CN112595367A - Rice root system property nondestructive measurement device based on intelligent robot - Google Patents
Rice root system property nondestructive measurement device based on intelligent robot Download PDFInfo
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- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention discloses a rice root system character nondestructive measuring device based on an intelligent robot. The device realizes high-precision, high-throughput and full-automatic acquisition of overground and underground phenotype information of the rice in the whole growth period and digital integrated data storage. The root box which is inclined by 30 degrees is used for placing plants to grow, the bottom surface of the root box is made of glass, a root system grows by being attached to the glass surface under the action of gravity, and the root box can shade the root box and can supplement light during measurement; carrying an infrared camera, a hyperspectral camera, an RGB visible light camera and a scanner by a robot for measuring the phenotype of the overground and underground parts of the plant; and the detection of the phenotype and the environment is completed by combining an environment monitoring system. The invention provides a high-throughput, full-automatic and high-precision rice root phenotype measurement scheme in the whole growth period, which can quickly and accurately obtain rice traits and environmental information and help biologists to complete rice functional genome analysis by combining gene data.
Description
Technical Field
The invention belongs to the field of agricultural automation, and particularly relates to a rice root system character nondestructive measuring device based on an intelligent robot.
Background
The rice is used as main grain in half of the global population, and is also the main grain crop in China. Realizing the continuous increase of the grain yield has very important significance for China and the world. Through rice breeding and functional genome analysis, the potential of rice is deeply excavated, and the cultivation of high-yield, high-nutrition and strong-stress-resistance rice is a common wish of each rice researcher.
The sequencing technology is mature, the gene sequencing of rice is already completed, and the analysis of gene functions becomes the key and difficult point of the current rice breeding. In order to realize the functional analysis of the rice gene, the phenotype and the genotype must be combined, and the positioning point of the plant variation gene is determined through the phenotype information, which puts new requirements on the acquisition of the phenotype data. The traditional method for manually acquiring phenotype data is slow in efficiency, low in precision and high in cost, development of functional gene analysis is restricted, and high-throughput and high-precision phenotype equipment becomes the main requirement at present for accelerating the progress of rice genetic improvement. In recent years, with the development of plant phenotype technologies, more and more phenotype information is deeply mined, and the phenotype characters which can be visually observed by human eyes can be easily obtained to carry out quantitative extraction, such as the phenotype information of plant height, leaf color, rice tillering and the like. However, with the advance of functional genome analysis, people pay more attention to the phenotypic information, from visible to invisible, from the surface of the plant to the inside of the plant and from the overground part to the underground part, which all put new requirements on the phenotypic acquisition equipment.
For plants, the root system is an organ for absorbing water and nutrition, whether the root system is developed or not is closely related to the growth state of crops, and the cultivation of crops with developed root systems has very important significance for improving the yield of crops. However, currently, the measurement of the phenotype of the underground part, particularly the root system, is always a difficult point of the phenotype measurement, and particularly, the nondestructive detection of the growth and development state of the root system is always a bottleneck of the current crop research.
The invention content is as follows:
technical problem to be solved
To promote the functional genome analysis of rice, new requirements are put forward on a phenotype device.
1. Nondestructive testing: the real character information of the plant can be ensured to be obtained as far as possible on the premise of not damaging the physiological structure of the plant. The nondestructive testing can obtain the plant growth dynamic parameters in real time, and is more useful and convincing by combining the environment information test form information.
2. High flux: on one hand, in order to meet the requirements of multiple varieties, multiple repetition and multiple controls of experimental materials in the research process, and on the other hand, the method is combined with metabonomics to monitor physiological and biochemical information in plants in real time, so that all monitoring tasks need to be completed before the internal biochemical information is changed, and large-batch phenotypic data monitoring needs to be completed in a short time.
3. Multiple phenotypes: in order to realize the combined analysis of multi-scale phenotype and gene, various physiological and biochemical phenotype information needs to be acquired.
4. Root system measurement in the whole growth period: the main problem to be solved by the invention is to accurately observe the growth and development conditions of the root system on the premise of ensuring the normal growth of the plant because the root system can not be directly observed when growing in the soil.
(II) technical scheme
The invention provides a rice root system character nondestructive measuring device based on an intelligent robot, which aims to solve the technical problem.
