Abstract:
An automated machine is used to handle and manipulate individual pieces of particulate matter. The particulate matter is contained in a bin. The machine operates to pick single individual pieces of the particulate matter from the bin. The picked individual pieces are then conveyed for further handling. Pneumatic transport is primarily used for the conveying operation. One aspect of the handling involves individually weighing each piece of the picked particulate matters. Another aspect of the handling involves sorting the individual pieces of particulate matter into a plurality of receptacles. Yet another aspect of the handling involves both weighing and then sorting the individual pieces of particulate matter, wherein the sorting operation may be performed based upon the measured weight of each piece.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application of U.S. patent application Ser. No. 11/376,477, filed Mar. 15, 2006, which is a divisional application of U.S. patent application Ser. No. 10/406,910 (now U.S. Pat. No. 7,044,306), filed on Apr. 2, 2003, which claims priority to U.S. Provisional Application Ser. No. 60/370,018, filed Apr. 4, 2002. The entire disclosures of each of these applications are incorporated herein by reference. 
    
    
     BACKGROUND 
     The present disclosure relates to a system that is operable to pick individual pieces of particulate matter from a bin, weigh those individual pieces, and then sort the weighed individual pieces for further processing. 
     There exist a number of industrial applications where it becomes important for weight information to be collected with respect to individual pieces of particulate matter. In this context, “particulate matter” refers to objects having a uniform or non-uniform size and shape that generally possess a granular, pelletal or pill-like character having an average volume of between 5 and 500 cubic millimeters and/or an average weight of between 0.001 and 10 grams. 
     As a specific example, in the agricultural industry, and more specifically in the seed breeding industry, it is important for scientists to accurately know the weight of individual seeds (i.e., the species of “particulate matter” of interest). This information, in conjunction with other pieces of analytic data (such as trait data, molecular data, magnetic resonance data, color data, size data, shape data, and the like), assists the scientist/breeder in selectively choosing certain seeds (and families of seeds) for further breeding and/or analysis. 
     As another example, in the pharmaceutical industry, it may be important to deliver known quantities with certain weight characteristics to a certain process. In this way, the scientist/formulator can precisely control the amount of a certain component that is contributed in producing a given product. The same holds true in the chemical industry where the constituent parts of a chemical composition must be known and accurately delivered by weight. 
     The generally small size of individual pieces of particulate matter makes them quite difficult and inconvenient for human manipulation. For example, it is quite difficult for many humans to accurately select, grasp and handle a single piece of particulate matter (like a seed or pill or grain or particle) from a bin containing hundreds or thousands of other pieces for placement on, and removal from, a weighing scale. Picking, selecting and working with these individual pieces becomes a very tedious task that provides little job satisfaction. Although humans can and are often employed to perform the job, the foregoing and other factors (including, for example, exorbitant labor costs, concerns with employee turnover, and human errors) are driving a move towards increased, if not complete, automation of the handling process. 
     There is accordingly a need in the art for an automated solution to the problem of handling particulate matter in a number of contexts including, individually and collectively, operations for: selecting individual pieces from a storage bin; weighing individual pieces; and sorting individual pieces. 
     SUMMARY 
     To address the needs discussed above, as well as other needs recognized by those skilled in the art, an automated machine is used to handle and manipulate individual pieces of particulate matter. The machine operates to pick single individual pieces of the particulate matter from a bin containing many pieces. The picked individual pieces are then conveyed for further handling. One aspect of this handling involves individually weighing each piece of the picked particulate matter. Another aspect of this handling involves sorting the individual pieces of particulate matter into a plurality of receptacles. Yet another aspect of this handling involves both weighing and then sorting the individual pieces of particulate matter. The sorting operation may, but need not necessarily, be performed based upon the measured weight of each piece. 
     More specifically, in accordance with one aspect of the disclosure, a machine is provided that includes a piston having an end with a concave depression therein. The piston is positioned to pass through an opening in a bottom portion of a bin. An actuator is coupled to the piston and is operable to move the piston through the opening in the bin between a first position substantially flush with the opening in the bottom portion of the bin and a second position where the end is raised above the bottom portion of the bin. When the bin contains particulate matter, the movement of piston from the first position to the second position under the control of the actuator causes a single individual piece of particulate matter in the bin to be captured by the concave depression and raised above the bottom portion. 
