WO2022133035A1

WO2022133035A1 - Systems for removing husk leaves from corn, and related methods

Info

Publication number: WO2022133035A1
Application number: PCT/US2021/063718
Authority: WO
Inventors: Michael Everett KREJCAREK; Felipe Camargo Rosa; Luciane Cristina Oba YOSHIDA
Original assignee: Monsanto Technology LLC
Current assignee: Monsanto Technology LLC
Priority date: 2020-12-18
Filing date: 2021-12-16
Publication date: 2022-06-23
Anticipated expiration: 2023-06-18
Also published as: MX2023007283A; AR124420A1

Abstract

Systems and methods are provided for removing husk leaves from ears of corn. One example method includes imaging an ear of corn to obtain at least one image of the ear of corn, wherein the ear of corn includes a shank, a cob, and multiple husk leaves attached to the shank and surrounding the cob. The method then includes positioning the ear of corn in a holder based on the at least one image, removing the shank of the ear of corn from the cob, and separating, by air, the husk leaves of the ear of corn from the cob.

Description

SYSTEMS FOR REMOVING HUSK LEAVES FROM CORN, AND RELATED METHODS

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of, and priority to, U.S. Provisional Patent Application No. 63/127,870 filed December 18, 2020, the entire disclosure of which is incorporated herein by reference.

FIELD

[0002] The present disclosure generally relates to automated systems and methods for removing husk leaves from ears of corn (e.g., for de-husking the ears of corn, etc.).

BACKGROUND

[0003] This section provides background information related to the present disclosure which is not necessarily prior art.

[0004] Corn plants are known to be grown in fields for commercial purposes, for example, for use as seed (to grow subsequent com plants), or for use as feed (for animals), etc. At a point in the growing cycle, the corn plants are harvested or picked, whereby ears of the com plants are removed from stalks of the corn plants and collected. The collected ears of corn are then transported to processing facilities, still intact, where at husk leaves are removed from cobs of the ears and, as desired, corn kernels are removed from the cobs (for subsequent use as seed, as feed, etc.).

SUMMARY

[0005] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features.

[0006] Example embodiments of the present disclosure generally relate to automated systems for removing husk leaves from ears of corn. In one example embodiment, such an automated system includes an imaging assembly configured to capture at least one image of an ear of corn; a cutting assembly configured to remove a shank of the ear of corn from a cob of the ear of corn, based on the at least one image; and a separating assembly configured to receive the ear of corn from the cutting assembly and remove husk leaves from the ear of com.

[0007] Example embodiments of the present disclosure also generally relate to automated methods for removing husk leaves from ears of corn. In one example embodiment, such an automated method includes imaging an ear of corn to obtain at least one image of the ear of com, wherein the ear of corn includes a shank, a cob, and multiple husk leaves attached to the shank and surrounding the cob; positioning the ear of com in a holder based on the at least one image; removing the shank of the ear of com from the cob; and separating, by air, the husk leaves of the ear of corn from the cob.

[0008] Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

DRAWINGS

[0009] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0010] FIG. 1 is a perspective view of an example de -husking system of the present disclosure for use in removing husk leaves from ears of com;

[0011] FIG. 2 is an elevation view of the de-husking system of FIG. 1;

[0012] FIG. 3 is a perspective view of a transport assembly and a cutting assembly of the de-husking system of FIG. 1;

[0013] FIGS. 4 and 5 are fragmentary perspective views of the transport assembly and cutting assembly of FIG. 3;

[0014] FIGS. 6A-6E are schematics illustrating analysis of an ear of corn by an imaging assembly of the de-husking system of FIG. 1;

[0015] FIG. 7 is a perspective view of an ear positioning device of the de-husking system of FIG. 1;

[0016] FIG. 8 is another perspective view of the transport assembly and cutting assembly;

[0017] FIGS. 9 and 10 are fragmentary perspective views of the cutting assembly; [0018] FIGS. 11 and 12 are fragmentary perspective views of a separating assembly of the de-husking system of FIG. 1;

[0019] FIG. 13 is a perspective view of a centrifugal blower of the separating assembly;

[0020] FIG. 14 is a perspective view of an air knife of the separating assembly;

[0021] FIGS. 15-17 are elevation views of a cyclone chamber of the separating assembly;

[0022] FIG. 18 is a block diagram of an example computing device in which a control device of the de-husking system of FIG. 1 may be implemented to control operation of the system;

[0023] FIG. 19 is a perspective view of another example de-husking system of the present disclosure for use in removing husk leaves from ears of corn;

[0024] FIG. 20 is a perspective view of another example de-husking system of the present disclosure for use in removing husk leaves from ears of corn;

[0025] FIG. 21 is a top plan view of the de-husking system of FIG. 20;

[0026] FIGS. 22A-22C are schematics illustrating analysis of an ear of corn by an imaging assembly of the de-husking system of FIG. 20;

[0027] FIG. 23 is a fragmentary perspective view of a transport assembly of the de- husking system of FIG. 20;

[0028] FIG. 24 is a side elevation view of a cutting assembly of the de-husking system of FIG. 20;

[0029] FIG. 25 is a fragmentary perspective view of a separating assembly of the de- husking system of FIG. 20;

[0030] FIG. 26 is a perspective view of a separating unit of the separating assembly of FIG. 25;

[0031] FIG. 27 is a perspective view of another example de-husking system of the present disclosure for use in removing husk leaves from ears of corn;

[0032] FIG. 28 is a fragmentary perspective view of a transport assembly of the de- husking system of FIG. 27;

[0033] FIG. 29 is a perspective view of a cutting assembly and a separating assembly of the de-husking system of FIG. 27; and [0034] FIGS. 30-31 are fragmentary perspective views of the separating assembly of FIG. 29.

[0035] Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.

DETAILED DESCRIPTION

[0036] Conventionally, in the context of com production, com plants are harvested from fields using mechanized ear pickers. In so doing, ears of com are picked from com plants in the fields and transported, intact, to processing facilities (thereby providing a bulk supply of the ears at the processing facilities), where husk leaves are removed from the ears. As desired, and depending on subsequent use, the ears of com may then be dried and shelled (thereby removing kernels (broadly, seed corn) from cobs of the ears of com). In connection with dehusking and shelling the ears of com, the husk leaves of the ears are generally attached to the ears at shanks, and enclose or surround the cobs (and the kernels thereon). As such, it is often difficult to effectively and/or efficiently remove all of the husk leaves from the ears of corn in preparation for shelling.

[0037] Uniquely, the systems and methods of the present disclosure facilitate removal of the husk leaves (including silk, etc.) from the ears of com, during such processing, in an automated and efficient manner. In particular, in preparation for removing the husk leaves from the ears of corn, the ears are initially imaged and oriented so that the shanks can be removed (e.g., cut, etc.) at a particular location on the ears. This detaches the husk leaves from the ears of com, but maintains a maximum number of kernels on the remaining cobs of the ears. Air is then directed (e.g., via an air knife or other air source, etc.) at the remaining portions of the ears of com to remove the husk leaves from the cobs. The cobs of com are then collected at a first location (e.g., for subsequent processing such as drying, shelling, etc.), and the removed husk leaves are collected at a second location.

[0038] Example embodiments will now be described more fully with reference to the accompanying drawings. The description and specific examples included herein are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

[0039] FIGS. 1-17 illustrate an example embodiment of an automated de-husking system 100 including one or more aspects of the present disclosure. The system 100 is configured to remove husk leaves (including silks) from ears of com, for example, in an automated manner, after the ears of corn are harvested from com plants (e.g., as part of processing the harvested ears of com to collect corn kernels therefrom for seed, feed, etc.; etc.). The system 100 may be used with (or applied to) ears of corn from any desired type of com plants including, for example, tropical com plants (which generally have more husk leaves than conventional ears of com), No. 2 yellow corn plants, other com plants grown for seed corn, sweet com plants, etc.

[0040] As shown in FIGS. 1 and 2, the system 100 includes an ear transport assembly 102, an imaging assembly 104 (FIGS. 4 and 5), an ear cutting assembly 106, and a separating assembly 108. Generally, the transport assembly 102 operates to singulate (or isolate, etc.) individual ears of corn from a quantity (e.g., a plurality, a bulk supply, etc.) of ears and transport the ears to the imaging assembly 104 and the cutting assembly 106. In connection therewith, the imaging assembly 104 operates to capture images of the singulated ears of com, so that the ears can be oriented (e.g., aligned, positioned, etc.) in a desired manner as they proceed to the cutting assembly 106. And, the cutting assembly 106 operates to remove (e.g., cut, separate, etc.) shanks of the ears of corn from cobs of the ears of corn (to thereby detach husk leaves from the cobs of the ears of com). The remaining cobs (and husk leaves still surrounding the cobs) of the ears of com are then directed to the separating assembly 108, where the husk leaves are removed from the cobs.

[0041] Operation of the transport assembly 102, the imaging assembly 104, the cutting assembly 106, and the separating assembly 108 is generally automated and may be controlled (and coordinated), for example, by a control device 110. For instance, the control device 110 may control an operational speed of the transport assembly 102 and/or the cutting assembly 106, air speeds of the separating assembly 108, imaging operation of the imaging assembly 104, etc. In connection therewith, the control device 110 is in communication with each of the transport assembly 102, the imaging assembly 104, the cutting assembly 106, and the separating assembly 108 to coordinate such operations therebetween (and to maintain or achieve desired throughput for the system 100, etc.). Additional details of the control device 110 will be described hereinafter.

[0042] In the illustrated embodiment, the transport assembly 102, the imaging assembly 104, the cutting assembly 106, and the separating assembly 108 are supported by various structures such as braces, beams, platforms, pedestals, stands, etc. Although such structures are necessary to the construction of the de-husking system 100, description of their placement, orientation and interconnections are not necessary for one skilled in the art to easily and fully comprehend the structure, function and operation of the system 100. Particularly, such structures are clearly illustrated throughout the figures and, as such, their placement, orientation and interconnections are easily understood by one skilled in the art. In addition, a platform 112 is provided in conjunction with such structures to allow users to view operation of the transport assembly 102, the imaging assembly 104, the cutting assembly 106, and the separating assembly 108 as desired. And, multiple windows (each indicated 114) are provided to allow users to view internal operations of the system 100 (such as at the cutting assembly 106 and the separating assembly 108, etc.). It should be appreciated that the system 100 may include any desired number and/or arrangement of such platforms and/or windows within the scope of the present disclosure.

[0043] With additional reference to FIGS. 3-5, the transport assembly 102 includes multiple ear holders (each indicated at 116) configured to hold individual (or isolated) ears of com (as received from a bulk supply of such ears, either automatically from an ear singulation device (see, e.g., FIG. 27, etc.) or manually from a user). In the illustrated embodiment, each of the ear holders 116 is generally rounded in shape to accommodate an ear of com (e.g., each holder 116 defines a generally half tubular shape to receive or cradle an ear of com therein, etc.). The ear holders 116 are also associated with and are disposed along (e.g., are coupled to/along, are formed integral with/along, etc.) a generally continuous conveyor belt 118 configured to rotate (e.g., in a loop, etc.) relative to the imaging assembly 104 and the cutting assembly 106 (via a pulley system and via a suitable motor in communication with the control device 110, etc.). In connection therewith, in operation, individual ears of corn (as singulated from a plurality of such ears) are positioned (or oriented) in a desired orientation (e.g., with the shanks of the ears all facing the same direction (e.g., generally to the right in FIG. 3 when facing a direction indicated by arrow 120 etc.), etc.) and positioned in the holders 116 (e.g., at a location adjacent the control device 110, etc.). The oriented ears are then transported, by the conveyor belt 118 (while the ears are in the holders 116), to the imaging assembly 104 and then to the cutting assembly 106 (again, in a direction indicated by the arrow 120 in FIG. 3). The control device 110 is configured to control operation (start, stop, and operational speeds) of the conveyor belt 118 as part of this operation (e.g., to provide a generally continuous flow of ears of com to the cutting assembly 106, to balance supply of the ears of corn from the cutting assembly 106 to the separating assembly 108 (based on operation of the separating assembly 108 as also controlled by the control device 110), etc.).