The utility model provides a rice root system property nondestructive measurement device based on intelligent robot for realize that high accuracy, high flux and full-automatic rice are on the ground and underground phenotype property is acquireed and digital integration data storage, its characterized in that: aiming at the information of different organ phenotypes of root-box rice, the method realizes the acquisition and analysis of all the phenotypes of plants on the ground and underground in the whole growth period with high flux, full automation and digitization; the root system character nondestructive measuring device comprises a root box array, an intelligent robot, an optical sensor, an environment monitoring system, a central processing system and the like; the root box array consists of a main framework, a root box and a drip irrigation system and is used for loading soil for plant growth and exposing organ tissues for phenotype data acquisition; one side of the root box glass is provided with a switchable light-tight curtain based on a sliding chute, so that the root system can be ensured to grow in a dark environment when the curtain is closed, and the curtain is used for measuring the phenotypic parameters of the root system when the curtain is opened; the root box upright post is provided with an LED light source for illumination supplement of root system measurement, and reasonable position arrangement design is adopted for reducing the interference of glass mirror reflection on the measurement result to the maximum extent, so that a high-precision measurement result is obtained; the intelligent robot carries the detectors at the same time, so that intelligent navigation, automatic positioning and accurate measurement are realized; the optical sensor comprises an infrared camera, a hyperspectral camera, an RGB visible light camera and a scanner and is used for extracting phenotype parameters of plant organs; the environment monitoring system is used for acquiring environment information; the central processing system is used for completing the control of the system and the work of image processing.
Preferably, the main frame is used for placing the root box, and the assembling relationship between the root box and the main frame, including the arrangement distance and the placing position of the root box, can be confirmed according to requirements.
Preferably, the side of root box comprises 3 opaque stainless steel boards and the transparent toughened glass face of one side, and toughened glass face slope 30 degrees angles towards ground, makes the laminating toughened glass face that plant roots can be better grow.
Preferably, the automatic drip irrigation system consists of a dropper, a water dropper and an electric valve, and can not only carry out quantitative accurate irrigation on each box according to users, but also quickly complete a large-batch experimental irrigation task.
Preferably, the outer layer of the transparent toughened glass surface of the root box is also provided with a switchable opaque sunshade curtain, the opaque sunshade curtain is arranged on the outer side of the glass surface and is made of opaque foldable canvas, the outer frame is formed by splicing metal plate structures, the size of the outer frame is consistent with that of the transparent glass surface, and the edge flush with the glass surface is provided with a bent edge, so that the sunshade curtain completely avoids sunlight from irradiating the root system part of the rice when not being opened, the sunshade curtain is closed when the rice grows normally, the rice root system is prevented from aerobic respiration under the illumination to generate green moss, and the green moss is attached to the glass surface, thereby influencing the imaging quality of the rice root system; during detection, the sunshade curtain slipknot handle can be directly used for opening, and the rice root system can be detected.
Preferably, two LED light sources are arranged on two sides of a left upright post and a right upright post of a glass surface of the root box, the lengths of the light sources are consistent with the length of a side surface of the root box, so that the uniform up-and-down illumination brightness of the glass surface is ensured, meanwhile, the bead surfaces of the LED light sources are vertical to the glass surface, the side surfaces of the LED light sources are parallel to the glass surface, and the left LED lamp beads and the right LED lamp beads are opposite in parallel, so that the light of the light sources is prevented from being; the side face, far away from the glass face, of the LED light source is provided with the shading baffle, so that light of the LED light source can be effectively prevented from being diffused towards the side of the imaging sensor, and lighting of a camera lens is not influenced.
Preferably, the intelligent robot is guided by a ground magnetic guide strip to advance, a path guide label is placed in front of each row of root boxes, and an RFID label is placed in front of each root box to realize accurate positioning; still carry on the robot and remove the module, control camera and reciprocate and adjust the camera distance of shooing.
Preferably, it is characterized in that: RGB imaging, infrared thermography, hyperspectral imaging and non-contact scanners are used to obtain a total of 20 phenotype-related parameters for different organs; the 4 optical imaging units can coordinate and work uniformly and can also finish the detection task independently.
Preferably, the environment monitoring system comprises a climate monitoring system and a soil monitoring system, the climate monitoring system can automatically monitor environmental parameters including temperature, humidity, illumination, air pressure, wind speed and wind direction, and the soil monitoring system can monitor the change of soil moisture of each box and upload the change to the central processing system.
Preferably, the central processing system realizes control over drip irrigation, illumination, robot movement and image acquisition on the one hand, finishes work of image processing and parameter extraction on the other hand, realizes digital integrated management, and saves collected pictures in a cloud.
(III) advantageous effects
The invention discloses a rice root system character nondestructive measuring device based on years of technical accumulation and research and development of an inventor in the field, and the device is used for realizing high-precision, high-flux and full-automatic rice whole-growth-period overground and underground phenotype information acquisition and digital integrated data storage.
