WO2021082656A1 - 一种用于获取作物表型的高通量拍照系统 - Google Patents

一种用于获取作物表型的高通量拍照系统 Download PDF

Info

Publication number
WO2021082656A1
WO2021082656A1 PCT/CN2020/110636 CN2020110636W WO2021082656A1 WO 2021082656 A1 WO2021082656 A1 WO 2021082656A1 CN 2020110636 W CN2020110636 W CN 2020110636W WO 2021082656 A1 WO2021082656 A1 WO 2021082656A1
Authority
WO
WIPO (PCT)
Prior art keywords
phenotype
crop
sliding guide
guide rail
obtaining
Prior art date
Application number
PCT/CN2020/110636
Other languages
English (en)
French (fr)
Inventor
傅秀清
姜东�
丁艳锋
吴劼
周国栋
毛江美
Original Assignee
南京慧瞳作物表型组学研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京慧瞳作物表型组学研究院有限公司 filed Critical 南京慧瞳作物表型组学研究院有限公司
Publication of WO2021082656A1 publication Critical patent/WO2021082656A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits

Definitions

  • the present invention relates to the technical field of crop phenotype acquisition, in particular to a high-throughput photographing system for acquiring crop phenotype.
  • Crop phenotypic characteristics are external characteristics of crops. Research on crop phenotypic characteristics can obtain the relationship between crop genotypes, environmental factors and crop phenotypes.
  • the present invention provides a high-throughput photographing system for obtaining crop phenotypes.
  • the present invention can continuously obtain the phenotypes of multiple groups of plants through the cooperation between image acquisition devices. data.
  • the present invention specifically adopts the following technical solutions.
  • a high-throughput photographing system for obtaining crop phenotypes which includes a first phenotype obtaining unit for obtaining crop phenotype information from a first perspective.
  • the type acquisition unit includes: a first-direction sliding guide, which is parallel to a side surface of the root box of the crop, and is arranged along a first direction; a sliding plate is arranged on the first-direction sliding guide and slides along the first direction
  • the guide rail translates in the first direction;
  • the second direction sliding guide rail the lower end of which is fixedly connected to the sliding plate, the second direction sliding guide rail is perpendicular to the upper surface of the sliding plate, and is arranged along the second direction;
  • the third direction sliding A guide rail which is connected to the second-direction sliding guide rail, and the root box facing the crop is set in the third direction; an image capture device is provided at one end of the third-direction sliding guide rail facing the root box, For collecting the image of the root box and/or the
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the root boxes are arranged in a row along the first direction, and the image acquisition device is accompanied by the sliding plate along the first During the translation of the directional sliding guide rail in the first direction, the images of the root boxes and/or the crops contained in the root boxes are sequentially taken.
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the first phenotype obtaining unit includes two, and the first phenotype obtaining unit of the two first phenotype obtaining units slides in the first direction
  • the guide rails are respectively arranged on both sides of the root box of the crop in parallel to the first direction, the third-directional sliding guide in each of the first phenotype acquisition units and the image of the end of each third-directional sliding guide
  • the acquisition device and the background board are respectively arranged opposite to each other; the two first phenotype acquisition units respectively take images of different sides of each of the root boxes and/or the crops contained in the root boxes.
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the sliding plates in the two first phenotype obtaining units are driven to move synchronously along the first direction, and any one of them
  • the image acquisition devices in a first phenotype acquisition unit always keep facing the background board in the first phenotype acquisition unit on the opposite side.
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the high-throughput photographing system further includes a second phenotype obtaining unit for obtaining phenotype information of the crop at a second perspective
  • the second phenotype acquisition unit includes: a top sliding guide rail, which includes two sliding guide rails parallel to the first direction and respectively fixed above the root box of the crop along the first direction, and two top sliding guide rails Are respectively arranged on both sides of the root box of the crop; a middle sliding guide rail, the two ends of which are respectively connected to the two top sliding guide rails, the middle sliding guide rail is on the lower side of the top sliding guide rail along the first direction Translation; the lower sliding rail, the upper end of which is connected with the middle sliding rail, the lower end of which is fixed with a second viewing angle image acquisition device, the lower sliding rail is perpendicular to the middle sliding rail and the top sliding rail, along the second direction Relative to the middle sliding guide rail; the second perspective image acquisition device, which
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the two first phenotype obtaining units are fixedly arranged on the same working plane, and the root box is on the working plane. Arranged in the first direction, the second phenotype acquisition unit is fixed above the working plane.
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the first phenotype obtaining unit and the second phenotype obtaining unit are respectively provided corresponding to the first direction and the The driving device in the second direction and the third direction.
  • the above-mentioned high-throughput photographing system for obtaining crop phenotypes wherein the driving devices in each direction respectively include: a servo motor, and a transmission assembly connected with the drive shaft of the servo motor, so
  • the transmission assembly includes a ball screw nut pair; image acquisition devices of various viewing angles are respectively connected to the corresponding ball screw nut pair and move synchronously with the ball screw nut pair, and the servo motor drives the ball screw nut pair along the first The movement in one direction, the second direction, or the third direction drives the image capture device corresponding to the viewing angle to move.
  • the aforementioned high-throughput photographing system for obtaining crop phenotypes wherein the driving direction and driving speed of each of the servo motors corresponding to the first direction are kept consistent.
  • the image acquisition devices on the two first phenotype acquisition units are driven by the same type of servo motor and ball screw nut pair.
  • the two image acquisition devices in the initial state of the two first phenotype acquisition units are set at the same starting position, the two servo motors are started at the same time, and the two servo motors have the same rotation and speed to ensure that the image acquisition device is driven synchronously.
  • the present invention utilizes sliding guide rails in three directions and corresponding image acquisition devices arranged at the ends of the sliding guide rails to form two phenotype acquisition units for different phenotype information respectively.
  • the phenotype acquisition unit is respectively arranged at different positions of the root box according to the arrangement direction of the root box, and acquires crop images under different viewing angles to realize the extraction of crop phenotypic characteristics.
  • the image acquisition device corresponding to the driving device is used to adjust it to a position where the crop phenotype information can be accurately obtained, and then the image acquisition device is driven to scan each root box and the root boxes arranged in the first direction one by one along the first direction.
  • the phenotype information of each crop in each root box is sequentially obtained.
  • the invention can obtain multiple sets of crop top-down graph data in real time, at a fixed time and at a fixed point, and then complete the storage, transmission and phenotypic data analysis of multiple sets of crop top-down graph data.
  • a pair of first phenotype acquisition units that are parallel to each other and set to operate synchronously are respectively provided along both sides of the root box of the crop.
  • the image acquisition device keeps facing the background board in the other first phenotype acquisition unit on the opposite side, and the image acquisition device and the background board move synchronously to ensure that the image acquisition device captures
