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-11549866-B2
Publication Date
2023-01-10
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
The invention describes an automatic plant tissue sampling system for selecting, sampling, and storing a tissue sample from an individual plant of a group of one or more plants. The system includes a frame assembly with coordinated first, second, and third axes, a plant handler with a plurality of grippers to manipulate an individual plant, and a sampler configured to identify, collect, and store a tissue sample of that individual plant. A controls system is communicatively coupled to the plant handler and sampler to coordinate movement and operation for subsequent testing.
The invention further provides imaging-based identification and sampling-location determination. An imager in the sampler identifies at least one of color, size, and shape of the individual plant, determines a sampling location based on at least one of the color, size, and shape, and positions the sampling location proximate a chuck. The plant is secured for sampling, a tissue sample is isolated at the sampling location, and the controls system coordinates the sampler actions with plant handling so the correct tissue sample is collected and stored.
The invention also integrates tissue-removal and tissue-transport concepts with labeled storage. The sampler includes tissue sample collection devices that remove the tissue sample, including a laser cutting device or alternative cutting or hole-punching devices, and the system includes a tissue sample transporter that transports the excised tissue into an associated collection vessel. The sample is associated with a sample identifier tied to the individual plant, and the plant is returned for further cultivation while the tissue sample is stored for testing.
In some embodiments, the invention includes vacuum-assisted positioning and flattening of the sampling location. A vacuum chuck supplies pressure less than ambient pressure near the chuck so the pressure draws the sampling location to the chuck and flattens a portion of the sampling location. The coordinated system then secures the plant with the plant sampling system, isolates the tissue sample, transports the tissue sample to the collection vessel, and returns the individual plant for further cultivation.
Claims Coverage
The disclosed subject matter includes two independent claims: an apparatus claim directed to selecting, sampling, and storing a tissue sample from individual plants, and a method claim directed to automatically sampling individual plants, including imaging-based selection and storing while returning plants for further cultivation. Across these independent claims, the main inventive features involve coordinated multi-axis plant handling, gripper-based plant orientation, sampler-based identification and sampling-location determination, tissue isolation and transport into an identifier-associated collection vessel, and plant return for further cultivation.
Coordinated multi-axis frame with plant handler and sampler
A frame assembly having a first axis, a second axis orthogonal to the first axis, and a third axis orthogonal to the first axis and the second axis; a plant handler mounted to the frame assembly and having a plurality of grippers to manipulate the individual plant; and a sampler mounted to the frame assembly to identify, collect, and store the tissue sample.
Plant orientation within the sampler for sample identification and collection
The sampler having a sample identifier and a tissue sample collection device configured to identify, collect, and store the tissue sample of the individual plant, and the plant handler configured to orient the plant within the sampler.
Controls system coordinating movement and operation
A controls system communicatively coupled to the plant handler and the sampler, configured to coordinate movement and operation of the plant handler and the sampler.
Automatically selecting, sampling, identifying, and storing while returning plants
A method comprising selecting an individual plant, securing it in a plant handling system, moving the individual plant to a plant sampling system, identifying at least one of a color, size, and shape, determining a sampling location based on the color, size, and/or shape, isolating a tissue sample, transporting the tissue sample to a collection vessel and associating it with the identifier, storing the tissue sample for testing, and returning the individual plant for further cultivation.
Across the independent apparatus and method claims, the inventive core is a coordinated system that uses a gripper-based plant handler and a sampler with a sample identifier to identify plant visual attributes, determine a sampling location, isolate a tissue sample, transport the tissue to an identifier-associated collection vessel, and store the tissue sample for testing while returning the plant for further cultivation.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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