WO2021184661A1

WO2021184661A1 - Photographing system for transparent root system cultivation container

Info

Publication number: WO2021184661A1
Application number: PCT/CN2020/109262
Authority: WO
Inventors: 吴劼; 姜东�; 丁艳锋; 周国栋
Original assignee: 南京根田科技有限公司
Priority date: 2020-03-15
Filing date: 2020-08-14
Publication date: 2021-09-23
Also published as: CN111296120A

Abstract

A photographing system for a transparent root system cultivation container, comprising an imaging area (3). The imaging area (3) comprises: an imaging platform (14), a rotary photographing device, an outer tube photographing camera (6) and a clamping and moving assembly (7). The rotary photographing device is used for imaging a root system of the inner wall of a transparent root system cultivation container (8) to be observed on the imaging platform (14); the outer tube photographing camera (6) is used for imaging a root system of the outer wall of the transparent root system cultivation container (8) on the imaging platform (14); and the clamping and moving assembly (7) is used for transporting the transparent root system cultivation container (8) from a sample feeding area to the imaging platform (14) and transporting the imaged transparent root system cultivation container (8) from the imaging platform (14) to a sample discharging area. The photographing system for a transparent root system cultivation container is provided with a rotary photographing device and an outer tube photographing camera in an imaging area, achieving automatic imaging on the inner wall and the outer wall of each transparent root system cultivation container at the same time and omnibearing, multi-angle, automatic and real-time monitoring and obtaining of crop root system images.

Description

Photographing system of transparent root system cultivation container

Technical field

The invention relates to a photographing system for dynamic root growth, in particular to a photographing system for a transparent root cultivation container.

Background technique

The research of gene-environment-phenotype interaction mechanism requires modern information technology with big data as the core. As the efficiency of sequencing technology increases and costs decrease, crop genome data continues to grow and improve; and the current phenotypic information acquisition technology is lagging, resulting in its inability to match huge genomics data, which seriously hinders the breeding process. The construction of automated equipment for non-destructive, efficient, and systematic collection of phenotypic information has become a hot issue in agronomy, plant physiology, and genetics and breeding that needs to be solved urgently.

In recent years, many academic institutions and companies have devoted themselves to the research and development of phenotyping platforms. At present, the aboveground phenotype determination technology is relatively mature, most of which are based on the "Plant-to-Sensor" conveyor belt operation mode combined with the 360-degree imaging of the digital camera to collect the phenotypic information of the crop. Due to the opacity of the root growth medium and the complexity of the root structure, it is very difficult to observe and determine the root system. Researchers try to use X-ray computed tomography or magnetic resonance imaging MRI to determine the root system in the soil, but these methods can only obtain limited root phenotype information due to low resolution, and there are also small cultivation containers and throughput. Shortcomings such as low, time-consuming, non-removable and expensive equipment. The use of low-cost imaging sensors to obtain root images is currently a popular method for root determination. The GROWSCREEN-Rhizo developed by the Ulysse Research Center in Germany can image the root system in a narrow root box, but this method can only obtain part of the fragmented root phenotype information, and when cultivating crops with larger root systems such as fibrous root crop corn, etc. , The narrow root box limits the growth space of the root system, resulting in serious root overlap in the imaging window, and the acquired root image loses more root phenotypic information.

In summary, the existing root system phenotyping platform can only obtain small plant root system phenotype information, and there are common problems such as low throughput, high equipment cost, and low space utilization. In addition, the existing phenotyping platform cannot obtain high-quality root images of fibrous root crops. Conveyor-based transportation is easy to achieve flux expansion, but its supporting equipment is costly, especially for ultra-large crop phenotype platforms, the cost of all configuration of the conveying system is extremely high. The use of a modular camera system can effectively reduce the number of configurations of the automatic transmission system, and can greatly reduce the construction cost. Therefore, based on the modular design concept, the starting point is to obtain the phenotype information of underground crops from all angles and angles, and develop a set of high-throughput and automated crop phenotyping imaging platform to meet the needs of large-scale phenotypic data acquisition and crop breeding The requirements of scientific research.

technical problem

In view of the above problems, the purpose of the present invention is to provide a transparent root cultivation container photographing system, which can meet the requirements of high-throughput crop cultivation and root imaging, and realize high-throughput, omnidirectional, multi-angle, automated real-time of crop roots Monitor acquisition.

Technical solutions

The specific technical scheme of the present invention is as follows.

A photographing system for a transparent root cultivation container includes an imaging area, and the imaging area includes an imaging platform, a rotating photographing device, an outer tube photographing camera, and a clamping and moving component.

Rotating camera device: imaging the root system on the inner wall of the transparent root cultivation container to be observed on the imaging platform.

Outer tube camera: image the root system on the outer wall of the transparent root cultivation container to be observed on the imaging platform.

Clamping and moving component: used to move the transparent root cultivation container to be observed from the sampling area to the imaging platform, and move the imaged transparent root cultivation container from the imaging platform to the sample exit area.

Preferably, the transparent root cultivation container includes a cultivation base, a cultivation container body, a light-shielding cover and a light-shielding cover.

The cultivation container body includes a transparent inner tube, a transparent outer tube and a transparent top cover. The transparent outer tube is open up and down. The transparent inner tube and the transparent outer tube are nested with each other and fixed on the cultivation base. The transparent inner tube is provided with a transparent top. The top cover, the transparent inner tube and the transparent outer tube form a root ring-shaped cultivation space, a shading cover is arranged above the root system ring-shaped cultivation space, the cultivation base is provided with a central hole communicating with the inner cavity of the transparent inner tube, and the cultivation base There is a water box underneath.

The light shield is arranged between the light shield and the cultivation base, the light shield includes a left light shield and a right light shield that are detachably connected, the left light shield and the right light shield form a hollow rectangular structure, and the cultivation container body is arranged in the cavity Inside.

Preferably, a shading hood disassembly and assembly mechanism is provided beside the imaging platform. The shading hood disassembly and assembly mechanism includes a bracket and a vacuum chuck clamp, and the vacuum chuck clamp is slidably connected to the bracket to make the vacuum chuck clamp move away from or in the horizontal direction. Close to the imaging platform.

The vacuum suction cup fixture includes a mounting seat, a left fixture and a right fixture. The left fixture and the right fixture are symmetrically arranged on the mounting base and form a horizontal movement pair with the mounting base. The mounting base is installed to drive the left fixture and the right fixture to move toward each other synchronously. Or a drive mechanism for back movement.

Preferably, the hood disassembly and assembly mechanism includes a bracket and a vacuum chuck clamp, the bracket includes an opening and closing bracket, a linear motor module arranged above the opening and closing bracket, and a linear guide rail and a linear guide rail connected to the linear guide rail are provided on the linear motor module. Sliding seat.

