System for imaging and orienting seeds and method of use

Patent metadata

Field	Value
Publication number	US-9924626-B2
Application number	US-201514704691-A
Country	US
Kind code	B2
Filing date	May 5, 2015
Priority date	May 6, 2014
Publication date	Mar 27, 2018
Grant date	Mar 27, 2018

Abstract

A system and method for the automated or semi-automated imagining and orienting of seeds to prepare the seeds for transformation and transgenic engineering.

First claim

The invention claimed is:

1. A method for imaging a seed, the method comprising:
using a robotic arm to position a seed including a hilum within a lighted area,
projecting the seed onto a first plane extending perpendicular to a center axis of the lighted area,
rotating the seed to orient the seed parallel to a first imaginary horizontal line positioned in the first plane,
projecting the seed onto a second plane extending perpendicular to the first plane,
orienting the seed parallel to a second imaginary horizontal line positioned in the second plane,
identifying a distance between the hilum of the seed and the second imaginary horizontal line, and
orienting the seed to position the hilum on the second imaginary horizontal line based on the identified distance.

2. The method of claim 1 , wherein orienting the seed to position the hilum on the second imaging horizontal line comprises orienting the seed to position a center of the hilum on the second imaginary horizontal line.

3. The method of claim 2 , wherein orienting the seed to position the center of the hilum on the second imaginary horizontal line comprises orienting the seed such that a center of mass of the hilum is coincident with a center of mass of the seed.

4. The method of claim 1 , further comprising:
identifying a location of the embryo of the seed,
identifying an edge of the hilum nearest the identified location and an outer edge of the seed along the second imaginary horizontal line, and
identifying a point between the edge of the hilum and the outer edge of the seed at which to trim an embryonic axis of the seed.

5. The method of claim 4 , wherein identifying the location of the embryo comprises analyzing one or more projections of the seed onto the second plane using feature matching.

6. The method of claim 1 , wherein:
projecting the seed onto the first plane comprises capturing a first image with a first camera, and
projecting the seed on to a second plane comprises capturing a second image with a second camera.

7. The method of claim 6 , wherein:
the first camera has an optical axis parallel to an optical axis of the second camera, and
capturing the first image with the first camera comprises capturing light reflected off a mirror extending at a forty-five degree angle relative to the optical axis of the first camera.

8. The method of claim 1 , wherein:
rotating the seed to orient the seed parallel to the first imaginary horizontal line comprises rotating the seed in response to determining the seed is not oriented parallel to the first imaginary horizontal line,
orienting the seed parallel to the second imaginary horizontal line comprises orienting the seed in response to determining the seed is not oriented parallel to the second imaginary horizontal line, and
orienting the seed to position the hilum on the secondary imaginary horizontal line comprises orienting the seed in response to determining the hilum is not positioned on the second imaginary horizontal line.

9. The method of claim 1 , further comprising:
analyzing a first image corresponding with the projection of the seed onto the first plane to determine an orientation of the seed relative to the first imaginary horizontal line, and
analyzing a second image corresponding with the projection of the seed onto the second plane to determine an orientation of the seed relative to the second imaginary horizontal line.

10. The method of claim 9 , wherein:
analyzing the second image comprises (i) identifying a first longitudinal end and a second longitudinal end of the seed, (ii) identifying a left rectangular vertical cross section of the seed at the first longitudinal end, (iii) identifying a right rectangular vertical cross section of the seed at the second longitudinal end, (iv) determining a center of mass of each of the left rectangular vertical cross section and the right rectangular cross section, and (v) interconnecting the centers of mass of the left rectangular vertical cross section and the right rectangular cross section with an imaginary line segment, and
orienting the seed parallel to the second imaginary horizontal line comprises orienting the seed such that the line segment is parallel to the second imaginary horizontal line.

11. The method of claim 10 , wherein each of the left rectangular vertical cross section and the right rectangular vertical cross section has a horizontal width equal to at least ten image pixels.

12. The method of claim 10 , wherein:
analyzing the second image further comprises determining an angle of the line segment relative to the second imaginary horizontal line, and
an amount of rotation of the seed to orient the line segment parallel to the second imaginary horizontal line is based on the determined angle.

13. The method of claim 1 , further comprising:
projecting the seed onto the second plane in response to orienting the seed parallel to the second imaginary horizontal line, and
analyzing a third image corresponding with the projection of the seed onto the second plane in response to orienting the seed parallel to the second imaginary horizontal line to identify the distance between the hilum and the second imaginary horizontal line.

14. The method of claim 13 , wherein:
analyzing the third image comprises (i) identifying a longitudinal end of the seed, (ii) determining a center of mass of each of the longitudinal end and the hilum, and (iii) interconnecting the centers of mass of the longitudinal end and the hilum with an imaginary line segment, and
orienting the seed to position the hilum on the second imaginary horizontal line comprises orienting the seed such that the line segment is coincident with the second imaginary horizontal line.

15. The method of claim 14 , wherein:
analyzing the third image further comprises determining an angle of the line segment relative to the second imaginary horizontal line, and
an amount of movement of the seed to orient the line segment coincident with the second imaginary horizontal line is based on the determined angle.

16. The method of claim 1 , further comprising determining a height of the seed for positioning a cutting blade based on the projection of the seed onto the second plane, the height being a width of the seed in a direction perpendicular to the second imaginary horizontal line.

17. The method of claim 1 , further comprising attaching the seed to the robotic arm via a suction force.

18. A method for imaging a seed, the method comprising:
capturing a plurality of images of a seed,
determining an orientation of the seed and a location of the hilum of the seed based on the plurality of captured images, and
moving the seed with a robotic arm to orient the seed in a position based on the determined orientation of the seed and the location of the hilum,
wherein capturing the plurality of images comprises capturing a first image of the seed with a first camera from a first perspective, and capturing a second image of the seed with a second camera from a second perspective perpendicular to the first perspective, and
wherein determining the orientation of the seed comprises determining an orientation of the seed relative to a first border line of the first captured image, and determining an orientation of the seed relative to a second border line of the second captured image.

19. A seed imaging apparatus comprising:
a robotic arm,
one or more light sources,
a hollow body having a center axis and configured to be lighted by the one or more light sources,
a first came

Assignees

• Dow Agrosciences Llc

Inventors

• Mccarty Ii Donald L
• Chennareddy Sivarama Reddy
• Cicak Toby
• Sarria Rodrigo
• Gillespie David T

Classifications

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• A01C1/00 Primary

  Apparatus, or methods of use thereof, for testing or treating seed, roots, or the like, prior to sowing or planting · CPC title

• G05B2219/39106

  Conveyor, pick up article, object from conveyor, bring to test unit, place it · CPC title

• G06T7/73

  using feature-based methods · CPC title