SEED POD SHELLING ASSESSMENT APPARATUS FOR DETERMINING SEED POD SHELLING RESISTANCE IN VARIOUS PLANTS

Abstract

A seed pod shatter assessment system for determining the shatter resistance of seed pods in various plants, comprising a mobile platform with a structure and operation adapted to traverse at least one row of cultivated plants in a field, and at least one plant contact head mounted on the front of the mobile platform. The plant contact head(s) have a structure and operation adapted to condition each of the multiple plants by contacting each plant in the row(s) with a predetermined amount of force as the mobile platform traverses the row(s) of plants.The system also includes a data collection and analysis system with a structure and operation adapted to determine the degree of seed pod shattering that occurred in multiple plants as a result of conditioning.

Description

AUTOMATED PHENOTYPING OF SEED HULLING CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. provisional application No. 63 / 023,269, filed on May 12, 2020. The description of that application is incorporated herein in its entirety by reference. FIELD

[0002] The indications herein refer to the shelling of seed pods of crops prior to harvest and, more specifically, to systems and methods for evaluating the resistance to shelling of seed pods of various crops. BACKGROUND

[0003] The content of this section merely provides background related to the present description and may not constitute prior technique.

[0004] For growers of various plants with seed pods, such as cruciferous vegetables, legumes, and flowers like canola, wheat, peas, radish, and poppies, as well as various oilseed crops like soybeans, cotton, sunflowers, and peanuts, seed pod shattering is a problem because it reduces the final yield. Seed pod shattering occurs when the seed pods rupture, open, and prematurely release their seeds, e.g., during or before the harvesting process, resulting in seed loss and reduced production. Growers desire plants that do not shatter (i.e., shatter-resistant). Research is underway to develop methods for producing plants resistant to seed pod shattering.However, seed pod shattering is a very difficult genetic trait to measure, and current methods for detecting and quantifying shatter-resistant phenotypes are slow, subjective, and inefficient. COMPENDIUM

[0005] This description provides high-throughput systems and methods for objectively phenotyping crops by generating data that represent the tendency for seed pod shattering in a plant and / or group of plants. For example, in various forms, this description 1 237205 1260501 of 25 provides a mobile seed pod shatter assessment system with a structure and operation adapted to come into contact with fertilized plants of a crop or field to simulate environmental conditions and meteorological factors, such as wind, rain, and hail, that can cause pod shattering. In certain embodiments, the seed pod shatter assessment system comprises at least one plant contact head mounted on a mobile platform. Each plant contact head comprises a rotating shaft having multiple plant contact members mounted thereon.The seed pod shatter assessment system also includes a data collection system capable of gathering information on plants conditioned, or processed, by the seed pod shatter assessment system. This collected information can then be used to inform decisions in plant breeding programs. For example, the data collection system can measure the degree of pod shattering in one or more plants induced by the seed pod shatter assessment system to determine whether the plant(s) should be used as parent plants in future commercial plant products. In certain configurations, the collected data is in the form of electromagnetic radiation emitted or reflected by a plant, which can be associated with the degree of shattering in the plant—that is, the shattering phenotype.

[0006] In various embodiments, the present description provides a seed pod shatter assessment system for determining the shatter resistance of seed pods in various plants, wherein the system comprises a mobile platform with a structure and operation adapted to traverse at least one row of cultivated plants in a field, and at least one plant contact head mounted on the front of the mobile platform. The plant contact head(s) have a structure and operation adapted to condition each of the multiple plants by making contact with each of the plants in the row(s) with a predetermined amount of force as the mobile platform traverses the row(s) of plants.The system also includes a data collection and analysis system with a structure and operation adapted to determine the degree of seed pod shattering that occurred in multiple plants as a result of conditioning.

[0007] This compendium is provided simply to summarize various examples of modalities in the present description in order to provide a basic understanding of various aspects of its content. Various modalities, aspects, and advantages will become evident from the detailed description that follows, taken in conjunction with the accompanying figures, which illustrate, by way of example, the principles of the modalities described. Accordingly, it should be understood that 2 237205 The description and specific examples set out herein are for illustrative purposes only and are not intended to limit the scope of the indications herein. FIGURES

[0008] The figures described herein are for illustrative purposes only and are not intended to limit in any way the scope of the indications herein.

[0009] Figure 1 is a side view of a mobile seed pod shattering assessment system to determine the seed pod shattering resistance of multiple plants on an assessment plot, according to various modalities of the present description.

[00010] Figure 2 is an isometric view of a front part of the mobile seed pod shelling assessment system shown in Figure 1, which illustrates as an example a plant contact head and a lifting assembly of the system, according to various modalities of the present description.

[00011] Figure 3 is a front view of the plant contact head of the mobile seed pod shelling evaluation system shown in Figures 1 and 2, which illustrates as an example rotary plant contact implements of the system shown in Figures 1 and 2, according to various modalities of the present description.

[00012] Figure 4 is an isometric view of a front part of the mobile seed pod shelling evaluation system shown in Figures 1, 2 and 3, which illustrates as an example a sensor system of the lifting assembly, according to various modalities of the present description.

[00013] Figure 5 is an example illustration of the sensor system of the lifting assembly shown in Figure 4, according to various modalities of the present description.

[00014] Figure 6 is a side view of the mobile seed pod shelling evaluation system shown in Figures 1, 2, 3, 4 and 5, which illustrates as an example the system that includes multiple image captures, according to various modalities of the present description.

[00015] Figure 7 is a block diagram of a data processing system of the mobile seed pod shelling evaluation system shown in Figures 1, 2, 3, 4, 5 and 6, according to various modalities of the present description.

[00016] Figure 8 is an example illustration of a scoring (or rating) table for shatter resistance used to score the resistance to 3 237205 1260501 of 25 shelling of the plants, according to various modalities of the present description.

