Systems and methods for singulating seeds

Abstract

A method of selecting a seed from a population of seeds for analysis includes imaging a seed and selecting the seed from the population of seeds. Imaging a seed includes imaging the seed with a sensor to determine an orientation of the seed based on sensor orientation data. Selecting the seed from the population of seeds includes selecting the seed when the determined orientation of the seed is a desired orientation with respect to a seed grabbing device.

Description

SYSTEMS AND METHODS FOR SINGULATING SEEDSCross-reference to related applications

[0001] This application claims priority to, and the benefit of, U.S. Provisional Patent Application No. 63 / 662,619, titled Methods and Systems for Automated Seed Sampling, filed on June 21, 2024, and U.S. Provisional Patent Application No. US63 / 662,637, titled Methods and Systems for Singulating Seeds, filed on June 21, 2024, the contents of each of which are incorporated herein by reference in their entirety.Background1. Technical Field

[0002] The present disclosure relates to systems and methods for sorting plant materials and, more specifically, rapid and efficient systems and methods for sorting plant seeds for sampling and analysis of biological materials, e.g., DNA, from the sorted seeds.2. Discussion of Related Art

[0003] Plant research in the agriculture industry is performed to continuously provide genetic improvements in the germplasm, such as to introduce desired traits into plants (e.g., traits that enhance vigor, yield, disease resistance, drought resistance, herbicide tolerance, etc.). A number of different processes are used to introduce genetic improvements into plant germplasm, such as selective breeding, gene editing, genetic manipulations, targeted mutations, transformation, double haploid, whole genome duplication, etc. Upon introduction of a desired genetic trait, plants are grown over multiple generations to ensure that the trait has become stably incorporated into the plant’s genome. However, due to differences in recombination, not all seeds of a plant will include the desired trait. Therefore, to develop a stable line, all seeds harvested from a plant typically need to be germinated and grown. Plants with the desired trait are moved forward in a breeding programwhile plants lacking or not expressing adequate levels of the desired trait are culled. Tn recent years, seed sampling methods have been developed wherein trait analysis is performed at the seed level to eliminate the need for germinating the seeds and growing the resulting plants, thereby reducing the greenhouse or field space requirement. Seeds with the desired trait are moved forward in the breeding pipeline while seeds not expressing adequate levels of the desired trait are culled.

[0004] One example approach for seed sampling is shown by Deppermann et al. in WIPO Publication No. W02006026466A2. Therein, each seed is imaged to determine the orientation of the seed with respect to an orientation station. The image data is utilized to the orient each seed to a designated orientation for extraction of a “chip” for sampling.

[0005] However, the inventors herein have identified various issues with such approaches. In particular, there may be issues with the complexity and speed of systems orienting each seed based on image data for sampling. For example, such systems can be cost, energy, and memory intensive. Removal of extraneous components and steps can reduce costs, decrease system complexity, and improve maintainability of the system. Accordingly, there is a need in the art for improved methods and systems for sorting and handling seeds for sampling and analysis.Summary

[0006] This disclosure relates generally to systems and methods for handling seeds, singulating seeds, selecting seeds, sorting seeds, sampling seeds and analyzing seeds (and the genotypes and / or phenotypes thereof). In one embodiment, the handling and sorting systems and methods described herein sort and handle seeds without the need to re-orient each seed based on image data collected about each respective seed.

[0007] In an aspect of the present disclosure, a method of selecting a seed from a population of seeds for analysis includes imaging a seed and selecting the seed from the population of seeds.Imaging a seed includes imaging the seed with a sensor to determine an orientation of the seed based on sensor orientation data. Selecting the seed from the population of seeds includes selecting the seed when the determined orientation of the seed is a desired orientation, such as a predetermined orientation with respect to a seed grabbing device.

[0008] In aspects, the method further comprises agitating the population of seeds such that each seed of the population seeds is randomly oriented with respect to the seed grabbing device. The method may further include re-agitating or intermittently agitating the population of seeds until at least one seed of the population of seeds is in the desired orientation. The method may include, in response to the determined orientation of a seed not being the preferred orientation, not selecting the seed for transfer by the seed grabbing device and optionally re-agitating the seed to urge the seed into the desired orientation.

[0009] In some aspects, the method includes inserting the selected seed into a receptacle where the seed is affixed for subsequent processing. Inserting the seed into the receptacle may include positioning the seed based on the desired orientation at a known depth within a well of the receptacle. The method may also include bulk pressing each seed inserted within the receptacle simultaneously using an aligner plate.

[0010] In certain aspects, imaging the seed includes illuminating a field of view of a sensor configured to capture images of the seed using a light source. Separating the seed from the population of seeds may include grabbing the seed to separate it from a population of seeds using the seed grabbing device. The seed grabbing device may be a robot arm. The imaging step may include collecting image data in the form of at least one of visual images, near infra-red images, or magnetic resonance images.

[0011] In another aspect of the present disclosure, a method of singulating a population of seeds for analysis includes agitating the population of seeds, imaging a seed of the population of seeds, and separating the seed from the population of seeds. Agitating the population seeds includes agitating the population of seeds such that each seed of the population of seeds is randomly oriented with respect to a seed grabbing device. Imaging a seed of the population of seeds includes imaging a seed with a sensor to determine the orientation of the seed based on image data. Separating the seed from the population of seeds includes separating the seed with the seed grabbing device if the seed is in a preferred orientation with respect to the seed grabbing device.

[0012] In aspects, the population of seeds is continuously agitated. A seed in an orientation other than the preferred orientation is not manipulated into the preferred orientation based on the image data. The method may include re-agitating or continuously agitating the population of seeds until a seed is, or a threshold number or percentage of the total seeds are, in the preferred orientation. The method may include inserting the seed separated from the population of seeds into a receptacle.

[0013] In some aspects, agitating the population of seeds includes using an agitator to randomly orient the population of seeds with respect to the seed grabbing device. The agitator may be a wheel agitator configured to agitate the population of seeds by using vacuum pressure to pick up a seed from a hopper containing the population of seeds. When the seed is not in the preferred orientation as imaged by the sensor, vacuum pressure is disabled and the seed is returned to the population of seeds.

[0014] In certain aspects, the agitator is a belt agitator configured to agitate the population of seeds by circulating the population of seeds thereon. When the seed is not in the preferred orientation as imaged by the sensor, the seed remains on the belt agitator to circulate thereon.

[0015] In other aspects, the agitator is a bowl agitator or a basket agitator. The seed grabbing device may be a robot arm. In aspects, the agitator further includes a hopper configured to hold the population of seeds therein.

[0016] In another aspect of the present disclosure, a system for singulating a population for seeds for analysis includes an agitator, a sensor, and seed grabbing device. The agitator is configured to agitate and randomly orient the population of seeds. The sensor is capable of imaging at least one seed of the population of seeds to detect the orientation of the seed. The seed grabbing device is in signal communication with the sensor. The seed grabbing device is configured to separate the seed from the population of seeds if the sensor detects the seed is in a preferred orientation with respect to the seed grabbing device.

[0017] In some aspects, the agitator is a wheel agitator configured to agitate the population of seeds by picking up at least one seed through the application of a vacuum pressure. When the seed is picked up by the wheel agitator in an orientation other than the preferred orientation, vacuum pressure is disabled and the seed is returned to the population of seeds (e.g., to the hopper). The wheel agitator may additionally or optionally include a face plate defining a divot shaped and configured to help guide the seed picked up by the wheel agitator into the preferred orientation. The wheel agitator may additionally or optionally include a bump adjuster configured to engage the seed picked up by the wheel agitator and urge the seed into the preferred orientation. Inembodiments, the bump adjustor may be an air-port or air nozzle configured to blow compressed air onto the seed to urge the seed into the preferred orientation.

[0018] In certain aspects, the agitator is a belt agitator configured to agitate the population of seeds by circulating the population of seeds thereon. In embodiments, the belt agitator includes a fence configured to engage the population of seeds as the seeds circulate on the belt agitator, thereby urging seeds into the preferred orientation. The belt agitator may include a first conveyor belt and a second conveyor belt, wherein the first conveyor belt is angled with respect to the second conveyor belt. The belt agitator may additionally or optionally include a first ramp and a second ramp configured to transfer the population of seeds between the first conveyor belt and the second conveyor belt as the belt agitator circulates the population of seeds thereon.