     In accordance with another aspect of the present disclosure, an individual piece of particulate matter, once captured, is next removed and conveyed. In a preferred embodiment, the removed individual piece is conveyed through a tube using a pressurized air stream. In one embodiment, the conveyed piece is carried to a location (such as a scale) where a weighing operation is performed. In another embodiment, the conveyed piece is carried to a location where a sorting operation is performed. In yet another embodiment, the conveyed piece is carried first to be weighed and then is further conveyed to be sorted. 
     Another aspect of the present disclosure utilizes an air jet to blow a weighed individual piece of particulate matter off the scale to be conveyed. In a preferred embodiment, the removed individual piece is conveyed through a tube using a pressurized air stream generated by the air jet. In an embodiment, the conveyed piece is carried to a location where a sorting operation is performed. In accordance with another embodiment, two air jets, offset in angle from each other, are selectively actuated to blow the weighed individual piece of particulate matter off the scale. Preferably, the two air jets are mutually exclusively actuated to send the individual piece for conveying to a selected one of two distinct locations. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A more complete understanding of the method and apparatus of the present disclosure may be acquired by reference to the following Detailed Description when taken in conjunction with the accompanying Drawings. 
         FIG. 1  is a functional block diagram a particulate matter handling system in accordance with the present disclosure. 
         FIGS. 2A and 2B  are schematic side views of one embodiment for a picking portion of the selection subsystem utilized within the system of  FIG. 1 . 
         FIGS. 3A through 3C  are schematic side views of another embodiment for the picking portion of the selection subsystem utilized within the system of  FIG. 1 . 
         FIGS. 4A and 4B  are schematic side views of a depositing portion of the selection subsystem utilized within the system of  FIG. 1 . 
         FIG. 5  is a schematic diagram of the weighing subsystem utilized within the system of  FIG. 1 . 
         FIG. 6  is a schematic top view of a ducted port system for the inter-subsystem passing device utilized within the system of  FIG. 1 . 
         FIG. 7  is a schematic orthogonal diagram of a sorting subsystem utilized within the system of  FIG. 1 . 
         FIG. 8  is an orthogonal view of a particulate matter handling system in accordance with the present disclosure. 
         FIG. 9  is a schematic diagram of the control operation for the particulate matter handling system of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Reference is now made to  FIG. 1  wherein there is shown a functional block diagram of a particulate matter handling system  10  in accordance with the present disclosure. A bin  12  is sized to hold a large number of individual pieces  14  of particulate matter  16  (for example, tens to thousands, or more). A selection subsystem  18  operates to pick  20  individual pieces  14  of particulate matter  16  from the bin  12 , and then route  22  the picked individual pieces for further handling. As a specific example of the further handling that could be performed by the system  10 , the picked  20  individual pieces  14  of particulate matter  16  may be routed  22  to a weighing subsystem  28  where they are individually deposited on a scale  24  and weighed  26 . As another example of the further handling that could be performed by the system  10 , the picked  20  individual pieces  14  of particulate matter  16  may be routed  22  to a sorting subsystem  30  where they are individually sorted  32  and deposited  36  in selected locations  34 . 
     Node  38  in the routing  22  path for the operation of the selection subsystem  18  represents an alternative path selection point (implemented, for example, using a diverter mechanism) where the system  10  may choose to send the picked  20  individual pieces  14  of particulate matter  16  either directly to the weighing subsystem  28  or directly to the sorting subsystem  30 . The system  10  is thus operable in one of two modes: a first mode for picking and weighing; and, a second mode for picking and sorting; with that mode choice implemented through the selection subsystem  18  and its control over the alternative path selection point node  38 . In this configuration, a user of the system  10  may selectively choose how the picked  20  individual pieces  14  of particulate matter  16  are handled to achieve desired processing and handling goals. It will further be understood by one skilled in the art that a system  10  may be implemented including only the components necessary to implement one of the two identified modes (for example, just a pick and sort (mode  2 ) system without any provision being made for a weighing application or option, if desired). 
     It is recognized, for many scientific applications, that both weighing and sorting operations are necessary with respect to picked  20  individual pieces  14  of particulate matter  16 . In this regard, the sorting operation may be performed based in whole or in part on the measured weight. Alternatively, the sort is not necessarily weight driven, but knowledge, once sorted, of individual piece  14  weight is important for the scientific investigation being performed. 
