Plant root system image and moisture high-flux in-situ automatic scanning system

Abstract

The invention discloses a plant root system image and moisture high-flux in-situ automatic scanning system, and relates to the field of plant root system detection, the system comprises a transparent pipeline buried in soil and a pipeline robot moving in the transparent pipeline; the pipeline robot comprises a chassis, a lifting platform and a data acquisition unit; the chassis is used for driving the lifting platform and the data acquisition unit to move in the transparent pipeline; the lifting platform is used for driving the data acquisition unit to move up and down; the data acquisition unit is arranged on the lifting platform and used for acquiring root system images of plants outside the transparent pipeline and moisture information of soil where the plants are located. The system can automatically monitor the growth and development conditions of the profile root system and the corresponding moisture information according to the manually set measurement time interval, realizes the lossless, in-situ and high-throughput observation of the profile root system, reduces the consumption of manpower and material resources, and ensures the integrity of the plant root system.

Description

Technical Field

[0001] The present application relates to the field of plant root detection, and in particular to a high-throughput in-situ automatic scanning system for plant root images and moisture. Background Art

[0002] Soil moisture, as the link of the soil-plant-atmosphere continuum, is a key factor in plant survival, growth and development. As an important nutritional organ developed by higher plants in the long-term adaptation to the terrestrial environment, the root system is not only an important component for absorbing and transporting water and nutrients in the soil, but also an organ for producing various trace active substances such as amino acids and hormones, as well as a direct user of soil resources where plants are located and an important contributor to yield. In addition, the root system also has functions such as anchoring and lodging resistance, nutrient storage, and nutrient resource allocation. The growth status of the root system directly affects the growth of the aboveground part of the plant. Therefore, the study of the root growth status is not only conducive to in-depth exploration of plant principles such as the mechanism characteristics of plant root absorption of water and nutrients, the relationship between the underground root system and the aboveground system of plants, but also will provide accurate evidence and strong support for the study of scientific issues such as the competitive relationship between the root system for water and nutrients under different plant community thinning planting methods, the benefits and role of plant roots in lodging resistance, and the root distribution characteristics of plants under different water deficit stress conditions.

[0003] At present, the research methods of root system are mainly divided into traditional methods and modern methods. Traditional methods are mainly excavation method, hydroponic method, glass wall method and root chamber method. These methods either rely on laboratory environment and are not suitable for field research, or are time-consuming, labor-intensive and destructive. Modern research methods mainly include root tube method, ray method and micro-root tube method. Among them, the root tube method also relies on laboratory environment and is not suitable for field research; the ray method itself has strong radiation and expensive equipment, which is not suitable for large-scale promotion; the micro-root tube method intelligently realizes the in-situ observation of a plant, and the observation method of this equipment is mainly manual control, with a low degree of automation. Due to the relatively lagging development of in-situ root phenotyping technology, the research on the dynamic response of root growth and development to changes in soil profile water and nutrients is still unclear. Therefore, an accurate and effective high-throughput in-situ measurement technology integrating root phenotype and profile water is urgently needed. Summary of the invention

[0004] The purpose of this application is to provide a high-throughput in-situ automatic scanning system for plant root images and moisture, which realizes high-throughput in-situ acquisition of plant root profiles and corresponding moisture profiles, and can reduce the consumption of manpower and material resources.

[0005] To achieve the above objectives, this application provides the following solutions.

[0006] The present application provides a high-throughput in-situ automatic scanning system for plant root images and moisture, comprising a pipeline robot and a transparent pipeline; the transparent pipeline is buried in the soil; the pipeline robot is arranged inside the transparent pipeline; the pipeline robot comprises a chassis, a lifting platform and a data acquisition unit; the chassis is used to drive the lifting platform and the data acquisition unit to move inside the transparent pipeline; the lifting platform is used to drive the data acquisition unit to move up and down; the data acquisition unit is arranged on the lifting platform, and is used to collect root images of plants outside the transparent pipeline and moisture information of the soil where the plants are located.

[0007] Optionally, the data acquisition unit includes a circuit board, an optical imaging module and a soil moisture sensor electrode; the circuit board is used to control the movement of the pipeline robot; the optical imaging module is used to photograph the root part of the plant outside the transparent pipeline to obtain a root image; the soil moisture sensor electrode is used to generate a fringe electric field for measuring moisture information, so as to measure the moisture information of the soil where the root part of the plant outside the transparent pipeline is located.