[00017] The corresponding reference numbers indicate the corresponding parts in the different views of the figures. DETAILED DESCRIPTION

[00018] The following description is for illustrative purposes only and is not intended in any way to limit the indications, application, or uses hereof. Throughout this specification, identical reference numbers will be used to refer to identical elements. Furthermore, the embodiments described below are not intended to be exhaustive or to limit the invention to the precise forms disclosed in the detailed description that follows. Rather, the embodiments are chosen and described so that others skilled in the art may use their indications. Likewise, it should be understood that the figures are intended to illustrate and simply describe the embodiments currently envisaged to the skilled in the art, but they are not intended to be figures or interpretations at the manufacturing level of final products and may include simplified conceptual views to facilitate understanding or explanation.Likewise, the relative size and arrangement of the components may differ from that shown and still function within the scope of the invention.

[00019] As used herein, the expression "example of" or "illustrative" means "that serves as an example or illustration." Any implementation described herein as an "example of" or as "illustrative" should not necessarily be construed as preferred or advantageous to other implementations. All implementations described below are examples of implementations provided to enable those skilled in the art to carry out the description and are not intended to limit the scope of the appended claims.

[00020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those normally understood by a person skilled in the art to which this description pertains. The terminology used herein is intended solely to describe examples of particular modalities and is not meant to be exhaustive. As used herein, the singular forms "a," "an," "the," and "the" may be taken to include the plural forms as well, unless the context clearly indicates otherwise. The expressions "comprises," "comprising," "including," and "having" are inclusive and thus specify the presence of the indicated features, whole numbers, steps, operations, elements, and / or components, but do not exclude the presence or addition of 4 237205 1260501 of 25 other characteristics, whole numbers, stages, operations, elements, components, and / or groups thereof. It should not be interpreted that the stages, processes, and operations of the methods described herein must necessarily be performed in the order described or illustrated, unless a specific order of performance is identified. It should also be understood that it is possible to use additional or alternative stages.

[00021] When it is stated that an element, object, device, apparatus, component, region, or section, etc., is "on," "in contact with," "connected to," or "coupled with" another element, object, device, apparatus, component, region, or section, etc., it may be directly on, in contact with, connected to, or coupled with the other element, object, device, apparatus, component, region, or section, etc., or there may be intermediate elements, objects, devices, apparatus, components, regions, or sections, etc., present. Conversely, when it is stated that an element, object, device, apparatus, component, region, or section, etc., is "directly on," "in direct contact with," "directly connected to," or "directly coupled to" another element, object, device, apparatus, component, region, or section, etc.There may be no intermediate elements, objects, devices, apparatus, components, regions, or sections, etc. present. Other words used to describe the relationship between elements, objects, devices, apparatus, components, regions, or sections, etc., should be interpreted similarly (e.g., "between" as opposed to "directly between," "adjacent" as opposed to "directly adjacent," etc.).

[00022] As used herein, the expression "operationally connected to" shall be understood to mean that two or more elements, objects, devices, apparatus, components, etc., are directly or indirectly connected to each other in an operational and / or cooperative manner, such that the operation of at least one of the elements, objects, devices, apparatus, components, etc., provides or causes the operation of at least one other element, object, device, apparatus, component, etc. This may be provided or caused unilaterally or bilaterally.

[00023] As used herein, the expression "and / or" includes any and all combinations of one or more of the associated enumerated items. For example, A and / or B includes only A, only B, or both A and B.

[00024] Although the terms "first," "second," "third," etc., may be used herein to describe various elements, objects, devices, apparatus, components, regions, or sections, etc., these elements, objects, devices, apparatus, components, regions, or sections, etc., shall not be limited by these terms. These terms may be used only to distinguish one element, object, device, apparatus, component, region, or section, etc., from another element, object, 5 237205 1260501 of 25 device, apparatus, component, region or section, etc., and do not necessarily imply a sequence or order, unless the context clearly indicates it.

[00025] Furthermore, it is understood that various directions such as "top," "bottom," "down," "up," "left," "right," "first," "second," etc., are used only for the purpose of explanation in conjunction with the figures, and that components may be oriented differently, for example, during transport, manufacturing, and operation. Since many varied and different modalities may be used within the scope of the concept(s) taught herein, and since many modifications may be made to the modalities described herein, the details herein are to be interpreted as illustrative and not exhaustive.

[00026] The apparatus / systems and methods described herein may be implemented at least in part by one or more software products comprising one or more tangible, non-transient, computer-readable media for storing software programs with instructions that can be executed by one or more processors. Software programs may include instructions executable by processors and / or instructions that can be translated or otherwise interpreted by a processor so that the processor can execute the instructions. Software programs may also include stored data. Non-exhaustive examples of tangible, non-transient, computer-readable media include non-volatile memory, magnetic storage, and optical storage.

[00027] As used herein, the term “module” may refer to, be part of, or include an application-specific integrated circuit (ASIC); an electronic circuit; a combinational logic circuit; a field-programmable gate array (FPGA); a processor (shared, dedicated, or grouped) that executes instructions contained in code, including, for example, the execution of executable code instructions and / or the interpretation / translation of uncompiled code; other suitable hardware components that provide the described functionality; or a combination of some or all of the foregoing, such as in a system-on-a-chip. The term “module” may include memory (shared, dedicated, or grouped) that stores code executed by the processor.

[00028] The term “code,” as used herein, may include software, firmware, and / or microcode, and may refer to one or more programs, routines, functions, classes, and / or objects. The term “shared,” as used herein, means that some or all of the code from multiple modules may be executed using a single processor (shared). In addition, some or all of the code from multiple modules may be stored in a single memory (shared). The term “grouped,” as used above, means that some or all of the 6 237205 1260501 of 25 The code of a single module can be executed using a group of processors. In addition, some or all of the code of a single module can be stored using a group of memories.

