BRPI0811990B1 - A method for determining whether a seed exhibits a desired phenotype, a system for separating a plurality of seeds based on identified seed phenotypes, and a method for determining whether individual seeds within a plurality of seeds exhibit a desired phenotype - Google Patents

Description

Patent Descriptive Report for "METHOD FOR DETERMINING IF A SEED EXHIBITS A DESIRED FENOTYPE, SYSTEM FOR SEPARATING A SEED PLURALITY ON IDENTIFIED SEEDS AND METHOD FOR DETERMINING INDIVIDUAL DIFFERENTIAL SEED SEEDS .

FIELD

[001] The present description generally relates to automated systems and methods for separating small agricultural objects, such as seeds, based on image analysis. BACKGROUND

The statements in this section merely provide background information related to the present description and may not constitute prior art.

In the agricultural industry, and more specifically in the seed growing industry, it is important for scientists to be able to analyze seeds with high yields. By this it is meant that seed analysis preferably takes place not only rapidly but also reliably and with high total volume. For example, in seed cultivation large numbers of seeds are analyzed to determine if the seeds have particular phenotypic traits or markers of interest. Historically, seeds are examined manually, weighed, identified for the presence or absence of desired traits or markers and then separated. Such manual seed analysis is a tedious and laborious task subject to human error.

SUMMARY

The present disclosure generally relates to systems and methods of separating individual seeds from a seed plurality based on one or more identified phenotypes of each respective seed. The methods are particularly suited for automation, allowing for greater separation efficiency and throughput than previously possible. With automated seed separation allowed by the various embodiments of the present disclosure, it is possible to analyze each seed in the population, and to separate those identified as having a trait or trait, for example, haploid seeds, from other seeds at a high yield rate.

In various embodiments, the present disclosure provides a method of determining whether seeds within a plurality of seeds exhibit a desired phenotype. The method includes loading individual seeds at an imaging stage, directing light into the seeds from at least two directional angles and at a plurality of sequentially changing spectral wavelengths, collecting image data from from at least two parts of each seed selected from an upper part, a lower part and a plurality of side parts of each seed at each of the spectral wavelengths, and analyzing the collected image data to determine whether each seed exhibits a desired phenotype.

In various other embodiments, the present disclosure provides a seed separation system for separating a plurality of seeds based on identified seed phenotypes. The system includes a structured and operable seed loading station for loading a plurality of seeds into a seed tray such that each seed is deposited in a corresponding well within a plurality of wells in the seed tray. Additionally, the system includes at least one structured imaging station for acquiring seed tray image data loaded in each of a plurality of filtered spectral wavelength bands for each of a plurality of viewing angles. The system further includes a structured discharge and sorting station for selectively separating each seed for a particular deposit from a plurality of seed deposits based on whether each respective seed includes a desired phenotype as determined by analyzing the seed data. acquired image.

In other various embodiments, the present disclosure provides a method for the automatic separation of desired seeds from a seed population. The method includes loading each plurality of seeds into a plurality of corresponding wells in the seed tray. Image data from the loaded seed tray is then collected in a plurality of spectral wavelength bands. Controlled image data is then analyzed to determine if each seed demonstrates the desired phenotype. In other various embodiments, the present disclosure provides a method for the automatic separation of haploid seeds from a seed population. The method includes depositing a plurality of seeds into a seed tray comprising a plurality of wells, each seed being deposited in an individual seed tray well and creating the seed image within the seed tray to identify seeds having a given phenotype, and separating seeds identified as having the desired phenotype for a corresponding seed deposit.

In other various alternative embodiments, the present disclosure provides a seed separation system for separating a plurality of seeds based on identified seed phenotypes. The system includes a seed loading station structured to load a plurality of seeds into a seed tray so that each seed is deposited in a corresponding well within a plurality of wells in the seed tray. Additionally, the system includes a first structured and operable imaging station for acquiring image data from an upper seed tray loaded on each of a plurality of filtered spectral wavelength bands. The system further includes a second structured and operable imaging station for acquiring image data from a lower seed tray loaded on each of a plurality of filtered spectral wavelength bands. Additionally, the system includes a structured and operable unloading and sorting station to selectively separate each seed for a particular deposit from a plurality of seed deposits based on whether each respective seed includes a desired phenotype as determined by data analysis. acquired image

In other various embodiments, the present disclosure provides a method for automatic seed identification having a desired phenotype in a seed population. The method includes loading a plurality of seeds into a seed tray comprising a plurality of wells and a transparent bottom. Each seed is deposited in a respective individual seed tray well. Light is then directed to a top of the loaded seed tray using at least two first light sources positioned to provide different angles of upper illumination. The method further includes sequential passage of reflected light from the top of the seed tray carried by each separate first light source through a plurality of spectral filters to sequentially filter the specific spectral wavelengths of reflected light from of each first light source. Image data from the top of the loaded seed tray is then sequentially collected as each spectral filter is sequentially applied to the reflected light from each separate upper illumination angle. The method further includes directing light into a lower part of the loaded seed tray using at least a second light source positioned to provide at least a lower illumination angle. The method further includes sequentially passing reflected light from the bottom of the loaded seed tray by at least one second light source through a plurality of spectral filters to sequentially filter the specific spectral wavelengths. Image data from the bottom of the loaded seed tray is then sequentially collected as each spectral filter is sequentially applied to reflected light from at least one lower illumination angle. The collected upper and lower image data are then analyzed to determine if each seed in the seed tray does not have a phenotype indicative of a diploid trait, so that the seed is classified as a haploid.

In other various embodiments, the present disclosure provides a seed separation system for separating a plurality of seeds based on identified seed phenotypes. The system includes at least one structured imaging station for acquiring image data from at least one viewing angle of the seed tray loaded into each of a plurality of filtered spectral wavelength bands for each. from a plurality of lighting angles.

In further embodiments, the present disclosure provides a method of determining individual seeds from a plurality of seeds exhibiting a desired phenotype. The method includes loading each seed of a seed set at a respective stage from a plurality of mirror imaging stages having transparent backgrounds, and substantially simultaneously directing light, at a plurality of sequentially changing spectral wavelengths. at the top and bottom of each loaded mirroring stage loaded. The method further includes substantially simultaneous image data collection for an upper part, a lower part, and a plurality of side parts of each loaded seed at each of the spectral wavelengths, analyzing the collected image data to determine whether each seed exhibits a desired phenotype, and the selective deposition of each seed from the seed set into a respective seed deposit selected from a plurality of seed deposits based on determining whether each respective seed exhibits the desired phenotype.

In further embodiments, the present disclosure provides a system for separating a plurality of seeds based on identified seed phenotypes. The system includes a structured and operable optical and controller station for substantially simultaneously collecting image data from an upper part of each respective seed in a seed set, a lower part of each respective seed in the seed set and a plurality of side parts of each respective seed in the seed set. The optical and controller station is additionally structured and operable to analyze the collected image data to determine if each seed exhibits a desired phenotype. The system further includes a structured and operable seed loading, transport and sorting station for separating each seed from the seed set from a plurality of seeds in a seed volume hopper, transporting the seed set to the station. and selectively separate each seed for a respective deposit from a plurality of seed deposits based on whether each respective seed exhibits the desired phenotype.

In other additional embodiments, the present disclosure provides a method of determining whether individual seeds within a plurality of seeds exhibit a desired phenotype. The method includes loading each seed of a seed set at a respective stage from a plurality of mirroring stages having transparent backgrounds, and substantially simultaneous directing of light over a plurality of sequentially changing spectral wavelengths in one top and one bottom of each loaded mirroring stage loaded. The method further includes substantially simultaneously collecting image data for an upper part, a lower part and a plurality of side parts of each seed loaded at each of the spectral wavelengths. The method further includes analyzing the collected image data to determine if each seed exhibits a desired phenotype, and selectively depositing each seed of the seed set into a respective deposit selected from a plurality of seed deposits based on determining whether each seed displays the desired phenotype.

Additional areas of applicability of the present teachings will become apparent from the description provided herein. It should be understood that the description and specific examples are for illustration purposes only and should not limit the scope of the present teachings.

DRAWINGS

The drawings described herein are illustrative only and should not limit the scope of the present teachings in any way.

Figure 1 is a block diagram of an automated and operable seed sorting system for sorting a plurality of seeds, imaging, analyzing and sorting each seed, and sorting each seed based on classification according to various embodiments of the present disclosure;

Figure 2a is an isometric view of the seed separation system shown in Figure 1 according to various embodiments of the present disclosure;

Fig. 2b is a functional block diagram of the seed separation system shown in Fig. 2a according to various embodiments of the present disclosure;

Figure 3a is an isometric view of a seed loading station of the seed sorting system shown in Figure 2a according to various embodiments of the present disclosure;

Figures 3b and 3c are schematic side views of a choice part of the charging station illustrated in Figure 3a;

Figures 3 and 3e are schematic side views of a translation part of the seed loading station illustrated in Figure 3a;

Figure 4a is an isometric view of a seed transport subsystem of the seed separation system shown in Figure 2a according to various embodiments of the present disclosure;

Fig. 4b is a top view of the transport subsystem illustrated in Fig. 4a;

Fig. 5a is a front view of a first imaging station of the seed separation system shown in Fig. 2a, according to the various embodiments of the present disclosure;

Fig. 5b is a side view of the first imaging subsystem illustrated in Fig. 5a;

Fig. 6a is a front view of a second imaging station of the seed separation system shown in Fig. 2a according to the various embodiments of the present disclosure;

Fig. 6b is a side view of the second imaging subsystem illustrated in Fig. 6a;

Fig. 7a is an isometric view of a seed separation system discharge station illustrated in Fig. 2a according to various embodiments of the present disclosure;

Fig. 7b is a schematic side view of the discharge station illustrated in Fig. 7a;

Fig. 8 is a top view of the seed separation system shown in Fig. 2a;

Fig. 9 is a flowchart illustrating an illustrative overview of the operation of the seed separation system shown in Fig. 2a according to various embodiments of the present disclosure;

Figures 10a to 10f are illustrative illustrations of images collected from a single seed tray at various spectral bandwidths using the seed separation system shown in Figure 1;

Fig. 11 is a flowchart illustrating an overview of an illustrative image analysis process performed by a central controller system of the seed sorting system, illustrated in Fig. 2a, for classifying and sorting seeds that have had their seeds. images created by the seed separation system according to various embodiments of the present disclosure;

Figures 12a to 12d are representative and tabular illustrative illustrations illustrating the results of the various steps of the image analysis process illustrated in Figure 11;

Fig. 13a is a side view of a seed separation system shown in Fig. 1 according to various other embodiments of the present disclosure;

Figure 13b is a side view of the seed separation system shown in Figure 13a separated into a first module and a second module according to various embodiments of the present disclosure;

Fig. 14 is a functional block diagram of the seed separation system shown in Figs 13a and 13b according to various embodiments of the present disclosure;

Fig. 15a is an isometric view of a loading and transport subsystem of the seed sorting system shown in Fig. 13a according to the various embodiments of the present disclosure;

Fig. 15b is a side view of an exhaust assembly of the loading and transport subsystem illustrated in Fig. 15a according to the various embodiments of the present disclosure;

Fig. 15c is a top view of an exhaust assembly retaining slide shown in Fig. 15b according to various embodiments of the present disclosure;

Fig. 15d is an isometric view of a load and carry subsystem loader illustrated in Fig. 15a according to various embodiments of the present disclosure;

Fig. 15e is an isometric view of a pair of loader loading shoes illustrated in Fig. 15d according to various embodiments of the present disclosure;

Fig. 15f is an isometric view of a lower side of the pair of loading shoes shown in Fig. 15e according to various embodiments of the present disclosure;

Fig. 16 is an isometric view of an imaging and analysis subsystem of the seed separation system shown in Fig. 13a according to various embodiments of the present disclosure;

Fig. 16a is an isometric view of a portion of an imaging theater included in the imaging and analysis subsystem illustrated in Fig. 16 in accordance with the various embodiments of the present disclosure;

Figure 16b is an isometric view of an imaging stage assembly included in the imaging theater portion illustrated in Figure 16a, illustrating the trapdoor backgrounds of a plurality of imaging stages in one position. seed elimination according to various embodiments of the present disclosure;

Fig. 16c is a cross-sectional view along line C-C of a mirror fitting of imaging stages 16b in accordance with various embodiments of the present disclosure;

Fig. 16d is an isometric view of a lower mirror assembly of the imaging theater shown in Fig. 16 in accordance with various embodiments of the present disclosure;

Fig. 16e is a cross-sectional view along line E-E of the mirror assembly shown in Fig. 16d according to various embodiments of the present disclosure;

Figure 16f is a side view of the seed separation system shown in Figure 13a, including a dark room enclosure, in accordance with various other embodiments of the present disclosure;

Figure 17a is an isometric view of a discharge and separation subsystem of the seed separation system shown in Figure 13a according to various embodiments of the present disclosure;

Figure 17b is a side view of an image seed separator created from the discharge and separation subsystem illustrated in Figure 17a, according to the various embodiments of the present disclosure;

Figure 17c is a side view of a pair of separation channels and seed diversion plugs included in the created image seed separator illustrated in Figure 17b, according to various embodiments of the present disclosure;

Fig. 18 is an illustrative flowchart illustrating the general operation of the seed sorting system illustrated in Fig. 13a according to the various embodiments of the present disclosure;

Fig. 19 is a flow chart illustrating an overview of an illustrative image analysis process performed by a main control system of the seed separation system shown in Fig. 13a according to various embodiments of the present disclosure;

Figures 20a, 20b and 20c are illustrative representations showing the results of various steps of the image analysis process illustrated in Figure 19; Figure 20a illustrates an illustrative representation of a "top view" image after a background mask has been applied; Figure 20b shows an illustrative representation of a "top view" image after first size background and boundary masks have been applied; and Figure 20c shows an illustrative representation of a "top view" image after the bottom mask, first size limit mask and filler and erosion mask have been applied.

DETAILED DESCRIPTION

The following description is merely illustrative in nature and should not in any way limit the present teachings, application, or uses. Throughout this specification, numeric references will be used to refer to similar elements.

Figure 1 is a block diagram of an automated seed sorting system 10 that is structured and operates to receive a plurality of any desired seed type, sort the seeds, image and analyze each separate seed to identify the seeds. desired characteristics and phenotypes, and separate the seeds based on the desired characteristics and phenotypes identified. Generally, automated seed sorting system 10 includes a loading and transport (L&T) subsystem 11 that is structured and operates to receive the plurality of desired seed types, sort seeds and transport seeds to a breeding subsystem. (I & A) 12. The I & A subsystem 12 is structured and operates to collect the image data from each separate seed and analyze the collected image data to classify each respective seed. For example, each seed may be classified based on whether each respective seed has one or more of the desired characteristics or phenotypes.

[0059] A discharge and separation subsystem (OL&S) 13 then separates each respective seed into a particular deposit from one or more of the plurality of seed deposits based on the classification of each respective seed. For example, all seeds having one or more of the desired characteristics or phenotypes as identified by subsystem 1 & A 12 may be separated into one or more of the corresponding seed deposits, while all seeds lacking one or more of the characteristics or phenotypes. Desired types can be separated into one or more of the other corresponding seed deposits. Similarly, all seeds for which you are not sure whether or not you have one or more of the desired characteristics or phenotypes may be separated into one or more of the other corresponding seed deposits. Additionally, all rejected seeds, for example partial seeds, double seeds or seeds that do not meet the predetermined size criteria, may be separated into one or more of the other corresponding seed deposits. The automated seed sorting system 10 further includes a central control system 16 which is structured and operates to control all operations of the seed sorting system 10. That is, the central control system 16 simultaneously controls and coordinates the operations of each of the L&T 11 subsystem, L&A 12 subsystem, and OL&S 13 subsystem to perform the separation, imaging, analysis and separation of each from the plurality of seeds loaded into the L&T 11 subsystem as described below.

It will be understood that the various embodiments of the seed separation system 10 illustrated and illustrated illustratively herein include various stationary clamps, beams, platforms, pedestals, supports, etc., to which various components, devices, The mechanisms, systems, subsystems, assemblies and subsets described herein are coupled, connected and / or assembled. Despite such clamps, beams, platforms, pedestals, brackets, etc. necessary to construct the various embodiments of the seed separation system 10, the description of their placement, orientation and interconnections is not necessary for those skilled in the art to easily and completely understand the structure, function and operation of the various embodiments. In addition, such clamps, beams, platforms, pedestals, brackets, etc. are clearly illustrated by all figures and as such their placement, orientation and interconnections are readily understood by those skilled in the art. Therefore, for simplicity, such clamps, beams, platforms, pedestals, brackets, etc. will be referred to herein merely as system support structures, without any further description of their placement, orientation, and interconnections.

Referring now to Figure 2a, in various embodiments, the seed sorting system 10 may be a four station rotary conveyor seed sorting system where the L&T subsystem 11 may comprise a seed loading station. 100 and a rotary seed transport subsystem 200, subsystem l & A 12 may comprise a first seed imaging station 300 and a second imaging station 400, and OL&S subsystem 13 may comprise a discharge and separation station Additionally, the central control system 16 of the seed separation system 10 may comprise a main control system 600.