[0008] Optionally, the pipeline robot further includes a power supply unit; the power supply unit is fixed on the chassis, electrically connected to the lifting platform and the data acquisition unit, and is used to provide power to the lifting platform and the data acquisition unit.

[0009] Optionally, the power supply unit includes a lithium battery and a battery bracket; the lithium battery is fixed to the chassis via the battery bracket.

[0010] Optionally, the chassis includes a base plate and two sets of power structures; the two sets of power structures are respectively installed on both sides of the base plate; each set of power structures includes a track and two power components located at both ends of the track; each power component includes a DC motor, a driving wheel and a motor bracket; the DC motor is used to drive the driving wheel; the driving wheel is used to drive the track; the track is in contact with the transparent pipe, and is used to drive the pipeline robot to move; the DC motor is fixed on the motor bracket, and the motor bracket is fixed on the lower side of the base plate.

[0011] Optionally, the DC motor further includes an encoder; the encoder is used to record the number of revolutions of the DC motor, so as to calculate the moving distance of the pipeline robot according to the number of revolutions of the DC motor.

[0012] Optionally, the lifting platform is a scissors-type lifting platform; the lifting platform includes a stepper motor, a lead screw, a slide, a bottom support structure, a scissors-type supporting structure, an intermediate connecting mechanism, a driving connecting structure and a top supporting structure; the slide is sleeved on the lead screw; the rotating shaft of the stepper motor is connected to the lead screw, and the stepper motor is used to drive the lead screw and the slide; the bottom support structure includes two base frames; the two base frames are distributed on both sides of the stepper motor, one end of the base frame has a hole, and the other end of the base frame has a groove; the intermediate connecting mechanism includes a plurality of connecting rods; the scissors-type supporting structure includes a left lifting structure and a right lifting structure of the same structure; the left lifting structure and the right lifting structure respectively include a plurality of upper and lower depending on the lead screw. The X-shaped bracket units are connected in sequence; each group of the bracket units includes two support rods that are cross-arranged and hinged to each other; the support rods between the left lifting structure and the right lifting structure are connected by the connecting rod; one support rod of the lowest bracket unit is connected to the open hole end of the base frame on the same side, and the other support rod of the lowest bracket unit is connected to the slotted end of the base frame on the same side; the driving connection structure includes two driving connecting rods distributed on both sides of the slide; the driving connecting rod is connected to the slide and is used to connect the base frame on the same side with the lowest bracket unit; the top support structure includes a table top and a top frame located on both sides of the lower part of the table top; the top frame is located on the top of the lifting platform and is connected to the top bracket unit.

[0013] Optionally, the lifting platform is fixed to the upper side of the base plate by screws.

[0014] Optionally, the plant root image and moisture high-throughput in-situ automatic scanning system also includes a terminal device; the terminal device is used to calculate the lifting height of the lifting platform according to the number of excitations of the stepper motor, so as to determine the real-time position of the pipeline robot according to the lifting height of the lifting platform.

[0015] Optionally, the transparent pipe is a square structure.

[0016] According to the specific embodiments provided by the present application, the present application discloses the following technical effects: the present application provides a high-throughput in-situ automatic scanning system for plant root images and moisture, by setting a transparent pipe in the soil, and setting a movable external peek-type pipe robot in the transparent pipe, the pipe robot moves horizontally and lifts vertically inside the transparent pipe through a chassis and a lifting platform, so that the pipe robot reaches a specified position, and captures plant root images and collects moisture information of the soil where the plants are located through a data acquisition unit, and can automatically monitor the growth and development status of the profile root system and the corresponding moisture information according to a manually set measurement distance interval, thereby realizing non-destructive, in-situ, high-throughput observation of the profile root system, reducing manpower and material resources, and ensuring the integrity of the plant root system, which is of great significance to the study of the plant root system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of a plant root image and water high-throughput in-situ automatic scanning system provided in one embodiment of the present application.

[0019] Figure 2 A schematic diagram of the structure of a pipeline robot provided in one embodiment of the present application; Figure 2 (a) is a side view of the pipeline robot; Figure 2 (b) is the front view of the pipeline robot; Figure 2 (c) is a top view of the pipeline robot; Figure 2 (d) is the overall schematic diagram of the pipeline robot.

