WO2021151286A1

WO2021151286A1 - Field crop root phenotype acquisition system

Info

Publication number: WO2021151286A1
Application number: PCT/CN2020/110639
Authority: WO
Inventors: 姜东�; 傅秀清; 吴劼; 周国栋; 丁艳锋; 毛江美
Original assignee: 南京慧瞳作物表型组学研究院有限公司
Priority date: 2020-01-29
Filing date: 2020-08-21
Publication date: 2021-08-05
Also published as: CN111238394B; CN111238394A

Abstract

A field crop root phenotype acquisition system, comprising a first-direction root phenotype acquisition subsystem and a second-direction root phenotype acquisition subsystem which are perpendicular to each other. The first-direction root phenotype acquisition subsystem can directly acquire overall phenotype data of crop root systems in a root window monitoring mode. The root phenotype in the second direction can be obtained by means of a root canal system, a root canal (2) is buried in the ground at different depths, phenotype data of 360 degrees near the crop root system at the depth can be completely obtained, and the detail structure of the crop root system can be conveniently and accurately sampled at different dimensions. The root canal (2) is slightly affected by the outside, and data and images of soil moisture and temperature of various plant root systems and growth parameters of crop root systems can be dynamically collected in real time in an all-weather mode.

Description

System for acquiring field crop root phenotype

Technical field

The invention relates to the technical field of crop phenotype acquisition, in particular to a system for acquiring the phenotype of field crop roots.

Background technique

Crop phenotype is part or all of the identifiable physical, physiological and biochemical characteristics and traits produced by the interaction between genes and the environment, including the structure, composition, and growth and development process of the crop. It not only reflects the expression regulation at the molecular level, but also It reflects the complex traits of plant physiology and biochemistry, morphological anatomy, stress resistance and so on.

The development of functional genomics and genetic technology in the field of crop breeding is the most convenient and effective means to increase food production. Phenotype is the external expression of crop genes and is the result of the interaction of crop genes and external environment. Therefore, it is particularly important to explore the relationship between crop genotypes, environmental factors, and crop phenotypic characteristics and traits.

Plant roots are an important part of plants and have very important functions, such as water and nutrient absorption and transportation, organic matter storage, plant anchoring, and interaction with soil. Plant root development is very important to many plant research work. It is related to a series of processes such as the selection of the best treatment time for plants, the consistency of plant growth and development status before treatment, and the timely feedback of plant root response during treatment. Therefore, the collection and analysis of root phenotypic traits has become the focus and difficulty of biological and phenotypic research. Due to the limitation of soil unobservability, the core of root phenotype collection is how to observe root growth in situ. Traditional root research work often relies on manual detection of individual traits of plant roots in small samples. Therefore, the amount of data is limited and the efficiency is low. It is difficult to carry out comprehensive analysis of multiple traits of plant roots, and the introduction of human factors can easily lead to errors in the measurement data. The small scale of analysis, high cost, time-consuming and labor-intensive analysis, lack of standardization and low measurement accuracy have become a bottleneck restricting the development of plant genome function analysis and molecular breeding. With the rapid development of plant genomics research and molecular breeding, there is an urgent need for high-throughput, high-precision and low-cost root phenotyping devices to meet the requirements of plant growth, yield, quality, and tolerance to biotic and abiotic stresses. And other related phenotypic data requirements.

Summary of the invention

In view of the shortcomings of the prior art, the present invention provides a field crop root phenotype acquisition system. The present invention can pass the root window monitoring system in the first direction and the root canal in the second direction in the closest natural state. The monitoring system performs two-dimensional phenotype acquisition and analysis of field crop roots, which solves the problems of existing root monitoring equipment that cannot carry out large-scale field experiments and cannot carry out accurate and automatic acquisition and analysis of crop root phenotypes. The present invention specifically adopts the following technical solutions.