The vacuum chuck fixture includes a mounting base, a positive and negative clamping module, a left fixture and a right fixture. The mounting base is connected to the sliding base on the linear guide. The motor-driven mounting base on the linear motor module slides along the linear guide to make the mounting base Keep away from or close to the imaging platform in the horizontal direction; both the left and right clamps include a light-shielding mounting arm, a suction cup mounting plate, and the upper and lower ends of the suction cup mounting plate are equipped with vacuum suction cups. One end is connected to the suction cup mounting plate, and the other end is slidably connected to the positive and negative clamping module. The positive and negative clamping module is equipped with a forward and reverse motor, and the two shading mounting arms are driven by the forward and reverse rotation of the motor. The two connected suction cup mounting plates move toward or away from each other synchronously.

Preferably, a water removal box structure is provided next to the imaging platform. The water removal box structure includes a water box tray. Groove, the water box tray slides along the guide rail under the drive of the driving mechanism to put the water receiving box in the groove under the cultivation base or take it out from below the cultivation base.

Preferably, the clamping and moving component slides between the sample injection area and the imaging platform and between the imaging platform and the sample exit area through a sliding rail.

The clamping and moving assembly includes a fixed mounting plate, a movable seat and two supporting claws, and the movable seat is slidably connected between the sampling area and the imaging platform and on the slide rails between the imaging platform and the sampling area. One side of the fixed mounting plate is installed on the movable seat and can slide up and down along the movable seat; two pawls are symmetrically arranged on the other side of the fixed mounting plate and form a horizontal moving pair with the fixed mounting plate. A driving mechanism that drives two pawls to move toward or away from each other synchronously.

Preferably, the outer tube photographing camera includes a photographing camera and a camera mounting frame, the photographing camera is arranged on the camera mounting frame, and a photographing camera adjustment mechanism is also provided between the photographing camera and the camera mounting frame.

Preferably, the transparent root cultivation container photographing system further includes an outer tube photographing supplementary light. The outer tube photographing supplementary light includes a light bar, a mounting pole, and a horizontal mounting plate. The light bar is arranged on the mounting pole and installed The rod is slidably connected to the horizontal mounting plate to make it away from or close to the imaging platform in the horizontal direction.

Preferably, the rotating photographing device includes a rotating worktable arranged on the surface of the imaging platform, a positioning seat cushion height ring and a cultivation container positioning seat are sequentially arranged on the upper part of the rotating worktable, and the bottom end of the inner wall imaging column passes through the The cultivation container positioning seat, the positioning seat cushion high ring and the through hole in the center of the rotating workbench are fixed on the lifting module mounting plate and can slide up and down along the lifting module mounting plate, and the upper part of the inner wall imaging column is installed with a contact image sensor.

Preferably, the cultivation container positioning seat includes a base, the central through hole of the base is provided with a water receiving box under the cultivation base, and an accommodating cavity with a groove end on the water box tray, and one end of the water box tray with a groove. A side of the through hole in the center of the base extends into the bottom of the accommodating cavity, and a positioning block is arranged above the base.

Beneficial effect

The present invention adopts the above technical solutions, which has the following advantages: 1. The present invention rotates the transparent root cultivation container between the sample injection area, imaging platform, and sample exit area during the imaging process by clamping and moving components, so as to realize transparent root cultivation High-throughput, automated real-time monitoring and acquisition of containers. 2. In the present invention, a rotating photographing device and an outer tube photographing camera are arranged in the imaging area to realize simultaneous automatic imaging of the inner and outer walls of each transparent root cultivation container, and obtain crop root images through comprehensive, multi-angle, and automatic real-time monitoring. 3. The present invention uses a combination of a rotating camera device and an outer tube camera to image the inner and outer walls of the transparent root cultivation container in 360 degrees to collect phenotypic information of the crop, which can capture all roots within the imaging range. Both perform imaging, the imaging speed is fast, and the imaging is more accurate.

Description of the drawings

Figure 1 is a schematic diagram of the structure of the transparent root cultivation container photographing system of the present invention.

Figure 2 is a schematic diagram of the structure of the transparent root cultivation container of the present invention.

Figure 3 is the front view of Figure 2.

Figure 4 is a cross-sectional view of A-A in Figure 3.

Fig. 5 is a schematic diagram of the structure of the disassembly and assembly mechanism of the sunshade of the present invention.

Figure 6 is a schematic diagram of the structure of the rotating workbench and the water removal box of the present invention.

Figure 7 is a schematic diagram of the structure of the clamping and moving assembly of the present invention.

Fig. 8 is a schematic diagram of the structure of the outer tube photographing camera and the outer tube photographing fill light of the present invention.

Figure 9 is a schematic diagram of the structure of the inner wall imaging column of the present invention.

Embodiments of the present invention

Hereinafter, the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so as to have a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but merely to illustrate the essential spirit of the technical solution of the present invention. The parts not mentioned in the present invention are all the prior art.

1, the transparent root cultivation container photographing system provided by the present invention includes an imaging area 3 that includes an imaging platform 14, a rotating photographing device, an outer tube photographing camera 6 and a clamping and moving assembly 7; the rotating photographing device: Yes The root system of the inner wall of the transparent root cultivation container 8 to be observed on the imaging platform 14 is imaged; the outer tube camera 6: the root system of the outer wall of the transparent root cultivation container 8 to be observed on the imaging platform 14 is imaged; The transparent root cultivation container 8 to be observed is moved from the sampling area to the imaging platform 3, and the imaged transparent root cultivation container 8 is moved from the imaging platform 14 to the sampling area. The four corners of the bottom of the imaging area 3 can be provided with walking wheels 1 to facilitate its movement.