  • the background panel can always block the environmental image behind the crop, which facilitates the later extraction of crop phenotypic features in the image through the image processing system.
  • a second phenotype acquisition unit is further provided on the upper part of the root box.
  • the second-view image acquisition device in the second phenotype acquisition unit is from top to bottom, with the working plane set by the first phenotype acquisition unit and the root box as a background, photographs a top view of the crop to obtain phenotype information on the top of the crop. Therefore, the present invention can extract the phenotype of crops more completely, and can obtain the phenotypic characteristics of multiple groups of different parts of crops at the same time.
  • the samples collected by the present invention can minimize the artificial influence, and can provide sufficient data volume for statistical analysis.
  • the present invention can significantly improve the efficiency and accuracy of obtaining crop phenotype data.
  • Fig. 1 is a schematic diagram of the high-throughput photographing system for obtaining crop phenotypes of the present invention in use;
  • FIG. 2 is a top view of the first phenotype acquisition unit in the high-throughput photographing system for acquiring crop phenotypes of the present invention
  • Fig. 3 is a perspective view of the above-mentioned first phenotype acquisition unit.
  • 1 represents a sliding guide in the first direction
  • 2 represents another sliding guide in the first direction
  • 3 represents an image capture device
  • 31 represents a skateboard
  • 32 represents a sliding guide in a second direction
  • 33 represents a third-direction sliding guide
  • 4 represents a background Plate
  • 5 represents the second viewing angle image acquisition equipment
  • 6 represents the lower sliding rail
  • 7 represents the middle sliding rail
  • 8 represents the top sliding rail
  • 9 represents the root box holder
  • 91 represents the root box rack.
  • connection in the present invention can be a direct connection between components or an indirect connection between components through other components.
  • Fig. 1 is a high-throughput photographing system for obtaining crop phenotypes according to the present invention, which includes: a first phenotype obtaining unit arranged on a working plane, and a second phenotype obtaining unit arranged above the working plane , Respectively used to obtain the phenotypic characteristics under the horizontal view of the crop and the phenotype characteristics under the overhead view.
  • the root boxes with cultivated crops are arranged in a straight line along the first direction and placed on the working plane as shown in Fig. 2 or Fig. 3. At least two sides of the root box along the first direction can be set to be transparent, so as to facilitate the acquisition of images of the underground part of the crop inside the root box, and extract the ground and subsurface characteristics of the corresponding crop from the image.
  • they can be arranged in a long root box frame 91 fixed by the root box fixing frame 9 on the working plane.
  • a flash structure beyond the edge of the main structure is arranged around the top of the root box, and the root box frame is provided with a through slot corresponding to the size of the main structure of the root box.
  • the main structure of the root box When the root box is installed, the main structure of the root box is nested in the through groove on the root box frame, and the flash structure abuts on the upper surface of the through groove to realize the fixation of the root box.
  • the working plane can be set as a seedbed capable of accommodating the root box and the corresponding phenotype acquisition unit.
  • the root box fixing frame can be installed on the upper surface of the seedbed by fastening bolts, and a root box frame 91 is placed on the root box frame 91. Each root box is arranged along a straight line in the root box frame 91, and the root box is in the root box.
  • the sides of the frame 91 in the length direction are set to be transparent for photographing ground phenotypes, or, when the root box is opaque, it can be used to cultivate and fix crops for photographing ground phenotypes.
  • the spacing between the root boxes needs to be set according to the data requirements for obtaining the crop top view graph type, so as to ensure that the crops will not overlap and cause interference during the top view shooting.
  • the above-mentioned first phenotype acquiring unit includes:
  • the sliding guide rail 1 in the first direction is parallel to a side surface of the root box of the crop and is arranged along the first direction;
  • the sliding plate 31 is arranged on the sliding guide rail 1 in the first direction, and the sliding guide rail 1 is translated in the first direction along the first direction;
  • the second-direction sliding guide 32 has a lower end fixedly connected to the sliding plate 31, and the second-direction sliding guide 32 is perpendicular to the upper surface of the sliding plate 31 and is arranged along the second direction;
  • the third-direction sliding guide 33 is connected to the second-direction sliding guide 32, and the root box facing the crop is set in the third direction;
  • An image acquisition device 3 which is disposed at an end of the third-direction sliding guide 33 facing the root box, and is used to acquire an image of the root box and/or the crop contained in the root box in a first angle of view;
  • the background board 4 is arranged on one side of the image acquisition device 3;
  • the third-direction sliding guide 33 When the third-direction sliding guide 33 moves in the second direction along the second-direction sliding guide 32, it drives the image acquisition device 3 to move synchronously, and adjusts the image acquisition device 3 relative to the root box and/ Or the height of the crops contained in the root box; when the third-direction sliding guide 33 moves in the third direction relative to the second-direction sliding guide 32, the image acquisition device 3 is driven to move synchronously to adjust the The distance of the image acquisition device 3 relative to the root box and/or the crop contained in the root box.
  • the root boxes are arranged in a row along the first direction, and the image capture device 3 slides the guide rail 1 along the first direction along with the slide plate 31 in the first direction. Shift in the first direction, and sequentially take images of each of the root boxes and/or the crops contained in the root boxes.
  • the first phenotype acquisition unit can be set to two, which are respectively arranged on both sides of the root box parallel to the root box rack. .
  • the first direction sliding guide rails 1 in the two first phenotype acquisition units are respectively arranged on both sides of the root box of the crop parallel to the first direction, and are fixedly arranged on the same root box as the root box. On the same working plane.
  • the third-direction sliding guide rail 33 in each of the first phenotype acquisition units and the image acquisition device 3 and the background board 4 at the end of each third-direction sliding guide 33 are respectively arranged opposite to each other;
  • the first phenotype acquisition unit separately captures images of different sides of the root boxes and/or crops contained in the root boxes under the horizontal viewing angle.
  • the above-mentioned first phenotype acquisition unit is also respectively provided with a background board, which is used as a background when photographing crops.
  • a background board which is used as a background when photographing crops.
  • the second phenotype acquisition unit includes:
  • the top sliding guide 8 includes two sliding guides 1 parallel to the first direction and fixed above the root box of the crop in the first direction.
  • the two top sliding guides 8 are respectively arranged on the top of the crop. Both sides of the root box;
  • the middle sliding guide rail 7 is connected to two top sliding guide rails 8 at both ends, and the middle sliding guide rail 7 is translated in the first direction on the lower side of the top sliding guide rail 8;
  • the lower sliding guide 6 has its upper end connected to the middle sliding guide 7, and a second viewing angle image acquisition device 5 is fixed at its lower end.
  • the lower sliding guide 6 is perpendicular to the middle sliding guide 7 and the top sliding guide 8, Move relative to the middle sliding guide rail 7 in the second direction;