First of all, in order to achieve the above objective, a field crop root phenotype acquisition system is proposed, which includes: a first-direction root phenotype acquisition subsystem, which is arranged along the first direction and includes root detection channels, glass windows, tracks, and RGV Trolley; wherein, the root detection channel is buried in the edge of the crop root growth area along the first direction; the glass window is arranged along the first direction on the side wall of the root detection channel close to the side of the crop root growth area; The track, which protrudes upwards in the first direction and is arranged at the middle position of the ground of the root system detection channel; the RGV trolley, the base of which is provided with a guide groove and a traveling wheel that cooperate with the track, and the traveling wheel drives the The RGV trolley moves along the track set in the first direction; the RGV trolley is also provided with: an adjustable pan/tilt head, which includes a first sliding rail vertically arranged on the RGV trolley, and the first sliding rail is parallel to the The glass window moves in the first direction synchronously with the movement of the RGV trolley; the first sliding guide is also horizontally connected with a second sliding guide along the second direction, and the second sliding guide is opposite to the first The sliding rail moves to approach the glass window or to be far away from the glass window; the integrated platform is arranged on the second sliding rail, and provides a platform for loading various sensors and can adjust the sensors to the pitch angle required for shooting through rotation. The integrated platform is set to be perpendicular to the first sliding guide rail and the second sliding guide rail at the same time and parallel to the glass window. The integrated platform is provided with a phenotype acquisition sensor group on the side close to the glass window for collecting glass respectively Various phenotype data of crop roots distributed along the first direction in the window; the field crop root phenotype acquisition system also includes a second direction root phenotype acquisition subsystem, which is perpendicular to the first direction root phenotype acquisition The sub-systems are arranged along the second direction, and are used to scan and obtain the phenotypic data of the crop roots distributed along the second direction while collecting the phenotypic data of the crop roots distributed along the first direction in the first direction root phenotype obtaining sub-system.

Optionally, any one of the above-mentioned field crop root phenotype acquisition system, wherein the first sliding guide rail, the second sliding guide rail and the integrated platform are perpendicular to each other; the first direction root phenotype The perspectives of the crop root phenotype data obtained by the acquisition subsystem and the second-direction root phenotype acquisition subsystem are perpendicular to each other.

Optionally, any one of the above-mentioned field crop root phenotype acquisition system, wherein the second direction root phenotype acquisition subsystem includes: a root canal array, which is arranged between two opposite root detection channels , Including root canals that are parallel to each other and arranged in N rows and M rows, where the distance between each row of root canals is equal, and the difference in depth between two adjacent root canals in each row is the same in the depth of the root canal growth area , The deepest depth of root canal burial does not exceed the depth set by the track in the root canal detection channel, and both ends of the root canal are respectively arranged in the root system detection channel; the monitor is arranged in the root canal array In each of the root canals, move horizontally in each of the root canals and rotate along the circumference of the root canal, and photograph the distribution of crop roots within a 360° range of each root canal.

Optionally, the system for acquiring the root phenotype of field crops in any one of the above, wherein the track is an I-steel structure, and the guide groove at least partially surrounds the upper part of the I-steel structure, and deviates from the RGV trolley When rotating in the first direction, it abuts against the groove of the I-steel structure and guides the RGV trolley to return to move along the track in the first direction.

Optionally, any one of the above-mentioned field crop root phenotype acquisition system, wherein the phenotype acquisition sensor group includes: hyperspectral imaging module, infrared thermal imaging module, near infrared imaging module, fluorescence imaging module, radar scanning imaging unit.

Optionally, any one of the above-mentioned field crop root phenotype acquisition systems, wherein the root detection channel includes multiple layers, and the middle position of the ground of each layer of the root detection channel is respectively provided with upward protrusions in the first direction. Set track.

Optionally, any one of the above-mentioned field crop root phenotype acquisition system, wherein the end of the root detection channel of each layer is also vertically connected with a hoist, and a carrier board capable of moving up and down is provided in the hoist The surface of the carrier plate is also provided with a track in the middle of the ground corresponding to the root system detection channel, and the RGV trolley enters the hoist along the track, and along with the carrier plate moves up to the root system detection channel of the upper layer or moves down to the next layer The root system detection channel moves along the track in the first layer of root system detection channel it reaches in the first direction.

