Automatic phenotypic identification of seed pod rupture

Abstract

A seed pod breakage testing system for determining resistance to seed pod breakage in a variety of plants, wherein the system comprises: a mobile platform configured and operable to traverse at least one row of plants growing in a plot; and at least one plant joint attached to the front of the mobile platform. The at least one plant joint is configured and operable to adjust each of a plurality of plants in the row by contacting each of the plants in the row with a predetermined amount of force as the mobile platform traverses the row of plants. The system additionally includes a data collection and analysis system configured and operable to determine the amount of seed pod breakage occurring in the plurality of plants as a result of the adjustment.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 023,269, filed May 12, 2020. The disclosure of the aforementioned application is incorporated herein by reference in its entirety. Technical Field

[0003] The teachings of this invention relate to crop seed pod breakage before harvest, and more specifically, to systems and methods for testing the resistance of various crops to seed pod breakage. Background Technology

[0004] The statements in this section provide background information about the contents of this disclosure only and do not constitute prior art.

[0005] For growers of various seed-pod plants (e.g., cruciferous plants, legumes and flowers such as canola, wheat, peas, radishes, and various oilseed plants such as soybeans, cotton, sunflowers, peanuts, etc.), seed pod breakage is a problem because it reduces the final harvest. Seed pod breakage occurs when the pods break open prematurely and release their seeds (e.g., before or during the harvest process), leading to seed loss and reduced yield. Growers want breakage-resistant (i.e., rupture-resistant) plants. Ongoing research is underway to produce plants resistant to seed pod breakage. However, seed pod breakage is a very difficult genetic trait to measure, and current methods for detecting and quantifying the rupture-resistant phenotype are slow, subjective, and inefficient.

[0006] This disclosure provides systems and methods for objectively identifying high-throughput crops phenotypically by generating data that accurately represents the tendency of pod breakage in a plant and / or a group of plants. For example, in several embodiments, this disclosure provides a mobile pod breakage testing system constructed and operable to contact fertilized plants in a crop or plot, thereby simulating environmental conditions and elements, such as wind, rain, and hail, that can cause undesirable pod breakage. In some embodiments, the pod breakage testing system includes at least one plant contact head mounted to a mobile platform. Each plant contact head includes a rotating shaft with a plurality of plant contact components mounted on it. The pod breakage testing system additionally includes a data collection system capable of collecting information about plants conditioned or treated by the pod breakage testing system, thereby allowing the collected information to be used for decision-making in a plant breeding pipeline. For example, the data collection system can measure the amount of pod breakage induced by the pod breakage testing system in one or more plants to determine whether the plants should be used as parents in future commercial plant products. In some implementations, the data collected is in the form of electromagnetic radiation emitted or reflected by the plant, which can be correlated with the amount of rupture in the plant (i.e., the rupture phenotype).

[0007] In several embodiments, this disclosure proposes a seed pod breakage testing system for determining resistance to seed pod breakage in a variety of plants, wherein the system includes: a mobile platform configured and operable to traverse at least one row of plants growing in a plot; and at least one plant joint attached to the front of the mobile platform. The at least one plant joint is configured and operable to adjust each plant by contacting each of a plurality of plants in the row with a predetermined amount of force as the mobile platform traverses the row of plants. The system additionally includes a data collection and analysis system configured and operable to determine the amount of seed pod breakage occurring in the plurality of plants as a result of the adjustment.

[0008] This summary is provided only to outline several exemplary embodiments of the present disclosure, thereby providing a basic understanding of several aspects of the teachings herein. Various embodiments, aspects, and advantages will become apparent from the following detailed description taken in conjunction with the accompanying drawings illustrating the principles of the described embodiments through examples. Therefore, it should be understood that the descriptions and specific embodiments set forth herein are for illustrative purposes only and are not intended to limit the scope of the teachings of the invention. Attached Figure Description

[0009] The illustrations described herein are for informational purposes only and do not limit the scope of the invention in any way.

[0010] Figure 1This is a side view of a mobile seed pod breakage test system for determining the seed pod breakage resistance of various plants in a test plot, according to several embodiments of this disclosure.

[0011] Figure 2 These are multiple implementation schemes based on the content of this disclosure. Figure 1 The isometric view of the front of the mobile seed pod breakage test system shown exemplifies the plant joint and lifting components of the system.

[0012] Figure 3 These are multiple implementation schemes based on the content of this disclosure. Figure 1 and Figure 2 The front view of the plant conjoint of the mobile seed pod breakage test system shown exemplifies this. Figure 1 and Figure 2 The system shown is a rotating plant contact device.

[0013] Figure 4 These are multiple implementation schemes based on the content of this disclosure. Figure 1 , Figure 2 and Figure 3 The isometric view of the front of the mobile seed pod rupture test system shown exemplifies the sensor system of the lifting component.

[0014] Figure 5 These are multiple implementation schemes based on the content of this disclosure. Figure 4 An exemplary example of a sensor system for lifting components is shown.

[0015] Figure 6 These are multiple implementation schemes based on the content of this disclosure. Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The side view of the mobile seed pod rupture testing system shown exemplifies a system that includes multiple imagers.

[0016] Figure 7 These are multiple implementation schemes based on the content of this disclosure. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The block diagram shown is of the data processing system of the mobile seed pod rupture test system.

[0017] Figure 8 This is an exemplary example of a rupture resistance rating (or rating) table for scoring the rupture resistance of plants according to various embodiments of this disclosure.

[0018] Throughout the accompanying drawings, reference numerals indicate the corresponding parts in several views. Detailed Implementation

[0019] The following description is exemplary in nature only and is not intended to limit the teachings, applications, or uses of the invention in any way. Throughout this specification, similar reference numerals will be used to refer to similar elements. Furthermore, the embodiments disclosed below are not intended to be exhaustive or to limit the invention to the precise forms disclosed in the detailed description below. Rather, embodiments have been chosen and described to enable those skilled in the art to utilize their teachings. Likewise, it should be understood that the accompanying drawings are intended to illustrate and plainly disclose embodiments currently contemplated by those skilled in the art, and are not intended to be manufacturing-level drawings or demonstrations of final products, and may include simplified conceptual diagrams for ease of understanding or interpretation. Similarly, the relative sizes and arrangements of components may differ from those shown, and still operate within the spirit of the invention.