[0019] In particular aspects, the agitator is a basket agitator. In embodiments, the basket agitator includes a basket configured to hold the population of the seeds therein / thereon. The basket may be configured to agitate the seeds held therein and urge the seeds into the preferred orientation as a result of the vibrations. The basket may include walls. The basket vibrations may be tuned to urge each seed held therein towards the walls. In embodiments, the walls may be configured to urge the seeds into the preferred orientation when the seeds engage with the walls of the basket.

[0020] In aspects, the agitator is a bowl agitator. The bowl agitator includes a feeder bowl and a grab channel. The feeder bowl may include a ledge spirally wrapped about an interior wall of the feeder bowl. The feeder bowl may be tuned to vibrate such that the seeds held therein are transported along the ledge and into the grab channel. In embodiments, the grab channel may be a linear vibratory feeder.

[0021] In some aspects, a system for analyzing a population of seeds includes a system for singulating a population of seeds for analysis, a drilling tool configured to form an orifice in a seed singulated by the system for singulating a population of seeds for analysis, and a liquid handling system configured to collect biological material from the singulated seed.

[0022] In another aspect of the present disclosure, a method of selecting a seed from a population of seeds for analysis includes imaging a seed of the population of seeds with a sensor to determine an orientation of the seed based on sensor orientation data, selecting the seed from the population of seeds with a seed grabbing device, and reorienting the selected seed to a desired orientation with the seed grabbing device based on the sensor orientation data.

[0023] In aspects, the method includes inserting the selected seed into a receptacle. Reorienting the selected seed may include using a multi-axis robot, such as a 6-axis robot, work cell to orient the selected seed to the desired orientation based on the sensor orientation data.

[0024] In some aspects, the method includes agitating the population of seeds via an agitator such that each seed of the population of seeds is randomly oriented with respect to the seed grabbing device. The agitator may be a wheel agitator configured to agitate the population of seeds by using vacuum pressure to pick up a seed from a hopper containing the population of seeds.

[0025] In another aspect of the present disclosure, a system for analyzing a population of seeds includes a singulation system, a drilling tool, and a liquid handing system. The singulation system is configured to singulate or separate seeds from the population of seeds. The singulation system includes an agitator, a sensor, and a seed grabbing device. The agitator is configured to agitate and randomly orient the population of seeds. The sensor is configured to image at least one seed of the population of seeds to detect the orientation of the seed. The seed grabbing device is insignal communication with the sensor and is configured to separate the seed from the population of seeds when the sensor detects the seed is in a desired orientation with respect to the seed grabbing device. The drilling tool is configured to form an orifice in the separated seed. The liquid handling system is configured to collect biological material from the separated seed.

[0026] In aspects, the system includes a bulk hopper configured to contain the population of seeds and dispense at least a portion of the population of seeds to the singulation system. The biological material is collected from the separated seed while preserving the germination viability of the separated seed.

[0027] Many modifications and other implementations of the disclosure will come to mind to one skilled in the art to which this disclosure pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the disclosure is not to be limited to the specific embodiments disclosed herein and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. Further, to the extent consistent, any of the embodiments or aspects described herein may be used in conjunction with any or all of the other embodiments or aspects described herein.Brief Description of the Drawings

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various example embodiments and together with this description, serve to explain the principles of the disclosed embodiments, wherein:

[0029] FIG. 1 is a schematic illustration of a singulator system in accordance with embodiments of the present disclosure;

[0030] FIG. 2 is perspective view of a receptacle in accordance with embodiments of the present disclosure;

[0031] FIG. 3 is section view taken along section line A-A of FIG. 2 showing tapered wells of the receptacle;

[0032] FIG. 4 is a perspective view of a wheel agitator in accordance with embodiments of the present disclosure;

[0033] FIG. 5 is front view of the wheel agitator of FIG. 4;

[0034] FIG. 6 is a detail view of a bump adjuster of the wheel agitator of FIG. 4;

[0035] FIG. 7 is a perspective view of a belt agitator in accordance with embodiments of the present disclosure;

[0036] FIG. 8 is a top elevation view of the belt agitator of FIG. 7;

[0037] FIG. 9 is a perspective view of another belt agitator in accordance with embodiments of the present disclosure;

[0038] FIG. 10 is perspective view a bowl agitator in accordance with embodiments of the present disclosure;

[0039] FIG. 11 is top elevation view of the bowl agitator of FIG. 10;

[0040] FIG. 12 is a perspective view of a basket agitator in accordance with embodiments of the present disclosure;

[0041] FIG. 13 is a flowchart illustrating a method of singulating a population of seeds in accordance with the present disclosure; and

[0042] FIG.14 is a schematic depiction of an example system for in-seed sampling and analysis of seeds in accordance with embodiments of the present disclosure.Detailed Description

[0043] Reference will now be made in detail to the example embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0044] The systems, devices, and methods disclosed herein are described in detail by way of examples and with reference to the figures. The examples discussed herein are examples only and are provided to assist in the explanation of the apparatuses, devices, systems, and methods described herein. None of the features or components shown in the drawings or discussed below should be taken as mandatory for any specific implementation of any of these devices, system, or methods unless specifically designated as mandatory. Features from one embodiment or aspect can be combined with features from any other embodiment or aspect in any appropriate combination. For example, any individual or collective features of method aspects or embodiments can be applied to apparatus, product, or component aspects or embodiments and vice versa.

[0045] Also, for any methods described, regardless of whether the method is described in conjunction with a flow diagram, it should be understood that unless otherwise specified or required by context, any explicit or implicit ordering of steps performed in the execution of a method does not imply that those steps must be performed in the order presented but instead may be performed in a different order or in parallel. As used herein, the term “exemplary” is used in the sense of “example," rather than “ideal.” Moreover, the terms “a” and “a“” herein do not denote a limitation of quantity, but rather denote the presence of one or more of the referenced items.

[0046] Referring now to FIG. 1, an example singulation system 10 for singulating seeds in accordance with embodiments of the present disclosure is shown. The singulation system 10 separates or singulates seeds 15 from a population of seeds for sampling an analysis. The singulation system 10 includes a seed grabbing device 20, an optical sensor 30, one or more receptacle(s) 40, and an agitator 50. The agitator 50 agitates a surface on which the seeds 15 are presented, thereby randomly orienting the population of seeds 15 with respect to the seed grabbing device 20. The optical sensor 30 senses each seed 15 of the population of seeds 15 and determines if one or more seeds 15 are in a desired or preferred orientation with respect to the seed grabbing device 20. The preferred orientation of the seeds 15 may be selected based on several factors such as seed type, the type of agitator 50, the type of seed grabbing device 20, the position of the seed grabbing device 20 relative to the agitator 50, and / or the desired position of the seed 15 when inserted into the receptacle 40 for subsequent processing (e.g., subsequent genetic analysis). The optical sensor 30 is communicatively coupled to the seed grabbing device 20 and provides an indication as to whether the seeds 15 are either in the preferred orientation or not in the preferred orientation to the seed grabbing device 20. When a seed 15 of the population of seeds 15 is in the preferred orientation, the seed grabbing device 20 separates the seed 15, by grabbing or graspingthe seed 15, from the population of seeds 15 and inserts the seed 15 in the receptacle 40. In contrast, if a seed 15 sensed by the optical sensor 30 is determined to not be in the preferred orientation, the seed grabbing device 20 does not selectively separate the seed 15 and instead the seed 15 is allowed to be re-oriented, randomly, by the action of the agitator 50 by following the process again. In the depicted embodiment, the seed 15 is not re-oriented or manipulated into the preferred orientation based on data collected by the optical sensor 30. For example, a seed 15 in an orientation other than the preferred orientation is not selected for sampling and instead is allowed to be randomly re-oriented by the agitator 50. This seed 15 may be oriented to the preferred orientation on a subsequent iteration of the process by the agitator 50, but the seed 15 is not actively manipulated to the preferred orientation based on the image data collected about the seed 15. However, it will be appreciated that in alternate embodiments, the seeds 15 may be actively oriented to a preferred orientation by the seed grabbing device 20, or an alternate orienting device, based on data from the optical sensor 30 before being placed in the receptacle 40 for sampling.

[0047] It will be appreciated that in particular embodiments, the grabbing device may select a seed upon receiving indication that a threshold number of seeds (e.g., at least 1, at least 5, at least 10, and so on) or a threshold percentage of the population of seeds (e.g., at least 1%, at least 2%, at least 5%, at least 10%, etc.) are in the preferred orientation.