Optionally, any one of the above-mentioned field crop root phenotype acquisition system, wherein the hoist includes: a bracket which vertically penetrates the upper and lower layers of the root detection channel; a screw rod, which is parallel to the bracket and is arranged on the bracket The screw rods rotate synchronously; the screw nut fixing seat, which is threadedly connected with the screw rod, moves up or down along the screw rod as the screw rod rotates; the carrier plate, one end of which is connected to the screw rod The rod nut holder is fixedly connected, and is driven by the screw rod and the screw nut holder synchronously with the screw nut holder to move up or down along the screw rod, driving the RGV trolley running on the carrier board upward Move to the root detection channel of the upper layer or move down to the root detection channel of the next layer.

Optionally, any one of the above-mentioned field crop root phenotype acquisition system, wherein the height difference between the root detection channels of each layer does not exceed the glass window that can be collected by the phenotype acquisition sensor set on the integrated platform The height range of various phenotypic data distributed along the first direction of crop roots.

Beneficial effect

The invention utilizes the first direction root system phenotype acquisition subsystem and the second direction root system phenotype acquisition subsystem which are perpendicular to each other to extract the field crop root system phenotype. Among them, the first-direction root system phenotype acquisition subsystem can directly acquire the overall phenotype data of the crop root system through the root window monitoring method. The collection method is quick and convenient. The root phenotype in the second direction can be obtained through the root canal system. The root canals are buried at different depths in the ground. The 360° phenotype data near the roots of the crops at this depth can be obtained completely, and the detailed structure of the roots of the crops can be easily obtained in different dimensions. Take accurate sampling. In addition, the root canal is less affected by the outside world, and can collect data and images of various plant root soil moisture, temperature, and crop root growth parameters in real time, dynamically, and all-weather.

Further, the root system phenotype acquisition subsystem in the first direction acquires multiple types of phenotype data through the RGV trolley that can be adjusted in three dimensions, and through the sensor set set on the integrated platform on the vehicle. Taking into account the growth depth of the crop root system and the sampling range of the RGV trolley sensor, the present invention can further set the root detection channel in a multi-layer structure, and scan and collect phenotypic data by the trolley in each side. The trolley can be transported directly between the layers through the hoist, which improves the efficiency of data collection. The sampling screw structure of the hoist can reduce the occupation of the internal space of the root phenotype acquisition system and improve the moving efficiency.

The root canal of the present invention can be set to run through the entire crop root growth area. Therefore, by scanning around the root canal, the acquisition and analysis of the root phenotype of field root crops can be achieved with high throughput and high precision. Compared with the prior art, the present invention can improve the acquisition efficiency and collection accuracy of the crop surface pattern on the basis of not affecting the growth of the crop and ensuring the sampling accuracy.

Other features and advantages of the present invention will be described in the following description, and partly become obvious from the description, or understood by implementing the present invention.

Description of the drawings

The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and together with the embodiments of the present invention, are used to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:

Fig. 1 is a schematic diagram of the underground structure of the system for obtaining the root phenotype of field crops according to the present invention;

Figure 2 is a side view of the underground structure of the system for acquiring the root phenotype of field crops of the present invention;

Fig. 3 is a schematic diagram of the structure of the RGV trolley in the system for acquiring the root phenotype of field crops shown in Fig. 2;

Fig. 4 is a schematic diagram of the setting relationship between root canals and monitors in the system for acquiring root phenotype of field crops shown in Fig. 2;

Figure 5 is a schematic diagram of the overall structure of the system for acquiring the phenotype of field crop roots of the present invention;

6 is a schematic diagram of the setting relationship of environmental sensor groups in the system for acquiring the phenotype of field crop roots of the present invention;

FIG. 7 is a schematic diagram of the setting mode of the sunshade in the system for acquiring the root phenotype of field crops shown in FIG. 5;

FIG. 8 is a schematic diagram of the structure of the hoist in the system for acquiring the root phenotype of field crops shown in FIG. 5;

Figure 9 is a schematic diagram of the structure of the integrated platform on the RGV trolley in the system of the present invention;

Figure 10 is a schematic diagram of the integrated platform in working state.