[0044] That said, it should be appreciated that the transport assembly 102 may include other configurations or means for transporting individual ears of corn to the imaging assembly 104 and the cutting assembly 106 in other embodiments (e.g., other than a conveyor belt arranged in a loop, etc.). For instance, in other embodiments, the transport assembly 102 may include or may utilize one or more of the following to move singulated, individual ears of com to the imaging assembly 104 and then to the cutting assembly 106: multiple conveyor belts arranged in parallel (e.g., and each leading to the imaging assembly 104 and cutting assembly, etc.), non-cleated belts, cleated belts, rotating tables, shaker tables, pneumatic air systems (e.g., to slide the ears of com along a surface or track, etc.), water movement systems, other fluidic movement systems, gravity-based movement systems (e.g., such that the imaging assembly 104 and the cutting assembly 106 may be separated vertically to allow for such use of gravity-based systems, etc.), etc. Further, in still other embodiments, the ear holders 116 may have other shapes and/or configurations in order to accommodate and hold individual ears of corn. For instance, the ear holders 116 may each define a generally box shape configured to retain an ear of com therein (e.g., against rolling movement of the ear of corn, etc.), or the ear holders 116 may include (or define) a groove or slot (or other depression) in which an ear of com may rest or be positioned (e.g., again, against rolling movement of the ear of com, etc.).

[0045] The imaging assembly 104 is disposed adjacent the conveyor belt 118 of the transport assembly 102 (FIGS. 4 and 5). In this position, the imaging assembly 104 is operable (via the control device 110) to capture images of the singulated ears of corn within the holders 116 (i.e., while the ears of corn are positioned in the holders 116), as the transport assembly 102 moves the holders 116 and ears of corn by the imaging assembly 104 and toward the cutting assembly 106. The images, then, are used to determine positions (broadly, orientations) of the ears of com within the holders 116 (e.g., relative positions of the ears of com within the holders 116 in directions parallel to longitudinal axes of the ears of corn, etc.), whereby the positions (or orientations) of the ears of com may subsequently be adjusted, as desired, prior to cutting the shanks from the ears of corn (as will be described in more detail hereinafter). [0046] In the illustrated embodiment, as shown in FIGS. 4 and 5, the imaging assembly 104 includes an imaging device 122 and a light source 124 mounted to (or supported by) a support 126. In connection therewith, the support 126 is positioned generally next to (or to a side of) the transport assembly 102 (i.e., next to the conveyor belt 118 thereof), and the imaging device 122 and light source 124 are then mounted to a cross member 128 of the support 126, such that the imaging device 122 and light source 124 are positioned generally over the conveyor belt 118 (and such that a field of view of the imaging device 122 includes upward facing portions of the ears of corn within the holders 116). In this position, the light source 124 is configured to illuminate the upward facing portions of the ears of com as they move, in the holders 116, toward the cutting assembly 106, and the imaging device 122 is configured to capture images of the illumined ears of corn (as they move into and/or through the field of view of the imaging device 122). With that said, it should be appreciated that the imaging assembly 104 may include any desired number of light sources and/or imaging devices within the scope of the present disclosure (e.g., one, two, three, four, ten, greater than ten, etc.). For instance, in some example embodiments, the imaging assembly 104 may include multiple light sources and multiple imaging devices (e.g., arranged in series along the conveyor belt 118, arranged in parallel along one of multiple conveyor belts leading to the cutting assembly 106, etc.) to allow for analyzing multiple ears of corn at one time, and then for transporting all of the multiple ears of com (once analyzed) to the cutting assembly 106. This arrangement may be beneficial, for example, where analysis of an ear of com, via the imaging assembly 104, takes longer than cutting the shank from the ear of corn at the cutting assembly 106 (e.g., higher throughput may be achieved by ensuring that an ear of com is always ready to be cut at the cutting assembly 106, overall imaging time may be reduced thereby increasing throughput, etc.).

[0047] The imaging device 122 of the imaging assembly 104 may include any suitable imaging device. For instance, the imaging device 122 may include a digital camera operable in the visible light range to capture images of external portions of the ears of corn. Additionally or alternatively, the imaging device 122 may include a camera operable in the near infra-red light range, and configured to additionally capture images of internal portions of the ears of com (e.g., for both positioning analysis and other trait analysis of the ears, etc.). Further, the imaging device 122 may include a camera that implements NMR/MRI imaging techniques for positioning analysis and/or other trait analysis, and/or that implements X-ray imaging techniques for positioning analysis and/or for kemel/seed layer analysis (e.g., to determine where the exact layer of kernels exists in an ear of com, etc.), etc.

[0048] The light source 124 of the imaging assembly 104 may also include any suitable light source. For instance, the light source 124 may include one or more incandescent lights, fluorescent lights, ultraviolet lights, infrared lights, etc. In various embodiments, the light source 124 may include a bank of light emitting diodes (LEDs).

[0049] In connection with the above, the captured images of the ears of com (broadly, image data corresponding to the captured images) are transmitted from the imaging assembly 104 to the control device 110 and stored (at least temporarily) in an electronic data storage device associated with the control device 110 (e.g., in memory of the control device 110, in a data stmcture in communication with the control device 110, etc.). The control device 110 analyzes the images (and related image data), generally immediately (and before the transport assembly 102 moves the ears of corn to (or into) the cutting assembly 106), to identify a desired cut point on the ears of corn (to remove the shanks) (and to also identify any other desired characteristics of the corn (e.g., characteristics relating to whether or not the ear of corn should be culled from the system 100 (e.g., shape characteristics of the ear and/or kernels, etc.; size characteristics of the ear and/or kernels, etc.; rot indicators; other phenotypic indicators of the ear and/or kernels, etc.; genotypic indicators of the ear and/or kernels, etc.; etc.) instead of being dehusked, etc.).

[0050] In the illustrated embodiment, the control device 110 analyzes the images of each of the ears of com (including the image data relating thereto) to identify or locate, for example, a first layer (or first row) of corn kernels on the cob of the ear of corn (when starting at the shank) as the cut point. As shown in FIGS. 6A-6E, this analysis (or algorithm, etc.) generally includes, for an example ear of corn 130 in a holder 116 of the transport assembly 102 (and for all other ears of corn that the transport assembly 102 moves to the cutting assembly 106), capturing (at FIG. 6 A) an initial image of the ear of com 130 showing the ear within the given holder 116. The ear of com 130 is then identified (at FIG. 6B) through a pixel threshold model, and divided (at FIG. 6C) into a width histogram. This information is then provided as an input to a trained artificial neural network (at FIG. 6D) in order to identify a desired cut point 132 on the ear of corn 130 to remove a shank 134 from a cob 136 (at FIG. 6E). For instance, the width histogram may be used in conjunction with historical data for ears of com having similar width histograms and/or similar data points (e.g., similar individual data point locations, etc.) within their width histograms to then identify (for the given width histogram of the ear of com 130 being analyzed) the desired cut point for the ear of corn 130. As can be appreciated, through this analysis (e.g., of the width histograms, etc.), the system 100 is able to accommodate ears of com having different sizes and shapes, and still provide for efficient removal of the shanks from the ears (based on identification of a cut point for the particular ear of com, taking into account its size, shape, etc. (as opposed to a one size fits all analysis)). That said, in other example embodiments, the control device 110 may be configured to analyze the images of each of the ears of com (including the image data relating there) to identify or locate a different layer (or different row) of corn kernels on the cob of the ear of com (when starting at the shank) as a cut point, for example, a second layer, a third layer, etc. Further, in still other example embodiments, the control device 110 may be configured to analyze the images of each of the ears of com (including the image data relating thereto) to identify or locate the shank itself and thereby base identification of the cut point on the location of the shank (e.g., such that the cut point is identified to just remove the shank from the ear of corn, etc.).

[0051] Following this analysis (and identification of the desired cut point for the given ear of com), the control device 110 is configured to determine a relative position or orientation (or relative location) of the ear of corn 130 within the holder 116, for example, in a direction that is generally parallel to a longitudinal axis 138 of the ear of corn 130 (e.g., the control device 110 performs a positional analysis on the ear of corn 130, etc.). As part thereof, the control device 110 is configured to determine a required adjustment of the position or orientation of the ear of com 130 (within the holder 116) in order to locate (or align) the cut point 132 at (or with) a particular part (or location) of the holder 116 (e.g., with an end portion 140 of the holder 116 that is predetermined to align with a cutting device 142 of the cutting assembly 106, etc.).

[0052] In connection therewith, the transport assembly 102 continues to move the ear of com (and each of the other ears of corn in the transport assembly 102) to the cutting assembly 106 (within the holders 116). As the ear of com enters the cutting assembly 106, a positioning device 144 (see, also, FIG. 7) engages the ear and moves the ear, within the holder 116, based on the positional analysis (by the control device 110) for the ear of com. In the illustrated embodiment, the positioning device 144 includes a wheel 146 (or roller) having multiple dimples 148 (or protrusions, etc.). As the ear of corn enters the cutting assembly 106, the positioning device 144 is operated by the control device 110 to engage the ear and move (e.g., slide, etc.) in a direction indicated by arrowed line 150 (generally parallel to the longitude axis of the ear within the holder 116). In doing so, the dimples 148 of the wheel 146 provide frictional engagement with the ear of corn, such that the movement of the wheel 146 along the axis also moves (or slides) the ear within the holder 116. The positioning device 144, then, moves the ear of com in order to properly position the determined cut point of the ear of com within the holder 116 (e.g., to align the cut point with the cutting device 142 of the cutting assembly 106 so that the shank of the ear of com can be removed at the desired cut location, etc.). The wheel 146 may then rotate to allow the ear of com to pass thereby (e.g., thereunder, etc.). In some embodiments, the holder 116 may be adjustable (e.g., may include one or more cylinders (e.g., pneumatic, spring-loaded, etc.), etc.) or may be otherwise configured to adjust a vertical position of an ear of corn in the holder 116, for example, when the ear of corn is received by the holder 116, as the holder 116 moves into the cutting assembly 106 (e.g., to push the ear of corn generally upward, etc.), etc., to ensure that the positioning device 144 engages the ear of corn in the holder 116. In doing so, the holder 116 (and system 100 in general) may accommodate different sized ears of corn (e.g., ears of com having different diameters, widths, etc.) and may account for potential variabilities in sizes of ears of com processed by the system 100 (even when the ears of corn are included in the same batches of harvested ears of com, etc.).

[0053] With reference now to FIGS. 8-10, once the ear of corn is properly oriented (or located) within the holder 116, the transport assembly 102 continues to move the ear through the cutting assembly 106 to a holding mechanism 152 disposed adjacent the cutting device 142. The holding mechanism 152 is configured to hold the ear of com in the desired cut position within the holder 116, so that the cut point of the ear remains fixed (e.g., in a longitudinal direction of the ear of corn, etc.) while the cutting device 142 removes the shank from the ear. In the illustrated embodiment, the holding mechanism 152 includes a spring block 154 and a guide plate 156 coupled to the spring block 154. A spring 158, then, is coupled to the spring block 154 (toward a rearward end portion of the spring block 154) and is configured to bias the spring block 154 and the guide plate 156 toward the holders 116 (and conveyor belt 118) of the transport assembly 102. In doing so, the spring block 154 pivots about a support pivot 160 coupled to the cutting assembly 106 (toward a forward end portion of the spring block 154), which allows the spring block 154 to rotate relative to the holders 116 under action of the spring 158. Rollers 162 are additionally positioned between the spring block 154 and the guide plate 156 to help conform the guide plate 156 to the shape of the ears of corn (and minimize any relative deflection between the guide plate 156 and the spring block 154) as the ears (while in the holders 116) move past the cutting device 142.