[0020] As used herein, the terms “exemplary” or “illustrative” mean “used as an embodiment, example, or illustration.” Any implementation described herein as “exemplary” or “illustrative” is not necessarily to be construed as “preferred” or “advantageous” relative to other implementations. All implementations described below are exemplary implementations provided to enable those skilled in the art to practice the disclosure and are not intended to limit the scope of the appended claims.

[0021] Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “described” may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprising,” “including,” “containing,” and “having” are open-ended and thus indicate the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the particular order discussed or illustrated, unless specifically identified as such an order of performance. It should also be understood that additional or alternative steps may be employed.

[0022] When a component, object, device, assembly, part, area, or section is referred to as being "on" or "connected" to another component, object, device, assembly, area, or section, it can be directly joined, connected, or linked to another component, object, device, assembly, area, or section, or there may be intermediate components, objects, devices, assemblies, areas, or sections. Conversely, when a component, object, device, assembly, area, or section is referred to as being "directly on" another component, object, device, assembly, area, or section, or being "directly joined," "directly connected," or "directly linked" to another component, object, device, assembly, area, or section, there may be no intermediate components, objects, devices, assemblies, areas, or sections. Other terms used to describe the relationships between elements, objects, equipment, devices, components, areas or sections should be interpreted in a similar manner (e.g., "between" and "directly between", "adjacent" and "directly adjacent", etc.).

[0023] As used herein, the phrase “operably connected to” should be understood to mean that two or more elements, objects, devices, apparatuses, components, etc., are directly or indirectly connected to each other in an operable and / or cooperative manner, such that operation or function of at least one of these elements, objects, devices, apparatuses, components, etc., imparts or causes at least one additional operation or function of these elements, objects, devices, apparatuses, components, etc. This imparted or caused operation or function can be unilateral or bilateral.

[0024] As used herein, the term “and / or” includes any and all combinations of one or more of the listed related items. For example, A and / or B includes only A, or only B, or both A and B.

[0025] Although the terms first, second, third, etc., may be used herein to describe multiple elements, objects, devices, apparatuses, components, areas, or sections, these elements, objects, devices, apparatuses, components, areas, or sections should not be limited by these terms. These terms may only be used to distinguish one element, object, device, apparatus, component, area, or section from another element, object, device, apparatus, component, area, or section, and do not necessarily imply order or sequence unless the context clearly indicates otherwise.

[0026] Furthermore, it should be understood that the various orientations (such as "upper," "lower," "bottom," "top," "left," "right," "first," "second," etc.) are explained only in conjunction with the accompanying drawings, and these components may be oriented differently during, for example, transportation and manufacturing, as well as operation. Because many variations and different implementations can be made within the scope of the concepts taught herein, and because many modifications can be made to the implementations described herein, it should be understood that the details herein should be interpreted as illustrative and non-limiting.

[0027] The apparatus / systems and methods described herein can be implemented at least in part by one or more computer program products comprising one or more non-transitory, tangible computer-readable media storing a computer program with instructions executable by one or more processors. The computer program may include processor-executable instructions and / or instructions that can be translated or interpreted by a processor to enable the processor to execute the instructions. The computer program may also include stored data. Non-limiting embodiments of non-transitory, tangible computer-readable media include non-volatile memory, magnetic storage, and optical storage.

[0028] As used herein, the term "module" may refer to, belong to, or include: application-specific integrated circuits (ASICs); electronic circuits; combinational logic circuits; field-programmable gate arrays (FPGAs); processors (shared, dedicated, or grouped) that execute instructions included in the code (including, for example, executing executable code instructions and / or interpreting / translating uncompiled code); other suitable hardware components that provide the described functionality; or combinations of some or all of the above, such as a system-on-a-chip. The term "module" may include memory (shared, dedicated, or grouped) that stores code executed by the processor.

[0029] As used herein, the term code may include software, firmware, and / or microcode, and may refer to one or more programs, routines, functions, classes, and / or objects. As used herein, the term shared means that some or all of the code from multiple modules can be executed using a single (shared) processor. Additionally, some or all of the code from multiple modules may be stored in a single (shared) memory. As used above, the term group means that some or all of the code from a single module can be executed using a group of processors. Additionally, some or all of the code from a single module may be stored using a group of memory.

[0030] As used herein, cereals, seeds, or other plant products include, exemplarily, oilseed cereals and legumes such as wheat, corn, rye, soybeans, oats, rice, millet, canola seeds, and any other seeds or plant products collected from plants, all of which are simply referred to herein as plant products. Additionally, as used herein, a test plot should be understood to mean a single field or one of several plots in a study field that has been subdivided into multiple plots. Each test plot typically comprises one or more rows of plants, each row containing approximately 5 to approximately 15 or 20 (or more) plants subjected to various crop breeding and analytical research procedures and tests for the development of multiple strains, hybrids, genotypes, etc., of the plants. For example, test plots in a growing area may receive certain treatments (e.g., chemical application to the plants or growing environment) and / or may include certain genetically modified plants, and / or combinations thereof. Each test plot within a field may be intentionally separated from other test plots by gaps or paths where no plants are grown. The gaps or pathways maintain the homology of plant material within each corresponding test plot. Therefore, numerous pathways are typically present in the study field, usually comprising 10–30 feet of unplanted space.

[0031] It should be noted that the systems and methods disclosed herein are not limited to research and development scenarios, and / or are not limited to testing plants at test locations and / or at locations separated by gaps, paths, etc. In some embodiments, the systems and methods disclosed herein can be used in commercial settings to determine the performance of plants on “plots” comprising dozens, hundreds, thousands, or more of a certain type of plant, and / or plants subjected to certain growing conditions. For example, a grower may wish to use the invention to compare the performance of plants grown in one environment (e.g., a certain soil type) with the performance of plants grown in different environments (e.g., different soil types). Such a situation would not require gaps or paths on a predefined “management area” map to prevent mixing of values ​​during planting, and could use a precise Global Positioning System (GPS) to accurately associate plants grown in one environment with one plant.

[0032] As used herein, a test plot should be understood as a single field, or one of several plots within a study field that has been subdivided into multiple plots. Each test plot typically comprises one or more rows of plants, with each row containing approximately 5 to approximately 15 or 20 (or more) plants subjected to various crop breeding and analytical research procedures and tests for the development of multiple strains, hybrids, genotypes, etc. For example, test plots in a growing area may receive certain treatments (e.g., chemical application to the plants or growing environment) and / or may include certain genetically derived plants, and / or combinations thereof. Each test plot within a field may be intentionally separated from other test plots by gaps or pathways of unplanted space. These gaps or pathways maintain the homology of plant material within each corresponding test plot. Thus, numerous pathways are typically present in a study field, often comprising 10–30 feet of unplanted space.