Referring to Figures 2a and 2b, Figure 2b illustrates a functional block diagram of the seed separation system shown in Figure 2a, according to various embodiments. Generally, in such embodiments, seed separation system 10 is structured and operates to isolate a plurality of seeds from a seed volume hopper 104 and place the isolated seeds in one of a plurality of multiwell seed trays. 14 in the seed loading station 100. More particularly, the seed trays 14 include a transparent bottom, for example a quartz bottom, as described below. The seed trays 14 are retained within an indexing conveyor table 202 of the transport subsystem 200 which is structured and operates to incrementally position each seed tray 14 into, that is, adjacent to each loading station 100, first. imaging station 300, second imaging station 400 and unloading station 500. The seed separation system 10 is additionally structured and operates to collect multiple images from at least one side of the seeds within the seed tray 14, through the first imaging station 300. The seed separation system 10 is additionally structured and operates to collect multiple images from at least one other side of the seeds within the seed tray 14 via the second imaging station. 400. Images collected at the first and second 300 and 400 imaging stations can be any desirable type. of images. For example, the images may be visual images, near infrared (NIR) images, or NMR / MRI images, or any other type of images. In various embodiments, the first and second imaging stations 300 and 400 collect a plurality of digital images at various spectral wavelengths.

In further embodiments, this invention contemplates automated separation of haploid seed based on characteristics detectable with analytical instruments in addition to optical detection. For example, the seed may be stored based on a characteristic other than color or fluorescent markers, such as an oil content. The invention further contemplates an apparatus and method for automated haploid seed separation which is based on a variety of analytical techniques which when used together can facilitate highly automated separation of haploid and diploid seeds where MRI and NMR technology is used. employed in parallel or as a substitute for the optical technology of the present invention.

In a specific aspect, the seed will be separated based on oil content, taking advantage of phenotypic differences between haploid and diploid seeds in oil content, which is generally lower in haploid seed than in diploid seed. It is possible to increase the difference in oil content between haploid and diploid seed by using a haploid induction line that has been created for increased oil, thereby allowing automated phenotypic separation of a seed population based on the content. of Oil. Methods of detecting seed oil content using magnetic resonance imaging (MRI) have been described in U.S. Patent No. 7,367,155, which is incorporated herein by reference in its entirety. Oil content separation can greatly reduce the time to select haploid seed for use in germplasm enhancement activities, as well as facilitating the separation of a much larger volume of seeds.

As further described below, in various embodiments, the seed separation system 10 illustrated and described with reference to figures 1 to 12d may be structured and operates to implement multiple variance analysis to analyze the image data of the multiple images. first and second imaging stations 300 and 400. More particularly, in such embodiments, image data may be communicated to the main control system 600 where multiple variance analysis is performed on the collected image data to identify if the individual seeds in seed tray 14 have one or more of the desired phenotypes, that is, observable traits and / or characteristics. Additionally, seed sorting system 10 is structured and operates to unload each seed individually from each seed tray 14 and separate each seed into a particular deposit from a plurality of seed deposits 18 based on the identified seed phenotype. as determined by multiple variance analysis.

The operation of the seed separation system 10 as illustrated and described with reference to figures 1 to 12d is controlled and automated by the main control system 600 such that the operations performed by the charging station 100, the first and second ones. 300 and 400 imaging stations, and unloading station 500 occur substantially without the need for human interaction, intervention or control. However, such actions as loading seeds into seed volume hopper 104 and / or manipulating and / or physically altering seed deposits 18 (individually or collectively) and various other necessary manual settings and / or calibrations may be performed. manually with human participation.

Generally, in various embodiments, the main control system 600 may include one or more processors and / or microprocessors, and one or more electronic data storage devices used to store and execute various custom programs, application, and / or algorithms. for operation of the seed separation system 10. Accordingly, the main control system 600 may comprise a specially programmed computer, or computer system, in communication with the associated system devices that enable communication with and control of the multi-station operations and corresponding components 22 of the seed separation system 10. Although the main control system 600 is illustrated in Figure 2a as a single unit, the main control system 600 may be a single computer based system or a plurality of networked computer-based subsystems together to coordinate operations simultaneous actions of the seed separation system 10 as described herein. For example, in various embodiments, master control system 600 may include a plurality of peripheral control subsystems 604, for example, a peripheral control subsystem 604 for each station described herein. Each peripheral control subsystem 604 may include one or more processors, microprocessors and electronic data storage devices that communicate with various components of seed separation system 22, for example sensors, devices, mechanisms, motors, tools, etc. ., and are networked together with a master control subsystem 608 to cooperatively operate all stations, systems, and subsystems of the seed sampling system 10, as illustrated and described with reference to figures 1 to 12d. Or, alternatively, the main control system 600 may comprise a single computer communicatively connected to all the various system components 22 to cooperatively operate all stations, systems, and subsystems of the seed sampling system 10, as illustrated and described herein. reference to figures 1 to 12d.

In addition to the programming storage for controlling the operation of the seed separation system 10, electronic data storage devices (or other data storage functionality, not explicitly illustrated but inherently present) provided within the system. Main control devices 600 are used to store the collected images and image data related to each individual seed within the seed tray 14 in a database or other suitable format. Additionally, the main control system data storage devices 600 may also store location data received from or derived with respect to the operation control of unloading station 500 relative to the deposits 18 where the seeds were deposited. This location data is correlated in the database or other format with the image data based on each individual seed.

As described above, the main control system 600 communicates with various seed separation system components 22 which include various system sensors. The system sensors operate to detect conditions of interest during the operation of the seed separation system 10 and communicate this information to the main control system 600. With this information, the main control system 600 generates control commands that perform the operations and actions of various stations and components of the seed separation system 10. For example, the perceived condition information may refer to: successful loading of seeds from seed hopper 104; positioning of trays 14 along the transport path during operation of the transport subsystem 200; the deposition of each seed within the appropriate seed deposit 18; the situation (e.g., position, location, vacuum, pressure, and the like) of various component parts of the various stations 100, 300, 400 and 500; operation, maintenance, performance and error return of the various components of each station 100, 300, 400 and 500 (separate from, or perhaps comprising or in conjunction with the collected data); and the like. More specifically, sensor information that is collected and processed for use in controlling the operation of seed separation system 10 may include information such as: temperature; voltage; chain; pressure; and the like, which can be monitored for the operation of each of the stations, subsystems and associated components of the seed separation system 10.

Referring now to Figures 2a and 3a, according to various embodiments, seed loading station 100 includes a seed feed mechanism 106 positioned under an outlet 108 of seed volume hopper 104. Seed feed generally includes a feed platform 110 operably connected to an X-axis linear actuator via a translational stage 118. In operation, a large amount of seed is placed either manually or by automated means into the feed hopper. seed volume 104 through a seed volume hopper inlet 122. The seeds are then distributed at a desired rate to the feed platform 110 being linearly alternated along the X axis so that a front edge 126 of the feed platform 110 moves linearly back and forth through a portion of an open top d and a seed collection reservoir 130. The output of the seed volume hopper 108 is structured such that as the feed platform 110 moves in a first direction toward the seed collection reservoir 130, a desired amount Then, as the feed platform alternates in a second direction away from the seed collection reservoir 130, a front ferrule 134 from the hopper outlet 108 pushes the newly distributed seeds into the feeder. direction of the leading edge 126 of the feeding platform 110. This causes a certain amount of seed near the leading edge 126 of the feeding platform to fall into the seed collection reservoir 130.

Referring further to Figures 3b and 3c, the seed collection reservoir 130 includes a plurality of concave (inwardly inclined) lower portions 136. The inclined portions 136 serve to direct the seeds through the force of gravity towards a bottom 138 of the seed collection reservoir 130, thereby allowing the seed loading station 100 to isolate and load individual seeds into the seed collection reservoir 130 in a corresponding seed tray 14 as described. below, down, beneath, underneath, downwards, downhill. At the bottom 138 of each concave portion 136 is an opening 140. Positioned within each opening 140 is a linear air piston 142. When positioned in a retracted or un-actuated position, as illustrated in Figure 3b, a end 144 of each piston 142 is located so that it is substantially flush with the bottom 138 of each respective opening 140. It will be recognized that "substantially flush" in this context includes a position slightly below the bottom 138 where the opening 140 may act to retain or taper an individual seed for subsequent capture by the respective piston 142 as described below.

The end 144 of each piston 142 is provided with a concave depression 146 (illustrated by dotted lines) having a perimeter that is slightly smaller than the outside diameter of the piston 142. The perimeter of the depression 146 is generally sized to be the same size as, or slightly larger than the expected average size of the seeds deposited within the seed collection reservoir 130. This permits the handling of individual seeds of uneven size and / or shape. An air actuator 148 operates under the control of the main control system 500 to linearly move the pistons 142 between the retracted position shown in figure 3b and an extended or actuated position shown in figure 3c. Although air actuator 148 is illustrated as a single air actuator configured to simultaneously manipulate the position of each piston 142, it will be understood that seed loading station 100 may include a separate and separate air actuator 148 for each piston 142.

In operation, when pistons 142 begin to move from retracted to extended position, concave depression 146 at each piston end 144 captures an individual seed from the seeds of the collected seed mass (usually indicated by 150) at the seed collection reservoir 130. As pistons 142 move to the extended position, captured seeds are lifted above the seed collection mass 150 to a location approximately on an upper edge 152 of the seed collection reservoir 130. Once Since the pistons 142 are in the extended position and the seeds have been raised to the upper edge 152, it is necessary to remove the captured seeds from the ends of the respective pistons 142 for further handling.

To remove the captured seeds and place them in a seed tray 14 held on or on the indexing conveyor table 202 illustrated in Figure 2a, the seed loading station 100 additionally includes a collecting and placing device 154 The pick and place device 154 generally includes a head unit 156 operably coupled to an XY translation stage that operates to bidirectionally move the head unit along the X and Y geometry axes. includes a plurality of vacuum cups 160 arranged and oriented to correspond longitudinally with the pistons 142. Accordingly, when the pistons 142 are in the extended position, the seeds captured on each piston are positioned adjacent a corresponding cup between the pistons. vacuum cups 160. In various embodiments, when the pistons 142 are in the extended position, the captured seeds are light the corresponding vacuum cups 160. To minimize the likelihood of damage from such contact, each vacuum cup 160 may be spring-loaded so that each vacuum cup 160 contacts the respective seeds with pressure. undesirable effect.

Once the pistons are in the extended position and the captured seeds are in close proximity, or in light contact with the vacuum cups 160, a light vacuum is created (illustrated by dotted arrows 162) to remove the seeds from the pistons and maintain seeds within vacuum cups 160. The vacuum pressure used to remove and retain seeds is controlled by the main control system 600. This vacuum can be created using Ven-turi forces in a manner well known in the art. The pistons 142 are then withdrawn into the stowed position, leaving the head unit 156 "loaded", that is, having the seeds trapped within the vacuum cups 160, and the process of capturing a subsequent set of seeds is initiated.

Referring now to Figures 3a through 3d, since the individual seeds are removed from the pistons and held by the vacuum cups 160, the seeds are located in a seed tray 14. More particularly, each seed tray includes a plurality of wells 30 and each individual seed is located in a corresponding well among the seed tray wells 30. To place the seeds in the seed tray wells 30, the translational stage XY 158 moves the head unit 156, including vacuum cups 160 and seeds held therein along the X axis to a position above a seed tray 14 positioned adjacent to the seed loading station 100. More specifically, the translational stage XY 158 positions the "loaded" head unit 156 through the respective seed tray 14 so that each vacuum cup 160 and the respective seed held therein is above a well of the respective seed tray 30. As described above, the indexing conveyor table 202 is controlled by the master control system 600 to incrementally advance one or more seed trays 14 to sequentially position each seed tray 14 adjacent each of the charging stations 100, first imaging station 300, second imaging station 400 and unloading station 500.

Each vacuum cup 160, under the control of the main control system 600, then releases the respective seeds, thereby depositing each seed in the corresponding seed tray well 30. In various embodiments, vacuum cups 160 may emit a positive pressure to assist the forces of gravity in releasing the seeds from vacuum cups 160 and depositing the seeds in the respective seed tray wells 30.

Referring now to Figure 3e, in various embodiments, when the head unit 156 is positioned above a seed tray 14, the indexing conveyor table 202 and the seed trays 14 may be at a distance below the head unit so that movement of the head unit 156 along the Y axis is necessary to accurately and consistently deposit the seeds into the seed tray wells 30. In such embodiments, the translational stage XY 158 , under the control of the main control system 600, operates to move the head unit 156 along the Y axis to position the seeds retained in the vacuum cups 160 in proximity to the seed tray wells 30. The seeds may then be released or ejected from vacuum cups 160 such that each seed is deposited into a respective well within the seed tray wells 30.

In various embodiments, head unit 156 includes the same number and arrangement of vacuum cups 160 as wells 30 in seed trays 14. For example, if seed trays 14 have twenty-four wells 30 disposed in In a 4 x 6 set shape, the head unit 156 will also include twenty-four vacuum cups 160 arranged in a 4 x 6 set shape that corresponds to the 4 x 6 set shape of the seed tray wells 30. Thus, a seed tray 14 can be fully loaded with seeds using a single pick and place operation of pick and place 154 as described above.

In various other embodiments, the head unit 156 may include an even sub-multiple number and arrangement of vacuum cups 160 as the number and arrangement of seed tray wells 30. For example, if seed tray 14 includes ninety and six wells 30 arranged in a 16 x 24 set shape, then the head unit 156 may include twenty four vacuum cups 160 in a 4 x 6 set shape. Accordingly, to deposit one seed in each Of the ninety-six wells 30, the pick-up device 154 will be required to complete four consecutive pick-and-place operations. Proper X-Y translation through the X-Y 158 translation stage will be implemented to accurately position vacuum cups 160 for each consecutive pick-and-place operation to deposit a seed into each of the ninety-six tray trays. seed 30.

Referring now to Figures 2a, 4a and 4b, as described above, the seed transport subsystem 200 includes an indexing transport table 202. In various embodiments, the indexing transport table 202 comprises a round platform 204 which is rotatably mounted on a drive device 208, such as a high torque stepping motor controlled by the main control system 600. The round platform 204 is virtually divided into a plurality of crooked 212 sections with each sector 212 including a seed tray cutout 216 sized and formatted to receive and support a single seed tray 14. Round platform 204 may have an even or odd number of sectors 212 based largely on the diameter of round platform 204, the size of seed trays 14 and the need for transport application.

[0082] During operation, drive 208 for indexing conveyor table 202 is controlled by main control system 600 to advance clockwise or counterclockwise to incrementally advance each seed tray 14 to positions adjacent to each of the stations 100, 300, 400 and 500. For example, after each advance, the drive device 208 rotates the platform 204 by an angular amount equal to β, where β is equal to the angle between the centers of the adjacent cutouts 216. Accordingly, very precise rotary feeds are made to precisely align the seed trays 14 adjacent each of stations 100, 300, 400 and 500 so that each of stations 100, 300, 400 and 500 can perform its designated function as described herein with respect to seed trays 14 and seeds retained therein. To the extent necessary, the peripheral edges of the platform 204 may be supported with rollers, guides, sliding elements, and the like to assist with smooth rotation of the indexing conveyor table 202.

Alternatively, the indexing conveyor table 202 may comprise any suitable conveyor mechanism such as, for example, a belt type conveyor, cylinder type conveyor and the like.

Referring now to Figures 2a, 5a and 5b, the first imaging station 300 includes at least one first imaging device 304 suspended over the indexing transport table 202 by the system support structure. The first imaging device 304 is mounted to the system support structure such that a field of view of the first imaging device 304 includes the top or upward facing portion of the seed tray 14 positioned adjacent the first station. That is, the first imaging device 304 is positioned so that the first imaging device 304 can collect image data from the top of the loaded seed tray 14 and, more particularly, the data. of the top of each seed in the loaded seed tray 14. Accordingly, the first imaging device 304 may also be referred to herein as the upper imaging device 304. As used herein, reference to the top of the seed refers to the part of the seed that is facing upwards with respect to the orientation of each seed within the semen tray well That is, as used herein, the top of the seed refers to the part of the seeds generally facing away from and not resting on the transparent bottom of each respective seed tray well 30, and does not refer to the structure or independent seed anatomy. The image data collected at the first imaging station 300 is transmitted to the main control system 600 for storage and analysis as described below.

[0085] The first imaging device 304 may be any suitable imaging device selected in accordance with the seed separation system 10 imaging purposes. For example, with respect to a coating damage analysis External Seed The first imaging device 304 may comprise a digital camera operating in the visible light range. Alternatively, for internal seed analysis, the first imaging device 304 may comprise a camera operating in the near infrared light range (e.g., see US Patent No. 6,646,264 the description of which is incorporated herein by reference. ). Additionally, first imaging device 304 may comprise a camera implementing NMR / MRI imaging techniques (see, U.S. Patent No. 7,367,155, the disclosure of which is incorporated herein by reference).

In various embodiments, the first imaging station 300 additionally includes at least one first multispectral high speed filter device, or upper device 308, that is, a first multispectral high speed filter device 308 for each first 304. The first filter device 308 is positioned between the lens of the first imaging device 304 and the respective loaded seed tray 14 adjacent the first imaging station 300. The first filter device 304 Multispectral High Speed 308 includes a plurality of spectral filters that filter various wavelengths of light so that the image data for each of the seeds in the loaded seed tray 14 can be collected at various spectral wavelengths. For example, in various embodiments, the first multispectral high speed filter device 308 may be structured to include a wheel filter including six bandpass filters to provide six different bands, i.e. spectral filtering. Accordingly, the first imaging device 304 and the first filter device 308 can cooperatively operate to collect the image data from the top of the loaded seed tray 14 adjacent to the first imaging station 300 and each seed. therein in a plurality of different spectral wavelengths, also referred to herein as multispectral imaging.