     To assist in a scientific investigation where use of both the weighing subsystem  28  and the sorting subsystem  30  are necessary, the system  10  further includes an inter-subsystem passing device  40  that operates to collect  42  individual pieces  14  of particulate matter  16  from the scale  24  of the weighing subsystem  28  (after weighing  26 ), and then pass  44  the collected individual pieces to the sorting subsystem  30  where they are individually sorted  32  and deposited  36  in selected locations  34 . It is also possible for the inter-subsystem passing device  40  to collect  42  individual pieces  14  from the scale  24  of the weighing subsystem  28  (after weighing  26 ), and then pass  44  the collected individual pieces on for other handling (perhaps as being rejected for delivery to the sorting subsystem  30 ). The system  10  is thus further operable in a third mode for picking, weighing, and then sorting; with that mode choice implemented through the selection subsystem  18  and its control over the alternative path point node  38  and the operation of the inter-subsystem passing device  40 . Sorting in this context includes not only the actions taken to sort  32  to selected locations  34  in the sorting subsystem  30 , but also to the actions taken in the inter-subsystem passing device  40  to reject/forward individual pieces on for handling. 
     The operation of the system  10  is preferably completely automated. More specifically, the operations performed by the selection subsystem  18 , weighing subsystem  28 , sorting subsystem  30  and inter-subsystem passing device  40  preferably occur substantially without need for human interaction, intervention or control. It is also possible for any needed actions to load the particulate matter  16  into the bin  12  and/or physically manipulate and change the structure of the locations  34  (either individually or collectively, such as receptacles, trays, or the like) where sorted individual pieces  14  are deposited, to be automated as well. These actions, however, are generally done manually with human participation without detracting from the improved performance obtained by the system  10  in comparison to other semi-automated and/or manual systems in the prior art. 
     To effectuate this automated operation over all or substantially all of the system  10 , a central controller  46  is included that may comprise a specially programmed computer and associate peripheral devices that enable communication with, and control over the operations of, the various components of the system  10 . As an example, the central controller  46  may comprise a Pentium III® class personal computer running a Windows NT® operating system with a custom C++ application executing to control component operations. Use of the Pentium/Windows combination opens the door for the use of other custom or commercial (off-the-shelf) applications in conjunction with the control operation application to exchange data (for example, use of spread sheet or report generating applications to output particulate matter handling data to the user). 
     A peripheral controller  48 , connected to the central controller  46 , interfaces with the system  10  components, and directs, under the instruction of the central controller pursuant to the executing custom application, system component operation. For example, the peripheral controller  46  may function to control the operation of the each of the selection subsystem  18 , weighing subsystem  28 , sorting subsystem  30  and inter-subsystem passing device  40 , both individually and in a coordinated effort with each other. The peripheral controller  48  may comprise a Parker 6K Compumotor controller manufactured by the Parker Hannifin Corp. A more detailed explanation of peripheral controller  48  operation is provided herein in connection with  FIG. 9 . The connection  50  between the peripheral controller  48  and the central controller  46  may comprise any network-based type connection and more specifically may utilize an ethernet 10-base T connection. 
     In addition to storing programming for controlling system  10  operation, the memory (or other data storage functionality, not explicitly shown but inherently present) provided within the central controller  46  is used to store the weights  26  of the individual pieces  14  of particulate matter  16  in tabular, database, or other suitable format. This weight information (more generally referred to as data  52 ) is collected from the system  10  operation and delivered to the central controller  46  for storage and/or manipulation, as necessary. Still further, the memory of the central controller  46  may also obtain data  52  that is received from, or is derived in connection with controlling the operation of, the sorting subsystem  30  concerning the locations  34  where picked  20  individual pieces  14  of particulate matter  16  have been deposited  36 . Preferably, this location data is correlated in the tabular, database, or other format, with the stored weight data on an individual piece-by-piece basis. 
     The system further includes a number of sensors  54  that operate to detect conditions of interest in the system and report that information to either or both the central controller  46  and/or the peripheral controller  48 . With this information, the central controller  46  and the peripheral controller  48  exercise control (generally illustrated by arrow  56 ) over the operations and actions taken by the various components of the system  10 . For example, the sensed condition information may concern: the successful picking  20  of an individual piece  14  from the bin  12 ; position of the diverting path for the node  38 ; location of the individual pieces  14  of particulate matter  16  within the system, especially concerning conveyance along, through and past the various system components; the successful collection  42  of the individual pieces of particulate matter from the scale  24  of the weighing subsystem  28 ; the direction of deposit  36  performed by the sorting subsystem  30 ; the status (for example, position, location, vacuum, pressure, and the like) of various component parts of the subsystems; operation, maintenance, performance, and error feedback from the various components of the system (separate from, or perhaps comprising or in conjunction with, collected data  52 ); and the like. More specifically, sensor information that is collected and processed for use in controlling system operation may include information like: device or component status; error signals; movement; stall; position; location; temperature; voltage; current; pressure; and the like, which can be monitored with respect to the operation of each of the components (and parts thereof) within the system  10 . Some additional detail on sensor operation and use is provided herein in connection with the discussion of  FIG. 9 . 
