Plant phenotype acquisition platform based on transportation robot

Abstract

The utility model discloses a plant phenotype acquisition platform based on a transport robot, the plant phenotype acquisition platform based on the transport robot comprises a plant placing area, a transport assembly, a phenotype data acquisition assembly and a controller, the plant placing area is used for placing a plant to be tested; the phenotype data acquisition assembly comprises at least one image acquisition device or at least one weighing device; the transportation assembly comprises at least one transportation robot, and the transportation robot grabs the to-be-detected plants in the plant placement area and transports the to-be-detected plants to the image acquisition device or the weighing device for plant phenotype information acquisition; and the controller is electrically connected with the image acquisition device and the weighing device, and receives image information transmitted by the image acquisition device and weight information transmitted by the weighing device. Plants are transported by means of the transport robot, and the platform is high in flexibility and can be freely combined with various detection modules.

Description

Technical Field

[0001] The utility model relates to the biological field, and in particular to a plant phenotype collection platform based on a transport robot technology. Background Art

[0002] Plant phenotype is a discipline that studies the complex relationship between genome type, physiology, environment, and plant treatment. It mainly studies all the physical, physiological, and biochemical characteristics and traits of plants produced by plant genes and growth environment.

[0003] Existing methods for studying plant phenotypes mainly include artificial plant phenotyping methods, assembly line track-based plant phenotyping methods, and gantry-based technologies.

[0004] Manual plant phenotyping means manual measurement, observation and photography. Generally, breeders use tape measures to measure biological characteristics in the field and record the measurement results on paper. This method has a high degree of human influence, and has disadvantages such as unstable measurement environment and steps, large deviations in measurement results, and a long time required to complete a manual measurement. At the same time, manual measurement is inefficient. In reality, biological breeding requires the measurement of a large number of test plants, so a lot of manpower is required to complete the measurement; the number of plant biological characteristics that can be obtained by naked eye observation and manual measurement is very small; paper records are prone to errors in subsequent data processing, which are also problems in manual plant phenotyping.

[0005] The main principle of the plant phenotyping method based on the assembly line track is to place the test plants on the track-shaped assembly line with a pre-set process. The plants pass through the preset tasks such as shooting points, weighing, and watering points, and the central processing system processes the image, weight and other data and finally generates a biometric report. The disadvantages of this method are: it is only applicable to indoor greenhouse breeding technology environments; the construction cost is very high; the technology based on the track system, the process and transportation path are not flexible after the construction is completed, and it is difficult to modify. In addition, once the track and the sensor equipment system and the central processing system required are built, if the production capacity needs to be expanded in the future, the cost will be very high. The track form determines the number of plants and plant canopies that can be processed by the entire plant phenotyping system of the plant. The limitation on the number of plants processed after completion is also one of the disadvantages of this technology. The plant phenotyping system involves a large number of hardware equipment such as sensors, which is prone to failure and has high engineering and technical requirements for users. It is only suitable for batch measurement of plant phenotypic characteristics. For example, in breeding experiments, if the biological data of a specific plant needs to be extracted separately, all plants on the same track must also pass through the assembly line together, which wastes resources and is inefficient.

[0006] Movable plant phenotyping technology based on gantry and other technologies: Fix the camera equipment on the crane, install rails on the ground, and install the bridge crane on both sides of the field ground to be measured. This allows the camera equipment to be moved in the experimental field for shooting. The disadvantages of this method are: it is mainly suitable for outdoor breeding environments and is inconvenient to use in indoor breeding environments; the measurement path is relatively fixed and inflexible; the construction cost is high and the construction requirements are high; once built, the subsequent measurement capacity expansion cost is very high; only a top view can be taken, so the biological features extracted from the image are limited; it is only suitable for shooting the canopy of multiple plants, and it is impossible to extract effective single plant features. Utility Model Content

[0007] The utility model aims to provide a plant phenotype collection platform based on a transport robot.

[0008] The utility model provides a plant phenotyping platform based on a transport robot, comprising a plant placement area, a transport component, a phenotypic data acquisition component and a controller, wherein the plant placement area is provided with plants to be tested;

[0009] The transport component includes at least one transport robot, and the transport robot is used to grab the plants to be tested in the plant placement area and transport them;

[0010] The phenotypic data acquisition component includes at least one image acquisition device or at least one weighing device, wherein the image acquisition device is used to acquire image information of the plants to be tested transported by the transport robot, and the weighing device is used to acquire weight information of the plants to be tested transported by the transport robot;

[0011] The controller is electrically connected to the image acquisition device and the weighing device.

