Device for automated crop root sampling

Patent metadata

Field	Value
Publication number	US-2020400518-A1
Application number	US-202016904195-A
Country	US
Kind code	A1
Filing date	Jun 17, 2020
Priority date	Jun 17, 2019
Publication date	Dec 24, 2020
Grant date	—

Abstract

Disclosed herein is a device for measuring root pulling force (RPF) in a plant. The RPF device can comprise a plant grasping mechanism, as well as a force measurement sensor. The device can be automatic, so that the “hand of man” is not required to exert force on the plant while the root pulling force of the plant is being measured. Also disclosed is a root pulling force motion mechanism, which brings the RPF device into proximity of a plant to be measured. Further disclosed is a method for measuring root pulling force of a plant.

First claim

1 . A root pulling force (RPF) device, the device comprising a plant grasping mechanism and a force measurement sensor, wherein said device is automated.

2 . The RPF device of claim 1 , wherein said device further comprises at least one actuator, wherein said actuator is capable of moving the plant grasping mechanism into position with respect to a plant.

3 . The RPF device of claim 1 , wherein said device further comprises a plant location sensor.

4 . The RPF device of claim 2 , wherein said plant grasping mechanism comprises two parallel plates, wherein said parallel plates are capable of moving toward each other.

5 . The RPF device of claim 4 , wherein the two parallel plates are attached to the actuator.

6 . The RPF device of claim 2 , wherein the actuator is driven by an electric motor.

7 . The RPF device of claim 4 , wherein the actuator is a ball screw actuator.

8 - 10 . (canceled)

11 . The RPF device of claim 8 , wherein two or more vertical rods are present on each parallel plate.

12 . The RPF device of claim 11 , wherein the two or more vertical rods on each parallel plate are arranged in a linear pattern with a space between them approximately equal to that of the rod diameter.

13 . The RPF device of claim 8 , wherein the vertical rods have machined or formed threads or other horizontal striations that come to sharp points on an outer surface of the vertical rods.

14 . The RPF device of claim 8 , wherein said vertical rods further comprise a chamfer at both distal and proximal ends of the vertical rods.

15 - 21 . (canceled)

22 . The RPF device of claim 4 , wherein said parallel plates are joined by linkage, wherein said linkage is capable of driving the parallel plates in opposite directions from one another, therefore creating a space between them.

23 . The RPF device of claim 1 , wherein said RPF device comprises a programmable computer system.

24 - 31 . (canceled)

32 . The RPF device of claim 3 , wherein said plant location sensor comprises a camera.

33 - 35 . (canceled)

36 . The RPF device of claim 1 , wherein said plant grasping mechanism comprises a pressure plate, wherein said pressure plate is capable of sensing when contact is made with an object and/or the location of the object.

37 . The RPF device of claim 36 , wherein said pressure plate is mounted on distal end of said plant grasping mechanism.

38 . (canceled)

39 . The RPF device of claim 1 , wherein said RPF device further comprises a root pulling force (RPF) motion mechanism, wherein said RPF motion mechanism is associated with the plant grasping mechanism of the RPF device.

40 - 41 . (canceled)

42 . The RPF motion mechanism of claim 39 , wherein the mechanism comprises a set of three orthogonal linear actuators.

43 . The RPF motion mechanism of claim 42 , wherein the orthogonal linear actuators comprise a slide and a ball screw.

44 . The RPF motion mechanism of claim 43 , wherein the ball screw is powered by an electric motor.

45 - 69 . (canceled)

Assignees

• Univ Colorado State Res Found

Inventors

• Mckay John Keith
• Alvarado Caleb Andrew
• Babbitt Guy R
• Palmiscno Kyle Joseph
• Turner Christopher Wayne
• Whitehill Bryce Conrad

Classifications

• B25J19/023 Primary

  including video camera means · CPC title

• B25J15/0033

  with gripping surfaces having special shapes · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B25J9/023

  Cartesian coordinate type · CPC title

• A01D27/02

  with rigid tools · CPC title