  • the second perspective image acquisition device 5 is fixed on the lower end of the lower sliding guide 6 toward the top of the root box downward, and the second perspective image acquisition device 5 is used to collect the root box and/or The image of the crop contained in the root box in the second perspective.
  • first direction, third direction, and second direction may respectively correspond to the three directions of XYZ.
  • the X-Y plane forms the working plane.
  • the corresponding side view phenotype acquisition sensor group can be installed through the first phenotype acquisition unit to acquire crop phenotype data under the side view angle.
  • the side view phenotype acquisition sensor group is installed on the corresponding Y-direction sliding guide rail in the first phenotype acquisition unit.
  • the side view phenotype acquisition sensor group may specifically include a visible light sensor, a multispectral sensor, a hyperspectral sensor, a thermal imaging sensor, a lidar sensor, and the like.
  • the side view phenotype acquisition sensor group can be driven by a servo motor capable of outputting an X-direction driving force and an X-direction sliding guide corresponding to the servo motor, and the side view phenotype acquisition sensor group can be translated along the crop root box frame, thereby achieving the acquisition of the side view phenotype.
  • the focal length of each sensor is adjustable.
  • the background board is installed on the Y-direction sliding guide rail of the side view phenotype acquisition system, and the background board is driven by the Y-direction servo motor and the Y-direction sliding guide rail.
  • the above-mentioned overall high-throughput camera system can be set in the environment of the climate cabin.
  • the climate chamber environment is adjusted and recorded in accordance with the set requirements to correspond to various phenotype data and provide a data basis for the study of the relationship between phenotype and environment.
  • the climate cabin is equipped with a control and analysis system, which can simultaneously control two sets of side view phenotype acquisition systems to cooperate with each other: when the side view phenotype acquisition system and the side view phenotype acquisition sensor group of the side view phenotype acquisition system begin to acquire phenotype data,
  • the side view phenotype acquisition system on the other side needs to drive the background plate set on it to move to the position corresponding to the side view phenotype acquisition sensor group.
  • the single color A rectangular background plate is used as a background to obtain phenotype data on one side of crop stems, leaves and roots.
  • the setting of the background board is conducive to the processing and analysis of the later phenotypic data.
  • the two sets of side view phenotype acquisition systems controlled by the climate cabin control and analysis system cooperate with each other to complete the acquisition of phenotype data on the two sides of crop stems, leaves and roots.
  • a lighting system can be further provided on the top of the working platform.
  • the climate cabin control and analysis system can control the lighting system to be turned on when shooting, and to turn off when the shooting ends to reduce the impact of external light on the bare crop roots according to the needs of use.
  • the above-mentioned second phenotype acquisition unit may be specifically configured as a top-down graph-type acquisition system installed on the top of the climate chamber box. It includes a servo motor in three directions of XYZ, a sliding guide rail in three directions of XYZ, and a second-view image acquisition device 5 composed of a top-view graph-type acquisition sensor group.
  • the climate cabin control and analysis system can control the XYZ three-direction servo motors to drive the XYZ three-direction sliding guides in real time according to the requirements of the top-down graph data acquisition of crop stems and leaves, so as to drive the top-down graph acquisition sensor group to achieve the right Obtaining multiple sets of crop top view graph data.
  • the climate cabin control and analysis system can control the top view graph acquisition sensor group to obtain multiple sets of crop top view graph data in real time, timing and fixed point, and then complete the storage, transmission and phenotypic data analysis of multiple sets of crop top graph data.
  • the top-view graph acquisition sensor group is installed at the lower end of the Z-direction sliding guide rail of the top-view graph acquisition system, and it can be set to include visible light sensors, multispectral sensors, hyperspectral sensors, thermal imaging sensors, lidar sensors, etc. sensor.
  • the above-mentioned top-view graph acquisition sensor group is driven by the Z-direction servo motor to move synchronously with the Z-direction sliding guide rail, so as to realize the photographing of crop phenotypes at different positions under the top view angle.
  • the focal length of each sensor in the top-view graph acquisition sensor group is adjustable, which is convenient for automatic phenotype acquisition.
  • each of the drive devices includes three-direction servo motors and transmission components respectively connected to the drive shafts of the servo motors.
  • the transmission components correspondingly drive the three-direction sliding rail connection structure to move to realize the adjustment of the position of the side view phenotype acquisition sensor group, the background board or the top view diagram type acquisition sensor group.
  • the transmission assembly can drive the image acquisition device through a servo motor and a ball screw nut pair connected to the drive shaft of the servo motor.
  • the image acquisition devices of each viewing angle are respectively connected to the ball screw nut pair corresponding to the direction in which they are located.
  • the servo motor drives the ball screw nut pair to move in the first direction, the second direction, or the third direction to drive the image of the corresponding viewing angle.
  • the acquisition device moves synchronously with the ball screw nut pair in the direction of the change.
  • the background board can be set on the opposite side of the camera to match the position of the camera when the crop phenotype is collected.
  • the image acquisition devices on the two first phenotype acquisition units described above can be driven by servo motors and ball screw nut pairs of the same model. Set two first phenotype acquisition units in the initial state of the two image acquisition devices are located at the same starting position, two servo motors start at the same time, the two servo motors always maintain the same rotation and speed, so as to ensure the image acquisition equipment And the corresponding background board is driven synchronously. It is ensured that in the process of crop phenotype collection, the image collection equipment can correspond to the background board, and the background board is used as the background of the crop, which simplifies the steps of extracting the phenotypic characteristics of the crop from the complex environment.
  • the climate cabin control and analysis system in the climate cabin can control the XYZ three-direction servo motors to drive the XYZ three-directional sliding guides in real time according to the requirements of obtaining side view phenotype data of crop stems, leaves and roots, so as to drive the corresponding
  • the phenotype acquisition sensor group realizes the acquisition of side view phenotype data of multiple groups of crops.
  • the climate cabin control and analysis system can control the phenotype acquisition sensor group to acquire multiple sets of crop side view phenotype data in real time, timed, and at fixed points, and process the data such as storage and image recognition feature extraction, and then complete multiple sets of crop side views Phenotypic data storage, transmission and phenotypic data analysis.
  • the monitoring system can be further installed on the top of the climate chamber.
  • the climate cabin control and analysis system can monitor the conditions in the cabin in real time according to the needs of use, and can display it on the touch screen outside the cabin in real time.
  • the invention can simultaneously provide the functions of developing crop cultivation and high-throughput, high-precision, and low-cost crop phenotype acquisition and analysis; and can simultaneously provide the functions of developing crop stems, leaves and other aboveground organs and roots and other underground organs under the influence of environmental factors. High-throughput, high-precision, low-cost crop phenotype acquisition and analysis functions.