[0054] That said, as the transport assembly 102 moves an ear of com (as positioned in a corresponding holder 116 by the positioning device 144), the ear initially engages a rounded portion 164 of the guide plate 156 (generally under the support pivot 160). In connection therewith, the rounded portion 164 of the guide plate 156 directs the ear of com (within the holder 116) generally under the guide plate 156 (and, more generally, under the holding mechanism 152). In doing so, the guide plate 156 may slightly deform to accommodate the ear of com moving thereunder. In addition, the spring 158 compresses to resist upward movement of the guide plate 156 and the spring block 154 to thereby provide a generally downward force on the spring block 154 (and guide plate 156) to firmly hold the ear of com in the holder 116 (in the desired position, as established by the positioning device 144). As the ear of com (within the holder 116) approaches the cutting device 142, the rollers 162 then provide additional force on the ear of com to conform the guide plate 156 to the ear and help hold the ear in its position as the cutting device 142 engages the ear at the cut point (e.g., to help resist movement of the ear of com toward the cutting device 142 during the cutting operation, etc.). And, the cutting device 142 is configured to then cut the ear of com at the desired location (e.g., at the identified cut point of the ear, etc.), thereby removing the shank from the ear of corn.

[0055] The shanks removed from the ears of corn (and any loosened husk leaves) are discarded from the cutting assembly 106 through exits 166, 168 (see, FIGS. 11 and 12). The shanks (and other material) may then be collected outside of the cutting assembly 106 in suitable containers (not shown). The first exit 166 is located generally below the cutting device 142 (see, also, FIGS. 1-3), such that shanks removed from the ears of com can fall (under gravity) from the ears into the first exit 166. The second exit 168, then, is located past the cutting device 142 (FIGS. 1-3) and is configured to collect (via gravity) any lingering shanks and/or loosened husk leaves from the ears of com as the ears are transferred to the separating assembly 108.

[0056] In the illustrated embodiment, the cutting device 142 of the cutting assembly 106 includes a generally circular blade 170 comprising multiple teeth 172. In particular in this embodiment, the blade 170 includes eighty teeth 172, whereby the blade 170 (and the generally large number of teeth) is configured to provide a relatively fine and clean cut of the ear of corn (e.g., as compared to a more rough cut that may be provided by blades having less teeth and/or by other machining blades/cutting devices, etc.). It should be appreciated, though, that cutting devices having other blades may be used within the scope of the present disclosure (e.g., cutting devices with blades having other numbers and/or configurations of teeth, cutting devices having blades without teeth (but with sharpened edges, etc.), cutting devices having straight blades, etc.). In addition, it should be appreciated that other cutting devices may be used in other embodiments, such as, for example, lasers, waterjets, air jets, band saws, guillotines, etc.

[0057] Also in the illustrated embodiment, the cutting assembly 106 includes a cover 174 positioned over the conveyor belt 118 of the transport assembly 102, generally between the imaging assembly 104 and the cutting assembly 106. The cover 174 is configured to protect users of the system 100 from inadvertent contact with the cutting device 142 of the cutting assembly 106. In a similar vein, a door 176 of the cutting assembly 106, through which users may access the cutting device 142 (as desired), includes a locking mechanism 178 (e.g., a magnetic lock, etc.) configured to inhibit the door 176 from opening (or being opened by users) while the cutting device 142 is moving or operating (and/or while the cutting assembly 106 is in use or operation).

[0058] Referring now to FIGS. 11-12, once the shank is removed from an ear of com (and collected as desired), the transport assembly 102 conveys the remaining part of the ear (including the cob and the husk leaves surrounding the cob) to an outlet 180 of the cutting assembly 106. The outlet 180, then, includes a chute 182 configured to direct the ear of com to the separating assembly 108. In the illustrated embodiment, the chute 182 of the outlet 180 includes a guide 184 configured to engage the ear of corn as it falls out of the holder 116 and rotate the ear to a position in which the cut portion of the ear is oriented generally downward. In particular in this embodiment, the guide 184 includes a ramp (or ramped surface) configured to engage the ear of com toward a tip of the ear having the tassels (FIG. 12), and to cause the ear of com to rotate (generally counterclockwise, when viewed in direction 186 in FIG. 12) along the ramp so that the cut portion of the ear is oriented generally downward. The chute 182 is sufficiently wide (e.g., taking into account the type of corn being processed in the system 100, etc.) to receive the rotated ear of corn and to inhibit the ear of corn from becoming stuck or lodged in the chute 182 prior to being delivered to the separating assembly 108 (e.g., to accommodate the width of the ear of corn, etc.) (e.g., at least about 4 inches wide, at least about 5 inches wide, at least about 6 inches wide, at least about 7 inches wide, at least about 10 inches wise, etc.). In addition, in the illustrated embodiment the chute 182 is angled so that gravity allows the ears of corn to fall from the cutting assembly 106 to the separating assembly 108 (e.g., the chute 182 is arranged at an angle of about 65 degrees, at an angle of about 45 degrees, at an angle of about 40 degrees, at an angle of about 35 degrees, etc.). That said, in other embodiments, the outlet 180 may include mechanized means to transport the ears of com from the cutting assembly 106 to the separating assembly 108 (e.g., means such as conveyors, pistons, air jets, other fluid-based movement devices, etc.).

[0059] With additional reference to FIGS. 13-17, the separating assembly 108 generally includes an air knife 188, an air column 190, and a cyclone separator 192. The air column 190 is generally tubular in shape, and is configured to receive the ear of corn from the cutting assembly 106 (via the chute 182), in the position with the cut portion of the ear oriented generally downward. In particular, once the ear of com is rotated at the chute 182 of the cutting assembly 106, it falls (under gravity) into the air column 190. The air knife 188 is generally circular in shape and is positioned toward a bottom of the air column 190 and is configured to direct a generally circular, or ring, pattern of air upward into the air column 190 (via openings of the air knife 188 disposed around a perimeter of the air knife 188), as generated from a centrifugal blower 194 coupled thereto. As the ear of com falls through the air column 190, the air knife 188 directs the circular pattern of air upward at the ear (within the air column 190). In doing so, the generally circular pattern of air engages the husk leaves of the ear of corn, at the location where the shank was removed from the ear (and where the husk leaves are now detached from the ear), and operates to separate and remove (e.g., peel, etc.) the husk leaves (and silk) from the ear. During this process, the cob of the ear of com continues to move down the air column 190 and passes through an open center 196 of the air knife 188, where it is collected in a container 198 positioned generally below the air column 190 (FIG. 2). At this point, the cob of the ear of com in the container 198 is free or substantially free of husk leaves (and silk).

[0060] In the illustrated embodiment, for example, the blower 194 operates at about 3 horsepower (hp) and generates a pressure of about 0.45 pounds per square inch (PSI), and is configured to provide an airflow of at least about 20 cubic feet per second (ft³/sec) to the air knife 188 (e.g., as measured in the air column 190 where the ear of com is received into the air column 190, etc.), for removing the husk leaves from the ears of com in the air column 190 but still allowing the ears of com to fall (or descend) to the container 198 (e.g., without also pushing the ears of corn upward through the air column 190, etc.). That said, it should be appreciated that the blower 194 may operate otherwise in other embodiments, for example, by varying a frequency of a motor of the blower 194 to thereby control operation (e.g., speed, etc.) of a fan of the blower 194. For instance, in one example, the frequency of the motor of the blower 194 may be varied between about 0 hertz and about 60 hertz, etc., whereby it then operates at a horsepower of greater or less than about 3 hp, generates a pressure of greater than or less than about 0.45 PSI, and/or generates an airflow at the air knife 188 of greater than or less than about 20 ft³/sec, etc. (e.g., for removing husk leaves from different types of com, from corn having different moisture contents, from corn having different sizes, etc.).

[0061] In one particular example, as shown in Table 1, a generally linear relationship may exist between the frequency of the motor of the blower 194 and an air speed of air generated by the air knife 188 in the air column 190 (e.g., as measured in the air column 190 at a location where ears of corn are received from the chute 182, etc.). In this particular example, then, effective removal of husk leaves from the ears of com may occur at motor frequencies (of the blower 194) of between about 40 Hertz and about 50 Hertz (corresponding to air flows of between about 22.4 meters per second (m/s) and about 28.3 m/s). At this operation of the motor of the blower 194, substantially all husk leaves (and silk) may be removed from the ears of com in the air column 190. And, the ears of com may be allowed to remain centered within the air column 190, and fall down the air column 190 and through the center 196 of the air knife 188 for collection. At lower operational frequencies of the motor of the blower 194 (e.g., below about 40 Hertz, etc.), however, fewer husk leaves may be removed from the ears of com due to the lower air speeds generated by the blower 194, whereby the collected ears of com may still have substantial husk leaves thereon. Conversely, at higher operational frequencies of the motor of the blower 194 (e.g., above about 50 Hertz, etc.), the higher air speeds generated by the blower 194 may cause movement of the ears of com in the air column 190 (e.g., may cause the ears of com to tilt, etc.) and thereby affect movement of the ears of corn down and through the open center 196 of the air knife 188 (e.g., the ears of corn may become off-centered in the air column 190 and may then become lodged in the air column 190 and/or in the open center 196 of the air knife 188, etc.).

Table 1

[0062] As the air knife 188 continues to direct air upward through the air column 190, the air carries the husk leaves removed from the ear of corn to the cyclone separator 192 (via horizontal duct 200 interconnecting the air column 190 and the separator 192). In the cyclone separator 192, the air from the air knife 188 leaves (or discharges) through an upper exit 202 (FIG. 15). And, the husk leaves (e.g., leaves 203 in FIGS. 16-17, etc.) fall out of the air flow and are collected in a container 204 toward a bottom of the cyclone separator 192 (FIGS. 16-17). In the illustrated embodiment, the cyclone separator 192 includes a lower portion having a tapered shape or configuration. In connection therewith, the tapered shape of the lower portion of the cyclone separator 192 may direct the husk leaves 203 to the container 204. In addition, the tapered shape of the lower portion may facilitate or produce and/or may cooperate with an ascendant flow of air in the cyclone separator 192 to help remove lighter particles of material from the cyclone separator 192 through the upper exit 202 (as the air leaves the cyclone separator 192). As such, once the suspension of air and husk leaves 203 reach the lower portion of the cyclone separator 192, gravity causes the husk leaves 203 to fall down into the container 204 and the air and other lighter particles are caused to ascend and leave via the upper exit 202 (thereby separating the husk leaves 203 from the air).

[0063] In the illustrated embodiment, the air column 190 has a diameter of about 150 mm (about 6 inches) and a total height of about 835 mm (about 33 inches) (with a de-husking section height (e.g., for a section of the air column 190 between the air knife 188 and the entry of the chute 182 to the air column 190) of about 365 mm (about 14 inches). In other embodiments, separating assemblies may include air columns with other shapes, configurations, dimensions, within the scope of the present disclosure (e.g., diameters of greater than or smaller than about 150 mm (about 6 inches), total heights greater than or smaller than about 835 mm (about 33 inches), de-husking section heights greater than or smaller than about 365 mm (about 14 inches), etc.).

[0064] In addition to the above, in the illustrated embodiment, the use of air (via the air knife 188) to remove the husk leaves from the cobs of the ears of com provides various benefits over other physical means of the doing the same. For example, the use of air may reduce mechanical impact on the kernels of the ears of com and thus may reduce physical damage to the kernels (e.g., as compared to engaging the cobs with physical surfaces (e.g., wires or bmshes, etc.) to remove the husk leaves, etc.). What’s more, the absence of physical contact to remove the husk leaves from the cobs in the illustrated embodiment may also result in a reduction in loss of kernels from the cobs (as kernels are not inadvertently knocked loose from the cobs when removing the husk leaves, etc.). Further, in using the air knife 188 to remove the husk leaves from the cobs of the ears of corn, there is less damage and wear to equipment involved in removing the husk leaves (as such equipment is not continuously engaging the ears of com, etc.).

