WO2021151287A1

WO2021151287A1 - Movable phenotypic cabin for obtaining and analyzing phenotype of field crop

Info

Publication number: WO2021151287A1
Application number: PCT/CN2020/110640
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: CN111165228A; CN111165228B

Abstract

A movable phenotypic cabin for obtaining and analyzing the phenotype of a field crop, comprising a root system monitoring system (I), a phenotypic cabin frame system (II), an environmental control system (IV), and a data acquisition system. An operating mechanism is disposed on the phenotypic cabin frame system (II), so that the phenotypic cabin can move back and forth to a suitable position on a field, and perform comparative experiments of different environmental factors in the field under the same external soil hydrological environment. During the experiment process, the internal environment of the phenotypic cabin frame system (II) can be configured as closed and controllable by means of a water sealing device; therefore, the adjustment of the movable phenotypic cabin on the environmental factor in the cabin is more accurate, and can achieve the phenotypic characteristics observation of indoor and outdoor plants, and the phenotypic characteristics acquisition of overground and underground plants. Field crop samples are rich; therefore, the movable phenotypic cabin can carry out high-throughput, high-precision, low-cost, and comprehensive phenotype acquisition and analysis of crops.

Description

A mobile phenotype cabin for field crop phenotype acquisition and analysis

Technical field

The invention relates to the technical field of field crop phenotype acquisition, in particular to a mobile phenotype cabin for field crop phenotype acquisition and analysis.

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.

At present, field crop phenotyping research mainly focuses on obtaining plant type information and physiological parameters, identifying plants and detecting weeds, monitoring diseases and insect pests, and predicting yield.

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.

The traditional artificial climate chamber is generally used to monitor and control the growth environment of crops. It has the function of setting environmental factors such as temperature, humidity, light intensity, CO2 concentration, and soil moisture content. It can be applied to experiments such as genetic improvement of crops and cultivation of new species. Although it avoids many constraints in the natural environment, it mainly relies on manual observation and measurement to describe the external characteristics of crops, so as to obtain the relationship between genotypes, environmental factors and crop phenotypes, for example, to obtain plants through manual measurement Plant type information, such as using a ruler to measure plant height, leaf width, leaf length, etc.; based on personal experience, by observing the characteristics of the roots, stems, leaves, flowers and fruits of crops and weeds, from color, character, Recognize and classify crops and weeds in terms of taste; usually discover pests and diseases by human observation; estimate yield through manual sampling methods such as visual estimation, measurement prediction, and harvest prediction. The above-mentioned research work often relies on Manually detect individual traits of small samples of plants, so the amount of data is limited, the efficiency is low, it is difficult to carry out comprehensive analysis of multiple traits of plants, and the introduction of human factors can easily lead to errors in the measurement data, which can be analyzed in small scale, high cost, and time-consuming Laborious, lack of standardization and low measurement accuracy have become a bottleneck restricting the development of plant genome function analysis and molecular breeding.

Summary of the invention

Aiming at the shortcomings of the prior art, the present invention provides a mobile phenotype cabin for field crop phenotype acquisition and analysis. The present invention can meet the current high-throughput, high-precision, and low-cost requirements for plant genomics research and molecular breeding. The present invention can conveniently and efficiently obtain phenotypic data related to plant growth, yield, quality, and tolerance to biotic and abiotic stresses. The present invention specifically adopts the following technical solutions.

First of all, in order to achieve the above purpose, a mobile phenotype cabin for field crop phenotype acquisition and analysis is proposed, which includes:

A root monitoring system, which is buried in the crop root growth area in the field, at least one side close to the crop root growth area in the root monitoring system is made of transparent material, and the root monitoring system is also provided with a ground surface type acquisition device, the The ground surface morphology acquisition device moves along the transparent material in the crop root growth area, and scans to obtain phenotypic data of the crop root system that grows close to the transparent material;

A phenotype cabin frame system, which includes a water sealing device arranged on the edge of the root monitoring system, the water sealing device is provided with a phenotype cabin frame that spans the field, and the outer side of the phenotype cabin frame is covered with a sun panel, so The sun panel closes the phenotype cabin, and an operating mechanism is arranged between the underside of the phenotype cabin frame and the water sealing device, and the operating mechanism drives the phenotype cabin frame to translate along the edge of the root monitoring system. The phenotype cabin is also provided with numerical control hatches at both ends of the translation direction, the numerical control cabin door is opened for field crops and ground equipment to pass through the numerical control cabin door, and the numerical control cabin door is closed to close the phenotype cabin frame , Form a closed and controllable crop growth environment inside the phenotype cabin frame;

The environmental control system is set on the frame system of the phenotype cabin, including a temperature control system, a gas concentration control system, and a humidity control system fixedly connected to the frame of the phenotype cabin, and also includes a top of the phenotype cabin frame and fixed inside the sun panel And an auxiliary lighting system arranged outside the root monitoring system, the temperature control system, the gas concentration control system, and the humidity control system respectively regulate the temperature, gas concentration and humidity in the crop growth environment within the phenotype cabin frame, the auxiliary lighting system Increase or decrease the light intensity and/or light time in the growing environment of the crop in the phenotype cabin frame;

The data collection driving vehicle includes a driving guide rail arranged on the edge of the root monitoring system, the driving guide rail is parallel to the water sealing device, the driving guide rail is provided with a driving main body that spans the field, and the driving main body is movably connected with An adjustment mechanism, the lower part of the adjustment mechanism is provided with an above-ground phenotype acquisition device, which moves with the main body of the vehicle in the field and adjusts to an appropriate position along the main body of the vehicle to obtain the above-ground phenotype data of the crops in the field.