[00029] As used herein, a grain, seed, or other plant product includes, by way of example, cereals, oilseeds, and pulses such as wheat, maize, rye, soybeans, oats, rice, millet, canola, and any other seed or plant product harvested from a plant, all of which are referred to herein simply by the generic term "plant product." Additionally, as used herein, an evaluation plot shall be understood to mean an individual field or one of multiple plots within a research field that has been subdivided into multiple plots. Each evaluation plot normally comprises one or more rows of plants comprising from about 5 to about 15 or 20 plants (or more) in each row, where the plants are subjected to various analytical research and crop breeding procedures and evaluations to develop various strains, hybrids, genotypes, etc.of plants. For example, evaluation plots in a cultivation area may receive specific treatments (e.g., chemical applications to the plants and / or the growing environment) and / or may comprise plants with specific genetics, and / or combinations thereof. Each evaluation plot within a field may be intentionally separated from other evaluation plots by a space, or passages, where no plants grow. These spaces or passages maintain the identity of the plant material within each respective evaluation plot. Therefore, there are typically many passages in a research field, generally comprising 3–9 meters of plant-free space.

[00030] It should be noted that the systems and methods described herein are not limited to research and development contexts and / or are not limited to the evaluation of plants at evaluation sites and / or in locations where plots are separated by spaces, passages, etc. In certain embodiments, the systems and methods described herein can be used in commercial contexts to determine the performance of plants in "plots" comprising dozens, hundreds, or thousands of, or more, plants of a particular type and / or plants subjected to particular growing conditions. For example, a grower may wish to compare the performance of plants grown in one environment (e.g., with a particular soil type) with the performance of plants grown in a different environment (e.g., with a different soil type) by using this invention.These cases would not require spaces or passages in the plantation to avoid confusion of values, since a predefined "management zone" map and an accurate global positioning system (GPS) could be used to precisely associate the plants grown in one environment and another.

[00031] As used herein, an appraisal site shall be understood to mean 237205 1260501 of 25 means an individual field or one of multiple plots within a research field that has been subdivided into multiple plots. Each evaluation plot normally comprises one or more rows of plants, ranging from about 5 to about 15 or 20 plants per row, where the plants are subjected to various analytical research and crop breeding procedures and evaluations to develop various strains, hybrids, genotypes, etc., of plants. For example, evaluation plots in a cropping area may receive certain treatments (e.g., chemical applications to the plants and / or the growing environment) and / or may comprise plants with certain genetics, and / or combinations thereof. Each evaluation plot within a field is purposefully separated from other evaluation plots by a space, or passages, where no plants grow.The spaces or passages maintain the identity of the plant material within each respective assessment area. Therefore, there are usually many passages in a field under investigation, generally comprising 3-9 meters of space without plants.

[00032] As used herein, the term “plant” refers to a whole plant, any part thereof, or a cell or tissue culture derived from a plant, which includes any of: whole plants, plant components or organs (e.g., leaves, stems, roots, etc.), plant tissues, seeds, plant cells, and / or their progeny. A plant cell is a biological cell of a plant, taken from a plant, or obtained by culturing a cell taken from a plant.

[00033] As used herein, the term “plant population” or “plant population” refers to a set comprising any number, even one, of individuals, objects, or data from which samples are taken for evaluation, e.g., to estimate the effects of QTL and / or disease tolerance. More commonly, the terms refer to a breeding plant population from which members are selected and crossed to produce progeny in a plant breeding program. A plant population may include the progeny of a single breeding cross or multiple breeding crosses and may actually consist of actual plants or plant-derived material, or in silico representations of plants.It is not necessary for the members of the population to be identical to the members of the population selected for use in subsequent cycles of analysis or those ultimately selected to obtain the final progeny plants. Frequently, a plant population derives from a single biparental cross, but it can also derive from two or more crosses between the same original plants or different original plants. Although a plant population can comprise any number of members, those skilled in the art will recognize that plant breeders commonly use population sizes in the range of one hundred or two hundred members to several thousand, and that the top-performing 5–20% of a population is the 8 237205. 1260501 of 25 that is usually selected for use in later crosses to improve the performance of later generations of the population.

[00034] With respect to Figures 1, 2, 3, and 4, in various configurations, the present description provides a high-throughput mobile seed pod shatter assessment system 10 (referred to herein simply as the shatter assessment system 10) with a structure and operation adapted to come into contact with fertilized plants 14 of a crop, field, or plot 18 (referred to herein simply as an assessment plot 18) to simulate environmental conditions and meteorological factors, such as wind, rain, and hail, that can cause unwanted pod shattering. More particularly, the shatter assessment system 10 provides a high-throughput system and methods for objectively phenotyping crops by generating data that represent the seed pod shattering tendency of one or more plants 14.

[00035] The shelling assessment system 10 generally comprises a mobile platform 22, one or more plant contact heads 26 mounted on the mobile platform 22, and a data collection and analysis system 30 mounted wholly or partially on the mobile platform 22 and / or wholly or partially at a remote location. In various embodiments, the shelling assessment system 10 may comprise multiple plant contact heads 26, e.g., 2, 3, 4, or more; however, for the sake of simplicity and clarity, only one plant contact head 26 will be described herein. The mobile platform 22 has a structure and operation adapted for movement across an assessment terrain 18 comprising at least one row of plants with multiple plants 14 (e.g., 5–20 plants). The mobile platform 22 can be moved manually (e.g.The mobile platform 22 can be pushed or pulled across assessment terrain 18 or have a motor to propel it across assessment terrain 18 via a main motor (e.g., an internal combustion engine and / or an electric motor, etc.). When motorized, the movement and control of the mobile platform 22 across assessment terrain 18 can be controlled manually, automatically, and / or remotely. The data collection and analysis system 30 comprises a computer-based data processing system 34 communicating (wired or wirelessly) with at least one plant image capture device 38.

[00036] The data processing system 34 may be located wholly or partially on the mobile platform 22, and the image capture device(s) 38 may be mounted on the mobile platform 22 and / or on an image capture device carrier 42 separate from the mobile platform 22, such as an unmanned aerial vehicle (e.g., a drone) or a separate ground vehicle. The data collection and analysis system 30 has a 9 237205 1260501 of 25 structure and operation adapted to collect phenotypic and / or genotypic information on plants 14 that have been conditioned or processed by the shelling assessment system 10, thereby enabling the collected information to be used to make decisions in a plant breeding pathway. For example, the data collection and analysis system 30 can: 1) collect data indicating the degree of pod shelling in one or more plants 14 using the shelling assessment system 10; and 2) process the collected data to determine whether the plant(s) 14 should be used as parent plants in future commercial plant products.Each of the plant contact heads 26 comprises one or more plant contact implements 46 mounted on a motorized barrel 50 rotatably mounted with a head housing 56 and operatively connected to, and rotatably driven by, a motor 52 (e.g., an electric motor and / or an internal combustion engine) (shown in Figures 2 and 4). The motor 52 is operatively connected to the barrel and has a structure and operation adapted to cause the barrel to rotate in a controlled manner about a longitudinal axis of the barrel 50.