[0033] As used herein, the term plant means the whole plant, any part of the whole plant, or a cell or tissue culture derived from a plant, including the whole plant, any plant component or organ (e.g., leaves, stems, roots, etc.), plant tissue, seeds, plant cells, and / or any of the plant's progeny. A plant cell is a biological cell of a plant, taken from a plant, or derived from a culture of cells taken from a plant.

[0034] As used herein, the phrase "plant population" or "plant species" means a group (including any number, including one) of individuals, objects, or data from which samples are taken for evaluation, such as estimating QTL effects and / or disease resistance. More generally, the term refers to a breeding population of plants from which members are selected and crossbred to produce offspring for a breeding program. A plant population may include offspring from a single breeding cross or multiple breeding crosses, and may be actual plants or plant-derived material, or a bioinformatics (in silico) representation of the plant. Population members need not be the same as those selected for use in subsequent analysis cycles or those ultimately selected to obtain the final offspring plants. Typically, plant populations originate from a single pair of crosses, but may also originate from two or more crosses between the same or different parents. Although plant populations can include any number of individuals, those skilled in the art will recognize that plant breeders typically use population sizes ranging from one or two hundred individuals to several thousand individuals, and the best-performing 5%–20% of the population are usually selected for subsequent hybridization to improve the performance of the offspring.

[0035] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4In several embodiments, this disclosure provides a high-throughput mobile pod breakage testing system 10 (hereinafter simply referred to as the breakage testing system 10), which is constructed and operable to contact fertilized plants 14 in a crop, field, or plot 18 (exemplarily referred to herein as test plot 18) to simulate environmental conditions and elements, such as wind, rain, and hail, that can cause undesirable pod breakage. More specifically, the breakage testing system 10 provides a high-throughput system and method for objectively phenotypically identifying crops by generating data that accurately represents the pod breakage tendency of one or more plants 14.

[0036] The rupture testing system 10 typically includes: a mobile platform 22; one or more plant joints 26 mounted to the mobile platform 22; and a data collection and analysis system 30, wholly or partially mounted to the mobile platform 22 and / or remotely positioned, wholly or partially. In various embodiments, the rupture testing system 10 may include multiple plant joints 26, such as two, three, four, or more; however, for simplicity and clarity, only a single plant joint 26 will be described herein. The mobile platform 22 is constructed and operable to move through a test plot 18 comprising at least one row of plants having multiple plants 14 (e.g., 5-20 plants) in the at least one row. The mobile platform 22 may be moved manually (e.g., pushed or pulled) through the test plot 18 or propelled motorized through the test plot 18 via a prime mover (e.g., an internal combustion engine and / or an electric motor). When motorized, the movement and control of the mobile platform 22 across the test plot 18 can be manually and / or automatically and / or remotely controlled. The data collection and analysis system 30 includes a computer-based data processing system 34 that communicates with at least one plant imager 38 (wired or wireless).

[0037] The data processing system 34 may be located wholly or partially on the mobile platform 22. The plant imager 38 may be mounted to the mobile platform 22 and / or to an imager 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 is configured and operable to collect phenotypic and / or genotypic information about a plant 14 that has been conditioned or treated by the rupture test system 10. The information collected can be used for decision-making in a plant breeding pipeline. For example, the data collection and analysis system 30 is capable of: 1) collecting data indicating the amount of pod rupture in one or more plants 14 caused by the rupture test system 10; and 2) processing the collected data to determine whether the plant 14 should be used as a parent in future commercial plant products. Each of one or more plant connectors 26 includes one or more plant contact devices 46, which are mounted to a motorized cylinder 50, on which a head housing 56 is rotatably mounted and operatively connected to a motor 52 (e.g., an electric motor and / or an internal combustion engine). Figure 2 and Figure 4 (As shown) and driven to rotate by motor 52. Motor 52 is operatively connected to the cylinder and is configured and operable to controllably rotate the cylinder about its longitudinal axis.

[0038] As described in detail herein, the rupture testing system 10 is constructed and operable to move along rows of test plot 18 at a substantially uniform speed, thereby rotating plant contact devices 46 contacting one or more rows (e.g., 2, 3, or 4 rows) of plants 14, thereby moving or pushing the plants 14 in a manner similar to how plants 14 would be moved or pushed by a variety of common environmental conditions (e.g., wind, rain, or hail). In several embodiments, after a plant 14 has been engaged by plant contact heads 26 (e.g., contacted by rotating plant contact devices 46), image data of the plant 14 is captured by an imager 38, and then the image data is analyzed by a data processing system 34 to determine the amount of pod rupture caused thereby. Alternatively, in several embodiments, a first imager 38 may capture image data of the plant 14 before it is engaged by plant contact heads 26, and then a second imager 38 may capture image data of the plant 14 after it has been engaged by plant contact heads 26. The data processing system 34 can then compare the image data collected before and after the plant mate 26 is joined to determine the amount of pod breakage caused by the joining of the plant mate 26 to the plant 14. As described above, the resulting pod breakage data can then be used to determine whether the plant 14 in a specific row of a specific test plot 18 should be used as a parent in the breeding of future commercial plant products.

[0039] In several embodiments, the rupture testing system 10 may further include a lifting assembly 54 connected to the mobile platform 22, to which the plant connector 26 is mounted. As described herein, the lifting assembly 54 is configured and operable to raise and lower the plant connector 26 such that the plant connector 26 can be positioned at a desired height above the ground, and more specifically, below the top or crown of the plant 14 in the corresponding test plot 18. By setting the height of the plant connector 26 at the selected height, the plant contact device 46 can strike or contact each plant 14 approximately at a desired location below the top of the corresponding plant 14 (e.g., 5-10 inches below the top of the corresponding plant 14). The lifting assembly 54 can be any component, mechanism, or device suitable for positioning and holding the plant connector 26 at a desired height when the rupture testing system 10 traverses the corresponding test plot 18.