Optionally, any one of the above-mentioned mobile phenotype cabins for field crop phenotype acquisition and analysis, wherein the root system monitoring system includes a root system detection channel buried in the field surrounding the edge of the crop root growth area, interspersed in the root system The root canal group between the detection channels and the ground surface model acquisition equipment respectively arranged in the root canal detection channel and the root canal group;

in,

The root system detection channel is buried at the edge of the crop root system growth area along the first direction, a glass window is arranged on the side wall of the root system detection channel close to the crop root system growth area, and the middle position of the root system detection channel bottom is along the first direction An upwardly convex track is provided, and the ground surface model acquisition equipment in the root system detection channel is an RGV trolley;

The base of the RGV trolley is provided with a guide groove and a traveling wheel that cooperate with the track, and the traveling wheels drive the RGV trolley to move along the track set in the first direction, and collect the crop roots in the glass window along the first direction. Various phenotypic data distributed in one direction;

The root canal group includes a plurality of groups of root canals arranged perpendicularly to the first direction, and each group includes root canals that are arranged perpendicular to the first direction and arranged horizontally in the root growth area of the crop at different depths. Multiple root canals, each root canal is parallel to each other, the ground surface shape acquisition equipment in the root canal is a monitor, and each monitor moves horizontally in the root canal and rotates along the circumference of the root canal to photograph each root canal The distribution of crop roots along the 360° range of each group of root canals.

Optionally, any of the above-mentioned mobile phenotype cabins for field crop phenotype acquisition and analysis, wherein the main body of the monitor is a cylindrical structure, and the monitor is arranged inside the root canal made of transparent material;

One or both ends of the monitor is provided with a movement module, which includes a rotating wheel that rotates in the circumferential direction of the cylindrical structure, and also includes a drive wheel that rotates in the axial direction of the cylindrical structure. The monitor is driven by the drive wheel on the root. Horizontal movement in the tube, driven by the rotating wheel to rotate in the circumferential direction of the root canal;

The central part of the monitor is provided with an LED light source, which provides the image acquisition unit in the monitor with illumination required for shooting when the monitor photographs the distribution of the crop roots within a 360° range along the root canal, and at least illuminates the image acquisition unit. Shooting area

The data transmission and storage module, which is set in the monitor, is electrically connected to the image acquisition unit, and stores the photos of the distribution status of the crop root system at different angles taken by the monitor at different positions in the root canal

Optionally, any one of the above-mentioned mobile phenotype cabins for field crop phenotype acquisition and analysis, wherein an operating mechanism is provided on the top of the root detection channel, and the operating mechanism includes:

The running guide rail is arranged on the top of the root system detection channel along the first direction and is located at the edge of the crop root system growth area, and the running guide rail at the top of a root system detection channel includes two parallel to each other;

The guide wheels are fixed on the lower side of the frame of the phenotype cabin. The guide wheels on each side of the phenotype cabin frame include at least two groups, and each set of guide wheels rolls along one of the running guide rails.

Optionally, any of the above-mentioned mobile phenotype cabins for field crop phenotype acquisition and analysis, wherein a water sealing device is arranged in the middle of the operating mechanism, and the water sealing device includes:

A water tank, which is arranged between two running rails parallel to each other at the top of the root detection channel along the first direction;

The water baffle extends downward from the lower side of the frame of the surface type cabin into the water tank, and the water tank is filled with water when the numerical control cabin door is closed. Frame, forming a closed and controllable crop growth environment inside the phenotype cabin frame.

Optionally, any one of the above-mentioned mobile phenotype cabins for field crop phenotype acquisition and analysis, wherein a lifting mechanism is also connected between the root detection channel and the ground, and a lifting mechanism is provided in the lifting machine. The carrier board, the surface of the carrier board is also provided with a track in the middle of the bottom of the corresponding root system detection channel, the RGV trolley enters the hoist along the track, and moves up to the ground along with the carrier board, or moves down to the root system detection channel middle.

Optionally, any of the above-mentioned field crop root phenotype acquisition system, wherein the hoist includes:

Bracket, which vertically penetrates the root detection channels of the upper and lower layers;

A screw rod, which is parallel to the brackets, is arranged between the brackets, and each screw rod rotates synchronously;

A screw nut fixing seat, which is threadedly connected with the screw, and moves upward or downward along the screw with the rotation of the screw;

A carrier board, one end of which is fixedly connected to the screw nut fixing seat, and synchronously with the screw nut fixing seat, it is activated by the screw and the screw nut fixing seat to move up or down along the screw to drive The RGV trolley running on the carrier board moves up to the ground or down to the root detection channel.

