WO2021169201A1 - 一种圆柱根盒的栽培架及表型采集方法 - Google Patents

一种圆柱根盒的栽培架及表型采集方法 Download PDF

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Publication number
WO2021169201A1
WO2021169201A1 PCT/CN2020/110643 CN2020110643W WO2021169201A1 WO 2021169201 A1 WO2021169201 A1 WO 2021169201A1 CN 2020110643 W CN2020110643 W CN 2020110643W WO 2021169201 A1 WO2021169201 A1 WO 2021169201A1
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Prior art keywords
root box
cultivation
track
box
cylindrical
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PCT/CN2020/110643
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English (en)
French (fr)
Inventor
姜东�
傅秀清
吴劼
周国栋
丁艳锋
毛江美
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南京慧瞳作物表型组学研究院有限公司
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Publication of WO2021169201A1 publication Critical patent/WO2021169201A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G31/02—Special apparatus therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G31/00—Soilless cultivation, e.g. hydroponics
    • A01G2031/006—Soilless cultivation, e.g. hydroponics with means for recycling the nutritive solution
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1738—Optionally different kinds of measurements; Method being valid for different kinds of measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1765—Method using an image detector and processing of image signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N2021/1765—Method using an image detector and processing of image signal
    • G01N2021/177—Detector of the video camera type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Definitions

  • the invention relates to the field of crop cultivation equipment, in particular to a cultivation frame of a cylindrical root box and a phenotype collection method.
  • the traditional artificial climate chamber has the function of cultivating crops, and the monitoring and measurement of crop phenotypes requires researchers to rely on manual observation and manual measurement to describe, thereby obtaining genotypes and environmental factors according to the external characteristics of crop growth And the relationship between crop phenotypes.
  • the present invention provides a cylindrical root box cultivation frame and a phenotype collection method.
  • the present invention can directly, accurately and accurately integrate a track on the top of the cultivation frame and a phenotype collection subsystem hoisted on the track. Real-time detection of phenotypic data during crop growth, achieving high-throughput crop phenotype acquisition and analysis.
  • the present invention specifically adopts the following technical solutions.
  • Cultivation frame body used to fix cylindrical root box
  • a rail support frame which includes a vertical frame and a horizontal beam horizontally erected on the top of the vertical frame; wherein the vertical frame includes four parallel to each other, and the four vertical frames are respectively vertically fixed and connected to the four corners of the top of the cultivation frame body
  • the horizontal beam includes two parallel to each other, and each horizontal beam is respectively provided with a mounting hole in the middle of its bottom side, and the top end of each vertical bracket is inserted into each of the mounting holes to support and fix the The horizontal beam;
  • the rail is arranged in a closed structure, and the inner side of the closed structure is provided with mounting parts on opposite sides respectively for the horizontal ends of the horizontal beam to be embedded, and the rail is connected to the rail support frame through the mounting parts, and the
  • the track support frame is supported and fixedly erected on the top of the cultivation frame body, and the track protrudes from the periphery of the cultivation frame body;
  • the phenotype collection subsystem whose upper end is suspended below the track, can be driven to move along the track around the cultivating frame body, a telescopic device is arranged in the middle, and a collection platform is connected to the bottom end of the telescopic device , The collecting platform moves synchronously with the telescopic device around the outer edge of the cultivating frame body, and along with the telescopic device extends downwards or contracts upwards to collect the crops in each cylindrical root box fixed on the cultivating frame body Phenotypic data.
  • the cultivation rack for a cylindrical root box of any one of the above wherein the track is a concave track enclosed in an elliptical shape, and the concave track includes an elliptical inner ring, an elliptical outer ring, and an ellipse connected inside the ellipse.
  • the connecting parts of the top ends of the elliptical inner ring and the elliptical outer ring, and the lower bottom ends of the elliptical inner ring and the elliptical outer ring are respectively provided with a hanging part that shrinks toward the center of the connecting part.
  • the cultivation rack for cylindrical root boxes of any one of the above wherein the phenotype acquisition subsystem has a track wheel at its upper end, a connecting rod is arranged in the middle of the track wheel, and the lower surface of the track wheel Abutting on the upper end surface of the lower suspension part on the inner side of the track, the connecting rod extends downward from the gap between the suspension parts of the elliptical inner ring and the elliptical outer ring to connect the telescopic device to suspend the collection platform.
  • the cultivation frame of the cylindrical root box of any one of the above wherein a motor box is further provided between the lower end of the connecting rod and the top end of the telescopic device, and a driving motor is provided in the motor box for driving The track wheel runs along the track; the motor box is also provided with a telescopic drive component, which is connected to the top end of the telescopic device to drive the telescopic device to extend downward or contract upward.
  • each of the cylindrical root boxes is set to include a root box cover, a root box tube, an inner tube, and a root box base, wherein the The inner tube is arranged inside the root box tube, and the bottom of the root box tube and the inner tube is fixedly connected and closed by the root box base.
  • a root growth space for containing nutrient solution is formed between the root box tube and the inner tube, and the root box cover is detachable
  • the ion electrode is arranged under the root box cover, and the ion electrode extends downward from the root box cover into the root growth space between the root box tube and the inner tube; the lower surface of the root box base is also A cylindrical protrusion protruding downward is provided, and the cylindrical protrusion is inserted and fixed with the cultivation frame body;
  • a nutrient solution supply device is also provided on the cultivation rack body, and the nutrient solution supply device includes:
  • Connecting pipes which include branch pipes respectively connected to the cylindrical root boxes arranged in each layer of the cultivation rack body, and main pipes connecting the branch pipes in series, the main pipes are arranged along each layer of the cultivation rack body, and the connecting pipes are connected and arranged Each root box on each layer of the cultivation rack body;
  • a nutrient solution generator which is arranged on one side of the bottom of the cultivation rack body, is connected to the input end of the connecting pipe, and delivers nutrient solution to the main pipe and each branch pipe;
  • a nutrient solution recovery box which is arranged on the other side of the bottom of the cultivation rack body, is connected to the output end of the connecting pipe, and receives the waste liquid discharged from each cylindrical root box collected by the main pipe through each branch pipe;
  • Disinfection filter device which is connected between the output end of the nutrient solution recovery tank and the input end of the nutrient solution generator, and is used to disinfect and filter the waste liquid output from the nutrient solution recovery tank, and output clean nutrient solution to the nutrient solution Generator, recycling the nutrients in the waste liquid.
  • the cultivating rack for a cylindrical root box of any one of the above wherein the two sides of the root box base are also provided with upwardly extending bosses opposite to each other, and the inner side of the bosses closely fits the roots.
  • each of the bosses is provided with a communication hole, each of the communication holes is respectively connected to a different branch of the connecting pipe, and the root box receives a branch of the connecting pipe through one of the communication holes.
  • Nutrient solution the root box discharges the waste liquid of the nutrient solution after the crop absorbs nutrients to the other branch pipe connected to the pipe through the other communicating hole of the root box.
  • the cultivation rack of any one of the above cylindrical root boxes wherein the collection platform includes two, and the tops of the two collection platforms are respectively connected with a telescopic device, and the tops of the two telescopic devices are both Connect to the motor box.