     Reference is now made to  FIGS. 2A and 2B  wherein there are shown schematic side views of one embodiment for a picking portion of the selection subsystem  18  utilized within the system of  FIG. 1 . As can be seen, the bin  12  includes a concave-shaped (inwardly sloped) bottom portion  60 . This serves to direct individual pieces  14  of particulate matter  16 , through the force of gravity, toward the bottom  62  of the bin  12  as pieces are picked therefrom, and thus enhance the likelihood of picking each piece contained within the bin. At the bottom  62  of the concave-shaped portion  60  is an opening  64 . Positioned within the opening  64  is a linear air piston  66 . When positioned in an un-actuated position (shown in  FIG. 2A ), end  68  of the piston  66  is located such that it is substantially flush with the bottom  62  at the opening  64 . It will be recognized that “substantially flush” in this context includes a position slightly below the bottom  62  where the opening  64  may act to hold an individual piece for subsequent capture by the piston  66  as described below. The end  68  of the piston  66  is further provided with a concave depression  70  (illustrated in dotted lines) whose perimeter is slightly smaller than the outer diameter of the piston  66  itself. The perimeter of the depression  70  is sized, generally speaking, to be commensurate with, and more particularly, slightly larger than, the expected average size of the individual pieces  14  of particulate matter  16  to be contained within the bin  12  and handled by the system  10 . This allows for the handling of individual pieces of non-uniform size/shape. An air drive  72  operates under the control of the peripheral controller  48  and central controller  46  (see,  FIG. 1 ) to linearly move the piston  66  between the un-actuated location shown in  FIG. 2A  and the actuated location shown in  FIG. 2B . When moving towards the actuated location ( FIG. 2B ), the concave depression  70  at the end  68  of the piston  66  captures an individual piece  14  of particulate matter  16  from the mass of matter in the bin and raises it above the bottom portion to a location above a top edge  74  of the bin  12 . 
     Once an individual piece has been raised above the top edge  74 , it is necessary to remove the individual piece from the end of the piston for further handling. An air jet  76  (also actuated under the control of the peripheral controller  48  and central controller  46 ) is used to blow  80  the individual piece off the end  68  of the piston  66  and into a tube  78  that functions as part of a conveyance mechanism of the selection subsystem  18  to route  22  the picked individual piece for further handling. The air jet  76  may take on any suitable form including, for example, a tube selectively supplied with pressurized air (perhaps through a valve mechanism), with the tube terminated by a nozzle aimed in the direction necessary to blow  80  the individual piece as desired. 
     As an enhancement to the operation of the picking portion, concurrent with the actuation of the air jet  76 , a slight vacuum may be drawn  82  through the open end of the tube  78  to suck the dislodged individual piece  14  of particulate matter  16  into the tube for routing  22 . This suction may be effectuated using Venturi (or other suitable suction) forces in a manner well known in the art. Although advantageous, the use of such a suction is not necessary for many system  10  applications. 
     As an alternate embodiment, the picking portion may in some instances utilize solely the tube  78  along with the drawing  82  of a vacuum therein to remove by suction the individual piece  14  of particulate matter  16  from the end of the piston  66 . This suction may be effectuated using Venturi (or other suitable suction) forces in a manner well known in the art. 
     Reference is now made to  FIGS. 3A through 3C  wherein there are shown schematic side views of another embodiment for the picking portion of the selection subsystem  18  utilized within the system of  FIG. 1 . The selection subsystem  18  shown in  FIGS. 3A-3C  has a number of components/operations in common with that shown in  FIGS. 2A-2B  and described above, thus obviating the need for a repeat description as to those common components/operations. 