Optionally, any one of the above-mentioned mobile phenotype cabins used for field crop phenotype acquisition and analysis, wherein the auxiliary lighting system includes an auxiliary lighting LED lamp arranged on the top of the phenotype cabin frame and fixed inside the sun panel , It also includes a sealing cover set on the end of each root tube in the root monitoring system, and a sunshade set on the glass window in the root monitoring system.

Optionally, any of the above-mentioned mobile phenotype cabins for field crop phenotype acquisition and analysis, wherein the above-ground equipment includes an environmental sensor group evenly distributed in the field, which includes an ozone concentration sensor, a light intensity sensor, A carbon dioxide concentration sensor, a temperature and humidity sensor, and a display screen, wherein the display screen is connected to the ozone concentration sensor, light intensity sensor, carbon dioxide concentration sensor, temperature and humidity sensor, and displays the ozone concentration, light intensity, and carbon dioxide collected by the environmental sensor group Concentration, temperature and humidity.

Beneficial effect

In the present invention, an operating mechanism is arranged on the frame system of the phenotype cabin, so that the phenotype cabin of the invention can move back and forth on the field to a suitable position, and conduct a comparative experiment of different environmental factors in the field under the same external soil hydrological environment. During the experiment, the internal environment of the phenotype cabin frame system can be set to be closed and controllable by the water sealing device. Therefore, the present invention can more accurately adjust the cabin environment factors, such as temperature, humidity, CO ₂ , O ₃ and light. The comparative study of different environmental factors can simulate the biological (insect pests, etc.) and non-biological adversity (such as drought, freezing damage, salinization, etc.) of field crops, and the conditions of crops grown in the natural environment outside the cabin. , Which can satisfy the research on the influence of different environmental factors on crop phenotypic characteristics and physiological parameters.

Further, the present invention can make the crops grow in the cabin and outside the cabin respectively, and can obtain the crops in the cabin and outside the cabin through the movable above-ground phenotype acquisition device and the ground surface phenotype acquisition device. Phenotypic characteristics. Combined with the sampling of the growth environment of the crops in the cabin, the present invention can obtain the effects of different environmental factors in the cabin and outside the cabin on the crops, and the purpose of performing accurate comparison simulation experiments.

The movable above-ground phenotype acquisition device and the above-ground phenotype acquisition device of the present invention can observe indoor and outdoor plant phenotype characteristics of larger samples of crops in the field, and realize the acquisition of ground and underground plant phenotype characteristics. Due to the abundant crop samples in the field, the present invention can perform high-throughput, high-precision, low-cost and comprehensive crop phenotype acquisition and analysis. The invention adopts the method of in-situ collection to obtain crop phenotype data, which introduces fewer human interference factors, so the data collection is more accurate. Compared with general domestic large-scale plant monitoring devices, the present invention can monitor more samples.

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:

Figure 1 is a schematic diagram of the overall structure of the mobile phenotype cabin for field crop phenotype acquisition and analysis of the present invention;

Figure 2 is a schematic diagram of the movable frame system in the mobile phenotype cabin of the present invention;

Figure 3 is a side view of the root monitoring system in the mobile phenotype cabin of the present invention;

4 is a schematic diagram of the structure of the RGV trolley in the mobile phenotype cabin of the present invention;

5 is a schematic diagram of the overall structure of the root monitoring system in the mobile phenotype cabin of the present invention;

6 is a schematic diagram of the root canal setting method in the root monitoring system of the mobile phenotype cabin of the present invention;

Fig. 7 is a schematic diagram of the external structure of the root monitoring system in Fig. 6;

Fig. 8 is a schematic diagram of the sunshade structure of the root monitoring system in Fig. 6;

9 is a schematic diagram of the structure of the hoist in the root monitoring system of the mobile phenotype cabin of the present invention;

10 is a schematic diagram of the top structure of the movable frame system in the mobile phenotype cabin of the present invention;

11 is a schematic diagram of the environmental sensor group in the movable frame system in the mobile phenotype cabin of the present invention;

Fig. 12 is a schematic diagram of the arrangement between the monitor and the root canal in the movable frame system in the mobile phenotype cabin of the present invention;

Fig. 13 is a schematic diagram of the operating mechanism in the movable frame system in the mobile phenotype cabin of the present invention.

In the figure, I represents the root monitoring system; II represents the phenotype cabin frame system; IV represents the environmental control system; V represents the data collection driving; 1 represents the glass window; 10 represents the field; 11 represents the sun shade; 2 represents the root canal; 3 represents Daylighting well; 31 means air conditioner; 32 means electric control cabinet; 33 means gas fertilizer machine; 34 means auxiliary lighting LED light; 35 means sprinkler system; 4 means root detection channel; 41 means RGV car; 42 means integrated platform; 43 means Adjustable pan/tilt; 44 means phenotype acquisition sensor group; 5 means track; 51 means carrier board; 52 means screw nut fixing seat; 53 means screw rod; 54 means bracket; 55 means hoist; 6 means monitor; 61 Represents the LED light source; 62 represents the data transmission storage module; 63 represents the motion module; 7 represents the environmental sensor group; 71 represents the display screen; 72 represents the ozone concentration sensor; 73 represents the light intensity sensor; 74 represents the carbon dioxide concentration sensor; 75 represents the temperature and humidity sensor.

