even if the tractor is going over bumpy ground. The spherical bushings allow the frame to sway, move or swing with respect to the uneven ground. 
       FIG. 12  illustrates the surface clearing blade  220  in further detail. The clearing blade  220  may connected to the tractor  110  via a support structure  350 . The support structure may include hydraulic or pneumatic attachments  360  that provide for the clearing blade  220  to maneuver in rocky or bumpy terrain and remove debris, for example, twigs, rocks and the like, from the path where the seedlings are intended to be planted. In a preferred embodiment, the clearing blade  220  has a flat or v-shaped front with angular sides  365 . The clearing blade  220  may include protrusions  370  along the bottom of the front and sides. It should be noted that the blade  220  may retract automatically if it collides with an obstruction like a tree stump or larger rock. In another embodiment, the surface clearing blade  220  may include a rotary drum to further assist in moving the debris away from the path of the tractor. 
       FIG. 13  illustrates the ripping blade  160  and soil fracturing discs  170 . The ripping blade  160  is intended to protrude into the surface of the earth to create a trench that will be aligned with the planting head  130 . It should be noted that the seedling doesn&#39;t drop into this trench as the soil fracturing discs  170  close the top of the ripped trench prior to the planting of the seedling. The trench is created to loosen the hard-packed soil beneath the loosened top soil layer of the field. This assists to promote healthy root growth by making it easier for roots to grow deeper as well as allowing water/nutrients to trickle down to the depth of the ripped trench and keep the tree hydrated in dry environments. As outlined above, the planting head  130  (via the tip  285 ) creates the hole in which to plant the seedling. The blades and/or discs may also inject fertilizer into the hole where the seedling is planted. 
     In one embodiment, the soil fracturing discs  170  are intended to close the top portion of the ripped trench and further cultivate the soil in order to prepare the area for receiving the seedling. The combination of the ripping blade  160  and soil fracturing discs  170  are intended to provide a tilling component to the planting apparatus  100 , which is intended to address the compacted, weedy or rocky nature of the soil. Although two soil fracturing discs  170  are shown, it will be understood that any number of discs may be used depending on the conditions of the soil and spacing between the discs. 
       FIG. 14  illustrates the fertilizing blades  180 . At least one blade  180  may be attached near a rear axle of the apparatus  100 , however, as outlined above, the fertilizer blades may be connected with one of the ripping blade and/or the soil fracturing discs. The fertilizing blades  180  may further aid in the tilling of the earth by, for example, loosening the soil or removing rocks or weeds from the trench created by the ripping blade  160 . Although two fertilizing blades are shown in  FIG. 14 , it will be understood that any number of blades may be included depending on the conditions on the soil and the spacing between the blades  180 . 
     In another aspect, there is provided a method for planting trees. The method includes loading a seedling handling system with seedlings to be planted. It is intended that the seedlings will be loaded into chambers of the seedling handling system via standard trays. A loader retrieves a plurality of seedlings from the seedling handling system and loads these seedlings into a seedling chute system. The seedling chute system releases the seedlings individually to be received by the planting head. The planting head is adapted to plant the seedling. 
     Turning to  FIG. 15 a   , a perspective view of another embodiment of a loader is shown. The loader  1000  has a generally similar function as loader  450  of  FIG. 4 . The loader  1000  includes a frame  1002  that is attached or mounted to the seedling handling system (not shown). A controller controls the motion of the loader  1000  to retrieve seedlings, or rooted cuttings from a seedling tray  1200 , such as schematically shown in  FIGS. 16 a    to  16   e.    