     The air drive  72  operates under the control of the peripheral controller  48  and central controller  46  (see,  FIG. 1 ) to linearly move the piston  66  between the un-actuated location shown in  FIG. 3A  and the actuated location shown in  FIG. 3B , and in that operation raises a captured individual piece  14  of particulate matter  16  above bottom portion of the bin  12  and adjacent a vacuum cup  90 . More specifically, in a preferred embodiment, the piston  66  is raised into the actuated location that places the captured individual piece  14  of particulate matter  16  in contact with a vacuum cup  90 . To minimize the likelihood of damage caused by such contact, the vacuum cup  90  is preferably spring loaded and thus will give in response to contact caused by the raising of the captured individual piece. At that point, a slight vacuum is drawn (dotted arrows  92 ; under the control of the peripheral controller  48  and central controller  46 ) to hold the seed within the vacuum cup  90 . This vacuum may be drawn using Venturi forces in a manner well known in the art. The piston  66  is then returned to the un-actuated location shown in  FIG. 3C  (and thus be positioned to start the process for picking a next individual piece). 
     The individual piece held by the vacuum cup  90  is now ready to be delivered for further processing. In a substantially simultaneous manner (under the control of the peripheral controller  48  and central controller  46 ), the vacuum cup  90  releases the held individual piece (perhaps using a positive pressure  94  in addition to gravitational force) and an air jet  76  is used to blow  80  the released individual piece into a tube  78  that functions as part of a conveyance mechanism to route  22  the picked individual piece for further handling. 
     Reference is now made to  FIGS. 4A and 4B  wherein there are shown schematic side views of a depositing portion of the selection subsystem  18  utilized within the system of  FIG. 1 . A tube  100  carries the picked and routed  22  (or passed  44 ) individual piece in a pressurized air stream (introduced by the air jet  76  in  FIGS. 2B and 3C ). An elbow section  102  of the tube translates horizontal travel from the tube  78  (see, generally,  FIGS. 2A and 3A ) into vertical travel (if necessary) for the purpose of depositing the individual piece at a certain location. To minimize the risk of damage to the individual piece, however, a systematic deceleration of the traveling piece is performed by the depositing portion in a velocity transition region of the tube  100 . In the illustrated embodiment, the velocity transition region generally coincides with the location of the elbow section  102  and the termination of the tube, although this need not necessarily be the case. The elbow section  102  of the tube  100  includes a plurality of longitudinal cuts  104  (shown in dotted line format) made in the interior surface of the tube. The cuts  104  expand the volume within the tube  100  in the area of the elbow section  102  and this results in a reduction in the air pressure at that location. The reduction in air pressure effectuates a slowing in the travel velocity of the individual piece being carried within the pressurized air stream. 
     At the distal end of the tube  100  is a collar  106 . In a preferred embodiment, the collar  106  is pneumatically actuated  108  to slide between an un-actuated location shown in  FIG. 4A  and an actuated location shown in  FIG. 4B . The collar  106  includes a plurality of radial holes  110  drilled therein at various heights about its perimeter. Two functions are served by the collar  106 . First, when lowered into the actuated location ( FIG. 4B ), the collar  106  defines a fence that acts to contain the deposited individual piece within a certain area  112  of the deposited location  114 . Second, the pattern of the holes  110  in the collar  106  allows the pressurized air stream to escape in a controlled manner, reduces the air pressure in the tube  100  at the collar, and further slows the travel velocity of the individual piece within the pressurized air stream as it reaches the deposited location  114 . 
     It will be recognized that in some applications, the collar  106  may be fixed to the distal end of the tube  100 , in which case there is no need for a pneumatic actuator  108  (see, for example, the sorting subsystem  30  as illustrated in  FIGS. 7 and 8 ). It will further be recognized that no collar  106  is necessarily required, and that the holes  110  may alternatively be formed radially in the tube  100  itself at a location near its distal end to assist with velocity transition. 
     The depositing portion of the selection subsystem  18  shown in  FIGS. 4A and 4B  may be used to deliver pieces to either the weighing subsystem  28  (for deposit on the scale) or the sorting subsystem  30  (for deposit at a sorter selected location). The use of a slidable collar  106  in either case allows for accurate and controlled delivery of the individual piece to be made by the selection subsystem  18  (when the collar is down). Additionally, when the collar  106  is up, the selection subsystem  18  does not interfere with the operation of the scale  24  ( FIG. 1 ) or router  32  (also,  FIG. 1 ) mechanisms. 