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 inside of the root canal monitor as far as the root canal itself is concerned, and vice versa; it does not specifically limit 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 sliding guide rail from the top of the frame system of the phenotype cabin to the inside of the root detection channel, relative to the mobile phenotype cabin used for field crop phenotype acquisition and analysis. The direction of the set bottom is downward, and vice versa, it is not a specific limitation on the device mechanism of the present invention.

Phenotypic studies of plants can be divided into indoor and outdoor according to the environment in which plants grow, each with its own advantages and disadvantages. The invention realizes the indoor and outdoor integrated research of the large-scale phenotype research platform by moving the frame structure of the integral phenotype cabin. The table-type cabin frame system is composed of a table-type cabin frame, a numerically controlled cabin door, an operating mechanism component and a motion control system. The numerical control cabin door can make the phenotype cabin in a closed mode, which can ensure that the plants in the cabin feel the same environment, and realize the control of the experimental environment for the normalization of crop growth; The study of demand can study the influence of different light sources on the growth and development of plants. The invention can simulate and control the four main climatic factors of light, temperature, humidity and CO2 concentration to realize the research on the influence of climate on plants and the response of plants to biotic and abiotic stresses. Outside the cabin, the characteristics of various traits in the natural environment can be studied, and the research results of the plant phenotype outside the cabin can be directly applied to production practice.

Fig. 1 is a mobile phenotype cabin for field crop phenotype acquisition and analysis according to the present invention, which includes:

Root monitoring system I, which is buried in the crop root growth area in the field 10. At least one side of the root monitoring system I close to the crop root growth area is made of transparent material, and the root monitoring system I is also provided with ground surface type acquisition A device, the ground surface morphology acquisition device moves along the transparent material in the crop root growth area, and scans to obtain phenotypic data of the crop root system that grows close to the transparent material;

The phenotype cabin frame system II, which includes the phenotype cabin frame, numerically controlled hatch, water sealing device, and operating mechanism components, can facilitate light and rain and snow shielding of the test field, and can switch between greenhouse and outdoor modes at any time according to the needs of experimental observations. Indoor and outdoor integrated research on a large-scale phenotyping research platform. Wherein, the water sealing device is arranged on the edge of the root monitoring system I, and a phenotype cabin frame spanning the field 10 is arranged on the water sealing device. The frame of the phenotype cabin includes uprights (main truss), roof truss, purlins, inter-pillar supports, detection channels, and a peripheral covering structure-sun panel; the peripheral covering structure-the sun panel covers the top and surroundings of the phenotype cabin, and the connection point The special aluminum alloy profile is used for fixing and sealing, and various natural environmental conditions such as shading and shadow are simulated according to the experimental requirements, which can ensure the lighting, light transmission and heat insulation and energy saving of the greenhouse; both sides of the table type cabin are equipped with detection channels for the staff to pass through. , You can observe the plant characterization traits under controlled conditions at close range. The numerical control cabin door in the present invention includes a lifting mechanism, a running track, and a cabin door. The cabin door is installed at the front and rear ends of the mobile phenotype cabin, and the control system controls the cabin door to move along the running track to realize opening and closing. The outer side of the phenotype cabin frame is covered by a sun panel to realize the sealing of the phenotype cabin. An operating mechanism is arranged between the lower side of the phenotype cabin frame and the water sealing device, and the operating mechanism drives the watch The frame of the profile cabin is translated along the edge of the root monitoring system I, and the two ends of the profile cabin are also provided with numerical control cabin doors respectively at both ends of the translation direction. The numerical control cabin door is closed to close the phenotype cabin frame and form a closed and controllable crop growth environment inside the phenotype cabin frame;

The environmental control system IV, which is set on the phenotype cabin frame system II, includes a temperature control system, a gas concentration control system, and a humidity control system that are fixedly connected to the phenotype cabin frame, and also includes the top of the phenotype cabin frame and is fixed to the sun The auxiliary lighting system on the inner side of the board and on the outer side of the root monitoring system I, the temperature control system, gas concentration control system, and humidity control system respectively regulate the temperature, gas concentration and humidity in the crop growth environment in the phenotype cabin frame, the The auxiliary lighting system increases or decreases the light intensity and/or light time in the growing environment of the crop in the phenotype cabin frame;

The data collection traveling vehicle V includes a traveling rail set on the edge of the root monitoring system I, the traveling rail is parallel to the water sealing device, the traveling rail is mounted with a traveling main body that spans the field 10, and the traveling main body is An adjustment mechanism is movably connected, and an above-ground phenotype acquisition device is arranged at the lower part of the adjustment mechanism. The above-ground phenotype acquisition device moves with the main body of the vehicle in the field 10 and adjusts to an appropriate position along the main body of the vehicle to obtain the ground surface of the crops in the field. Type data.