Further, referring to FIGS. 2 to 4, the transparent root cultivation container 8 includes a cultivation base 8-5, a cultivation container body, a light shielding cover 8-2, and a light shield; the cultivation container body includes a transparent inner tube 8-9 and a transparent outer tube 8. -8 and the transparent top cover 8-7, the transparent outer tube 8-8 is open up and down, the transparent inner tube 8-9 and the transparent outer tube 8-8 are nested with each other and fixed on the cultivation base 8-5, the transparent inner tube A transparent top cover 8-7 is set on the top of 8-9, a root ring-shaped cultivation space is formed between the transparent inner tube 8-9 and the transparent outer tube 8-8, and a shading cover 8-2 is set above the root ring-shaped cultivation space. The base 8-5 is also provided with a central hole (not shown in the figure) communicating with the inner cavity of the transparent inner cylinder 8-9. When in use, soil is filled in the root ring-shaped cultivation space, and seeds are sown at a depth of 3 to 4 cm in the soil, and the crop roots grow in the soil. The bottom of the cultivation base 8-5 is provided with a water receiving box 8-6; the shading hood is arranged between the shading cover 8-2 and the cultivation base 8-5, and the shading hood includes a detachable left shading hood 8-3 and a right shading hood. The cover 8-1, the left light shield 8-3 and the right light shield 8-1 form a hollow rectangular structure, and the cultivation container body is arranged in the cavity. The preferred engagement structure is: when the left hood 8-3 and the right hood 8-1 are pulled outwards, the left hood 8-3 and the right hood 8-1 can be separated, and the left hood 8-3 and the right hood 8-1 can be separated. When the right lens hood 8-1 is close together and squeezed hard, the left lens hood 8-3 and the right lens hood 8-1 can be engaged. When it is necessary to image the plant roots in the cultivation container, simply disassemble the left or right hood, and snap the left hood 8-3 and the right hood 8-1 together after imaging. . The left shading cover 8-3 and the right shading cover 8-1 can be provided with hanging pin sleeves 8-4, each of which is provided with two hanging pin sleeves, which are respectively arranged on both sides of the shading cover.

Preferably, the transparent inner cylinder is a transparent cylinder with a wall thickness of 2mm and a height of 600mm, and the transparent outer cylinder is a transparent cylinder made of PC (polycarbonate) with a wall thickness of 2mm and a height of 700mm. The transparent top cover has a wall thickness of 2mm, Transparent conical cover with a height of 50mm.

Preferably, the cultivation base is provided with a through hole (not shown in the figure) communicating with the annular cultivation space of the root system to facilitate the seepage of excess water from the bottom of the transparent outer tube 8-8 and the transparent inner tube 8-9, and to avoid the cultivation container The bottom of the body is stagnant. There is a water receiving box 8-6 under the cultivation base 8-5. The excess water seeping from the bottom of the transparent outer tube 8-8 and the transparent inner tube 8-9 flows out and enters the water receiving box 8-6, so as not to stain the ground. .

Preferably, in order to facilitate the placement and removal of the water receiving box 8-6 from the bottom of the cultivation base 8-5, the bottom of the cultivation base 8-5 is connected with a first claw-shaped clamping port 8-11 and a second claw-shaped clamping port 8-- 10. The open end of the first crescent-shaped clamping port 8-11 faces the open end of the second crescent-shaped clamping port 8-10 to form a clamping cavity, and the water receiving box 8-6 is placed in the clamping cavity.

Preferably, the upper horizontal plates of the first and second cavities 8-11 and 8-10 are both connected to the cultivation base 8-5, and the first cavities 8-11 and the second cavities 8-11 are connected to the cultivation base 8-5. The front and rear ends of the lower horizontal plate of the port 8-10 are provided with inverted cones, and a space is formed between the 4 inverted cones; the water receiving box 8-6 is a cylindrical body with a cylindrical structure. The open end is provided with an extension portion 8-12 extending outward along its circumferential direction, and the extension portion 8-12 is placed in the placement space; when placed, the extension portion 8-12 of the water receiving box 8-6 is slightly higher Insert the first cavities 8-11 and the second cavities 8-10 into the cavity formed by the top of the inverted cone. When the cavity is in the middle of the water receiving box, put down the water receiving box 8-6 The extension 8-12 is placed in the placement space; since the first and second cavities 8-11 and the second cavities 8-10 are provided with inverted cones at the front and rear ends of the lower horizontal plate, the water box The extension 8-12 is placed in the placement space to prevent the water receiving box from moving and slipping off.

When it is necessary to image the root system on the inner and outer walls of the transparent root cultivation container, the light shield outside the body of the cultivation container and the water box under the cultivation base need to be removed to perform imaging of the root system on the inner and outer walls of the transparent root cultivation container. Therefore, the transparent root cultivation container photographing system provided by the present invention also includes a hood disassembly mechanism and a water disassembly box structure.

Further, referring to Fig. 5, the hood disassembly and assembly mechanism 9 is arranged beside the imaging platform 14, and is used to remove the hood outside the cultivation container body to perform imaging of the root system on the outer wall of the transparent root cultivation container to be observed. The hood disassembly and assembly mechanism includes a bracket and a vacuum chuck clamp, the vacuum chuck clamp is slidably connected to the bracket to make the vacuum chuck clamp away from or close to the imaging platform 14 in the horizontal direction; the vacuum chuck clamp includes a mounting seat 9-10 and a left clamp And the right clamp, the left clamp and the right clamp are symmetrically arranged on the mounting base 9-10 and form a horizontal movement pair with the mounting base 9-10. The mounting base 9-10 is installed to drive the left and right clamps to move towards each other or back synchronously. Drive mechanism for movement.

Further, the hood disassembly and assembly mechanism 9 includes a bracket and a vacuum chuck clamp. The bracket includes an opening and closing bracket 9-1, and a linear motor module arranged above the opening and closing bracket 9-1. The linear motor module adopts the existing, linear The motor module is provided with a linear guide rail 9-12 and a sliding seat 9-13 connected with the linear guide rail 9-12. The vacuum chuck fixture includes a mounting seat 9-10, a positive and negative tooth clamping module 9-2, a left fixture and a right fixture. The mounting seat 9-10 is connected to the sliding seat 9-13 on the linear guide 9-12, and the linear motor model The motor 9-11 on the group drives the mounting base 9-10 to slide along the linear guide 9-12 so that the mounting base 9-10 is away from or close to the imaging platform 14 in the horizontal direction. The front and back clamping module 9-2 is commercially available. Both the left and right clamps include a shading mounting arm 9-3, a suction cup mounting plate 9-4, and vacuum suction cups at the upper and lower ends of the suction cup mounting plate 9-4. 9-6, the vacuum suction cup 9-6 is connected to the vacuum generator (not shown in the figure), one end of the shading mounting arm 9-3 is connected to the suction cup mounting plate 9-4, and the other end is connected to the positive and negative tooth clamping mold Group 9-2 is slidingly connected, the positive and negative teeth clamping module 9-2 is equipped with a forward and reverse motor 9-14, and the two shading mounting arms 9-3 and the two suction cups connected to it are driven by the forward and reverse rotation of the motor. The mounting plate 9-4 moves toward or away from each other synchronously. Preferably, the upper and lower ends of the suction cup mounting plate 9-4 can also be provided with hanging pins 9-5 that match the hanging pin sleeves 8-4 on the hood, which can not only play a role in positioning, but also the left and right hoods. After the hood is firmly sucked and disassembled by the vacuum suction cup, the hanging pin 9-5 matched with the hanging pin sleeve 8-4 can share the weight of the left hood and the right hood, thereby prolonging the service life of the vacuum chuck.