[0040] In several embodiments, the lifting assembly 54 may include an automatic actuator 60 communicatively connected (wired or wirelessly) to the data processing system 30. The automatic actuator 60 is configured and operable to raise and lower the lifting assembly 54 such that, as the fracture testing system 10 moves along the plants 14 in corresponding rows within the test plot 18, the height of the plant joint 26 is automatically adjusted for each plant 14, so that the contact device 46 makes more precise contact with each corresponding plant 14 at a desired and selected distance below the top of the corresponding plant 14. More specifically, the operation of the lifting assembly 54 may be controlled by the computer-based data processing system 34 (as with the operation of various other systems, mechanisms, components, devices, etc., of the fracture testing system 10), thereby raising or lowering the plant joint 26 in real time based on the height of the next plant 14 in the corresponding row to be operated on (i.e., contacted by the plant contact device 46), so that each corresponding plant 14 is contacted at a desired and selected distance below the top of the corresponding plant 14. The next plant 14 in the corresponding row to be operated on (i.e., contacted by the plant contact device 46) will be referred to herein as the target plant 14. Therefore, as the rupture test system 10 moves along a row of plants and crosses the corresponding test plot 18, each plant 14 in the corresponding row will be the target plant 14 (i.e., the next plant to be operated on).

[0041] The data processing system 34 described herein can be any general-purpose computer, including electronic memory (shared, dedicated, or grouped), such as hard disks, external flash drives, cloud-based storage, or other electronic memory devices, and can be a processor suitable for executing one or more plant analysis programs, algorithms, routines, and / or other code (hereinafter referred to as plant analysis software). This system can utilize various data (such as height-sensing data (described below), received location data (e.g., GPS data), received electronic instructions, and / or other captured data for raising and lowering plant joints 26 (via lifting component 54)), and / or record and analyze data, and / or map the position of each plant, and / or make plant selection decisions, and / or determine any desired action sequence and / or execute such actions, as the rupture testing system 10 moves along or across multiple rows of plants 14. Alternatively, the data processing system 34 is envisioned as any other computer-based system or device located on or away from the mobile platform 22, such as a smartphone, handheld computer, tablet computer, or other computer-based system / device including memory and a processor capable of executing plant analysis software. Additionally, the data processing system 34 is envisioned to include any combination of the following: 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 the various functions of the fracture test system 10 as described herein.

[0042] refer to Figure 4In several embodiments, the operation of the lifting component 54 may be controlled by a computer-based data processing system 34 to raise or lower the plant joint head 26 in real time based on the height of the next plant 14 (e.g., target plant 14) in the corresponding row to be operated, such that each corresponding plant 14 is contacted at a desired and selected distance below the top of the corresponding plant 14. In several embodiments, to achieve automatic real-time height adjustment of the plant joint head 26, the breakage testing system may include a sensor rod assembly 58 configured and operable to detect the presence and / or position of the top of the target plant 14 in the corresponding row of plants 14 to be operated (e.g., determining the height of the top of the target plant 12 above the ground) and communicate this information to the data processing system 34. In several embodiments, the sensor rod 58 may be an angled sensor rod, such as that described in U.S. Patent No. 10 / 342176, entitled "Angled Sensor Bar For Detecting Plants," granted July 9, 2019, to the same assignee as this application, which is incorporated herein by reference in its entirety. Subsequently, using the information received from the sensor rod assembly 58, the data processing system 34 controls the lifting assembly 54 to raise or lower the plant joint head 26 after operating the current target plant 14 and before operating the next target plant 14, so that the top of each corresponding plant 14 in the corresponding row is determined and the height of the plant joint head 26 is adjusted, so that the contact device 46 will contact each corresponding plant 14 approximately at the desired and selected distance below the top of the corresponding plant 14.

[0043] In several instances, the sensor rod assembly 58 may include: a sensor rod 62, mounted to or near the distal end of the sensor cantilever 66; and a sensor system 70, mounted at or near at least one of the opposite ends of the sensor rod 62. The sensor cantilever 66 may be mounted to the lifting assembly 54 and / or the plant joint 26 such that the sensor rod 62 and the sensor system 70 are positioned at a desired distance from the front of the plant joint 26. The sensor system 70 is configured and operable to detect a target plant 14 located within the sensing field of the sensor system 70, and then detect the top of the target plant 14. The sensor system 70 may be any system capable of sensing the top of each plant 14 in the row to be adjusted as the rupture test system 10 moves along the corresponding row. For example, in several embodiments, the sensor system 70 may be an optical system, a magnetic system, an acoustic system, an image-based system, a tactile system, etc. The sensing field of the sensor system 70 is defined herein as the area (with length / range, width, and height) at the top of each corresponding plant 14 that the corresponding sensor system 70 is capable of sensing.

[0044] In several embodiments, the sensor rod 62 may have a length such that, as the rupture testing system 10 moves via the mobile platform 22 across the test plot 18, opposite ends may be positioned above the lanes between adjacent rows of plants 14, such that the sensor cantilever 66 is substantially aligned with the row of plants 14 to be operated. A lane is defined herein as the longitudinal space between adjacent rows of plants 14 or a longitudinal space parallel to adjacent rows of plants 14. More specifically, the sensor rod 62 has a length such that the sensor system 70 (located at one or both ends of the sensor rod 62) is positioned within one lane or two adjacent lanes of the row of plants 14 to be operated. Thus, the sensor system 70 is positioned to sense the presence and height of one or more plants 14 in front of the plant joint 26 in the row of plants 14 to be operated. For example, in several embodiments, the sensor rod 62 may have a length between 42 inches and 66 inches (e.g., 54 inches).

[0045] For reference Figure 4 and Figure 5 The sensor system 70 may include any system adapted to detect a target plant 14 located within the sensing field of the sensor system 70 and then sense the top of the target plant 14. For example, in several embodiments, the sensor system 70 includes: at least one light-emitting transceiver 74, such as at least one infrared (IR) or laser beam transceiver, attached to a first end of an inclined sensor rod 62; and at least one optical reflector 78 attached to an opposite second end of the inclined sensor rod 62. The reflector 78 may include any suitable reflective surface, such as reflective strips, reflective plastic, mirrors, etc. In such an embodiment, the length of the sensor rod 62 is such that, as the moving platform 18 moves across the test plot 18, the transceiver 74 is positioned within a first path on a first side of the single row of plants 14 to be manipulated, and the reflector 78 is positioned within a second path on an opposite second side of the single row of plants 14 to be manipulated. Thus, one or more plants 14 in a single row are located within the sensing field between the transceiver 74 and the reflector 78. The sensing field is the line-of-sight or field-of-view area between the transceiver 74 and the reflector 78.