It can also be equipped with a five-dimensional data acquisition system in the cabin, through the five-dimensional data acquisition in the cabin, the driving, the first direction sliding guide, the pulley, the second direction sliding guide, the trolley mechanism, the telescopic frame, the adjustable platform and the integrated platform of image acquisition equipment The five-dimensional data acquisition in the cabin is mounted on the sliding guide rail in the first direction through pulleys, and under the control of the motion system, moves in the phenotype cabin in the first direction in the first direction; the trolley mechanism is mounted on the sliding guide rail in the second direction According to the image acquisition requirements, adjust the position of the image acquisition equipment in the second direction; the telescopic frame is suspended on the trolley mechanism, and the shooting height can be adjusted by the telescopic frame according to the image acquisition requirements; the adjustable platform includes The slewing mechanism and the motor can adjust the shooting angle of the integrated platform of the image acquisition equipment in real time according to the imaging requirements, realize 360° shooting of field crops, and collect the images of the field crops; the integrated platform of the image acquisition equipment can be based on plant stems and leaves, etc. The acquisition of the top view chart data of the organ requires real-time control of the five-dimensional data collection and driving to achieve the acquisition of the top view chart data of multiple groups of plants.

After the numerical control cabin door is opened, the invention can drive the cabin body frame to move in the first direction through the servo motor, and can switch the greenhouse and outdoor modes at any time according to the requirements of experimental observation. The operating mechanism components of the phenotype cabin system include running rails, rail wheels, inverters, absolute encoders, PLCs and servo motors, etc.; the motion control system is composed of positioning modules and motion modules, and the motion module is responsible for collecting the operation of the cabin by the PLC Status and driving coordinates, and then read the absolute encoder data, and then push the operation control parameters generated by the system management part to the PLC via the host, and after logic operations, generate output control signals, and send instructions to the inverter via the output module, thereby Control the motor speed to realize the start-stop and variable-speed functions of the motor. The present invention thus provides a mobile phenotype cabin for high-throughput and high-precision field crop phenotype acquisition and analysis. The present invention can control the environmental factors in the cabin and the movement of the phenotype cabin for field crop cultivation and monitoring. Type acquisition and comparative analysis solve the problems in the existing climate chambers that can not carry out large-scale field experiments and cannot carry out accurate and automatic acquisition and analysis of crop phenotypes.

Specifically referring to Figures 6 and 7, the above-mentioned root monitoring system I is divided into a root window monitoring system and a multi-channel monitoring system, which can specifically include root detection channels 4 embedded in the field 10 surrounding the edge of the crop root growth area, interspersed settings The root canal group between the root system detection channels 4 and the ground surface model acquisition equipment respectively arranged in the root system detection channel 4 and the root canal group. It can collect data and images of a variety of plant root soil moisture, temperature and crop root growth parameters in real time, dynamically and all-weather; the root window monitoring system consists of root monitoring channels, sliding guides, image acquisition equipment integrated platform, RGV trolley, and auxiliary lighting System, ventilation system, lifting device, stairwell.

in:

The root detection channel 4 is buried at the edge of the crop root growth area along the first direction, the root detection channel 4 is provided with a glass window 1 on the side wall close to the crop root growth area, and the root detection channel 4 is in the middle of the bottom An upwardly convex track 5 is provided along the first direction. The root system monitoring channel is a rectangular parallelepiped structure, and the distance between the two sides is within the range of 60-70cm, which can be used for staff to enter and implement equipment maintenance. The left side is a solid retaining plate , The right side is a transparent glass window, which can be used to observe the roots of field crops; the ground surface shape acquisition equipment in the root detection channel 4 is an RGV trolley 41; the track 5 can be selected as an I-steel structure, which is installed at the bottom of the channel , For the RGV trolley to move in the channel along the guide rail;

The RGV trolley 41, as shown in FIG. 4, is provided with a guide groove and a traveling wheel that cooperate with the rail 5 on its base, and the traveling wheel drives the RGV trolley 41 along the rail 5 arranged in the first direction. Move to collect various phenotype data of crop roots distributed along the first direction in the glass window 1; the image acquisition equipment integrated platform set on the RGV trolley 41 includes a phenotype acquisition sensor group, an integrated platform, and an adjustable pan/tilt. The phenotype acquisition sensor group includes hyperspectral imaging, infrared thermal imaging, near-infrared imaging, fluorescence imaging, and radar scanning imaging units, which are installed in an integrated platform, which is fixed to the RGV trolley through an adjustable pan/tilt, and can be adjusted The angle of the pan-tilt can realize the movement in the XYZ three-coordinate direction. The RGV trolley load image acquisition equipment integrated platform moves in the channel along the guide rails, and can monitor the in-situ growth status of the roots of real plants in real time. It does not require personnel to operate on-site, and only needs to 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.

The root canal group includes a plurality of groups of root canals arranged perpendicularly to the first direction, and each group includes root canals that are arranged perpendicular to the first direction and arranged horizontally in the root growth area of the crop at different depths. Multiple root canals are parallel to each other. The ground surface shape acquisition equipment in the root canal is the monitor 6. Each monitor 6 moves horizontally in the root canal 2 and rotates along the circumference of the root canal. The distribution of crop roots within 360° of each root canal. Each group of root canals.