The first imaging station 300 additionally includes a plurality of first light sources, or upper light sources 312 to illuminate the field of view of the first imaging device 304, that is, the upper part of the tray. of loaded seed 14 adjacent the first imaging station 300 from a plurality of specifically different calibrated angles. In various embodiments, light sources 312 are mounted through the system support structure at specifically different calibrated angles and controlled to sequentially illuminate the respective seed tray 14 at different illumination angles. That is, multispectral images are collected using any desired illumination sequence from one or more of the first sources and light 312. For example, in various embodiments the first imaging station includes a pair of first light sources 312. Multispectral images are first collected using only one of the first light sources 312 to illuminate the respective seed tray 14 at a first illumination angle. Then the multispectral images are collected using the other, for example the second, first light source 312 to illuminate the respective seed tray 14 at a second illumination angle. Thus, the first imaging station 300 collects the multispectral image data from the top of the seeds in the respective seed tray 14 using different illumination angles and at a plurality, for example, six different spectral wavelengths. In particular, each light source 312 employs a corresponding filter device 308 for multi-wavelength filtering. As described in detail below, the first imaging device 304 transmits the collected multispectral image data for each illumination angle and each wavelength to the main control system 600 for storage and analysis.

[0088] The first light sources 312 may be any type of light suitable for the particular seed separation system imaging application 10. For example, the first light sources 312 may be incandescent lights, fluorescent lights, ultraviolet lights, infrared lights, halogen lights, and the like. In various embodiments, the first light sources 312 are incandescent lights.

In various embodiments, the first imaging station 300 includes a first black bottom plate 316 suspended by the system support structure under the index table platform 204. More specifically, the first bottom plate 316 is positioned such that, after each advance of the index table platform 204, the seed tray cutout 216 positioned adjacent the first imaging station 300 and the respective transparent bottom seed tray 14 are directly above the first seed plate. bottom 316. First bottom plate 316 provides a solid dark background for each respective transparent bottom seed tray 14 during imaging of the top of respective seed tray 14 and seeds retained within wells 30.

In various embodiments, the seed tray 14 may be constructed to have shallow wells 30 such that the sides of the seeds held within are exposed and viewable by one or more additional imaging devices 304. Therefore, the Additional image data at different viewing angles of each seed is obtainable by the addition of 304 imaging devices positioned to view the seeds from the additional different angles. Alternatively, it is contemplated that additional image data may be collected at different viewing angles of each seed by robotic movement of a single first imaging device 304 to collect additional image data from multiple viewing angles. It should be understood that in such embodiments, additional motion and / or robotic filter devices 308 and / or first light sources 312 may be implemented to provide desired illumination and spectral filtering.

In other additional embodiments, a plurality of mirrors may be used to view and collect image data for each seed from a plurality of sides or angles. Therefore, additional image data, at different viewing angles of each seed, can be obtained through seed images reflected from the mirrors using a minimum number of stationary imaging devices 304. For example, in various implementations, each well 30 of seed trays 14 may include one or more mirrors, for example, flat mirrors, on the sides of each respective well 30. Or, in other implementations, as further described below with reference to figures 13 to 20c, each The seed can be positioned within an annular mirroring stage to view and collect image data for each seed from a plurality of sides, views or angles using a single stationary imaging device such as 304. In such embodiments, other filter devices or additional filter devices and / or Light sources can be added as needed to provide the desired illumination and spectral filtering.

With further reference to Figures 2a, 5a and 5b, the image data collected by the first imaging device 304 includes data for seed tray 14 and seeds retained in each well 30 of seed tray 14. Image data is transmitted to the main control system 600 and stored (at least temporarily) in an electronic data storage device of the main control system 600. The main control system 600 analyzes the data to correlate each seed in the feed tray. 14 with the location of the corresponding well 30 within the seed tray 14. Accordingly, all collected multispectral image data, that is, all image data from the first imaging device 304 at each illumination angle and each filtered wavelength, is analyzed to correlate the image data for each individual seed with the particular well 30 in which the respective holder is retained. Thus, there is a connection between each seed, the corresponding well 30 and the corresponding image data.

Referring now to Figures 2a, 6a and 6b, as the seed top and seed tray 14 image data is collected at the first imaging station 300, the index table platform 204 is advanced to subsequently position the respective seed tray 14 adjacent the second imaging station 400. The second imaging station 400 includes at least one second imaging device 404 suspended under the indexing transport table 202 by system support structure. In various embodiments, the second imaging device 404 is substantially identical in form and function to the first imaging device 304 of the first imaging station 300. The second imaging device 404 is mounted to the frame. so that a field of view of the second imaging device 404 includes a transparent background of the seed tray 14 positioned adjacent the second imaging station 300. That is, the second imaging device 404 It is positioned such that the second imaging device 404 can collect image data from the transparent background of the loaded seed tray 14, and more particularly, the image data of the bottom part of each seed in the loaded seed tray 14. Accordingly, the second imager 404 may also be referred to herein as inferred imager. 404. As used herein, reference to the seed bottom refers to the seed portion that is facing downward with respect to the orientation of each seed within the respective seed tray well 30. That is, as used herein, the seed portion Seed bottom refers to the part of the seed generally facing toward, and generally resting against the transparent bottom of each respective seed tray well 30, and does not refer to the seed-independent structure or anatomy. The image data collected at the second imaging station 400 is transmitted to the main control system 600 for storage and analysis as described below.

As with respect to the first imaging device 304, the second imaging device 404 may be any suitable imaging device selected in accordance with the seed separation system imaging purposes 10. For example, with respect to an analysis of damage to the seed coat, the second imaging device 404 may comprise a digital camera operating in the visible light range. Alternatively, for internal seed analysis, the second imaging device 404 may comprise a camera operating in the near infrared light range (see, US Patent No. 6,646,264, the description of which is incorporated herein by reference) . Additionally, the second imaging device 404 may implement NMR / MR imaging techniques (see U.S. Patent No. 7,367,155. The disclosure of which is incorporated herein by reference).

In various embodiments, the second imaging station 400 additionally includes at least one second multispectral high speed filter device or lower device 408, that is, an additional multispectral high speed filter device 408 for each imaging device. 404. In various embodiments, the second multispectral high-speed filter device 408 is substantially identical in form and function to the first multispectral high-speed filter device 308 of the first imaging station 300. The second multispectral filter device The filter 408 is positioned between the lens of the second imaging device 404 and the respective loaded seed tray 14 adjacent the second imaging station 400. The second multispectral high speed filter device 408 includes a plurality of spectral filters which filter out various wavelengths of light so that the image data for each of the seeds in the loaded seed tray 14 can be collected at various spectral wavelengths. For example, in various embodiments, the second multispectral high speed filter device 408 may be structured to include a filter wheel including at least six bandpass filters to provide at least six different bands, i.e. wave, spectral filtering. Accordingly, the second imaging device 404 and the second filter device 408 may cooperatively operate to collect multispectral image data from the bottom of the loaded seed tray 14 adjacent to the second imaging station 400 and each seed. therein at a plurality of different spectral wavelengths.

The second imaging station 400 additionally includes one or more second light sources or lower sources 412 for illumination of the field of view of the second imaging device 404, that is, the bottom of the loaded seed tray. 14 adjacent the second imaging station 400. In various embodiments, the second light source 412 is mounted through the system support structure to illuminate the respective seed tray 14 at a specifically calibrated angle. Thus, the second imaging station 400 collects image data from the bottom of the seeds in the respective seed tray 14 using a particular illumination angle and in a plurality, for example at least six, different spectral wavelengths. As described in detail below, the second imaging device 404 transmits the collected image data for each illumination angle and each wavelength to the main control system 600 for storage and analysis.

As with the first light sources 312, the second light sources 412 can be any light type suitable for the particular seed separation system imaging application 10. For example, the second light sources 412 may be incandescent light, fluorescent light, ultraviolet light, infrared light, etc. In various embodiments, the first light source 412 is an incandescent light.

In various embodiments, the second imaging station 400 includes a second black bottom plate 416 suspended by the system support frame above the index table platform 204. More specifically, the second bottom plate 416 is positioned such that after each advance of the index table platform 204, the seed tray cutout 216 positioned adjacent the first imaging station 300 and the respective transparent bottom seed tray 14 are directly below the second seed plate. bottom 416. The second bottom plate 416 provides a solid dark background for each respective transparent bottom seed tray 14 during imaging of the bottom of the respective seed tray 14 and seeds retained within wells 30.

Image data collected by second imager 404 includes data for seed tray 14 and seeds retained in each well 30 of seed tray 14. Image data is transmitted to the main control system 600 and stored (at least temporarily) in a master control system electronic data storage device 600. Master control system 600 analyzes the data to correlate each seed in seed tray 14 with the specific corresponding well location 30 in. Accordingly, all image data collected, that is, all image data from the second imager 404 at the particular illumination angle and each filtered wavelength, are analyzed to correlate the data. for each individual seed with the particular well 30 in which the respective seed is retained. Thus, there is a connection between each seed, the corresponding well 30 and the corresponding image data.

Image data collected in the first and second imaging stations 300 and 400 can be processed in various known ways to identify the phenotypic characteristics or traits of seeds (for example, as described in US Patent No. 6,646 264 or US 2006/0112628 referred to above). For example, analysis of image data may reveal individual seed trait information concerning, for example, the presence or absence of biochemical traces (such as oil content), presence or absence of damage, presence or absence of disease, size , color, format and the like. Characteristic information is obtained by processing image data using custom algorithms executed on the data by the main control system 600. The results of this processing are then stored in correlation with the particular seeds, and more specifically in correlation with the locations of well 30 of each seed. Thus, there is a connection between the image data and the characteristic information of each seed.

As further described below, in various embodiments, the main control system 600 executes various algorithms to perform multiple variant and multispectral analysis of image data for each seed to determine the specific surface color traces of each respective seed. . For example, in various embodiments, the seeds may comprise folded haploid maize seeds where the diploid seeds have a blue anthocyanin marker in the germ area. Multispectral variant analysis can be performed on the image data for each maize seed to determine if each individual maize seed has the blue marker. Seeds determined to have the blue marker are therefore identified as diploid seeds, seeds in which the blue marker is absent are identified as haploid seeds, and seeds in which there is uncertainty about the existence of the blue marker are identified as undetermined. The characteristics identified for each seed, or lack thereof, can then be applied by the main control system 600 against certain seed classification criteria in order to perform seed separation by characteristic as described below.

Referring now to Figures 2a, 7a and 7b, the unloading and sorting station 500 includes a unloading subsystem 504 and a separating subsystem 508. Unloading subsystem 504 removes seeds from seed trays 14 after collection. at first and second imaging stations 300 and 400 and transport the seed to a separation subsystem 508. The separation subsystem separates each seed based on the particular identified phenotypes, i.e. traits or characteristics, of the seed and deposit each seed in a corresponding collection receptacle (not shown).

Discharge subsystem 504 includes a plurality of selectively actionable suction tubes 512. Each suction tube 512 includes a first end 516 positioned by a system support structure over a corresponding well 30 in a seed tray 14 that has been disposed of. positioned under the first ends 516 of the suction tubes 512 by successively advancing the indexing table platform 204. In various embodiments, the plurality of first ends of the suction tube 516 are arranged in a set having a number and arrangement corresponding to the number and arranging the wells 30 in the seed tray 14. Thus, a seed tray 14 can be fully discharged using a single drive of the discharge subsystem 504 without having to engage any position adjustment of the subsystems. In other embodiments, a submultiple pair arrangement of the first ends of the suction tube 516, with an x-y translation stage as discussed above for loading the seed trays 14, may be used for unloading and separation. Each suction tube 512 further includes a second end 520 positioned by the system support structure over a collection funnel 524 having downward sloping sides terminating in an opening 528. At about an intermediate point of each suction tube 512 is positioned a Venturi block 523 which is controlled by the main control system 600 to selectively withdraw a suction or vacuum 534 at the first ends 516 of the suction tubes 512.

The separation subsystem 508 includes a rotary table 536 which is positioned generally under the opening of the funnel 528. The upper surface of the rotary table 536 supports the placement of a plurality of individual separation guides 540. More specifically, the rotary table 536 is positioned under the collecting funnel 524 so that the upper open ends 542 of the separation guides 540 can be selectively located by properly rotating the rotary table 536 directly under the opening of the funnel 528. The movement of the rotary table 536 It is accomplished by the use of a motor 544 (for example, a stepped motor) controlled by the main control system 600. Each separation guide 540 additionally includes a lower open end 548 that aligns with a corresponding hole 552 in the rotary table 536. Each individual hole 552 and the lower open end of the corresponding separation guide 548 are located at a distance radius different from an axial center C of the rotary table 536.

The separation subsystem 508 further includes a plurality of bypass tubes 556 which are positioned under the rotary table 536 through the system support structure. More particularly, each of the bypass tubes 556 includes a receiving end 560 coupled to a pipe 562 such that each receiving end 560 aligns with a separate opening from a plurality of openings 566 in the pipe. Each pipe opening 566 is located at a different radial distance from the rotary table axial center C which corresponds to a respective hole among the holes 548 in the rotary table 536. Thus, as the rotary table rotates to align an opening end 542 of a particular separation guide 540 with the collection funnel opening 528, the respective separation guide lower open end 548 and the associated rotary table bore 552 align with the opening 566 and the corresponding receiving end 560 of a specific tube of the bypass tubes 556. An arrangement end 564 of each bypass tube 556 encloses a specific tank among the tanks 18 (shown in Figure 2b). For example, in various embodiments, the disposing end 564 of each bypass tube 556 may be enclosed in a specific tank from a plurality of removable and replaceable seed tanks 568 (shown in Figure 7b).

Separation subsystem 508 further includes a seed tray lifting mechanism 572 which includes a linear air piston 576 which is generally located in alignment with the location of the first ends of the suction tube together 516. More specifically, piston 576 is located such that a platform end 582 of piston 576 is aligned with a center of each indexing table seed tray cutout 216 as each respective loaded seed tray 14 is successively positioned adjacent to the station. discharge and separation 500. Piston 576 is controlled by main control system 600 to linearly move piston 576 between a retracted position and an extended position. When moving from the retracted position to the extended position, the platform end 582 of the piston 576 passes through the index table platform cutout 216 and contacts the transparent bottom of the respective seed tray 14 held therein. The piston 576 then continues to extend to raise the seed tray 14 above the upper surface of the indexing table platform 204. When the piston is fully extended, the respective seed tray 14 resting on the piston platform end 582 is located in alignment with and in proximity to or in contact with the first ends of the suction tube together 516. The seeds are then selectively removed from the respective seed tray 14 and selectively separated to one of the seed deposits.

More particularly, before each seed is selectively removed from the raised seed tray 14, the main control system 600 determines which seed or seeds are next to be removed. The main control system 600 rotates the rotary table 536 to move a selected separation guide 540 to position under the funnel opening 528. The selection of which separation guide 540 to position under the funnel opening 528 is based on which seed hopper 568 following removal the seeds should be deposited. Accordingly, the main control system 600 will position under the opening of the funnel 528 the particular separation guide 540 having the lower opening end 548 which aligns with the bypass tube 556 terminating in the selected seed container 568.

[00108] The main control system 600 then selectively drives one or more Venturi 523 blocks associated with one or more suction tubes 512 having the respective first ends 516 positioned over or in contact with wells 30 keeping the selected seeds to be removed. and separate. Actuation of the Venturi blocks 523 causes a suction to be withdrawn at the first ends 516 of the suction tubes 512 which removes the selected seeds into the respective suction tubes 512. Under suction / venturi forces, the captured seed is transported by a stream of air through the suction tubes 512 to the second ends 520 where the ends are deposited in the collection funnel 524. Gravity then causes the seeds to fall through the collection funnel opening 528 and into the separation guide selectively positioned 540. Gravity then causes the seeds to fall through the respective separation guide 540 and tubing 562 into the corresponding bypass tube 556, where the seeds then fall into the selected seed deposit 568. The process is then repeated by selective positioning of the separation guides 540 into position under the opening of the funnel 528 and the selective actuation Venturi 532 blocks to remove selected seeds from seed tray wells 30 and deposit the seeds into the appropriate seed deposits 568.

Thus, the seed sorting system 10 identifies whether each seed deposited on seed volume hopper 104 exhibits a particular phenotype and separates the seeds into seed deposits 568 based on the identified phenotype. Once the seeds are removed and separated, the piston 576 returns to the stowed position, thus returning the now empty seed tray 14 to the respective index table 216 seed tray cutouts. The seed tray 14 is It is then available for subsequent loading of seeds, as described above, when the indexing table 202 is advanced to position the seed tray 14 adjacent to the loading station 100.

Analysis of the multispectral image data collected at the first and second imaging stations to identify particular phenotypes of each seed will now be described. As shown above, seeds are selectively removed from seed trays 14 and selectively separated for seed deposits based on the particular phenotype of each seed as determined by analyzing the image data collected at the first and second imaging stations. 300 and 400. More specifically, the main control system 600 analyzes the image data collected at the first and second imaging stations 300 and 400 to determine the particular phenotypes of each seed, and then controls the operation of the unloading station. separation 500 to selectively separate seeds into seed deposits 568.

In various embodiments, the main control system 600 has stored in it several executable programs and / or algorithms for performing multi-variable and multispectral analysis of the image data collected at the first and second imaging stations 300 and 400. Using multi-variable techniques to analyze multispectral image data provides identification of particular phenotypes for each seed in each well 30 of each seed tray 14. Each seed is then separated to the appropriate seed deposit 568 from the discharge station. and separation 500 based on the particular phenotypes identified and connected to each respective seed.