[00037] As described in detail herein, the threshing assessment system 10 has a structure and operation adapted to move along the row or rows of an assessment area 18 at a substantially constant speed, whereby the rotating plant contact implement(s) 46 make contact with the plants 14 in one or more rows (e.g., 2, 3, or 4 rows) to move or push the plants 14 in a manner similar to how the plants 14 would move or push under various normal environmental conditions, such as wind, rain, or hail. In various implementations, image data of the plants 14 are captured by the image capture device(s) 38 after the plants 14 have made contact with the plant contact head(s) 26 (e.g., have come into contact with the rotating plant contact implement(s) 46), for subsequent analysis by the data processing system 34 to determine the degree of pod shattering as a result of said contact. Alternatively, in various implementations, a first image capture device 38 can capture image data of the plants 14 before they come into contact with the plant contact head(s) 26, and then a second image capture device 38 can capture image data of the plants 14 after they have been in contact with the plant contact head(s) 26.Then, the data processing system 34 can compare image data collected before contact with the plant contact heads 26 with those collected after contact with the plant contact heads 26 to determine the degree of pod shattering as a result of plant contact 14 with the contact heads. 237205 1260501 of 25 the contact heads with the plants 26. As described above, the resulting pod stripping data can then be used to determine whether the plant or plants 14 in a particular row of a particular evaluation plot 18 should be used as original plants in the breeding of future commercial plant products.

[00038] In various embodiments, the threshing evaluation system 10 may further comprise a lifting assembly 54 connected to the mobile platform 22 on which the plant contact head(s) 26 are mounted. The lifting assembly 54 has a structure and operation adapted to raise and lower the plant contact head(s) 26, as described herein, such that the plant contact head(s) 26 can be positioned at a desired height above the ground and, more particularly, below the tops or foliage of the plants 14 in the respective evaluation area 18. By setting the height of the plant contact head(s) 26 to a selected height, the plant contact implement(s) 46 can touch or come into contact with each plant 14 at approximately a desired location below the top of the respective plants 14 (e.g., 13-25 cm below the tops of the respective plants 14). The lifting assembly 54 may be any assembly, mechanism or apparatus suitable for positioning and holding the plant contact head(s) 26 at the desired height as the threshing assessment system 10 traverses a respective assessment terrain 18.

[00039] In various embodiments, the lifting assembly 54 may comprise an automated actuator 60 communicatively connected (by cable or wirelessly) to the data processing system 30. The automated actuator 60 has a structure and operation for raising and lowering the lifting assembly 54 to automatically adjust the height of the plant contact heads 26 for each plant 14 as the threshing evaluation system 10 moves along the respective row(s) of plants 14 within the evaluation area 18 in such a way that the contact implement(s) 46 come into contact more precisely with each respective plant 14 at the desired and selected distance below the top of the respective plants 14.Specifically, the operation of the lifting assembly 54 can be controlled by the computer-based data processing system 34 (as well as the operation of various other systems, mechanisms, assemblies, devices, etc., of the threshing evaluation system 10) to raise or lower the plant contact head(s) 26 in real time, depending on the height of the next plant 14 (e.g., a target plant 14) in the respective row to be acted upon (i.e., to come into contact with the plant contact implement(s) 46), in such a way as to come into contact with 11 237205. 1260501 of 25 each plant 14 respective at the desired distance and selected below the top of the respective plant 14. The next plant 14 in the respective row to be acted upon (i.e., to come into contact with the plant contact implement(s) 46) will be referred to as the target plant 14. Therefore, each plant 14 in a row of plants will momentarily be a target plant (i.e., the next plant to be acted upon) as the threshing evaluation system 10 moves along the respective row and through the respective evaluation terrain 18.

[00040] The data processing system 34, as described herein, may be any general-purpose computer comprising electronic memory (shared, dedicated, or pooled), e.g., a hard disk, an external flash disk, cloud-based storage, or other electronic memory device, and a processor suitable for running one or more programs, algorithms, routines, and / or other plant analysis codes (hereafter referred to simply as the "plant analysis software") that may use various data such as height sensor data (described later), received location data (e.g.GPS data), received electronic instructions and / or other captured data to lower and raise the contact head(s) with the plants 26 (via the lifting assembly 54) and / or record and analyze data and / or locate each plant on a map and / or make plant selection decisions and / or determine any desired course of action and / or perform those actions as the threshing assessment system 10 moves through or over the rows of plants 14. Alternatively, the data processing system 34 is envisaged to be any computer-based system or device disposed on or remotely with respect to the mobile platform 22, such as a smartphone, laptop, tablet, or other computer-based system / device comprising memory and a processor capable of running the plant analysis software.Additionally, it is anticipated that the data processing system 34 may comprise any combination of a general-purpose computer (as described above), any other computer-based system or device (as described above), and one or more application-specific integrated circuits (ASICs), electronic circuits, combinational logic circuits, field-programmable gate arrays (FPGAs), or other hardware components that provide various functionalities of the threshing evaluation system 10, as described herein.