     In the current embodiment, as shown in  FIGS. 15 a  to 15 c   , the loader  1000  includes seven (7) gripping mechanisms  1004  for retrieving up to seven seedlings at a time from the seedling tray. It will be understood that the loader  1000  can have any appropriate number of gripping mechanisms  1004  depending on the size of the seedling handling system. Each gripping mechanism  1004  includes a pair of arms  1006  (or finger portions) and an apparatus for moving the arms  1008  with respect to each other between open and closed positions. In one embodiment, the apparatus  1008  may be a spring portion while in another embodiment, the apparatus may be based on the characteristics of the material used to manufacture the gripping mechanism. As shown in  FIG. 15 b   , the gripping mechanisms  1004  are in an open position while  FIG. 15 c    shows the gripping mechanisms  1004  in a closed position. Based on control signals transmitted from the seedling handling system (or controller), the gripping mechanisms  1004  close about a seedling in order to retrieve the seedling from the seedling tray. 
     In the current embodiment, the gripping mechanisms  1004  include a set of teeth  1010  for improving the grip between the gripping mechanism  1004  and the seedling, however, it will be understood that the surface of the gripping mechanism  1004  that contacts the seedling may also be smooth. The pressure applied by each arm  1006  of the gripping mechanism  1004  against the seedling is preferably set so that there is little or no damage to the seedling or root plug as the seedling is being handled or retrieved. By having the gripping mechanisms  1004  grip the seedling at the root plug, the force being experienced by the seedling from the gripping mechanisms may be more evenly distributed. 
     In one method of operation, the closing of the arms may be seen as a two-stage process. Initially, assuming that the arms are in the open position, a mechanical force is applied to the apparatus for moving the arms  1008  whereby the arms move towards each other in a parallel manner. When the apparatus for moving the arms  1008  reaches a predetermined position, the continued application of the mechanical force causes the arms to slowly rotate with respect to each other to enable a stronger grip on the seedling whereby the lower ends of the arm portion pinch together to provide a “tighter” grip against the seedling than the upper ends of the arm portions. 
     Turning to  FIGS. 16 a  to 16 e   , various views of an embodiment of a seedling tray are shown.  FIG. 16 a    is a top perspective view of the seedling tray  1200 ,  FIG. 16 b    is another top perspective view of the seedling tray  1200 ,  FIG. 16 c    is a bottom perspective view of the seedling tray  1200 ,  FIG. 16 d    is another top perspective view of the seedling tray  1200  and  FIG. 16 e    is a cross-section of the seedling tray  1200 . 
     As shown in  FIG. 16 a   , the seedling tray  1200  includes a set of seedling holders  1202  that are aligned with respect to each other. In the current embodiment, the holders  1202  are aligned in twelve (12) rows of seven (7) holders to produce a 12×7 matrix of seedling holders  1202 . The alignment and setup of the seedling holders is configured to align with the setup of the loader  1000  and based on the characteristics of the seedling handling system. As will be understood, the number of rows and holders can be any number that is reasonable for such application. As can be seen, in this embodiment, each row of seven holders is offset from its adjacent rows of holders, however, they may also be aligned with each other. The alignment of the seedling holders  1202  can be better seen in  FIG. 16   b.    
     Each of the seedling holders  1202  includes a pair of openings  1204  at a side of the holder  1202  configured to allow the arms  1006  of the gripping mechanism  1004  to enter the seedling holder  1202  to grip and retrieve the seedling. The openings  1204  are more clearly shown with respect to  FIG. 17  which is a close-up view of a seedling tray  1200  with seedlings  1206  stored within some of the seedling holders  1202 . 
     In the current embodiment, the seedling tray  1200  includes a set of walls  1220  that define the seedling holders  1202 . In an alternative embodiment, the seedling holders  1202  may be individual holders within the seedling tray  1200 . In a preferred embodiment, the seedling tray  1200  is manufactured out of a plastic. 
     As can be seen in  FIGS. 16 c  and 16 e   , the shape of each seedling holder  1202  is preferably conical with a bottom opening  1208  through which the roots of the seedling can extend. The bottom opening  1208  also allows for drainage, when necessary. The design of the seedling holders  1202  is such that when the loader  1000  is retrieving a set of seedlings, the gripping mechanisms  1004  grip the root plug of the seedling. Although not shown, within the seedling holders  1202  may be a set of protrusions or guiding apparatus for assisting in the positioning of the seedlings within the seedling holders  1202  such that the root plug of the seedling is aligned with the openings  1204  of the seedling holder  1202 . 