  • any one of the above-mentioned cylindrical root box cultivation racks wherein each of the collection platforms is loaded with corresponding sensing equipment, and the sensing equipment includes, but is not limited to, a visible light sensor, a multi-spectral sensor, and a height sensor. Any one or combination of spectral sensor, thermal imaging sensor, lidar sensor, depth camera
  • the cultivation rack of the cylindrical root box described in any one of the above further includes a universal wheel installed at the bottom end of the cultivation rack body.
  • the present invention also provides a phenotype collection method for the cultivation rack of the cylindrical root box, which is used for the cultivation rack of the cylindrical root box as described above.
  • each cylindrical root box is inserted separately At least one side of each root box in each layer directly faces the outer edge of the cultivation frame body among the layers connected and fixed on the cultivation frame body.
  • the phenotype collection method includes the following steps:
  • the first step is to load the corresponding sensing equipment in the acquisition platform according to the phenotypic acquisition needs, including any one or a combination of visible light sensors, multispectral sensors, hyperspectral sensors, thermal imaging sensors, lidar sensors, and depth cameras ;
  • the second step is to drive the track wheel set at the upper end of the phenotype acquisition subsystem to rotate, so that the track wheel rotates along the upper end surface of the lower suspension part on the inner side of the track, driving it to extend downward from the gap between the suspension parts
  • the connecting rod, the telescopic device and the acquisition platform connected to the lower end of the connecting rod translate along the track;
  • the telescopic device is driven to extend downward or contract upward to drive the collection platform connected to the bottom end of the drive telescopic device to move to each layer on the cultivation frame body
  • the sensor device loaded in the collecting platform correspondingly collects the phenotypic data of the crops in each cylindrical root box fixed on the cultivation frame body.
  • the cultivation frame of the cylindrical root box and the phenotype collection method provided by the present invention are achieved by arranging a rail support frame above the cultivation frame body, and supporting and fixing the rail protruding from the outer edge of the cultivation frame body through the rail support frame, and passing the track,
  • the corresponding phenotype acquisition subsystem is suspended below the track to realize the scanning and analysis of the phenotype data of the crops contained in each cylindrical root box set on the entire cultivation frame body.
  • the invention solves the problem that the existing climate chamber climate cultivation environment cannot directly carry out accurate and automatic acquisition and analysis of crop phenotypes.
  • the present invention also sets two independent collection platforms for collecting root box phenotype data, and the two platforms are respectively driven by telescopic devices connected to their top ends to independently move up and down outside the main body of the cultivation frame. Therefore, the present invention can independently obtain phenotype-related sensor data through different sensing devices to perform comprehensive analysis of crop phenotype.
  • the root box of the present invention is arranged in a cylindrical shape, can display the phenotype of the crop root system at 360°, and facilitates multi-angle scanning of the phenotype of the crop.
  • the inside is set up in two layers, and the outside is connected with connecting pipes to provide nutrient solution circulation.
  • the cylindrical root box can detect the nutrient supply status of the crop in the root box through the electrode between the two layers of Placed at the top of the cone, it can also distribute the roots of the crop along the surface of the cone, facilitating the observation of the roots of the crop.
  • the sleeve structure can reduce the internal space of the cylindrical root box and reduce the consumption of nutrient solution.
  • the cylinder provides space for root growth, and the outer ring of the cylindrical root box is used to place a variety of ion-selective electrodes to facilitate the collection of different nutrient solution parameters.
  • Figure 1 is a schematic diagram of the overall structure of the cultivation frame of the cylindrical root box of the present invention.
  • Figure 2 is a top view of the top rail structure of the cultivation rack of the cylindrical root box of the present invention.
  • FIG. 3 is a schematic diagram of the phenotype collection subsystem on the cultivation rack of the cylindrical root box of the present invention.
  • Figure 4 is a schematic diagram of the cylindrical root box used in the present invention.
  • Figure 5 is a side view of the upper part of the cultivation frame of the cylindrical root box of the present invention.
  • Fig. 6 is a schematic diagram of the internal structure of the motor box in the cultivation rack of the present invention.
  • 1-nutrient solution supply equipment 11-box cover, 12-inner tube, 13-box base, 14-boss, 2-cylindrical root box, 21 connecting pipe, 3-track, 31-ellipse inner Ring, 32-elliptical outer ring, 33-suspension part, 4-retractable device, 5-collection platform, 6-universal wheel, 7-track wheel, 71-connecting rod, 8-motor box, 81-fixed slider , 82-slider, 83-slider, 84- telescopic rod connector, 85-connection, 86-motor, 9-ion electrode.
  • inside and outside in the present invention means that, relative to the root box itself, the direction from the outer wall of the root box tube to the crop root system contained in the root box is inside, and vice versa, it is outside; Specific limitations on the device mechanism of the present invention.
  • connection in the present invention can be a direct connection between components or an indirect connection between components through other components.
  • up and down in the present invention means that when the user is facing the cultivation frame of the cylindrical root box, the direction from the casters to the crops in the root box is up, and vice versa, it is down instead of the bottom.
  • Fig. 1 is a cultivation frame of a cylindrical root box according to the present invention.
  • the cultivation frame of the cylindrical root box includes:
  • the cultivation frame body which forms the crop cultivation area I of the present invention, includes multiple layers, and each layer is fixed with a number of cylindrical root boxes 2 respectively;
  • a rail support frame which includes a vertical frame and a horizontal beam horizontally erected on the top of the vertical frame; wherein the vertical frame includes four parallel to each other, and the four vertical frames are respectively vertically fixed and connected to the four corners of the top of the cultivation frame body
  • the horizontal beam includes two parallel to each other, and each horizontal beam is respectively provided with a mounting hole in the middle of its bottom side, and the top end of each vertical bracket is inserted into each of the mounting holes to support and fix the The horizontal beam;
  • the rail 3 is configured as a closed structure.
  • the inner side of the closed structure is provided with mounting parts on opposite sides for the horizontal ends of the horizontal beam to be embedded.
  • the rail is connected to the rail support frame through the mounting parts.
  • the track support frame is supported and fixedly erected on the top of the cultivating frame body, and the track 3 protrudes from the periphery of the cultivating frame body;
  • the phenotype acquisition subsystem II whose upper end is suspended below the track 3, can be driven to translate along the track around the cultivating frame body, and a telescopic device 4 is provided in the middle, and the bottom end of the telescopic device 4 A collection platform 5 is connected, and the collection platform 5 moves synchronously with the telescopic device 4 around the periphery of the cultivating rack body, and along with the telescopic device 4 extends downwards or contracts upwards to collect all on the cultivating rack body.
  • the present invention can support and fix the rail protruding from the outer edge of the cultivation rack body through the rail support rack above the cultivation rack body, and suspend the corresponding phenotype collector under the rail through the rail.
  • the system realizes the scanning and analysis of the phenotypic data of the crops contained in each cylindrical root box set on the whole cultivation frame body.