Referring now to Figures 8, 9 and 10a-10f, an illustrative description of the operation of the seed separation system 10 according to the various embodiments illustrated in Figures 1 to 7b will now be described. As described above, the seed sorting system 10 includes seed loading station 100, the first imaging station 300, the second imaging station 400 and the unloading and sorting station 500. To facilitate In the illustration, the index table platform 204 is illustrated holding eight seed trays 14. However, it will be understood that the index table platform 204 may be structured to hold more or less than eight seed trays 14 with a dimensioned design. properly.

Initially, one or more empty seed trays 14 are retained on or on the indexing table platform 204 so that one of the seed trays 14 is positioned adjacent to the seed loading station 100. For reasons of For simplicity and clarity, the following illustrative description of the operation of the seed sorting system 10 will only refer to the seed tray 14 initially positioned adjacent to the seed loading station 100. In addition, for clarity, the seed tray 14 which initially positioned adjacent to the seed loading station 100 will be referred to in this example as seed tray 14 '.

Figure 9 provides a flowchart of the seed separation system 700. As indicated at 704, since the seed tray 14 'is held adjacent to the seed loading station 100, the seed loading station 100 loads. a single seed within each of the wells 30 of seed tray 14 'as described above. Following completion of the loading operation, the loaded seed tray 14 'is sequentially transported by one or more feeds of the indexing conveyor table 202 to a position adjacent to the first imaging station 300. The first imaging station 300 then acquires and processes multiple images from the top of the seed tray 14 'and the seeds contained therein. For example, the first imaging station 300 may collect and transmit to the main control system 600, seed top images and seed tray 14 'through each of the first band's six bandpass filters. device and filter 308 using light from only a first of the first light sources 312, as indicated by 708. Figures 10a to 10f are illustrations of the six images that can be collected through the six bandpass filters of the first filter device. 308 using light from only one of the first light sources 312. Next, a second set of six images can be collected through the six bandpass filters of the first filter device 308 using only a second of the light sources 312, as indicated by 712. The second set of six images may be similar to that illustrated in figures 10a to 10f, only the images would be collected using a second source. As the second set of six images is being collected and transmitted to the main control system 600, the main control system 600 processes, that is, analyzes the first set of six images from the top of the seeds and seed tray 14 'as indicated by 710.

The indexing transport table 202 then sequentially advances the seeds and the seed tray 14 'to a position adjacent to the second imaging station 400, where a third set of images is acquired. More particularly, the second imaging station 400 collects a third set of images including multiple seed bottom images and seed tray 14 'which are collected and transmitted to the main control system 600. For example, the second station 400 can collect images of the seed bottom and seed tray 14 'through six bandpass filters of the first filter device 308 using light from the second light source 412, as indicated by 716. As the seeds and seed tray 14 'are being advanced to the second imaging station 400, the main control system 600 analyzes the second set of six seed top images and seed tray 14' as indicated by 714.

After the third set of images, that is, the images from the bottom of the seeds and seed tray 14 ', have been collected and transmitted to the main control system 600, the seeds and the seed tray 14' are sequentially advanced to a position adjacent to the unloading and sorting station 500. As the seeds and seed tray 14 'are being advanced to the unloading and sorting station 500, the main control system 600 processes the third set of images as indicated by 718.

Processing, that is, analysis of all images of the top and bottom of the seeds and seed tray 14 ', for example the three sets of images, is further described below with reference to figures 11 and 12a to 12e. However, the main control system 600 generally analyzes each image data set and then combines the results to determine if each seed in seed tray 14 'has one or more desired phenotypes, that is, characteristics and / or traits ( such as damage, disease, color, size and the like), as indicated in 720. More specifically, each well location 30, for example a column and row, within the seed tray 14 'receives one of a plurality of particular classes that indicate the class of each respective seed, where the class of each seed is determined based on the identified phenotypes of the respective seeds. For example, if analysis of the image data of a particular seed indicates that the seed germ has a blue marker, the well location 30 of that seed within the seed tray 14 'may be indicated by the main control system 600 as a diploid. Or, if analysis of the image data of a particular seed indicates that the seed germ does not have a blue marker, the well location 30 of that seed within the seed tray 14 'may be indicated by the main control system 600 as haploid. Or, further, if analysis of the image data indicates that a well location 30 within the seed tray 14 'does not contain a seed, that well 30 may be indicated by the main control system 600 as empty. Or, furthermore, if analysis of the image data of a particular seed is inconclusive as to whether or not the seed germ has a blue marker, the location of that seed well 30 within seed tray 14 'may be indicated by the main control system 600 as unknown, indicating that the seed will have to be re-imaged and analyzed using the seed separation system 10. In addition, if the analysis indicates a blue marker but the digital data does not exceed For the limit to a diploid, the well location 30 of that seed within the seed tray 14 'may be indicated by the main controller system 600 as a New Test, for re-analyzing the seed as described below.

When the indexing conveyor table 202 has sequentially advanced the seeds and the seed tray 14 'to a position adjacent to the unloading and separation station 500, the main control system 600 will have designated each well 30 in the seed tray. 14 'for one of the plurality of predetermined classes. Unloading and sorting station 500 then removes the seeds from the seed tray 14 'and separates the seeds to a corresponding suitable deposit among seed deposits 568, as described above. Each seed deposit 568 should receive only seeds identified as having a particular class among the predetermined classes. For example, all seeds removed from well locations 30 of seed tray 14 'indicated as a haploid are selectively separated into a seed deposit 568 designated to receive only haploid identified seeds, while another seed deposit is designated to receive haploid seeds. only seeds identified as diploids, and so on. This operation is repeated as many times as necessary to remove all seeds from seed tray 14 '. The empty seed tray 14 'is then sequentially advanced by the indexing transport table 202 to the position adjacent to the seed loading station 100, and the process with respect to the seed tray 14' is repeated.

Although the operation of the seed separation system 10 has been described above with respect to a single seed tray 14 ', it will be understood that multiple seed trays 14 are handled simultaneously by the seed separation system 10, increasing, thus, additionally, the yield rate of the seed sorting system 10. For example, figure 8 illustrates simultaneous operation on eight seed trays 14. Accordingly, each of the seed loading stations 100, first rearing station 300, second imaging station 400, and unloading and sorting station 500 is simultaneously activated in performing its assigned tasks with each rotary advance of the indexing conveyor table 202. For example, while a seed tray 14 is being loaded with seeds by the seed loading station 100, previously loaded trays 14 (and the seeds therein) are Not having their image created, they are being analyzed and separated for seed deposits 568 by the first and second imaging stations 300 and 400, and the discharge and separation station.

Referring now to Figures 11 and 12a to 12d, Figure 11 provides a flowchart 800 illustrating an illustrative analysis process performed by the master control system 600 on the multispectral image data collected at the first and second imaging stations 300. and 400. As indicated at 710 in Figure 9, while the first imaging station 300 is collecting the second set of images from a particular seed tray 14, the master control system 600 analyzes the first set of image data. multispectral.

To analyze the first multispectral image data set, the master control system 600 first develops a background mask, and applies the background mask to the image data of each of the six images to remove approximately all of the images. data points, for example pixels, which are considered to be background data, that is, non-seed data, as indicated in 802. An illustration of an image after the background mask has been applied as illustrated in figure 12a . In various embodiments, the background mask may be constructed using any of the six images, for example, the image with the best signal to noise ratio, to mathematically determine which data points represent the background data.

Next, the master control system 600 applies a first size boundary mask to each of the six images to filter out any remaining data in each image that is too small to be an intact seed or seed as indicated in 804. An illustration of an image after the background and first size boundary masks have been applied is illustrated in Figure 12b. For example, noise along the edges or corners of each image may remain after the background mask is applied or broken seed parts may be present, or image data from the respective seed tray 14 may remain. Such extraneous data is removed by the first size boundary mask. In various embodiments, the first size boundary mask is predetermined based on the known size parameters of the seed type being analyzed and separated by the seed separation system 10.

After the first size boundary mask is applied, the main control system 600 applies a fill and erosion mask to each of the six images, as indicated in 806. The fill and erosion mask mathematically determines whether the data Remaining seed images include any "dark" dots within each seed image. Such "dark" spots may be present due to the color contrast of each respective seed or shadows caused by the outline of each respective seed. The fill and erosion mask "fills" such dark spots and also fills or removes pixels around the edges of each seed image caused by such events as background noise and / or "bleeding". In this way, the fill and erosion mask "fills" the dark spots within each seed image and "cleans" the edges of each seed image. A representative illustration of an image after the bottom mask, first size boundary mask and filler and erosion mask have been applied is illustrated in Figure 12c.

The erosion and fill mask can sometimes remove or filter the pixels so that the resulting seed image includes a large object and a much smaller object at the edge of the seed. Therefore, the master control system 600 applies a second size limit mask to remove smaller objects as indicated in 808. In various embodiments the second size limit mask is predetermined based on known seed type size parameters. being analyzed and separated by the seed separation system 10.

Thus, background, first and second size boundary and fill and erosion masks remove all data points, that is, pixels unrelated to one of the seeds in the respective seed tray 14 for each one. of the six images. Master control system 600 then performs mathematical analysis on the six images to determine if the remaining image data for each individual seed includes data indicative of a desired phenotype, as indicated in 810. Master control system 600 may employ any technique of mathematical analysis or appropriate process for making such a determination. For example, in various embodiments, master control system 600 employs multivariate analysis to determine whether the remaining multispectral image data for each individual seed includes data indicative of an anthocyanin marker in the seed germ. More particularly, multiple variance analysis is performed at each data point, or pixel, of the remaining multispectral image data for each seed to obtain a resulting value that is compared with a first predetermined threshold value. If the resulting value is above or below the first limit, this indicates the desired phenotype, for example if the pixel is indicative of an anthocyanin marker in the seed germ. Resulting values above the first threshold and / or below the first threshold are compiled to obtain a total number of resulting values above the first threshold and / or a total number of resulting values below the first threshold for the first set of multispectral images.

As indicated in 714 of Figure 9, while the indexing transport table 202 is advancing the respective seed tray 14 to the second imaging station 400, the main control system 600 analyzes the second data set. multispectral image. In particular, the master control system 600 analyzes the second multispectral image data set in the same manner as described above with respect to analysis of the first multispectral image data set. Thus, analysis of the second image data set provides a second result set above the first limit and / or a second result set below the first limit.

Similarly, as indicated at 718 in Figure 9, while the indexing conveyor table 202 is advancing the respective seed tray 14 to the unloading and sorting station 500, the main control system 600 analyzes the third set. of multispectral image data. In particular, the main control system 600 analyzes the third multispectral image data set in the same manner as described above with respect to analysis of the first and second multispectral image data sets. Thus, analysis of the third image data set provides a third result set above the first bound and / or a third result set below the first bound.

Since the main control system 600 has analyzed the three multispectral image data sets and generated the respective three resulting value sets, the main control system 600 adds the three resulting value sets and compares the sum to one. second predetermined limit value. More specifically, the main control system 600 combines the three resulting value sets above the first limit and / or combines the three resulting value sets below the first limit to obtain an aggregate sum of the resulting values above the first limit and / or a aggregate sum of the resulting values below the first limit. The aggregate sum of the resulting values above the first limit and / or the aggregate sum of the resulting values below the first limit are then compared to the second limit to designate a class for the respective seed and well 30, in which the respective seed is. retained as described above. For example, if the aggregate sum of the resulting values is above the second limit, the seed and corresponding well 30 are indicated as diploids. But if the aggregate sum of the resulting values falls below the second limit, the seed and the corresponding well 30 are indicated as haploids, and if the aggregate sum of the resulting values equals the second limit, the seed and the corresponding well 30 are indicated. as unknowns. An illustrative table of results for a single seed tray 14 is illustrated in Figure 12d. The main control system 600 then controls the discharge and separation station 14 for suitable seed deposits based on the results of comparing aggregate sums with the second limit.

Referring now to Figures 1, 13a and 13b, in various other embodiments the seed sorting system 10 may be a two station linear transport seed sorting system including a loading, transporting and sorting station. 1000 seed and an optical and control station 1002. In such embodiments, the 1000 seed loading, transport and separation station may include an L&T 11 subsystem and an OL&S 13 subsystem, and the optical and control station 1002 may include the subsystem. 12 & the central control subsystem 16. In such embodiments, the L&T subsystem generally includes a seed volume hopper and a separator 1004 and a linear seed loader 1008, and the L&A subsystem generally includes an imaging theater, or subset 1012 and one or more imaging devices 1016. Additionally, in such embodiments, the OL&S subsystem generally includes a plurality of tabs 1020 and a plurality of seed depots 1020 and a plurality of seed depots 1024, and the central control system generally includes a main control system 1028. In various embodiments, to prevent vibrations generated by the loading, transport and sorting station 1000 is transferred to optical and control station 1002, seed loading, transport and separation station 1000 and optical and control station 1002 are assembled as separate structures that are located adjacent but not in contact with each other. to form the seed separation system 10. In addition, in various embodiments, one or both of the seed loading, transport and separation station 1000 and the optical and control station 1002 may be wheel mounted that respective stations 1000 and 1002 can be easily located adjacent to each other to form seed separation system 1 0

Referring to Figures 13a, 13b and 14, Figure 14 illustrates a functional block diagram of the seed separation system shown in Figures 13a and 13b, according to various embodiments. Generally, in such embodiments, the seed sorting system 10 is structured and operates to isolate, i.e. sort, a plurality of seeds using the bulk seed hopper and separator 1004. Each respective separate seed is then transferred to the seed. seed loader 1008 which transports and loads the separate seeds in the imaging theater 1012. The seeds are retained in the imaging theater 1012 to create the image using the imaging devices 1016. As further described below, the 1012, the 1016 imaging devices and main control system 1028 are structured and cooperatively operate to collect multiple images from a plurality of angles, or sides, of each of the seeds of the theater. 1012. The collected images can be any desired type of images. For example, the images may be visual images, near infrared images (NIR) or NMR / MRI images, or any other type of images. In various embodiments, the imaging theater 1012, imaging devices 1016 and main control system 1028 function to collect a plurality of digital images from each seed from a plurality of different viewing angles and at various spectral wavelengths, for example, from four to ten different spectral wavelengths.

As further described below, in various embodiments, the seed separation system 10 illustrated and described with reference to figures 1 and 13a to 20c, more particularly the main control system 1028, may be structured and operate to implement the analysis. to analyze image data from multiple images collected through subsystem l & A 12. Specifically, image data from multiple viewing angles can be reported to the master control system 1028 where multiple variable analysis is performed on the data. image samples collected to identify whether each respective seed has one or more of the desired phenotypes, that is, observable traits and / or characteristics. Additionally, each seed is unloaded from the imaging theater 1012 and separated into a particular deposit among the 1024 seed deposits via the created image seed separators 1020, based on the identified phenotype of the respective seed as determined by of multiple variable analysis.

The operation of the seed separation system 10 as illustrated and described with reference to figures 1 and 13a to 20c is controlled and automated by the main control system 1028 so that operations performed by the L&T subsystem 11, the subsystem L&A 12 and the L&S 13 subsystem occur substantially without the need for human interaction, intervention or control. However, such actions as loading the seeds into the volume seed hopper the separator 1004 and / or physically manipulating and / or changing the 1024 seed deposits (individually or collectively), and various other necessary manual settings and / or calibrations. can be performed manually with human participation.

Generally, in various embodiments, the main control system 1028 may include one or more processors and / or microprocessors, and one or more electronic data storage devices used to store and execute various custom programs, applications, and / or algorithms. to perform the operation of the seed separation system 10. Accordingly, the main control system 1028 may comprise a specially programmed computer, or computer system, in communication with the associated system devices that enables communication with and control of the operations of the various stations, subsystems and corresponding components 1032 of the system separation system 10. Although the main control system 1028 is illustrated illustratively in Figure 14 as a single unit, the main control system 1028 may be a system with single computer-based or a plurality of computer-based subsystems or networked together to coordinate the simultaneous operations of the seed separation system 10 as described herein. For example, in various embodiments, master control system 1028 may include a plurality of master control subsystems 1036, for example, a peripheral control subsystem 1036 for each of seed loading, transport and separation station 1000 and station control and 1002. Each 1036 peripheral control subsystem may include one or more processors, microprocessors, and electronic data storage devices that communicate with the various components of the 1032 seed separation system, such as sensors, devices, mechanisms, motors, tools, etc., and are networked together with a central control subsystem 1040 to cooperatively operate all stations, systems, and subsystems of the seed sampling system 10, as illustrated and described with reference to the figures. 1 and 13a to 20c. Alternatively, the main control system 1028 may comprise a single computer communicatively connected to all the various components of the system 1032 to cooperatively operate all stations, systems, and subsystems of the seed sampling system 10, as illustrated and described. with reference to figures 1 and 13a to 20c.

In addition to programming storage for controlling the operation of the seed separation system 10, electronic data storage devices (or other data storage functionality, not explicitly illustrated, but inherently present) provided within the system. Master Control 1028 is used to store the collected images and related image data for each seed image in a database or other suitable format. Additionally, the main control system data storage devices 1028 may also store received or derived location data with respect to the control of operation of the OL&S subsystem 13 with respect to the deposits 1024 where the seeds were deposited. This location data is correlated in the database or other format with the seed by seed image data.