In the figure, 1 represents the glass window; 10 represents the field; 11 represents the sunshade; 2 represents the root canal; 3 represents the light well; 4 represents the root detection channel; 41 represents the RGV trolley; 42 represents the integrated platform; 43 represents the adjustable head; 44 represents the phenotype acquisition sensor group; 5 represents the track; 51 represents the carrier board; 52 represents the screw nut fixing seat; 53 represents the screw; 54 represents the bracket; 55 represents the hoist; 6 represents the monitor; 61 represents the LED light source; 62 Represents the data transmission and storage module; 63 represents the motion module; 7 represents the environmental sensor group.

Detailed ways

In order to make the objectives and technical solutions of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Those skilled in the art can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those commonly understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and unless defined as here, they will not be used in idealized or overly formal meanings. explain.

The meaning of "and/or" in the present invention refers to the fact that each exists alone or both exist simultaneously.

The meaning of "inside and outside" in the present invention refers to the field crop root phenotype acquisition system itself, the direction of the root canal internal monitor between the root detection channels is inside, and vice versa; It is not a specific limitation on the device mechanism of the present invention.

The meaning of "connection" in the present invention can be a direct connection between components or an indirect connection between components through other components.

The meaning of "up and down" in the present invention refers to the field crop root phenotype acquisition system itself, the direction from the root canal to the environmental sensor group is up, and vice versa is down, not Specific limitations on the device mechanism of the present invention.

Figures 1 and 2 show a system for acquiring the phenotype of field crop roots according to the present invention, which includes a root window monitoring system I and a multi-channel monitoring system II:

The root window monitoring system I can specifically adopt the first direction root system phenotype acquisition subsystem, which is arranged along the first direction, including root system detection channel 4, glass window 1, track 5 and RGV trolley 41; among them,

The root detection channel 4 is buried at the edge of the crop root growth area along the first direction;

The glass window 1 is arranged on the side wall of the root detection channel 4 close to the crop root growth area along the first direction;

The track 5 protrudes upwards in the first direction at the middle position of the ground of the root system detection channel 4;

The RGV trolley 41, as shown in FIG. 3, is provided with a guide groove and traveling wheels that cooperate with the rail 5 on its base, and the traveling wheels drive the RGV trolley 41 along the rail 5 arranged in the first direction. Move; The RGV trolley 41 is also provided with:

The adjustable pan/tilt 43 includes a first sliding rail vertically arranged on the RGV trolley 41, and the first sliding rail is parallel to the glass window 1 and moves in a first direction synchronously with the movement of the RGV trolley 41; The first sliding guide rail is also horizontally connected with a second sliding guide rail along a second direction, and the second sliding guide rail moves relative to the first sliding guide rail to approach the glass window 1 or away from the glass window 1;

The integrated platform 42 is arranged on the second sliding guide rail, the integrated platform is arranged to be perpendicular to the first sliding guide rail and the second sliding guide rail at the same time and parallel to the glass window 1, on the integrated platform 42 A phenotype acquisition sensor group 44 is arranged on the side close to the glass window 1 for separately collecting various phenotype data of the crop roots in the glass window 1 distributed along the first direction.