Further, a sliding rail (not shown in the figure) is provided in the vertical direction on the mounting seat 9-10, and the positive and negative tooth clamping module 9-2 is connected to the sliding rail through a sliding block 9-9, and the mounting seat The motor 9-8 on the 9-10 drives the positive and negative clamping module 9-2 to slide along the vertical direction of the mounting base 9-10, so as to adjust the suction cup mounting plate 9-4 in the vertical direction.

When working, control the forward and reverse motor 9-14 to drive the two shading mounting arms 9-3 connected with the positive and negative teeth clamping module 9-2 to drive the two suction cup mounting plates 9-4 to move backwards synchronously until the two The distance between the suction cup mounting plate 9-4 is greater than the width of the transparent root cultivation container 8; the motor 9-11 on the linear motor module is controlled to drive the mounting seat 9-10 to slide along the linear guide 9-12 toward the imaging platform 14, and at the same time The motor 9-8 on the control mounting base 9-10 drives the positive and negative clamping module 9-2 to slide along the vertical slide rails on the mounting base 9-10 until the hanging pins on the two suction cup mounting plates 9-4 9-5 Facing the transparent root cultivation container on the imaging platform 14 8 Hanging pin sleeves on the left and right hoods 8-4; control the forward and reverse motor 9-14 drive and the positive and negative teeth clamping module 9-2 The two connected light-shielding mounting arms 9-3 drive the two suction cup mounting plates 9-4 to move toward each other synchronously, and then the vacuum suction cup 9-6 is tightly pressed against the left hood 8-3 and the right hood 8-1, and the suction cup mounting plate is at the same time The hanging pin 9-5 on 9-4 is inserted into the hanging pin sleeve 8-4. At this time, the vacuum generator is working and sucking, so that negative pressure is generated in the vacuum suction cup 9-6, and then the left light shield 8-3 and The right hood 8-1 is sucked firmly; after the left hood 8-3 and the right hood 8-1 are sucked firmly by the vacuum suction cup 9-6, the forward and reverse motor 9-14 drive and the positive and negative clamping module 9 -2 The two shading mounting arms 9-3 connected to drive the two suction cup mounting plates 9-4 to move backwards synchronously to disassemble the left hood and the right hood, and then control the motor 9-11 on the linear motor module to drive The mounting seat 9-10 slides along the linear guide 9-12 to drive the left light shield 8-3 and the right light shield 8-1 away from the imaging platform 14, so that the transparent root cultivation container 8 on the imaging platform 14 can be imaged. After the transparent root cultivation container 8 on the imaging platform 14 is imaged, control the motor 9-11 on the linear motor module to drive the mounting seat 9-10 to slide along the linear guide 9-12 to drive the left light shield 8-3 and the right light shield 8 -1 Slide to the imaging platform 14, control the motor 9-8 on the mounting base 9-10 to drive the positive and negative clamping module 9-2 to slide along the vertical slide rails on the mounting base until the two suction cup mounting plates 9- The left light shield 8-3 and the right light shield 8-1 on the 4 are located between the light shield 8-2 and the cultivation base 8-5 of the transparent root cultivation container 8 on the imaging platform 14, and the left light shield 8-3 The engagement position is directly opposite to the engagement position on the right hood 8-1, and the forward and reverse motor 9-14 is controlled to drive the two shading mounting arms 9-3 connected with the positive and negative clamping module 9-2. The two suction cup mounting plates 9-4 move towards each other synchronously to engage the left hood 8-3 and the right hood 8-1 on the vacuum chuck 9-6. After the left hood and the right hood are clamped, the vacuum generator Work, inflate the vacuum chuck 9-6, make the vacuum chuck 9-6 into a positive pressure, and separate from the left and right hoods; control the forward and reverse motor 9-14 drive and the positive and negative clamping module 9-2 drives the two suction cup mounting plates 9-4 to move backwards synchronously to move away from the left hood 8-3 and the right hood 8-1, while controlling the motor 9-11 on the linear motor module to drive the mounting seat 9-10 Slide along the linear guide 9-12 away from the imaging platform 14.

Further, referring to Fig. 6, there is also a water removal box structure 5 beside the imaging platform 14, which is used to take out or put in the water receiving box under the cultivation base. The water removal box structure includes a water box tray 5-6, and a water box. One end of the tray 5-6 is slidably connected to the guide rail 5-2, the other end of the water box tray 5-6 is provided with a groove 5-7 for placing the water receiving box, and the water box tray 5-6 is in the driving mechanism 5-4. Sliding along the guide rail 5-2 under the driving of, is used to put the water receiving box in the groove 5-7 under the cultivation base or take it out from below the cultivation base. If the height of the water tank tray is lower than that of the imaging platform, a water removal box pad 5-5 can be set between the water tank tray 5-6 and the guide rail 5-2; the top of the water removal box pad 5-5 and One end of the water tank tray 5-6 is connected, and its bottom is slidingly connected with the guide rail 5-2. The driving mechanism 5-4 can adopt an air cylinder, and one side of the guide rail 5-2 is provided with a proximity switch 5-3 for sensing the sliding distance of the water tank tray 5-6.

Further, referring to FIG. 7, the clamping and moving assembly 7 slides between the sample injection area and the imaging platform 14 and between the imaging platform 14 and the sample output area through a sliding rail. The sampling area and the sampling area can be in the same place or in different places. The present invention takes the sample injection area and the sample output area at the same place as an example, that is, the transparent root cultivation container to be observed at the sample injection area is sent to the imaging platform 14 for imaging, and the imaged transparent root cultivation container is returned to the original place; The sampling area is provided with a positioning tool 11 for placing a transparent root cultivation container 8. Two parallel slide rails 12 are provided between the sample injection area and the imaging platform 14. The two parallel slide rails 12 are respectively provided on both sides of the imaging platform 14. The slide rails 14 extend to the entire imaging area 3, the imaging area 3 is provided with a driving device 2 for driving the gripping and moving assembly 7 to slide along the sliding rail 12. Preferably, the hood disassembling mechanism 9 and the outer tube camera 6 are arranged on the outside of the two parallel slide rails 12 and on both sides of the imaging platform 14, and the water removal box structure 5 is provided in the two parallel slide rails 12 , The guide rail 5-2 on the water removal box structure 5 is parallel to the slide rail 12. The clamping and moving assembly includes a fixed mounting plate 7-2, a moving base 7-6 and two pawls 7-12. The moving base 7-6 is slidably connected to two parallel slide rails 12. The fixed mounting plate One side of 7-2 is installed on the movable seat 7-6 and can slide up and down along the movable seat 7-6; two pawls 7-12 are symmetrically arranged on the other side of the fixed mounting plate 7-2 and are connected to the fixed mounting plate 7-2 constitutes a horizontal moving pair, and the fixed mounting plate 7-2 is equipped with a driving mechanism for driving the two pawls 7-12 to move toward or away from each other synchronously.