[0048] The seed grabbing device 20 separates each selected seed 15 from the population of seeds 15 and inserts the seed 15 into the receptacle 40. The seed grabbing device 20 may be capable of grabbing seeds 15 in any orientation. For example, the seed grabbing device 20 can grab the seed15 by the crown of the seed 15 or the side of the seed 15. The preferred orientation of the seeds15 may be measured with respect to the seed grabbing device 20 to allow for appropriate insertionof the seed 15 into the receptacle 40, e g., in a crown up, a crown down, or a sideways or flat position. A re-grip station may be used intermediate the seed grabbing device and the receptacle to pass the seed 15 along on a different axis. The seed grabbing device 20 may be a multi-axial industrial robot arm. In some embodiments, the seed grabbing device 20 is an industrial 6-axis robot work cell. The seed grabbing device 20 may include an end-effector with grips, suction cups, and / or a vacuum head to pick up individual seeds 15. In certain embodiments, the seed grabbing device 20 includes the optical sensor 30. The seed grabbing device 20 may pick up a single seed 15 at a time or may pick up multiple seeds 15 concurrently. The seed grabbing device 20 may insert the seeds 15 at a known depth within the receptacle 40. In some embodiments, the seed grabbing device 20 may insert each seed 15 to a desired depth within the receptacle 40 when the seed 15 is initially inserted. In some embodiments, the seed grabbing device 20 may perform a bulk press where each seed 15 is pressed to a desired depth within the receptacle 40 after the receptacle 40 has been fdled with seeds 15. The bulk press may be performed one seed at a time, consecutively, or may be performed with an aligner plate to press all of the seeds 15 in the receptacle 40 to the desired depth simultaneously.

[0049] The optical sensor 30 collects image data, optical data, orientation data, or any form of data related to the orientation of each seed 15 with respect to the seed grabbing device 20. In embodiments, the optical sensor 30 may be any type of sensor capable of detecting and collecting orientation data about a seed 15. The image data may be any suitable form of image data. For example, the image data can be in the form of visual images, near infra-red (NIR) images, magnetic resonance images (MRI), nuclear magnetic resonance images (NMR), electron microscopy images, neutron imaging images, muon tomography images, acoustic images, atomic force microscopy images, and so on. The seed shape may be collected using any method known to theart that may utilize photons or any other known physical phenomena. The optical sensor 30 is in signal communication with the seed grabbing device 20 to communicate information about the orientation of a respective seed 15 for removal from the population of seeds 15. The optical sensor 30 identifies the seeds 15 that have a preferred orientation with respect to the seed grabbing device 20 and indicates those seeds 15 for separation from the population of seeds 15 by the seed grabbing device 20. In some embodiments, the optical sensor 30 includes a light source to illuminate the field of view of the optical sensor 30. The light source may be any suitable source of light for a particular optical sensor 30, e.g., one or more incandescent lights, fluorescent lights, ultraviolet lights, infrared lights, or light emitting diodes (LEDs). The light source can improve the image data collected by the optical sensor 30 and may reduce the chance of misidentifying the orientation of a seed 15. In some embodiments, the optical sensor 30 may monitor the orientation of multiple seeds 15 simultaneously.

[0050] In embodiments, the seed singulation system comprises a controller (e.g., microprocessor) communicatively coupled to each of the optical sensor and the seed grabbing device, wherein the controller is configured with code for receiving data from the optical sensor regarding the position and orientation of each of the seeds of the population of seeds (e.g., seeds on the agitator), and based on the data, identifying one or more seeds having a desired orientation with respect to the seed grabbing device. The controller may include additional code for operating the seed grabbing device to select the identified seeds from the population of seeds for subsequent transfer to the receptacle. The controller may be configured with software for identifying seeds in the desired orientation based on image data, and / or based on user input.

[0051] Referring to FIGS. 2 and 3, receptacle 40 is used for affixing the seeds 15 for sampling and analysis. Sampling of the seeds 15 may include in-seed sampling or ex-seed sampling. Anexample in-seed sampling method may include removing a region of a seed 15, or seeds 15, affixed within the receptacle 40 to expose an area of endosperm or cotyledon (or other portion of the seed 15). The removed portion of the seeds 15 may be disposed of so that a “sampling region” is created in situ in the seed 15, e.g., an orifice or cavity within the seed 15. A solution such as alkali lysate may be pipetted directly into contact with the exposed sampling region of the seed 15, to collect biological material from the seed 15, such as DNA or RNA material. The solution may be removed from the analyzed sampling region. Based on the analysis, each respective seed 15 may be selected for progress into a breeding pipeline or culled. A detailed description of receptacles in accordance with embodiments of the present disclosure are described in co-pending U.S. Patent Application Serial No. TO BE INSERTED, the contents of which are incorporated by reference herein in their entirety.

[0052] The receptacle 40 defines a plurality of wells 42 arranged in an array. The array of wells 42 may conform to microplate standards established by the Society of Biomolecular Screening (SBS). For example, the array may have ninety-six (96) wells 42 arranged in an 8x12 format with a 9mm pitch on both columns and rows. Conforming to a standard established by the SBS allows for compatibility of the receptacle 40 with a wide variety of off-the-shelf liquid handlers, plate storage robots, robotic plate stackers, plate moving robots, plate moving axis / axes, and analysis tools for laboratory automation. The wells 42 may be defined to have any shape suitable for affixing a seed 15 therein. In example embodiments, the receptacle 40 may define wells 42 having a straight cylindrical profile. In some embodiments, the receptacle 40 defines wells 42 having a funnel or tapered portion (FIG. 3). The receptacle 40 may be made of a deformable material. In particular embodiments, the deformable material may be a foam material. The foam material may be an open cell foam or a closed cell foam. The foam may exhibit both plastic deformation andelastic deformation characteristics. In some embodiments, receptacle 40 may be made of a nondeformable material, e.g., a metal material, a rigid plastic material. In certain embodiments, the receptacle 40 is made of natural material or biodegradable material, e.g., a wood material, corn or soy or bamboo-based plastics, corrugated paper, or cardboard, etc.

[0053] Generally referring to FIGS. 1 and 4-12, the agitator 50 stirs, moves, rotates, churns, perturbs, or otherwise agitates the population of seeds 15 such that each seed 15 is randomly oriented relative to each other and relative to the seed grabbing device 20. The seeds 15 that are oriented to a preferred orientation are removed from the population of seeds 15 by the seed grabbing device 20. Those seeds 15 that are in an orientation other than the preferred orientation may be iteratively agitated, and thereby randomly re-oriented by the agitator 50 until they are in the preferred orientation. In some embodiments, the agitator 50 may be configured to agitate the seeds 15 such that the seeds 15 are naturally urged towards the preferred orientation, thereby improving the likelihood that any given seed 15 imaged by the optical sensor 30 is in the preferred orientation. The agitator 50 presents or display each seed 15 of the population to the optical sensor 30 and / or the seed grabbing device 20. In embodiments, the agitator 50 may present or display a seed 15 to the optical sensor 30 or the seed grabbing device 20 one at a time. In other embodiments, the agitator 50 may present or display multiple seeds 15 of the population of seeds 15 to the optical sensor 30 or the seed grabbing device 20 concurrently, such as by presenting a surface of the agitator 50 that is housing, supporting, griping, holding, or otherwise engaged with the seeds 15 to the optical sensor 30. Hereinbelow several example agitators 50 in accordance with embodiments of the present disclosure are described.