     In operation, the seedling handling system controls the loader  1000  and moves the loader  1000  towards the seedling tray  1200  which is depicted in  FIG. 18 . Although not shown, it will be understood that the seedling tray  1200  is generally located within a chamber of the seedling handling system. In  FIG. 18 , the gripping mechanisms  1004  are in the open position. The seedling handling system (or the controller) positions the loader  1000  such that each of the arms  1006  of each gripping mechanism  1004  are aligned with the openings  1204  of a seedling holder  1202 . This can be seen as the retrieval position of the loader  1000 . In one embodiment, the loader  1000  may include a sliding mechanism whereby the gripping mechanisms  1004  are slid towards the seedling tray  1200  into the retrieval position. In another embodiment, the frame  1002  of the loader  1000  may be hinged whereby the gripping mechanisms  1004  are moved into a position above the seedling tray  1200  and then urged downwards to the retrieval position. 
     After the loader is placed in the retrieval position, the arms  1006  of the individual gripping mechanisms  1004  are urged from the open to closed positions to grip and handle the seedlings. As outlined above, the arms  1006  preferably grip the seedlings at a root plug area of the seedling. When the apparatus for moving the arms is a spring portion, the movement of the arms may be achieved by biasing the spring portion. Although a spring portion is disclosed, it will be understood that other biasing apparatus are contemplated for opening and closing the arms  1006  of the gripping mechanism  1004 . As mentioned above, it is desired that the pressure applied by the arms  1006  against the root plug of the seedling is such that there is limited or no damage applied to the root plug or the seedling. After the gripping mechanisms have gripped the seedlings, the loader  1000  is urged away, such as upwards and away, from the seedling tray  1200  in order to remove the seedlings from the seedling tray and insert the seedlings into the seedling chute as discussed above.  FIG. 19  provides a view of the loader with a set of seedlings retrieved within its gripping mechanisms  1004  as it moves away from the seedling tray  1200 . 
     Turning to  FIG. 20 , a flowchart outlining a method of planting seedlings is shown. It is assumed that the seedling handling system has been filled with seedlings trays. Initially, a row of seedlings are retrieved  2000 , such as by the loader, for delivery to the seedling chute system  2002 . In one embodiment, the loader delivers and drops the row of seedlings into the individual compartments within the chute system. The system then delivers a seedling to the planting head  2004 . In one embodiment, the controller senses that the bladed pocket is empty and closed and then opens one of the compartments within the chute system, thereby allowing the seedling to enter the bladed pocket. As discussed above, this may be via gravity or via other forces, such as an air or water force. 
     The seedling is then planted by the planting head  2006 . Concurrently, as the seedling is being planted, the system determines if there are any more seedlings within the seeding chute system  2008 . If there are more seedlings, the controller releases another seedling into the planting head  2010  once it has determined that the bladed pocket is closed and ready to receive another seedling. If there are no more seedlings, the seedling chute system returns to receive a further row of seedlings from the seedling handling system. It will be understood that in one embodiment, as the row of seedlings are being individually planted, the seedling handling system may retrieve the next row of seedlings for delivery to the seedling chute system the planting of the seedlings can be performed on a continuous basis. 
     In the current flowchart, the different actions may be performed simultaneously and not necessarily in the order as shown in the flowchart. In the preceding description, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the embodiments. However, it will be apparent to one skilled in the art that these specific details may not be required. In other instances, well-known structures may be shown in block diagram form in order not to obscure the understanding. For example, specific details are not provided as to whether the embodiments described herein or elements thereof are implemented as a software routine, hardware circuit, firmware, or a combination thereof. 
     The above-described embodiments are intended to be examples only. Alterations, modifications and variations can be effected to the particular embodiments by those of skill in the art. The scope of the claims should not be limited by the particular embodiments set forth herein, but should be construed in a manner consistent with the specification as a whole.