Compared with the prior art, the method has at least the following technical advantages: (1) the robot realizes automatic phenotype measurement through remote control, reduces labor cost, completes the task of high-throughput phenotype measurement, saves the time of phenotype detection, can complete detection before biochemical property changes after completing detection in a short time, and can perform relevance analysis by matching with a metabolome; (2) the robot carries various sensors, can complete various phenotype detection tasks in a short time and multiple scales, can reflect the omnibearing phenotype characteristics of plants, and can realize phenotype, environment, metabolism and gene combined analysis by combining with environmental monitoring; (3) the detection scheme of the high-flux root phenotype is provided, the problems of light avoidance, appearance, light supplement, high-flux measurement and the like in the whole growth period of the root system are solved through a set of hardware design matched with the method, the measurement precision is obviously improved, high-quality measurement data are obtained, and support is provided for related research of the root system. (4) The system has very good application potential, and can be suitable for phenotype detection of main crops such as barley, wheat, corn, rape and the like after being modified.
Drawings
FIG. 1 is a schematic view of a root system monitoring system according to the present invention
FIG. 2 is a schematic view of a root box of the root system monitoring system of the present invention.
Fig. 3 is a schematic view of the robot with an optical sensor according to the present invention.
In fig. 1: the system comprises a robot 1, a magnetic guide rail 2, a box 3, a main frame 4, a scanner 5, a hyperspectral camera 6, an RGB visible light camera 7 and an infrared camera 7.
The technical solution of the present invention will be further specifically described with reference to the accompanying drawings and the detailed description.
Detailed Description
The invention provides a rice root system character nondestructive measuring device based on an intelligent robot, aiming at solving the technical problem.
As shown in fig. 1, the root box and the main frame 3 are arranged at a certain interval, one side of the glass faces downwards, and the root system grows along the glass by the geotropism of the root; the outer layer of the glass is also provided with a switchable light-tight sunshade curtain, on one hand, the sunshade curtain needs to grow in a dark environment due to the light-shading property of the roots, and on the other hand, the root system observation can be carried out when the sunshade curtain is opened; two LED light sources are arranged on two upright posts of the root box and used for supplementing during root system scanning, a left LED lamp bead and a right LED lamp bead are parallel and opposite, the influence of reflection on measurement is avoided, and meanwhile, a baffle is arranged on the outer side far away from the light sources to isolate light rays and directly irradiate into the sensor; one side of the glass faces to the walkway, a magnetic guide rail 2 is laid on the walkway and used for guiding a robot 1 to move, a guide label is arranged in front of each row of root boxes and used for positioning the row number, and an RFID label is placed in front of each root box and used for positioning each root box; the trolley is provided with four optical sensors, namely a scanner 4, a hyperspectral camera 5, an RGB visible light camera 6 and an infrared camera 7, so that measurement of the multi-phenotype of the plants is realized; the trolley is provided with a moving module for adjusting the position of the camera; the environment monitoring system comprises a climate monitoring system and a soil monitoring system, the climate monitoring system can automatically monitor environmental parameters including temperature, humidity, illumination, air pressure, wind speed and wind direction, and the soil monitoring system can monitor the change of soil moisture of each box; the transmission, the picture acquisition and the analysis and the processing of the character parameters are automatically controlled by developing software, the measurement results are respectively stored in the forms of Excel tables and databases, and the measurement process can be observed and monitored in real time, so that the overground and underground phenotypic characters in the whole growth process of the crops can be inspected.
The 4 optical imaging units designed by the system are an organic whole, so that the system can coordinate and work uniformly and can independently complete the detection task. The RGB visible light camera and the scanner respectively measure the phenotypic characters of the plants on the ground and under the ground in the aspect of morphology; the infrared camera can acquire the temperature information of the plants; the hyperspectrum is mainly used for analyzing the content information of plant metabolites. Finally, the 4 imaging units jointly realize high-flux detection of the overground plant phenotype and the underground root system phenotype of the root-box rice in the whole growth period. The measured properties and the corresponding measurement accuracies of the 4 optical sensors are shown in the following table.