[0054] Referring to FIGS. 4-6, a first example agitator 50 in accordance with embodiments of the present disclosure is shown. In particular, FIGS. 4-6 illustrate a wheel agitator 100. With referenceto the figures, the wheel agitator 100 includes a hopper 104 which holds the population of seeds 15 and a face plate 102 coupled thereto. The face plate 102 may be arranged such that the face plate 102 rotates in a plane that is perpendicular relative to the hopper 104 and thereby picks up seeds 15 from the population of seeds 15 held within the hopper, as shown in FIGS. 4-5. In particular, the face plate 102 defines a plurality of vacuum ports 106, wherein each vacuum port 106 is configured to pick up a seed 15 from the hopper 104 as the face plate 102 rotates therethrough. In some embodiments, the hopper 104 may include a stirring rod to stir the population of seeds 15 held in the hopper 104 to provide additional agitation of the population of seeds 15 held therein. The stirring rod may be a rod or a bar moved through the hopper 104 by mechanical means such as, for example, an eccentric mechanism. In some embodiments, the hopper 104 also vibrates to agitate the seeds 15 therein. The vacuum ports 106 may be disposed along the perimeter of the face plate 102, such as in a row. In the depicted embodiment, the face plate 102 is a circular face plate 102 with vacuum ports 106 distributed equally in a ring along the circumference of the face plate 102. In certain embodiments, more than one row or ring of vacuum ports 106 are defined in the face plate 102. In such embodiments, the seed grabbing device 20 may grab multiple seeds 15 concurrently. An amount of vacuum pressure, or negative pressure, is applied to the vacuum ports 106. The amount of vacuum pressure applied is selected based on criteria such as speed of rotation of the face plate 102 and variety of seed in the hopper 104. For example, a stronger vacuum force may be applied when singulating seeds that are larger, heavier, denser, or non-uniformly shaped, such as to pick up a corn kernel. In some embodiments, the vacuum force applied to each vacuum port 106 may be individually controllable. For example, in some embodiments, the vacuum force applied to each vacuum port 106 may be selectively enabled or disabled, or increased or decreased, independent of other vacuum ports 106. Additionally oroptionally, the strength of the vacuum applied at each vacuum port 106 may be individually controlled. The vacuum force and flow rate applied should be sufficient to hold at least one seed 15 while the other vacuum ports 106 are uncovered. For example, the vacuum level behind the plate may be between 5 to 30 inches of mercury (inHg) with a flow rate of between 2 to 10 cubic feet per minute (CFM), depending on the number and / or size of the vacuum ports 106. Any known seed metering technology known in the art may be adapted by a skilled person for this purpose, including but not limited to vacuum-disk seed meters, vacuum plate seed meters, vacuum belt seed meters, finger pickup seed meters, mechanical seed meters, air seed meters, brush seed meters, belt seed meters.

[0055] In embodiments, a surface of the face plate 102 may define indentations or divots 108 corresponding to each of the vacuum ports 106. The divots 108 guide or urge a seed 15 picked up from the hopper 104 by the wheel agitator 100 into the preferred orientation. The divots 108 may be sized, shaped, and dimensioned to correspond to a particular variety of seed. For example, in some embodiments, the divots 108 may be shaped to generally correspond to a corn kernel with the section of the divot 108 housing the crown of a corn kernel positioned nearest the perimeter of the face plate 102 and / or with the section of the divot housing the crown of the kernel being sized to be larger than the section of the divot housing the bottom of the kernel. This results in the preferred orientation being such that the crown of the corn kernel is presented for grabbing or grasping by the seed grabbing device 20. Subsequently, the corn kernel may be inserted into the receptacle 40 in a crown up position as shown in FIG. 5. In some embodiments, the face plate 102 of the wheel agitator 100 may be interchangeable to allow the wheel agitator 100 and the singulation system 10 to be operated with a variety of seed types. As an example, a face plate 102 having divots 108 shaped to accommodate com kernels may be replaced with a face plate 102having divots 108 shaped to accommodate soybean seeds, thereby allowing the same equipment to be effortlessly transitioned from selecting corn seeds to selecting soybean seeds. Optionally, the face plate 102 may be colored to provide a contrasting background against the seeds 15 to assist in collection of image data by the optical sensor 30. For example, when the singulation system 10 is operating to separate individual corn kernels, a darker colored face plate 102 may be used, e.g., a black colored face plate 102, to provide a sharper contrast with light colored corn kernels. In comparison, when the singulation system 10 is operated to separate sunflower seeds, a lighter colored face plate 102 may be used, such as a white face plate 102, to provide a sharper contrast with the darker colored sunflower seeds.

[0056] With particular reference to FIG. 6, before the seeds 15 reach the optical sensor 30 (FIG. 5), the wheel agitator 100 may include a bump adjuster 110 to engage a seed 15 and urge the engaged seed 15 picked up by a vacuum port 106 into the preferred orientation. As the face plate 102 rotates, a seed 15 that is not in the preferred orientation may be engaged by the bump adjuster 110 and urged or “bumped” towards the preferred orientation. A seed 15 in the preferred orientation may bypass the bump adjuster 110 without engagement. When engaged by the bump adjuster 110 the seed 15 may be urged into the preferred orientation or, if not in the desired orientation, may be knocked-off the face plate 102 entirely. When a seed 15 is knocked-off the face plate 102 the seed 15 is returned to the hopper 104. In various embodiments, the bump adjuster 110 may be one or more of a roller, a baffle, a brush, or an air-port. In some embodiments where the bump adjuster 110 is a roller, a seed 15 may make physical contact or “bump” with the bump adjuster 110. Such a bump may cause the seed 15 to rotate or swivel, thereby causing the seed 15 to shift into the preferred orientation. In some embodiments, the bump adjuster 110 may vibrate to urge the seed 15 towards the preferred orientation. In embodiments where the bumpadjuster 110 is an air-port, compressed air may be blown onto a seed 15 held against the face plate 102 by the vacuum port 106 to urge the seed 15 into the preferred orientation. The compressed air may be puffs of air or may be a constant stream of air. The pressure, direction, intensity, and duration of the blowing of compressed air onto a seed 15 may be adjusted based on the variety of seed in the hopper 104 (e.g., shape, size, or weight). The bump adjuster 110 and the divot 108 may cooperate to increase the likelihood a seed 15 is presented to the seed grabbing device 20 in the preferred orientation. Engagement of a seed 15 with the bump adjuster 110 may spin or rotate the seed 15 and the divot 108 may catch or settle the seed 15 in the preferred orientation. The bump adjuster 110 will also assist with eliminating double seeds from attaching to a single vacuum port 106. On seed meters, such a mechanism is traditionally implemented with singulation brushes, singulation plates, air singulators, mechanical singulators, or optical singulators.

[0057] The wheel agitator 100 may include a slide 112 to redirect dislodged seeds 15 back to the hopper 104. The slide 112 may catch a seed 15 knocked-off of a vacuum port 106 as a result of engagement with the bump adjuster 110 or as a result of loss of vacuum at the vacuum ports 106. For example, a seed 15 that is indicated by the optical sensor 30 as not being in the preferred orientation may be dropped once the seed 15 reaches a drop point 114 and allowed to fall on to the slide 112. The seed 15 may be dropped by disabling or otherwise blocking the vacuum applied at the respective vacuum port 106 once the drop point 114 is reached. The slide 112 may guide the dislodged seed 15 back to the hopper 104 to be re-agitated or re-oriented and picked up again.

[0058] Referring now to FIGS. 7-9, another embodiment of an agitator 50 in accordance with the present disclosure is shown. In particular, FIGS. 7-9 illustrate a belt agitator 200. In general, the belt agitator 200 circulates the population of seeds 15 to thereby agitate the seeds 15. With reference to the figures, the belt agitator 200 includes a first conveyor belt 202 and a secondconveyor belt 204, wherein the first conveyor belt 202 and the second conveyor belt 204 are angled relative to each other. The first conveyor belt 202 and the second conveyor belt 204 move the seeds 15 in opposite directions to circulate the seeds 15 therebetween and thereby agitate the seeds 15. In various embodiments, the angle between the first conveyor belt 202 and the second conveyor belt 204 may be in in range of between 1 degree to 45 degrees, such as 5 degrees, 10 degrees, 15 degrees, etc. The number of seeds 15 that need to be singulated and length or area of the conveyor belts 202, 204 will determine the appropriate angle, length, and width of the conveyor belts 202, 204. The angle should be sufficiently low enough that the conveyor belts 202, 204 have traction with the seeds 15. In embodiments, one or both of the first conveyor belt 202 and the second conveyor belt 204 are angled relative to a horizontal plane on which the belt agitator 200 is placed. Further, the relative angle between the first conveyor belt 202 and the second conveyor belt 204 may be fixed or may be adjustable. In embodiments, changing the angle between the first conveyor belt 202 and the second conveyor belt 204 can vary the intensity of the agitation of the seeds 15 as they move on the conveyor belts 202, 204. For example, a larger angle between the first conveyor belt 202 and the second conveyor belt 204 may result in the seeds 15 being subjected to a greater intensity of agitation.

[0059] The belt agitator 200 further includes ramps 206 to transfer the seed(s) 15 between the first conveyor belt 202 and the second conveyor belt 204. As the belt agitator 200 circulates the population of seeds 15 between the first conveyor belt 202 and the second conveyor belt 204, the seeds 15 slide down the ramps 206 to be transferred between the conveyor belts 202, 204. The first conveyor belt 202 and the second conveyor belt 204 may move in opposite directions. In some embodiments, the ramps 206 may include baffles or spokes projecting outwardly therefrom to further urge the seeds 15 to spin or rotate as they slide down the ramps 206.