[0065] As described above, the control device 110 of the de-husking system 100 is configured to manage operation of the transport assembly 102, the imaging assembly 104, the cutting assembly 106, and the separating assembly 108. In connection therewith, the control device 110 may be considered a computing device consistent with computing device 300 illustrated in FIG. 18. The computing device 300 may include, for example, one or more servers, workstations, personal computers, laptops, tablets, smartphones, PDAs, etc. In addition, the computing device 300 may include a single computing device, or it may include multiple computing devices located in close proximity or distributed over a geographic region, so long as the computing devices are specifically configured to function as described herein. In the de- husking system 100, the control device 110 is consistent with the computing device 300, whereby it may be considered as including, or being implemented in, the computing device 300, and whereby it may be coupled to (and in communication with) one or more networks. Similarly, in the de-husking systems 500, 600, the control devices 510, 610 are consistent with the computing device 300, whereby they may be considered as including, or being implemented in, the computing device 300, and whereby they may be coupled to (and in communication with) one or more networks. However, the control devices 110, 510, 610 should not be considered to be limited to the computing device 300, as described below, as different computing devices and/or arrangements of computing devices may be used. In addition, different components and/or arrangements of components may be used in other computing devices.

[0066] With that said, the illustrated computing device 300 (as representative of the control devices 110, 510, 610, for example) includes a processor 302 and a memory 304 coupled to (and in communication with) the processor 302. The processor 302 is generally configured to execute all functions of the control devices 110, 510, 610 to automatically, or robotically, control the operation of the de-husking systems 100, 500, 600, as described herein. The processor 302 may include one or more processing units (e.g., in a multi-core configuration, etc.). For example, the processor 302 may include, without limitation, a central processing unit (CPU), a microcontroller, a reduced instruction set computer (RISC) processor, an application specific integrated circuit (ASIC), a programmable logic device (PLD), a gate array, and/or any other circuit or processor capable of the functions described herein.

[0067] The memory 304, as described herein, is one or more devices that permit data, instructions, etc. to be stored therein and retrieved therefrom. The memory 304 may include one or more computer-readable storage media, such as, without limitation, dynamic random access memory (DRAM), static random access memory (SRAM), read only memory (ROM), erasable programmable read only memory (EPROM), solid state devices, flash drives, CD-ROMs, thumb drives, floppy disks, tapes, hard disks, and/or any other type of volatile or nonvolatile physical or tangible computer-readable media. The memory 304 may be configured to store, without limitation, software packages or programs, algorithms or subroutines (e.g., algorithms or subroutines to control operation of the system 100 and components thereof as described herein, etc.), images, and/or other types of data (and/or data structures) suitable for use as described herein. Furthermore, in various embodiments, computer-executable instructions may be stored in the memory 304 for execution by the processor 302 to cause the processor 302 to perform one or more of the functions described herein, such that the memory 304 is a physical, tangible, and non-transitory computer readable storage media. Such instructions often improve the efficiencies and/or performance of the processor 302 and/or other computer system components configured to perform one or more of the various operations herein. It should be appreciated that the memory 304 may include a variety of different memories, each implemented in one or more of the functions or processes described herein.

[0068] In the example embodiment, the computing device 300 also includes a presentation unit 306 that is coupled to (and is in communication with) the processor 302 (however, it should be appreciated that the computing device 300 could include output devices other than the presentation unit 306, etc.). The presentation unit 306 outputs information, data, and/or graphical representations (e.g., alert messages, etc.), visually, for example, to a user of the computing device 300 and/or de-husking system 100, etc. And, various interfaces (e.g., as defined by network-based applications, etc.) may be displayed at computing device 300, and in particular at presentation unit 306, to display such information. The presentation unit 306 may include, without limitation, a liquid crystal display (LCD), a light-emitting diode (LED) display, an organic LED (OLED) display, an “electronic ink” display, speakers, etc. In some embodiments, presentation unit 306 includes multiple devices.

[0069] In addition, the computing device 300 includes an input device 308 that receives inputs from the user (z.e., user inputs) such as, for example, project specific values, project selection/operation data, etc. The input device 308 may include a single input device or multiple input devices. The input device 308 is coupled to (and is in communication with) the processor 302 and may include, for example, one or more of a keyboard, a pointing device, a mouse, a stylus, a RFID reader, bar code reader, another reader, a touch sensitive panel (e.g., a touch pad or a touch screen, etc.), another computing device, and/or an audio input device. In addition, in various example embodiments, a touch screen, such as that included in a tablet, a smartphone, or similar device, behaves as both a presentation unit and an input device.

[0070] Further, the illustrated computing device 300 also includes a network interface 310 coupled to (and in communication with) the processor 302 and the memory 304. The network interface 310 may include, without limitation, a wired network adapter, a wireless network adapter (e.g., a near field communication (NFC) adapter, a Bluetooth adapter, etc.), an RFID reader, a mobile network adapter, or other device capable of communicating with one or more different networks and/or components of one or more different networks.

[0071] In one or more embodiments, the computing device 300 (e.g., the processor 302, etc.) may be communicatively connectable, via the network interface 310, to a remote server network (e.g., a local area network (LAN), etc.), via a wired or wireless link. In this manner, the computing device 300 may communicate with the remote server network to upload and/or download data, information, algorithms, software programs, and/or receive operational commands (e.g., for operation of the de-husking system 100 and one or more of the components thereof, etc.). In addition, in one or more embodiments, the computing device 300 may be configured to access the Internet to upload and/or download data, information, algorithms, software programs, etc., to and from Internet sites and network server.

[0072] In one or more embodiments, the computing device 300 may include one or more system control algorithms, programs, routines, or subroutines, or programs stored in the memory 304 and executed by the processor 302. The one or more system control algorithms, programs, routines, or subroutines may include instructions to manage operational speeds of the transport assembly 102, cutting assembly 106, and separating assembly 108, and/or to utilize and/or apply the images of the ears of com to identify desired cut points on the ears of com to automatically operate the system 100 as described herein (as well as systems 500, 600). In connection therewith, the control device 110, as implemented in the computing device 300, executes one or more system control algorithms (z.e., computer executable instmctions) to control operation of the de-husking system 100 to automatically remove husk leaves from ears of com. In this way, the control device 110 functions to generally automate the de-husking operation described herein for the system 100 (and similarly for systems 500, 600).

[0073] FIG. 19 illustrates another example embodiment of an automated de-husking system 400 of the present disclosure. The system 400 of this embodiment is substantially the same as the system 100 described above with reference to FIGS. 1-17. In this embodiment, though, an ear feeder 402 is added generally between the cutting assembly 106 and the separating assembly 108 to transport the ears of corn from the cutting assembly 106 (once the shanks are removed) to the separating assembly 108.

[0074] The ear feeder 402 includes multiple guides 404 positioned along a generally continuous conveyor belt 406 configured to rotate (e.g., in a loop, etc.) relative to the cutting assembly 106 and the separating assembly 108 (via a pulley system and via a suitable motor in communication with the control device 110, etc.). The guides 404 are spaced so that a single ear of com can be received between adjacent ones of the guides 404, in a generally lengthwise direction (or longitudinal direction) of the ear of corn. [0075] In connection therewith, once a shank is removed from an ear of com at the cutting assembly 106, the transport assembly 102 conveys the remaining part of the ear (including the cob and the husk leaves surrounding the cob) to the outlet 180 of the cutting assembly 106. And, the chute 182 of the outlet 180 is configured to direct the ear of corn to the ear feeder 402. In this embodiment, though, the chute 182 of the outlet does not include the guide 184. Instead, the chute 182 defines a slide configured to receive the ear of com as it falls out of the corresponding holder 116 and direct the ear to the conveyor belt 406 of the ear feeder 402. In doing so, the ear of corn is transferred from the cutting assembly 106 to the ear feeder 402 in the same position or orientation of the ear as in the holder 116, with the cut portion of the ear facing toward the separating assembly 108 (as viewed in FIG. 19).

[0076] At the ear feeder 402, then, the ear of com remains at a bottom portion of the chute 182 (of the cutting assembly 106), until a guide 404 (e.g., a cleat, etc.) of the ear feeder 402 moves past the cut portion of the ear. The ear of com then falls into a spacing between the guide 404 and a trailing adjacent guide 404. The trailing guide 404 pushes the ear of com so that the ear moves with the conveyor belt 406 (generally on top of the conveyor belt 406) along the ear feeder 402 and toward the separating assembly 108. In this embodiment, then, as the ear moves, flaps 408 (e.g., curtains, bmshes, etc.) provided along a length of the ear feeder 402 engage the ear of com and push the ear down (thereby ensuring the ear is properly positioned between the adjacent guides 404). The flaps 408 also operate, in this embodiment, to loosen husk leaves on the ear of com, prior to the ear moving to the separating assembly, and to remove any of the loosened husk leaves or other debris from the ears of corn (thereby pre-cleaning and preparing the ears of corn prior to delivery to the separating assembly 108) (while only minimally engaging the ear of com). Once the ear of com reaches the separating assembly 108, the ear falls off the conveyor belt 406 of the ear feeder 402 and into the air column 190 of the separating assembly 108, with the cut portion of the ear oriented generally downward. The separating assembly 108 then operates to remove husk leaves from the ear of corn in the same manner described above.

[0077] FIGS. 20-26 illustrate another example embodiment of an automated dehusking system 500 including one or more aspects of the present disclosure. The system 500 of this embodiment is generally similar to the systems 100, 400 described above with reference to FIGS. 1-19. For instance, as with the systems 100, 400, the system 500 of this embodiment is also configured to remove husk leaves (including silk) from ears of corn, for example, in an automated manner, after the ears of corn are harvested from com plants (e.g., as part of processing the harvested ears of com to collect corn kernels therefrom for seed, feed, etc.).

[0078] As shown in FIGS. 20 and 21, the system 500 of this embodiment generally includes an ear transport assembly 502, an imaging assembly 504, an ear cutting assembly 506, and a separating assembly 508. In connection therewith, and as will be described in more detail hereinafter, an input conveyor 509 initially operates to transport singulated (or isolated, etc.) ears of com to the imaging assembly 504. In turn, the imaging assembly 504 operates to capture images of the singulated ears of com (on the input conveyor 509), so that the ears can subsequently be oriented (e.g., aligned, positioned, etc.) in a desired manner as they proceed to the cutting assembly 506. The transport assembly 502 then operates to orient the individual ears of com based on the captured images, and to transport the oriented ears to the cutting assembly 506. And, the cutting assembly 506 operates to remove (e.g., cut, separate, etc.) shanks of the ears of com from cobs of the ears (to thereby detach husk leaves from the cobs of the ears). The remaining cobs (and husk leaves still surrounding the cobs) of the ears of com are then directed from the cutting assembly 506 to the separating assembly 508, where the husk leaves (and silk) are removed from the cobs.

[0079] As in the other embodiments herein, operation of the transport assembly 502, the imaging assembly 504, the cutting assembly 506, the separating assembly 508, and other devices of the system 500 is generally automated and may be controlled (and coordinated), for example, by a control device 510. For instance, the control device 510 may control an operational speed of the input conveyor 509, the transport assembly 502 and/or the cutting assembly 506, air speeds of the separating assembly 508, imaging operation of the imaging assembly 504, etc. In connection therewith, the control device 510 is in communication with each of the input conveyor 509, the transport assembly 502, the imaging assembly 504, the cutting assembly 506, and the separating assembly 508 to coordinate such operations therebetween (and to maintain or achieve desired throughput for the system 500, etc.).