As described above, main control system 1028 communicates with various components of seed separation system 1032 which include various system sensors. The system sensors operate to detect the conditions of interest during the operation of seed separation system 10 and communicate this information to the main control system 1028. With this information, the main control system 1028 generates control commands that perform the operations and actions performed by the various seed separation system stations, systems, subsystems, and components 10. For example, perceived condition information may refer to: successful seed separation and loading through the seed volume hopper and separator 1004 and seed loader 1008; separating and depositing each seed within the appropriate seed depot 1024 through the created image seed separators 1020; the situation (for example, position, location, vacuum, pressure, and the like) of various component parts of the various subsystems 11,12e13, the operation, maintenance, performance, and error return of the various components of each subsystem 11, 12, and 13 ( separate or perhaps comprising or in conjunction with the collected data); and the like. More specifically, sensor information that is collected and processed for use in controlling the operation of seed separation system 10 may include information such as: device or component status; error signals; movement; stop; position; location; temperature; voltage; chain; pressure and the like, which can be monitored for the operation of each of the stations, subsystems and associated components of the seed separation system 10.

Referring now to Figure 15a, as described above, the L&T subsystem 11 generally includes seed volume hopper 1004 and seed loader 1008. In various embodiments, the L&T subsystem additionally includes a tubular conveyor 1044 for receiving the separated seeds and sequentially diverting each seed into a respective tube from the plurality of first transfer tubes 1048 ending in an exhaust assembly 1052.

Generally, the seed volume hopper and separator 1004 includes a seed volume hopper 1056 and a separation wheel 1060. The separation wheel 1060 is rotatably mounted in a vertical plane such that a portion of the separation wheel 1060 extends into an inner reservoir of the seed hopper 1056. Another part of the separation wheel 1060 extends out of the seed hopper 1056 so that a face 1064 of the separation wheel 1060 is positioned adjacent to a seed collector 1066. The seed separation wheel 1060 includes a plurality of spaced recessed doors 1068 that extend across face 1064 and are communicatively coupled to a vacuum system (not shown) so that a vacuum can be supplied. on each of the recessed doors 1068.

To separate the seeds, that is, to separate the seeds one at a time from the seed volume hopper 1056, a plurality of seeds is placed in the inner reservoir of the seed volume hopper 1056. The separation wheel 1060 is then rotated as vacuum is supplied to at least some of the recessed doors 1068, for example recessed doors 1068 on the face 1064 of the separation wheel door 1060 extending into the hopper inner reservoir. Particularly, the seed separation wheel 1060 is incrementally rotated by an indexing motor 1072 so that recessed doors 1068 rotate sequentially through the inner reservoir of the seed hopper 1056 outwards. seed hopper 1056, and beyond the seed collector 1066 before re-entering the inner hopper reservoir 1056. As the separation wheel 1060 rotates from incrementally and recessed doors 1068 incrementally pass through the inner hopper hopper 1056 reservoir, individual seeds are collected and maintained at each recessed door 1068 by the vacuum provided at the respective recessed doors 1068. As the wheel 1060 rotates incrementally, the seeds are transported out of the seed hopper 1056 to the seed collector 1066 where each seed is removed from the face 1064 of the separation wheel 1060.

In various embodiments, the second collector 1066 includes a wiper (not shown) that physically dislodges each seed from the respective recessed door 1068 as the separation wheel 1060 incrementally rotates beyond the seed collector 1066. Alternatively, In various other embodiments, each seed may be released from the respective recessed door 1068 by temporarily closing the vacuum on each individual recessed door 1068 as the individual recessed door 1068 is positioned adjacent to the seed collector 1066. In other embodiments, each seed may be blown from respective recessed door 1068 by the temporary supply of forced air to each individual recessed door 1068 as individual recessed door 1068 is positioned adjacent to the seed collector 1066.

After each seed is removed from the separation wheel 1060, the seeds are channeled sequentially into each of the first transfer tubes 1048 having proximal ends connected to openings 1076 in a tubular transfer 1044. Tubular transfer 1044 is mounted on a trolley 1080 which is movably mounted to a 1084 linear translation stage which includes a 1088 driver controlled by the main control system 1028 to bidirectionally move trolley 1080, tubular transfer 1044 and proximal ends of the first transfer tubes 1048 along the translation stage 1084. Therefore, as each seed is removed from the separation wheel 1060, the seed is channeled into one or more of the first transfer tubes 1048. The system 1028 then moves the tubular transfer 1044 along the translational stage 1084 so that a subsequent first transfer tube 1048 receives the next seed removed from the separation wheel 1060. As each seed is removed from the separation wheel 1060 and deposited in a respective first transfer tube 1048, each seed passes through the first transfer tube. 1048, by gravity, vacuum or forced air, to exhaust assembly 1052 to which a distal end of each first transfer tube is connected.

Referring now to Figures 15a, 15b and 15c, in various embodiments, exhaust assembly 1052 includes a plurality of inner chambers 1092 which are laterally dissected by a retaining sliding member 1096. The retaining sliding member 1096 is mounted. slidingly within the exhaust assembly such that the retaining sliding member 1096 may be slidably transited between an "open" position and a "closed" position along a longitudinal geometrical axis M of the exhaust assembly 1052. More specifically, under the control of the main control system 1028, the retaining slide member 1096 may be slidably transited between the "open" and "closed" position using a driver 1100 mounted on the side of the exhaust assembly 1052 and connected in a operative manner to the retaining sliding member 1096. As illustrated in Figure 15c, the retaining sliding member 1096 includes a plurality of apertures 1104 longitudinally spaced along the length of the retaining sliding member 1096 to match or coordinate with the longitudinal spacing of the inner chambers 1092 within the exhaust assembly 1052.

The retaining sliding member operates to "seat" the seeds, that is, allows the seeds received from hopper and separator 1004 to settle within the respective inner chambers 1092 and then time-deposit each seed into a respective shoe. from a plurality of seed loader shoes 1108 from loader 1008. That is, main control system 1028 coordinates and synchronizes hopper and separator 1004, tube transfer 1044, and exhaust assembly 1052 operations so that seeds are separated and transferred to exhaust assembly 1052, retaining slide member 1096 initially being in the "closed" position. When in the "closed" position, the openings of the retaining sliding member 1004 do not align with the respective inner chambers 1092 so that the solid portion of the retaining sliding member 1096 between the openings 1004 blocks the passage of each seed through the inner chamber 1092. The main control system holds the retaining sliding member 1096 in the "closed" position for a period of time, for example, from 0.5 seconds to 1.0 seconds, sufficient to allow each seed to "settle", that is. , settle and substantially stop moving. Since the seeds can "settle", the main control system transits the retaining sliding element to the "open" position in which the openings of the retaining sliding element 1004 align with the respective inner chambers 1092, thus allowing each seed passes through the respective inner chamber 1092 and falls, through the action of gravity, forced air and / or vacuum, into a respective shoe among the loading shoes 1108, as further described below. Main control system 1028 coordinates and synchronizes hopper and separator 1004, tubular transfer 1044, and exhaust assembly 1052 operations so that seeds are separated at a calculated rate to allow seeds to be transferred to the inner chambers of the assembly. 1092 are "seated" and released, that is, deposited on loader shoes 1108, before subsequent separated seeds are transferred to exhaust assembly 1052.

Referring now to Figures 15a and 15d, as described above, charger 1008 includes a plurality of loading shoes 1108. Each loading shoe 1108 is mounted on one or more of the first linear actuators 1112 which are structured and operate, through the controls of the main control system 1028, to move the respective loading shoes 1108 along an X axis of loader 1008 between a "retracted" or "origin" position (shown in Figure 15a) and an "extended position". "or" loading "(illustrated in figure 15d). Although Figures 15a and 15d illustrate charger 1008 as including two first linear actuators 1112, each having two loading shoes 1108 mounted thereon, it is envisioned that charger 1008 may include more or less than two first linear actuators 1112 each. one having more or less than two loading shoes 1108 mounted thereon. For example, in various embodiments, charger 1008 may include a first single linear actuator 1112 having four charging shoes 1108 mounted thereon, or charger 1008 may include four first linear actuators 1112 each having a single charging shoe 1108. mounted on it.

Referring now to Figures 15a, 15d, 15e, and 15f, each loading shoe 1108 of magazine 1008 includes a body 1116 having a retaining funnel 1120 formed, and extending from a distal end portion. Each holding funnel 1120 is formed to have an upper end, that is, the end adjacent to the exhaust assembly 1052, and an opposite lower end, where the upper end of the collection funnel is larger in size than the lower end. . Each loading shoe 1108 additionally includes an upper plate 1124 and a lower plate 1128 connected to the body 1116. The upper plate 1124 includes a hole that is symmetrical in shape and size and located above the upper end of the retaining funnel 1120 so that a The perimeter of the upper plate bore is aligned with a perimeter of the upper end of the collection funnel. Similarly, the bottom plate 1128 includes a hole that is symmetrical in shape and size and located below the bottom end of the retaining funnel 1120 so that a perimeter of the bottom plate hole is aligned with a perimeter of the bottom end of the retaining funnel. collect. Additionally, each loading shoe 1108 includes a slidingly mounted upper opening cover 1132 between the body and upper plate 1124 and a slidingly mounted lower opening cover 1136 between body and lower plate. Each upper opening cover 1132 is structured and operates to be carried between an "open" position allowing access to the respective holding funnel 1120 (as illustrated in figures 15a and 15e) and a "closed" position that blocks access to the respective collection funnel 1120 (as shown in figure 15d). Similarly, each lower opening cover 1136 is structure and operates to be carried between an "open" position allowing the respective holding funnel 1120 to exit (as shown in Figure 15f) and a "closed" position that blocks the exit respective collection funnel 1120 (as shown in figure 15e). Each of the upper and lower opening covers 1132 and 1136 are carried between an "open" position and a "closed" position via the actuators (not shown).

[00145] The first 1112 linear actuators and charging shoe upper and lower aperture cover actuators (not shown) may be operated using any suitable power / power source controlled by the main control system 1028. For example, In various embodiments, each of the first actuators 1112 and the top and bottom opening shoe cover actuators are pneumatically operated via one or more pneumatic regulators 1140 controlled by the main control system 1028. Alternatively, each of the first actuators 1112 and the top and bottom opening shoe cover actuators can be operated using either an electric or hydraulic power / power source. In addition, the operations and actions performed by the various stations, systems, subsystems, assemblies, subsets and various components of the seed separation system 10 may be operated using any suitable power / energy source such as power / pneumatic power sources, electrical and / or hydraulic.

In operation, the main control system 1028 coordinates and synchronizes the operations of hopper and separator 1004, tubular transfer 1044, exhaust assembly 1052 and loader 1008 so that prior to the sliding retaining member of the If the exhaust 1096 is carried over to the "open" position to release the "seated" seeds, the loading shoes 1108 are fully retracted to the "home" position. Additionally, the upper opening cover 1132 of each loading shoe 1108 is moved to the "open" position and the lower opening cover 1136 of each loading shoe 1108 is moved to the "closed" position. When loading shoes 1108 are in the "home" position, retention funnel 1120 of each loading shoe 1108 is located directly below a corresponding chamber within the inner chambers 1092 of exhaust assembly 1052. Therefore, as the exhaust assembly retaining sliding element is transited to the "open" position, the seeds may pass through the inner chamber 1092 as described above and fall into the corresponding loading shoe collecting funnel 1120. Subsequently each upper opening cover of the respective loading shoe is moved to the "closed" position to enclose each seed within the respective collection funnel 1120.

Once the seeds are encased in the 1120 collection hoppers, the 1028 central control system commands the first loader 1112 linear actuators to transition each of the 1108 loading shoes to the "loading" position, thereby positioning , each holding funnel 1120 directly above a respective stage corresponding to the plurality of mirroring stages 1148 included in a imaging stage assembly 1152 (illustrated in Figures 16, 16a and 16b, and further described below) from the imaging theater 1012.

Referring now to Figure 13b, in various embodiments, the imaging theater 1012 includes the imaging stage assembly 1152 mounted to the optical and controller station system support frame 1002 between an annular light assembly 1156 and a lower annular light assembly 1160. In addition, in various implementations, the imaging theater 1012 includes one or more lower mirror assemblies 1164 mounted on the system frame below the lower annular light assembly 1160.

Referring now to Figures 13b, 16, 16a and 16b as described above, the imaging stage assembly 1152 is mounted on the system support frame between the upper and lower annular light assemblies 1156 and 1160. More particularly, the upper annular light assembly 1156 includes a plurality of upper annular lights 1168 which are positioned above the imaging stage assembly 1152 so that a desired amount, intensity, type and / or wavelength of light can be provided by the upper annular lights 1168 to uniformly illuminate, that is, homogeneously, an upper part of each of the imaging stages 1148. Similarly, the lower annular light assembly 1160 includes a plurality of lower annular lights 1172 which are positioned below the imaging stage assembly 1152 so that a desired amount, intensity, type and / or wavelength of light may be provided by the lower annular lights 1172 for uniform illumination, that is, evenly, a lower part of each of the imaging stages 1148. Even more particularly, each of the lower annular lights 1172 includes a lower annular light assembly. 1176 which is controllably illuminated to provide the desired amount, intensity, type and / or wavelength of light to the bottom of the imaging stages 1148 while collecting image data for the seeds deposited in each of the imaging stages as described below. Similarly, each of the upper annular lights 1168 includes an upper annular light assembly 1180 that is controllably illuminated to provide the desired amount, intensity, type and / or wavelength of light to the upper part of the rearing stages. 1148 during image data collection for seeds deposited at each of the imaging stages, as described below.

The top and bottom annular light assemblies 1180 and 1176 may be any light array suitable for independently or in combination with other devices to uniformly illuminate the 1148 imaging stages with an amount, intensity, type and / or desired wavelength of light. For example, as illustrated in Fig. 13b, in various embodiments subsystem L&A 12 may include a light source 1184, and upper and lower annular light assemblies 1180 and 1176 may comprise fiber optic light rings optically coupled to the source. 1184 through fiber optic cables 1188. Accordingly, the light source 1184 can uniformly provide a light source of a particular amount and intensity which is transmitted through the 1188 fiber optic cables to the light rings. upper and lower optical fiber, that is, upper and lower annular light assemblies 1180 and 1176. The 1184 light source can be any light source that can be controlled by the 1028 main control system to provide light in a selectable amount and intensity. and changeable.

Additionally, in various embodiments, the light source 1184 may include, or may be operably coupled to a multispectral high speed optical filter device 1192 which operates to filter various wavelengths of light produced by the various wavelengths. spectral wave. For example, in various embodiments, the multispectral high speed filter device 1192 may be structured to include a filter wheel including two, three, four, five, six, seven, eight or more bandpass filters to provide a plurality of different bands, that is, wavelength bands, spectral filtering. Accordingly, as described below, the imaging devices 1016, the light source 1184 and the filter device 1192 may be cooperatively operated to collect seed image data deposited at the imaging stages 1148 in a plurality of different spectral wavelengths, also referred to herein as multispectral imaging.

Alternatively, in various other embodiments, the upper and lower annular light assemblies 1180 and 1176 may comprise a plurality of light emitting diodes (LEDs) in which particular LEDs different from the LEDs are structured to emit light at intensities and / or different particular wavelengths. For example, the first selected LEDs can be illuminated to emit light of a first intensity and / or particular wavelength to collect the first image data, so the second selected LEDs can be illuminated to emit light of a second intensity. and / or particular wavelength to collect the second image data, and so on. Thus, the plurality of LEDs can be selectively illuminated by the main control system 1028 to collect the seed image data deposited at the imaging stages 1148 at a plurality of different spectral wavelengths.

Additionally, the upper and lower annular light assemblies 1180 and 1176, and / or the light source 1184, may be any type of light suitable for the particular imaging application of the seed separation system 10. For example, the upper and lower annular light assemblies 1180 and 1176, and / or the light source 1184, may be incandescent lights, fluorescent lights, ultraviolet lights, infrared lights, etc.

Referring now to Figures 16, 16a, 16b and 16c, as described above, each imaging stage set 1152 includes a plurality of imaging stages 1148. In various embodiments, each imaging stage 1148 includes an annular mirror attachment 1196 fixedly mounted to the system support frame and a trap door 1200 mounted on a controllably rotatable shaft 1204. Each annular mirror accessory 1196 includes a central aperture 1208 and a plurality, for example, of eight imaging mirrors 1212, for example, flat mirrors mounted around an inner wall of each respective annular mirror fitting 1196. Imaging mirrors 1212 are substantially evenly spaced around the inner wall of the respective annular mirror attachment 1196 and mounted at an angle Θ calculated to reflect an image of a seed located substantially at the center aperture 1208 for imaging devices 1016. Thus, as further described below, image data may be collected for a plurality of different side parts, i.e. side views, of each seed. That is, the imaging devices 1016 and the master control system 1028 can collect top image data from each seed and the reflected image data from each of the plurality of 1016 imaging mirrors and system 1028 master controllers can collect background image data from each seed through one or more background mirror sets 1164.