     Reference is now once again made to  FIG. 1 , and also to  FIG. 5  wherein there is shown a schematic diagram of the weighing subsystem  28 . The scale  24  used within the weighing subsystem  28  may be any suitable scale providing accurate weight measurements within a required degree (for example, measured out to hundredths or thousandths of the desired measurement unit). For example, in a preferred embodiment, the scale is based on a linear variable differential transformer (LVDT) with an ultra fine resolution displacement. The LVDT scale  24  is preferably mounted on a vibration-isolated mount  120 . A concave weighing pan  122  is used to hold the sample (i.e., an individual piece of particulate matter) while the weighing operation is performed, and is connected to the LVDT load cell. This weighing pan  122  may itself be mounted to a heavy, large block (not explicitly shown) to further minimize the adverse effects of vibration on measurement accuracy. 
     The LVDT can be subjected to a maximum dynamic impact force (for example, of about 200 milligrams). The cuts  104  and holes  110  (see,  FIG. 4A ) in the velocity transition region, as discussed above, assist in slowing down the velocity of the individual piece such that impact when delivered to the weighing subsystem is at or below the impact limits of the scale  24 . 
     Once an individual piece is present on the pan  122 , weight data  52  is collected and the central controller  46  examines the derivative of the weight signal output from the LVDT. This allows the system  10  to determine when the scale has settled following placement of the individual piece thereon. The weight signal output is preferably filtered and conditioned in a manner well known to those skilled in the art using an electric read-out system (not explicitly shown). A weight algorithm executed by the central controller  46  takes multiple weight readings until the readings fall within certain predefined error criteria (for example, a hysteresis or offset), and then the last measured weight (or an average of a certain number of recent measurements) is stored in memory (perhaps in combination with other data, as discussed elsewhere herein, to allow for tracking of the individual pieces). 
     Reference is now made to  FIG. 6  wherein there is shown a schematic top view of a ducted port system  130  portion of the inter-subsystem passing device  40 . The ducted port system  130  is mounted about the concave weighing pan  122  (shown in dotted lines) and is utilized to selectively collect  42  individual pieces  14  of particulate matter  16  from the scale  24  of the weighing subsystem  28  (see, also,  FIG. 1 ). At least one air jet  140  (actuated under the control of the peripheral controller  48  and central controller  46 ) is used to blow  142  the individual piece off the pan  122  and into a tube  144  that functions as part of a conveyance mechanism to pass  44  the collected individual pieces for further handling. One option for such further handling of the individual pieces is to accept the pieces and send them on to the sorting subsystem  30  where they are individually routed  32  and deposited  36  in selected locations  34  (see,  FIG. 1 ). Another option for such further handling to reject the individual pieces and send them on for disposal or other appropriate handling (also shown in  FIG. 1 ). To effectuate such multiple options for handling, a plurality of air jets  140  may be used. As an example, and as shown in  FIG. 6 , two air jets  140 ( 1 ) and  140 ( 2 ), offset from each other by ninety degrees (for example), are aimed at the pan  122  and selectively actuated to displace the weighed individual piece for a selected one of two or more possible options. For example, actuating air jet  140 ( 1 ) alone would cause the collection  42  of an individual piece in the opposite tube  144 ( 1 ), while actuating air jet  140 ( 2 ) alone would cause the collection  42  of an individual piece in the opposite tube  144 ( 2 ). 
     As an enhancement to the operation of the ducted port system, concurrent with the actuation of the air jet  140 , a slight vacuum may be drawn  146  through the open end of the tube  144  to suck the dislodged individual piece  14  of particulate matter  16  into the tube for passing  44 . This suction may be effectuated using Venturi (or other suitable suction) forces in a manner well known in the art. Although advantageous, the use of such a suction is not necessary for many system  10  applications. 
     Reference is now made to  FIG. 7  wherein there is shown a schematic orthogonal diagram of a sorting subsystem  30  utilized within the system of  FIG. 1 . A support arm  160  suspends the tube  100  (at about the elbow portion  102 ) for the inter-system passing device  40  (or the selection subsystem  18 ) over a support table  162 . Mounted to the support table  162 , under the location of the elbow portion  102 , is an X-Y translation stage  164 . One or more trays (not shown, see,  FIG. 8 ), each defining one or more locations  34  (see,  FIG. 1 ) where individual pieces  14  of particulate matter  16  may be deposited  36 , can be supported by the x-y translation stage  164 . Under the command of the central controller  46  and the peripheral controller  48 , the x-y translation stage  164  moves the supported tray(s) such that selected ones, and perhaps all, of the locations  34  are sequentially positioned under the end of the tube  100 . With each such positioning, an individual piece conveyed through the tube  100  pursuant to the routing  22  or passing  44  actions, is effectively sorted by the sorting subsystem  30  into the positioned location  34 . Data  52  that is received from, or is derived in connection with the operation of, the sorting subsystem  30  concerning the locations  34  where the individual pieces of particulate matter have been deposited  36  is collected by the central controller  46  and stored in memory (perhaps in combination with other data, such as weight data, as discussed elsewhere herein, to allow for tracking of the individual pieces). 