[0020] Figure 3 A schematic diagram of a flow chart of a pipeline robot performing a complete measurement task provided in one embodiment of the present application.

[0021] Figure numerals: 1—base plate; 2—lithium battery; 3—battery bracket; 4—DC motor; 5—track; 6—driving wheel; 7—motor bracket; 8—encoder; 9—stepping motor; 10—slide; 11—screw rod; 12—support rod; 13—bottom frame; 14—driving connecting rod; 15—connecting rod; 16—top frame; 17—lifting platform; 18—table; 19—circuit board; 20—optical imaging module; 21—soil moisture sensor electrode; 22—pipeline robot; 23—transparent pipe; 24—soil; 25—plant root system. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0024] In an exemplary embodiment, Figure 1 As shown, a high-throughput in-situ automatic scanning system for plant root images and water content is provided, comprising a pipeline robot 22 and a transparent pipeline 23; the transparent pipeline 23 is a square structure. The transparent pipeline 23 is buried in the soil 24; the pipeline robot 22 is arranged inside the transparent pipeline 23 and can move along the axis direction of the transparent pipeline 23.

[0025] like Figure 2 As shown, the pipeline robot 22 includes a chassis, a lifting platform 17, a data acquisition unit and a power supply unit; the chassis carries the lifting platform 17 and the data acquisition unit, and the chassis is used to drive the lifting platform 17 and the data acquisition unit to move inside the transparent pipeline 23; the lifting platform 17 is used to drive the data acquisition unit to move up and down; the data acquisition unit is arranged on the lifting platform 17, and is used to collect the root system image of the plant root system 25 outside the transparent pipeline 23 and the moisture information of the soil 24 where the plant is located, and save the root system image and moisture information. The power supply unit is fixed on the chassis to provide power to the system.

[0026] The chassis includes a base plate 1 and two power structures; the two power structures are respectively installed on both sides of the base plate 1, and each power structure includes a crawler 5 and two power components located at both ends of the crawler 5; each power component includes a DC motor 4, a driving wheel 6 and a motor bracket 7. The DC motor 4 is fixed to the motor bracket 7 by screws, and the motor bracket 7 is fixed to the lower side of the base plate 1 by screws. The DC motor 4 is used to drive the driving wheel 6. The driving wheel 6 is used to drive the crawler 5. The driving wheel 6 is directly connected to the rotating shaft of the DC motor 4. The rotation of the DC motor 4 drives the driving wheel 6 to rotate, thereby driving the crawler 5 to rotate. The crawler 5 is in contact with the transparent pipe 23 and is used to drive the pipeline robot 22 to move. The holes on the crawler 5 on the same side are tightly matched with the teeth on the two driving wheels 6. When the driving wheel 6 rotates, it will drive the crawler 5 to rotate so that the entire pipeline robot 22 moves accordingly.

[0027] In another exemplary embodiment of the present application, the lifting platform 17 is preferably a scissor lift platform. The lifting platform 17 is fixed to the upper side of the bottom plate 1 by screws. The lifting platform 17 includes a stepper motor 9, a screw rod 11, a slide 10, a bottom support structure, a scissor support structure, an intermediate connection mechanism, a drive connection structure and a top support structure.

[0028] The slide 10 is sleeved on the screw 11; the rotating shaft of the stepper motor 9 is connected to the screw 11, and the stepper motor 9 is used to drive the screw 11 and the slide 10. The stepper motor 9, the screw 11 and the slide 10 form a screw 11 slide 10 structure. The screw 11 slide 10 structure is fixed to the upper side of the base plate 1 by screws.

[0029] The bottom support structure includes two base frames 13; the two base frames 13 are distributed on both sides of the stepper motor 9 in the screw rod 11 slide 10 structure, one end of the base frame 13 is opened, and the other end of the base frame 13 is slotted.

[0030] The scissor lift support structure includes a left lifting structure and a right lifting structure of the same structure; the left lifting structure and the right lifting structure respectively include a plurality of X-shaped bracket units connected in sequence up and down; each group of bracket units includes two cross-arranged and mutually hinged support rods 12, one of which is located on the outside and the other on the inside. The intermediate connection mechanism includes a plurality of connecting rods 15, and one end of an outer support rod of each group of bracket units is connected to one end of an inner support rod of the adjacent bracket unit through the connecting rod 15. The support rods 12 between the left lifting structure and the right lifting structure are connected through the connecting rod 15. That is, the connecting rod 15 is used to connect the support rods 12 distributed on both sides of the screw rod 11 slide 10 structure, and a plurality of support rods 12 and the connecting rod 15 constitute a scissor lifter. One support rod 12 of the lowest bracket unit is connected to its open hole end on the same side chassis 13 through the connecting rod 15, and another support rod 12 of the lowest bracket unit is connected to the slotted end of the same side chassis 13 through one end of the driving connecting rod 14.