  • the invention solves the problem that the existing climate chamber climate cultivation environment cannot directly carry out accurate and automatic acquisition and analysis of crop phenotypes.
  • the above-mentioned cylindrical root box cultivation frame can be further provided with a crop cultivation area I including a cultivation frame body, a cylindrical root box, a root box frame, a root box support frame, and a nutrient solution with a pump. Box, nozzles, universal wheels.
  • the root box support frame is assembled together by screws and installed in layers on the cultivation frame body.
  • the root box rack used for support can be set to three layers according to the requirements of crop phenotype cultivation and acquisition.
  • the bottom of the cultivation rack body is used for placing nutrient solution supply equipment 1 such as a nutrient solution tank.
  • the nutrient solution tank transports the nutrient solution to each layer of crops through a pump, and then transports the nutrient solution to the crop growing area through a nozzle or a pipe.
  • Three-layer root box racks respectively support cylindrical root boxes; each layer of root box racks can provide different crop growth environments, so that the most favorable environment for crop growth can be finally determined according to crop-related traits.
  • the cylindrical root box is placed on the groove of the root box frame for fixing.
  • the root box used in the present invention can be made of transparent glass of special material, which is convenient for the collection of crop phenotype, especially the collection of root phenotype.
  • the root box adopts a sleeve type, and the crop root system grows between the outer root box tube and the inner inner tube 12, which is convenient for obtaining and analyzing the phenotype of the crop root system in all directions through the crop phenotype collection subsystem;
  • the bottom of the cultivation frame is widened to ensure the stability of the cultivation frame.
  • the wheels arranged at the bottom of the cultivation frame adopt universal wheels, which can move forward and backward, left and right.
  • the universal wheels 6 are installed at the four corners of the bottom of the cultivation frame, and the cultivation frame can be moved, so that the crop can collect and analyze various phenotypes of the crop under different external conditions.
  • the cultivation frame of the cylindrical root box can be further equipped with its phenotype collection subsystem II including: an elliptical track, a track wheel, a telescopic device 4, a collection platform, a sensor, and a servo motor. It collects data on the crops on the cultivation rack from the top of the cultivation rack downwards, expands and contracts freely through the telescopic device 4, and controls the collection platform to move to the corresponding root box position, saving space.
  • its phenotype collection subsystem II including: an elliptical track, a track wheel, a telescopic device 4, a collection platform, a sensor, and a servo motor. It collects data on the crops on the cultivation rack from the top of the cultivation rack downwards, expands and contracts freely through the telescopic device 4, and controls the collection platform to move to the corresponding root box position, saving space.
  • the track 3 can be set as a closed elliptical concave track as shown in FIG. 2 and made of a special steel structure.
  • the concave track includes an elliptical inner ring 31, an elliptical outer ring 32, and connecting parts connected to the top ends of the elliptical inner ring and the elliptical outer ring.
  • Contracted suspension 33 Two steel rods with mounting holes with a square hole structure are embedded inside the track as horizontal beams.
  • the four steel frames on the cultivation frame are used as vertical brackets to be embedded in the holes of the steel rods connected to the track to fix the track in the cultivation. The upper part of the main body.
  • the track wheel 7 on the track uses a special steel material and is placed on the track.
  • a connecting rod 71 is provided in the middle of the track wheel 7, and the lower surface of the track wheel 7 abuts on the upper end surface of the lower suspension part 33 inside the track 3.
  • the track wheel is equipped with a servo motor to provide power for the track wheel and drive the track wheel to walk.
  • the connecting rod 71 arranged in the middle of the track wheel extends downward from the gap between the suspending parts of the elliptical inner ring and the elliptical outer ring to connect the telescopic device 4 to suspend the collection platform.
  • the telescopic device 4 can be set as shown in Fig. 3, which is composed of a rod body, a driver, and a control system.
  • the rod body is made of high-quality stainless steel and special aluminum alloy profiles, hinged on the principle of parallelogram, and has a wide range of flexible and flexible travel.
  • a motor box 8 can be further provided between the lower end of the connecting rod 71 and the top end of the telescopic device 4.
  • the motor box 8 is provided with a stepping motor as a driving motor for driving the track wheel 7 to run along the track 3; the motor box 8 is also provided with a telescopic drive component, which is connected to the top drive of the telescopic device 4
  • the telescopic device 4 extends downward or shrinks upward.
  • the driving electrical appliances and telescopic driving components can also be driven by special motors, worm gears are decelerated, and equipped with a wireless remote control device.
  • the lower collection platform 5 can be controlled to move as needed, and the phenotype collection of each layer of crops can be carried out.
  • One end of the telescopic device 4 is connected with a servo motor, and the other end is connected with a collection platform, which can be stretched during work, and can be stowed when idle to reduce the occupied space.
  • the telescopic drive component is arranged in the following manner: one side of the mechanism is fixedly connected to one end of the telescopic device with a fixed slider 81, and the other side slider 82 is set to move to drive the other side of the telescopic device. One end, thereby controlling the telescopic device to expand and contract.
  • the telescopic drive component can be provided with a motor 86, which is connected to the connection 85 in the middle of the telescopic drive component to control the slider, and the telescopic rod connected between the sliders is driven by the motor.
  • the upper sliding block 82 is far away from the fixed sliding block or close to the fixed sliding block, thereby driving the connecting members of the telescopic device to open or contract inward to control the telescopic length.
  • the two sliding blocks in the middle can also be provided with a connection 85 to realize the connection with the motor. As a result, the rotation of the motor drives the device to drive the telescopic device to extend downward or contract upward.
  • the collection platform 5 can be configured to include two collection platforms 5, and the tops of the two collection platforms 5 are each connected to a telescopic device 4, and the top ends of the two telescopic devices 4 are both connected to The motor box 8.
  • Corresponding sensing equipment is loaded in each collection platform 5 respectively.
  • the sensing device includes, but is not limited to, any one or a combination of visible light sensors, multispectral sensors, hyperspectral sensors, thermal imaging sensors, lidar sensors, and depth cameras. Two acquisition platforms, used for different sensors, can analyze their results.
  • the cultivation rack of the cylindrical root box can be inserted and fixed to each layer on the cultivation rack body by inserting each cylindrical root box 2 to ensure that at least one side of each root box in each layer directly faces the cultivation rack body.
  • the first step is to load the corresponding sensing equipment in the acquisition platform 5 according to the phenotypic acquisition needs, including any one of visible light sensors, multispectral sensors, hyperspectral sensors, thermal imaging sensors, lidar sensors, depth cameras, or combination;
  • the track wheel 7 set at the upper end of the phenotype acquisition subsystem II is driven to rotate, so that the track wheel 7 rotates along the upper end surface of the suspension part 33 on the inner side of the track 3, and drives the suspension between the suspension parts.
  • the connecting rod 71 extending downward from the gap, the telescopic device 4 and the collection platform 5 connected to the lower end of the connecting rod are translated along the track 3;
  • the telescopic device 4 is driven to extend downward or contract upward to drive the collection platform 5 connected to the bottom end of the drive telescopic device 4 to move to the cultivation frame body
  • the sensor equipment loaded in the collection platform 5 correspondingly collects the phenotype data of the crops in the cylindrical root boxes 2 fixed on the cultivation frame body.