The root canal can be set as a multi-segment root canal, which is a cylindrical transparent tube, which is placed horizontally just below the crop planting point. The front and back ends of the transparent root canal are provided with threads. The multi-segment transparent root canals are connected by threads to form root monitoring of different depths. The channels 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 ground surface type acquisition equipment in the root canal can be set as the monitor 6 shown in FIG. 12. The main body of the monitor 6 is a cylindrical structure, and the monitor 6 is arranged inside the root canal 2 of transparent material. The multi-channel monitoring system adopts an endoscopic image acquisition device, which can collect in real time, dynamically and all-weather. Data and images of crop root growth parameters;

One or both ends of the monitor 6 are provided with a movement module 63, which includes a rotating wheel that rotates in the circumferential direction of the cylindrical structure, and also includes a drive wheel that rotates in the axial direction of the cylindrical structure. The monitor 6 is driven by the drive wheel. The root canal 2 moves horizontally and is driven by a rotating wheel to rotate in the circumferential direction of the root canal;

The central part of the monitor 6 is provided with an LED light source 61, which provides the image acquisition unit in the monitor 6 with illumination required for shooting when the monitor 6 photographs the distribution of crop roots within 360° along the root canal. The shooting area of the image acquisition unit;

The data transmission and storage module 62 is arranged in the monitor 6 and is electrically connected to the image acquisition unit, and stores the photos of the distribution status of the crop root system at different angles taken by the monitor 6 at different positions in the root canal.

The monitor 6 host receives the remote control instruction through the data transmission storage module and then controls the movement module to move in the channel. With the LED light source, it can monitor the in-situ growth status of plant roots at different depths in real time, and obtain multiple sets of crop roots in real time, timed, and fixed. Phenotypic data; by collecting images of crop roots distributed near the root canals at different depths, and stitching multiple images in different time and space to ensure the acquisition of comprehensive information about plant roots; the root monitoring pipes are equipped with sealing caps at both ends to create Avoid light environment to avoid the influence of external light on the root system.

Referring to FIG. 13, the operating mechanism at the top of the root detection channel 4 may be specifically configured to include:

The running guide rail is arranged on the top of the root system detection channel 4 along the first direction and is located at the edge of the crop root growth area. The running guide rail on the top of the root system detection channel 4 includes two parallel ones;

Therefore, the phenotype cabin system takes the running guide rail as the reference, and the position of the phenotype cabin body on the running guide rail is positioned by the mobile phenotype cabin positioning system, and the position of the cabin body can be obtained in real time. According to the requirements of the operator, the table type cabin is controlled to move correspondingly along the running track through the table type cabin intelligent control system.

The water sealing device is arranged between the two running tracks of the side movement mechanism of the mobile surface cabin in Figure 13, and is composed of a water tank and a water baffle. When the numerical control cabin door is closed, water is added to the water tank until the lower end of the water baffle is submerged. , To ensure that the cabin environment is completely isolated from the outside world to form a closed environment. At this time, the environment conditions in the cabin are completely regulated by the environmental control system. With reference to Figure 2, the specific structure of the water sealing device includes:

A water tank, which is arranged in the first direction between two running rails parallel to each other on the top of the root detection channel 4;

In order to facilitate the movement of the RGV trolley 41, the present invention can further adopt the methods shown in Figs. 3 and 9. A lifting mechanism 55 is also connected between the root detection channel 4 and the ground, and the lifting machine 55 is provided with up and down movement. The carrier board 51 of the carrier board 51 is also provided with a track 5 at the middle position corresponding to the bottom of the root detection channel 4. The RGV trolley 41 enters the hoist 55 along the track 5, and moves up to the ground along with the carrier board 51 , Or move down to the root detection channel 4.

Specifically, the hoist 55 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;

A 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, it is activated by the screw 53 and the screw nut fixing seat 52 to move upward along the screw 53 Or move down to drive the RGV trolley 41 running on the carrier board 51 to move up to the ground or move down to the root detection channel 4.

In the present invention, the environmental control system IV includes a temperature control system, a gas concentration control system, a humidity control system, an auxiliary lighting system, and a partitioned fire protection system. Through the temperature, CO ₂ concentration, O ₃ concentration, and humidity installed in the mobile phenotype cabin , Light intensity and other specific sensors return the detection value to the industrial control host of the control system in real time, and the system controls the corresponding device according to the obtained data and adjusts the environment. The temperature control system includes air conditioning equipment in the cabin and multiple sets of temperature sensors evenly distributed in the field. The temperature control system regulates the cabin temperature by controlling the air conditioner according to the detection value returned by the temperature sensor, thereby ensuring the stability of the cabin temperature; The gas concentration control system includes a gas fertilizer machine and multiple sets of CO ₂ and O ₃ concentration sensors evenly distributed in the field. The gas concentration control system adjusts the gas composition in the cabin _{according to the detection values returned by the CO 2} and O _{3 concentration sensors.} The system detects that the _{concentration of CO 2} , O ₃ and other gases is insufficient, and the gas fertilizer will generate corresponding gas to supplement; the humidity control system includes a spray system installed on the top of the phenotype cabin, a water tank and multiple sets of humidity sensors evenly distributed in the field According to the detection value returned by the sensor, the humidity control system controls the humidity in the cabin by controlling the watering of the sprinkler system or increasing the ventilation in the cabin; The light intensity sensor and the sunshade installed on the light well in the root monitoring channel, the auxiliary light control system according to the detection value returned by the photosensitive sensor, by controlling the switch of the LED light group to fill the field crops in the cabin, and by controlling the switch of the sunshade Reduce the influence of external light on crop roots; the zoned fire protection system consists of multiple automatic sprinklers distributed on the top of the root monitoring channel. The pipes of the system are filled with pressurized water. In the event of a fire, the sprinklers will immediately spray water to extinguish the fire.