[0060] The belt agitator 200 may also include fences 208 to contain the seeds 15 on the conveyor belts 202, 204 and urge the seeds 15 into the preferred orientation. As the belt agitator 200 circulates the population of seeds 15, the fences 208 engage a seed 15, causing the seed 15 to rotate or otherwise change its orientation, thereby transitioning towards the preferred orientation. For example, when circulating corn kernels, engagement of the corn kernels with the fences 208 may align one or more of the corn kernels such that the longitudinal axis of a corn kernel is aligned parallel to the fence 208, or a portion of the fences 208, thereby transitioning the com kernel into the preferred orientation where a longitudinal axis of the kernel is parallel to the fence 208, with the crown of the corn kernel leading into the fence 208.

[0061] Additional seeds 15 may be placed on the belt agitator 200 at any location by a bulk feeder and into circulation on the belt agitator 200. In some embodiments, the belt agitator 200 has a load point 210 for the addition of seeds 15. Inclusion of the load point 210 may be beneficial for automated singulation methods. For example, a hopper or bulk feeder may be positioned near the load point 210 to automatically add seeds 15 to the belt agitator 200. In such embodiments, the optical sensor 30 may be communicatively coupled with the bulk feeder and configured to provide a signal indicating when to load additional seeds 15 onto the conveyor belt 202, 204 and / or how many additional seeds 15 to load onto the belt agitator 200. Seeds may also be added manually.

[0062] With additional reference to FIG. 9, a belt agitator 250 according to another embodiment is provided wherein the belt agitator 250 includes a single conveyor belt 252 and a fence 254. The single conveyor belt 252 operates bi-directionally and moves the seeds 15 thereon towards and away from the fence 254. As the conveyor belt 252 moves the seeds 15 thereon toward the fence 254, the seeds 15 engage the fence 254 and may be urged into the preferred orientation. When the conveyor belt 252 moves the seeds 15 away from the fence 254, the seeds 15 may tumble, roll, orbe otherwise agitated and reoriented. Oscillating between conveyor belt directions increases the likelihood that a seed 15 will be reoriented into the desired orientation and reduces the likelihood that a seed 15 may remain in a given, undesired orientation. The conveyor belt 252 may move the seeds 15 towards the fence 254 at a first speed and move the seeds 15 away from the fence 254 at a second speed, different from the first speed. In other embodiments, the speed at which the conveyor belt 252 moves the seeds 15 towards and away from the fence 254 is the same speed. The conveyor belt 252 may accelerate or decelerate the seeds 15 at a constant rate or at a variable rate. Accelerating or decelerating the seeds 15 at a variable rate may be desirable for agitating the seeds 15 to induce jerk or jolt in the seeds 15, thereby urging the seeds 15 into the desired orientation. The conveyor belt 252 may be angled relative to horizontal plane, such as at an angle between 1 and 45 degrees. In particular embodiments, the fence 254 may pivot with respect to the conveyor belt 252. Pivoting the fence 254 may control the location of the seeds 15 across the width of the conveyor belt 252 and may assist in maintaining the seeds 15 on the conveyor belt 252. One or more additional fences 254 may be provided to further agitate the seeds 15 or to contain the seeds 15 on the conveyor belt 252. For example, an additional fence 254 may be positioned opposite fence 254 on the conveyor belt 252.

[0063] Referring to FIGS. 10 and 11, another example agitator 50 is shown. In particular, FIGS. 10 and 11 depict a bowl agitator 300. In general, the bowl agitator 300 vibrates the seeds 15 placed therein to urge the seeds 15 into the preferred orientation and into a grab channel 306. The bowl agitator 300 includes a feeder bowl 302 that holds the population of seeds 15. The feeder bowl 302 includes a ledge 304 disposed about the interior wall of the feeder bowl 302. The ledge 304 may be sized and dimensioned to deflect seeds 15 that are not selected (such as seeds 15 not in the desired orientation) back into the feeder bowl 302, wherefrom agitation of the seeds 15 into thecorrect orientation may be reiterated. The ledge 304 may be spirally wrapped about the interior wall of the feeder bowl 302. The ledge 304 may have a slope in the range of 0.5 degrees to 5 degrees from horizontal, e.g., 1 degree, 2 degrees, or 3 degrees. In some embodiments, the ledge 304 may taper or narrow as the ledge 304 nears the rim 305 of the feeder bowl 302. Unselected seeds 15 that are not in the preferred orientation may be deflected back into the feeder bowl 302 by the narrowing of the ledge 304. Other methods of obtaining a preferred orientation of the seed 15 may include using an actuator or a burst of air. For example, compressed air may be blown onto a seed 15 to urge the seeds 15 into the preferred orientation. The compressed air may be puffs of air or may be a constant stream of air. The pressure, direction, intensity, and duration of the blowing of compressed air onto a seed 15 may be adjusted based on the variety of seed (e.g., shape, size, or weight). The feeder bowl 302 vibrates to agitate the seeds 15 therein and may be tuned to urge the seeds 15 into the preferred orientation and along the ledge 304 and towards the grab channel 306 for separation from the population of seeds 15 by the seed grabbing device 20. The grab channel 306 may be a linear vibratory feeder that additionally vibrates the seeds 15 to orient seeds 15 to the preferred orientation. The grab channel 306 may feed the seeds 15 not separated by the seed grabbing device 20 back to the feeder bowl 302. For example, the grab channel 306 may be connected to a track that guides any seeds 15 that are not selected or not grabbed by the seed grabbing device 20 back to the feeder bowl 302. The track may feed the seeds 15 back to the feeder bowl 302 by gravity similar to the slide 112 described above. In some embodiments, the track is a conveyor belt system or a pneumatic tube.

[0064] The bowl agitator 300 may include a bump deflector 308 to deflect the seeds 15 not in the preferred orientation back into the feeder bowl 302 for recirculation and orientation. The bump deflector 308 may be similar to the bump adjuster 110 described above. The bump deflector 308may be a bar, a brush, a roller, a baffle, or an air-port, as described above and in other agitator embodiments.

[0065] Referring now to FIG. 12, another example agitator 50 is shown. In particular, FIG. 12 illustrates a basket agitator 400. The basket agitator 400 includes a bulk feeder or hopper 402 and a basket 404. The hopper 402 holds the population of seeds 15 and dispenses a controlled amount of the seeds 15 into the basket 404. The hopper 402 may dispense a predetermined number, volume, or a weight of seeds 15 into the basket 404. The hopper 402 may be in signal communication with the optical sensor 30 and may dispense seeds 15 into the basket 404 when the optical sensor 30 detects the number of seeds 15 in the basket 404 has dropped below a threshold number of seeds 15.

[0066] The basket 404 vibrates to orient the seeds 15 toward the preferred orientation. The basket 404 may be tuned to vibrate such that the seeds 15 are moved against a wall 406 of the basket 404. The walls 406 of the basket agitator 400 may have a contoured or shaped surface, such as a dimpled surface or a honeycomb surface. Multiple voice coils, piezo elements, or various transducers may be embedded into the basket and applied with different frequencies to disperse and orient the seeds 15. Engagement between a wall 406 and a seed 15 may urge the seed 15 into the preferred orientation. For example, the engagement of the seed 15 with a wall 406 may align the longitudinal axis of the seed 15 parallel to the wall 406. In some embodiments, the basket 404 vibrates such that each seed 15 moves randomly and is removed from the population of seeds 15 once in the preferred orientation. In some embodiments, the basket 404 is in signal communication with the hopper 402 and controls the dispensation of seeds 15 into the basket 404. The basket 404 may weigh the seeds 15 contained therein and signal to the hopper 402 to dispense additional seeds 15 once the weight of the seeds 15 in the basket 404 falls below a threshold weight.

[0067] The basket agitator 400 may be a commercially available flexible feeding system. For example, the basket agitator 400 may be a flexible feeding system from Asyril® including the EYE+® smart control system, the Asyfill® smart hopper, and the Asycube® 3-axis vibrating flexible feeder, as depicted in FIG. 12. As another example, a commercially available system with similar elements is the ARS® Flexibowl®.