  • the above-mentioned acquisition system can be driven by a motor to move around the track to the position outside the root box, and then move the acquisition platform to the height of the root box through the telescopic device.
  • the three-direction adjustment realizes the collection of crop roots.
  • the telescopic device 4 can be used as the Z direction of the acquisition system, and the sensor rotates as the orbit as the XY direction of the acquisition system.
  • Available sensors include visible light sensors, multispectral sensors, hyperspectral sensors, thermal imaging sensors, lidar sensors, and depth cameras.
  • the movable area of the sensor is larger than the overall area of the cultivation rack, so the sensor can collect the phenotype of all root boxes on each layer of the cultivation rack. .
  • the sensor can collect the phenotype of all root boxes on each layer of the cultivation rack. .
  • phenotypic collection of root boxes of different layers can be realized. After such scanning, it is convenient to compare the shapes of multiple groups of root systems to analyze crops in different external environments, and it is easier to carry out accurate and automatic acquisition and analysis of crop phenotypes to determine the best growth environment for crops.
  • the present invention can also provide nutrient solution for the crops in the cultivation rack in the manner shown in Figs. 4 and 5.
  • each of the cylindrical root boxes can be set to a structure including a root box cover 11, a root box tube, an inner tube 12 and a root box base 13 as shown in FIG.
  • the inner tube 12 is arranged inside the root box tube, the root box tube and the bottom of the inner tube 12 are fixedly connected and closed by the root box base 13, and a root system for containing nutrient solution is formed between the root box tube and the inner tube 12
  • the root box cover 11 is detachably arranged on the upper end of the root box tube, and the ion electrode 9 is arranged under the root box cover 11, and the ion electrode 9 extends downward from the root box cover into the root system between the root box tube and the inner tube 12
  • the lower surface of the root box base 13 is also provided with a cylindrical protrusion protruding downward, and the cylindrical protrusion is plugged and fixed with the cultivation frame body.
  • the inner cylinder sleeved inside the root box can be a structure with a cone-shaped top and a cylindrical bottom. Placing the crops on the top of the cone can make the utility model able to accommodate the roots of the crops to be distributed along the surface of the cone, which is convenient for the collection platform. 5 Various sensing devices can observe the roots of the crops through the transparent outer tube of the root box. At the same time, the sleeve structure It can reduce the internal space of the root box and reduce the consumption of nutrient solution. The cylinder provides space for root growth, and the outer ring of the root box is used to place a variety of ion-selective electrodes to facilitate the collection of different nutrient solution parameters.
  • the two sides of the root box base 13 are respectively provided with upwardly extending bosses 14.
  • the inner side of the boss 14 closely fits the outer wall surface of the root box barrel, and each boss 14 is respectively provided with