[0046] As described above, the transceivers are communicatively connected (e.g., wired or wirelessly) to a data processing system 34. In such an embodiment, each transceiver 74 may include: a transmitter configured and operable to emit a light beam toward a reflector 78; and a receiver configured and operable to receive any portion of the emitted light reflected back from the reflector 78. If reflected light is received, the transceiver 74 communicates to the data processing system 34 that the plant 14 is not present in the sensing field. If no reflected light is received, the transceiver 74 communicates to the data processing system 34 that at least one plant 14 is present in the sensing field. If at least one plant 14 is sensed, the data processing system 34 may control the raising of the sensor rod assembly 58 and the plant connector 26 until reflected light is received, indicating that the transceiver 74 has been raised to a height just above the top of the plant 14 within the sensing field. Once the top of plant 14 is sensed, data processing system 34 can raise or lower plant connector 26 via lifting component 54 to approximately a desired distance below the top of the target plant 14, so that the plant contact device will strike or contact the target plant 14 approximately at the desired location. Conversely, if plant 14 is not sensed within the sensing field, data processing system 34 can control the lowering of sensor rod assembly 58 and plant connector 26 until no more reflected light is received, indicating that transceiver 74 has been lowered to the height of the top of plant 14 within the sensing field. Once the top of plant 14 is sensed, data processing system 34 can raise or lower plant connector 26 via lifting component 54 to approximately a desired distance below the top of the target plant 14, so that the plant contact device will strike or contact the target plant 14 approximately at the desired location.

[0047] Therefore, in several embodiments, as the rupture testing system 10 travels along one or more rows of plants 14 through the test plot 18, the plant connector 26 is moved upward and / or downward as needed to approximately position the plant connector 26 at a desired distance below the top of each corresponding target plant 14, such that rotating the plant contact device will contact the target plant 14 at approximately a position on the target plant 14, simulating movement or pushing of the plant 14 in a manner similar to how plants are moved or pushed by various environmental conditions (such as wind, rain, or hail). The plant connector 26 can be moved upward and / or downward automatically using the sensor rod assembly 58 (as exemplarily described above), or moved upward and / or downward motorized under the control of the operator of the rupture testing system 10. Alternatively, in several other embodiments, the height of the plant connector 26 can be set to a specific height based on the average height of the plants 14 in the test plot 18, and maintained at that height as the rupture testing system 10 travels along one or more rows of plants 14 through the test plot 18.

[0048] Refer again Figure 1, Figure 2 , Figure 3 and Figure 4 As described above, each of the one or more plant joints 26 includes one or more plant contact devices 46 (e.g., 1, 2, 3, 4, or more) mounted to a motorized cylinder 50 operably connected to and driven to rotate by a motor 52 (e.g., an electric motor and / or an internal combustion engine). In several embodiments, the motor may be communicatively connected (wired or wirelessly) to a data processing system 34, whereby the data processing system 34 can monitor and control the speed and direction of the cylinder 50 in real time, thereby monitoring and controlling the rotational direction and speed of the plant contact devices 46 in real time. Therefore, in several embodiments, the rotational speed and / or direction of the plant contact devices 46 can be maintained at a constant speed and / or direction. Alternatively, the rotational speed and / or direction of the plant contact devices 46 can be controllably varied in real time as the rupture test system 10 moves through the test plot 18.

[0049] More specifically, by varying the rotation rate of the cylinder 50, the contact force between the plant 14 and the plant contact device 46 can be precisely adjusted to a predetermined force value. The seed pods of certain types of plants 14 may be very prone to breakage, requiring gentler contact to induce breakage; however, other types may require more forceful contact to break the pods. Therefore, in various embodiments, the rotation speed of the plant contact device 46 can be precisely controlled to produce varying amounts of breakage in the plant 14 and / or in different plant types. Thus, in various embodiments, the rotation speed of the plant contact device 46 can be precisely controlled to produce a consistent amount of pod breakage in a specific group of plants 14 and / or in different plant types to compensate for changes in other variables affecting breakage, such as the ground speed at which the breakage testing system 10 passes through the corresponding test plot 18.

[0050] For example, the rotational speed of the plant contact device 46 can be adjusted in real time (e.g., monitored and changed) based on the ground velocity of the monitored fracture test system 10, thereby ensuring that the predetermined contact force of the plant contact device 46 impacting each plant 14 is substantially consistent. Generally, the contact force of the plant contact device 46 is equal to the linear velocity of the plant contact device 46 plus the linear velocity of the fracture test system 10. Controlling and adjusting the rotational speed of the plant contact device 46 in real time based on the speed at which the fracture test system 10 moves through the test plot 18 will thus control the contact force of the plant contact device 46 impacting each plant 14 in real time. More specifically, real-time control of the contact force of the plant contact device 46 impacting each plant 14 will subject each plant 14 to substantially the same contact force, resulting in more consistent and reliable fracture resistance data.

[0051] Imagine that, for each group of multiple test plots 18 (i.e., for each trial) in a specific location or field (each test plot 18 having different types or hybrid plants 14) where the seed pod resistance is to be tested using the rupture test system 10, the corresponding trial is designed to be conducted using a plant contact device 46 with a specific rotation speed that is maintained throughout the trial. More specifically, in several instances, the rotation speed of the plant contact device 46 for each trial is determined via a "tolerance check," that is, by testing tolerant hybrids against intolerant hybrids. This is done because the environmental conditions at each test site can be significantly different. For example, some test sites may be hot and dry, while others may be cool and humid. Therefore, a "tolerance check" can be performed at each test site to determine the appropriate rotation speed of the plant contact device 46.

[0052] The cylinder 50 and motor 52 of each plant connector are constructed and operable to cause the plant contact device 46 to rotate in either direction along the axis of the cylinder 50. For example, as Figure 1 As exemplified in the embodiments, in several implementations, the motor 52 can rotate the cylinder 50, causing the plant contact device 46 to contact each plant 14 with an upward contact motion. That is, the plant contact device 46 initially contacts each plant 14 at a lower position on the plant 14, then travels upward along the plant 14 and separates from the plant 14 at a position higher than the initial contact. Alternatively, in several implementations, the motor 52 can rotate the cylinder 50, causing the plant contact device 46 to contact each plant 14 with a downward contact motion. That is, the plant contact device 46 initially contacts each plant 14 at a higher position on the plant 14, then travels downward along the plant 14 and separates from the plant 14 at a position lower than the initial contact. Empirical tests have shown that contacting plants with an upward contact motion most closely simulates the movement or pushing that occurs in the plants 14 caused by common environmental conditions such as wind, rain, or hail. Alternatively, plant contact device 46 may include any item, device, mechanism, or system that can be attached to a plant connector and is adapted to contact plant 14 in a manner simulating common environmental conditions such as wind, rain, or hail. For example, empirical tests have shown that perforated mats (similar to ergonomic mats used by employees to stand on in restaurants, bars, industrial manufacturing plants, etc., to reduce strain on feet and backs) most closely simulate the movement and pushing of plant 14 under common environmental conditions such as wind, rain, or hail when rotated at a predetermined speed.