[0068] Referring to FIG. 13, a method 1000 of selecting a seed from a population of seeds 15 in accordance with the present disclosure is described. In particular embodiments, the method of FIG. 13 is implemented with reference to the singulation system 10 of FIGS. 1-3 for separating one or more seeds 15 from a population of seeds 15 so that the separated seed 15 can be used for seed analysis.

[0069] The population of seeds 15 are received by the agitator 50 in preparation for singulation. A seed 15 from the population of seeds 15 is imaged by the optical sensor 30 (Step 1010). In embodiments, the agitator 50 may agitate the seed(s) 15 prior to imaging by the optical sensor 30. The optical sensor 30 images the seed 15 to collect data about the position and / or orientation of the seed 15 with respect to the seed 15 seed grabbing device 20 to determine if the seed 15 is in the desired orientation or not in the desired orientation (Step 1015). Alternatively, the optical sensor may image the population of seeds after the seeds have been agitated and optical sensor data may be processed to determine if one or more or a threshold number of seeds or a threshold percentage of the population of seeds is in the desired orientation.

[0070] If the seed 15 is determined to be in the desired orientation, the seed 15 may be separated from the population of seeds 15 as described below at Step 1020. In comparison, if the seed 15 is imaged and is not in the desired orientation, the seed 15 is re-agitated by the agitator 50 asdescribed below at Step 1040. The optical sensor 30 may image a single seed 15 or more than one seed 15 at a time. In some embodiments, the optical sensor 30 may image some or all of the seeds 15 concurrently. When a seed(s) 15 is in the preferred orientation, as imaged by the optical sensor 30, the optical sensor 30 communicates (directly, or indirectly via a controller) to the seed grabbing device 20 to separate the indicated seed 15 from the population of seeds 15.

[0071] With a seed 15 indicated for separation by the optical sensor 30, the seed grabbing device 20 operates to separate the seed 15 from the population of seeds 15 (Step 1020). In particular embodiments, the seed grabbing device 20 may separate seeds 15 from the population of seeds 15 one at a time, as shown in FIG. 1. In other particular embodiments, the seed grabbing device 20 may separate multiple seeds 15 from the population of seeds 15 concurrently. The seed grabbing device 20 may grab a seed 15 with any appropriate gripping mechanism such as a mechanical grip, suction cup, and / or a vacuum head. The seed grabbing device 20 separates each seed 15 without using image data collected by the optical sensor 30 to re-orient the seed 15 to the preferred orientation. However, in some embodiments, the seed 15 is separated from the population of seeds 15 by the seed grabbing device 20 in any orientation and may be re-oriented to the preferred orientation by the seed grabbing device 20 based on the orientation data collected by the optical sensor 30. In still other embodiments, an intermediate seed reorientation device may be provided for re-orienting the seed to the desired orientation, based on the orientation data collected by the optical sensor 30, for selection by the seed grabbing device 20 and subsequent transfer to the receptacle.

[0072] In some embodiments, the seeds 15 separated from the population of seeds 15 may be inserted into the receptacle 40 (Step 1030). The seed grabbing device 20 may insert the separated seed 15 into a well 42 of the receptacle 40. Grabbing the seeds 15 in the preferred orientationallows for insertion of the seeds 15 into the receptacle 40 at a known position and may reduce the chances of mispositioning the seeds 15 within the well 42. For example, where the seed 15 is a corn kernel, the com kernel may be inserted into a well 42 in a crown up position. When the kernel is in the preferred orientation, the seed grabbing device 20 may readily grab the kernel by the crown to insert the kernel into the receptacle 40. The seed 15 may be inserted into the well 42 at a known depth. Each seed 15 inserted into the receptacle 40 may be disposed at the same depth or may be disposed at various depths with respect to each other. Each seed 15 may be pressed into the receptacle 40 and positioned at depth when initially inserted into the respective well 42. Another seed 15 may then be retrieved from the agitator 50 and inserted and positioned at depth in another well 42. In some embodiments, the seeds 15 inserted into the receptacle 40 are bulk pressed to depth. The seeds 15 may be pressed and positioned at depth consecutively, one after another, once each well 42 contains a seed 15. In certain embodiments, an aligner plate is used to concurrently press the seeds 15 in each well 42 to depth. The aligner plate may be used manually or may be used by the seed grabbing device 20 (e.g., an additional robotic end-effector includes an aligner plate) to automatically position the seeds 15 within the receptacle 40.

[0073] When a seed 15 imaged by the optical sensor 30 is detected to not be in the preferred orientation, the seed 15 is recycled through the method 1000 to be re-oriented by the agitator 50 (Step 1040). In the depicted embodiment, the seeds 15 are not re-oriented by the agitator 50 based on the orientation data collected by the optical sensor 30. The Step 1040 may be reiterated as necessary until each seed 15 of the population is separated. The seeds 15 may be agitated concurrently during imaging. In embodiments, the seeds 15 may be agitated before imaging, after imaging, before and after imaging, but not during imaging of the seeds 15. In some embodiments, a seed 15 not in the preferred orientation is returned to the population of seeds 15. In someembodiments, the seeds 15 are continuously agitated on the agitator 50 until separated by the seed grabbing device 20. For example, the agitator 50 may vibrate continuously and the seed 15 may be separated by the seed grabbing device 20 while the basket 404 vibrates. In certain embodiments, the seeds 15 are sporadically agitated. For example, the agitator 50 may switch between periods of vibrating and not vibrating. The periods of vibration and non-vibration may be a set time period, e.g., vibration for 30 seconds followed by no vibration for 30 seconds. The periods of vibration and non-vibration may be equal or not equal, e.g., vibration for 30 seconds and no vibration for 15 seconds. In such embodiments, the seeds 15 in the desired orientation may be separated by the seed grabbing device 20 during the period of non-vibration. In some embodiments, the agitator 50 may be controlled by the optical sensor 30 directly, or indirectly via a controller communicatively coupled to both the optical sensor and the grabbing device. For example, when the optical sensor 30 detects a seed 15, or seeds 15, in the preferred orientation the optical sensor 30 may send a signal to the agitator 50 (directly or via the controller) to stop and allow the seed grabbing device 20 to separate the indicated seed(s) 15. In some embodiments, the agitator 50 agitates the seeds 15 until a threshold percentage of the seeds 15 are in the preferred orientation. The threshold percentage may be between 1% and 90%, such as between 1% and 10%, or between 10% and 80%, of the seeds 15 imaged by the optical sensor 30. For example, the optical sensor 30 may image and detect the orientation of seeds concurrently while the seeds 15 are agitated, once a threshold percentage, e.g., 20%, of the seeds 15 are detected as being in the preferred orientation, then the seeds 15 are separated by the seed grabbing device 20.

[0074] With particular reference to FIGS. 4-6 and 13, an example of the method 1000 is described for operating the singulation system 10 including the wheel agitator 100, as described hereinabove, for separating one or more seeds 15 from a population of seeds 15 so that the separated seed 15can be used for seed analysis. The hopper 104 may be filled with the population of seeds 15 for singulation. The face plate 102 rotates and picks up a seed 15 from the hopper 104 at a vacuum port 106. As the face plate 102 rotates, the seed 15 is presented to the optical sensor 30 and is imaged to determine the orientation of the seed 15 (Step 1010). The seed 15 may engage a bump adjuster 110 to urge the seed 15 toward the preferred orientation prior to imaging. If the seed 15 is in the preferred orientation, the optical sensor 30 communicates with the seed grabbing device 20 to indicate which seed 15, or which vacuum port 106 holding the seed 15, is oriented for grabbing (Step 1015). The seed grabbing device 20 grabs the indicated seed 15 and the seed 15 is separated (Step 1020). The face plate 102 may stop rotating to allow the seed grabbing device 20 to grab a seed 15 indicated for separation or may rotate continuously. In some embodiments, the seed 15 need not be exactly in the preferred orientation and may be slightly askew from the preferred orientation. For example, the seed grabbing device 20 may grab a seed 15 earlier or later in the revolution of the face plate 102 to compensate for small variations in orientations of seeds 15 indicated for separation. The seed grabbing device 20 may insert the seed 15 into a well 42 of the receptacle 40 (Step 1030). If the seed 15 is not in the preferred orientation when imaged by the optical sensor 30, then the seed 15 is returned to the hopper 104 to be re-oriented (Step 1040). When the seed 15 is returned to the hopper 104, vacuum pressure is reduced or disabled at the vacuum port 106 holding the seed 15 to the face plate 102. The seed 15 is allowed to drop back into the hopper 104. In some embodiments, the seed 15 is allowed to drop on to the slide 112 and slide or tumble back into the hopper 104. The sliding or tumbling the seed 15 down the slide 1 12 may aid in agitating or re-orienting the seed 15 such that the seed 15 is picked up in the preferred orientation at a later time.