  • Each of the communicating holes communicates with a different branch of the connecting pipe 21, the root box 2 receives the nutrient solution delivered by one branch of the connecting pipe 21 through one of the communicating holes, and the root box 2 passes through the other one.
  • the communication hole discharges the waste liquid of the nutrient solution after the crop has absorbed the nutrients to the other branch pipe connected to the pipe 21.
  • the boss strengthens the cylindrical root box and prevents the cylindrical root box from overturning during the transportation of the cultivation rack.
  • the boss is directly connected with the pipeline, and the sealing of the connecting pipeline connected by the cylindrical root box can be realized by providing a structure such as a sealing ring.
  • the nutrient solution supply device 1 may be arranged on the bottom layer of the cultivation rack body, and includes:
  • the connecting pipe 21 includes branch pipes respectively connected to each cylindrical root box 2 provided in each layer of the cultivating rack body, and main pipes connecting the branch pipes in series.
  • the main pipes are arranged along each layer of the cultivating rack body.
  • the connecting pipes 21 is connected to each root box arranged on each layer of the cultivation rack body;
  • a nutrient solution generator which is arranged on one side of the bottom of the cultivation rack body, is connected to the input end of the connecting pipe 21, and delivers nutrient solution to the main pipe and each branch pipe;
  • a nutrient solution recovery box which is arranged on the other side of the bottom of the cultivation rack body, is connected to the output end of the connecting pipe 21, and receives the waste liquid discharged from each cylindrical root box 2 collected by the main pipe through each branch pipe;
  • Disinfection filter device which is connected between the output end of the nutrient solution recovery tank and the input end of the nutrient solution generator, and is used to disinfect and filter the waste liquid output from the nutrient solution recovery tank, and output clean nutrient solution to the nutrient solution Generator, recycling the nutrients in the waste liquid.

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Abstract

一种圆柱根盒的栽培架，包括栽培架本体，其上分隔为多层，各层上分别设置有多个圆柱根盒（2）。在栽培架本体上方设置轨道支撑架，通过轨道支撑架支撑固定突出于栽培架本体四周外缘的轨道（3），在轨道（3）的下方悬吊相应的表型采集子系统（II），其实现对整个栽培架本体上所设置的各个圆柱根盒（2）内所容纳的作物的表型数据的扫描与分析。该装置通过栽培架上集成的高通量表型采集子系统，解决了现有气候培育环境中存在的不能直接开展精确、自动获取分析作物表型的问题。还包括一种圆柱根盒的栽培架的表型采集方法。

Description

一种圆柱根盒的栽培架及表型采集方法 技术领域
本发明涉及作物培养设备领域，具体而言涉及一种圆柱根盒的栽培架及表型采集方法。
背景技术
为了培育优良的作物品种，需要在作物的生长过程中连续跟踪监测其因器官生长而导致的表型特征和生理参数的变化状况。
目前，传统的人工气候室具备了培育作物的功能，而对作物表型的监测测量则需要研究人员依靠人工观察和手工测量进行描述，由此根据作物生长的外部特征，得到基因型、环境因素和作物表型之间的关系。
由于现有技术下，此项工作往往依赖于人工手动检测的方式，因此由于人力有限，往往存在测量样本数量小的局限。小样本植物的个别性状，会导致研究数据量有限，手动测量的方式效率低，难以开展植物多种性状的综合分析，且容易引入人为因素，极易导致测量数据偏差。
随着植物基因组学研究和分子育种的快速发展，目前急需一种高通量、高精度和低成本的表型分析装置来满足获取与植物生长、产量、品质和对生物、非生物胁迫的耐受性等相关表型研究所需数据的需求。
发明内容
本发明针对现有技术的不足，提供一种圆柱根盒的栽培架及表型采集方法，本发明通过在栽培架上顶部集成轨道和吊装在轨道上的表型采集子系统，能够直接精准且实时地检测作物生长过程中的表型数据，实现高通量的作物表型获取与分析。本发明具体采用如下技术方案。
首先，为实现上述目的，提出一种圆柱根盒的栽培架，其包括
栽培架本体，用于固定圆柱根盒；
轨道支撑架，其包括垂直支架，以及水平架设在垂直支架顶端的水平横梁；其中，所述垂直支架包括相互平行的四根，四根垂直支架分别垂直固定连接在所述栽培架本体顶部的四角；所述水平横梁包括相互平行的两根，每一根水平横梁分别在其底侧的中部分别开设有安装孔，各所述垂直支架的顶端分别插接进入各所述安装孔支撑并固定所述水平横梁；
轨道，其设置为封闭结构，所述封闭结构的内侧分别在相对的两边设置有供所述水平横梁的水平两端嵌入的安装部，所述轨道通过安装部连接所述轨道支撑架，由所述轨道支撑架支撑而固定地架设于所述栽培架本体的顶部之上，所述轨道突出于栽培架本体的四周外缘；
表型采集子系统，其上端悬吊在所述轨道的下方，能够被驱动沿所述轨道围绕栽培架本体的四周平移，其中部设置有伸缩装置，所述伸缩装置的底端连接有采集平台，所述采集平台随同所述伸缩装置同步的绕所述栽培架本体的四周外缘平移，并随同伸缩装置向下伸长或向上收缩而采集栽培架本体上所固定的各圆柱根盒内作物的表型数据。