[0053] Now for reference Figure 1 and Figure 6As described above, the pod breakage test system 10 is constructed and operable to: 1) capture multiple image data of the plant 14 via the imager 38, at least after operation by the plant conjoint 26, and in some instances, before and after operation by the plant conjoint 26; and 2) analyze the captured data by executing plant analysis software to determine the amount of pod breakage caused in the plant 14 by the pod breakage test system 10. Thereafter, the pod breakage data and information can be used to determine whether one or more of the plants 14 should be used as parent plants in future commercial plant products. As described above, the plant imager 38 can be mounted to the mobile platform 22 and / or a separate imager carrier 42. For example, as... Figure 1 and Figure 6 As exemplified herein, one or more imagers 38 may be mounted to the mobile platform 22 and any location and any connecting device such as the imager carrier 42. Additionally or alternatively, one or more imagers may be mounted to a device separate from the mobile platform 22, such as... Figure 1 and Figure 6 One or more UAVs, exemplified in the example, may be mounted to one or more separate ground vehicles, such as ground robotic devices. Therefore, imager 38 may capture image data of plant 14 after plant 14 has been conditioned by plant graft 26, or before and after plant 14 has been conditioned by plant graft 26, and transmit or communicate the captured image data to data processing system 34. Subsequently, by executing plant analysis software, data processing system 34 may generate and compile various types of phenotypic and / or genotypic information about the conditioned plant 14, such as the amount and / or percentage of ruptured pods present on the conditioned plant 14. The data and information generated and compiled by the data processing system can then be used to make decisions in a plant breeding pipeline, for example, whether plants 14 in a particular test plot 18 should be used as parent plants in the breeding of future commercial plant products. Additionally, it is envisioned that data processing system 34 may generate and compile various types of plant health data, disease detection data and identification, and pest data and identification by executing plant analysis software.

[0054] Imager 38 may include any type of imaging device, sensor, (hyperspectral) camera, charge-coupled device (CCD) camera, infrared (IR) camera, high-resolution digital camera, LiDAR, time-of-flight camera, or any other suitable imaging device for collecting image data and / or other energy values ​​(e.g., digital images, IR images, intensity of electromagnetic energy at certain wavelengths, etc.). In several embodiments, the rupture testing system 10 may include a Global Positioning System (GPS) transceiver 82 communicatively connected to a (wired or wireless) data processing system 34. In these instances, image data captured by imager 38 may be geotagged as the rupture testing system 10 moves across test plots 18, thereby providing the precise location of each plant or group of plants 14 in test plots 18, or the precise location of test plots 18 in a field of many test plots 18, and the corresponding pod rupture resistance score of the plants 14 (described below).

[0055] In several implementations, the amount of seed pod breakage produced by the breakage test system 10 (and other known variables affecting breakage, such as operating conditions, climate, soil conditions, plant type, etc.) can be quantified and compared to generate a reliable and objective method for scoring the resulting seed pod breakage under different operating conditions, climate, soil conditions, plant type, etc., which can be used to select and / or breed plants with improved and / or desired seed pod breakage characteristics.

[0056] Furthermore, in several embodiments, the plant analysis software may include machine learning or artificial intelligence (AI) algorithms trained to analyze captured image data and score the rupture resistance of plant 14 based on the severity of pod rupture shown in the images (e.g., by comparing the amount of pod rupture in plant 14 before being regulated by rupture testing system 10 with the amount of pod rupture in captured images of plant 14 after being regulated by rupture testing system 10). In these embodiments, the analysis and scoring of image data over time improves the accuracy and efficiency of data collection by rupture testing system 10 and improves plant breeding decisions to produce better plants. Alternatively, in several embodiments, the width of the plant contact head 26, and thus the width of the grass bed of plant 14 contacted and regulated by plant contact device 46, may be smaller than the width of the corresponding plot. In these embodiments, it is envisioned that image data from regulated plant 14 and adjacent unregulated plant 14 can be collected simultaneously. Therefore, in these embodiments, the need to acquire image data of the plants 14 in the plot before adjustment and subsequently capture image data of the corresponding plants 14 after adjustment by the system 10 can be eliminated. In these examples, the adjusted plants 15 and the unadjusted plants 14 can be compared side by side as the system 10 traverses the corresponding plot.

[0057] In several implementations, it is envisioned that known methods in the field of electronic image recognition can be used to train plant analysis software to more quickly and accurately identify and score pod breakage resistance. Image analysis and scoring can be performed simultaneously with image collection and / or in the field under these pod breakage methods, or analysis and scoring can be performed after operating the breakage test system 10 and conditioning the plants 14.

[0058] For example, in an embodiment where image data of plant 14 in test plot 18 is collected before and after conditioning of the pod breakage testing system 10, it is envisioned that AI 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 instances, one or more additional visual metrics, the amount and / or percentage of pod breakage resulting from the conditioning is determined. The amount and / or percentage of pod breakage can then be converted into a pod breakage resistance score or value, which can be used to assign a numerical value to the pod breakage resistance of a specific type (e.g., hybrid) of plant 14 in test plot 18.

[0059] The ability to automatically raise and lower the plant contact head 26 in real time (as described above), combined with the ability to adjust the rotational speed of the plant contact device 46 in real time (as described above), allows the rupture test system 10 to produce reproducible results under different crop conditions (e.g., operating conditions, climate, soil conditions, plant type, canopy height differences, etc.). Furthermore, the ability to control the operating variables of the rupture test system is important, given that consistent contact force of the contact device 46 and consistent contact height of the plant contact head 26 relative to the mustard seeds of the plant to be regulated by the rupture test system 10 will produce different pod rupture results among different hybrids of the plant 14 with varying resistance to pod rupture. The proposed operating variables are related to the pod rupture resistance (SR) of a given hybrid. H The relationship between them is as follows:

[0060] SRH=aω+bVxcd

[0061] Where ω = rotational speed = linear velocity of the plant contact device divided by radius of the plant contact device; V = speed of the rupture testing system (e.g., a moving platform); d = depth of the plant contact device at the crown; and a, b, c are coefficients of the corresponding variables.