The specific embodiments described in this application are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a rice root system property nondestructive measurement device based on intelligent robot which characterized in that: aiming at the information of different organ phenotypes of root-box rice, the method realizes the acquisition and analysis of all the phenotypes of plants on the ground and underground in the whole growth period with high flux, full automation and digitization; the root system character nondestructive measuring device comprises a root box array, an intelligent robot, an optical sensor, an environment monitoring system, a central processing system and the like; the root box array consists of a main framework, a root box and a drip irrigation system and is used for loading soil for plant growth and exposing organ tissues for phenotype data acquisition; one side of the root box glass is provided with a switchable light-tight curtain based on a sliding chute, so that the root system can be ensured to grow in a dark environment when the curtain is closed, and the curtain is used for measuring the phenotypic parameters of the root system when the curtain is opened; the root box upright post is provided with an LED light source for illumination supplement of root system measurement, and reasonable position arrangement design is adopted for reducing the interference of glass mirror reflection on the measurement result to the maximum extent, so that a high-precision measurement result is obtained; the intelligent robot carries the detectors at the same time, so that intelligent navigation, automatic positioning and accurate measurement are realized; the optical sensor comprises an infrared camera, a hyperspectral camera, an RGB visible light camera and a scanner and is used for extracting phenotype parameters of plant organs; the environment monitoring system is used for acquiring environment information; the central processing system is used for completing the control of the system and the work of image processing.
2. The intelligent robot-based rice root system nondestructive measurement device of claim 1, characterized in that: the main frame is used for placing root boxes, and the assembling relation between the root boxes and the main frame can be confirmed as required, including the arrangement distance and the placing position of the root boxes.
3. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: the side of root box comprises 3 opaque corrosion resistant plate of face and the transparent toughened glass face of one side, and toughened glass inclines 30 degrees angles towards ground, makes the laminating toughened glass face that plant roots can be better grow.
4. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: the outer layer of the transparent toughened glass surface of the root box is also provided with a switchable opaque sunshade curtain, the opaque sunshade curtain is arranged on the outer side of the glass surface and is made of opaque foldable canvas, the outer frame is formed by splicing metal plate structures, the size of the outer frame is consistent with that of the transparent glass surface, and the edge flush with the glass surface is provided with a bent edge, so that the sunshade curtain completely prevents sunlight from irradiating the root system part of the rice when not being opened, the sunshade curtain is closed when the rice normally grows, the root system of the rice is prevented from aerobic respiration under illumination to generate green moss, the green moss is attached to the glass surface, and the imaging quality of the root system of the rice is influenced; during detection, the sunshade curtain slipknot handle can be directly used for opening, and the rice root system can be detected.
5. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: two LED light sources are arranged on two sides of a left upright post and a right upright post of a glass surface of the root box, the lengths of the light sources are consistent with the length of a side surface of the root box, so that the uniform illumination brightness of the upper part and the lower part of the glass surface is ensured, meanwhile, the bead surface of the LED light source is vertical to the glass surface, the side surface of the LED light source is parallel to the glass surface, and the left LED bead and the right LED bead are parallel and opposite to each other, so that the light of the; the side face, far away from the glass face, of the LED light source is provided with the shading baffle, so that light of the LED light source can be effectively prevented from being diffused towards the side of the imaging sensor, and lighting of a camera lens is not influenced.
6. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: the automatic drip irrigation system consists of a dropper, a water dropper and an electric valve, and can not only carry out quantitative accurate irrigation on each box according to users, but also quickly finish a large-batch experiment irrigation task.
7. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: the intelligent robot is guided to advance by the ground magnetic conducting strip, a path guiding label is placed in front of each row of root boxes, and an RFID label is placed in front of each root box to realize accurate positioning; still carry on the robot and remove the module, control camera and reciprocate and adjust the camera distance of shooing.
8. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: RGB imaging, infrared thermography, hyperspectral imaging and non-contact scanners are used to obtain a total of 20 phenotype-related parameters for different organs; the 4 optical imaging units can coordinate and work uniformly and can also finish the detection task independently.
9. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: the environment monitoring system comprises a climate monitoring system and a soil monitoring system, the climate monitoring system can automatically monitor environmental parameters including temperature, humidity, illumination, air pressure, wind speed and wind direction, and the soil monitoring system can monitor the change of soil moisture of each box and upload the change to the central processing system.
10. The intelligent robot-based rice root system character nondestructive measurement device of claim 1, characterized in that: the central processing system realizes control of drip irrigation, illumination, robot movement and image acquisition on the one hand, finishes work of image processing and parameter extraction on the other hand, realizes digital integrated management, and saves collected pictures in a cloud.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113820906A (en) * | 2021-09-29 | 2021-12-21 | 河南大学 | Indoor root system phenotype detection platform |
| CN114061483A (en) * | 2021-11-08 | 2022-02-18 | 华中农业大学 | Artificial intelligence-based crop whole phenotype group high-throughput detection system and method |
| WO2023118569A1 (en) | 2021-12-24 | 2023-06-29 | Smo Bvba | Rhizotron |
| CN116389857A (en) * | 2023-06-07 | 2023-07-04 | 北京市农林科学院信息技术研究中心 | Plant phenotype acquisition platform, method, electronic equipment and storage medium |
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