可选的，上述任一所述的圆柱根盒的栽培架，其中，所述轨道为封闭为椭圆状的凹形轨道，所述凹形轨道包括椭圆内圈、椭圆外圈以及连接在椭圆内圈、椭圆外圈顶端的连接部，所述椭圆内圈、椭圆外圈的下底端分别设置有向连接部中心收缩的悬吊部。
可选的，上述任一所述的圆柱根盒的栽培架，其中，所述表型采集子系统，其上端设置有轨道轮，所述轨道轮的中间设置有连杆，轨道轮的下表面抵接在 所述轨道内侧下方悬吊部的上端面上，所述连接杆由所述椭圆内圈、椭圆外圈的悬吊部之间的间隙向下伸出连接伸缩装置悬吊所述采集平台。
可选的，上述任一所述的圆柱根盒的栽培架，其中，所述连杆的下端与伸缩装置的顶端之间还设置有电机盒，所述电机盒内设置有驱动电机用于驱动所述轨道轮沿轨道运转；所述电机盒内还设置有伸缩驱动部件，其连接所述伸缩装置的顶端驱动所述伸缩装置向下伸长或向上收缩。
可选的，上述任一所述的圆柱根盒的栽培架，其中，各所述圆柱根盒其分别设置为包括有根盒盖、根盒筒、内筒及根盒底座，其中，所述内筒设置在根盒筒内部，根盒筒与内筒的底部由根盒底座固定连接并封闭，根盒筒与内筒之间形成有用于容纳营养液的根系生长空间，根盒盖可拆卸的设置在根盒筒的上端，根盒盖下方设置离子电极，离子电极从根盒盖向下伸入根盒筒与内筒之间的根系生长空间中；所述根盒底座的下表面还设置有向下凸出的圆柱形凸起，所述圆柱形凸起与栽培架本体插接固定；
所述栽培架本体上还设置有营养液供给设备，所述营养液供给设备包括：
连接管道，其包括分别连通至栽培架本体的各层中所设置的各圆柱根盒的支管，以及串联各支管的主管路，主管路沿栽培架本体的各层排列，所述连接管道连通设置在栽培架本体各层的各个根盒；
营养液发生器，其设置在所述栽培架本体底部的一侧，连接所述连接管道的输入端，向主管路以及各支管输送营养液；
营养液回收箱，其设置在所述栽培架本体底部的另一侧，连接所述连接管道的输出端，接收主管路通过各支管所收集的由各圆柱根盒所排出的废液；
消毒过滤装置，其连接在营养液回收箱的输出端和营养液发生器的输入端 之间，用于对营养液回收箱所输出的废液进行消毒和过滤，输出清洁的营养液至营养液发生器，对废液中的营养成分进行回收利用。
可选的，上述任一所述的圆柱根盒的栽培架，其中，所述根盒底座的两侧还分别相对设置有向上延伸的凸台，所述凸台的内侧紧密贴合所述根盒筒的外壁表面，各所述凸台上分别设置有连通孔，各所述连通孔分别与连接管道的不同支管连通，所述根盒通过其中一个连通孔接收连接管道的一个支管所输送的营养液，所述根盒通过其中另一个连通孔向连接管道的另一个支管排出作物吸收养分后营养液的废液。
可选的，上述任一所述的圆柱根盒的栽培架，其中，所述采集平台包括两个，两个采集平台的顶部均分别连接有一个伸缩装置，两个所述伸缩装置的顶端均连接至所述电机盒。
可选的，上述任一所述的圆柱根盒的栽培架，其中，各所述采集平台内分别装载相应的传感设备，所述传感设备包括但不限于可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器、深度相机中的任一种或其组合
可选的，上述任一所述的圆柱根盒的栽培架，其中，还包括万向轮，所述万向轮安装在栽培架本体的底端。
同时，本发明还提供一种圆柱根盒的栽培架的表型采集方法，用于如上任一所述的圆柱根盒的栽培架，该圆柱根盒的栽培架中，各圆柱根盒分别插接固定在栽培架本体上的各层中，每一层中的各个根盒至少有一侧直接正对栽培架本体的外缘，所述表型采集方法包括如下步骤：
第一步，根据表型采集需要在采集平台内装载相应的传感设备，包括可见 光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器、深度相机中的任一种或其组合；
第二步，驱动表型采集子系统上端所设置的轨道轮运转，使所述轨道轮沿轨道内侧下方悬吊部的上端面转动，带动由所述悬吊部之间的间隙向下伸出的连接杆以及连接杆下端所连接的伸缩装置和采集平台沿轨道平移；
第三步，根据表型采集所对应的圆柱根盒所在位置，驱动伸缩装置向下伸长或向上收缩而带动所述驱动伸缩装置底端所连接的采集平台移动至栽培架本体上的各层，所述采集平台内所装载的传感设备相应的采集栽培架本体上所固定的各圆柱根盒内作物的表型数据。
有益效果
本发明所提供的圆柱根盒的栽培架及表型采集方法，其通过在栽培架本体上方设置轨道支撑架，通过轨道支撑架支撑固定突出于栽培架本体四周外缘的轨道，通过该轨道，在轨道的下方悬吊相应的表型采集子系统，实现对整个栽培架本体上所设置的各个圆柱根盒内所容纳的作物的表型数据的扫描与分析。本发明通过栽培架上集成的高通量表型采集子系统，解决了现有气候室气候培育环境中存在的不能直接开展精确、自动获取分析作物表型的问题。
本发明进一步的，本发明还将采集根盒表型数据的采集平台设置为相互独立的两个，两个平台分别由各自顶端所连接的伸缩装置带动在栽培架本体外部上下独立移动。由此，本发明能够通过不同的传感设备分别独立获取表型相关传感数据进行作物表型的综合分析。
本发明的根盒其设置为圆柱形式，能够360°展现作物根系表型，方便对作物表型进行多角度的扫描。其内部设置为两层，其外部连接有连接管道提供 营养液循环。该圆柱根盒能够通过两层结构之间的电极检测根盒内作物的营养供给状况，通过在圆柱根盒内侧套设一层顶部为锥形、下部为圆柱形的结构的内筒，将作物放置在锥形顶端，其还能够使得作物的根系沿圆锥表面分布，方便对作物根系的观测。同时套筒结构可减少圆柱根盒内部空间，降低营养液的使用量。圆筒为根系生长提供空间，圆柱根盒外侧圆环用来放置多种离子选择电极，方便对不同营养液参数的采集。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，并与本发明的实施例一起，用于解释本发明，并不构成对本发明的限制。在附图中：
图1是本发明的圆柱根盒的栽培架的整体结构示意图；
图2是本发明的圆柱根盒的栽培架顶部轨道结构的俯视图；
图3是本发明的圆柱根盒的栽培架上表型采集子系统的示意图；
图4是本发明中所采用的圆柱根盒的示意图；
图5是本发明的圆柱根盒的栽培架上部的侧视图；
图6是本发明栽培架中电机盒内部结构的示意图。
图中，1-营养液供给设备、11-根盒盖、12-内筒、13-根盒底座、14-凸台、2-圆柱根盒、21连接管道、3-轨道、31-椭圆内圈、32-椭圆外圈、33-悬吊部、4-伸缩装置、5-采集平台、6-万向轮、7-轨道轮、71-连杆、8-电机盒、81-固定滑块、82-滑块、83-滑杆、84-伸缩杆连接件、85-连接处、86-电机、9-离子电极。
具体实施方式
为使本发明实施例的目的和技术方案更加清楚，下面将结合本发明实施例的附图，对本发明实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于所描述的本发明的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。
本发明中所述的“和/或”的含义指的是各自单独存在或两者同时存在的情况均包括在内。
本发明中所述的“内、外”的含义指的是相对于根盒本身而言，由根盒筒的外壁指向根盒内部所容纳的作物根系的方向为内，反之为外；而非对本发明的装置机构的特定限定。
本发明中所述的“连接”的含义可以是部件之间的直接连接也可以是部件间通过其它部件的间接连接。
本发明中所述的“上、下”的含义指的是使用者正对圆柱根盒的栽培架时，由脚轮指向根盒中作物的方向即为上，反之向即为下，而非对本发明的装置机构的特定限定。
图1为根据本发明的一种圆柱根盒的栽培架。该圆柱根盒的栽培架，包括：
栽培架本体，其形成本发明中的作物栽培区I，其包括有多层，各层分别 固定有若干圆柱根盒2；
轨道支撑架，其包括垂直支架，以及水平架设在垂直支架顶端的水平横梁；其中，所述垂直支架包括相互平行的四根，四根垂直支架分别垂直固定连接在所述栽培架本体顶部的四角；所述水平横梁包括相互平行的两根，每一根水平横梁分别在其底侧的中部分别开设有安装孔，各所述垂直支架的顶端分别插接进入各所述安装孔支撑并固定所述水平横梁；