[00041] With reference to Figure 4, in various modes the operation of the lifting assembly 54 can be controlled by the computer-based data processing system 34 to raise or lower the contact head(s) with the 12 237205 1260501 of 25 plants 26, in real time, depending on the height of the next plant 14 (e.g., a target plant 14) in the respective row to be acted upon, in such a way that contact is made with each respective plant 14 at the desired and selected distance below the top of the respective plant 14. To achieve automated real-time height adjustment of the contact heads with the plants 26, in various modes, the threshing evaluation system may include a detection bar assembly 58 with a structure and operation adapted to detect and communicate to the data processing system 34 the presence and / or location of the top of the target plant 14 (e.g., determining the height from the ground to the top of the target plant 12) in the respective row of plants 14 being acted upon.In various implementations, the detection bar 58 may be an angled detection bar such as that described in U.S. Patent No. 10 / 342176, entitled Angled Sensor Bar For Detecting Plants, issued on July 9, 2019 to the same assignee of this application, the description of which is incorporated herein by reference.Subsequently, using the information received from the detection bar assembly 58, the data processing system 34 will control the lifting assembly 54 to raise or lower the plant contact head(s) 26 after acting on a current target plant 14 and before acting on a subsequent target plant 14, so that the top of each respective plant 14 in the respective row is determined and the height of the plant contact head(s) 26 is adjusted so that the contact implement(s) 46 come into contact with each respective plant 14 at approximately the desired and selected distance below the top of the respective plant 14.

[00042] In various cases, the detection bar assembly 58 may include a detection bar 62 mounted at or near a distal end of a sensor barrier 66 and a detection system 70 mounted at or near at least one of the opposite ends of the detection bar 62. The sensor barrier 66 may be mounted on the lifting assembly 54 and / or the plant contact head(s) 26 such that the detection bar 62 and the detection system 70 are arranged at a desired distance in front of the plant contact head(s) 26. The detection system 70 has a structure and operation adapted to detect the target plant 14 within a detection field of the detection system 70, and then detect the top of the target plant 14.The detection system 70 can be any system capable of detecting the top of each plant 14 in the conditioned row(s) as the threshing evaluation system 10 moves along the respective row(s). For example, in various modalities, the detection system 70 can be an optical-based system, a magnetic-based system, a sonic-based system, an image-based system, a tactile-based system, etc. 13 237205. 1260501 of 25 detection field of the detection system 70 is defined herein as the area (with a length / range, a width and a height) in which the respective detection system 70 is capable of detecting the presence of a floor 14 and the top of each respective floor 14.

[00043] In various embodiments, the detection bar 62 may be of such length that its opposite ends are positioned over lines between adjacent rows of plants 14 when the threshing assessment system 10 moves across the assessment area 18, via the mobile platform 22, where the sensor barrier 66 is substantially aligned with the row of plants 14 being assessed. The lines are defined herein as longitudinal spaces between and parallel to adjacent rows of plants 14. More specifically, the detection bar 62 is of such length that the detection system 70, arranged at one or both ends of the detection bar 62, is positioned within one or both adjacent lines of the row of plants 14 being assessed.Therefore, the detection system 70 is positioned to detect the presence and height of one or more plants 14 in front of the contact heads 26 in the row of plants 14 being acted upon. For example, in various configurations, the detection bar 62 can have a length of between 107 cm and 168 cm, e.g., 137 cm.

[00044] With regard to Figures 4 and 5, the detection system 70 may comprise any system suitable for detecting the target plant 14 within a detection field of the detection system 70, and then detecting the top of the target plant 14. For example, in various embodiments, the detection system 70 comprises at least one light-emitting transceiver 74, e.g., at least one infrared (IR) or laser beam transceiver, connected at a first end of the inclined detection bar 62, and at least one optical reflector 78 connected at a second opposite end of the inclined detection bar 62. The reflector(s) 78 may comprise any suitable reflective surface such as reflective tape, reflective plastic, a mirror, etc.In these configurations, the length of the detection bar 62 is such that, as the mobile platform 18 moves across the assessment terrain 18, the transceiver(s) 74 are positioned within a first line on one side of a single row of plants 14 being acted upon, and the reflector(s) 78 are positioned within a second line on the opposite side of the single row of plants 14 being acted upon. Therefore, one or more of the plants 14 in the single row are within the detection field between the transceiver(s) 74 and the reflector(s) 78. The detection field is a line of sight or a viewing area between the transceiver(s) 74 and the reflector(s) 78.

[00045] As described above, the transceiver(s) are communicatively connected (e.g., wired or wirelessly) to the 14 system 237205 1260501 of 25 data processing 34. In these modalities, each transceiver 74 may comprise a transmitter with a structure and operation adapted to emit light beams towards the reflector(s) 78, as well as a receiver with a structure and size adapted to receive any portion of the emitted light reflected by the reflector(s) 78. If reflected light is received, the transceiver(s) 74 communicate to the data processing system 34 that no plant 14 is present in the detection field. If no reflected light is received, the transceiver(s) 74 communicate to the data processing system 34 that at least one plant 14 is present in the detection field.If at least one plant 14 is detected, the data processing system 34 can control the elevation of the detection bar assembly 58 and the plant contact heads 26 until reflected light is received, indicating that the transceiver(s) 74 have risen to a height just above the top of the plant(s) 14 within the detection field. Once the top of the plant(s) 14 is detected, the data processing system 34 can raise or lower, via the elevation assembly 54, the plant contact heads 26 to approximately a desired distance below the top of the respective target plant 14, such that the plant contact implements touch or make contact with the target plant 14 at approximately a desired location.Conversely, if no plant 14 is detected within the detection field, the data processing system 34 can control the descent of the detection bar assembly 58 and the plant contact heads 26 until no reflected light is received, indicating that the transceiver(s) 74 have descended to a height above the top of the plant(s) 14 within the detection field. Once the top of the plant(s) 14 is detected, the data processing system 34 can raise or lower, via the lifting assembly 54, the plant contact heads 26 to approximately a desired distance below the top of the respective target plant 14, so that the plant contact implements touch or come into contact with the target plant 14 at approximately a desired location.

[00046] Accordingly, in various implementations, as the threshing evaluation system 10 moves across an evaluation terrain 18 along one or more rows of plants 14, the plant contact head(s) 26 are moved up and / or down as required to position the plant contact head(s) 26 approximately at a desired distance below the top of each respective target plant 14, such that the rotating plant contact implements touch or come into contact with the target plant 14 approximately at a location on the target plant 14 that will simulate the pushing or moving of the target plant 14 in a manner similar to how the plant 14 would move or push under various environmental conditions, such as wind, rain, or 15 237205. 1260501 of 25 hail. The plant contact head(s) 26 can be moved up and / or down automatically by means of the detection bar assembly 58, as described above for illustrative purposes, or by means of a motor controlled by an operator of the shelling assessment system 10. Alternatively, in various other implementations, the height of the plant contact head(s) 26 can be set to a particular value based on the average height of the plants 14 in an assessment field 18 and maintained at that height as the shelling assessment system 10 moves across the assessment field 18 along one or more rows of plants 14.