[0012] Furthermore, the transport robot is an automatic guided vehicle, an autonomous mobile robot, an unmanned vehicle, a self-guided vehicle or a laser-guided vehicle; the transport component also includes a charging device that is compatible with the transport robot.

[0013] Furthermore, the image acquisition device includes: a box, a camera, a background board, a light source and an adjustable storage table, the camera and the light source are connected to the inner wall of the box, the background board is connected to the bottom of the box, the adjustable plant table is connected to the center of the bottom of the box, and the camera is connected to the controller and transmits the captured image information to the controller.

[0014] Furthermore, the camera includes a bird's-eye view camera and a side view camera, the bird's-eye view camera is connected to the top of the box, and the side view camera is arranged on one side of the box and moves up and down in a vertical direction under the action of a vertical drive device; the background board is arranged opposite to at least the side view camera.

[0015] Furthermore, the light source includes a top light source and a side light source. The top light source is connected to the top of the box and is located on the side of the overhead camera; the side light source is connected to the side wall of the box and is located on the side of the side camera.

[0016] Furthermore, the light source is an integrated LED light board, and light beads are evenly distributed on the integrated LED light board.

[0017] Furthermore, the box body is provided with a passage for plants to pass through, and the upper and lower ends of the passage are provided with tracks connected to the box body, and the passage is opened and closed by translation along the track.

[0018] Furthermore, the weighing device includes a weighing sensor, a weighing platform and a display screen, wherein the weighing sensor is embedded in the weighing platform, the display screen is electrically connected to the weighing sensor and displays weight information, and the weighing sensor is electrically connected to the controller.

[0019] Furthermore, the edge of the weighing platform is provided with a gentle slope.

[0020] Furthermore, the electrical connection is a wired connection or a wireless connection.

[0021] The beneficial effects of the utility model are: the utility model can be widely used in the phenotypic measurement of different plant species, that is, it is suitable for single plants as well as plant groups; it has extremely high scalability; it is modular in form, highly flexible and easy to build; the experimental setting can be very flexible, and the experimental steps can be modified very conveniently as needed; the multi-view and multi-dimensional imaging method can produce more and more reliable information compared to the plant phenotyping platform with a top view; the multi-module integration method can extract more biometric information; the construction and operation costs are low; it is suitable for both indoor and outdoor use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 Example floor plan of a modular plant phenotyping platform based on transport robotics technology.

[0023] Figure 2 It is a structural schematic diagram of the image acquisition device.

[0024] Figure 3 It is a schematic diagram of the frame structure of the box and the door of the image acquisition device.

[0025] Figure 4 Schematic diagram of the weighing device DETAILED DESCRIPTION

[0026] The present invention is further described in detail below in conjunction with specific embodiments. The examples given are only for illustrating the present invention, not for limiting the scope of the present invention. The examples provided below can be used as a guide for further improvements by ordinary technicians in the field of the present invention, and do not constitute a limitation of the present invention in any way.

[0027] The experimental methods in the following examples, unless otherwise specified, are all conventional methods, and are performed according to the techniques or conditions described in the literature in the field or according to the product instructions. The materials, reagents, etc. used in the following examples, unless otherwise specified, can all be obtained from commercial channels.

[0028] like Figure 1 As shown, the utility model provides a plant phenotyping platform based on a transport robot, comprising a plant placement area 1, a transport component 2, a phenotypic data acquisition component and a controller 5.

[0029] The phenotypic data acquisition component includes at least one image acquisition device 3 or at least one weighing device 4. The image acquisition device 3 acquires image information of the plant to be tested transported by the transport robot 2 and transmits it to the controller 5. The weighing device 4 acquires weight information of the plant to be tested transported by the transport robot 2 and transmits it to the controller 5.

[0030] The transport component includes at least one transport robot 2, which grabs the plant to be tested and transports it to the image acquisition device or the weighing device to collect the plant phenotypic information;

[0031] The controller is electrically connected to the image acquisition device and the weighing device, and receives image information transmitted from the image acquisition device and weight information transmitted from the weighing device.

[0032] The above-mentioned phenotypic data acquisition component can be one or more image acquisition devices, can include both the image acquisition device 3 and the weighing device 4, or can include only one of the image acquisition device 3 and the weighing device 4.