轨道3，其设置为封闭结构，所述封闭结构的内侧分别在相对的两边设置有供所述水平横梁的水平两端嵌入的安装部，所述轨道通过安装部连接所述轨道支撑架，由所述轨道支撑架支撑而固定地架设于所述栽培架本体的顶部之上，所述轨道3突出于栽培架本体的四周外缘；
表型采集子系统II，其上端悬吊在所述轨道3的下方，能够被驱动沿所述轨道围绕栽培架本体的四周平移，其中部设置有伸缩装置4，所述伸缩装置4的底端连接有采集平台5，所述采集平台5随同所述伸缩装置4同步的绕所述栽培架本体的四周外缘平移，并随同伸缩装置4向下伸长或向上收缩而采集栽培架本体上所固定的各圆柱根盒2内作物的表型数据。
由此，本发明能够通过在栽培架本体上方设置轨道支撑架，通过轨道支撑架支撑固定突出于栽培架本体四周外缘的轨道，通过该轨道，在轨道的下方悬吊相应的表型采集子系统，实现对整个栽培架本体上所设置的各个圆柱根盒内所容纳的作物的表型数据的扫描与分析。本发明通过栽培架上集成的高通量表型采集子系统，解决了现有气候室气候培育环境中存在的不能直接开展精确、自动获取分析作物表型的问题。
在更为具体的实现方式下，上述的圆柱根盒的栽培架，可进一步地设置其 作物栽培区I包括栽培架本体，圆柱根盒，根盒架，根盒支撑架，带泵的营养液箱，喷头，万向车轮。
根盒支撑架通过螺丝钉组装在一起分层安装在栽培架本体上。其中，用于支撑的根盒架可根据作物表型培育获取需求设置为三层。栽培架本体的底部用于放置营养液箱等营养液供给设备1。营养液箱通过泵将营养液输送到每层作物，进而通过喷头或管道将营养液输送到作物生长区域。三层根盒架分别支撑圆柱形根盒；每层根盒架可分别提供不同的作物生长环境，以便能最后根据作物相关性状来确定最有利于作物生长的环境。
圆柱根盒安放在根盒架的凹槽上进行固定。本发明中所用根盒可选择为特殊材料的透明玻璃制成，便于作物表型采集尤其是根系表型的采集。根盒采用套筒式，作物根系生长于外部根盒筒与内层内筒12之间，便于通过作物表型采集子系统对作物根系进行全方位的表型获取与分析；
栽培架底部加宽，保证栽培架的稳定性，其底部设置的车轮采用万向轮，能够前后左右进行移动。该万向轮6安装于栽培架底部的四个角，可以移动栽培架，从而能够使作物在不同外部条件下对作物进行多种表型采集分析。
同时，此实现方式下，上述圆柱根盒的栽培架，可进一步地设置其表型采集子系统II包括：椭圆形轨道、轨道轮、伸缩装置4、采集平台、传感器以及伺服电机。其从栽培架顶部向下对栽培架上的作物进行数据采集，通过伸缩装置4随意伸缩，控制采集平台移动至相应根盒位置，节省空间。
具体而言，其轨道3可参考图2所示设置为封闭为椭圆状的凹形轨道，使用特殊的钢结构制成。所述凹形轨道包括椭圆内圈31、椭圆外圈32以及连接在椭圆内圈、椭圆外圈顶端的连接部，所述椭圆内圈、椭圆外圈的下底端分别 设置有向连接部中心收缩的悬吊部33。轨道内部嵌有两根带有方孔结构的安装孔的钢杆作为水平横梁，通过栽培架上的四根钢架作为垂直支架镶嵌于轨道所连接的钢杆的孔内，将轨道固定于栽培架本体的上部。
轨道上的轨道轮7使用特殊钢材料，放置在轨道上。所述轨道轮7的中间设置有连杆71，轨道轮7的下表面抵接在所述轨道3内侧下方悬吊部33的上端面上。轨道轮上装有伺服电机，为轨道轮提供动力，带动轨道轮行走。轨道轮中间所设置的连接杆71由所述椭圆内圈、椭圆外圈的悬吊部之间的间隙向下伸出连接伸缩装置4悬吊所述采集平台。
而其中的伸缩装置4可设置为如图3所示，由杆体、驱动器、控制系统构成，杆体采用优质不锈钢及铝合金专用型材制作而成，采用平行四边形原理铰接，伸缩灵活行程范围大。
在图3所示的实现方式下，所述连杆71的下端与伸缩装置4的顶端之间还可进一步的设置有电机盒8。所述电机盒8内设置有步进电机作为驱动电机用于驱动所述轨道轮7沿轨道3运转；所述电机盒8内还设置有伸缩驱动部件，其连接所述伸缩装置4的顶端驱动所述伸缩装置4向下伸长或向上收缩。该驱动电器和伸缩驱动部件也可采用特种电机驱动，蜗杆蜗轮减速，配备无线遥控装置，可根据需要控制下端采集平台5移动，对每层作物进行表型采集。伸缩装置4一端连接伺服电机，另一端连接采集平台，可在工作时对其拉伸，闲置时将其收起减小占用空间。
具体参照图6所示，所述的是伸缩驱动部件通过如下方式设置：该机构一侧采用固定滑块81固定连接伸缩装置的一端，设置其另一侧滑块82移动以驱动伸缩装置的另一端，由此控制伸缩装置进行伸缩。为驱动滑块82，该伸缩驱 动部件可设置有电机86，其连接设置在伸缩驱动部件中间的连接处85以对滑块进行控制，各滑块之间所连接的伸缩杆由电机驱动带动其上的滑块82远离固定滑块或接近固定滑块，由此驱动伸缩装置各连接件之间相互打开或向内收缩以控制其伸缩长度。其中间的两滑块上还可设置接线处85以实现与电机之间相连接。由此，电机旋转带动该装置驱动伸缩装置向下伸长或向上收缩。
在更为具体的实现方式下，所述的采集平台5可设置为包括两个，两个采集平台5的顶部均分别连接有一个伸缩装置4，两个所述伸缩装置4的顶端均连接至所述电机盒8。各所述采集平台5内分别装载相应的传感设备。所述传感设备包括但不限于可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器、深度相机中的任一种或其组合。两个采集平台，用于不同传感器，可以对其结果进行分析。
由此，上述圆柱根盒的栽培架可通过将各圆柱根盒2分别插接固定在栽培架本体上的各层中，保证每一层中的各个根盒至少有一侧直接正对栽培架本体的外缘，以方便按照如下方式进行作物表型包括根系表型的采集。其具体采集步骤如下：
第一步，根据表型采集需要在采集平台5内装载相应的传感设备，包括可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器、深度相机中的任一种或其组合；
第二步，驱动表型采集子系统II上端所设置的轨道轮7运转，使所述轨道轮7沿轨道3内侧下方悬吊部33的上端面转动，带动由所述悬吊部之间的间隙向下伸出的连接杆71以及连接杆下端所连接的伸缩装置4和采集平台5沿轨道3平移；
第三步，根据表型采集所对应的圆柱根盒所在位置，驱动伸缩装置4向下伸长或向上收缩而带动所述驱动伸缩装置4底端所连接的采集平台5移动至栽培架本体上的各层，所述采集平台5内所装载的传感设备相应的采集栽培架本体上所固定的各圆柱根盒2内作物的表型数据。
其中，在仅需检测一组根盒时，上述采集系统可以通过电机驱动绕轨道移动到根盒外侧位置再通过伸缩装置将采集平台移动至该根盒高度，如此通过对采集平台坐标位置进行XYZ三个方向的调节实现对作物根系进行采集。伸缩装置4可作为采集系统的Z方向，传感器随着轨道转动作为采集系统的XY方向，其可用传感器包括可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器以及深度相机。采集过程中可通过XY向轨道上位置微调对根系进行较宽视角范围内的表型获取，表型获取中相应传感器的焦距可调。
在需要同时检测多组根盒时，上述采集系统中，由于轨道突出于栽培架本体，传感器可移动面积大于栽培架总体面积，因此传感器可对栽培架上各层的所有根盒进行表型采集。采集过程中，通过改变Z向伸缩装置4，可实现对不同层根盒进行表型采集。这样的扫描后可方便的通过对比多组根系形状进而对作物在不同外部环境下进行分析，更加容易的开展精确、自动获取与分析作物表型，以确定作物的最佳生长环境。
为方便对作物根系进行培育，本发明还可难找图4以及图5所示的方式为栽培架中的作物提供营养液供给。
其中，各所述圆柱根盒其分别可设置为图4所示的包括有根盒盖11、根盒筒、内筒12及根盒底座13的结构。其中，所述内筒12设置在根盒筒内部，根盒筒与内筒12的底部由根盒底座13固定连接并封闭，根盒筒与内筒12之 间形成有用于容纳营养液的根系生长空间，根盒盖11可拆卸的设置在根盒筒的上端，根盒盖11下方设置离子电极9，离子电极9从根盒盖向下伸入根盒筒与内筒12之间的根系生长空间中；所述根盒底座13的下表面还设置有向下凸出的圆柱形凸起，所述圆柱形凸起与栽培架本体插接固定。其中根盒内侧套设的内筒可为一个顶部为锥形、下部为圆柱形的结构。将作物放置在锥形顶端，可使得本实用新型能够容纳作物的根系沿圆锥表面分布，方便采集平台5各类传感设备透过根盒我透明外筒对作物根系进行观测，同时套筒结构可减少根盒内部空间，降低营养液的使用量。圆筒为根系生长提供空间，根盒外侧圆环用来放置多种离子选择电极，方便对不同营养液参数的采集。