9 and 10, the integrated platform 42 is composed of a pitch frame 421, a pitch rotation shaft 422, a rib bearing 423, a motor 424, an encoder 425, a pitch U-shaped bracket 426, and a phenotype acquisition sensor group. The pitch frame is movably connected with a pitch rotation shaft, one end of the pitch rotation shaft is connected to the rotor of the motor, and the other end is provided with an encoder, the pitch rotation shaft is fixedly connected to the bottom of the pitch frame, and the top of the pitch frame is arranged There are two rows of positioning holes, you can install the phenotype acquisition sensor according to the experimental requirements; the pitch rotation axis is connected to the pitch U-shaped bracket through the rib bearing, and the motor is installed at the rightmost end of the pitch frame through a flat key It is connected with the pitch rotation shaft and fastened with a nut. The motor transmits power to the pitch shaft through the rib bearing, and then to the pitch frame to realize the pitch movement of the integrated platform. The encoder is installed at the leftmost end of the pitch rotation axis, and the closed-loop vector control of the motor is realized by feeding back the signal to the servo controller, the torque is constant, and the speed is precisely adjustable, thereby realizing precise control of the rotation angle of the integrated platform.

Therefore, the root window monitoring system I is composed of the root monitoring channel, sliding guide rail, image acquisition equipment integration platform, RGV trolley, environmental sensor group 7, auxiliary lighting system, zone fire protection system, ventilation system, lifting device, and stairs as shown in Figure 6. It realizes the intuitive observation of the crop roots growing close to the glass window, and can also obtain complete information of the crop phenotype through various sensing technologies. The first sliding guide rail, the second sliding guide rail and the integrated platform 42 of the trolley may be further arranged to be perpendicular to each other to obtain three-dimensional acquisition angle control.

In the above structure, the sliding guide rail can be specifically set as an I-steel structure and installed at the bottom of the channel for the RGV trolley to move along the guide rail in the channel.

Among them, the RGV trolley load image acquisition equipment integrated platform, which moves along the guide rails in the channel, can monitor the in-situ growth status of the roots of the real plants in real time. It does not require personnel to operate on-site, just debug the device and remotely control the monitoring; The control phenotype acquisition sensor group acquires multiple sets of crop root phenotype data in real time, timed and fixed point, and then completes the storage, transmission and root phenotype data analysis of multiple sets of crop root phenotype data. Among them, the sensor group can be specifically set to include: hyperspectral imaging, infrared thermal imaging, near-infrared imaging, fluorescence imaging, and radar scanning imaging units in some implementations, which are installed in an integrated platform, and the integrated platform is fixed by an adjustable pan/tilt. On the RGV trolley, the angle of the pan-tilt can be adjusted to realize the movement in the XYZ three-coordinate direction. The hyperspectral imaging module can use x and y to represent the two-dimensional plane pixel information coordinate axis, and the third dimension (λ axis) as the wavelength information coordinate axis, which combines the image information of the sample with the spectral information, and reflects the size of the sample through the image information. External quality characteristics such as shape and defects, using the different absorption characteristics of different components on the spectrum, the image will have a significant reflection of a certain defect at a certain wavelength, so that the internal physical structure and chemical composition of the sample can be fully reflected through the spectral information The difference.

The multi-channel monitoring system II in the field crop root phenotype acquisition system can be specifically configured to include a second-direction root phenotype acquisition subsystem. The perspectives of the crop root phenotype data obtained by the first-direction root phenotype acquisition subsystem and the second-direction root phenotype acquisition subsystem are perpendicular to each other. In particular, it can be arranged to be perpendicular to the first direction, and the root system phenotype acquisition subsystem is arranged along the second direction, and is used for collecting the phenotype data of the root system of the crop along the first direction in the first direction. At the same time, scan to obtain phenotypic data of crop root distribution along the second direction. In a more specific implementation manner, it can be set to the structure shown in Figure 4 and Figure 5, including:

The root canal array, which is arranged between two opposite root detection channels 4, includes root canals that are parallel to each other and arranged in N rows and M rows, wherein the distance between each row of root canals is equal, and each row has two adjacent root canals. The difference in depth between root canals buried in the crop root growth area is the same, the deepest root canal buried depth does not exceed the depth set by the track 5 in the root detection channel 4, and both ends of the root canal are set separately In the root detection channel 4;

The monitor 6, as shown in FIG. 4, is set in each root canal of the root canal array, moves horizontally in each root canal 2 and rotates along the circumference of the root canal, and photographs each root canal. The distribution of crop roots within 360° along the line.