[0062] Hybrids with higher resistance to pod breakage will require larger values ​​of the equation variable to induce pod breakage, while the opposite is true for hybrids with lower resistance. By adjusting the variable to the point at which most resistant hybrids begin to break, a relative pod breakage resistance score or rating can be generated by adjusting how many pods break relative to most resistant hybrids through the breakage test system 10, based on a variable with a constant setting. Figure 8 Table 1 in the table, where PSH means "pod breakage".

[0063] Now for reference Figure 7As described above, the data processing system 34 is configured and operable to control one or more automated operations of the mobile rupture testing system 10. For example, in several embodiments, the data processing system 34 can fully or partially control the automated operations of the lifting assembly 54 and the plant joint 26 via communication with other control devices of the system 10. More specifically, the data processing system 34 is a computer-based system including one or more computers, controllers, programmable circuits, electrical modules, etc., and may be located at multiple locations within the system 10. In several embodiments, the data processing system 34 includes one or more processors 200 configured and operable to execute plant analysis software, which may include one or more programs, algorithms, and / or code (exemplarily exemplified as plant analysis software 202 in FIG. 10), thereby controlling the operation of the lifting assembly 54 and the plant joint 26 of the system 10, as well as a variety of other features, functions, systems, devices, components, etc.

[0064] In several embodiments, the data processing system 34 additionally includes at least one electronic storage device 204, which includes computer-readable media, such as non-transitory, tangible computer-readable media, such as hard disks, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), read-write memory (RWM), etc. Other non-limiting embodiments of non-transitory, tangible computer-readable media are non-volatile memory, magnetic storage, and optical storage. Generally, computer-readable storage can be any electronic data storage device for storing various software, programs, algorithms, code, digital information, data, lookup tables, spreadsheets, and / or databases, etc., which can be used and executed during the operating system 10, as described herein. Furthermore, in several embodiments, the data processing system 34 may include: at least one display 206 for displaying items such as information, data, and / or graphical representations; and at least one user interface device 208, such as a keyboard, mouse, stylus, and / or an interactive touchscreen on the display 206. User interface 208 is constructed and operable to allow users of system 10 to input control data and information, and to retrieve operation status data and information about the operation of system 10.

[0065] Furthermore, in several embodiments, the data processing system 34 may include a removable media reader 210 for reading information and data from and / or writing information and data to a removable electronic storage medium, such as a floppy disk, optical disk, DVD, compressed disk, flash drive, or any other removable and portable computer-readable electronic storage medium. In several embodiments, the removable media reader 210 may be an I / O interface for reading external or peripheral storage devices, such as flash drives or external hard disk drives. Furthermore, in several embodiments, the data processing system 34 may be communicatively connected to a remote server network 212, such as a local area network (LAN) or wide area network (WAN), via a wired or wireless link. 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 operation commands. Alternatively, in several embodiments, the data processing system 34 may be configured and operable to access the Internet to upload data, information, algorithms, software programs, etc., to and / or download data, information, algorithms, software programs, etc., from and from the Internet and network servers. In several embodiments, the various software, programs, algorithms, and / or code executed by the processor 200 to control the operation of the system 10 may be top-level system control software that not only controls the discrete hardware functions of the system 10 but also prompts the operator for various inputs. Several other embodiments may utilize relay logic.

[0066] The description herein is exemplary in nature only, and variations thereof without departing from the spirit of the description are intended to fall within the scope of the teachings of the invention. Furthermore, although the foregoing description and the associated drawings describe exemplary embodiments in the context of certain example combinations of elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided through alternative embodiments without departing from the scope of this disclosure. These variations and alternative combinations of elements and / or functions should not be considered as departing from the spirit and scope of the invention.

Claims

1. A seed pod breakage test system for determining resistance to seed pod breakage in various plants, the system comprising: A mobile platform, constructed and operable to traverse at least one row of plants growing in a plot of land; At least one plant joint is mounted to the front of the mobile platform, the at least one plant joint being configured and operable to adjust each plant in the at least one row of plants by contacting each plant in the at least one row of plants with a predetermined amount of force when the mobile platform traverses the at least one row of plants; and A data collection and analysis system, comprising a data processing system and at least one imager communicatively connected to the data processing system, the data processing system being operable to analyze image data of each plant in at least one row of plants captured by the at least one imager after each plant in at least one row of plants has been contacted by at least one plant joint head, and to determine the amount of seed pod rupture occurring in each plant in at least one row of plants due to contact by the at least one plant joint head.

2. The system of claim 1, wherein the at least one plant graft comprises: case; The cylinder is rotatably mounted inside the housing; An electric motor is operatively connected to the cylinder and is configured and operable to controllably rotate the cylinder about its longitudinal axis. as well as At least one plant contact device is mounted to the cylinder and is configured and operable to adjust the plant by contacting it with a predetermined amount of force, the predetermined amount of force being caused by controlled rotation of the cylinder and the moving platform traversing the row or plant.

3. The system according to claim 2, wherein: The at least one imager is mounted to at least one of the mobile platform and the imager carrier, wherein the imager carrier is separate from the mobile platform; The at least one imager is configured and operable to capture image data of the plants in the at least one row of plants before and after being adjusted by the at least one plant junction head; and The data processing system is constructed and operable as follows: Receive captured image data from the at least one imager; Determine the amount of seed pod rupture occurring in each plant in at least one row of plants; as well as The seed pod breakage resistance score for each plant in the at least one row of plants is determined based on the amount of seed pod breakage determined.

4. The system of claim 1, further comprising a lifting assembly mounted to the mobile platform, and the at least one plant joint mounted to the lifting assembly, the lifting assembly being configured and operable to position the at least one plant joint at a desired height relative to the top of the crown of the plant.

5. The system of claim 4, wherein the lifting component includes an automatic actuator communicatively connected to the data collection and analysis system and configured and operable to automatically and in real-time position the at least one plant joint at a desired height relative to the top of one or more plants in the at least one row of plants as the moving platform traverses the at least one row of plants.

6. The system of claim 5, further comprising a sensor rod assembly disposed at the front of the at least one plant joint and configured and operable to detect the top of one or more plants in the at least one row of plants and transmit the information to the data collection and analysis system when the moving platform traverses the at least one row of plants.