     Although only one x-y translation stage is shown for moving the locations  34  underneath the collar  106 , it will be recognized by those skilled in the art that alternatively the locations  34  could be fixed and the tube  100 , elbow portion  102  and collar  106  could be moved using an x-y translation stage into position for depositing sorted individual pieces. Still further, it will be recognized that as a further alternative both the locations  34  and the tube  100 , elbow portion  102  and collar  106  each could be moved using a separate x-y translation stage. Coordinated movement of the two translation stages would be required to achieve alignment for deposition of individual pieces into the proper locations  34 . 
     The implementation described above provides for the placement of a single individual piece of particulate matter in each location  34 . It will be recognized that sorting to this degree of granularity may not be required in some industrial applications. For example, in the context of an operation to sort into weight classes, a number of locations  34  may be provided, with each location assigned by the system  10  to a certain weight range. As the process described above for picking and weighing individual pieces proceeds, the sorting operation performed by the sorting subsystem  30  collects all picked individual pieces whose measured weight falls within the defined weight range into the corresponding location  34  for that range. Any individual pieces whose weight fails to fall within one of the defined ranges are rejected by the inter-subsystem passing device  40 . 
     Reference is now made to  FIG. 8  wherein there is shown an orthogonal view of a particulate matter handling system  10  in accordance with the present disclosure that is engineered to implement the third mode of operation (pick, weigh, sort). The illustrated system  10  is designed for the handling of agricultural products, more specifically, seeds. It will be recognized that the illustration does not show each and every component or part of the system  10 . Certain components and parts are not shown in the illustration to reveal other more important components and parts or to simplify the illustration and allow for a better understanding of how the system is assembled and operates. Cross-reference to the system  10  block diagram of  FIG. 1  (and its description), as well as to other FIGURES, may be of some assistance in better understanding system operation. 
     Seeds (i.e., the particulate matter being handled) are loaded into the bin  12 . This particular implementation of the system  10  utilizes the selection subsystem  18  embodiment illustrated in  FIGS. 3A-3C . Individual seeds are raised by the piston  66 , held by the vacuum cup  90  and blown by the air jet  76  into the tube  78 . It will be noted that the system  10  shown in  FIG. 8  includes two selection subsystems  18 , and that this configuration presents some advantages. For example, the use of two pistons  66  increases the likelihood that for each actuation of the pistons, at least one seed will be picked. Additionally, if both pistons  66  successfully pick a seed, throughput can potentially be increased and fewer piston actuations will be needed. Still further, two bins allow for concurrent handling of different types/kinds of seeds. 
     The picked seed is handled through tube  100  and deposited onto the scale  24  of the weighing subsystem  28 . It will be noted that the selection subsystem  18  utilizes the delivery mechanism illustrated in  FIGS. 4A and 4B  with a pneumatically actuated  108  collar  106  to ensure precise deposit of the seed onto the scale  24  pan  122 . 
     Some specific details of the inter-subsystem passing device  40  are obscured in the illustration (see, for example,  FIG. 6  for more detail). However, it will be noted that two exit options are provided, one which leads to the sorting subsystem  30  and another which leads to a rejection (see,  FIG. 1 ). 
     A tray  200  rests on the x-y translation stage  16 . A registration mechanism, such as an alignment guide, edge(s) or pin(s) is provided with the translation stage to ensure accurate and consistent placement of the tray  200  on the stage. The tray  200  is sized to receive a certain number of plates  202  (twelve such plates are shown). Each plate  202  includes a certain number of wells  204 , with each well comprising a location  34  (see,  FIG. 1 ) where a single seed may be deposited  36 . The x-y translation stage  164  moves the tray  200  holding the plurality of plates  202  such that each well  204  is sequentially positioned underneath the collar  106  of the sorting subsystem  30 . 