[00047] With reference again to Figures 1, 2, 3, and 4, as described above, each of the plant contact heads 26 comprises one or more plant contact implements 46 (e.g., 1, 2, 3, 4, or more) mounted on the motorized barrel 50, which is operatively connected to, and rotationally driven by, the motor 52 (e.g., an electric motor and / or an internal combustion engine). In various embodiments, the motor can be communicatively connected (by cable or wirelessly) to the data processing system 34, whereby the data processing system 34 can monitor and control in real time the speed and direction of rotation of the barrel 50 and, therefore, the speed and direction of rotation of the plant contact implement(s) 46.Therefore, in various implementations, the speed and / or direction of rotation of the plant contact implement(s) 46 can be kept constant. Alternatively, the speed and / or direction of rotation of the plant contact implement(s) 46 can be controlled in real time as the threshing assessment system 10 moves across the assessment terrain 18.

[00048] More specifically, the contact force between the plants 14 and the plant contact implement(s) 46 can be precisely adjusted to a predetermined force value by changing the rotation speed of the barrel 50. The seed pods of certain plant types 14 can be easily threshed and therefore require gentler contact to induce threshing, while other types may require stronger contact for the seed pods to thresh. Therefore, in various configurations, the rotation speed of the plant contact implement(s) 46 can be precisely controlled to create varying degrees of threshing on the plants 14 and / or between different plant types.Therefore, in various modalities, the rotation speed of the implement(s) in contact with the plants 46 can be precisely controlled to create a systematic degree of threshing of the seed pods in a particular group of plants 14 and / or between different types of plants to compensate for changes in other variables that affect threshing, such as speed 16. 237205 1260501 of 25 on land of the threshing evaluation system 10 through the respective evaluation terrain 18.

[00049] For example, the rotational speed of the plant contact implement(s) 46 can be adjusted (e.g., monitored and changed) in real time based on the monitored ground speed of the threshing evaluation system 10, such that a predetermined contact force with which the plant contact implement(s) 46 touches each plant 14 is substantially constant. Typically, the contact force of the plant contact implement(s) 46 is equal to the linear speed of the plant contact implement(s) 46 plus the linear speed of the threshing evaluation system 10.Controlling and adjusting the rotation speed of the plant contact implement(s) 46 in real time, based on the speed at which the threshing assessment system 10 moves through the assessment terrain 18, will thus control in real time the contact force with which the plant contact implement(s) 46 touch each target plant 14. More specifically, real-time control of the contact force with which the plant contact implement(s) 46 touch each plant 14 will subject each plant 14 to substantially the same contact force, resulting in more systematic and reliable strength data output.

[00050] It is anticipated that, for each set of multiple assessment plots 18 at a particular location or field (where each assessment plot 18 has a different type of plant or hybrid plant 14) in which seed pod strength is to be assessed using the shelling assessment system 10 (i.e., for each test), the respective test will be designed to be carried out with the plant contact implement(s) 46 at a particular rotation speed to be used throughout the test. More specifically, in various cases, the rotation speed of the plant contact implement(s) 46 for each test is determined through a “tolerance check,” i.e., by assessing a tolerant hybrid against a non-tolerant one. This is done because the environmental conditions at each assessment site may be drastically different.For example, some assessment sites may be hot and dry, while others may be cold and humid. Therefore, a “tolerance check” can be performed at each assessment site to determine the appropriate rotation speed of the implement(s) in contact with the plants.46

[00051] Each plant contact head cannon 50 and motor 52 has a structure and operation adapted to cause the plant contact implement(s) 46 to rotate in any direction along an axis of the cannon 50. For example, as shown in Figure 1, in various implementations, the motor 52 can cause the cannon 50 to rotate in such a way that the 17 237205 1260501 of 25 plant contact implements 46 make contact with each plant 14 with an upward contact motion. That is, in such a way that the plant contact implement(s) 46 initially make contact with each plant 14 at a lower location on the plant 14 and then move upward through the plant 14 and separate from the plant 14 at a higher location on the plant than the initial contact point. Alternatively, in various implementations, the motor 52 can cause the cannon 50 to rotate such that the plant contact implement(s) 46 make contact with each plant 14 with a downward contact motion.That is, in such a way that the plant contact implement(s) 46 initially make contact with each plant at a higher location on plant 14 and then move downwards along plant 14 and separate from plant 14 at a lower location on the plant than the initial contact point. Empirical evaluations have shown that making contact with the plant with an upward contact motion best simulates the movement or push that would occur on the plants 14 as a result of normal environmental conditions, such as wind, rain, or hail. Additionally, the plant contact implement(s) 46 may comprise any element, apparatus, mechanism, or system that can be connected to the barrel of the plant contact head and is suitable for making contact with the plants 14 in a manner that simulates normal environmental conditions, such as wind, rain, or hail.For example, empirical evaluations have shown that, when rotated at a predetermined speed, perforated carpets similar to the ergonomic carpets provided in restaurants, bars, industrial manufacturing plants, etc., for employees to stand on (to reduce wear and tear on the feet and back) simulate very well the movement and thrust of plants 14 that occurs under normal environmental conditions such as wind, rain, or hail.