Abstract

一种用于获取作物表型的高通量拍照系统，利用三个方向的滑动导轨，以及相应设置在滑动导轨端部的图像采集设备，分别形成针对不同表型信息的两种表型获取单元。表型获取单元按照根盒的排列方向，分别设置在根盒的不同位置，获取不同视角下的作物图像以实现对作物表型特征的提取。该系统利用驱动装置驱动相应的图像采集设备，先使其调整至能够准确获取作物表型信息的位置，然后驱动图像采集设备沿第一方向逐一扫描排列在第一方向上的各个根盒以及根盒内的作物，顺次获各根盒内各个作物的表型信息。该系统能够实时、定时、定点的获取多组作物俯视图表型数据，继而完成多组作物俯视图表型数据的存储、传输及表型数据分析。

Description

一种用于获取作物表型的高通量拍照系统 技术领域
本发明涉及作物表型获取技术领域，具体而言涉及一种用于获取作物表型的高通量拍照系统。
背景技术
作物表型特征是作物的外部特征，对作物表型特征的研究能够得到作物基因型、环境因素和作物表型之间的关系。
为了培育优良的作物品种，需要在作物的生长过程中连续测量其因器官生长而导致的表型特征和生理参数的变化。目前，传统的人工气候室仅具备培育作物的功能。对人工气候室内所培育的作物的表型测量工作，目前还主要依靠人工观察和人工的测量手段进行描述。
由于此项工作往往依赖于人工手动检测小样本植物的个别性状，因此目前手段所获得的作物表型数据量有限，且数据采集效率低，难以开展植物多种性状的综合分析。现有的作物表型研究中，由于采样过程中回引入人为因素，其数据样本极易由于测量误差而无法正确反映作物基因、环境的影响。
发明内容
随着植物基因组学研究和分子育种的快速发展，目前急需高通量、高精度和低成本的表型分析装置来满足获取与植物生长、产量、品质和对生物、非生物胁迫的耐受性等相关表型数据的需求。本发明针对现有技术的不足，提供一种用于获取作物表型的高通量拍照系统，本发明通过图像采集设备之间的配合作用，能够顺次不间断的获取多组植物的表型数据。本发明具体采用如下技术方案。
首先，为实现上述目的，提出一种用于获取作物表型的高通量拍照系统，其包括第一表型获取单元，用于获取第一视角下作物的表型信息，所述第一表型获取单元包括：第一方向滑动导轨，其平行于作物的根盒的一侧面，沿第一方向设置；滑板，其设置在所述第一方向滑动导轨之上，沿所述第一方向滑动导轨在第一方向上平移；第二方向滑动导轨，其下端与所述滑板固定连接，所述第二方向滑动导轨与所述滑板的上表面保持垂直，沿第二方向设置；第三方向滑动导轨，其与所述第二方向滑动导轨连接，朝向所述作物的根盒设置在第三方向上；图像采集设备，其设置在所述第三方向滑动导轨中朝向所述根盒的一端，用于采集所述根盒和/或根盒内所容纳的作物在第一视角下的图像；背景板，其设置在所述图像采集设备的一侧；所述第三方向滑动导轨沿所述第二方向滑动导轨在第二方向上移动时，带动所述图像采集设备同步移动，调节所述图像采集设备相对于所述根盒和/或根盒内所容纳的作物的高度；所述第三方向滑动导轨相对所述第二方向滑动导轨在第三方向上移动时，所述带动所述图像采集设备同步移动，调节所述图像采集设备相对于所述根盒和/或根盒内所容纳的作物的距离。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，所述根盒沿所述第一方向排列为一排，所述图像采集设备随所述滑板沿所述第一方向滑动导轨在第一方向上平移的过程中，顺次拍摄各所述根盒和/或根盒内所容纳的作物的图像。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，所述第一表型获取单元包括有两个，两个所述第一表型获取单元中的第一方向滑动导轨分别平行于第一方向设置在所述作物的根盒的两侧，各所述第一表型获取单元中 的所述第三方向滑动导轨以及各所述第三方向滑动导轨端部的图像采集设备、所述背景板分别相对设置；两个所述第一表型获取单元分别拍摄各所述根盒和/或根盒内所容纳的作物不同侧的图像。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，两个所述第一表型获取单元中的滑板同步的被驱动沿所述第一方向同步的平移，其中任一个第一表型获取单元中的图像采集设备均始终保持正对于其对侧第一表型获取单元中的背景板。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，所述高通量拍照系统还包括第二表型获取单元，用于获取第二视角下作物的表型信息，所述第二表型获取单元包括：顶部滑动导轨，其包括平行于所述第一方向滑动导轨分别沿第一方向固定在所述作物的根盒上方的两根，两根所述顶部滑动导轨分别设置在所述作物的根盒的两侧；中部滑动导轨，其两端分别连接两根所述顶部滑动导轨，所述中部滑动导轨在所述顶部滑动导轨的下侧沿所述第一方向平移；下部滑动导轨，其上端与所述中部滑动导轨连接，其下端固定有第二视角图像采集设备，所述下部滑动导轨垂直于所述中部滑动导轨以及所述顶部滑动导轨，沿第二方向相对所述中部滑动导轨移动；所述第二视角图像采集设备，其向下朝向所述根盒的顶部固定在所述下部滑动导轨的下端，所述第二视角图像采集设备用于采集所述根盒和/或根盒内所容纳的作物在第二视角下的图像。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，两个所述第一表型获取单元固定设置在同一工作平面上，所述根盒在所述工作平面上沿所述第一方向排列，所述第二表型获取单元固定于所述工作平面的上方。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，所述第一表 型获取单元、所述第二表型获取单元还分别设置有对应所述第一方向、所述第二方向、所述第三方向的驱动装置。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，各方向的所述驱动装置均分别包括：伺服电机，以及与所述伺服电机的驱动轴连接的传动组件，所述传动组件包括滚珠丝杠螺母副；各视角的图像采集设备分别与对应的滚珠丝杠螺母副连接并与所述滚珠丝杠螺母副同步移动，所述伺服电机驱动滚珠丝杠螺母副沿第一方向、第二方向、或第三方向运动，带动对应视角的图像采集设备移动。
可选的，上述的用于获取作物表型的高通量拍照系统，其中，对应于第一方向的各所述伺服电机其驱动方向和驱动速度均保持一致。比如，将两个第一表型获取单元上的图像采集设备使用同一型号的伺服电机及滚珠丝杠螺母副驱动。设置两个第一表型获取单元初始状态下的两个图像采集设备均位于同一起始位置，两个伺服电机同时起动，两个伺服电机同一转向及转速，保证图像采集装置同步被驱动。