The trapdoor bottom 1200 of each imaging stage 1148 is generally formed as a basin having a perimeter wall opening for an outlet rail 1216. Additionally, each trapdoor bottom 1200 includes a transparent center window 1220 fitted within. of a central aperture 1224 that is substantially concentric with aperture 1208 of respective annular mirror fitting 1196 when respective trap door 1200 is in a "seed imaging" position. The central windows 1220 are sized to have a diameter D calculated to be significantly larger than the width of any seed to have their image created such that the background images of each respective seed, that is, the side of the supported seed. in window 1220, can be reflected from respective lower mirror assembly 1164 and pass around the seed and through respective central window 1220 to imaging devices 1016, as further described below. Additionally, central windows 1220 may comprise any suitable transparent material that allows images reflected from each lower mirror assembly 1164 to pass around the seeds and through windows 1220 without distorting, inhibiting or corrupting the reflected images. For example, in various embodiments, the central windows 1220 may comprise a quartz glass window having high transparency and a very low refractive index, that is, being very transparent and having a refractive index that will not distort, inhibit, corrupt or will negatively affect the quality of the reflected images.

Each trapdoor bottom 1200 is connected to rotary shaft 1204, which in turn is connected to a rotary drive 1228 which operates to bidirectionally rotate shaft 1204. More particularly, rotary drive 1228, as commanded by main control system 1028, is operated to bi-directionally rotate shaft 1204 to move trapdoor bottoms 1200 of each imaging stage 1148 between the "seed imaging" position (illustrated in figures 16a and 16c) and a "seed unloading" position (shown in Figure 16b). When the trapdoor bottoms 1200 are in the "seed image" position, the trapdoor bottoms 1200 are positioned to be flat parallel, and in proximity to or generally in contact with a mirror fittings bottom 1232. 1196. Therefore, when trap doors 1200 are in the "seed imaging" position and a seed is loaded, or deposited, into each of the windows 1220 (as described below), each seed will support each other. stable in the respective window 1220. Since image data is collected for the seeds resting on the windows 1220, the rotary drive 1228 is commanded to rotate the shaft 1204 to move the trapdoor bottoms to the "seed discharge" position, where imaged seeds can slide out of respective windows 1220, through gravity, vacuum and / or forced air, through respective outlet chutes 1216 and into a 1236 of a respective corresponding separator from the created image seed separators 1020 (illustrated in figures 17a and 17b), as further described below.

Referring now to Figures 15e, 15f, 16, 16a, 16b and 16c, in various embodiments, each charger 1008 additionally includes one or more second linear actuators 1240 which are structured and operate via the commands of the main control system. 1028 to move the respective loading shoes 1108 along a geometry Z axis of the magazine 1008 between a "raised" position (shown in figures 15a and 15e) and a "lowered" position (shown in figure 15d). Although figures 15a and 15d illustrate charger 1008 as including two second linear actuators 1240, each having two charging shoes 1108 mounted thereon, it is envisioned that charger 1008 may include more than or less than two second linear actuators. 1240, each having more or less than two loading shoes 1108 mounted thereon. For example, in various embodiments, charger 1008 may include a single second linear actuator 1112 having four charging shoes 1108 mounted on it, or charger 1008 may include four second linear actuators 1240 each having a single charging shoe 1108 mounted on it. same.

As described above, when the seeds are enclosed in the collection hoppers 1120 and the loading shoes 1108 are moved to the "loading" position, each holding hopper 1120 is positioned directly above a corresponding respective stage among the stages. More particularly, when each retaining funnel 1120 is positioned directly above the corresponding mirroring stage 1148, the lower end of each retaining funnel 1120 is positioned directly above a center of the bottom window of the retainer. respective imaging stage hatch 1148. In various embodiments, loading shoes 1108 are in the "raised" position as seeds are encased in collection hoppers 1120 and loading shoes 1108 are moved to the " loading". Then, since the collection hoppers 1120 are positioned directly above the corresponding mirroring stages 1148, each second linear actuator 1240 is commanded to move the loading shoes 1108 to the "lowered" position so that each bottom plate loading shoe 1128 is in close proximity to a top 1244 of annular mirror attachment 1196, that is, approximately 0.5 to 2.0 mm above type 1244 of annular mirror accessory 1196. Each lower aperture cover of The loading shoe is then commanded to the "open" position so that each seed falls from the respective collection funnel 1120 and is deposited in the center of the lower window of the respective trap door 1220.

In addition, in various embodiments, each loading shoe 1108 includes a damping ring 1248 attached to the respective lower plate 1128 around the perimeter of the lower plate bore and aligned with the lower end of the respective collection funnel 1120. When collecting hoppers 1120 are positioned directly above the corresponding mirroring stages 1148 and loading shoes 1108 are moved to the "lowered" position, each damping ring 1248 will project into the center opening of the respective annular mirror attachment 1208. Thus, as each seed is released from its retaining funnel 1120, the damping rings 1248 will locate each respective seed approximately at the center of the respective trapdoor lower window 1220. More specifically, each damping ring 1248 has a height H which is calculated such that when loading shoes 1108 are mo to the "down" position, each damping ring 1248 will be centered with, and in proximity to, the respective lower trapdoor window 1220, that is, approximately 0.5 to 2.0 mm above the center of the lower trapdoor window. 1220. Therefore, as the seeds are released from the 1120 collection hoppers the seeds will fall into the lower central trapdoor windows 1220 and will be retained within the damping rings 1248 in the center of the lower trapdoor windows 1220 until the seeds "settle". "and rest within the lower trapdoor windows 1220. Subsequently, the main control system 1028 will command the first and second loader linear actuators 1112 and 1240 to lift the loading shoes 1108 along the Z axis and retract. loading shoes 1108 along the Y axis to return loading shoes 1108 to the "home" position.

Referring now to Figures 16, 16d and 16e, as described above, the background image data of each seed loaded in the imaging stages 1148 is collected using one or more lower mirror assemblies 1164 mounted on the frame. system bracket below the imaging stage set 1152. In various embodiments, each lower mirror set 1164 includes one or more anchor mirror accessories 1252. Specifically, the imaging theater 1012 includes one or more imaging sets. bottom mirror 1164 which cumulatively includes one 1252 anchor mirror attachment for each imaging stage 1148. Each 1252 anchor mirror attachment includes a first mirror holder 1256, a second mirror holder 1260, and a focal lens 1264 each of which is mounted on a base 1268. The first mirror holder 1256 includes a first angled table 1272 having a first lower mirror 1276, for example, a flat mirror mounted thereon. Similarly, the second mirror holder 1260 includes a second angled table 1280 having a second lower mirror 1284, for example a flat mirror mounted thereon. The first angled table 1272 is adjustable mounted to a first rod 1288 so that the first angled table 1272, and thus the first lower mirror 1276, can be positioned at an angle βι with respect to base 1268, and the The second angled table is adjustable mounted to a second rod 1292 so that the second angled table 1280, and thus the second lower mirror 1284, can be positioned at an angle β2 to the base 1268. Each focal lens is structured. to optically focus the reflected image from the first lower mirror 1276 to the second lower mirror 1284 to accommodate the focal length between the first and second lower mirrors 1276 and 1284.

As described above, the central windows 1220 of each imaging stage 1148 are sized to have a diameter D calculated to allow background images of each respective seed to be reflected from the respective lower mirror assembly 1164 and pass around the seed and through its central window 1220 to the respective imaging device 1016. More particularly, to acquire image data for the bottom of each seed, the angles β2 and β-ι of the first and second angled tables 1272 and 1280 for each strut mirror attachment 1252 are adjusted such that a reflected background image of each respective seed is directed from the first lower mirror 1276 through its central window 1220 to the respective imaging device 1016. More particularly, to acquire the background image data for each seed, the angles β2 and βι of the first and second angled tables 1272 and 1280 for each strut mirror attachment 1252 are adjusted such that a reflected bottom image of each respective seed is directed from the first lower mirror 1276 through the focal lens 1264 to the second lower mirror 1284, and then through respective center window 1220 to respective imaging device 1016. Each focal lens 1264 focuses the respective image reflected from the first lower mirror 1276 to the second lower mirror 1280. The lower annular lights 1172 are controlled by the main control system. 1028 to provide the desired amount, intensity, type and / or wavelength of light used to illuminate the background of each seed as lower image data may be acquired. In addition, as described above, in various embodiments, the light source 1184 may include, or may be operably coupled to, the multispectral high speed optical filter device 1192 for filtering various wavelengths of light produced by the light source. 1184 so that the lower image data for each seed can be collected at various spectral wavelengths.

In various embodiments, the L&A subsystem 12 may additionally include one or more transparent image intensity storage lens shelves 1238 mounted on the system support structure between the upper ring light assembly 1156 and the display creation devices. Each image intensity storage lens shelf 1238 comprises a transparent plate 1238A on which one or more image intensity storage lenses may be located. Each transparent plate 1238A may comprise any transparent material that allows images projected and reflected by the imaging theater 1012 to pass through transparent plates 1238A without distortion, inhibition or corruption of image data. For example, in various embodiments, each transparent plate 1238A may comprise a quartz glass plate having high clarity and a very low refractive index, that is, being very transparent and having a refractive index that does not distort, inhibit, corrupt or otherwise adversely affect the quality of projected or reflected image data.

Due to the many different focal lengths between the imaging devices and the various imaging data sources, that is, the seed top, the imaging mirrors of the 1212 imaging stage, and the first and second lower mirrors 1276 and 1284, the intensity of the image data provided by the image data sources may vary. To substantially equalize the intensity of image data provided by the various image data sources, one or more image intensity storage lenses (not shown) may be strategically located on one or more intensity storage lens shelves. Generally, image intensity storage lenses reduce the intensity of particular image data so that the intensity level of all image data from the various sources is substantially equal. The various image intensity storage lenses may have different intensity storage coefficients and may be manually or automatically located on the respective image intensity storage lens shelf 1238 to substantially equalize the intensity of the image data provided by the various image sources. image data.

Referring now to Figures 13a, 13b, 16, 16a, 16b, 16c, 16d and 16e, as described above, subsystem l & A 12 includes one or more imaging devices 1016. Each imaging device 1016 is mounted on the system support frame above the imaging stage assembly 1152 to have a field of view that includes one or more imaging stages 1148. For example, in various embodiments, the L&A subsystem 12 may include an 1152 imaging stage set that includes four 1148 imaging stages, and two 1016 imaging devices, where each 1016 imaging device is mounted on the system support frame to have a field of view which includes a correspondingly corresponding pair of imaging stages 1148. Although l & A subsystem 12 may include more or less than two 1016 imaging devices, and / or more or less than four 1148 imaging stages and remain within the scope of this disclosure, for simplicity and clarity, the L&A 12 subsystem will be described illustratively hereinafter as including two 1016 imaging devices and four stages of imaging where each imaging device 1016 has a field of view that encompasses a correspondingly corresponding pair of imaging stages 1148.

Therefore, once the seed is loaded, or deposited, in each trapdoor bottom window 1220, each imaging device 1016 has a seed field of view that includes the top or upwards of the respective corresponding two stages of imaging 1148, imaging mirrors 1212 and seeds.

That is, each imaging device 1016 is positioned to collect imaging data from the top of the respective two corresponding imaging stages 1148 and the top of the seeds. Additionally, each imaging device 1016 is positioned to collect image data from a plurality of side parts, i.e. side views of each seed reflected from each of the imaging mirrors 1212 and image data from the part. bottom of each seed reflected from the respective 1252 strut mirror fittings. Thus, each imaging device 1016 is oriented and operates to collect, and transmit to the main control system 1028, the image data from the top , a plurality of side portions and the bottom of each seed deposited at each of the corresponding respective imaging stages 1148. The image data of the top, bottom and plurality of side portions, i.e. side views of each seed collected by each 1016 imaging device is transmitted to the main control system 1028 for storage and analysis as described below.

As used herein, reference to the top of the seed refers to the part of the seed that is facing upward with respect to the orientation of each seed within the respective seed imaging stage. That is, as used herein, the seed top refers to the seed portion generally facing away from and not resting on the trapdoor bottom window 1220 of each respective imaging stage 1148, and not referring to the structure or anatomy independent of seeds. Similarly, as used herein, the seed bottom refers to the seed portion generally facing toward, and generally resting on the lower trapdoor window 1220 of each respective imaging stage 1148, and does not refer to the structure or anatomy independent of seeds.

Each 1028 imaging device may be any suitable imaging device selected in accordance with the seed separation system 10 imaging objectives. For example, with respect to an external coating damage analysis For example, each imaging device 1028 may comprise a digital camera operating in the visible light range. Alternatively, for internal seed analysis, each imaging device 1028 may comprise a camera operating in the near infrared light range (see U.S. Application No. 6,646,264, the description of which is incorporated herein by reference). Additionally, each imaging device 1028 may comprise a camera implementing NMR / MRI imaging techniques (see, U.S. Published Application No. US 2006/0112628, the description of which is incorporated herein by reference).

Additionally, in various embodiments, the master control system 1028 coordinates and synchronizes the operation of each imaging device 1016 with the operation of the respective upper and lower annular light assemblies 1156 and 1160 to collect image data. multispectral, that is, image data in a plurality of different spectral wavelengths and / or intensities of the top, bottom views and a plurality of side views of each seed retained within the respective imaging stages 1148.

Referring now to Figure 16f, in various embodiments, the L&A subsystem 12 additionally includes an opaque darkroom enclosure 1296 enclosing the imaging devices 1016 and the imaging theater 1012 to provide the dark environment in the room. which image data can be collected. In various embodiments, the darkroom enclosure 1296 may be removably fixed to the system support structure of the optical and controlling station 1002. In addition, in various embodiments, the darkroom enclosure 1296 may be constructed to include removable sides that are removably connected to one another to form dark room enclosure 1296.

With further reference to Figures 13a, 13b, 16, 16a, 16b, 16c, 16d, and 16e, the image data collected by each imaging device 1016 includes data pertaining to the respective imaging stage 1148 and the seeds retained in it. The image data is transmitted to the main control system 1028 and stored (at least temporarily) in an electronic data storage device of the main control system 1028. The main control system 1028 analyzes the image data and correlates or connects the image data collected with each respective corresponding seed. Accordingly, all image data collected is analyzed to correlate the image data for each individual seed to the particular imaging stage 1148 in which the respective seed is retained. Thus, a connection exists between each seed, the corresponding imaging stage 1148, and the corresponding image data.

The image data collected may be processed in various known ways to identify the phenotypic characteristics or traits of the seed (for example, as described in U.S. Patent No. 6,646,264 or US 2006/0112628 referred to above). For example, analysis of image data may reveal the characteristic information of individual seeds concerning, for example, the presence or absence of biochemical traces (such as oil content), the presence or absence of damage, the presence or absence of disease, size, color, shape and the like. This characteristic information is obtained by processing image data using custom algorithms executed on the image data collected by the main control system 1028. The results of this processing are then stored, at least temporarily, in correlation with particular seeds, and more specifically, in correlation with the respective imaging stage 1148 at which each seed is retained during imaging. Thus, there is a connection between the image data and the characteristic information of each seed.

As described below, in various embodiments, master control system 1028 executes various algorithms to perform analysis of multiple multispectral variants of image data for each seed to determine the specific surface color traits of each respective seed. For example, in various embodiments, the seeds may comprise seeds for folded haploid cultivation where the diploid seeds have a blue anthocyanin marker in the germ area. Multispectral variant analysis can be performed on the image data for each maize seed to determine if each individual maize seed has the blue marker. Seeds determined to have the blue marker are therefore identified as diploid seeds, seeds in which the blue marker is absent are identified as haploid seeds, and seeds in which it is uncertain whether the blue marker is present are identified as undetermined. Additionally, in various embodiments, analysis of the data and image collected from a particular seed may reveal that the seed size does not match or exceed a particular size limit, indicating that the particular seed is a broken seed or seed fragment. In such cases, the main control system 1028 may identify the seed as a seed fragment. The characteristics identified for each seed, or lack thereof, can then be applied by the main control system 1028 against certain seed separation criteria in order to perform seed separation by trait as described below.

Referring now to Figures 13a, 16, 16a, 16b, 17a, 17b and 17c, since image data is collected for each of the seeds resting on the trapdoor lower windows 1220, the rotary drive 1228 is commanded to rotate shaft 1204 to move trap doors 1200 to the "seed unloading" position, where each image seed created can slide out of respective window 1220, through respective outlet chute 1216 and into a mouth 1236 of a respective respective separator among the created image seed separators 1020. Although, for simplicity and clarity, the figures generally only illustrate a single created image seed separator 1020, it should be understood that the OL&S subsystem 13 includes a plurality of created image seed separators 1020. More particularly, the OL&S subsystem 13 includes a created image seed separator 1020 for each stage of image creation. 1148 of the imaging stage set 1152. For example, if the imaging stage set 1152 includes four imaging stages 1148, then the OL&S subsystem 13 includes four created image seed tabs 1020. Or, If the imaging stage set 1152 includes six imaging stages 1148, then the OL&S subsystem 13 includes six created image seed tabs 1020.

Each created image seed separator 1020 is mounted on the system support structure such that the mouth 1236 of each created image seed separator 1020 is adjacent to and aligned with the output chute 1216 of the imaging stage. More particularly, each created image seed separator 1020 is located such that when the trapdoor bottoms 1200 are moved to the "seed unloading" position, each of the created image seeds will slide out of the windows. 1220, through the respective outlet rails 1216 and into the mouths 1236 of the respective corresponding created image seed separators 1020.

Referring now to Figures 17a, 17b and 17c, each created image seed separator 1020 generally comprises a box housing 1300 enclosing a plurality of separation channels 1304. Controllably slidable within an upper portion of a first separation channel 1304a, that is, the separation channel 1304 closest to the mouth of the created image seed separator 1236, is a queuing plug 1306.