[0080] In the illustrated embodiment, the input conveyor 509, the transport assembly 502, the imaging assembly 504, the cutting assembly 506, and the separating assembly 508 are supported by various structures such as braces, beams, platforms, pedestals, stands, etc. Although such structures are necessary to the construction of the de-husking system 500, description of their placement, orientation and interconnections are not necessary for one skilled in the art to easily and fully comprehend the structure, function and operation of the system 500. Particularly, such structures are clearly illustrated throughout the figures and, as such, their placement, orientation and interconnections are easily understood by one skilled in the art. In addition, multiple access doors (each indicated at 514) are provided in the system 500 to allow users to view and/or access internal operations (such as at the transport assembly 502, the cutting assembly 506, and the separating assembly 508, etc.). It should be appreciated that the system 500 may include any desired number and/or arrangement and/or configuration of such braces, beams, platforms, pedestals, stands, doors 514, etc. within the scope of the present disclosure.

[0081] That said, the input conveyor 509 of the system 500 is configured to initially receive singulated (or isolated, etc.) ears of com from a quantity (e.g., a plurality, a bulk supply, etc.) of ears. Such singulation may be done manually whereby the ears of corn are placed by an operator (or multiple operators) on the input conveyor 509, or it may be automated wherein an automated ear singulation device, for example, delivers the singulates ears to the input conveyor

509 (see, e.g., FIG. 27, etc.). In either case, in this example embodiment, the ears of corn are placed and/or arranged on the input conveyor 509 such that longitudinal axes of the ears are generally aligned with a direction of movement of the input conveyor 509 (although such alignment could be otherwise in other embodiments, for example, generally perpendicular to a direction of movement of the input conveyor, etc.).

[0082] In the illustrated embodiment, the input conveyor 509 includes a generally continuous belt 511 configured to rotate (e.g., in a loop, etc.) relative to the imaging assembly 504 and the transport assembly 502 (e.g., via a pulley system and a suitable motor in communication with the control device 510, etc.). In connection therewith, the control device

510 is configured to control operation (start, stop, and operational speeds) of the belt 511, for example, to provide a generally continuous flow of ears of corn to the imaging assembly 504 and the cutting assembly 506, to balance supply of the ears of corn from the imaging assembly 504 to the cutting assembly 506 and to the separating assembly 508 (e.g., based on operation of the transport assembly 502, the cutting assembly 506, and the separating assembly 508, etc. as also controlled by the control device 510; etc.), etc.

[0083] The imaging assembly 504 is disposed adjacent the input conveyor 509. In this position, the imaging assembly 504 is operable (via the control device 510) to capture images of the singulated ears of com as the input conveyor 509 moves the ears of com by (past, under, through, etc.) the imaging assembly 504, and toward the transport assembly 502 and the cutting assembly 506. The images, then, are used by the control device 510 to determine positions (broadly, orientations) of the ears of corn on the input conveyor 509 (e.g., relative positions of the ears of com, rotational positions of the ears of corn, etc.).

[0084] The imaging assembly 504 generally includes an imaging device 522 mounted to (or supported by) a support 526. In connection therewith, the support 526 is positioned generally next to (or to a side of) the input conveyor 509, and the imaging device 522 is then positioned generally over the input conveyor 509 (such that a field of view of the imaging device 522 includes upward facing portions of the ears of com on the input conveyor 509). In this position, the imaging device 522 is configured to capture images of the ears of com as they move into and/or through the field of view of the imaging device 522.

[0085] In the illustrated embodiment, the imaging device 522 includes an X-ray imaging device configured to implement X-ray imaging techniques/technology for use in performing positional analysis and kernel/seed layer analysis (e.g., to determine where the exact layer of kernels exists in an ear of corn, etc.) on the ears of corn. In some embodiments, the X- ray imaging techniques may also be used to effect one or more other type of analysis on the ears of com, for example, phenotypic trait analysis, etc. Further, in some embodiments, the imaging assembly 504 may additionally include, or may alternatively include, one or more digital cameras operable in the visible light range to capture images of external portions of the ears of com (e.g., for both positional analysis and other trait analysis of the ears, etc.), one or more cameras operable in the near infra-red light range and configured to capture images of internal portions of the ears of corn (e.g., for both positional analysis and other trait analysis of the ears, etc.), one or more cameras that implement NMR/MRI imaging techniques (e.g., for both positional analysis and other trait analysis of the ears, etc.), etc. In some embodiments, the imaging assembly 504 may include and/or may be in communication with a presentation unit (e.g., a monitor, display unit, etc.), whereby the images may be viewable by a user at the system 500, etc.

[0086] In connection with the above, once captured, the imaging assembly 504 is configured to transmit the images of the ears of com (broadly, image data corresponding to the captured images) to the control device 510, where the control device 510 is configured to store (at least temporarily) the images in an electronic data storage device associated with the control device 510 (e.g., in memory of the control device 510, in a data structure in communication with the control device 510, etc.). The control device 510 is configured to then analyze the images (and related image data), generally immediately (e.g., generally before or at about the time the ears of com reach the transport assembly 502, etc.), for example, to identify an orientation of the ears of com on the input conveyor 509 (e.g., as part of the positional analysis, etc.) and to identify a desired cut point on the ears of corn (to remove the shanks) (e.g., as part of the kemel/seed layer analysis, etc.). Further, in some examples, the control device 510 may also be configured to identify, from the images, one or more other desired characteristics of the corn such as, for example, characteristics relating to whether or not the ear of corn should be culled from the system 100 instead of being de-husked (e.g., based on shape characteristics of the ear and/or kernels, etc.; based on size characteristics of the ear and/or kernels, etc.; based on rot indicators; based on other phenotypic indicators of the ear and/or kernels, etc.; based on genotypic indicators of the ear and/or kernels, etc.; etc.), etc.

[0087] For instance, in the illustrated embodiment, the control device 510 is configured to analyze the images (e.g., the X-ray images, etc.) of each of the incoming ears of com (including the image data relating thereto) to identify both an orientation and a location of the given ear of corn on the input conveyor 509, and to also identify or locate a cut point for removing a shank from a cob of the ear. As shown in FIGS. 22A-22C, this may include, for an example ear of corn 530, identifying a longitudinal axis 531 of the ear 530 (at FIG. 22A), identifying a transverse axis 533 of the ear 530 (at FIG. 22B), identifying a position or relative direction of a shank 534 of the ear 530 (at FIG. 22B), and (in some examples) identifying a direction of movement 535 of the ear 530 on the input conveyor 509 (at FIG. 22B). From this information, then, the control device 510 is configured to determine an angular orientation (or position) of the ear of corn 530 on the input conveyor 509 (e.g., in degrees, radians, etc.), a location of the ear 530 on the input conveyor 509 (e.g., relative to an X-Y coordinate system, etc.), and a relative position of the shank 534 of the ear 530. The control device 510 is further configured to analyze the image (and related image data) to identify a desired cut point 532 on the ear of com 530 (at FIG. 22C), at which to remove the shank 534 from a cob 536 of the ear 530 (e.g., at a first layer (or first row) of com kernels on the cob 536 of the ear 530 (when starting at the shank 534), at a different layer or row of com kernels on the cob 536 of the ear 530, etc.).

[0088] As can be appreciated, use of X-ray imaging and analysis in this example embodiment (e.g., as part of the kemel/seed layer analysis, etc.) allows specific imaging, viewing, etc. of the kernels of the incoming ears of com (see, e.g., FIG. 22C, etc.) whereby exact positions, locations, etc. of the kernels for the given ear can be identified and evaluated. In this way, for each incoming ear of corn, the position, location, etc. of an exact layer of the kernels on the ear can be identified and then used, as desired, as a cut point for removing the shank from the ear (e.g., a first layer, a second layer, a third layer, another different layer, etc.). What’s more, the X-ray imaging and analysis enables the system 100 to accommodate ears of com having different sizes and shapes, and still provide for accurate and efficient removal of the shanks from each of the ears, based on identification and evaluation of actual positions of kernels on each of the ears and tailored identification of corresponding cut points based thereon.

[0089] Following the above, after the images of the ears of corn are captured by the imaging assembly 504, the input conveyor 509 is configured to move the ears of com to the transport assembly 502.

[0090] With additional reference now to FIG. 23, the transport assembly 502 includes an ear positioning device 544 (e.g., an automated positioning device, a robotic positioning device, etc.) and multiple ear holders (each indicated at 516). The ear positioning device 544 is configured to transfer select ones of the ears of com from the belt 511 of the input conveyor 509 to the ear holders 516. The ear holders 516, then, are each configured to hold the transferred ears of com in place (in preparation for cutting). In doing so, for each of the imaged ears of com on the input conveyor 509, the control device 510 is configured to determine a required adjustment to the position or orientation of (or broadly, a required movement of) the ear of corn on the input conveyor 509 in order to position the shank of the ear in a particular or desired direction (e.g., such that the shanks of all of the ears in the holders 516 are arranged in the same direction, etc.) and to locate (or align) the identified cut point of the ear at (or with) a particular part (or location) of one of the ear holders 516 (e.g., with an end portion of the ear holder 516 that is predetermined to align with cutting device 542 of the cutting assembly 506, etc.). For instance, based on the above determination of the orientation of each ear of corn on the input conveyor 509 (broadly, location data for the ear), the location of each ear on the input conveyor 509 (broadly, location data for the ear), and the location of the desired cut point for each ear (broadly, cut-point data for the ear), the positioning device 544 is configured (e.g., based on instruction from the control device 510, etc.) to move to a selected (or desired) one of the ears on the input conveyor 509 and engage the ear (e.g., grasp the ear, retain the ear, etc.). The positioning device

544 is then configured to orient the select ear (e.g., rotate the ear, etc.) so that the shank is properly positioned (or directed) to be removed by the cutting assembly 506 (e.g., to the left in FIG. 23, etc.) and then to place the oriented ear in one of the ear holders 516 (e.g., with the cut point generally aligned with a left end portion of the given holder 516 in FIG. 23, etc.). In general, the positioning device 544 is configured to orient the ear of com in a desired orientation, in preparation for movement of the ear of corn to the cutting assembly, so that the shank of the ear of corn can be removed at the particular location identified by the control device 510 based on the image data from the imaging assembly 504.

[0091] In the illustrated embodiment, the positioning device 544 includes an automated, moveable arm 545 and generally opposing fingers or grippers (each indicated at 547) disposed toward an end portion of the arm 545. Motors (each indicated at 549), then, are configured to move corresponding supports (each indicated at 551) of the arm 545 to selectively position the arm 545 (and fingers 547) at desired locations over the input conveyor 509 and ear holders 516 (e.g., based on instruction from the control device 510, etc.). In this way, the arm

545 (and fingers 547) is(are) generally moveable in an X-Y-X coordinate system. For instance, as the ears of corn proceed to the transport assembly 502 on the input conveyor 509, the arm 545 is configured to move (via the motors 549 and the supports 551) (e.g., in a X and/or Y direction, etc.) to a location over a select ear on the input conveyor 509 (based on the above analysis by the control device 510). The fingers 547 are configured to separate (e.g., move apart, etc. pneumatically or otherwise; etc.) (broadly, actuate) and the arm 545 is configured to move toward the ear (e.g., in a Z direction, etc.) and position the ear generally between the fingers 547. The fingers 547 are configured to then move generally toward each other to engage and hold the ear of corn therebetween (e.g., grip the ear, pick up the ear, etc., etc.). The arm 545 next raises the ear of com off the input conveyor 509 (e.g., in the Z direction, etc.) and rotates the ear (e.g., rotationally within an X-Y plane, etc.) as needed so that the shank is facing a desired direction (e.g., to the left in FIG. 23, etc.) (broadly, orients the ear). The arm 545 is configured to then move the oriented ear of com over a select one of the ear holders 516 (in the X and/or Y direction as needed, etc.) and lower the ear into the ear holder 516 (in the Z direction, etc.), where the fingers 547 separate and release the ear. In doing so, in this example, the arm 545 locates the cut point for the ear generally with the left end portion of the ear holder 516 (as viewed in FIG. 23) to properly position the shank so as to be removed by the cutting device 542 of the cutting assembly 506 (e.g., such that the shank protrudes off the end portion of the ear holder 516, etc.). That said, it should be appreciated that the arm 545 of the positioning device 544 may be configured to move in any desired direction(s) and/or to rotate the ear of com any desired rotational amount or in any desired rotational direction, as necessary, to properly locate the shank of the ear for cutting and to properly position the oriented ear in one of the ear holders 516.