[0031] The driving connection structure includes two driving connecting rods 14 distributed on both sides of the slide 10; the other end of the driving connecting rod 14 is connected to the slide 10, and is used to connect the base frame 13 located on the same side and the bottom bracket unit. Specifically, the central part of the driving connecting rod 14 is fixed to the slide 10 using screws.

[0032] The top support structure includes a table 18 and top frames 16 located on both sides of the lower part of the table 18; the top frames 16 are located on the top of the lifting platform 17 and connected to the uppermost bracket unit. The two top frames 16 are vertically coplanar with the bottom frame 13, with a hole at one end and a groove at the other end, and are connected to the two support rods 12 of the uppermost bracket unit through two connecting rods 15. On the upper side of the top frame 16, a table 18 is fixed by screws.

[0033] When the stepper motor 9 rotates, the screw rod 11 rotates accordingly to drive the slide 10 to move along the axis direction of the screw rod 11 , and the slide 10 drives the driving connecting rod 14 to move, thereby driving the support rod 12 , and further controlling the lifting and lowering of the lifting platform 17 .

[0034] The DC motor 4 also includes an encoder 8; the encoder 8 is used to record the number of revolutions of the DC motor 4, so as to calculate the distance moved by the pipeline robot 22 according to the number of revolutions of the DC motor 4, thereby determining the position of the pipeline robot 22. The encoder 8 is also used to record the number of excitations of the stepper motor 9, and the terminal device obtains the number of excitations of the stepper motor 9, so that the terminal device can calculate the lifting height of the lifting platform 17 according to the number of excitations of the stepper motor 9.

[0035] The plant root system image and water high-throughput in-situ automatic scanning system provided by the present application also includes a terminal device, which can be a computer or a server, etc. The terminal device is used to: calculate the lifting height of the lifting platform 17 according to the number of excitations of the stepper motor 9, so as to determine the real-time position of the pipeline robot 22 according to the lifting height of the lifting platform 17; calculate the lifting height of the lifting platform 17 according to the number of excitations of the stepper motor 9.

[0036] The pipeline robot 22 also includes a power supply unit, which is fixed on the chassis and electrically connected to the lifting platform 17 and the data acquisition unit to provide power to the lifting platform 17 and the data acquisition unit. The power supply unit includes a lithium battery 2 and a battery holder 3; the lithium battery 2 is fixed to the lower side of the bottom plate 1 of the chassis through the battery holder 3.

[0037] The data acquisition unit includes a circuit board 19, an optical imaging module 20 and a soil moisture sensor electrode 21. The circuit board 19 is fixed to the table 18 by screws and is used to control the movement of the pipeline robot 22 and collect root system images and moisture information. Specifically, the DC motor 4 and the stepper motor 9 are controlled to control the pipeline robot 22 to move in the horizontal direction and the vertical direction respectively, and the circuit board 19 collects the root system image taken by the optical imaging module 20 and the data measured by the soil moisture sensor electrode 21 respectively.

[0038] The optical imaging module 20 is fixed to the table 18 by screws and faces the root system, and is used to photograph the root system of the plant outside the transparent pipe 23 to obtain a root system image. The soil moisture sensor electrodes 21 are placed on both sides of the optical imaging module 20 and are used to generate a fringe electric field for measuring moisture information, so as to measure the moisture information of the soil 24 where the root system of the plant outside the transparent pipe 23 is located, that is, the volume moisture content.

