System and method for automatic plant tissue sampling
Inventors
Sercel, Patrick • Sharpe, Aaron • Shu, Sudong • Wirz, Holger
Assignees
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Publication Number
US-10830671-B2
Publication Date
2020-11-10
Expiration Date
Abstract
An automatic plant tissue sampler and a method for operating the same are provided. The sampler can include a plant handler configured to transport a plurality of plants to an imager. The imager may be configured to image plants to identify a sampling location. The automatic plant tissue sampler also includes a sampler configured to remove a tissue sample from the sampling location of plants, and a collection vessel configured to receive the tissue samples. The automatic plant tissue sampler may transport a plurality of plants to an imager and images the plurality of plants to identify a sampling location. The automatic plant tissue sampler can remove a tissue sample from the sampling location of the plurality of plants and store the tissue samples in a collection vessel for testing.
Core Innovation
An automatic plant tissue sampling system is provided that includes a plant handler, a plant positioner with a plant gripper, an imager, a processor, a sampler comprising a laser cutter, and a collection vessel for receiving tissue samples. The plant handler transports one or more plants from a first location to a second location proximate to the imager, and the plant positioner orients the plant for imaging. The imager images the plant to identify a sampling location on a leaf or a portion of a leaf.
The processor receives an image of the plant and selects the sampling location on the leaf or the portion of the leaf to sample. The sampler removes a tissue sample from the selected sampling location, and the collection vessel receives the tissue samples. At least the step of imaging a plant and the step of removing a tissue sample are automated.
The sampling location identification is based on at least one of a size, shape, or color of the plant, and sampling is also described from a green portion of the leaf. The system and method maintain association between a sampled tissue sample and a sampled plant using traceability identifiers such as bar code and/or RFID, with automated coordination of plant handling, imaging, cutting/removal, and sample transport.
Claims Coverage
The document includes two independent claims: one directed to an automatic plant tissue sampling system and one directed to an automated method for sampling plant tissue. Each independent claim is supported by dependent claims that refine sampling-location definition, imaging/laser handling, plant tracking/association, and multi-axis orienting motion.
Automatic plant tissue sampling system for imaging-selected laser removal
A plant handler configured to transport one or more plants from a first location to a second location; a plant positioner comprising a plant gripper, configured to orient a plant for imaging by an imager; the imager configured to image the plant oriented by the plant positioner to identify a sampling location on a leaf or a portion of a leaf of the plant; a processor in communication with the imager and configured to receive an image of the plant and further configured to select the sampling location on the leaf or the portion of the leaf of the plant to sample; a sampler comprising a laser cutter, the sampler configured to remove a tissue sample from the sampling location; and a collection vessel configured to receive tissue samples.
Automated method for image-based selection and laser tissue sampling
Transporting one or more plants from a first location to a second location with a plant handler, the second location proximate to an imager; orienting a plant with a plant positioner for imaging, wherein the plant positioner comprises a plant gripper; imaging the one or more plants with an imager; identifying a sampling location on a leaf or a portion of a leaf of a plant based on at least one of a size, shape, or color of said plant; removing a tissue sample from the sampling location; and storing the tissue sample in a collection vessel, wherein at least the step of imaging a plant and the step of removing a tissue sample are automated.
Across both independent claims, the core coverage is automated plant transport and orientation for imaging, processor-based identification and selection of a leaf sampling location from imaging, and automated removal of a tissue sample using a laser cutter with storage of the resulting tissue sample in a collection vessel. Dependent refinements further constrain sampling-location characteristics and add traceability or association using plant identifiers such as bar codes.
Stated Advantages
High-throughput sampling.
Reduced error and contamination.
Earlier sampling stage.
Sample consistency and accuracy.
Documented Applications
Automatic plant tissue sampling for downstream testing, with tissue samples stored while maintaining sample association with the sampled plant.
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