[0092] Additionally in the illustrated embodiment, each of the ear holders 516 is generally rounded in shape to accommodate an ear of corn (e.g., each ear holder 516 defines a generally half tubular shape to receive or cradle an ear of corn therein, etc.). The ear holders 516 are also associated with and are disposed along (e.g., are coupled to/along, are formed integral with/along, etc.) a generally continuous conveyor belt 518 configured to rotate (e.g., in a loop, etc.) relative to the positioning device 544 and the cutting assembly 506 (e.g., via a pulley system and via a suitable motor in communication with the control device 510, etc.). In connection therewith, in operation, individual ears of corn are positioned (or oriented) in a desired orientation in the ear holders 516 by the positioning device 544 (as generally described above). The oriented ears are then transported, by the conveyor belt (while the ears are in the ear holders 516), to the cutting assembly 506 (in a direction indicated by arrow 553 in FIG. 23). The control device 510 is configured to control operation (start, stop, and operational speeds) of the conveyor belt 518 as part of this operation (e.g., to provide a generally continuous flow of ears of com to the cutting assembly 506, to balance supply of the ears of corn from the cutting assembly 506 to the separating assembly 508 (based on operation of the separating assembly 508 as also controlled by the control device 510), to accommodate inflow of ears of corn on the input conveyor 509, etc.).

[0093] With reference now to FIG. 24, the transport assembly 502 moves the ears (via the conveyor belt 518) to the cutting assembly 506 and, in particular, to a holding mechanism 552 disposed adjacent the cutting device 542 of the cutting assembly 506. The holding mechanism 552 is configured to engage and hold (or secure, etc.) each of the ears of com in the desired cut position, within the corresponding ear holder 516, so that the cut point of the ear remains fixed (e.g., in a longitudinal direction of the ear of com, etc.) while the cutting device 542 engages and removes the shank from the ear. In the illustrated embodiment, the cutting device 542 includes a generally circular blade comprising multiple teeth (e.g., similar to blade 170 of the system 100, etc.). As the ears of corn approach the cutting mechanism, the holding mechanism 552 secures the ears in the desired position/orientation and the blade engages the ears at their respective cut points and removes the shanks from the ears. The transport assembly 502 then caries the ears of corn, as cut, to the separating assembly 508. And, the shanks (and any loosened husk leaves) removed from the ears of corn are discarded from the cutting assembly 506 through an exit (or chute) 566. The shanks (and other material) may then be collected outside of the cutting assembly 506 in one or more suitable containers.

[0094] In the illustrated embodiment, the holding mechanism 552 of the cutting assembly 506 includes multiple arms 555 each configured to engage an incoming ear of com on the conveyor belt 518 as the ear advances toward the cutting device 542. The arms 555 are each coupled to a drive unit 557 configured to retain the arms 555 within a support block 559 of the holding mechanism 552 and rotate (or move) the arms 555 therearound (e.g., via guide rollers 561, etc.) (e.g., in a generally counterclockwise direction as viewed in FIG. 24, etc.). In connection therewith, a belt 563 is coupled between the holding mechanism 552 and the conveyor belt 518 of the transport assembly 502 (via pulleys 565), whereby movement of the conveyor belt 518 drives (or causes) movement of the arms 555 of the holding mechanism 552 about the support block 559. In this way, a rotational speed of the arms 555 about the support block 559 generally matches a speed of the incoming ears of corn on the conveyor belt 518 (within the holders 516). Further, a spacing between adjacent ones of the arms 555 of the holding mechanism 552 is about the same as a spacing between adjacent ones of the ear holders 516 of the transport assembly 502. As such, as the ear holders 516 approach the cutting device 542, the arms 555 of the holding mechanism 552 are configured to generally align with consecutive ones of the approaching ear holders 516.

[0095] In operation, for instance, as a first ear of com moves toward the cutting device 542 via the transport assembly 502, a first arm 555 of the holding mechanism 552 rotates into a position to engage an upper portion of the first ear within the corresponding ear holder 516. In doing so, a head 567 of the arm 555 engages the first ear of com. As the ear of corn and corresponding ear holder 516 continue to move, the head 567 slides (or moves or compresses) generally longitudinally along the arm 555 to accommodate the ear of corn in the ear holder 516 (e.g., to accommodate a size and/or shape of the ear, etc.). This movement of the head 567 compresses a spring mechanism 558 of the arm 555, which in turn resists the movement of the head 567 and provides a compression force back on the ear of corn in the ear holder 516 (via the head 567). The compression force firmly holds the ear of com in the ear holder 516 in the desired position/orientation, as established by the positioning device 544, for cutting. At about the same time, a next one of the arms 555 of the holding mechanism 552 rotates into position to engage an upper portion of a next one of the ears of com in the approaching ear holders 516 (in generally the same manner as described for the first arm 555). Next in this example, as the first ear of corn proceeds, the cutting device 542 engages the ear at the cut point. During the cutting operation, then, the first arm 555 holds (e.g., secures, etc.) the first ear of com in its position within the ear holder 516 and inhibits unwanted movement of the ear relative to the ear holder 516 and cutting device 542 (e.g., resists movement of the ear toward the cutting device 542 during the cutting operation, etc.). The first ear of com, as cut, then proceeds to the separating assembly 508 (in the ear holder 516), and the first arm 555 rotates generally upward and disengages the ear. This operation repeats for each of the arms 555 and for each of the incoming ears of com from the transport assembly 502. In the illustrated embodiment, the head 567 of each of the arms 555 of the holding mechanism 552 is generally rounded or curved in shape to help conform to (and hold) an ear of corn in the corresponding ear holder 516. That said, it should be appreciated that the head 567 of each of the arms 555 may have other configurations for holding an ear of corn in a corresponding one of the holders 516.

[0096] With reference now to FIGS. 20-21 and 25-26, the separating assembly 508 includes multiple separating units (each indicated 569) disposed adjacent the conveyer belt of the transport assembly 502 (FIG. 21). The separating units 569 are each configured to engage one of the incoming ears of com from the cutting assembly 506 (having the shank thereof removed) and direct air at the ear to thereby remove the husk leaves (and silk) from the cob of the ear. In particular in this embodiment, the separating units 569 are disposed on a platform 571 and are arranged generally along a track 573 extending around a perimeter of the platform 571. The separating units 569 are configured, then, to move around the platform 571, along the track 573 (e.g., via guides 575 and a suitable drive motor, etc.) (e.g., in a generally counterclockwise direction as viewed in FIGS. 21 and 24, etc.). In connection therewith, a speed (or rate) of movement of the separating units 569 around the track 573 may be set to generally match a speed (or rate) of movement of the ear holders 516 on the conveyor belt 518 of the transport assembly 502 (e.g., as monitored and/or adjusted by the control device 510, etc.). Further, a spacing between adjacent ones of the separating units 569 is about the same as a spacing between adjacent ones of the ear holders 516 of the transport assembly 502. As such, as the ear holders 516 approach the separating assembly 508, the separating units 569 are configured to generally align with the approaching ear holders 516 (and ears of com therein).

[0097] In the illustrated embodiment, each of the separating units 569 generally includes a base 577, an upper clamp 579 coupled to the base 577, an engagement device 581 disposed generally between the base 577 and the upper clamp 579, and an air jet 588 disposed adjacent the engagement device 581. Arms 583 pivotably interconnect the upper clamp 579 and the engagement device 581 with the base 577. And, a spring 585 is provided generally below the engagement device 581 to bias the engagement device 581 and the upper clamp 579 to a generally upward position. With this configuration, downward movement of (or a downward force on) either the engagement device 581 or the upper clamp 579, against the bias of the spring 585, causes both to move generally downward toward the base 577 and generally forward (via the arms 583). The separating unit 569 includes an inlet 587 for coupling the separating unit 569 to an air source (e.g., a compressed air source, etc.) for use in directing air to the air jet 588.

[0098] That said, in operation, as an ear of com approaches an engagement station 511 (or location) of the separating assembly 508, a separating unit 569 generally matching a position of the ear of corn (and ear holder 516 in which the ear of corn is positioned) moves into alignment with the ear and the ear holder 516 (via the track 573 of the platform 571). In doing so, the engagement device 581 of the separating unit 569 generally aligns with the cut portion of the cob of the ear of corn (e.g., generally aligns with a center of the cut portion of the cob, etc.). Then, as the separating unit 569 enters the engagement station 511, a roller 589 of the separating unit 569 enters a ramp portion 591 of the track 573. And, a cam 593 of the platform 571 biases the roller 589 generally downward. In connection therewith, the cam 593 includes a spring member 595 configured to accommodate slight upward movement of the cam 593, which thereby enables the separating unit 569 to accommodate different sizes of ears of corn being engaged thereby. As the roller 589 of the separating unit 569 is biased generally downward, an arm 597 coupled to the roller 589 pushes the engagement device 581 generally downward and compresses the spring 595 of the separating unit 569. Such movement also results in downward movement of the upper clamp 579, as well as generally forward movement of both the engagement device 581 and upper clamp 579 (via the arms 583). As the upper clamp 579 moves, it engages a top part of the ear of com in the holder 516 and provides a compressive force down on the ear that holds (or secures) the ear in the holder 516. At about the same time, the engagement device 581 engages the cut portion of the cob of the ear of com and secures or retains the ear thereon. As the separating unit 569 moves past the cam 593, the spring 595 biases the engagement device 581 and the upper clamp 579 upward and back to their upper position (as the roller 589 also moves out of the ramp portion 591 of the track 573). In the illustrated embodiment, the engagement device 581 includes a spike (or needle) configured to penetrate or pierce the cob of the ear of com where the shank has been removed, as the engagement device 581 moves forward under the action of the cam 593. It should be appreciated, though, that other engagement devices may be used in other embodiments whereby the engagement devices are configured to hold, retain, etc. ears of corn as generally described herein.

[0099] At this point, the ear of corn is retained on the separating unit 569, at the engagement device 581. As such, continued movement of the engagement device 581 about the track 573 of the platform 571 moves the ear of corn to a de-husking station 513 (or location). Here, the air jet 588 activates and directs air toward the cut end portion of the ear of corn (via the air source, etc.). In the illustrated embodiment, the air jet 588 is configured to direct a generally circular, or ring, pattern of air toward the cut end portion of the ear of com (e.g., where the cob is engaged by the engagement device 581, etc.). In doing so, the air engages the husk leaves of the ear of corn, at the location where the shank was removed from the ear (and where the husk leaves are now detached from the ear), and operates to separate and remove (e.g., peel, etc.) the husk leaves (and silk) from the ear (e.g., as generally described with regard to the air knife 188 in the system 100, etc.). During this process, the removed husk leaves (and silk) are directed (by the air) to a collection unit 515 for subsequent processing.

[0100] The engagement device 581 continues to move about the track 573 of the platform 571, with the ear of com still retained thereon by the engagement device 581. As the engagement device 581, and ear of com, reach a discharge station 517 (or location), the ear of com is released from (e.g., ejected by, slid off, etc.) the engagement device 581 of the separating unit 569. And, the cob of the ear of corn is received in a chute 519 positioned generally adjacent the separating assembly 508 for subsequent collection in a suitable container. At this point, the cob of the ear of com in the container is free or substantially free of husk leaves (and silk). And, the separating unit 569 then proceeds around to the track 573 back to a position to engage another ear of com (in another ear holder 516) from the transport assembly 502. This is repeated for each of the separating units 569 of the separating assembly 508 and for each of the incoming ears of com (and ear holders 516).