     It will be noted that the sorting subsystem  30  utilizes the delivery mechanism illustrated in  FIGS. 4A and 4B  minus the use of a pneumatically actuated  108  collar  106 . A fixed collar  106 , as discussed previously is used. It will further be noted that a second collar  106 ′ is attached to the delivery mechanism. Preferably, this attachment is made using a magnetic device. An advantage of this is that the collar  106 ′ is then easily broken away from the delivery mechanism in the event of a hang-up or interference between the sorting subsystem and the plates  202  or wells  204  as the x-y translation stage  164  attempts to move the tray  200 . 
     Reference is now made to  FIG. 9  wherein there is shown a schematic diagram of the control operation for the particulate matter handling system  10  of the present disclosure. A peripheral controller  48  is directly in charge of managing system operation. The peripheral controller  48  operates under the control and direction of the central controller  46  (see,  FIG. 1 ). Taking the configuration of the system  10  shown in  FIG. 8  as an example, the peripheral controller  48  receives a number of sensor  54  inputs. Two vacuum sensors  300  and  302  are used in connection with the  FIGS. 3A-3C  pair of selection subsystems  18  to sense, based on vacuum pressure, when an individual piece of particulate matter has been successfully held by the vacuum cup  90 . One such sensor is needed for each vacuum cup  90  within the implementation shown in  FIG. 8 , as discussed above, which makes use of two pistons  66 . Four piston position sensors (two for up: sensors  304  and  306 ; and two for down: sensors  308  and  310 ) are used in connection with the  FIGS. 3A-3C  selection subsystem  18  operation to sense the position of each of the two pistons  66  and assist in making piston actuation start and stop decisions. 
     The peripheral controller  48  further exercises control (generally illustrated by arrow  56  in  FIG. 1 ) over the operations and actions taken by the various components of the system  10 . Taking the configuration of the system  10  shown in  FIG. 8  as an example, the peripheral controller  48  controls a first and second elevator solenoid valve  320  and  322 , respectively, to pneumatically actuate the pistons  66  to move between the up and down positions (as sensed by the sensors  304 - 310 ). A pair of vacuum solenoid valves  324  and  326  are controlled by the peripheral controller  48  to draw the vacuum at the vacuum cups  90  that hold the picked seeds within the selection subsystem  18 . More specifically, each of these valves  324  and  326  allow pressurized air to be input to a Venturi block that is used for the purpose of drawing a suction at the vacuum cups  90 . In connection with the operation of the vacuum cups  90 , the peripheral controller  48  may further control a pair of drop solenoid valves  326  and  328  which allow pressurized air to be applied to the vacuum cups to blow a held seed away. This may be useful to assist gravitational forces in dropping the held seeds from the vacuum cups  90 . Preferably, the valves  326  and  328  are actuated when the valves  324  and  326  are un-actuated (and vice-versa). The peripheral controller  48  still further controls a pair of transfer jet solenoid valves  330  and  332  which allow pressurized air to be applied to the air jets  76  within the selection subsystem  18  that blow the picked seeds into the tubes  78 . In order ensure only a single seed is processed at a time, operation of the valves  330  and  332  is generally mutually exclusive and coordinated, also in a mutually exclusive manner, with the operation of the valves  326  and  328 . A collar solenoid valve  334  is controlled by the peripheral controller  48  to pneumatically actuate (reference  108 ) the collar  106  to move between the up and down positions and thus control the placement of the picked seed on the pan  122  of the scale  24 . Down movement of the collar  106  must be closely controlled so that the collar does not impact on or damage the pan  122  (and thus possibly damage the sensitive LVDT load cell). Finally, the peripheral controller  48  controls an accept solenoid valve  336  and a reject solenoid valve  338  which allow pressurized air to be applied to the air jets  140  within the inter-subsystem passing device  40  that selectively blow the weighed seeds off the weighing pan  122  for either sorting in the sorting subsystem  30  or rejection. In order to ensure proper forwarding of the weighed seed in the right direction, operation of the valves  336  and  338  is generally mutually exclusive. 
     Although preferred embodiments of the method and apparatus of the present disclosure have been illustrated in the accompanying Drawings and described in the foregoing Detailed Description, it will be understood that the disclosure is not limited to the embodiments disclosed, but is capable of numerous rearrangements, modifications and substitutions without departing from the spirit of the disclosure as set forth and defined by the following claims.