Further, referring to Figure 7, the clamping and moving assembly 7 includes a fixed mounting plate 7-2, a movable base 7-6 and two pawls 7-12. One side of the movable base 7-6 is connected with two parallel verticals. The straight slide rail 7-5 and one side of the fixed mounting plate 7-2 are respectively connected with two parallel vertical slide rails 7-5 through the sliding block 7-13. The movable seat 7-6 is also provided for driving and fixing The mounting plate 7-2 is a drive mechanism 7-4 that slides in the vertical direction of the moving seat along two parallel vertical slide rails 7-5, and the drive mechanism is preferably an air cylinder. The other side of the fixed mounting plate 7-2 is connected with two parallel horizontal slide rails 7-3 and a bidirectional cylinder 7-1. The upper and lower ends of the two pawl mounting plates 7-8 are respectively passed through the slider 7-7. Connected with two horizontal slide rails 7-3, two pawls 7-12 are symmetrically arranged on the two pawl mounting plates 7-8, and the two-way air cylinder 7-1 drives the sliding block 7-7 to drive the two pawls 7- 12 Synchronously move towards each other or move back, so as to realize the clamping and putting down of the transparent root cultivation container 8. When clamping, in order to make the transparent root cultivation container more stable and not prone to shaking, the middle part of each pawl is provided with a support bar 7-10, the front and rear ends are provided with baffles 7-11, and the front and rear ends are two baffles 7- The distance of 11 is matched with the distance between the two ends of the cultivation base of the transparent root cultivation container, and the four baffles just form an accommodating space that can accommodate the cultivation base during clamping. Limiting blocks 7-9 are symmetrically arranged on the inner side and the outer side of the two horizontal slide rails 7-3 to limit the sliding distance of the slider 7-7.

Further, referring to Fig. 8, the outer tube camera 6 includes a camera 6-9 and a camera mounting frame. The camera 6-9 is set on the camera mounting frame, and a camera adjusting mechanism is also provided between the camera and the camera mounting frame. , When taking pictures, it is convenient to adjust the angle of the camera that actually needs to be taken.

Further, referring to Fig. 8, the outer tube shooting camera 6 includes a camera mounting frame, the camera mounting frame includes a camera mounting rod 6-5, a camera fixing frame 6-1, an optical axis and an adjustment connecting block, and the camera fixing frame 6-1 is set in Near the imaging platform 14 in the imaging area, one end of the first optical axis 6-2 is connected to the photographing fixing frame 6-1, and the other end of the first optical axis 6-2 is connected to one end of the second optical axis 6-4 through the first adjustment connecting block 6-3. The other end of the second optical axis 6-4 is connected to the camera mounting rod 6-5 through the second adjustment connecting block 6-6, the shooting camera 6-9 is set on the camera mounting rod 6-5, and the first adjustment connecting block is set The 6-3 and the second adjustment connecting block 6-6 can adjust the camera 6-9 in different directions to meet the needs of taking pictures. The camera 6-9 can also be designed with a camera protective cover 6-7 to protect the camera. In addition, in order to increase the stability of the camera mounting frame, a connecting plate 6-8 can be used to connect the upper end of the second optical axis 6-4 Connect with the mounting frame 4-1 on the external tube photo fill light.

Further, referring to FIG. 8, the transparent root cultivation container photographing system provided by the present invention further includes an outer tube photographing supplementary light 4, so as to supplement light when the outer tube photographing camera 6 is working, and the outer tube photographing supplementary light 4 is set in the outer tube to take pictures. Near the camera 6, the external tube photo fill light includes a light bar 4-5, a mounting pole 4-8, and a horizontal mounting plate 4-2. The light bar 4-5 is set on the mounting pole 4-8, and the mounting pole 4- 8 It is slidably connected to the horizontal mounting plate 4-2 so that it is away from or close to the imaging platform 14 in the horizontal direction; the external tube photo-filling light 4 can be filled with light according to actual needs.

Further, referring to Fig. 8, the outer tube photo-filling light 4 includes a light bar 4-5, a light bar bracket 4-6, a mounting pole 4-8, a lamp socket connecting plate 4-4, a horizontal mounting plate 4-2, installation Frame 4-1, the horizontal mounting plate 4-2 is connected to the mounting frame 4-1, there are two light bars 4-5, installed on the light bar bracket 4-6, the upper and lower ends of the light bar bracket 4-6 pass through the lights The base connecting plate 4-4 is connected to the vertical mounting rod 4-8, and the mounting rod 4-8 passes through the slider 4-3. The slider 4-3 is connected to the horizontal mounting plate 4-2. The horizontal mounting plate 4-2 is also provided with a driving mechanism 4-7 that drives the sliding block 4-3 to slide. The driving mechanism 4-7 is preferably an air cylinder; the air cylinder drives the mounting rod 4-8 to slide in the horizontal direction along the horizontal mounting plate 4-2, When the fill light is weaker than the required light, the cylinder drives the light bar 4-5 on the mounting rod 4-8 to slide towards the imaging platform 14. When the fill light is stronger than the required light, the cylinder drives the mounting rod 4 The light bar 4-5 on the -8 slides away from the imaging platform 14; the light bar 4-5 on the mounting pole 4-8 is adjusted in the horizontal direction according to the actual light supplement needs.

Further, referring to Figures 6 and 9, the rotating photographing device includes a rotating worktable 10 arranged on the surface of the imaging platform 14. The upper part of the rotating worktable 10 is sequentially provided with a positioning seat cushioning ring 10-2 and a cultivation container positioning seat 10- 3. The bottom end of the inner wall imaging column 13 passes through the cultivation container positioning seat 10-3, the positioning seat cushion high ring 10-2, and the through hole in the center of the rotating table 10 in turn and is fixed on the lifting module mounting plate 13- 6 and can slide up and down along the lifting module mounting plate 13-6, and a contact image sensor 13-8 is mounted on the upper part of the imaging column 13 on the inner wall.