[0075] Referring now to FIGS. 7, 8, and 13, an example of the method 1000 is described for operating the singulation system 10 including the belt agitator 200, as described hereinabove, for separating one or more seeds 15 from a population of seeds 15 so that the separated seed 15 can be used for seed analysis. The belt agitator 200 receives the population of seeds 15, or a portion of the population of seeds 15, thereon. As the first conveyor belt 202 and second conveyor belt 204 circulate the seeds 15 on the belt agitator 200 the optical sensor 30 images the seeds 15 as they align along the fences 208 (Step 1010). The optical sensor 30 determines if each seed 15 is in the preferred orientation and indicates the seed(s) 15 for separation by the seed grabbing device 20 (Step 1015). The seed grabbing device 20 separates the seed 15, or seeds 15, which are indicated by the optical sensor 30 as being in the preferred orientation (Step 1020). The belt agitator 200 may circulate seeds 15 continuously or may stop to allow the seed grabbing device 20 to separate the seeds 15. As described above, the seed grabbing device 20 may insert the separated seeds 15 into the receptacle 40 (Step 1030). The seeds 15 that are not indicted for separation by the optical sensor 30 at Step 1015 remain on the belt agitator 200 to circulate and re-orient (Step 1040). The seeds 15 may remain on the belt agitator 200 until the optical sensor 30 detects each seed 15 as in the preferred orientation indicates each seed 15 for separation. The seeds 15 may be agitated and re-oriented as the seeds 15 slide down the ramps 206 or engage the fences 208. The angle between the first conveyor belt 202 and the second conveyor belt 204 may increase or decrease the intensity of the agitation of the seeds 15. In some embodiments, the conveyor belts 202, 204 are operated at variable speeds to further agitate the seeds 15.

[0076] With additional reference to FIG. 9, an example of the method 1000 for operating the singulation system 10 including the belt agitator 250, as described hereinabove, is similar to the example method 1000 of operating the singulation system 10 including the belt agitator 200 asdescribed above. As such, only the differences in the example methods 1000 will be described. Specifically, the agitation of the seeds 15 at Step 1040 is the primary difference. When the singulation system 10 includes the belt agitator 250, the single conveyor belt 252 operates bidirectionally. The seeds 15 on the conveyor belt 252 are moved towards and away from the fence 254 to agitate the seeds 15 (Step 1040). As the seeds 15 engage the fence 254 the seeds 15 may align against the fence 254 in the preferred orientation. Otherwise, the Steps 1010, 1015, 1020, 1030 are substantially the same as described above with respect to the method 1000 as described for operating a singulation system 10 including the belt agitator 200.

[0077] Referring to FIGS. 10, 11, and 13, an example of the method 1000 is described for operating the with the singulation system 10 including bowl agitator 300, as described hereinabove, for separating one or more seeds 15 from a population of seeds 15 so that the separated seed 15 can be used for seed analysis. The population of seeds 15, or a portion of the population of seeds 15, is received and held in the feeder bowl 302. The feeder bowl 302 vibrates to agitate the seeds 15 held therein and feed them towards the grab channel 306. When the seeds 15 reach the grab channel 306, the optical sensor 30 images the seeds 15 to determine the orientation of the seeds 15 (Step 1010). The seeds 15 determined by the optical sensor 30 to be in the preferred orientation are indicated for separation by the seed grabbing device 20 (Step 1015). The seeds 15 indicated as in the preferred orientation by the optical sensor 30 are removed from the grab channel 306 by the seed grabbing device 20 (Step 1020). The seeds 15 are grabbed by the seed grabbing device 20 and may be inserted in the receptacle 40 (Step 1030). When a seed 15 is fed from the feeder bowl 302 to the grab channel 306 in an orientation other than the preferred orientation, the seed 15 may be returned to the feeder bowl 302 and re-oriented, e.g., by a conveyor belt system or pneumatic tube system, (Step 1040). The seeds 15 may be returned to the bowlagitator 300 as many times as necessary for re-agitation until separated by the seed grabbing device 20. In some embodiments, the grab channel 306 is a linear vibratory feeder and may additionally agitate the seeds 15 to orient the seeds 15 to the preferred orientation.

[0078] Referring to FIGS. 12 and 13, an example of the method 1000 is described for operating the singulation system 10 including the basket agitator 400, as described hereinabove, for separating one or more seeds 15 from a population of seeds 15 so that the separated seed 15 can be used for seed analysis. The hopper 402 receives and holds the population of the seeds 15 and dispenses a portion of the population into the basket 404. The optical sensor 30 images the seeds 15 in the basket 404 to determine the orientation of each seed 15 in the basket 404 (Step 1010). The basket 404 may vibrate to agitate the seeds 15 and may orient some seeds 15 to the preferred orientation. The optical sensor 30 may image all the seeds 15 in the basket 404 or some of the seeds 15 in the basket 404. The optical sensor 30 indicates the seeds 15 that are determined to be in the preferred orientation for separation by the seed grabbing device 20 for separation (Step 1015). The seed grabbing device 20 separates the seeds 15 indicated by the optical sensor 30 as being in the preferred orientation from the population (Step 1020). The seeds 15 are grabbed by the seed grabbing device 20 and may be inserted in the receptacle 40 (Step 1030). The seeds 15 imaged by the optical sensor 30 and determined as not being in the preferred orientation remain in the basket 404 and are re-oriented or re-agitated until the seeds 15 are in the preferred orientation and indicated for separation by the seed grabbing device 20 (Step 1040).

[0079] Referring to FIG. 14, an example system 2000 of in-seed sampling in accordance with embodiments of the present disclosure is schematically shown with reference to seed singulation system 10 of FIGS. 1-12 and the method 1000 of FIG. 13. The seeds 15 are dispensed from a bulk seed hopper to the seed singulation system 10 (Process 2100). The bulk seed hopper may acommercially available bulk seed hopper. The bulk seed hopper may dispense the seeds 15 directly to seed singulation system 10. For example, the seeds 15 may dispensed from the bulk seed hopper into the hopper 104 of the wheel agitator 100, another agitator 200, 300, or 400. The seed singulation system 10 singulates the seeds 15 (Process 2200). The seed singulation system 10 may singulate the seeds 15 according to the method 1000 described hereinabove. The seed singulation system 10 may include the wheel agitator 100, the belt agitator 200, 250, the bowl agitator 300, or the basket agitator 400. Once the seeds 15 are singulated, the seeds 15 are transferred for sampling (Process 2300). The seeds 15 may be manually transferred by a user, e.g., on a cart, or may be transferred by automated process. The seeds 15 can be transferred within the receptacle 40. The seeds 15 are drilled or chipped by a drilling tool to create an orifice in the seed 15 (Process 2400). Debris created by drilling the orifice may be removed by a cleaning tool. A seed soaking solution may be dispensed into the orifice for collecting biological material from the seed 15 (Process 2500). The biological material is collected while the germination viability of the seed 15 is preserved. The seed soaking solution may be dispensed by commercially available liquid handling systems. The in-seed sampling system 2000 is describe generally herein. In-seed sampling systems and methods in accordance with embodiments with the present disclosure are detailed in PCT / US23 / 85005 filed December 20, 2024, which claims priority to U.S. Provisional Patent Application Serial No. 63 / 476456 filed December 21, 2022, each of the preceding applications hereby incorporated by reference herein in their entirety.

[0080] In embodiments, the system and method 2000 may utilize other systems and methods known in the art to singulate, orient, and insert seeds into a receptacle for sampling an analysis. As a non-limiting example, the systems and methods described in U.S. Patent No. 9,551,636 atFigs. 3-6 may be used in conjunction with the systems and methods described herein. The systemsand methods described herein may include an imaging station as described in the ‘636 patent (see for example, the description of FIGS. 5A-B, which is incorporated herein by reference). Additionally or alternatively, the systems and methods described herein may include an orientation station as described in the ‘636 patent (see for example, the description of FIGS. 6A-B, which is incorporated herein by reference). In certain embodiments, the systems and method described herein may include a seed loading station and / or a seed transport station as described in the ‘636 patent (see for example, the description of FIGS. 3-6, which is incorporated herein by reference).