有益效果
本发明利用三个方向的滑动导轨，以及相应设置在滑动导轨端部的图像采集设备，分别形成分别针对不同表型信息的两种表型获取单元。所述的表型获取单元按照根盒的排列方向，分别设置在根盒的不同位置，获取不同视角下的作物图像以实现对作物表型特征的提取。本发明中利用驱动装置相应的驱动图像采集设备，先使其调整至能够准确获取作物表型信息的位置，然后驱动图像采集设备沿第一方向逐一扫描排列在第一方向上的各个根盒以及根盒内的作物，顺次获各根盒内各个作物的表型信息。本发明能够实时、定时、定点的获 取多组作物俯视图表型数据，继而完成多组作物俯视图表型数据的存储、传输及表型数据分析。
进一步的，本发明中沿作物的根盒两侧分别设置有一对相互平行且被设置为同步运行的第一表型获取单元。两个第一表型获取单元中，图像采集设备保持正对于设置在其对侧的另一个第一表型获取单元中的背景板，图像采集设备和背景板同步移动，能够保证图像采集设备采集作物表型图像时，始终能够由背景板遮挡住作物后侧的环境图像，方便后期通过图像处理系统对图像中的作物表型特征进行提取。
本发明中还进一步的在根盒的上部设置有第二表型获取单元。第二表型获取单元中的第二视角图像采集设备由上至下，以第一表型获取单元和根盒所设置的工作平面为背景，拍摄作物的俯视图，获得作物顶部的表型信息。由此，本发明对作物表型的提取更为完整，能够同时获得多组作物不同部位的表型特征。本发明所采集的样本能够将人工的影响降到最低，并且能够提供足够的数据量，进行统计学意义上的分析，本发明能够显著提升获取作物表型数据的效率和精准度。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，并与本发明的实施例一起，用于解释本发明，并不构成对本发明的限制。在附图中：
图1是本发明的用于获取作物表型的高通量拍照系统使用状态下的示意图；
图2是本发明的用于获取作物表型的高通量拍照系统中第一表型获取单元的俯视图；
图3是上述第一表型获取单元的立体视图。
图中，1表示第一方向滑动导轨；2表示另一个第一方向滑动导轨；3表示图像采集设备；31表示滑板；32表示第二方向滑动导轨；33表示第三方向滑动导轨；4表示背景板；5表示第二视角图像采集设备；6表示下部滑动导轨；7表示中部滑动导轨；8表示顶部滑动导轨；9表示根盒固定架；91表示根盒架。
具体实施方式
为使本发明实施例的目的和技术方案更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
本发明中所述的“和/或”的含义指的是各自单独存在或两者同时存在的情况均包括在内。
本发明中所述的“连接”的含义可以是部件之间的直接连接也可以是部件间通过其它部件的间接连接。
本发明中所述的“上、下”的含义指的是使用者正对根盒所放置的工作平面时，由工作平面指向作物的方向即为上，反之即为下，而非对本发明的装置 机构的特定限定。
图1为根据本发明的一种用于获取作物表型的高通量拍照系统，其包括：设置在工作平面的第一表型获取单元，以及设置在工作平面上方的第二表型获取单元，分别用于获取作物水平视角下的表型特征以及俯视视角下的表型特征。
培育有作物的根盒按照图2或图3所示，沿第一方向排列为一直线放置在工作平面。所述的根盒至少其沿第一方向的两侧面可设置为透明，以方便获取根盒内部作物地下部分的图像，由该图像提取相应的作物的地下表型特征。所述的根盒，为方便其排列，可设置在由工作平面上的根盒固定架9所固定的长条状的根盒架91中。其中，根盒的顶部四周设置有超出主体结构边缘的飞边结构，根盒架开有对应根盒主体结构尺寸的通槽。根盒安装时，其根盒主体结构嵌套在根盒架上的通槽内，其飞边结构抵接在通槽上表面，实现对根盒的固定。所述的工作平面可以设置为一个能够容纳根盒以及相应表型获取单元的苗床。所述的根盒固定架在一些实现方式下，可通过紧固螺栓安装于苗床的上表面，其上放置根盒架91，根盒架91中沿直线设置各根盒，根盒在根盒架91长度方向的侧面设置为透明以供拍摄地下表型，或者，根盒不透明的状况下可以用于培育和固定作物以供拍摄地上表型。各根盒之间的间距需要按照获取作物俯视图表型的数据要求设置，保证作物之间不会在俯视拍摄时相互重叠造成干扰。
在一种实现方式下，参考图2，上述第一表型获取单元包括：
第一方向滑动导轨1，其平行于作物的根盒的一侧面，沿第一方向设置；
滑板31，其设置在所述第一方向滑动导轨1之上，沿所述第一方向滑动导轨1在第一方向上平移；
第二方向滑动导轨32，其下端与所述滑板31固定连接，所述第二方向滑动导轨32与所述滑板31的上表面保持垂直，沿第二方向设置；
第三方向滑动导轨33，其与所述第二方向滑动导轨32连接，朝向所述作物的根盒设置在第三方向上；
图像采集设备3，其设置在所述第三方向滑动导轨33中朝向所述根盒的一端，用于采集所述根盒和/或根盒内所容纳的作物在第一视角下的图像；
背景板4，其设置在所述图像采集设备3的一侧；
所述第三方向滑动导轨33沿所述第二方向滑动导轨32在第二方向上移动时，带动所述图像采集设备3同步移动，调节所述图像采集设备3相对于所述根盒和/或根盒内所容纳的作物的高度；所述第三方向滑动导轨33相对所述第二方向滑动导轨32在第三方向上移动时，所述带动所述图像采集设备3同步移动，调节所述图像采集设备3相对于所述根盒和/或根盒内所容纳的作物的距离。
为配合所述根盒，在较为优选的方式下，所述根盒沿所述第一方向排列为一排，所述图像采集设备3随所述滑板31沿所述第一方向滑动导轨1在第一方向上平移，顺次拍摄各所述根盒和/或根盒内所容纳的作物的图像。
考虑到作物两侧表型信息存在一定差别，为获取更为全面的表型特征，所述的第一表型获取单元可设置为两个，分别平行于根盒架设置在根盒的两侧。具体而言，两个所述第一表型获取单元中的第一方向滑动导轨1分别平行于第一方向设置在所述作物的根盒的两侧，与所述根盒同样的固定设置在同一工作平面上。各所述第一表型获取单元中的所述第三方向滑动导轨33以及各所述第三方向滑动导轨33端部的图像采集设备3、所述背景板4分别相对设置；两 个所述第一表型获取单元分别拍摄各所述根盒和/或根盒内所容纳的作物不同侧的水平视角下的图像。
其中，为避免对侧表型获取单元以及环境背景对作物表型提取带来误差和额外计算量，上述的第一表型获取单元还分别设置有背景板，用于作为拍摄作物时的背景。此时，参照图2或图3所示，将两个所述第一表型获取单元中的滑板31同步的被驱动沿所述第一方向同步的平移，其中任一个第一表型获取单元中的图像采集设备3均始终保持正对于其对侧第一表型获取单元中的背景板4。