Further, referring to Figures 6 and 9, the rotating photographing device includes a rotating worktable 10 arranged on the surface of the imaging platform. The rotating worktable preferably adopts a slewing bearing 10-1, and the slewing bearing 10-1 is mounted on a servo motor 10-4. The slewing bearing 10-1 is also provided with a photoelectric sensor 10-5 next to the slewing bearing 10-1; the upper part of the slewing bearing 10-4 is sequentially provided with a positioning seat cushion 10-2 and a cultivation container positioning seat 10-3; The bottom end of the imaging column 13 passes through the cultivation container positioning seat 10-3, the positioning seat cushion high ring 10-2 and the through hole at the center of the slewing bearing 10-4, and is fixed on the lifting module mounting plate 13-6 and It can slide up and down along the lifting module mounting plate 13-6, and the lifting module mounting plate 13-6 is arranged under the imaging platform 14. A contact image sensor 13-8 (Contact Image sensor, referred to as CIS). When in use, the transparent root cultivation container 8 is placed on the cultivation container positioning seat 10-3, the inner wall imaging column 13 slides upwards along the lifting module mounting plate 13-6, and its upper part extends vertically into the cultivation container In the inner cavity of the inner cylinder, the servo motor 10-4 drives the slewing bearing 10-1 to rotate, thereby driving the positioning seat cushion high ring 10-2 and the cultivation container on the cultivation container positioning seat 10-3 to rotate together, and the contact image sensor 13-8 images the root system of the inner wall of the cultivation container; after imaging, the inner wall imaging column 13 slides down along the lifting module mounting plate 13-6 and exits from the inner cavity of the inner cylinder of the cultivation container.

Further, the lifting module mounting plate 13-6 is provided with a sliding rail 13-5 along its vertical direction, and one end of the imaging column on the inner wall is provided with a mounting plate 13-4. The sliding rail 13-5 on the lifting module mounting plate 13-6 is connected, and the lifting module mounting plate 13-6 is also provided with a motor 13- for driving the inner wall imaging column 13 to slide up and down along the lifting module mounting plate 13-6. 2.

Further, in order to make the inner wall imaging column more stable when it slides up and down, a reinforcing rib 13-3 is provided on the mounting plate 13-4.

Further, in order to facilitate the installation of the CIS, a CIS connection block 13-9 is provided on the imaging column on the inner wall.

Further, in order to stabilize the distance between the CIS and the side wall of the transparent inner cylinder of the cultivation container during rotation, a rotating guide wheel assembly 13-7 is installed on the upper part of the imaging column 13 on the inner wall, and the rotating guide wheel assembly 13-7 is preferably Fulai Wheel assembly.

Further, referring to Fig. 6, the cultivation container positioning base 10-3 includes a base, and the central through hole 10-7 of the base is provided with a water receiving box 8-6 and a water box tray 5-6 under the cultivation base 8-5. The accommodating cavity 10-8 is provided with a grooved end, and the end of the water tank tray 5-6 with grooves 5-7 extends into the bottom of the accommodating cavity 10-8 from the side of the central through hole 10-7 of the base. The groove 5-7 on the tray 5-6 is located in the center of the accommodating cavity 10-8, and a positioning block 10-10 is arranged above the base.

Further, the accommodating cavity at the central through hole 10-7 of the base is used for accommodating the first claw-shaped clamping port 8-11, the second claw-shaped clamping port 8-10 and the water receiving box 8-6 under the cultivation base 8-5 , The water tank tray 5-6 is provided with one end of the groove 5-7, and the water tank tray 5-6 is provided with one end of the groove 5-7 from the side of the central through hole 10-7 of the base into the accommodating cavity 10- At the bottom of 8, the other side of the center through hole 10-7 of the base is provided with a limiting slot 10-6 to limit the extension position of the water tank tray 5-6. When the first cavities 8-11, the second cavities 8-10 and the water box 8-6 are placed in the containing cavity, the first cavities 8-11 and the second cavities 8- 10 is located on both sides of the water tank tray 5-6 along the direction in which the base extends; the end of the water tank tray 5-6 with grooves 5-7 extends into the accommodating cavity from the side of the central through hole 10-7 of the base 10- At the bottom of 8, the water box tray 5-6 slightly lifts the water receiving box 8-6 located in the groove 5-7 under the cultivation base, so that the water receiving box 8-6 can be taken out from under the cultivation base. Above the base are four positioning blocks 10-10 for placing the cultivation base, two positioning blocks on the diagonal line are provided with positioning pins 10-9, and the transparent root cultivation container is equipped with matching positioning Trough (not shown in the figure); when the transparent root system cultivation container is placed on the cultivation container positioning seat, its position is positioned.

The use process of the present invention is as follows.

Control the air cylinder on the water removal box structure 5 to drive the water box tray 5-6 to slide toward the imaging platform 14. The end of the water box tray 5-6 with groove 5-7 extends from the side of the central through hole 10-7 of the base The bottom of the accommodating cavity 10-8 until its end is located in the limiting groove 10-6.

Control the driving device 2 on the imaging area 3 to drive the clamping and moving assembly 7 to slide to the front of the transparent root cultivation container to be observed in the sampling area, and control the cylinder on the moving seat 7-6 to drive the fixed mounting plate 7-2 to move along The seat 7-6 slides down until the two pawls 7-12 on the fixed mounting plate 7-2 are lowered below the cultivation base 8-5 of the transparent root cultivation container 8, and then the clamping and moving assembly 7 is driven to the transparent root system as a whole The cultivation container 8 moves until the two pawls 7-12 are located directly under the cultivation base 8-5; then the fixed mounting plate 7-2 is controlled to move upward along the moving base 7-6, and the two pawls 7-12 follow the fixed mounting plate 7-2 moves upwards and holds up the transparent root cultivation container 8. At the same time, the two-way air cylinder 7-1 on the fixed mounting plate 7-2 drives the sliding block 7-7 to drive the two claws 7-12 to move towards each other synchronously to clamp the cultivation base 8-5. After that, the clamping and moving assembly 7 is driven as a whole to drive the transparent root cultivation container 8 to move to the imaging platform 14, combined with the fixed mounting plate 7-2 to slide up and down along the moving seat 7-6, so that the transparent root cultivation container 8 is located at the cultivation container positioning seat 10- 3, just above the four positioning blocks 10-10, slide down the moving seat 7-6 on the control fixed mounting plate 7-2, and at the same time drive the slider 7 through the bidirectional air cylinder 7-1 on the fixed mounting plate 7-2 -7 drives the two supporting claws 7-12 to move backwards synchronously to lower the cultivation base 8-5, so that the transparent root cultivation container 8 is placed on the four positioning blocks 10-10, and the driving device 2 on the imaging area 3 is controlled to drive the gripping The moving assembly 7 slides away from the transparent root cultivation container 8 as a whole.

Control the air cylinder on the water removal box structure 5 to drive the water box tray 5-6 to slide away from the imaging platform 14, and the water box tray 5-6 drives the water box 8-6 in the groove 5-7 through the center of the base. Slide out the accommodating cavity 10-8 of 10-7, and take out the water receiving box 8-6 from under the cultivation base 8-5.