[0101] FIGS. 27-31 illustrate another example embodiment of an automated dehusking system 600 including one or more aspects of the present disclosure. The system 600 of this embodiment is generally similar to the system 500 described above with reference to FIGS. 20-26. For instance, as with the system 500, the system 600 of this embodiment is also configured to remove husk leaves (including silk) from ears of corn, for example, in an automated manner, after the ears of corn are harvested from com plants (e.g., as part of processing the harvested ears of com to collect corn kernels therefrom for seed, feed, etc.; etc.).

[0102] As shown in FIG 27, the system 600 generally includes an ear transport assembly 602, an imaging assembly 604, an ear cutting assembly 606, and a separating assembly 608. In connection therewith, an input conveyor 609 operates to transport singulated (or isolated, etc.) ears of corn to the imaging assembly 604. In turn, the imaging assembly 604 operates to capture images of the singulated ears of com (on the input conveyor 609), so that the ears can subsequently be oriented (e.g., aligned, positioned, etc.) in a desired manner as they proceed to the cutting assembly 606. The transport assembly 602, then, operates to orient the individual ears of corn based on the captured images, and to transport the oriented ears to the cutting assembly 606. And, the cutting assembly 606 operates to remove (e.g., cut, separate, etc.) shanks of the ears of corn from cobs of the ears (to thereby detach husk leaves from the cobs of the ears). The remaining cobs (and husk leaves still surrounding the cobs) of the ears of com are then directed from the cutting assembly 606 to the separating assembly 608, where the husk leaves (and silk) are removed from the cobs.

[0103] As in the other embodiments herein, operation of the transport assembly 602, the imaging assembly 604, the cutting assembly 606, the separating assembly 608, and other devices of the system 600 is generally automated and may be controlled (and coordinated), for example, by a control device 610. For instance, the control device 610 may control an operational speed of the input conveyor 609, the transport assembly 602 and/or the cutting assembly 606, air speeds of the separating assembly 608, imaging operation of the imaging assembly 604, etc. In connection therewith, the control device 610 is in communication with each of the input conveyor 609, the transport assembly 602, the imaging assembly 604, the cutting assembly 606, and the separating assembly 608 to coordinate such operations therebetween (and to maintain or achieve desired throughput for the system 600, etc.).

[0104] In the illustrated embodiment, a singulation unit 621 is configured to initially singulate (or isolate, etc.) individual ears of com from a quantity (e.g., a plurality, a bulk supply, etc.) of ears (e.g., via a conveyor, etc.) and deliver the individual ears to the input conveyor 609. In doing so, the ears of com are first delivered by the singulation unit 621 to a receiving platform 623, where the ears are positioned or arranged with their longitudinal axes generally aligned with a direction of movement of a belt of the input conveyor 609 (e.g., via a shaker pan, a vibration surface, a physical ramp or guide, etc.). The receiving platform 623 then directs (e.g., via gravity, via the shaker pan, via the vibration surface, etc.) the ears of com, as positioned or aligned, to the input conveyor 609. In connection therewith, the control device 610 is configured to control operation (start, stop, and operational speeds, etc.) of the singulation unit 621 and of the input conveyor 609, for example, to provide a generally continuous flow of ears of com to the imaging assembly 604 and the cutting assembly 606 to balance supply of the ears of com from the imaging assembly 604 to the cutting assembly 606 and to the separating assembly 608 (e.g., based on operation of the transport assembly 602, the cutting assembly 606, and the separating assembly 608, etc. as also controlled by the control device 610; etc.), etc.

[0105] The imaging assembly 604 is disposed adjacent the input conveyor 609. In this position, the imaging assembly 604 is operable (via the control device 610) to capture images of the singulated ears of com as the input conveyor 609 moves the ears of com by (past, under, through, etc.) the imaging assembly 604, and toward the transport assembly 602 and the cutting assembly 606. The images, then, are analyzed by the control device 610 (in generally the same manner as described above with regard to the system 500) and used to determine positions (broadly, orientations) of the ears of corn on the input conveyor 609 (e.g., relative positions of the ears of corn, rotational positions of the ears of corn, etc.). To this end, the imaging assembly 604 of this embodiment is substantially the same as the imaging assembly 504 of the system 500, such that the above description of the imaging assembly 504 (including its structure and operation) also applies to the imaging assembly 604 of this embodiment (without restating the same).

[0106] After the images of the ears of corn are captured, the input conveyor 609 is configured to move the ears of com to the transport assembly 602.

[0107] As shown in FIG. 28, in this embodiment, the transport assembly 602 includes multiple ear positioning devices (each indicated at 644) and multiple sets of ear holders (each indicated at 616). In particular, the illustrated transport assembly 602 includes four ear positioning devices 644 disposed generally over the input conveyor 609, and two rows (or lines, etc.) of ear holders 616 each disposed on an opposite side of the input conveyor 609. Each of the positioning devices 644, then, is configured to transfer select ones of the ears of com from the input conveyor 609 to desired ones of the ear holders 616 (e.g., based on image data from the imaging assembly 604, etc.). For instance, for each of the imaged ears of corn on the input conveyor 609, the control device 610 is configured to determine a required adjustment to the position or orientation of (or broadly, a required movement of) the ear of com in order to locate (or align) the identified cut point of the ear at (or with) a particular part (or location) of one of the ear holders 616 (e.g., with an end portion of the ear holder 616 that is predetermined to align with one of two cutting devices 642 of the cutting assembly 606, etc.). And, based thereon, the positioning devices 644 are configured (e.g., based on instmction from the control device 610, etc.) to then move to select (or desired) ones of the ears of com on the input conveyor 609 and engage the ears (e.g., grasp the ears, retain the ear, etc.), orient the engaged ears (e.g., rotate the ear, etc.) so that the shanks are properly positioned (or directed) to be removed by the cutting assembly 606, and place the oriented ears in desired ones of the ear holders 616. In turn, the ear holders 616 are each configured to hold the transferred ears of com in place and transport the ears to the cutting assembly 606 for cutting (by one of the cutting devices 642). That said, each of the ear positioning devices 644 of this embodiment is substantially the same as the ear positioning device 544 of the system 500, such that the above description of the ear positioning device 544 (including its stmcture and operation) also applies to each of the ear positioning devices 644 of this embodiment (without restating the same). Additionally, the ear holders 616 of this embodiment are each substantially the same as the ear holders 516 of the system 500, such that the above description of the ear holders 516 (including their structure and operation) also applies to the ear holders 616 of this embodiment (without restating the same). [0108] With reference now to FIG. 29, once the ears of corn are properly positioned in the ear holders 616 (for example, with the shanks all facing the same direction in each row of the ear holders 616, etc.), the transport assembly 602 moves the ears (via the ear holders 616) to the cutting assembly 606. In this embodiment, the cutting assembly 606 includes the two cutting devices 642, each generally aligned with one of the rows of ear holders 616. In connection therewith, the ears are positioned within the ear holders 616 (by the positioning devices 644) such that the cut points of the ears are generally aligned with the corresponding cutting device 642 (for the given row of ear holders 616), so that the shanks of the ears of com can be removed at the desired cut locations. That said, each of the cutting devices 642 of the cutting assembly 606 is substantially the same. As such, it should be appreciated that the following description applies to both of the cutting devices 642.

[0109] In an example operation, as the ears of com enter the cutting assembly 606, and approach their respective cutting device 642, the ears engage a holding mechanism 652 disposed adjacent the cutting device 642. The holding mechanism 652 is configured to hold each of the ears of corn in the desired cut position within the holder 616, so that the cut point of the ear remains fixed (e.g., in a longitudinal direction of the ear of corn, etc.) while the cutting device 642 removes the shank from the ear. The holding mechanism 652 of this embodiment is substantially the same as the holding mechanism 152 of the system 100 described above. As such, the description of the holding mechanism 152 above applies to the holding mechanism 652. For instance, as an ear of corn (as positioned in a corresponding ear holder 616 by one of the positioning devices 644) approaches the cutting device 642 corresponding to the ear holder 616 (or row of ear holders 616), the ear initially engages a rounded forward portion 664 of a guide 656. In connection therewith, the rounded portion 664 of the guide 656 directs the ear of com (within the holder 616) generally under the guide 656. In doing so, the guide 656 may slightly deform, adjust, etc. to accommodate the ear of corn moving thereunder, while still providing a generally downward force to firmly hold the ear of corn in the holder 616 (in the desired position, as established by the positioning device 644) (e.g., to help resist movement of the ear of com toward the cutting device 642 during the cutting operation, etc.). The cutting device 642 is configured to then cut the ear of corn at the desired location (e.g., at the identified cut point of the ear, etc.), thereby removing the shank from the ear of com. The shanks removed from the ears of com (and any loosened husk leaves) at each of the cutting devices 642 are discarded from the cutting assembly 606 and collected in container 666, via a conveyor 625. And, the transport assembly 602 carries the ears of corn, as cut, to the separating assembly 608.

[0110] With reference now to FIGS. 30 and 31, the separating assembly 608 includes staging platforms 627 generally aligned with each row (or line) of ear holders 616, and multiple separating units (each indicated 629 (e.g., cups, tubes, cylinders, etc.)) disposed adjacent each of the staging platforms 627. In connection therewith, for each row of ear holders 616, once the shank is removed from an ear of corn (and collected as desired), the ear is transferred from its ear holder 616 (of the transport assembly 602) to one of the separating units 629 of the corresponding staging platform 627. In doing so, multiple ears of com may be positioned at the staging platform 627 (e.g., in the ear holders 616, etc.). As desired, then, the control device 610 is configured to actuate pistons 633 (via an actuator 641) aligned with each of the ears of corn on the staging platform 627 to push (broadly, move) the ears out of the ear holders 616 and into a corresponding one of the separating units 629, with the cut portion of the cobs of the ears facing generally downward in the separating units 629. The separating units 629, including the ears of com therein, are configured to then move along a conveyor 635, whereby empty separating units 629 move into alignment with the ear holders 616 at the staging platform 627.

[0111] At this time, each of the separating units 629 containing ears of com is moved into alignment with a corresponding air knife 688 (or air jet) (FIG. 31). Each air knife 688 is then activated to direct air (e.g., from an air source coupled to inlets 687 of each air knife 688, etc.) generally upward toward the cut end portion of the ear of com within the aligned separating unit 629. In doing so, the air knife 688 is configured to direct and/or generate a generally circular, or ring, pattern of air within the separating unit that engages the husk leaves of the ear of com, at the location where the shank was removed from the ear (and where the husk leaves are now detached from the ear), and operates to separate and remove (e.g., peel, etc.) the husk leaves (and silk) from the ear. In some examples, the arrangement of air knives 688 may be located within a collection unit and may then be activated as the separating units 629 pass through the collection unit and into alignment with the air knives 688. As such, the collection unit may then capture the removed husk leaves (and silk) and process the same, for example, as described in the system 100 (via the cyclone separator 192, etc.). And, the separating units 629 may then move past the air knives 688 and discharge the ears of corn to a collection unit 619, for subsequent processing. At this point, the cob of the ear of corn at the collection unit 619 is free or substantially free of husk leaves (and silk).

[0112] With reference again to FIG. 29, the system 600 also includes a conveyor 637 and collection unit 639 disposed generally toward an end of the input conveyor 609, for example, to collect ears of com not selected or picked by the ear positioning devices 644. This may be the result of missed picks, or it may be the result of particular analysis by the control device 610 (via images and/or image data captured by the imaging assembly 604, etc.) whereby certain ears of com on the input conveyor 609 are not selected (or picked) and are allowed to move to the collection unit 639. For instance, the control device 610 may determine (based on the image data for the ears of corn) to cull certain ones of the ears of corn on the input conveyor 609, instead of selecting them to be de-husked, based on shape characteristics of the ear and/or kernels, etc.; based on size characteristics of the ear and/or kernels, etc.; based on rot indicators; based on other phenotypic indicators of the ear and/or kernels, etc.; based on genotypic indicators of the ear and/or kernels, etc.; etc. In any case, the ears of corn from the collection unit 639 are not dehusked and may be reintroduced to the system 600 or otherwise processed.