[00052] With reference now to Figures 1 and 6, as described above, the pod shatter assessment system 10 has a structure and operation adapted to: 1) capture various image data of the plants 14, through the image capture device(s) 38, at least after the plant contact heads 26 have acted upon them, and in some cases before and after the plant contact heads 26 have acted upon them; and 2) analyze the captured data, through the execution of the plant analysis software, to determine the degree of pod shattering caused in the plants 14 by the pod shatter assessment system 10. Subsequently, the data and information on pod shattering can be used to determine whether the plant(s) 14 should be used as original plants in future commercial plant products.As described above, the image capture device(s) 38 can be mounted on the mobile platform 22 and / or on a separate image capture device carrier 42. For example, such 18 237205. 1260501 of 25, as illustrated by way of example in Figures 1 and 6, one or more image capture units 38 can be mounted on the mobile platform 22 and any location and connection means such as the image capture unit(s) 42. Additionally or alternatively, one or more image capture units can be mounted on a device separate from the mobile platform 22, such as one or more UAVs as illustrated by way of example in Figures 1 and 6, or one or more separate ground vehicles, such as a ground robotic device. Accordingly, the image capture units 38 can capture image data of the plants 14 after, or before and after, the plants 14 have been conditioned by the plant contact head(s) 26 and transmit or communicate the captured image data to the data processing system 34.Subsequently, the data processing system 34, through the execution of the plant analysis software, can generate and compile various types of phenotypic and / or genotypic information on the conditioned plants 14, such as the degree and / or percentage of shelled seed pods present in the conditioned plants 14. Subsequently, the data and information generated and compiled by the data processing system can be used to make decisions in a plant breeding pathway, for example, whether the plants 14 in a particular evaluation plot 18 should be used as original plants in the breeding of future commercial plant products.Additionally, it is anticipated that the data processing system 34, through the execution of the plant analysis software, will be able to generate and compile various types of data on plant health, data on the detection and identification of diseases, and data on the identification of pest infestations.

[00053] The image capture device(s) 38 may comprise any type of image capture device, sensor, camera (hyperspectral), charge-coupled device (CCD) camera, infrared (IR) camera, high-resolution digital camera, LiDAR, time-of-flight camera, or any other suitable image capture device useful for collecting image data and / or other energy values ​​(e.g., digital images, IR images, electromagnetic energy intensities at specific wavelengths, etc.). In various configurations, the evaluation system for the degranulation 10 may comprise a global positioning system (GPS) transceiver 82 communicatively connected (by cable or wirelessly) to the data processing system 34.In such cases, the image data captured by the image capturer(s) 38 can be geospatially labeled as the shatter assessment system 10 moves through the assessment terrain 18, thereby providing precise locations of each plant 14 or group of plants 14 in an assessment terrain 18, or an assessment terrain 18 in a field of many assessment terrains 18 and a shatter resistance score of 19 237205. 1260501 of 25 pods (which will be described later) respective of plants 14.

[00054] In various modalities, the degree of shelling of seed pods produced by the shelling evaluation system 10 (along with other variables known to affect shelling, such as operating conditions, climate, soil conditions, plant types, etc.) can be quantified and compared to generate a reliable and objective method for scoring the shelling of seed pods resulting from different operating conditions, climates, soil conditions, plant types, etc., which can be used to select and / or cross plants to achieve improved and / or desired characteristics of seed pod shelling.

[00055] Additionally, in various modalities, the plant analysis software may include machine learning or artificial intelligence (AI) algorithms trained to analyze captured image data and score the resistance to shattering of plants 14 based on the severity of seed pod shattering presented in the images (e.g., by comparing the degree of seed pod shattering in plants 14 before conditioning by the shattering assessment system 10 with the degree of seed pod shattering in images of plants 14 captured after conditioning by the shattering assessment system 10).In these modalities, over time, the analysis and scoring of image data improve the accuracy and efficiency of the threshing assessment system 10 when collecting data and improve plant breeding decisions to generate better plants. Alternatively, in various modalities, the width of the contact header with the plants 26, and therefore the width of the row of plants 14 with which the plant contact implements 46 come into contact and which they condition, may be less than the width of the respective field. In these modalities, it is anticipated that image data can be collected simultaneously from the conditioned plants 14 and the adjacent unconditioned plants 14.Therefore, in these modalities, the need to acquire image data of the plants 14 before the plants 14 are conditioned in a terrain and subsequently acquire image data after the respective plants 14 have been conditioned by system 10 can be eliminated. In these cases, a side-by-side comparison of the conditioned and unconditioned plants 14 can be made as system 10 traverses the respective terrain.

[00056] In various modalities, it is anticipated that plant analysis software can be trained to recognize and score pod shatter resistance more quickly and accurately by using methods known in the field of electronic image recognition. Image analysis and scoring can be performed simultaneously as images are collected and / or while 20 237205 1260501 of 25 subjects the field to these pod shelling methods, or the analysis and scoring could be carried out after the action of the shelling evaluation system 10 and the conditioning of the plants 14.

[00057] For example, in modalities where image data of plants 14 are collected in an assessment field 18 before and after conditioning by the shelling assessment system 10, it is anticipated that the AI-powered plant analysis software can compare the image data collected before conditioning with the image data collected after conditioning. Then, based on the comparison and, in various cases, one or more visual criteria, a degree and / or percentage of seed pod shelling as a result of conditioning is determined. The degree and / or percentage of seed pod shelling can then be converted into a shelling resistance score or value, which can be used to provide a numerical value to the seed pod shelling resistance of the particular type (e.g., hybrid) of plants 14 in the respective assessment field 18.

[00058] The ability to automatically raise and lower the plant contact header(s) 26 (as described above) in real time in combination with the ability to adjust the rotation speed of the plant contact implement(s) 46 in real time (as described above) allows the threshing evaluation system 10 to produce repeatable results under different crop conditions such as operating conditions, climates, soil conditions, plant types, foliage height variations, etc.Furthermore, based on the premise that a constant contact force of the contact implement(s) 46 and a constant contact height of the contact header(s) with the plants 26 relative to the foliage of the plants conditioned by the shelling evaluation system 10 will produce different seed pod shelling results among different plant hybrids 14 with variable seed pod shelling resistance, the ability to control the operating variables of the shelling evaluation system is important. A proposed relationship between the operating variables and the seed pod shelling resistance of a given hybrid (SRH) is as follows: SRH = αω + bV x cd (1)

[00059] where ω = rotation speed = linear speed of the implement(s) in contact with the plants divided by the radius of the implement(s) in contact with the plants; = speed of the threshing evaluation system (e.g., the mobile platform); d = contact depth of the implement(s) in contact with the plants 21 237205 1260501 of 25 within the foliage; and where a, b, c are the coefficients for the respective variables.