Control the forward and reverse motor 9-14 on the hood disassembly and assembly mechanism 9 to drive the two shading mounting arms 9-3 connected with the positive and negative tooth clamping module 9-2 to drive the two suction cup mounting plates 9-4 to synchronize their backs Move until the distance between the two suction cup mounting plates 9-4 is greater than the width of the transparent root cultivation container 8; the motor 9-11 on the linear motor module drives the mounting seat 9-10 to slide to the imaging platform 14, and the mounting seat 9-10 at the same time The upper motor 9-8 drives the positive and negative tooth clamping module 9-2 to slide up and down along the mounting seat 9-10 until the hanging pins 9-5 on the two suction cup mounting plates 9-4 are facing the transparent root system on the imaging platform. Container 8 The hanging pin sleeves 8-4 on the left hood 8-3 and the right hood 8-1; control the forward and reverse motor 9-14 to drive the two shading installations connected to the positive and negative clamping module 9-2 The arm 9-3 drives the two suction cup mounting plates 9-4 to move toward each other synchronously, and then the vacuum suction cup 9-6 is pressed against the left hood 8-3 and the right hood 8-1. At this time, the vacuum generator works and sucks. , Make the vacuum suction cup 9-6 generate negative pressure, and then suck the left hood 8-3 and right hood 8-1 firmly; wait for the vacuum chuck 9-6 to hold the left hood 8-3 and the right hood 8-1 After being sucked firmly, control the forward and reverse motor 9-14 to drive the two shading mounting arms 9-3 connected with the positive and negative clamping module 9-2 to drive the two suction cup mounting plates 9-4 to move backwards synchronously and move the left The hood 8-3 and the right hood 8-1 are disassembled, and then the motor 9-11 on the linear motor module is controlled to drive the mounting seat 9-10 to slide along the linear guide to drive the left hood 8-3 and the right hood 8-- 1 Drive away from the imaging platform 14 so that the transparent root cultivation container 8 on the imaging platform 14 can be imaged.

Control the motor 13-2 on the lifting module mounting plate 13-6 to drive the inner wall imaging column 13 to slide upward along the lifting module mounting plate 13-6, and the upper part of the inner wall imaging column 13 passes through the slewing bearing 10-1 and the positioning seat in turn The through hole at the center of the padding ring 10-2 and the cultivating container positioning seat 10-3 extends vertically into the inner cavity of the inner cylinder of the cultivating container, and the servo motor 10-4 drives the slewing bearing 10-1 to rotate, thereby driving the positioning seat The raised ring 10-2 and the cultivation container on the cultivation container positioning seat 10-3 rotate together. During the rotation, the CIS and the outer tube take a camera to simultaneously image the inner wall and outer wall of the transparent root cultivation container. During the imaging process, the light can also be supplemented by the external tube photo-filling light.

After the imaging is finished, control the inner wall imaging column to slide down along the lifting module mounting plate 13-6, from the inner cavity of the inner cylinder of the cultivation container, the cultivation container positioning seat 10-3, the positioning seat cushion high ring 10-2 and the rotation The support bearing 10-1 exits from the through hole in the center.

Control the motor 9-11 on the linear motor module to drive the mounting seat 9-10 to slide along the linear guide 9-12 to drive the left hood 8-3 and the right hood 8-1 to the imaging platform 14, and control the mounting seat 9-10 The upper motor 9-8 drives the positive and negative clamping module 9-2 to slide up and down along the mounting seat 9-10 until the left hood 8-3 and the right hood 8-1 on the two suction cup mounting plates 9-4 It faces between the light shielding cover 8-2 and the cultivation base 8-5 of the transparent root cultivation container 8 on the imaging platform 14, and the engagement position on the left light shield 8-3 is directly opposite to the right light shield 8-1 The clamping position controls the forward and reverse motor drive 9-14 and the two shading mounting arms 9-3 connected to the positive and negative clamping module 9-2 to drive the two suction cup mounting plates 9-4 to move toward each other synchronously to hold the vacuum suction cup The left hood 8-3 and the right hood 8-1 on the 9-6 are embedded between the hood 8-2 and the cultivation base 8--5 and engaged, until the left hood 8-3 and the right hood 8 -1 After chucking, control the vacuum generator to inflate the vacuum chuck, so that the vacuum chuck 9-6 becomes positive pressure and separated from the left hood 8-3 and the right hood 8-1; control the forward and reverse motor drive 9-14 The two shading mounting arms 9-3 connected to the positive and negative tooth clamping module 9-2 drive the two suction cup mounting plates 9-4 to move backwards synchronously and move away from the left hood 8-3 and the right hood 8 -1, meanwhile, the motor 9-11 on the linear motor module drives the mounting seat 9-10 to slide away from the imaging platform 14 along the linear guide 9-12.

Control the air cylinder on the water removal box structure 5 to drive the water box tray 5-6 to slide in the direction of the imaging platform 14. The water box tray 5-6 drives the water box 8-6 in the groove 5-7 to pass through the center of the base. One side of 10-7 extends into the bottom of the accommodating cavity 10-8, and the water receiving box 8-6 is placed under the cultivation base 8-5.

Control the driving device 2 on the imaging area 3 to drive the gripping and moving assembly 7 to slide as a whole to the front of the transparent root cultivation container 8 on the imaging platform 14, and control the air cylinder on the moving seat 7-6 to drive the fixed mounting plate 7-2 along the moving seat 7-6 slide down until the two pawls 7-12 on the fixed installation plate 7-2 are lowered below the cultivation base 8-5 of the transparent root cultivation container 8, and then drive the gripping and moving assembly 7 as a whole to the transparent root cultivation The container 8 moves until the two pawls 7-12 are located directly under the cultivation base 8-5; then the fixed mounting plate 7-2 is controlled to move upward along the moving base 7-6, and the two pawls 7-12 follow the fixed mounting plate 7 -2 Move upwards and hold up the transparent root cultivation container 8. At the same time, the two-way air cylinder 7-1 on the fixed mounting plate 7-2 drives the slider 7-7 to drive the two claws 7-12 to move toward each other synchronously to clamp the cultivation base 8 -5.

Afterwards, the clamping and moving assembly 7 is driven to drive the transparent root cultivation container 8 to move to the sampling area, combined with the fixed mounting plate 7-2 to slide up and down along the moving seat 7-6, so that the transparent root cultivation container 8 is located in the sampling area. Positioning tool 11 Straight above, control the fixed mounting plate 7-2 to slide down along the moving seat 7-6, and at the same time drive the sliding block 7-7 to drive the two pawls 7- through the bidirectional air cylinder 7-1 on the fixed mounting plate 7-2 12 Lay down the cultivation base 8-5 with synchronous back movement, place the imaged transparent root cultivation container 8 on the positioning tool 11, and control the driving device 2 on the imaging area 3 to drive the clamping and moving assembly 7 to slide away from the transparent root cultivation container as a whole 8. Export the imaged transparent root cultivation container on the positioning tool 11 to other areas, and place the next transparent root cultivation container to be imaged on the positioning tool 11 in the sampling area. Repeat the above steps.