[0113] From the above, it can be seen that the system 600 of this embodiment includes additional ear positioning devices 644, additional ear holders 616, additional cutting devices 642, and additional separating units 629, for example, in multiple rows, lines, modules, etc. Such configuration of the system 600 may enable increased throughput of ears of corn in the system 600 (e.g., upwards of about 270 ears per minute or more, etc.). For instance, two of the positioning devices 644 may direct ears of corn from the input conveyor 609 to a first one of the rows of ear holders 616, and two of the position devices may direct ears of com from the input conveyor 609 to a second one of the rows of ear holders 616, etc. What’s more, the arrangement of the ear holders 616 on both sides of the input conveyor 609, along with the corresponding cutting devices 642 and separating units 629 generally allows for the ears of corn to be processed in multiple rows generally simultaneously. To this point, it should be appreciated that the system 600 may include any desired number of rows of such components, for example, two rows as illustrated herein, four rows, five rows, six rows, more than six rows, etc. Further, it should be appreciated that the system 600 may include any desired number of input conveyors to provide a desired inflow of ears of corn to the transport assembly 602, for example, to accommodate the multiple rows of ear holders 616, cutting devices 642, and separating units 629 that may be included in the system 600.

[0114] With that said, in some embodiments, batches of ears of com harvested from fields may be screened and/or processed prior to being delivered to the systems of the present disclosure. For instance, conditions in fields may result in impurities being included with the harvested ears of com (e.g., stalks of com, other plants, other debris, etc. being collected with the ears of com; etc.). As such, to avoid these impurities from being processed in the systems herein, the batches of ears of com may be initially processed to remove or separate the impurities from the ears of corn (e.g., manually, via one or more machines (e.g., via an air jet, etc.), etc.). Alternatively, when harvesting conditions are more prone to provide such impurities (e.g., when field conditions are wet, when weather conditions are rainy, etc.), a prescription may be created or implemented that inhibits use of the systems of the present disclosure from processing ears of com harvested under such conditions.

[0115] In some embodiments, the systems of the present disclosure may further include one or more ear singulation devices configured to singulate individual ears of corn from multiple ears of com (e.g., from a bulk supply of the ears of corn following harvest, etc.) (e.g., singulation unit 621, etc.), and then position the singulated individual ears of corn on conveyor belts of transport assemblies (e.g., conveyor belts 118 of transport assemblies 102; belts of input conveyors 509, 609; etc.) (e.g., in the holders 116, 516, 616; etc.). In this way, transport assemblies of the systems (e.g., transport assemblies 102, 502, 602; etc.) receive the singulated (or isolated, etc.) individual ears of corn for transport to imaging assemblies (e.g., imaging assemblies 104, 504, 604; etc.) and cutting assemblies (e.g., cutting assemblies 106, 506, 606; etc.) of the systems. In connection therewith, the singulation device(s) may include one or more robotic arms, conveyors, etc. suitable for separating an individual ear of corn from multiple ears of com in a bulk supply.

[0116] In addition, in some embodiments, the systems and methods of the present disclosure may be used to process ears of corn harvested from fields at desired moisture contents (and/or ranges of moisture contents) and/or having any desired moisture content (or range of moisture contents) upon entering the systems (e.g., about 50% or less, about 40% or less, about 35% or less, about 30% or less, about 25% or less, about 20% or less, about 15% or less, about 10% or less, etc.). In connection therewith, in at least one embodiment, the systems and methods of the present disclosure may be used (e.g., as part of processing prescriptions, etc.) to process ears of com having relatively low moisture contents (e.g., moisture contents of less than about 20%, moisture contents of less than about 10%, etc.), for example, to provide improved dehusking efficiency. Further, in some embodiments, the systems and methods of the present disclosure may be used to process certain hybrids of corn. For example, certain hybrids of com that are susceptible to losing kernels during conventional de-husking processes may be specifically allocated to de-husking via the systems and methods herein (as the systems and methods herein may be less destructive toward the ears of corn, less intmsive, etc.), whereby fewer kernels may be lost.

[0117] In view of the above, the systems and methods herein provide for removal of husk leaves from ears of corn in an improved manner, whereby a greater percentage of kernels can be recovered from the ears of corn while more effectively removing the husk leaves from the ears. In particular, by imaging and oriented the ears of com prior to removing shanks from the ears, the shanks can be removed at optimal locations form the ears (e.g., at the first layer or first row of corn kernels on the cob of the ears, etc.). As a result, a balance is achieved between removing a large enough portion of the ears of corn (at the shanks) to facilitate removal of the husk leaves while also minimizing loss of kernels (from the removed portion of the ears). For instance, through the systems and methods herein, and through identification of the optimal locations to remove the shanks from the ears of com, all of the husk leaves may be removed from the ears with less than about 10% seed loss (and, in some examples, less than about 5% seed loss). What’s more, the arrangement of assemblies, etc. within the system also minimizes mechanical damage to the ears of com as they are processed (e.g., minimal contact of the positioning device with the ears in order to orient the ears in the holders, supporting the ears in the holders as the cutting device removes the shanks, use of air to remove the husk leaves from the ears in a contactless manner, etc.).

[0118] The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

[0119] Example embodiments have been provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, assemblies, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0120] Specific dimensions, specific materials, and/or specific shapes disclosed herein are example in nature and do not limit the scope of the present disclosure. The disclosure herein of particular values and particular ranges of values for given parameters are not exclusive of other values and ranges of values that may be useful in one or more of the examples disclosed herein. Moreover, it is envisioned that any two particular values for a specific parameter stated herein may define the endpoints of a range of values that may be suitable for the given parameter (z.e., the disclosure of a first value and a second value for a given parameter can be interpreted as disclosing that any value between the first and second values could also be employed for the given parameter). For example, if Parameter X is exemplified herein to have value A and also exemplified to have value Z, it is envisioned that parameter X may have a range of values from about A to about Z. Similarly, it is envisioned that disclosure of two or more ranges of values for a parameter (whether such ranges are nested, overlapping or distinct) subsume all possible combination of ranges for the value that might be claimed using endpoints of the disclosed ranges. For example, if parameter X is exemplified herein to have values in the range of 1 - 10, or 2 - 9, or 3 - 8, it is also envisioned that Parameter X may have other ranges of values including 1 - 9, 1 - 8, 1 - 3, 1 - 2, 2 - 10, 2 - 8, 2 - 3, 3 - 10, and 3 - 9.

[0121] The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a”, “an” and “the” may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps may be employed.

[0122] When an element or layer is referred to as being “on”, “engaged to”, “connected to” or “coupled to” another element or layer, it may be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly on,” “directly engaged to”, “directly connected to” or “directly coupled to” another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and/or” and the phrase “at least one of’ includes any and all combinations of one or more of the associated listed items.

[0123] Although the terms first, second, third, etc. may be used herein to describe various elements, components, seeds, members and/or sections, these elements, components, seeds, members and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, seed, member or section from another element, component, seed, member or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, seed, member or section discussed below could be termed a second element, component, seed, member or section without departing from the teachings of the example embodiments.

[0124] Spatially relative terms, such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

Claims

CLAIMS What is claimed is:

1. An automated method for removing husk leaves from ears of com, the automated method comprising: imaging an ear of corn to obtain at least one image of the ear of corn, wherein the ear of com includes a shank, a cob, and multiple husk leaves attached to the shank and surrounding the cob; positioning the ear of corn in a holder based on the at least one image; removing the shank of the ear of com from the cob; and then separating, by air, the husk leaves of the ear of corn from the cob.

2. The automated method of claim 1, further comprising singulating the ear of com from multiple ears of corn prior to imaging the ear of com.

3. The automated method of claim 2, wherein positioning the ear of corn in the holder includes adjusting a location of the ear of com in the holder based on the at least one image.

4. The automated method of claim 2, wherein positioning the ear of corn in the holder includes: orienting the ear of com in a desired orientation based on the at least one image; and placing the oriented ear of com at a desired location in the holder.

5. The automated method of claim 1, wherein imaging the ear of com includes identifying a first layer of kernels on the cob of the ear of com; and wherein removing the shank of the ear of corn from the cob includes cutting the ear of com at the first layer of kernels to thereby remove the shank from the cob.

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6. The automated method of claim 1, wherein removing the shank of the ear of com includes: holding the ear of corn in the holder; and while holding the ear of com in the holder, cutting the ear of corn at the cob to remove the shank.

7. The automated method of claim 1, further comprising, after removing the shank of the ear of corn from the cob, applying air to the cob to remove the husk leaves from the cob.

8. The automated method of claim 7, wherein applying air to the cob includes applying air to the cob within an air column to remove the husk leaves from the cob.

9. The automated method of claim 7, further comprising: capturing the husk leaves removed from the cob at a first location; and capturing the cob at a second location different from the first location, wherein the captured cob is free or substantially free of the husk leaves.

10. The automated method of claim 1, further comprising, after removing the shank of the ear of corn from the cob: holding the cob of the ear of corn at a location on the cob where the shank was removed; and then applying air to the cob to remove the husk leaves from the cob.

11. An automated system for removing husk leaves from ears of com, the automated system comprising: an imaging assembly configured to capture at least one image of an ear of corn; a cutting assembly configured to remove a shank of the ear of com from a cob of the ear of com, based on the at least one image; and a separating assembly configured to receive the ear of corn from the cutting assembly and remove husk leaves from the ear of corn.

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12. The automated system of claim 11, further comprising a transport assembly configured to transport the ear of corn from the imaging assembly to the cutting assembly, and from the cutting assembly to the separating assembly.

13. The automated system of claim 12, wherein the transport assembly includes a holder configured to retain the ear of com in the transport assembly.

14. The automated system of claim 12, further comprising a positioning device disposed between the imaging assembly and the cutting assembly, the positioning device configured to position the ear of com in the transport assembly based on the at least one image of the ear of com; and wherein the cutting assembly is configured to remove the shank of the ear of com from the cob of the ear of corn as positioned in the transport assembly by the positioning device.

15. The automated system of claim 14, wherein the cutting assembly includes a cutting device; and wherein the positioning device is configured, in order to position the ear of corn in the transport assembly, to align a cut point of the ear of com with the cutting device.

16. The automated system of claim 14, wherein the positioning device includes at least one arm configured to engage the ear of corn and orient the ear of com in a desired orientation, in order to position the ear of corn in the transport assembly.

17. The automated system of claim 14, wherein the cutting assembly includes a cutting device and a holding mechanism disposed adjacent the cutting device, the holding mechanism including at least one arm configured to retain the ear of com in the transport assembly while the cutting device removes the shank of the ear of com from the cob of the ear of com.

18. The automated system of claim 11, wherein the separating assembly includes an air column and an air knife disposed within the air column; and

46 wherein the air knife is configured to direct air at the ear of com within the air column to thereby remove the husk leaves from the ear of com.

19. The automated system of claim 11, wherein the separating assembly includes a separating unit configured to remove the husk leaves from the ear of com, the separating unit comprising: a spike configured to pierce the cob of the ear of com at a location on the cob where the shank was removed; and an air jet disposed adjacent the spike, the air jet configured to apply air to the cob to remove the husk leaves from the cob.

20. The automated system of claim 11, further comprising: a singulation unit configured to singulate the ear of corn from multiple ears of com prior to imaging the ear of corn; and an input conveyor configured to receive the ear of corn from the singulation unit and convey the ear of com to the imaging assembly.