System and method for assisting reductive shaping of an object into a desired 3D-shape by removing material

1. System for assisting reductive shaping of plants to form a desired 3D-shape by removing material, comprising:

a tool configured to remove material from at least one plant by means of a cutting function performed by a working head of the tool,

localization means configured to determine a position of the working head relative to the desired 3D-shape, and

control means configured to deactivate the cutting function when the determined position of the working head relative to the desired 3D-shape is such that the cutting function would remove material from an inside of the desired 3D-shape.

2. System according to claim 1 , wherein

the tool is a handheld tool.

3. System according to claim 1 , wherein

the working head consists of a plurality of working head sections, which can be activated and deactivated separately.

4. System according to claim 1 , wherein

the tool comprises means for indication a direction of most efficient movement.

5. System according to claim 1 , wherein

the localization means comprises a camera unit and a processing unit configured to perform image processing of images captured by the camera unit.

6. System according to claim 1 , wherein

the tool and the control means are prepared to communicate wirelessly.

7. System according to claim 1 , wherein

the localization means is configured to obtain 3D information of at least the plant before or during operation.

8. System according to claim 7 , wherein

the localization means is configured to assist selection or positioning of the desired 3D-shape.

9. System according to claim 1 , wherein

the localization means comprises at least two localization units.

10. System according to claim 9 , wherein

the localization units are configured to calibrate their coordinate systems.

11. System according to claim 1 , wherein

the localization means is configured to determine its position in a consistent coordinate system after being moved from one position to another.

12. System according to claim 1 , wherein

the tool comprises a dedicated visual marker.

13. System according to claim 1 , wherein

the tool comprises means for triggering the localization means to record the tool's current position.

14. System according to claim 13 , wherein

the localization means is configured to determine a 3D-shape from a plurality of recorded positions of the tool.

15. System according to claim 1 , wherein

the system comprises a display means configured to display or generate a projection into a user's eye of a combination of the desired 3D-shape and an image representing a current status of operation.

16. Method for assisting reductive shaping of plants to form a desired 3D-shape by removing material from at least one plant, the method comprising the steps:

determining, by a localization means, a position of a tool's working head relative to the desired 3D-shape, and

deactivating, by a control means, a cutting function of the working head when the determined position of the working head relative to the desired 3D-shape is such that the cutting function would remove material from an inside of the desired 3D-shape.

17. Method according to claim 16 , wherein

a direction of most efficient movement of the tool is indicated by the tool.

18. Method according to claim 16 , wherein

the localization means determines its position in a consistent coordinate system after being moved from one position to another.

19. Method according to claim 16 , wherein

a current position of the working head of the tool is recorded when a respective trigger signal is received by the localization means.

20. Method according to claim 19 , wherein

a 3D-shape is calculated from a plurality of recorded positions.