[0039] Specifically, the circuit board 19 includes a main control chip, a DC motor drive module, a stepper motor drive module, a data acquisition module, a data storage module, a wireless communication module and a power management module. The main control chip is used to run the program and control the above modules, and can automatically switch the calibration curve of the moisture sensor electrode according to the number of roots collected by the optical imaging module 20. The DC motor drive module is used to control the DC motor 4, thereby controlling the movement of the pipeline robot 22 along the axis direction of the transparent pipeline 23. The stepper motor drive module is used to control the stepper motor 9, thereby controlling the lifting behavior of the lifting platform 17. The data acquisition module collects the root system image taken by the optical imaging module 20, the moisture information measured by the soil moisture sensor electrode 21, the position information recorded by the encoder 8 and the number of excitations of the stepper motor 9. The data storage module is used to store the data collected by the data acquisition module. The wireless communication module is used to send the data collected by the data acquisition module to a terminal device such as a computer or a server. The power management module is used to monitor the power of the lithium battery 2 and control the charging and discharging behavior of the lithium battery 2.

[0040] like Figure 1 As shown, the specific implementation steps of the plant root system image and water high-throughput in-situ automatic scanning system provided by the present application are as follows: before sowing the plant, dig a groove of the same size as the transparent pipe 23 in the soil 24, and bury the transparent pipe 23 about 5 cm deep on the surface of the soil 24. Set the pipeline robot 22 in the transparent pipe 23, send a measurement command to the pipeline robot 22 through a terminal device such as a computer, and the pipeline robot 22 will automatically collect the cross-sectional root system image and the water information of the soil 24 along the setting direction of the transparent pipe 23.

[0041] like Figure 3 As shown, the process of the pipeline robot 22 performing the measurement task specifically includes the following steps 101 to 107.

[0042] Step 101: After receiving a measurement instruction sent by a terminal such as a computer, the pipeline robot 22 starts measuring. The pipeline robot 22 moves along the transparent pipeline 23 and records position information through the encoder 8.

[0043] Step 102: Determine whether the pipeline robot 22 has moved a preset distance to reach the sampling point based on the position information. If so, go to step 103; if not, return to step 101.

[0044] Step 103: After the pipeline robot 22 moves a preset distance, it stops at the original location, starts to take root images of the sampling points through the optical imaging module 20, measures the moisture of the soil 24 through the soil moisture sensor electrode 21, and saves the measured data to the data storage module.

[0045] Step 104: After the measurement is completed, the stepper motor 9 is started, and the lifting platform 17 is lifted accordingly. After the lifting platform 17 is lifted by a preset distance, the stepper motor 9 stops running. At this time, the optical imaging module 20 and the soil moisture sensor electrode 21 operate again to collect root system images and soil 24 moisture information. It is determined whether the highest point has been reached. If so, step 106 is performed, and if not, step 105 is performed.

[0046] Step 105: lift the lifting platform 17, and repeat steps 103 to 105, that is, repeat the lifting of the lifting platform 17 and data collection until the lifting platform 17 reaches the highest point. The highest point is set to prevent the top of the pipeline robot 22 from colliding with the transparent pipeline 23.

[0047] Step 106: The lifting platform 17 is lowered to the lowest point.

[0048] Step 107: Determine whether the pipeline robot 22 has reached the end point. If so, the measurement task is completed. If not, the pipeline robot 22 runs along the transparent pipeline 23 again for a specified distance interval and repeats the above steps 101 to 106 until the pipeline robot 22 runs to the end point of the transparent pipeline 23. After the pipeline robot 22 runs to the end point of the transparent pipeline 23, it will automatically return to the starting point. At this point, a complete measurement process of the plant root image and water high-throughput in-situ automatic scanning system provided by the present application is completed. After the measurement is completed, the pipeline robot 22 will send the collected data (the collected data includes the root image and water information of each sampling point) to other terminal devices such as computers or servers through the wireless communication module of the circuit board 19.

[0049] The present application provides an accurate and effective root calibration and profile moisture synchronous high-throughput in-situ measurement technology, and provides a practical technical solution for the study of the dynamic response of root growth and development to soil 24 profile moisture. The plant root image and moisture high-throughput in-situ automatic scanning system provided by the present application realizes the high-throughput in-situ synchronous measurement of profile roots and moisture. By setting a movable pipeline robot 22 in the transparent pipeline 23, the root image and moisture information of the entire soil 24 profile can be automatically obtained according to the artificially set measurement distance interval, realizing the in-situ high-throughput acquisition of the root image of the entire soil 24 profile and measuring the moisture information of the corresponding position at the same time, reducing the consumption of manpower and material resources, protecting the integrity of the plant roots, and playing an important role in mastering the growth status of the plant roots.