[0033] The transport robot may be an automatic guided vehicle (AGV), an autonomous mobile robot (AMR), an unmanned vehicle (AIV), a self-guided vehicle (SGV), a laser-guided vehicle, etc.

[0034] The transport component also includes a matching charging device for the transport robot, and the matching charging device can be connected to an external power source.

[0035] Figure 1 6 represents the motion trajectory of the transport robot, 21 represents the transport robot without the plant to be tested, and 22 represents the transport robot with the plant to be tested.

[0036] As a further solution of the utility model, Figure 2-3 As shown, the image acquisition device includes: a box 31, which can be a rectangular box, a cylindrical box, or a cavity of other shapes, and both sides of the box are provided with openable and closable doors; a bird's-eye view camera 32, which is connected to the top of the box; a side camera 33, which is arranged on one side of the box and moves up and down in a vertical direction under the action of a vertical drive device, and the side camera and the automatic door are located on different sides of the box; a background plate 34, which is connected to the bottom of the box, and the background plate is arranged opposite to the side camera, and the background plate is a noise reduction background plate, which can ensure that the interference factors that can affect the image processing in the photo are as few as possible (such as shadows and reflections); an adjustable storage table 35, which is connected to the center of the bottom of the box; a light source, which is connected to the inner wall of the box.

[0037] As a further solution of the image acquisition device, the noise reduction background plate is a black plate with an arc-shaped cross section. The light source includes a top light source 361 and a side light source 362, wherein the top light source is connected to the top of the box and is located on the side of the overhead camera; the side light source is connected to the side wall of the box and is located on the side of the side camera. The light source is an integrated LED light board, and light beads emitting visible light, ultraviolet light or infrared light are evenly distributed on the integrated LED light board. When the light emitted by the light beads is visible light with a wavelength of 400-700nm; it is used to obtain data with color information of plants under visible light: for example, plant tissue and morphological data (shape and size), plant color and texture data, used to display health status (such as insect pests, plant diseases, fungal infections), stress environment (the influence of excessive or insufficient nutrients, heavy metals and other environments on plant color), growth stage (the process of a leaf changing from green to yellow reflects which stage the leaf is in), and the color of the fruit reflects its maturity. When the light emitted by the light beads is ultraviolet light with a wavelength of 360nm, the light source can be used as a chlorophyll fluorescence detection unit, and the image it produces reflects the photosynthesis capacity and light adaptation capacity of the plant. When the light emitted by the light beads is a multi-spectral light source with wavelengths of ultraviolet light (UV, 200-380nm), near-infrared light (band 700-1000nm) or infrared light (band 1000-2500nm). Near-infrared light or infrared light is used to reflect the water content and respiration of plant leaves. Infrared can reflect the temperature on the leaves when the plant breathes, thereby measuring or plant respiratory activity, reflecting the ability of the plant to adapt to temperature changes. Ultraviolet rays can be used in phenol tests (band 270-274mn) for detecting plant stress indicators; or for flavonoid detection of plant fungal signs.

[0038] As a further solution of the image acquisition device, the adjustable storage table 35 includes a table top 351 and a stepper motor 352, and the table top can rotate 360° driven by the stepper motor. The vertical drive device includes a guide rail 371, a motor 373 and a ball screw 372. The side camera 33 is connected to the ball screw 372 and moves up and down along the guide rail 371 driven by the motor. The guide rail is connected to the box and is located at the center line of the side wall of the box. The side camera 33 and the through door are located on different side walls. The shooting center of the overhead camera 32 is located on the central axis of the adjustable storage table 35.

[0039] As a further solution of the image acquisition device, the upper and lower ends of the through door 311 are provided with tracks 312 connected to the box body, and the through door is opened and closed by translation along the tracks. There are two through doors 311, namely an entrance through door and an exit through door that are arranged opposite to each other. It also includes a fill light mirror, which is installed on the inner wall of the through door. The through door can be opened and closed manually, and can also be opened and closed by the drive of a door opening motor 313. In order to facilitate the transportation and passage of large and heavy plants, an auxiliary slope 314 can also be provided on the bottom surface of the entrance through door and the exit through door. The image acquisition device includes a power supply 8, which is arranged at the bottom of the box body, and the motor, LED light panel, camera and other devices that require power to be provided by the power supply can be connected to the power supply through wires.