为获得作物冠部或整体枝叶的表型特征，一般还需要由上至下对作物进行拍摄以提取相应的特征。此视角需要设置第二表型获取单元。在一种实现方式下，所述的第二表型获取单元，其包括：
顶部滑动导轨8，其包括平行于所述第一方向滑动导轨1分别沿第一方向固定在所述作物的根盒上方的两根，两根所述顶部滑动导轨8分别设置在所述作物的根盒的两侧；
中部滑动导轨7，其两端分别连接两根所述顶部滑动导轨8，所述中部滑动导轨7在所述顶部滑动导轨8的下侧沿所述第一方向平移；
下部滑动导轨6，其上端与所述中部滑动导轨7连接，其下端固定有第二视角图像采集设备5，所述下部滑动导轨6垂直于所述中部滑动导轨7以及所述顶部滑动导轨8，沿第二方向相对所述中部滑动导轨7移动；
所述第二视角图像采集设备5，其向下朝向所述根盒的顶部固定在所述下部滑动导轨6的下端，所述第二视角图像采集设备5用于采集所述根盒和/或根盒内所容纳的作物在第二视角下的图像。
在更为具体的实现方式下，上述的第一方向、第三方向和第二方向可分别对应于XYZ三个方向。X-Y平面形成所述工作平面。
由此，本发明中可通过第一表型获取单元安装相应的侧视图表型获取传感器组，获取侧视视角下的作物表型数据。所述的侧视图表型获取传感器组安装于第一表型获取单元中相应的Y向滑动导轨上。所述的侧视图表型获取传感器组在一些实现方式下，具体可包括可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器等。其可通过能够输出X向驱动力的伺服电机和对应该伺服电机的X向滑动导轨带动侧视图表型获取传感器组，沿作物根盒架平移，从而实现对侧视图表型的获取。所述的传感器组中，各传感器的焦距可调。
背景板安装于侧视图表型获取系统的Y向滑动导轨，通过Y向伺服电机和Y向滑动导轨带动背景板。上述的整体高通量拍照系统可设置在气候舱的环境中。气候舱环境按照设定要求进行调节和记录，以对应各表型数据，为表型和环境的作用关系的研究提供数据基础。气候舱中设置有控制与分析系统，其能够同时控制两套侧视图表型获取系统相互配合：当一侧的侧视图表型获取系统的侧视图表型获取传感器组开始获取表型数据时，另外一侧的侧视图表型获取系统需带动其上所设置的背景板移动至对应该侧视图表型获取传感器组的位置，在该侧视图表型获取传感器组拍摄成像的过程中将单一颜色矩形形状的背景板作为背景，获取作物茎、叶和根系等器官的一侧表型数据。背景板的设置有利于后期表型数据的处理和分析。气候舱控制与分析系统控制两套侧视图表型获取系统相互配合，可完成对作物茎、叶和根系等器官的两个侧面的表型数据获取。
为保证图像的采集效果，上述的气候舱中，还可进一步的在工作平台上方顶部设置照明系统。气候舱控制与分析系统可根据使用需求，在拍摄时控制开启照明系统，在结束拍摄时关闭以减少外界光照对裸露的作物根系的影响。
为获得俯视视角下的作物表型数据，上述的第二表型获取单元具体可设置为安装于气候舱箱体顶部的俯视图表型获取系统。其包括XYZ三个方向的伺服电机、XYZ三个方向的滑动导轨、俯视图表型获取传感器组构成的第二视角图像采集设备5。气候舱控制与分析系统可根据作物茎叶等器官的俯视图表型数据的获取需求，实时控制XYZ三个方向的伺服电机驱动XYZ三个方向的滑动导轨，从而带动俯视图表型获取传感器组实现对多组作物俯视图表型数据的获取。气候舱控制与分析系统可控制俯视图表型获取传感器组实时、定时、定点的获取多组作物俯视图表型数据，继而完成多组作物俯视图表型数据的存储、传输及表型数据分析。
所述的俯视图表型获取传感器组安装于俯视图表型获取系统的Z向滑动导轨的下端，其可设置为包括可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器等多种传感器。所述的俯视图表型获取传感器组通过Z向伺服电机的驱动而随Z向滑动导轨同步移动，从而实现俯视视角下不同位置作物表型的拍摄。所述的俯视图表型获取传感器组中各传感器的焦距可调，便于自动表型获取。
上述的第一表型获取单元、所述第二表型获取单元还分别设置有对应所述第一方向(例如，X轴方向)、所述第二方向(例如，Y轴方向)、所述第三方向(例如，Z轴方向)的驱动装置，各所述驱动装置，包括三个方向的伺服电机以及分别与各所述伺服电机的驱动轴连接的传动组件。传动组件相应的驱动 三个方向的滑动导轨的连接结构移动，实现对侧视图表型获取传感器组、背景板或俯视图表型获取传感器组位置的调节。在较为典型的实现方式下，所述的传动组件可通过伺服电机，以及与所述伺服电机的驱动轴连接滚珠丝杠螺母副实现对图像采集设备的驱动。各视角的图像采集设备分别与对应其所在方向的滚珠丝杠螺母副连接，所述伺服电机驱动滚珠丝杠螺母副沿第一方向、第二方向、或第三方向运动，带动对应视角的图像采集设备随同改方向上的滚珠丝杠螺母副同步移动。
为保证两个第一表型获取单元能够同步移动，保证采集作物表型时背景板能够配合摄像头的位置设置在摄像头的对侧作为作物表型拍摄的背景遮挡作物后方复杂环境减少表型提取所需的图像处理工作。在较为优选的实现方式下，上述的两个第一表型获取单元上的图像采集设备可使用同一型号的伺服电机及滚珠丝杠螺母副驱动。设置两个第一表型获取单元初始状态下的两个图像采集设备均位于同一起始位置，两个伺服电机同时起动，两个伺服电机始终保持同一转向及转速，这样就能够保证图像采集设备及对应的背景板同步被驱动。保证作物表型采集过程中，图像采集设备均能够对应背景板，由背景板作为作物的背景，简化从复杂环境中提取作物表型特征的步骤。
气候舱中的气候舱控制与分析系统可根据作物茎、叶和根系等器官的侧视图表型数据的获取需求实时控制XYZ三个方向的伺服电机驱动XYZ三个方向的滑动导轨，从而带动相应的表型获取传感器组实现对多组作物侧视图表型数据的获取。气候舱控制与分析系统可控制表型获取传感器组实时、定时、定点的获取多组作物侧视图表型数据，对该数据进行存储和图像识别特征提取等处理工作，继而完成多组作物侧视图表型数据的存储、传输及表型数据分析。
在一些实现方式下，还可进一步的将监控系统安装于气候舱的顶部。由此，气候舱控制与分析系统可根据使用需求实时监控舱内的状况，可实时显示在舱外的触摸显示屏上。
本发明可同时提供开展作物培育和高通量、高精度、低成本的作物表型获取与分析功能；可同时提供开展环境因素影响下作物茎、叶等地上部分器官和根系等地下部分器官的高通量、高精度、低成本的作物表型获取与分析功能。
以上仅为本发明的实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些均属于本发明的保护范围。

