Robotic seed-handling apparatus and methods

A robotic apparatus for moving particles from a first container to a second container, comprising:

• a cover-removal manipulator for removing and replacing a cover on the first container containing the particles;
• and
• a particle manipulator for removing particles from the first container, the particle manipulator comprising a probe having an end surface defining at least one opening dimensioned smaller than a particle;
• the probe being connectable to a vacuum source, wherein application of a vacuum from the vacuum source to the probe is effective to cause the end surface of the probe to pick up particles whenever the end surface of the probe is positioned in the first container proximate to the particles, and the particle manipulator being configured to move the probe to the second container, wherein release of the vacuum from the probe causes the end surface of the probe to release the particles in the second container, wherein the second container can be the same or different from the first container.

A robotic apparatus for handling small particles, comprising:

• a robotic assembly configured to move in x, y and z directions that are mutually perpendicular to each other;
• and
• a particle manipulator carried by the robotic assembly, the particle manipulator being positionable by the robotic assembly at selected x-y-z positions, the particle manipulator comprising a first probe having an apertured surface adapted to pick up onto the surface a selected number of particles from a population of the particles, the particle manipulator also comprising a second probe having an air-pervious end surface adapted to pick up onto its respective end surface one or more particles, the first and second probes being movable independently of each other in a generally vertical direction;
• the first probe being connectable to a vacuum source, wherein whenever vacuum is applied to the first probe and the apertured surface is positioned at a selected x-y-z position proximate to the population of particles, the first probe picks up the selected number of particles and thus separates the selected number of particles from the population;
• the second probe being connectable to a vacuum source, wherein whenever vacuum is applied to the second probe and the end surface of the second probe is positioned at a selected x-y-z position proximate to a population of particles, the second probe picks up one or more particles.

An apparatus for transferring seeds comprising:

• a robot means configured to move in three-dimensional space;
• a plurality of donor containers, each containing a respective population of seeds and positioned at a respective location in three-dimensional space;
• a plurality of recipient containers for receiving seeds from one or more donor containers, each recipient container being positioned at a respective location in three-dimensional space;
• seed-manipulator means carried by the robot means, the robot means being configured to position the seed-manipulator means at a plurality of selected locations in three-dimensional space so as to allow the seed-manipulator means to remove a selected one or more seeds from the donor containers and to position the seed-manipulator at a plurality of selected locations in three-dimensional space so as to allow the seed-manipulator means to deposit seeds into one or more recipient containers;
• and
• a control means operatively connected to the robot means and to the seed-manipulator means, the control means being configured to cause the robot means to move the seed-manipulator means to a selected first location in three-dimensional space such that the seed-manipulator means is positioned to remove one or more seeds from a selected first donor container of said plurality of donor containers, to activate the seed-manipulator means to pick up one or more seeds from the selected donor container, to cause the robot means to move the seed-manipulator means to a selected second location in three-dimensional space such that the seed-manipulator means is positioned to deposit the picked-up seeds into a selected first recipient container of said plurality of recipient containers, and to deactivate the seed-manipulator means to deposit the picked-up seeds into the selected recipient container.

An apparatus for weighing one or more articles and for transferring the articles between recipient and donor containers, comprising:

• a transfer area having a surface for supporting donor and recipient containers thereon;
• a robotic assembly configured for movement over the surface of the transfer area;
• a probe device carried by the robotic assembly, the probe device being configured for picking up and releasing a sample number of articles in respective containers at selected positions in the transfer area, said probe device including a first probe and a second probe, the first probe having a first-probe end plate defining a selected number of openings corresponding approximately to the number of articles to be picked up by the first probe, wherein application of vacuum to the first-probe end plate is effective to pick up approximately one article per opening, and the second probe having a second-probe end plate comprising a fine-mesh screen capable of picking up an undefined number, larger than the selected number, of articles;
• and
• a weighing station for receiving one or more articles therein from either of the first and second probes, and for weighing the received articles.

A robotic apparatus for handling particles, comprising:

• a robotic assembly configured to move in three-dimensional space;
• and
• a particle manipulator being positionable by the robotic assembly at selected locations in the three-dimensional space, the particle manipulator comprising a first probe and a second probe, the first probe having an apertured end surface defining a selected number of openings for picking up a corresponding selected number of particles upon application of vacuum to the first probe, and the second probe having an air-pervious end surface that is capable of picking up an undefined number of particles upon application of vacuum to the second probe;
• the first and second probes being fluidly connectable to a vacuum source, wherein selective application of a vacuum from the vacuum source to the probes is effective to cause the probe, and the second probe having an air-pervious end surface that is capable of picking up an undefined number of particles upon application of vacuum to the second probe;
• the first and second probes being fluidly connectable to a vacuum source, wherein selective application of a vacuum from the vacuum source to the probes is effective to cause the respective end surfaces of the probes to pick up particles whenever the end surfaces are positioned proximately to the particles, and wherein release of the vacuum from the probes causes the end surfaces to release the particles therefrom.

An apparatus for transferring seeds, comprising:

• a robotic assembly configured to move in three-dimensional space;
• a plurality of donor containers, each containing a respective population of seeds and positioned at a respective location in three-dimensional space;
• a plurality of recipient containers for receiving seeds from one or more donor containers, each recipient container being positioned at a respective location in three-dimensional space;
• and
• a probe carried by the robotic assembly and being fluidly connectable to a vacuum source, wherein application of a vacuum from the vacuum source to the probe is effective to cause the end surface of the probe to pick up seeds whenever the end surface is positioned proximate a population of seeds in one of said donor containers;
• the robotic assembly being configured to position the probe at a plurality of different locations in three-dimensional space so as to allow the probe to remove seeds from the donor containers and to position the probe at a plurality of different locations in three-dimensional space so as to allow the seed-manipulator probe to deposit seeds into one or more recipient containers.

A robotic apparatus for handling seeds contained in covered or uncovered containers, comprising:

• a robot operable to move in three-dimensional space;
• a cover-removal manipulator coupled to the robot, the cover-removal manipulator being configured to remove and replace a cover on a container;
• a seed manipulator coupled to the robot, the seed manipulator comprising first and second probes, the first probe having an end plate defining a selected number of openings sized for picking up and removing a selected number of seeds from a container upon application of a vacuum to the first probe, and the second probe having a fine-mesh end surface that is configured to pick up an undefined number, larger than the selected number, of seeds upon application of a vacuum to the second probe;
• and
• a weighing apparatus for weighing seeds removed from a container by either probe.