[0040] As a further solution of the utility model, Figure 4 As shown, the weighing device 4 includes a weighing sensor, a weighing platform 41 and a display screen 42. The weighing sensor is embedded in the weighing platform 41. The display screen 42 is electrically connected to the weighing sensor and displays weight information. The weight sensor is electrically connected to the controller and transmits the weight information to the controller. A gentle slope 43 is provided at the edge of the weighing platform. The display and the weighing sensor can be connected to an external power supply or can be powered by a built-in battery.

[0041] When in use, the transport robot moves to the plant placement area to grab the plant to be tested, and then transports the plant to be tested to the adjustable storage table of the image acquisition device, shoots through the camera, obtains the image information of the plant to be tested, and transmits the image information to the controller. After completing the shooting, the transport robot grabs the plant to be tested and transports it back to the plant placement area. Alternatively, the transport robot moves to the plant placement area to grab the plant to be tested, and then transports the plant to be tested to the weighing platform of the weighing device to obtain the weight information of the plant to be tested, and transmits the weight information to the controller. After weighing is completed, the transport robot grabs the plant to be tested and transports it back to the plant placement area.

[0042] The utility model is described in detail above. For those skilled in the art, the utility model can be implemented in a wider range under equivalent parameters, concentrations and conditions without departing from the purpose and scope of the utility model and without unnecessary experiments. Although the utility model provides specific embodiments, it should be understood that further improvements can be made to the utility model. In short, according to the principles of the utility model, this application intends to include any changes, uses or improvements to the utility model, including changes that are out of the scope disclosed in this application and are made with conventional techniques known in the art. Some basic features can be applied within the scope of the following claims.

Claims

1. A plant phenotype collection platform based on a transport robot, characterized in that: It includes a plant placement area, a transport component, a phenotypic data collection component and a controller, wherein the plant placement area is provided with plants to be tested; The transport component includes at least one transport robot, and the transport robot is used to grab the plants to be tested in the plant placement area and transport them; The phenotypic data acquisition component includes at least one image acquisition device or at least one weighing device, wherein the image acquisition device is used to acquire image information of the plants to be tested transported by the transport robot, and the weighing device is used to acquire weight information of the plants to be tested transported by the transport robot; The controller is electrically connected to the image acquisition device and the weighing device; The image acquisition device includes: a box, a camera, a background board, a light source and an adjustable storage table, the camera and the light source are both connected to the inner wall of the box, the background board is connected to the bottom of the box, the adjustable storage table is connected to the center of the bottom of the box, the camera is connected to a controller and transmits the captured image information to the controller, the camera includes a bird's-eye view camera and a side view camera, the bird's-eye view camera is connected to the top of the box, the side view camera is arranged on one side of the box, and moves up and down in a vertical direction under the action of a vertical drive device; the background board is arranged opposite to at least the side view camera; the background board is a black plate with an arc-shaped cross-section.

2. The plant phenotype collection platform based on a transport robot according to claim 1, characterized in that: The transport robot is an automatic guided vehicle, an autonomous mobile robot, an unmanned vehicle, a self-guided vehicle or a laser-guided vehicle; the transport component also includes a charging device that is compatible with the transport robot.

3. The plant phenotype collection platform based on a transport robot according to claim 1, characterized in that: The light source includes a top light source and a side light source. The top light source is connected to the top of the box and is located on the side of the overhead camera; the side light source is connected to the side wall of the box and is located on the side of the side camera.

4. The plant phenotype collection platform based on a transport robot according to claim 3, characterized in that: The light source is an integrated LED light board, and light beads are evenly distributed on the integrated LED light board.

5. The plant phenotype collection platform based on a transport robot according to claim 1, characterized in that: The box body is provided with a through door for plants to pass through, and the upper and lower ends of the through door are provided with tracks connected to the box body, and the through door is opened and closed by translation along the tracks.

6. The plant phenotype collection platform based on a transport robot according to claim 1, characterized in that: The weighing device comprises a weighing sensor, a weighing platform and a display screen. The weighing sensor is embedded in the weighing platform. The display screen is electrically connected to the weighing sensor and displays weight information. The weighing sensor is electrically connected to a controller.

7. The plant phenotype collection platform based on a transport robot according to claim 6, characterized in that: The edge of the weighing platform is provided with a gentle slope.

8. The plant phenotype collection platform based on a transport robot according to any one of claims 1 to 7, characterized in that: The electrical connection is a wired connection or a wireless connection.

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