[00060] Hybrids with higher seed pod shatter resistance values ​​will require larger values ​​of the equation variables to induce seed pod shattering, and vice versa for hybrids with lower seed pod shatter resistance. By adjusting the variables to the point where most seed pod shatter-resistant hybrids begin to shatter, it will be possible to create a seed pod shatter resistance score, or rating, based on how much seed pod shattering of a particular hybrid is caused by conditioning the shatter evaluation system 10 with respect to most seed pod shatter-resistant hybrids for a constant adjustment of the variables.A table with an example of scores (or ratings) for shelling resistance is shown in Table 1 of Figure 8, where PSH stands for "shelling of the pods".

[00061] With reference now to Figure 7, as described above, the data processing system 34 has a structure and operation adapted to control one or more automated operations of the mobile shelling evaluation system 10. For example, in various modes, the data processing system 34 can control, in whole or in part, through communication with other control devices of system 10, the automated operations of the lifting assembly 54 and the plant contact heads 26. More particularly, the data processing system 34 is a computer-based system that includes one or more computers, controllers, programmable circuits, electrical modules, etc., which can be located in various locations of system 10.In various forms, the data processing system 34 comprises one or more processors 200 with a structure and operation adapted to run the plant analysis software, which may include one or more programs, algorithms and / or codes (illustrated as an example in Figure 10 as the plant analysis software 202), by means of which the operations of the lifting assembly 54 and the plant contact head(s) 26, and various other elements, functions, systems, devices, assemblies, etc., of the system 10 can be controlled.

[00062] In various implementations, the data processing system 34 further includes at least one electronic storage device 204 comprising a computer-readable medium, e.g., a tangible, non-transient computer-readable medium such as a hard disk, an erasable programmable read-only memory (EPROM), an electronically erasable programmable read-only memory (EEPROM), a read-write memory (RWM), etc. Other non-exhaustive examples of the readable medium 22 237205 1260501 of 25 computer-readable, tangible, and non-transient storage includes non-volatile memory, magnetic storage, and optical storage. Typically, computer-readable memory can be any electronic data storage device used to store items such as various software programs, algorithms, codes, digital information, data, lookup tables, spreadsheets, and / or databases, etc., that are used and executed during the operation of the system 10, as described herein. Furthermore, in various implementations, the data processing system 34 may include at least one display 206 to show items such as information, data, and / or graphical representations, and at least one user interface device 208, such as a keyboard, mouse, light pen, and / or an interactive touchscreen on the display 206.The 208 user interface has a structure and operation adapted to allow a system 10 user to enter control information and data and retrieve data on the operating status and information regarding the operation of system 10.

[00063] Additionally, in various implementations, the data processing system 34 may include a removable media reader 210 for reading information and data from and / or inputting information and data onto removable electronic storage media such as floppy disks, compact discs, DVDs, Zip disks, flash disks, or any other removable, portable, computer-readable electronic storage media. In various embodiments, the removable media reader 210 may be an I / O port used to read peripheral or external memory devices, such as flash disks or external hard drives. Additionally, in various implementations, the data processing system 34 may be communicatively connected to a remote server network 212, e.g., a local area network (LAN) or a wide area network (WAN), via a wired or wireless connection.Therefore, the data processing system 34 can communicate with the remote server network 212 to upload and / or download data, information, algorithms, software programs, and / or receive operational commands. Additionally, in various implementations, the data processing system 34 may have a structure and operation adapted to access the internet to upload and / or download data, information, algorithms, software programs, etc., from internet sites and network servers. In various configurations, the various software programs, algorithms, and / or codes executed by the processor(s) 200 to control the operations of system 10 may be higher-level system control software that not only controls the hardware functionality specific to system 10 but also requests various information from the operator. Several other configurations may utilize hardwired logic.

[00064] The description herein is merely illustrative and, therefore, 23 237205 1260501 of 25. Therefore, it is intended that variations that do not depart from the essence of what is described herein are included within the scope of the indications. Furthermore, although the above descriptions and associated figures describe examples of modalities in the context of specific examples of combinations of elements and / or functions, it should be appreciated that different combinations of elements and / or functions can be provided by means of alternative modalities without departing from the scope of the description. Such variations and alternative combinations of elements and / or functions should not be understood as deviations from the spirit and scope of the indications. 237205 1260501 of 25 20225952036 CRISTIAN DANIEL BITTEL - 20225952036 Digitally signed by PORTALTRAM ITES - INPI Date: 2021.01.25 14:27:39 -03:00 Reason: Digitally Signed by the INPI Location: Buenos Aires, Argentina 1260501

Claims

1. An apparatus for evaluating the shelling of seed pods to determine the shelling resistance of seed pods in various plants, said apparatus comprising: a mobile platform comprising a main motor and a plurality of wheels arranged to propel the mobile platform to traverse at least one row of cultivated plants in a field; and characterized in that the apparatus further comprises: a plant contact head including a barrel having a longitudinal axis, the plant contact head being mounted on a front portion of the mobile platform such that the longitudinal axis of the barrel is oriented parallel to a front portion of the mobile platform; at least one plant contact implement mounted on the barrel;a motor connected to the cannon and arranged, controlled by a computer-based data processing system, to rotate the cannon and at least one plant contact implement around the longitudinal axis of the cannon to contact each of the plants in at least one row from one side of the plants with an amount of force determined by the data processing system to simulate the exposure of the plants to wind, rain and / or hail as the mobile platform moves through at least one row of plants;and a computer-based data collection and analysis system including the computer-based data processing system and at least one image capture device communicatively connected to the data processing system, the computer-based data processing system comprising a processor and being arranged to receive image data from the at least one image capture device for each plant captured by the at least one image capture device after each plant has been contacted by the at least one plant contact implement, and to use the processor and the received image data to determine the degree of seed pod shattering that occurred on each plant as a result of contact by the at least one plant contact head. Five claims follow;