The auxiliary lighting system, in order to comprehensively control the lighting conditions inside the phenotype cabin system, can be set to include: an auxiliary lighting LED lamp 34 as shown in FIG. The sealing cover provided at the end of each root tube in the root monitoring system I, and the sunshade 11 as shown in FIG. 8 provided on the glass window 1 in the root monitoring system I. 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 four corners of the root detection channel are equipped with ventilation pipes and hoist mechanisms. A total of six stairwells are set up in the middle and four corners of the channel. The ventilation pipes can realize the ventilation function in the duct. Transported to the channel track, the stairwell allows staff to enter the channel from the ground to perform equipment maintenance.

In order to improve the efficiency of phenotyping collection, the present invention can further set the extra-vehicle data collection system V to include data collection driving, first-direction sliding guide rail, pulley, second-direction sliding guide rail, sliding plate, and third-direction hydraulic lifting mechanism. , Image acquisition equipment; the data acquisition carriage is mounted on the sliding guide rail in the first direction through pulleys, and under the control of the motion system, moves in the field along the first direction; the sliding plate cooperates with the sliding guide rail in the second direction, according to the image acquisition It is required to adjust the position of the image acquisition device in the second direction; the third-direction hydraulic lifting mechanism adjusts the relative height between the driving vehicle and the ground by controlling the lifting of the hydraulic support rod, and the shooting height can be adjusted according to different image acquisition requirements; the image The collection device can take real-time shooting according to the requirements for obtaining top-down graph data of plant stems and leaves and other organs, so as to obtain the top-down graph data of multiple groups of plants.

The out-of-vehicle data acquisition system V may further include the environmental sensor group 7 evenly distributed in the field 10 shown in FIG. 5 or FIG. 11, which includes an ozone concentration sensor 72, a light intensity sensor 73, a carbon dioxide concentration sensor 74, and temperature and humidity. A sensor 75 and a display screen 71, wherein the display screen 71 is connected to the ozone concentration sensor 72, light intensity sensor 73, carbon dioxide concentration sensor 74, temperature and humidity sensor 75, and displays the ozone concentration and light intensity collected by the environmental sensor group 7 , Carbon dioxide concentration, temperature and humidity.

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 mobile phenotype cabin for field crop phenotype acquisition and analysis, which is characterized in that it comprises:

A root monitoring system (I), which is buried in a crop root growth area in a field (10), at least one side close to the crop root growth area in the root monitoring system (I) is made of transparent material, and the root monitoring system (I) A ground surface morphology acquisition device is also provided therein, and the ground surface morphology acquisition device moves along the transparent material in the crop root growth area, and scans to acquire phenotypic data of the crop root system that grows close to the transparent material;

The phenotype cabin frame system (II), which includes a water sealing device arranged on the edge of the root monitoring system (I), the phenotype cabin frame spanning the field (10) is provided on the water sealing device, and the phenotype cabin The outer side of the frame is covered with a sun panel, the sun panel encloses the phenotype cabin, an operating mechanism is arranged between the underside of the phenotype cabin frame and the water sealing device, and the operating mechanism drives the phenotype cabin frame Translate along the edge of the root monitoring system (I), the surface-type cabin is also provided with numerically controlled cabin doors at both ends of the translational direction, and the numerically controlled cabin doors are opened to allow crops and ground equipment in the field (10) to pass through the numerically controlled cabin doors , The numerical control cabin door is closed to close the phenotype cabin frame and form a closed and controllable crop growth environment inside the phenotype cabin frame;

Environmental control system (IV), which is installed on the phenotype cabin frame system (II), including the temperature control system, gas concentration control system, and humidity control system fixedly connected to the phenotype cabin frame, and also includes the phenotype cabin frame The top is fixed on the inner side of the sunshine board and the auxiliary lighting system arranged on the outer side of the root monitoring system (I). The temperature control system, gas concentration control system, and humidity control system respectively regulate the temperature and gas in the crop growth environment in the phenotype cabin frame Concentration and humidity, the auxiliary lighting system increases or decreases the light intensity and/or light time in the crop growth environment in the phenotype cabin frame; data collection driving (V), which includes driving at the edge of the root monitoring system (I) A rail, the traveling rail is parallel to the water sealing device, the traveling rail is provided with a traveling main body spanning the field (10), the traveling main body is movably connected with an adjusting mechanism, and the lower part of the adjusting mechanism is provided with An above-ground phenotype acquisition device, which moves with the main body of the vehicle in the field (10) and is adjusted to an appropriate position along the main body of the vehicle to obtain the above-ground phenotype data of the crops in the field.
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claim 1, wherein the root monitoring system (I) comprises a root system buried in the field (10) surrounding the edge of the crop root growth area The detection channel (4), the root canal group interspersed between the root system detection channels (4), and the ground surface model acquisition equipment respectively arranged in the root system detection channel (4) and the root canal group;