7. The system of claim 6, wherein the sensor rod assembly comprises: The connected sensor rod; as well as A sensor system, connected to the sensor pole and communicatively connected to the data collection and analysis system, is configured and operable to detect the presence of plants within the sensing field of the sensor system and to detect the tops of one or more plants in the at least one row of plants when the mobile platform traverses the at least one row of plants.

8. The system of claim 7, wherein the sensor system comprises: At least one transceiver is connected to the first end of the sensor rod; as well as At least one reflector is attached to the second end of the sensor rod, and the sensing field is the line of sight between the at least one transceiver and the reflector.

9. A seed pod breakage test system for determining resistance to seed pod breakage in various plants, the system comprising: A mobile platform, constructed and operable to traverse at least one row of plants growing in a plot of land; At least one plant joint is mounted to the front of the mobile platform, the at least one plant joint being configured and operable to adjust each plant in the at least one row of plants by contacting each plant in the at least one row of plants with a predetermined amount of force when the mobile platform traverses the at least one row of plants, the at least one plant joint comprising: case; The cylinder is rotatably mounted inside the housing; A motor, operatively connected to the cylinder and configured and operable to controllably rotate the cylinder about its longitudinal axis; and At least one plant contact device is mounted to the cylinder and is configured and operable to adjust each plant in the at least one row of plants by contacting each plant in the at least one row with a predetermined amount of force, said predetermined amount of force being caused by controlled rotation of the cylinder and a moving platform traversing the row or plants; and A data collection and analysis system, comprising a data processing system and at least one imager communicatively connected to the data processing system, the data processing system being operable to analyze image data of each plant in at least one row of plants captured by the at least one imager after each plant in at least one row of plants has been contacted by at least one plant contact device, and to determine the amount of seed pod rupture occurring in each plant in at least one row of plants due to contact by the at least one plant contact device.

10. The system according to claim 9, wherein: The at least one imager is mounted to at least one of the mobile platform and the imager carrier, wherein the imager carrier is detached from the mobile platform. The at least one imager is configured and operable to capture image data of the plants in the at least one row of plants before and after being adjusted by the at least one plant junction head; and The data processing system is constructed and operable as follows: Receive captured image data from the at least one imager; Determine the amount of seed pod rupture occurring in each plant in the at least one row of plants; as well as The seed pod breakage resistance score for each plant in the at least one row of plants is determined based on the amount of seed pod breakage determined.

11. The system of claim 9, further comprising a lifting assembly mounted to the mobile platform, and the at least one plant joint mounted to the lifting assembly, the lifting assembly being configured and operable to position the at least one plant joint at a desired height relative to the top of the crown of the plant.

12. The system of claim 11, wherein the lifting component includes an automatic actuator communicatively connected to the data collection and analysis system and configured and operable to automatically and in real-time position the at least one plant joint at a desired height relative to the top of one or more plants in the at least one row of plants as the moving platform traverses the at least one row of plants.

13. The system of claim 12, further comprising a sensor rod assembly disposed at the front of the at least one plant joint and configured and operable to detect the top of one or more plants in the at least one row of plants and transmit the information to the data collection and analysis system when the moving platform traverses the at least one row of plants.

14. The system of claim 13, wherein the sensor rod assembly comprises: The connected sensor rod; as well as A sensor system, connected to the sensor pole and communicatively connected to the data collection and analysis system, is configured and operable to detect the presence of plants within the sensing field of the sensor system and to detect the tops of one or more plants in the at least one row of plants when the mobile platform traverses the at least one row of plants.

15. A method for determining resistance to seed pod breakage in various plants, the method comprising: The mobile platform of the seed pod breakage test system traverses at least one row of plants growing in the plot; Using at least one plant joint head installed at the front of a mobile platform of the seed pod breakage test system, each of a plurality of plants in the at least one row of plants is adjusted by contacting each of the plurality of plants in the at least one row of plants with a predetermined amount of force as the mobile platform traverses the at least one row of plants, wherein the at least one plant joint head comprises: case; The cylinder is rotatably mounted inside the housing; A motor, operatively connected to the cylinder and configured and operable to controllably rotate the cylinder about its longitudinal axis; and At least one plant contact device is mounted to the cylinder and is configured and operable to adjust each plant in the at least one row of plants by contacting each plant in the at least one row of plants with a predetermined amount of force, the predetermined amount of force being caused by controlled rotation of the cylinder and a moving platform traversing the row or plants; Using the data collection and analysis system of the seed pod breakage testing system, the amount of seed pod breakage occurring in each plant in at least one row of plants due to contact with the at least one plant contact device is determined. The data collection and analysis system includes a data processing system and at least one imager communicatively connected to the data processing system. Determining the amount of seed pod breakage includes: After each plant in the at least one row of plants is contacted by the at least one plant contact device, image data of each plant in the at least one row of plants is captured using the at least one imager; and The amount of seed pod rupture occurring in each of the at least one row of plants is determined based on the captured image data.

16. The method of claim 15, wherein: The at least one imager is mounted to at least one of the mobile platform and the imager carrier, and the captured image data includes: Image data was captured before and after each plant in the at least one row of plants was contacted by the at least one plant contact device; and The method further includes using the data collection and analysis system to determine the seed pod breakage resistance score of each plant in the at least one row of plants based on the determined amount of seed pod breakage.

17. The method of claim 16, further comprising positioning the at least one plant joint at a desired height relative to the top of the crown of the plant using a lifting assembly, the lifting assembly being mounted to the mobile platform, and the at least one plant joint being mounted to the lifting assembly.

18. The method of claim 17, wherein positioning the at least one plant joint comprises, as the mobile platform traverses the at least one row of plants, automatically and in real time positioning the at least one plant joint at a desired height relative to the top of one or more plants in the at least one row of plants using an automatic actuator of the lifting assembly, the automatic actuator being communicatively connected to the data collection and analysis system.

19. The method of claim 18, wherein automatically and in real-time positioning of the at least one plant joint comprises, when the mobile platform traverses the at least one row of plants, using a sensor rod assembly of the seed pod breakage test system to detect the top of one or more plants in the at least one row of plants and transmitting this information to the data collection and analysis system, the sensor rod assembly being disposed at the front of the at least one plant joint.

20. The method of claim 19, wherein detecting and communicating to the data collection and analysis system comprises: The presence of the plant within the sensing field of the sensor system of the sensor rod assembly of the seed pod rupture test system is detected. as well as When the mobile platform traverses the at least one row of plants, the sensor rod assembly is used to detect the top of one or more plants in the at least one row of plants.

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