Claims (9)

  1. 一种用于获取作物表型的高通量拍照系统，其特征在于，包括第一表型获取单元，用于获取第一视角下作物的表型信息，所述第一表型获取单元包括：
    第一方向滑动导轨(1)，其平行于作物的根盒的一侧面，沿第一方向设置；滑板(31)，其设置在所述第一方向滑动导轨(1)之上，沿所述第一方向滑动导轨(1)在第一方向上平移；
    第二方向滑动导轨(32)，其下端与所述滑板(31)固定连接，所述第二方向滑动导轨(32)与所述滑板(31)的上表面保持垂直，沿第二方向设置；
    第三方向滑动导轨(33)，其与所述第二方向滑动导轨(32)连接，朝向所述作物的根盒设置在第三方向上；
    图像采集设备(3)，其设置在所述第三方向滑动导轨(33)中朝向所述根盒的一端，用于采集所述根盒和/或根盒内所容纳的作物在第一视角下的图像；背景板(4)，其设置在所述图像采集设备(3)的一侧；
    所述第三方向滑动导轨(33)沿所述第二方向滑动导轨(32)在第二方向上移动时，带动所述图像采集设备(3)同步移动，调节所述图像采集设备(3)相对于所述根盒和/或根盒内所容纳的作物的高度；所述第三方向滑动导轨(33)相对所述第二方向滑动导轨(32)在第三方向上移动时，所述带动所述图像采集设备(3)同步移动，调节所述图像采集设备(3)相对于所述根盒和/或根盒内所容纳的作物的距离。
  2. 如权利要求1所述的用于获取作物表型的高通量拍照系统，其特征在于，所述根盒沿所述第一方向排列为一排，所述图像采集设备(3)随所述滑板(31)沿所述第一方向滑动导轨(1)在第一方向上平移的过程中，顺次拍摄各所述根盒和/或根盒内所容纳的作物的图像。
  3. 如权利要求2所述的用于获取作物表型的高通量拍照系统，其特征在于，所述第一表型获取单元包括有两个，两个所述第一表型获取单元中的第一方向滑动导轨(1)分别平行于第一方向设置在所述作物的根盒的两侧，各所述第一表型获取单元中的所述第三方向滑动导轨(33)以及各所述第三方向滑 动导轨(33)端部的图像采集设备(3)、所述背景板(4)分别相对设置；两个所述第一表型获取单元分别拍摄各所述根盒和/或根盒内所容纳的作物不同侧的图像。
  4. 如权利要求1-3所述的用于获取作物表型的高通量拍照系统，其特征在于，两个所述第一表型获取单元中的滑板(31)同步的被驱动沿所述第一方向同步的平移，其中任一个第一表型获取单元中的图像采集设备(3)均始终保持正对于其对侧第一表型获取单元中的背景板(4)。
  5. 如权利要求1-4所述的用于获取作物表型的高通量拍照系统，其特征在于，所述高通量拍照系统还包括第二表型获取单元，用于获取第二视角下作物的表型信息，所述第二表型获取单元包括：
    顶部滑动导轨(8)，其包括平行于所述第一方向滑动导轨(1)分别沿第一方向固定在所述作物的根盒上方的两根，两根所述顶部滑动导轨(8)分别设置在所述作物的根盒的两侧；
    中部滑动导轨(7)，其两端分别连接两根所述顶部滑动导轨(8)，所述中部滑动导轨(7)在所述顶部滑动导轨(8)的下侧沿所述第一方向平移；
    下部滑动导轨(6)，其上端与所述中部滑动导轨(7)连接，其下端固定有第二视角图像采集设备(5)，所述下部滑动导轨(6)垂直于所述中部滑动导轨(7)以及所述顶部滑动导轨(8)，沿第二方向相对所述中部滑动导轨(7)移动；
    所述第二视角图像采集设备(5)，其向下朝向所述根盒的顶部固定在所述下部滑动导轨(6)的下端，所述第二视角图像采集设备(5)用于采集所述根盒和/或根盒内所容纳的作物在第二视角下的图像。
  6. 如权利要求5所述的用于获取作物表型的高通量拍照系统，其特征在于，两个所述第一表型获取单元固定设置在同一工作平面上，所述根盒在所述工作平面上沿所述第一方向排列，所述第二表型获取单元固定于所述工作平面的上方。
  7. 如权利要求1-6所述的用于获取作物表型的高通量拍照系统，其特征在于，所述第一表型获取单元、所述第二表型获取单元还分别设置有对应所述第一方向、所述第二方向、所述第三方向的驱动装置。
  8. 如权利要求7所述的用于获取作物表型的高通量拍照系统，其特征在于，各方向的所述驱动装置均分别包括：伺服电机，以及与所述伺服电机的驱动轴连接的传动组件，所述传动组件包括滚珠丝杠螺母副；
    各视角的图像采集设备分别与对应的滚珠丝杠螺母副连接并与所述滚珠丝杠螺母副同步移动，所述伺服电机驱动滚珠丝杠螺母副沿第一方向、第二方向、或第三方向运动，带动对应视角的图像采集设备移动。
  9. 如权利要求8所述的用于获取作物表型的高通量拍照系统，其特征在于，对应于第一方向的各所述伺服电机其驱动方向和驱动速度均保持一致。
PCT/CN2020/110636 2019-10-28 2020-08-21 一种用于获取作物表型的高通量拍照系统 WO2021082656A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201911033674.0A CN110617769A (zh) 2019-10-28 2019-10-28 一种用于获取作物表型的高通量拍照系统
CN201911033674.0 2019-10-28

Publications (1)