As further described below, the queuing plug 1306 is structured and operates to momentarily retain the seeds within the mouth of the created image seed separator 1236 and momentarily block the seeds from entering the created image seed separator 1020. Slidable controllable within an upper part of each of the remaining separation channels 1304 is a corresponding corresponding plug from a plurality of bypass plugs 1308. As further described below, each bypass plug 1308 is structured and operates to divert seeds to within the respective separation channel 1304. A lower part of each separation channel 1304 / 1304a terminates at a respective corresponding port from the plurality of collar exit ports 1312 spaced along a bottom 1316 of the respective created image seed separator 1316. 1020. Housing 1300 includes a first side panel 1320 and a following of the opposite side panel 1324 which are connected to the bottom 1316 to a top 1328, a front 1332 and a rear part 1336 to form housing 1300. The first side panel 1320 is shown to be transparent to illustrate separation channels 1304 and plugs. Bypass 1308, however, the first side panel may be opaque and remain within the scope of the present disclosure.

Each bypass plug 1308 and rowing plug 1306 includes an angled upper wall 1340. Angled upper wall 1340 of each bypass 1308 and rowing plug 1306 aligns linearly with angled upper wall 1340 of each immediately adjacent bypass plug 1308 or queuing plug 1306 to form an angled separation ramp 1344. Further, the angled upper walls 1340 align cumulatively linearly so that the separation ramp 1344 has a downward sloping 1348 of the separation ramp 1344 to a low end 1352 of separation ramp 1344. Each bypass plug 1308 and rowing plug 1306 are connected to a respective corresponding driver from a plurality of plug drivers 1356 mounted on the second panel 1324. Although only one single plug driver 1356 being illustrated in figure 17a, will be easily and readily It is understood that each bypass plug 1308 and queuing plug 1306 is connected to a corresponding corresponding plug driver 1356 mounted on the second panel 1324. Each plug driver 1356 coupled to a bypass plug 1308 operates via control system commands. 1028, to move each respective bypass plug 1308 between a "seed bypass" position (as illustrated in the rightmost separation channel 1304 of Figure 17c) and a "seed bypass" position (as illustrated in the channel leftmost separation line 1304 of FIG. 17c). Similarly, plug driver 1356 coupled to rowing plug 1306 operates, through the commands of the main control system 1028, to move rowing plug 1306 between a "rowing" position (as illustrated in figure 17b) and a "access" position (as shown in figure 17a).

As best illustrated in Figure 17c, each bypass plug 1308 includes a seed collection cavity 1360 formed by the respective top wall 1340 and a respective rear wall 1364. Each seed collection cavity 1360 includes an open side 1368 which opens towards the mouth of the created image seed separator 1236 when the respective bypass plug 1308 is in the "seed bypass" position. The mouth 1236 of each created image seed separator 1020 includes an open seed receiving end 1372 which opens toward the aligned output chute 1216 of the corresponding corresponding imaging stage 1148, and an opposite open duct end 1374 Additionally, the front of the created image seed separator 1332 includes an opening 1378 adjacent the high end of the separation ramp 1348. The mouth of the created image seed separator 1236 is connected to the housing 1300 such that the open channeled end 1236. be connected to housing 1300 such that open channeled end 1374 aligns with opening 1378. More particularly, the mouth of the created image seed separator 1236 is connected to housing 1300 such that a bottom 1380 of the seed separator mouth 1236 align with opening 1378 and separation ramp 1344. Therefore, as described below, a seed deposited and seed separator 1236 at the seed receiving end 1372 will slide along bottom 1380 to channeled end 1374 and smoothly, i.e. unobtrusively, travel through the front opening of the created image seed separator 1378 into ramp. angled separation 1344.

Referring now to Figure 17a, in various embodiments, the plurality of seed deposits 1024 are retained within a seed deposit retention fitting 1384. The seed deposit retaining fitting 1384 includes a base plate 1388. and a door top plate 1392 between which seed deposits 1024 are removably retained. That is, base plate 1388 and top plate 1392 are mounted on the system support frame and spaced far enough apart to allow seed deposits 1024 to be easily inserted and removed from base and top plates 1388 and In various embodiments, the base plate 1388 includes a plurality of recessed seed deposit lower alignment slips 1396, and the upper plate 1392 includes a plurality of recessed seed deposit upper alignment slips 1400. Bottom and top alignment 1396 and 1400 are structured to hold each of the 1024 seed deposits at a particular location within the retainer 1384. More specifically, the bottom and top alignment slips 1396 and 1400 are located within the base plates and 1388 and 1392 to hold each of the seed deposits 1024 so that an open top 1404 aligns with a tubing. respective corresponding action among a plurality of collared door pipes 1408 coupled to the top plate 1392.

Each collapsed door pipe 1408 is mounted to the top plate 1392 over a respective corresponding aperture from a plurality of openings (not shown) in the top plate 1392. Additionally, each collared door pipe 1408 includes a plurality of opening ports. Collared inlet 1412 which are located through the respective opening such that seeds passing through any of the collared inlet ports 1412, as further described below, are deposited in the respective seed container 1024. The OL&S subsystem 13 further includes a plurality of second transfer tubes 1416 that are interconnected between each of the collared outlet ports 1312 of each created image seed separator 1020 and the collared inlet ports 1412 of the collared door pipelines 1408.

More specifically, in various embodiments, the seed hopper retainer 1384 may include a number of collared gate pipelines 1408 and seed hoppers 1024 equal to the number of collar hopper ports 1312 and separation channels. 1304 / 1304a of one of the created image seed separators 1020. In addition, each collared port pipe 1408 may include a number of collated inlet ports 1412 equal to the number of created image seed separators 1020 included in the OL&S subsystem 13. , that is, equal to the number of imaging stages 1148 included in the imaging stage set 1152. For example, if the OL&S subsystem 13 includes four created 1020 seed image separators to accommodate four imaging stages 1148, and each created image seed separator 1020 includes five separation channels 1304 and collar exit ports 1312, the retainer attachment. The 1384 seed hopper will include five 1408 collapsed port pipes, each having four collared 1412 inlet ports. Even more specifically, through the second transfer tubes 1416, each collapsible outlet port 1312 of each seed separator. Individual created image 1020 is connected to a collared inlet port 1412 of a different collared door tubing 1408 and corresponding seed container 1024. Therefore, during operation, as described below, the main control system 1028 can control each created image seed separator 1020 to selectively divert each created image seed received from respective imaging stage 1148 to any of the seed deposits 1024 based on particular phenotypes, i.e. traits and / or traits (such as damage, disease, color, size and the like) of each seed as determined by subsystem l & A 12.

Referring now to FIGS 17a, 17b and 17c, as described above, each bypass plug 1308 and queuing plug 1306 is connected to a respective driver among the plug actuators 1356 to selectively move bypass plugs 1308 between the "seed offset" position and "seed pass" position, and the queuing plug 1306 between the "queuing" position and the "access" position. More particularly, based on the phenotype of each seed as identified by subsystem l & A 12 and main control system 1028, main control system 1028 controls the operation of plug drivers 1356 such that each individual seed is separated into one. deposit selected from seed deposits 1024 through the created image seed separators 1020.

Once a seed set is loaded, or deposited, into the imaging stage set (that is, since a respective seed is simultaneously loaded into each of the 1148 imaging stages) and Multispectral imaging data for each seed is collected, trap door doors 1200 are moved from the "seed imaging" position to the "seed discharge" position. This allows each seed in the seed set to slide out from the bottom of the respective trap door 1200, through gravity, vacuum and / or forced air, and into the mouth 1236 of the corresponding corresponding created image seed separator 1020. Before substantially or simultaneously with the trapdoor door bottoms 1200 being moved to the "seed discharge" position, the main control system 1028 drives the plug driver 1356 to the rowing plug 1306 to move the rowing plug. 1306 to the "queuing" position. Therefore, as each seed slides along the bottom 1380 of the respective created image seed separator mouth 1236, each seed will be blocked and prevented from entering the respective created image seed separator housing 1300, that is, each seed will be retained, or queued, within the respective created image seed separator mouth 1236.

While seeds are queued within the seed separator mouths 1236, a subsequent set of seeds may be loaded at the imaging stages 1148 as described above. Additionally, while seeds are queued within the mouths of seed separator 1236, image data for each queued seed is analyzed by the master control system 1028, and the identified phenotype, ie characteristics and / or traits (such as such as damage, disease, color, size and the like) are connected to each respective seed. Based on the respective identified phenotype, the master control system 1028 then determines to which of the seed deposits 1024 each seed should be separated. Then, based on the particular identified seed deposit 1024 to which each individual seed must be separated, the main control system 1028 commands a particular trigger from the plug drivers 1356 to each respective created image seed separator 1020 to move the plug. corresponding deviation 1308 to the "seed offset" position. That is, the bypass plug 1308 of the separation channel 1304 connected through the second transfer tubes 1416 to the particular identified seed container 1024 is moved to the "seed bypass" position. Since the identified bypass plug 1308 for each respective created image seed separator 1020 is moved to the "seed bypass" position, main control system 1028 commands the appropriate plug drivers 1356 to move the plug 1306 to the "access" position, thereby allowing the seeds to access the respective created image seed separator housings 1300.

More specifically, when the queuing plugs 1306 are moved to the "access" position, the seeds may slide, through gravity, vacuum and / or forced air, through the respective created created image seed separator front openings. 1378 at the respective separation ramps 1344. Each will then slide along the respective inclined created image seed separator separation ramp 1344 and into the collection cavity 1360 of the respective bypass plug 1308 which has been moved into position. of "seed diversion". Subsequently, due to gravity, vacuum and / or forced air, each seed will traverse through the respective separation channel 1304 and the second transfer tube 1416 into the particular identified seed container 1024.

Thus, in operation, multispectral image data for each seed in the seed set is analyzed to identify one or more particular phenotypes of each individual seed in the set. The hatch door bottoms 1200 are then moved from the "seed imaging" position to the "seed discharge" position such that each seed in the seed set slides substantially out of the respective hatch door bottom 1200 and into the mouth 1236 of the corresponding corresponding created image seed separator 1020, where the seeds are queued, through the respective queuing plugs 1306. Then, based on one or more identified particular phenotypes of each individual seed, the master control 1028 moves a selected plug from the offset plugs 1308 of each corresponding created image seed separator 1020 of the "seed offset" position. Rowing plugs 1306 are then moved to the "access" position and each seed slides along the bottom 1380 of the mouth of the respective created image seed separator 1236 and to the angled separation ramp of the respective created image seed separator. 1344. Each seed will then slide along the angled separation ramp of the respective created image seed separator 1344 and into the collection cavity 1360 of the respective bypass plug 1308 which has been moved to the "seed bypass" position. . Subsequently, due to gravity, vacuum and / or forced air, each seed will flow through the respective separation channel 1304 and second transfer tube into the particular identified seed container 1024.

Thus, in operation, multispectral image data for each seed in the seed set is analyzed to identify one or more particular phenotypes of each individual seed in the set. The hatch door bottoms 1200 are then moved from the "seed imaging" position to the "seed discharge" position such that each seed in the seed set substantially slips from the respective hatch door bottom 1200 and between in the mouth 1236 of the respective corresponding created image seed separator 1020, where the seeds are queued, through the respective queuing plugs 1306. Then, based on one or more particular identified phenotypes of each individual seed, the master control system 1028 moves a selected plug from the offset plugs 1308 of each corresponding created image seed separator 1020 to the "seed offset" position. Rowing plugs 1306 are then moved to the "access" position and each seed slides along the bottom 1380 of the mouth of the respective created image seed separator 1236 and to the angled separation ramp of the respective created image seed separator. 1344. Each seed will then slide along the angled separation ramp of the respective created image seed separator 1344 and into the collection cavity 1360 of the respective bypass plug 1308 which has been moved to the "seed bypass" position. Subsequently, due to the action of gravity, vacuum and / or forced air, each seed will travel through the respective separation channel 1304 and the second transfer tube into the particular identified seed deposit 1024.

Once a seed set has its image created and is separated, a new seed set is uploaded to the imaging stage set and the imaging, analysis and separation process is repeated. In various embodiments, seed sorting system 10 can sort, load, image, analyze and sort seeds approximately every three to five seconds or faster.

It is to be understood that each respective seed is separated for a particular deposit among seed deposits 1024 based on one or more identified phenotypes of each respective individual seed. Therefore, all seeds within a seed set having substantially the same one or more identified phenotypes will be separated to the same seed depot 1024, while all seeds within a seed set identified as not having one or more other phenotypes will be separated into one seed deposit. Similarly, all seeds within a set that are determined to be very small, for example seed fragments, will be separated to another selected seed deposit 1024, while all seeds within a set which are determined to be very large, for example double seeds, will be separated to another selected seed depot 1024. Additionally, in various embodiments, if after a seed has been imaged and analyzed, it is inconclusive if the seed has or does not have a particular phenotype, the respective seed can be separated out The selected seed deposit 1024. Thus, each seed deposit 1024 is designated to receive only a single seed type, that is, only seeds having the desired phenotype, only seeds that do not have the desired phenotype, only seeds. where it is not certain that they have the desired phenotype, only seeds that fail to meet a minimum size criterion and only seeds that exceed a maximum size criterion.

As presented above, in various embodiments, the main control system 1028 can perform various algorithms to perform multiple variant analysis on multi-spectral image data collected through the 1012 imaging theater and imaging devices. 1016, to identify the particular phenotypes of each seed. The master control system 1028 can then control the operation of the OL&S subsystem 13 to selectively separate seeds into 1024 seed deposits based on the identified phenotypes. For example, in various embodiments, the seeds may comprise maize seeds for growing folded haploid where the diploid seeds have a blue anthocyanin marker in the germ area. In such embodiments, the master control system 1028 may perform multiple variant analysis on the collected multispectral image data to identify whether each seed has the blue anthocyanin marker. Master control system 1028 can then separate seeds bearing the marker for a particular seed deposit 1024, separate seeds that do not have the marker into a different seed deposit 1024, separate seeds where it is not determined if they have the marker for another seed deposit 1024 and separate seeds that do not match or exceed a size limit for another seed deposit.

Figure 18 illustrates a general operation flowchart 1500 of seed separation system 10, according to various embodiments illustrated in figures 1 and 13a to 17c. Initially, a plurality of seeds are deposited on seed hopper 1056 of bulk seed hopper 1004, as indicated at 1502. The seeds are then separated via the separation wheel 1060 and transferred to exhaust assembly 1052, through tubular transfer 1044 and first transfer tubes 1048 as indicated in 1504. Exhaust assembly 1052 temporarily holds the seeds and then deposits each seed into the retention funnel 1120 of a respective shoe from one of the loading shoes 1108, such as 1506. Subsequently, the upper opening cover 1132 of each loading shoe 1108 is moved to the "closed" position to retain the seeds within the respective collection hoppers 1120, and the loading shoes 1108 are moved to the loading position. "seed loading" above the 1148 imaging stages as indicated in 1508. The lower aperture cover 1136 d and each loading shoe 1108 is then moved to the "open" position to deposit each seed at a respective stage within the imaging stages 1148, as indicated in 1510.

Once the seeds are loaded in the imaging stages 1148, the operation of the upper and lower annular light assemblies 1152 and 1160 is synchronized with the operation of the 1016 imaging devices to collect multispectral imaging data. each seed and transmit the image data to the master control system 1028 as indicated in 1512. More specifically, multispectral image data is acquired for the top view of each seed, the bottom view of each seed reflected from the lower mirror assemblies 1164 and the plurality of side views of each seed reflected from each respective annular mirror attachment imaging mirror 1212.

In various embodiments, multispectral image data comprises top, bottom and side images of each seed acquired at eight different spectral wavelengths, for example approximately 400 nm, 450 nm, 500 nm, 550 nm, 600 nm , 650 nm, 700 nm and 750 nm through eight bandpass filters of the 1192 optical filter device. Multispectral multi-view data for each seed is then analyzed by the master control system 1028 to determine whether each respective seed has one or more particular phenotypes, such as a blue anthocyanin marker in the germ area of each seed indicating whether each respective seed is a diploid, as indicated in 1514. In various embodiments, multiple variant analysis may be employed by the system of main control 1028 to analyze the collected multispectral image data.

Trapdoor door bottoms 1200 of imaging stages 1148 are then moved to the "unload seed" position to allow each seed to fall into the mouth 1236 of each respective created image seed separator 1020 and to be queued , through each respective elevated queuing plug 1306, as indicated in 1518. While the seeds are queued, based on determining whether each respective seed has one or more particular phenotypes, the main control system 1028 elevates a single plug. particular among the bypass plugs 1308 of each created image seed separator 1020 to the "seed bypass" position and lowering the queuing plugs 1306 to the "access" position. Accordingly, each seed is diverted through the respective separation channel 1304 and into the corresponding seed deposit 1024 as indicated in 1516.

Referring now to Figures 19, 20a, 20b and 20c, Figure 19 provides a flowchart 1600 illustrating an illustrative analysis process performed by the master control system 1028 on the multispectral image data collected by the L&S subsystem 12 and system. 1028 master control system. In various embodiments, the 1028 master control system analyzes the image data collected for each seed into "top view" data (that is, data acquired by each 1016 imaging device directly from the top of each respective seed and imaging stage 1148), "bottom view" data (i.e. data acquired by each imaging device 1016 that is reflected from the respective background mirror sets 1164), and a plurality of "side view" data sets (that is, a plurality of data sets acquired by each imaging device 1016, where each set (refers to image data reflected from a particular mirror among one of the image mirrors 1212). In various embodiments, to analyze the multispectral image data collected through the L&A 12 subsystem, the main control system 1028 analyzes the "top view" data first. In doing so, the master control system 1028 first develops a background mask, and applies the background mask to the image data of each of the "top view" images acquired at each of the various spectral wavelengths to approximately remove all data points, for example pixels, which are considered as background data, that is, non-seed data as indicated in 1602. An illustration of a "top view" image after the background mask has applied as illustrated in figure 20a. In various embodiments, the background mask may be constructed using any of several spectral wavelength images, for example, the image with the best signal to noise ratio, to mathematically determine which data points represent the data of bottom.