[0050] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A high-throughput in-situ automatic scanning system for plant root images and water content, characterized in that: The plant root system image and water high-throughput in-situ automatic scanning system comprises a pipeline robot and a transparent pipeline; The transparent pipe is buried in the soil; The pipeline robot is arranged inside the transparent pipeline; the pipeline robot includes a chassis, a lifting platform and a data acquisition unit; the chassis is used to drive the lifting platform and the data acquisition unit to move inside the transparent pipeline; the lifting platform is used to drive the data acquisition unit to move up and down; the data acquisition unit is arranged on the lifting platform, and is used to collect root images of plants outside the transparent pipeline and moisture information of the soil where the plants are located.

2. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 1, characterized in that: The data acquisition unit includes a circuit board, an optical imaging module and a soil moisture sensor electrode; The circuit board is used to control the movement of the pipeline robot; The optical imaging module is used to photograph the root system of the plant outside the transparent pipe to obtain a root system image; The soil moisture sensor electrode is used to generate a fringe electric field for measuring moisture information, so as to measure the moisture information of the soil at the root part of the plant outside the transparent pipe.

3. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 1, characterized in that: The pipeline robot also includes a power supply unit; the power supply unit is fixed on the chassis, electrically connected to the lifting platform and the data acquisition unit, and is used to provide power to the lifting platform and the data acquisition unit.

4. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 3, characterized in that: The power supply unit includes a lithium battery and a battery bracket; the lithium battery is fixed on the chassis through the battery bracket.

5. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 1, characterized in that: The chassis includes a bottom plate and two power structures; the two power structures are respectively installed on both sides of the bottom plate; each power structure includes a crawler and two power components located at both ends of the crawler; each power component includes a DC motor, a driving wheel and a motor bracket; the DC motor is used to drive the driving wheel; The driving wheel is used to drive the crawler; the crawler is in contact with the transparent pipe and is used to drive the pipeline robot to move; the DC motor is fixed on the motor bracket, and the motor bracket is fixed on the lower side of the base plate.

6. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 5, characterized in that: The DC motor also includes an encoder; the encoder is used to record the number of revolutions of the DC motor, so as to calculate the moving distance of the pipeline robot according to the number of revolutions of the DC motor.

7. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 1, characterized in that: The lifting platform is a scissor lift platform; the lifting platform comprises a stepping motor, a screw rod, a slide, a bottom support structure, a scissor support structure, an intermediate connection mechanism, a drive connection structure and a top support structure; The slide is sleeved on the screw rod; the rotating shaft of the stepper motor is connected to the screw rod, and the stepper motor is used to drive the screw rod and the slide; The bottom support structure includes two bottom frames; the two bottom frames are distributed on both sides of the stepper motor, one end of the bottom frame is opened with a hole, and the other end of the bottom frame is opened with a slot; The intermediate connection mechanism includes a plurality of connecting rods; The scissor support structure comprises a left lifting structure and a right lifting structure of the same structure; the left lifting structure and the right lifting structure respectively comprise a plurality of X-shaped bracket units connected in sequence up and down; each group of the bracket units comprises two support rods arranged crosswise and hinged to each other; the support rods between the left lifting structure and the right lifting structure are connected by the connecting rod; one support rod of the lowest bracket unit is connected to the opening end of the base frame on the same side, and the other support rod of the lowest bracket unit is connected to the slotted end of the base frame on the same side; The driving connection structure includes two driving connecting rods distributed on both sides of the slide; the driving connecting rods are connected to the slide and used to connect the base frame located on the same side and the lowest bracket unit; The top supporting structure includes a table top and top frames located on both sides of the lower part of the table top; the top frame is located on the top of the lifting platform and is connected to the uppermost bracket unit.

8. The plant root system image and water content high-throughput in-situ automatic scanning system according to claim 5, characterized in that: The lifting platform is fixed to the upper side of the bottom plate by screws.

9. The plant root system image and water high-throughput in-situ automatic scanning system according to claim 7, characterized in that: The plant root image and moisture high-throughput in-situ automatic scanning system also includes a terminal device; the terminal device is used to calculate the lifting height of the lifting platform according to the number of excitations of the stepper motor, so as to determine the real-time position of the pipeline robot according to the lifting height of the lifting platform.

10. The plant root system image and water content high-throughput in-situ automatic scanning system according to claim 1, characterized in that: The transparent pipe is a square structure.

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