The root canal in the multi-channel monitoring system II can be set to a multi-segment structure. The multi-segment root canal can be specifically set as a cylindrical transparent pipe, which is placed horizontally directly below the crop planting point. The front and back ends of the transparent root canals can be provided with threads to realize the connection between the root canals. Multi-segment transparent root canals are connected by threads to form root monitoring channels of different depths, which are evenly arranged in the vertical direction to form a group of channels, and the channels are evenly arranged in the horizontal direction to form multiple channels;

The 360-degree multi-level rotating image monitor includes a cylindrical 360-degree rotating host, an LED light source, a motion module, a power supply, and a data transmission storage module; the host controls the motion module after receiving remote control instructions through the data transmission storage module Moving in the channel, with LED light source, real-time monitoring of the in-situ growth status of plant roots at different depths, real-time, timing, and fixed-point acquisition of multiple sets of crop root phenotype data; by collecting images of crop roots distributed near root canals at different depths, different The splicing of multiple pictures in time and space ensures the acquisition of comprehensive information on plant roots;

The two ends of the root system monitoring pipeline are equipped with sealing covers to create a light-proof environment and avoid the influence of external light on the root system.

In the above system, the four corners of the root detection channel can also be provided with ventilation pipes and hoist mechanisms respectively. As a result, six staircases are formed in the middle and four corners of the passage. The ventilation pipe can realize the ventilation function in the pipe. The hoist mechanism can transport the RGV trolley from the ground to the channel track, or move between the tracks on each level, and the stairwell can be used for the staff to enter the channel from the ground to perform equipment maintenance.

Wherein, the track 5 on the root detection channel 4 can be configured as an I-shaped steel structure, and the guide groove at least partially surrounds the upper part of the I-shaped steel structure, and abuts against the I-shaped structure when the RGV trolley 41 rotates away from the first direction. The groove of the steel structure guides the RGV trolley 41 to return to move along the track 5 in the first direction. In the case where the root system detection channel 4 is arranged in multiple layers, each layer of the root system detection channel 4 can be respectively provided with a rail 5 protruding upward in the first direction at the middle position of the ground.

A hoist 55 provided at the end of the root system detection channel 4 vertically connects the root system detection channel 4 of each layer. The surface of the carrier board 51 that moves up and down in the hoist 55 is also provided with a track 5 in the middle of the ground corresponding to the root detection channel 4, and the RGV trolley 41 enters the hoist 55 along the track 5 and moves upwards with the carrier board 51. Move to the root detection channel 4 of the upper layer or move down to the root detection channel 4 of the next layer, and move along the track 5 in the root detection channel 4 of the layer it reaches in the first direction. The hoist 55 can be set as shown in FIG. 8 and includes:

The bracket 54 vertically penetrates the root detection channel 4 of the upper and lower layers;

The screw rod 53, which is parallel to the bracket 54 and is arranged between the brackets 54, and each screw rod 53 rotates synchronously;

The screw nut fixing seat 52 is threadedly connected with the screw rod 53 and moves upward or downward along the screw rod 53 along with the rotation of the screw rod 53;

The carrier board 51, one end of which is fixedly connected to the screw nut fixing seat 52, and synchronously with the screw nut fixing seat 52, is driven by the screw rod 53 and the screw nut fixing seat 52 to move upward along the screw rod 53 Or move down to drive the RGV trolley 41 running on the carrier board 51 to move up to the root detection channel 4 of the upper layer or move down to the root detection channel 4 of the next layer. The height difference between the root detection channels 4 of each layer can be set to not exceed the various phenotypes of the crop roots distributed along the first direction in the glass window 1 that can be collected by the phenotype acquisition sensor group 44 set on the integrated platform 42 The height range of the data.