Publication Number Publication Date
WO2021082656A1 true WO2021082656A1 (zh) 2021-05-06

Family

ID=68926775

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/110636 WO2021082656A1 (zh) 2019-10-28 2020-08-21 一种用于获取作物表型的高通量拍照系统

Country Status (2)

Country Link
CN (1) CN110617769A (zh)
WO (1) WO2021082656A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117433449A (zh) * 2023-12-19 2024-01-23 南京农业大学三亚研究院 一种基于根盒的植物地上部与地下部表型联合鉴定方法

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110617769A (zh) * 2019-10-28 2019-12-27 南京农业大学 一种用于获取作物表型的高通量拍照系统
CN111239139B (zh) * 2020-01-21 2020-11-03 珠海锐翔智能科技有限公司 双工位fpc补材偏移、重贴/漏贴检查机
CN111165233A (zh) * 2020-01-29 2020-05-19 南京慧瞳作物表型组学研究院有限公司 一种用于植物根系的小型移动表型车
CN113155192B (zh) * 2021-04-19 2022-09-16 河南省农业科学院农业经济与信息研究所 一种智能化作物表型实时采集装置
CN113597929B (zh) * 2021-08-19 2023-03-21 杨凌鸿腾农业科技开发有限公司 带有表型平台的温室系统
CN114339005B (zh) * 2022-01-06 2024-04-02 南京林业大学 一种基于多视角图像的移动式植物表型信息自动采集平台
CN114339004B (zh) * 2022-01-06 2024-03-29 南京林业大学 一种全方位采集植物多器官形态结构信息的表型平台

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102564357A (zh) * 2012-01-06 2012-07-11 华南农业大学 一种叶面积指数快速自动测定装置及方法
CN202798997U (zh) * 2012-07-25 2013-03-13 北京农业信息技术研究中心 植物田间三维形态信息采集装置
CN104457936A (zh) * 2014-11-10 2015-03-25 江苏大学 一种盆栽作物长势动态检测装置及其检测方法
CN105717115A (zh) * 2016-01-31 2016-06-29 浙江大学 基于光学成像技术的高通量植物表型分析装置和方法
WO2016175094A1 (ja) * 2015-04-30 2016-11-03 株式会社トプコン 植物用センサ装置
CN107869962A (zh) * 2017-10-31 2018-04-03 南京农业大学 一种基于空间雕刻技术的高通量设施作物三维形态信息测量系统
US20190064363A1 (en) * 2013-07-11 2019-02-28 Blue River Technology Inc. Plant treatment based on morphological and physiological measurements
CN110617769A (zh) * 2019-10-28 2019-12-27 南京农业大学 一种用于获取作物表型的高通量拍照系统
CN110612843A (zh) * 2019-10-28 2019-12-27 南京农业大学 一种作物表型高通量获取装置与气候舱
CN210374998U (zh) * 2019-10-28 2020-04-21 南京农业大学 一种用于获取作物表型的高通量拍照系统

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102564357A (zh) * 2012-01-06 2012-07-11 华南农业大学 一种叶面积指数快速自动测定装置及方法
CN202798997U (zh) * 2012-07-25 2013-03-13 北京农业信息技术研究中心 植物田间三维形态信息采集装置
US20190064363A1 (en) * 2013-07-11 2019-02-28 Blue River Technology Inc. Plant treatment based on morphological and physiological measurements
CN104457936A (zh) * 2014-11-10 2015-03-25 江苏大学 一种盆栽作物长势动态检测装置及其检测方法
WO2016175094A1 (ja) * 2015-04-30 2016-11-03 株式会社トプコン 植物用センサ装置
CN105717115A (zh) * 2016-01-31 2016-06-29 浙江大学 基于光学成像技术的高通量植物表型分析装置和方法
CN107869962A (zh) * 2017-10-31 2018-04-03 南京农业大学 一种基于空间雕刻技术的高通量设施作物三维形态信息测量系统
CN110617769A (zh) * 2019-10-28 2019-12-27 南京农业大学 一种用于获取作物表型的高通量拍照系统
CN110612843A (zh) * 2019-10-28 2019-12-27 南京农业大学 一种作物表型高通量获取装置与气候舱
CN210374998U (zh) * 2019-10-28 2020-04-21 南京农业大学 一种用于获取作物表型的高通量拍照系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117433449A (zh) * 2023-12-19 2024-01-23 南京农业大学三亚研究院 一种基于根盒的植物地上部与地下部表型联合鉴定方法
CN117433449B (zh) * 2023-12-19 2024-03-19 南京农业大学三亚研究院 一种基于根盒的植物地上部与地下部表型联合鉴定方法

Also Published As

Publication number Publication date
CN110617769A (zh) 2019-12-27

Similar Documents

Publication Publication Date Title
WO2021082656A1 (zh) 一种用于获取作物表型的高通量拍照系统
WO2021082537A1 (zh) 一种作物表型高通量获取装置与气候舱
WO2021082655A1 (zh) 一种用于获取作物表型的根盒
WO2021151287A1 (zh) 一种用于田间作物表型获取与分析的移动表型舱
CN101972138B (zh) 一种集成便携式标准化中医舌象获取设备
WO2021169200A1 (zh) 一种田间作物表型五维数据采集车
CN112964202A (zh) 一种植物表型信息采集系统及提取方法
CN111561873A (zh) 自走式苗木树干表型信息采集系统及其采集方法
CN104457843A (zh) 导轨式设施番茄长势双位自动巡航成像检测装置及其检测方法
CN102221347B (zh) 植物叶片气孔活体的三维显微观测方法
CN111693551B (zh) 一种水稻植株及根系三维性状无损测量装置及方法
CN209330687U (zh) 一种小型植物根系培养及探测装置
CN205718957U (zh) 一种基于图像的物体三维数据采集装置
CN114659463B (zh) 一种植物表型采集装置及其采集方法
WO2021151286A1 (zh) 一种田间作物根系表型的获取系统
CN210374998U (zh) 一种用于获取作物表型的高通量拍照系统
CN211510015U (zh) 一种作物表型高通量获取装置与气候舱
WO2021151280A1 (zh) 一种田间作物根系表型的多通道获取系统及安装方法
CN111289513A (zh) 一种基于槽道的作物根系表型采集系统
CN211240747U (zh) 大豆植株考种仪
CN205607838U (zh) 一种小麦穗数测量装置
CN209014477U (zh) 一种便携式草地生物量无损伤测量装置
CN207234941U (zh) 一种数字图像采集仪
CN216310846U (zh) 一种红外图像自动识别和成像处理装置
CN115993334A (zh) 一种用于草地样方覆盖度数据采集的一体化系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20880487

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20880487

Country of ref document: EP

Kind code of ref document: A1