[0081] Although the method steps are described in a specific order, it should be understood that other steps may be performed in between described steps, described steps may be adjusted so that they occur at slightly different times, or the described steps may occur in any order unless otherwise specified.

[0082] Many modifications and other implementations of the disclosure will come to mind to one skilled in the art to which this disclosure pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the disclosure is not to be limited to the specific embodiments disclosed herein and that modifications and other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

What is Claimed:

1. A method of selecting a seed from a population of seeds for analysis, the method comprising: imaging a seed of the population of seeds with a sensor to determine an orientation of the seed based on sensor orientation data; and selecting the seed from the population of seeds when the determined orientation of the seed is in a desired orientation with respect to a seed grabbing device.

2. The method according to claim 1, further comprising agitating the population of seeds such that each seed of the population of seeds is randomly oriented with respect to the seed grabbing device.

3. The method according to claim 2, further comprising re-agitating the population of seeds until at least one seed of the population of seeds is in the desired orientation.

4. The method according to claim 1, further comprising, in response to the determined orientation of the seed not being the desired orientation, not selecting the seed for transfer by the seed grabbing device.

5. The method according to claim 1, further comprising inserting the selected seed into a receptacle.

6. The method according to claim 5, wherein inserting the seed into the receptacle includes positioning the seed at a known depth within a well of the receptacle.

7. The method according to claim 5, further comprising bulk pressing each seed inserted within the receptacle simultaneously using an aligner plate.

8. The method according to claim 1, wherein imaging includes illuminating the field of view of the sensor using a light source.

9. The method according to claim 1, wherein selecting the seed from the population of seeds includes grabbing the seed using the seed grabbing device, the seed grabbing device comprising a robot arm.

10. The method according to claim 1, wherein the imaging step includes collecting sensor orientation data in the form of at least one of visual images, near infra-red images, or magnetic resonance images.

11. A method of singulating a population of seeds for analysis, the method comprising: agitating the population of seeds such that each seed of the population of seeds is randomly oriented with respect to a seed grabbing device; imaging a seed of the population of seeds with a sensor to determine the orientation of the seed based on sensor orientation data; and selecting the seed from the population of seeds with the seed grabbing device when the seed is in a desired orientation with respect to the seed grabbing device.

12. The method according to claim 11, wherein the population of seeds is continuously agitated.

13. The method according to claim 11 , wherein a seed in an orientation other than the desired orientation is not manipulated into the desired orientation based on the sensor orientation data.

14. The method according to claim 11, comprising re-agitating the population of seeds until a seed is in the desired orientation.

15. The method according to claim 11, comprising inserting the seed separated from the population of seeds into a receptacle.

16. The method according to claim 11, wherein the agitating the population of seeds includes using an agitator to randomly orient the population of seeds with respect to the seed grabbing device.

17. The method according to claim 16, wherein the agitator is a wheel agitator configured to agitate the population of seeds by using vacuum pressure to pick up a seed from a hopper containing the population of seeds.

18. The method according to claim 17, wherein when the seed is not in the desired orientation as imaged by the sensor, vacuum pressure is dropped and the seed is returned to the population of seeds.

19. The method according to claim 16, wherein the agitator is a belt agitator configured to agitate the population of seeds by circulating the population of seeds thereon.

20. The method according to claim 19, wherein when a seed is not in the desired orientation as imaged by the sensor, the seed remains on the belt agitator to circulate thereon.

21. The method according to claim 16, wherein the agitator is a bowl agitator.

22. The method according to claim 16, wherein the agitator is a basket agitator.

23. The method according to claim 11, wherein the seed grabbing device is a robot arm.

24. A system for singulating a population of seeds for analysis, the system comprising: an agitator configured to agitate and randomly orient the population of seeds; a sensor capable of imaging at least one seed of the population of seeds to detect the orientation of the seed; and a seed grabbing device in signal communication with the sensor, the seed grabbing device configured to separate the seed from the population of seeds if the sensor detects the seed is in a desired orientation with respect to the seed grabbing device.

25. The system according to claim 24, wherein the agitator comprises a hopper configured to hold the population of seeds therein.

26. The system according to claim 24, wherein the agitator is a wheel agitator configured to agitate the population of seeds by picking up at least one seed using vacuum pressure.

27. The system according to claim 26, wherein when the seed is picked up by the wheel agitator in an orientation other than the desired orientation vacuum pressure is dropped and the seed is returned to the population of seeds.

28. The system according to claim 26, wherein the wheel agitator includes a face plate defining a divot configured to help guide the seed picked up by the wheel agitator into the desired orientation.

29. The system according to claim 26, wherein the wheel agitator includes a bump adjuster configured to engage the seed picked up by the wheel agitator and urge the seed into the desired orientation.

30. The system according to claim 29, wherein the bump adjuster is an air-port configured to blow compressed air on the seed to urge the seed into the desired orientation.

31. The system according to claim 24, wherein the agitator is a belt agitator configured to agitate the population of seeds by circulating the population of seeds thereon.

32. The system according to claim 31, wherein the belt agitator includes a fence configured to engage the population of seeds as the belt agitator circulates the population of seeds and urge each seed into the desired orientation.

33. The system according claim 31, wherein the belt agitator comprises a first conveyor belt and a second conveyor belt, the first conveyor belt and the second conveyor belt angled with respect to each other.

34. The system according to claim 33, wherein the belt agitator comprises a first ramp and a second ramp configured to transfer the population of seeds between the first conveyor belt and the second conveyor belt as the belt agitator circulates the population of seeds thereon.

35. The system according to claim 24, wherein the agitator is a basket agitator.

36. The system according to claim 35, wherein the basket agitator comprises a basket configured to hold the population of seeds therein, the basket configured to agitate the seeds held therein and urge the seeds into the desired orientation.

37. The system according to claim 36, wherein the basket comprises walls, the basket tuned to vibrate to urge each seed held therein towards the walls, the walls configured to urge the seeds into the desired orientation when the seeds engage with the walls of the basket.

38. The system according to claim 24, wherein the agitator is a bowl agitator.

39. The system according to claim 38, wherein the bowl agitator comprises a feeder bowl and a grab channel, the feeder bowl including a ledge spirally wrapped about an interior wall of the feeder bowl, the feeder bowl tuned to vibrate such that seeds held therein are moved along the ledge and into the grab channel.

40. The system according to claim 39, wherein the grab channel is a liner vibratory feeder.

41. A system for analyzing a population of seeds, the system comprising: a system for singulating a population of seeds for analysis according to claim 24; a drilling tool configured to form an orifice in a seed singulated by the system for singulating a population of seeds for analysis; and a liquid handling system configured to collect biological material from the separated seed.

42. A method of selecting a seed from a population of seeds for analysis, the method comprising: imaging a seed of the population of seeds with a sensor to determine an orientation of the seed based on sensor orientation data; selecting the seed from the population of seeds with a seed grabbing device; and reorienting the selected seed to a desired orientation with the seed grabbing device based on the sensor orientation data.

43. The method according to claim 42, further comprising inserting the selected seed into a receptacle.

44. The method according to claim 42, wherein reorienting the selected seed includes using a 6-axis robot work cell to orient the selected seed to the desired orientation based on the sensor orientation data.

45. The method according to claim 42, further comprising agitating the population of seeds such that each seed of the population of seeds is randomly oriented with respect to the seed grabbing device.

46. The method according to claim 45, wherein agitating the population of seeds includes using an agitator to randomly orient the population of seeds with respect to the seed grabbing device.

47. The method according to claim 46, wherein the agitator is a wheel agitator configured to agitate the population of seeds by using vacuum pressure to pick up a seed from a hopper containing the population of seeds.

48. A system for analyzing a population of seeds, the system comprising: a singulation system configured to singulate seeds from the population of seeds, the singulation system comprising: an agitator configured to agitate and randomly orient the population of seeds; a sensor capable of imaging at least one seed of the population of seeds to detect the orientation of the seed; and a seed grabbing device in signal communication with the sensor, the seed grabbing device configured to separate the seed from the population of seeds when the sensor detects the seed is in a desired orientation with respect to the seed grabbing device; and a drilling tool configured to form an orifice in the separated seed; and a liquid handling system configured to collect biological material from the separated seed.

49. The system according to claim 48, comprising a bulk hopper configured to contain the population of seeds and dispense at least a portion of the population of seeds to the singulation system.

50. The system according to claim 48, wherein the biological material is collected from the separated seed while preserving the germination viability of the separated seed.

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