in,

The root detection channel (4) is buried at the edge of the crop root growth area along the first direction, and a glass window (1) is provided on the side wall close to the crop root growth area in the root detection channel (4), and the root detection channel (4) An upwardly convex track (5) is provided at the middle position of the bottom of the channel (4) along the first direction, and the ground surface shape acquisition equipment in the root system detection channel (4) is an RGV trolley (41);

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) Move to collect various phenotypic data of crop roots distributed along the first direction in the glass window (1);

The root canal group includes a plurality of groups of root canals arranged perpendicularly to the first direction, and each group includes root canals that are arranged perpendicular to the first direction and arranged horizontally in the root growth area of the crop at different depths. Multiple root canals, each root canal is parallel to each other, the ground surface shape acquisition equipment in the root canal is a monitor (6), and each monitor (6) moves horizontally in the root canal (2) and moves along the root canal. Circumferential rotation of each root canal, shooting the distribution of crop roots within 360° of each root canal, and each group of root canals.
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claim 1-2, wherein the main body of the monitor (6) is a cylindrical structure, and the monitor (6) is arranged in the The inside of the root canal (2) made of transparent material;

One or both ends of the monitor (6) are provided with a movement module (63), which includes a rotating wheel that rotates in the circumferential direction of the cylindrical structure, and also includes a drive wheel that rotates in the axial direction of the cylindrical structure. The monitor (6) ) Driven by the driving wheel to move horizontally in the root canal (2), and driven by the rotating wheel to rotate in the circumferential direction of the root canal;

An LED light source (61) is provided in the middle of the monitor (6), which provides the image acquisition unit in the monitor (6) when the monitor (6) photographs the distribution of crop roots within 360° along the root canal. Lighting required for shooting, at least illuminate the shooting area of the image acquisition unit;

The data transmission and storage module (62), which is arranged in the monitor (6), is electrically connected to the image acquisition unit, and stores the distribution status of the crop root system at different angles taken by the monitor (6) at different positions in the root canal Photo
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claims 1-3, characterized in that an operating mechanism is provided on the top of the root detection channel (4), and the operating mechanism comprises:

The running guide rail is arranged on the top of the root system detection channel (4) along the first direction and is located at the edge of the crop root system growth area, and the running guide rail at the top of a root system detection channel (4) includes two parallel to each other;

The guide wheels are fixed on the lower side of the frame of the phenotype cabin. The guide wheels on each side of the phenotype cabin frame include at least two groups, and each set of guide wheels rolls along one of the running guide rails.
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claims 1-3, wherein a water sealing device is arranged in the middle of the operating mechanism, and the water sealing device comprises:

A water tank, which is arranged along the first direction between two running rails parallel to each other on the top of the root detection channel (4);

The water baffle extends downward from the lower side of the frame of the surface type cabin into the water tank, and the water tank is filled with water when the numerical control cabin door is closed. Frame, forming a closed and controllable crop growth environment inside the phenotype cabin frame.
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claims 2-5, wherein a lifting mechanism (55) is also connected between the root detection channel (4) and the ground, so The hoist (55) is provided with a carrier board (51) that moves up and down, and the surface of the carrier board (51) is also provided with a track (5) at the middle position corresponding to the bottom of the root detection channel (4), and the RGV trolley (41) ) Enter the hoist (55) along the track (5), move up to the ground along with the carrier board (51), or move down to the root detection channel (4).
The system for acquiring the root phenotype of field crops according to claim 6, 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;

The 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) When activated, it moves up or down along the screw rod (53), and drives the RGV trolley (41) running on the carrier board (51) to move up to the ground or down to the root detection channel (4).
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claim 3, wherein the auxiliary lighting system comprises an auxiliary lighting LED arranged on the top of the phenotype cabin frame and fixed inside the sun panel The lamp (34) also includes a sealing cover arranged at the end of each root tube in the root monitoring system (I), and a sunshade (11) arranged on the glass window (1) in the root monitoring system (I).
The mobile phenotype cabin for field crop phenotype acquisition and analysis according to claim 1, wherein the above-ground equipment includes an environmental sensor group (7) evenly distributed in the field (10), which includes ozone Concentration sensor (72), light intensity sensor (73), carbon dioxide concentration sensor (74), temperature and humidity sensor (75) and display screen (71), wherein the display screen (71) is connected to the ozone concentration sensor (72), The light intensity sensor (73), the carbon dioxide concentration sensor (74), and the temperature and humidity sensor (75) display the ozone concentration, light intensity, carbon dioxide concentration, temperature and humidity collected by the environmental sensor group (7).