Therefore, the development system of the present invention can meet the needs of plant genomics research and molecular breeding and the shortcomings of the existing root phenotype acquisition technology, and has a high-throughput and high-precision field root crop phenotype acquisition program. The invention can acquire and analyze the phenotype of field crop roots through a multi-channel root canal monitoring system and a root window monitoring system in the state closest to nature, and solves the problem of existing root monitoring equipment that cannot carry out large-scale field experiments. The problem of accurate and automatic acquisition and analysis of crop root phenotypes cannot be carried out. The invention can adopt an endoscopic image acquisition device through a multi-channel monitoring mode, and can collect data and images of various plant root soil moisture, temperature and crop root growth parameters in real time, dynamically and all-weather. The present invention can use root window technology and endoscopic image acquisition technology without damage, sustainable, high-frequency tracking observation, in-situ collection of soil root information, and avoid hydroponics or gel culture, etc., which cannot be reacted as normal soil. Disadvantages of water distribution, nutrient distribution, soil structure, and microbial action. Using this technology, a non-damaged, high-throughput, fully automatic root phenotype analysis of crop roots can be performed, and analysis parameters such as root cap structure (including heel depth, crown width, etc.), root cap area, and root length can be measured.

In a more specific implementation manner, the present invention can specifically make the root monitoring channel a rectangular parallelepiped structure, and the distance between the two sides is in the range of 60-70cm, which can be used by staff to enter and implement equipment maintenance. The left side is a solid retaining plate. , On the right is a transparent glass window, which can be used to observe the roots of field crops; the root monitoring channel can be further equipped with an auxiliary light control system. The auxiliary lighting control system includes an LED lamp group and the sunshade 11 shown in FIG. 7. The LED lamp group is installed on the RGV car. According to the requirements of image acquisition, the LED lamp group is controlled to switch on and off to fill the light; the material of the sunshade can be made of light-proof material, and it is installed on the light well in the root monitoring channel to provide a closed light. The environment can ensure that crop root imaging is not interfered by external light. In the case of using sunshade to provide a closed light environment, the processing device can use ordinary threshold segmentation methods for image segmentation for the received two-dimensional crop root image sequence. The method can simplify the processing process and improve the analysis efficiency.

The above are only the embodiments of the present invention, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention.

Claims

A system for acquiring the root phenotype of field crops, which is characterized in that it comprises:

The first direction root system phenotype acquisition subsystem, which is arranged along the first direction, includes a root system detection channel (4), a glass window (1), a track (5) and an RGV trolley (41); among them,

The root detection channel (4) is buried at the edge of the crop root growth area along the first direction;

The glass window (1) is arranged on the side wall of the root detection channel (4) close to the crop root growth area along the first direction;

The track (5) protrudes upwards in the first direction and is arranged at the middle position of the ground of the root system detection channel (4);

The base of the RGV trolley (41) is provided with guide grooves and traveling wheels that cooperate with the rail (5), and the traveling wheels drive the RGV trolley (41) along the track ( 5) Moving; The RGV trolley (41) is also provided with:

An adjustable pan/tilt (43), which includes a first sliding rail vertically arranged on the RGV trolley (41), the first sliding rail being parallel to the glass window (1) and moving with the RGV trolley (41) Synchronously move in the first direction; the first sliding rail is also horizontally connected with a second sliding rail along the second direction, and the second sliding rail moves relative to the first sliding rail to approach the glass window ( 1) Or stay away from the glass window (1);

The integrated platform (42) is arranged on the second sliding guide rail, and the integrated platform is arranged to be perpendicular to the first sliding guide rail and the second sliding guide rail at the same time and parallel to the glass window (1), the The integrated platform (42) is provided with a phenotype acquisition sensor group (44) on the side close to the glass window (1), which is used to separately collect various phenotypic data of the crop roots in the glass window (1) distributed along the first direction;