After the background mask has been applied, the master control system 1028 applies a first size boundary mask to each of the images to filter out any remaining data in each image that is too small to be a seed or seed. intact whole seed as indicated in 1604. An illustration of a "top view" image after the first size background and boundary masks have been applied is illustrated in Figure 20b. For example, noise along the edges or corners of each image may remain after the background mask is applied or broken seed parts may be present, or image data from the respective imaging stage 1148 may remain. Such extraneous data is removed by the first size boundary mask. In various embodiments, the first size boundary mask is predetermined based on known size parameters of the seed type being analyzed and separated by the seed separation system 10.

After the first size boundary mask is applied, the mask control system 1028 applies a fill and erosion mask to each of the images as indicated in 1606. The fill and erosion mask mathematically determines if the Remaining seed image data includes any "dark" dots within each seed image. Such "dark" spots may be present due to the color contrast of each respective seed or shadows caused by the outline of each respective seed. The fill and erosion mask "fills" such dark spots and also fills or removes the pixels around the edges of each seed image caused by such things as background noise and / or "bleed". In this way, the fill and erosion mask "fills" the dark spots within each seed image and "cleans" the edges of each seed image. An illustration of a "top view" image after the background mask, first size boundary mask and filler and erosion mask have been applied is illustrated in Figure 20c.

The fill and erosion mask can sometimes remove or filter pixels so that the resulting seed image includes a large object and a much smaller object at the edge of the seed. Therefore, master control system 1028 applies a second size boundary mask to remove smaller objects as indicated in 1608. In various embodiments, the second size boundary mask is predetermined based on the known size parameters of the type. seeds being analyzed and separated by the seed separation system 10.

Thus, background masks, first and second size boundary masks, and fill and erosion masks remove all data points, that is, pixels unrelated to one of the seeds in the respective imaging 1148 for the "top view" image data of each of the "top view" images acquired at each of the various spectral wavelengths. The master control system 1028 then performs mathematical analysis of various "top view" images to determine if the remaining image data for each individual seed includes data indicative of a desired phenotype as indicated in 1610. The master control system 1028 may employ any suitable mathematical analysis technique or process for making such a determination. For example, in various embodiments, master control system 1028 employs multiple variant analysis to determine whether the remaining multispectral image data for each individual seed includes data indicative of an anthocyanin marker in the seed germ.

More particularly, multiple variant analysis is performed for each seed at each data point, or pixel, of the remaining multispectral image data after applying the first and second size boundary masks, and filling and erosion to obtaining a resulting value that is compared with a predetermined first limit value. If the resulting value is above or below the first limit this indicates the desired phenotype, for example if pixel is indicative of an anthocyanin marker in the seed germ. Resulting values above the first threshold and / or below the first threshold are compiled to obtain a total number of resulting values above the first threshold and / or such a number of resulting values below the first threshold for the first set of multispectral images.

After the "top view" image data has been analyzed as described above, the main control system 1028 subsequently analyzes the "bottom view" image data and the plurality of "side view" sets of the image data in the same manner as described above with respect to the analysis of multispectral "top view" image data. Thus, analysis of the "top view", "bottom view" image data, and the plurality of "side view" sets of the image data provides a plurality of resulting value sets, for example ten resulting value sets. above the first limit and / or a plurality of resulting value sets, for example ten resulting value sets below the first limit.

Since the master control system 1028 has analyzed the plurality of multispectral image data sets and generated the respective sets of resulting values, the master control system 1028 sums the resulting value sets and compares the sum with a second one. default limit value. More specifically, the master control system 1028 combines the resulting value sets above the first limit and / or combines the resulting value sets above the first limit and / or an aggregate sum of resulting values below the first limit. The aggregate sum of result values above the first limit and / or the aggregate sum of result values below the first limit are then compared to the second limit to identify whether each respective seed has the desired phenotype, for example, the anti- marker. Blue cyanine.

For example, if the aggregate sum of the resulting values is above the second limit, the seed is identified as a diploid. But if the aggregate sum of the resulting values falls below the second limit, seed 2 is identified as a haploid, and if the aggregate sum of the resulting values equals the second limit, the seed is identified as unknown.

[00204] The description presented here is merely illustrative in nature and, therefore, variations that do not deviate from the core of what is described should be encompassed within the scope of the teachings. Such variations should not be considered a departure from the spirit and scope of the teachings.

Claims (37)

Method for determining whether a seed exhibits a desired phenotype, characterized in that it comprises the steps of: directing light into a seed from at least two directional angles and at a plurality of sequentially altering spectral wavelengths. ; collect image data from at least three parts of the selected seed from an upper part, a lower part and at least one side part of the seed at each of the spectral wavelengths; and analyzing the collected image data to determine if the seed exhibits a desired phenotype. Method according to claim 1, characterized in that the step of analyzing the collected image data comprises determining whether the seed includes a fluorescent or visual marker. Method according to claim 2, characterized in that the step of analyzing the collected image data comprises determining whether the seed includes an anthocyanin marker in the germ of the respective seed. Method according to claim 1, characterized in that the step of collecting image data from at least three parts of the selected seed from an upper part, a lower part and at least one side part of the seed, at each of the spectral wavelengths comprises the steps of: collecting image data from the top of the seed at each of the spectral wavelengths using one or more imaging devices; and collecting image data from a plurality of seed side parts at each of the spectral wavelengths using at least one image mirror such that image data for at least one side part is reflected from at least an image mirror for one or more imaging devices. Method according to claim 1, characterized in that the step of analyzing the collected image data comprises performing multiple variant analysis on the collected image data to determine whether the seed exhibits the desired phenotype. A method according to claim 1, further comprising the step of selectively depositing the seed into a respective deposit selected from a plurality of seed replenishers based on determining whether the respective seed exhibits the desired phenotype. . Method according to claim 1, characterized in that the step of collecting image data includes simultaneously collecting image data from an upper seed, a lower seed and at least a portion of the seed. side of the seed. 8. System (10) for separating a plurality of seeds based on identified seed phenotypes, the system characterized by the fact that it comprises: a structured and operable imaging and analysis subsystem (12) for collecting image data from an upper part of a seed, a lower part of the seed and at least one lateral part of the seed, and analyzing the image data collected to determine if the seed exhibits a desired phenotype. System according to claim 8, characterized in that it further comprises a loading and transport subsystem (11) including a large seed hopper and a separator (1004) connected to an exhaust assembly (1052) via a plurality of seed transfer tubes (1048), wherein: the bulk seed hopper and separator (1004) are structured and operate to separate the seed from a plurality of seeds in a seed hopper (1056) and depositing the seed in a respective chamber among a plurality of chambers (1092) of the exhaust assembly (1052); and exhaust assembly 1052 is structured and operates to temporarily retain the seed of the assembly within the respective exhaust assembly chamber 1092. System according to claim 9, characterized in that the loading and carrying subsystem (11) further comprises one or more loaders, each loader including a plurality of seed loading shoes (1108) including each one, a seed holding funnel (1120), wherein: the exhaust assembly (1052) is structured and operates to deposit the respective seed into a corresponding funnel among the seed holding funnels (1120) of the loading shoe ( 1108) when the loading shoes (1108) are in a "home" position; and each loader is structured and operates to selectively move the seed loading shoes (1108) between the "home" position and a "loading" position to transfer the seed to the optical and controller station (1002). System according to claim 10, characterized in that each loading shoe (1108) includes a damping ring (1248) attached to each respective loading shoe (1108) at the bottom of each retaining funnel (1120). ), each damping ring (1248) structured to stabilize the seed in a center of a transparent window of a bottom of a trap door (1200) of a respective stage among a plurality of mirroring stages (1148) of the subsystem (12) imaging and analysis by transferring seed to the imaging and analysis subsystem (12) System according to claim 8, characterized in that the imaging and analysis subsystem (12) includes an image theater (1012), wherein the image theater (1012) includes: a plurality of stages of mirror imaging (1148), each mirror imaging stage (1148) being structured to receive a seed of a respective shoe (1108) from a plurality of seed loading shoes (1108) thus carrying each stage of mirror image creation (1148) with a seed; and a plurality of upper annular lights (1168) positioned above the mirroring stages (1148) and a plurality of lower annular lights (1172) positioned below the mirroring stages (1148), the upper annular lights (1148). 1168) and lower (1172) being structured and operable to simultaneously direct light, in a plurality of sequentially changing spectral wavelengths, into an upper and lower portion of each mirror imaging stage ( 1148) loaded. System according to claim 12, characterized in that each upper annular light (1168) comprises a fiber optic light ring (1180), each lower annular light (1172) comprises a fiber light ring. (1176) and the imaging and analysis subsystem (12) further including a controllable light source which is operably coupled with an optical filter device (1192) connected to each of the upper annular light assemblies ( 1180) and lower (1176) via fiber optic cables (1188), wherein the controllable light source and optical filter device (1192) operate to: transmit light through fiber optic cables (1188) to each other the top (1180) and bottom (1176) fiber optic light rings to simultaneously direct light at the top and bottom of each loaded mirror imaging stage (1148); and sequentially changing the spectral wavelength of transmitted light for each of a plurality of selected wavelengths to simultaneously direct light at the top and bottom of each mirroring stage (1148) charged at each of the two. selected spectral wavelengths. A system according to claim 12, characterized in that each mirror imaging stage (1148) comprises: an annular mirror fitting (1196) having a plurality of angled image mirrors mounted around a wall of each respective annular mirror accessory (1196); and a trap door (1200) including a transparent window in which a seed is located during image data collection, the trap door (1200) being movable between a "seed imaging" position for collecting the data. image data and a "seed unload" position for the transfer of the created image seed to a seed loading, transport and separation station (1000). A system according to claim 14, characterized in that the imaging theater (1012) further includes one or more lower mirror assemblies (1164) positioned below the mirrored imaging stages (1148), each lower mirror assembly (1164) including a plurality of lower mirrors mounted at an angle to the rods of the respective lower mirror assembly (1164). A system according to claim 15, further comprising a main controller system (1028), and the imaging and analysis subsystem (12) further including one or more imaging devices (1016). ) positioned above the imaging theater (1012), wherein one or more imaging devices (1016) and the main controller system (1028) are structured and operate to: collect image data from the top of the seed at each of the spectral wavelengths; collecting image data from at least one side of the seed at each of the spectral wavelengths reflected from the plurality of angled image mirrors mounted on the annular mirror attachment (1196); and collecting seed data from the lower seed at each of the spectral wavelengths reflected from the plurality of angled lower mirrors of each respective lower mirror assembly (1164). System according to claim 16, characterized in that the main controller system (1028) is further structured and operates to perform multiple variant analysis on the collected image data to determine whether the seed exhibits the phenotype. wanted. The system of claim 8 further comprising a discharge and separation subsystem (13) comprising a plurality of seed deposits (18) and a plurality of created image seed separators (1020), each created image seed separator (1020) is structured and operable to: receive a respective one-stage seed corresponding to one of a plurality of imaging stages (1148) of the optical and controller station (1002); and selectively diverting the seed into a respective deposit among the seed deposits (18) in a determination made by the optical and controlling station (1002) if the seed exhibits the desired phenotype. System according to claim 18, characterized in that each created image seed separator (1020) comprises: a housing (1300); a plurality of separation channels (1304) enclosed in housing (1300), each separation channel (1304) terminating in a respective port among a plurality of collar exit ports (1312), each collar exit port (1312) having a respective tube among a plurality of transfer tubes (1416) connected thereto, each transfer tube (1416) terminating in a respective deposit within a seed deposit (18); and a plurality of bypass plugs (1308), each bypass plug (1308) being slidably mounted within an upper portion of a respective separation channel (1304), and being structured and operable to move between a " seed passage "and a" seed offset "position, in which the seed is diverted into the respective corresponding separation channel (1304) and subsequently into the respective corresponding seed deposit (18). The system of claim 8 further comprising: a structured and operable loading and transport subsystem (11) for separating a seed from a plurality of seeds and transporting the seed to the subsystem ( 12) image creation and analysis; and a structured and operable discharge and separation subsystem (13) for separating the seed into a deposit (18) based on whether the seed exhibits the desired phenotype. A system according to claim 20, further comprising a transparent imaging surface for supporting the seed in the imaging and analysis subsystem (12) for tracking image data collection from the top, bottom and at least one side of the seed. System according to claim 21, characterized in that the transparent imaging surface includes a multi-well seed tray (14). A system according to claim 21, characterized in that the transparent imaging surface includes an imaging stage (1148). A system according to claim 8, characterized in that the imaging analysis subsystem (12) is structured and operates to simultaneously collect the upper, lower, and at least image data. a lateral part of the seed. A method for determining whether individual seeds within a plurality of seeds exhibit a desired phenotype, characterized in that it comprises the steps of: loading a seed into a mirror imaging stage (1148) having a transparent background; collect image data for an upper part, a lower part and at least one side part of the seed; Analyze the image data collected to determine if each seed exhibits a desired phenotype. Method according to claim 25, characterized in that the step of analyzing the collected image data comprises determining whether the seed includes a fluorescent or visual marker. A method according to claim 25, characterized in that the step of analyzing the image data collected comprises determining whether the seed includes an anthocyanin marker in the seed germ. A method according to claim 25, characterized in that the step of loading the seed in the mirror imaging stage (1148) comprises the steps of: separating the seed from a plurality of seeds into a hopper of bulky seeds (1056); depositing the seed into a chamber (1092) of an exhaust assembly (1052); and temporarily retaining the seed within the exhaust assembly chamber (1092). A method according to claim 28, characterized in that the step of loading the seed in the mirror imaging stage (1148) further comprises the steps of: transferring the seed from the set chamber (1092) (1052) into a seed loading shoe (1108) positioned in a "home" position directly under the exhaust assembly (1052); moving the loading shoe (1108) from the "home" position to a "loading" position directly above the mirroring stage (1148); and transferring the seed from the loading shoe (1108) into the mirror imaging stage (1148). The method according to claim 29, characterized in that the step of transferring the seed from the loading shoe (1108) into the respective mirroring stage (1148) comprises the steps of: transferring the seed through a seed retention funnel (1120) extending through the loading shoe (1108); and stabilizing the seed in a center of a transparent window of a trapdoor bottom (1200) of the mirroring stage (1148) using a damping ring (1248) attached to the respective loading shoe (1108) at a lower end retention funnel (1120). A method according to claim 25, further comprising the step of directing light at a plurality of sequentially changing spectral wavelengths at an upper and a lower portion of the mirroring stage ( 1148) loaded and illuminate the top of each mirroring stage (1148) loaded using an upper annular light (1168) located above the mirroring stage (1148) and illuminating the bottom of the mirroring stage (1148). mirror image (1148) loaded using a lower annular light (1172) located below the mirror image stage (1148). Method according to claim 31, characterized in that the step of directing light at a plurality of sequentially changing spectral wavelengths at an upper and a lower portion of the mirror imaging stage ( 1148) comprises the steps of: transmitting light through fiber optic cables (1188) from a controllable light source to an upper fiber optic light ring (1180) included in the upper ring light and a light ring lower optical fiber (1176) included in lower annular light (1172); and sequentially altering the spectral wavelength of transmitted light for each of a plurality of selected wavelengths using an optical filter device (1192) located between the fiber optic cables (1188) and the light source. A method according to claim 25, characterized in that the step of collecting image data for an upper part, a lower part and at least one side part of the seed comprises the steps of: collecting image data from from the top of the seed using one or more devices positioned above the mirror imaging stage (1148); and collecting image data from at least one side of the seed using a plurality of angle-mounted image mirrors within an annular mirror attachment (1196) of the mirror imaging stage (1148) such that image data for at least one side portion is reflected from a respective mirror among the image mirrors to one or more of the imaging devices (1016) positioned above the mirroring stage (1148). A method according to claim 33, characterized in that the step of collecting image data for an upper part, a lower part and at least one side part of the seed further comprises collecting image data from the part seed image using one or more lower mirror assemblies positioned below the mirroring stage (1148) such that the image data for the seed bottom is reflected from a plurality of angle-mounted lower mirrors within one or more lower mirror assemblies for one or more imaging devices (1016) positioned above the mirroring stage (1148). A method according to claim 25, characterized in that the step of analyzing the collected image data comprises performing multiple variant analysis on the collected image data to determine whether the seed exhibits the desired phenotype. A method according to claim 25, further comprising the step of selectively depositing the seed in a respective deposit selected from a plurality of seed deposits (18), including the steps of: moving a trap door (1200) of the mirroring stage (1148) from the "seed imaging" position, in which image data is collected, to a "seed discharge" position, in that the seed may slide out of the trap door (1200) into a mouth of a created image seed separator (1020); and selectively operating a bypass plug (1308) from the created image seed separator (1020) to selectively divert the seed to the respective selected seed container (18). A method according to claim 25 further comprising the steps of: directing light substantially and simultaneously at a plurality of sequentially changing spectral wavelengths at an upper and a lower stage stage. mirror image creation (1148); and collecting image data substantially and simultaneously for an upper part, a lower part, and at least one side part of the seed at each of the spectral wavelengths.