The present invention is only described with the above-mentioned embodiments, and the structure, installation position and connection of each component can be changed. On the basis of the technical solution of the present invention, any improvements or equivalent changes made to individual components based on the principles of the present invention should not be excluded from the protection scope of the present invention.

Claims

A photographing system for a transparent root cultivation container, which is characterized by comprising an imaging area, the imaging area including an imaging platform, a rotating photographing device, an outer tube photographing camera, and a clamping and moving component;

Rotating camera device: imaging the root system on the inner wall of the transparent root cultivation container to be observed on the imaging platform;

Outer tube camera: image the root system on the outer wall of the transparent root cultivation container to be observed on the imaging platform;

Clamping and moving component: used to move the transparent root cultivation container to be observed from the sampling area to the imaging platform, and move the imaged transparent root cultivation container from the imaging platform to the sample exit area.
The photographing system for a clear root cultivation container according to claim 1, wherein the transparent root cultivation container comprises a cultivation base, a cultivation container body, a light-shielding cover and a light-shielding cover;

The cultivation container body includes a transparent inner tube, a transparent outer tube and a transparent top cover. The transparent outer tube is open up and down. The transparent inner tube and the transparent outer tube are nested with each other and fixed on the cultivation base. The transparent inner tube is provided with a transparent top. The top cover, the transparent inner tube and the transparent outer tube form a root ring-shaped cultivation space, a shading cover is arranged above the root system ring-shaped cultivation space, the cultivation base is provided with a central hole communicating with the inner cavity of the transparent inner tube, and the cultivation base There is a water box underneath;

The light shield is arranged between the light shield and the cultivation base, the light shield includes a left light shield and a right light shield that are detachably connected, the left light shield and the right light shield form a hollow rectangular structure, and the cultivation container body is arranged in the cavity Inside.
The photographing system for a transparent root cultivation container according to claim 2, characterized in that a light-shading hood dismounting mechanism is provided beside the imaging platform, and the light-shading hood dismounting mechanism includes a bracket and a vacuum suction cup clamp, and the vacuum suction cup clamp slides Connect to the bracket so that the vacuum chuck clamp is away from or close to the imaging platform in the horizontal direction;

The vacuum suction cup fixture includes a mounting seat, a left fixture and a right fixture. The left fixture and the right fixture are symmetrically arranged on the mounting base and form a horizontal movement pair with the mounting base. The mounting base is installed to drive the left fixture and the right fixture to move toward each other synchronously. Or a drive mechanism for back movement.
The transparent root cultivation container photographing system according to claim 3, wherein the hood disassembly mechanism includes a bracket and a vacuum suction cup clamp, the bracket includes an opening and closing bracket, and a linear motor module arranged above the opening and closing bracket, The linear motor module is provided with a linear guide rail and a sliding seat connected with the linear guide rail;

The vacuum chuck fixture includes a mounting base, a positive and negative clamping module, a left fixture and a right fixture. The mounting base is connected to the sliding base on the linear guide. The motor-driven mounting base on the linear motor module slides along the linear guide to make the mounting base Keep away from or close to the imaging platform in the horizontal direction; both the left and right clamps include a light-shielding mounting arm and a suction cup mounting plate. The upper and lower ends of the suction cup mounting plate are equipped with vacuum suction cups. The vacuum suction cups are connected with the vacuum generator. One end is connected to the suction cup mounting plate, and the other end is slidably connected to the positive and negative clamping module. The positive and negative clamping module is equipped with a forward and reverse motor, and the two shading mounting arms are driven by the forward and reverse rotation of the motor. The two connected suction cup mounting plates move toward or away from each other synchronously.
The transparent root cultivation container photographing system according to claim 2, wherein a water removal box structure is provided beside the imaging platform, and the water removal box structure includes a water box tray, and one end of the water box tray is slidably connected to the guide rail , The other end of the water box tray is provided with a groove for placing the water box. The water box tray slides along the guide rail under the drive of the driving mechanism to put the water box in the groove under the cultivation base or from the cultivation base. Take it out from below.
The transparent root cultivation container photographing system according to any one of claims 1 to 5, wherein the clamping and moving assembly is between the sampling area and the imaging platform and between the imaging platform and the sampling area through a slide rail. slide;

The clamping and moving assembly includes a fixed mounting plate, a movable seat and two supporting claws, and the movable seat is slidably connected between the sampling area and the imaging platform and on the slide rails between the imaging platform and the sampling area. One side of the fixed mounting plate is installed on the movable seat and can slide up and down along the movable seat; two pawls are symmetrically arranged on the other side of the fixed mounting plate and form a horizontal moving pair with the fixed mounting plate. A driving mechanism that drives two pawls to move toward or away from each other synchronously.
The transparent root cultivation container photographing system according to any one of claims 1 to 5, wherein the outer tube photographing camera comprises a photographing camera and a camera mounting frame, the photographing camera is set on the camera mounting frame, and the photographing camera and the camera There is also a camera adjustment mechanism between the mounting frames.
The photographing system for a transparent root cultivation container according to any one of claims 1 to 5, further comprising an outer tube photographing supplementary light, the outer tube photographing supplementary light comprising a light bar, a mounting rod, and a horizontal mounting plate The light bar is arranged on the mounting rod, and the mounting rod is slidably connected to the horizontal mounting plate so that it is away from or close to the imaging platform in the horizontal direction.
The transparent root cultivation container photographing system according to claim 1 or 2, characterized in that the rotating photographing device comprises a rotating worktable arranged on the surface of the imaging platform, and the upper part of the rotating worktable is sequentially provided with a positioning seat cushion high ring, Cultivation container positioning seat, the bottom end of the inner wall imaging column passes through the cultivation container positioning seat, the positioning seat cushion elevation ring, and the through hole in the center of the rotating table in turn, is fixed on the lifting module mounting plate and can follow the lifting module The mounting plate slides up and down, and a contact image sensor is installed on the upper part of the imaging column on the inner wall.
The transparent root cultivation container photographing system according to claim 9, characterized in that the cultivation container positioning seat comprises a base, and the central through hole of the base is provided with a water receiving box under the cultivation base and a water box tray. The accommodating cavity at the groove end, the end of the water box tray with grooves extends from the side of the central through hole of the base into the bottom of the accommodating cavity, and a positioning block is arranged above the base.