The field crop root phenotype acquisition system also includes a second-direction root phenotype acquisition subsystem, which is perpendicular to the first direction, and the root phenotype acquisition subsystem is arranged along the second direction, and is used to display the root system in the first direction. The type acquisition subsystem collects phenotypic data of crop roots distributed along the first direction while scanning to obtain phenotypic data of crop roots distributed along the second direction.
The system for obtaining the root phenotype of field crops according to claim 1, wherein the first sliding guide rail, the second sliding guide rail and the integrated platform (42) are perpendicular to each other; the first The perspectives of the phenotypic data of crop roots obtained by the directional root phenotype acquisition subsystem and the second directional root phenotype acquisition subsystem are perpendicular to each other.
The system for obtaining field crop root phenotype according to claim 1, wherein the second-direction root phenotype obtaining subsystem comprises:

The root canal array, which is arranged between two opposite root detection channels (4), includes root canals that are parallel to each other and arranged in N rows and M rows, wherein the distance between each row of root canals is equal, and each row is adjacent The difference in depth between the two root canals buried in the crop root growth area is the same, and the deepest root canal buried depth does not exceed the depth set by the track (5) in the root detection channel (4), and the root canal Both ends of are respectively arranged in the root detection channel (4);

A monitor (6), which is set in each root canal of the root canal array, moves horizontally in each root canal (2) and rotates along the circumference of the root canal, and photographs each root canal along the line 360 ° Distribution of crop roots within the range.
The system for acquiring the root phenotype of field crops according to claim 2, characterized in that the track (5) is an I-steel structure, and the guide groove at least partially surrounds the upper part of the I-steel structure. When the RGV trolley (41) rotates away from the first direction, it abuts against the groove of the I-steel structure, and guides the RGV trolley (41) to return to move along the track (5) in the first direction.
The system for obtaining field crop root phenotype according to claim 2-3, wherein the phenotype obtaining sensor group (44) includes: hyperspectral imaging module, infrared thermal imaging module, near infrared imaging module, fluorescence Imaging module, radar scanning imaging unit.
The system for acquiring the root phenotype of field crops according to claims 1-5, characterized in that the root detection channel (4) comprises multiple layers, and the middle position of the ground of each layer of the root detection channel (4) is respectively A track (5) protruding upward in the first direction is provided.
The field crop root phenotype acquisition system according to claim 6, characterized in that the end of the root detection channel (4) of each layer is also vertically connected with a hoist (55), and the hoist ( 55) is provided with a carrier board (51) that can move up and down, the surface of the carrier board (51) is also provided with a track (5) in the middle of the ground corresponding to the root detection channel (4), and the RGV trolley (41) follows the track (5) Enter the hoist (55), and move up to the upper level of root detection channel (4) along with the carrier board (51) or down to the next level of root detection channel (4), along the track (5) Move in the first layer of root detection channel (4) it reaches in the first direction.
The system for obtaining field crop root phenotype according to claim 7, wherein the hoist (55) comprises:

A support (54), which vertically penetrates the root detection channels (4) of the upper and lower layers;

Screw rods (53), which are parallel to the brackets (54), are arranged between the brackets (54), and each screw rods (53) rotate synchronously;

Screw nut fixing seat (52), which is threadedly connected with the screw rod (53), and moves up or down along the screw rod (53) when the screw rod (53) rotates;

A carrier board (51), one end of which is fixedly connected to the screw nut fixing seat (52), and synchronized with the screw nut fixing seat (52) by the screw rod (53) and the screw nut fixing seat (52) Drive and move up or down along the screw (53), drive the RGV trolley (41) running on the carrier board (51) to move up to the upper level of root detection channel (4) or move down to the next Layer root detection channel (4).
The field crop root phenotype acquisition system according to claims 6-8, wherein the height difference between the root detection channels (4) of each layer does not exceed the phenotype set on the integrated platform (42) The height range of various phenotypic data distributed along the first direction of the crop roots in the glass window (1) that can be collected by the sensor group (44) is acquired.