Method and system for picking up and collecting plant matter

A system for picking up plant matter and for collecting the picked up plant matter in a tray having at least one compartment comprising:

• a surface whereupon a receptacle containing at least one piece of plant matter such as a plant embryo may be provided;
• a robotic arm provided with a pick up unit configured to pick up a piece of plant matter, wherein the robotic arm is able to move the pick up unit for picking up a piece of plant matter from the receptacle, to move the pick up unit a predefined confirming position for confirming the picking up of a piece of plant matter, and to move the pick up unit for depositing a picked up piece of plant matter into a tray comprising at least one compartment suitable for receiving picked up piece of plant matter;
• a camera system comprising an optical camera, said system being configured for capturing a first optical image being an image of at least one piece of plant matter arranged in a receptacle, and for capturing a second optical image in which a part associated with the picked up piece of plant matter does not overlap with a part, if any, that is associated with the receptacle;
• a controller configured for:
• detecting an isolated piece of plant matter in the first optical image;
• controlling the robotic arm to move the pick up unit to a position in which the unit can pick up the detected isolated piece of plant matter;
• controlling the pick up unit to perform a picking up action for attempting to pick up the detected isolated piece plant matter;
• controlling the robotic arm to move the pick up unit to a predefined confirming position;
• confirming the presence of a picked up piece of plant matter in the second optical image;
• and
• detecting that no picked up piece of plant matter is visible in the second optical image and controlling the robotic arm to move the pick up unit to a position in which it is able to pick up a further isolated piece of plant matter;
• and
• a blowing unit suitable for directing a pressurized gaseous medium at the receptacle, wherein the blowing unit is controlled by the controller, wherein the blowing unit comprises an air supply opening and passages through the pick up unit, wherein air supplied through the air supply opening is blown through the passages, and wherein the movement of the blowing unit is controlled by controlling the robotic arm;
• wherein the pick up unit comprises a pair of tweezers suitable for picking up an isolated piece of plant matter,
• said tweezers being part of the pick up unit, and
• wherein the tweezers are pneumatically actuated tweezers.