所述根盒底座13的两侧还分别相对设置有向上延伸的凸台14，所述凸台14的内侧紧密贴合所述根盒筒的外壁表面，各所述凸台14上分别设置有连通孔，各所述连通孔分别与连接管道21的不同支管连通，所述根盒2通过其中一个连通孔接收连接管道21的一个支管所输送的营养液，所述根盒2通过其中另一个连通孔向连接管道21的另一个支管排出作物吸收养分后营养液的废液。凸台对圆柱根盒起加强作用，避免圆柱根盒在栽培架搬运过程中倾覆。凸台与管道直接相连，能够通过设置密封圈等结构实现对圆柱根盒所连接的连接管道的密封。
而所述的营养液供给设备1可设置在所述栽培架本体的底层，包括：
连接管道21，其包括分别连通至栽培架本体的各层中所设置的各圆柱根盒2的支管，以及串联各支管的主管路，主管路沿栽培架本体的各层排列，所述连接管道21连通设置在栽培架本体各层的各个根盒；
营养液发生器，其设置在所述栽培架本体底部的一侧，连接所述连接管道 21的输入端，向主管路以及各支管输送营养液；
营养液回收箱，其设置在所述栽培架本体底部的另一侧，连接所述连接管道21的输出端，接收主管路通过各支管所收集的由各圆柱根盒2所排出的废液；
消毒过滤装置，其连接在营养液回收箱的输出端和营养液发生器的输入端之间，用于对营养液回收箱所输出的废液进行消毒和过滤，输出清洁的营养液至营养液发生器，对废液中的营养成分进行回收利用。
以上仅为本发明的实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些均属于本发明的保护范围。

Claims (10)

  1. 一种圆柱根盒的栽培架，其特征在于，包括
    栽培架本体，用于固定圆柱根盒(2)；
    轨道支撑架，其包括垂直支架，以及水平架设在垂直支架顶端的水平横梁；其中，所述垂直支架包括相互平行的四根，四根垂直支架分别垂直固定连接在所述栽培架本体顶部的四角；所述水平横梁包括相互平行的两根，每一根水平横梁分别在其底侧的中部分别开设有安装孔，各所述垂直支架的顶端分别插接进入各所述安装孔支撑并固定所述水平横梁；
    轨道(3)，其设置为封闭结构，所述封闭结构的内侧分别在相对的两边设置有供所述水平横梁的水平两端嵌入的安装部，所述轨道通过安装部连接所述轨道支撑架，由所述轨道支撑架支撑而固定地架设于所述栽培架本体的顶部之上，所述轨道(3)突出于栽培架本体的四周外缘；
    表型采集子系统(II)，其上端悬吊在所述轨道(3)的下方，能够被驱动沿所述轨道围绕栽培架本体的四周平移，其中部设置有伸缩装置(4)，所述伸缩装置(4)的底端连接有采集平台(5)，所述采集平台(5)随同所述伸缩装置(4)同步的绕所述栽培架本体的四周外缘平移，并随同伸缩装置(4)向下伸长或向上收缩而采集栽培架本体上所固定的各圆柱根盒(2)内作物的表型数据。
  2. 根据权利要求1所述的圆柱根盒的栽培架，其特征在于，所述轨道(3)为封闭为椭圆状的凹形轨道，所述凹形轨道包括椭圆内圈(31)、椭圆外圈(32)以及连接在椭圆内圈、椭圆外圈顶端的连接部，所述椭圆内圈、椭圆外圈的下底端分别设置有向连接部中心收缩的悬吊部(33)。
  3. 根据权利要求2所述的圆柱根盒的栽培架，其特征在于，所述表型采 集子系统(II)，其上端设置有轨道轮(7)，所述轨道轮(7)的中间设置有连杆(71)，轨道轮(7)的下表面抵接在所述轨道(3)内侧下方悬吊部(33)的上端面上，所述连接杆由所述椭圆内圈、椭圆外圈的悬吊部之间的间隙向下伸出连接伸缩装置(4)悬吊所述采集平台。
  4. 根据权利要求1-3所述的圆柱根盒的栽培架，其特征在于，所述连杆(71)的下端与伸缩装置(4)的顶端之间还设置有电机盒(8)，所述电机盒(8)内设置有驱动电机用于驱动所述轨道轮(7)沿轨道(3)运转；所述电机盒(8)内还设置有伸缩驱动部件，其连接所述伸缩装置(4)的顶端驱动所述伸缩装置(4)向下伸长或向上收缩。
  5. 根据权利要求1所述的圆柱根盒的栽培架，其特征在于，各所述圆柱根盒其分别设置为包括有根盒盖(11)、根盒筒、内筒(12)及根盒底座(13)，其中，所述内筒(12)设置在根盒筒内部，根盒筒与内筒(12)的底部由根盒底座(13)固定连接并封闭，根盒筒与内筒(12)之间形成有用于容纳营养液的根系生长空间，根盒盖(11)可拆卸的设置在根盒筒的上端，根盒盖(11)下方设置离子电极(9)，离子电极(9)从根盒盖向下伸入根盒筒与内筒(12)之间的根系生长空间中；所述根盒底座(13)的下表面还设置有向下凸出的圆柱形凸起，所述圆柱形凸起与栽培架本体插接固定；
    所述栽培架本体上还设置有营养液供给设备(1)，所述营养液供给设备(1)包括：
    连接管道(21)，其包括分别连通至栽培架本体的各层中所设置的各圆柱根盒(2)的支管，以及串联各支管的主管路，主管路沿栽培架本体的各层排列，所述连接管道(21)连通设置在栽培架本体各层的各个根盒；
    营养液发生器，其设置在所述栽培架本体底部的一侧，连接所述连接管道(21)的输入端，向主管路以及各支管输送营养液；
    营养液回收箱，其设置在所述栽培架本体底部的另一侧，连接所述连接管道(21)的输出端，接收主管路通过各支管所收集的由各圆柱根盒(2)所排出的废液；
    消毒过滤装置，其连接在营养液回收箱的输出端和营养液发生器的输入端之间，用于对营养液回收箱所输出的废液进行消毒和过滤，输出清洁的营养液至营养液发生器，对废液中的营养成分进行回收利用。
  6. 根据权利要求1-5所述的圆柱根盒的栽培架，其特征在于，所述根盒底座(13)的两侧还分别相对设置有向上延伸的凸台(14)，所述凸台(14)的内侧紧密贴合所述根盒筒的外壁表面，各所述凸台(14)上分别设置有连通孔，各所述连通孔分别与连接管道(21)的不同支管连通，所述根盒(2)通过其中一个连通孔接收连接管道(21)的一个支管所输送的营养液，所述根盒(2)通过其中另一个连通孔向连接管道(21)的另一个支管排出作物吸收养分后营养液的废液。
  7. 根据权利要求1-5所述的圆柱根盒的栽培架，其特征在于，所述采集平台(5)包括两个，两个采集平台(5)的顶部均分别连接有一个伸缩装置(4)，两个所述伸缩装置(4)的顶端均连接至所述电机盒(8)。
  8. 根据权利要求7所述的圆柱根盒的栽培架，其特征在于，各所述采集平台(5)内分别装载相应的传感设备，所述传感设备包括但不限于可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器、深度相机中的任一种或其组合
  9. 根据权利要求1所述的圆柱根盒的栽培架，其特征在于，还包括万向轮(6)，所述万向轮(6)安装在栽培架本体的底端。
  10. 一种圆柱根盒的栽培架的表型采集方法，用于权利要求1-6所述的圆柱根盒的栽培架，该圆柱根盒的栽培架中，各圆柱根盒(2)分别插接固定在栽培架本体上的各层中，每一层中的各个根盒至少有一侧直接正对栽培架本体的外缘，所述表型采集方法包括如下步骤：
    第一步，根据表型采集需要在采集平台(5)内装载相应的传感设备，包括可见光传感器、多光谱传感器、高光谱传感器、热成像传感器、激光雷达传感器、深度相机中的任一种或其组合；
    第二步，驱动表型采集子系统(II)上端所设置的轨道轮(7)运转，使所述轨道轮(7)沿轨道(3)内侧下方悬吊部(33)的上端面转动，带动由所述悬吊部之间的间隙向下伸出的连接杆(71)以及连接杆下端所连接的伸缩装置(4)和采集平台(5)沿轨道(3)平移；
    第三步，根据表型采集所对应的圆柱根盒所在位置，驱动伸缩装置(4)向下伸长或向上收缩而带动所述驱动伸缩装置(4)底端所连接的采集平台(5)移动至栽培架本体上的各层，所述采集平台(5)内所装载的传感设备相应的采集栽培架本体上所固定的各圆柱根盒(2)内作物的表型数据。
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