Techniques and setups for cultivating, inspecting and analyzing root systems

Abstract

A root phenotyping system is disclosed comprising a cleansing subsystem configured to suspend a plant in a cleansing container (C1, Cn) such that at least a root system (22r) thereof is submerged in a washing solution (13u) while being located at least partially within a growing media (13e) and a crown thereof is located at least partially within a nursery pot (12p), separate and remove the growing media (13e) from the root system (22r) supported by the nursery pot (12p). An imaging subsystem (15i) is used to acquire imagery data of the root system (22 r) supported by the nursery pot (12 p) from one or more angles, elevations and / or distances. A processing subsystem is used to process and analyse the imagery data and determine one or more properties of the root system (22r).

Description

[0001] TECHNIQUES AND SETUPS FOR CULTIVATING, INSPECTING AND ANALYZING ROOT SYSTEMS

[0002] TECHNOLOGICAL FIELD

[0003] The present invention generally relates to agricultural technology, particularly to cultivation, inspection, and phenotyping of root systems.

[0004] BACKGROUND ART

[0005] References considered to be relevant as background to the presently disclosed subject matter are listed below:

[0006] [1] Elana D. et al "Early-Stage Phenotyping of Root Traits Provides Insights into the Drought Tolerance Level of Soybean Cultivars", Agronomy 2021, 11, 188.

[0007] [2] Mokhles E. et al "Air-Pruning Containers Modify Root and Scion Growth and Alter Resource Allocation of Bench-Grafted Apple Plants" , Horticulturae 2022, 8, 797.

[0008] [3] Bruna B. et al "Phenotyping seedlings for selection of root system architecture in alfalfa (Medicago sativa L.)", Plant Methods (2021) 17: 125.

[0009] [4] Randy T. C. et al "Three-Dimensional Root Phenotyping with a Novel Imaging and Software Platform", Plant Physiology, June 2011, Vol. 156, pp. 455-465.

[0010] [5] Elizabeth M. B. "Fast and efficient root phenotyping via pose estimation" , bioRxiv, November 21, 2023.

[0011] [6] Qian Z. "Intraspecific plant interaction affects arbuscular mycorrhizal fungal species richness", Plant and Soil, April 2021.

[0012] [7] Hui S. et al "Genotypic difference in the plasticity of root system architecture of field-grown maize in response to plant density" , Plant Soil, February 2019.

[0013] [8] Miguel A. P. et al "Evolving technologies for growing, imaging and analyzing 3D root system architecture of crop plants", JIPB, March 2016, Volume 58, Issue 3, 230-241.

[0014] [9] Qian W. et al "Quantification of the three-dimensional root system architecture using an automated rotating imaging system" , Plant Methods (2023) 19: 11.

[0015]

[0010] John. F. "Wheat shovelomics II: Revealing relationships between root crown traits and crop growth" , bioRxiv, March 13, 2018. BACKGROUND

[0016] This section intends to provide background information concerning the present application, which is not necessarily prior art.

[0017] The present application addresses various challenges associated with cultivation of root systems and phenotyping of root systems of grown plants e.g., soil-grown plants. The root system anchors the plants to its growth substrate / soil (also referred to herein as growing media), facilitate water and nutrient uptake, and sometimes also serve as a storage organ. Root systems are also capable of responding and adapting their morphology and / or architecture to their rooting environment and to external factors affecting the plant. The development of a healthy root system can thus assure stress resilience and adaptation to varying environments, and is thus crucial for the survival and healthy growth of most plants.

[0018] It is known that plants' roots play a central role in their growth, health, and yield. Despite their paramount importance, roots remain an underutilised resource with vast potential for enhancing crop performance. Root phenotyping involves the study of root system characteristics, encompassing architecture, morphology, growth dynamics, and physiological attributes. The phenotyping of root systems of grown plants provides growing insights applicable for genetic control root growth. For example, there are certain root properties (e.g., improved nutrient and water scavenging abilities) desired in crop plants that can promote enhanced productivity in resource-limited environments.

[0019] Root phenotyping is however a challenging task. The challenge lies in the absence of efficient methods to measure root properties in opaque substrates / soils, resulting in a bottleneck in harnessing root traits for the development of stress-tolerant crop varieties and the optimization of agrochemicals for crop protection, crop nutrition, and growth stimulation. The absence of efficient methods to measure properties of roots in opaque substrates / soils stands as an obstacle to fully leveraging root traits for breeding new stress-tolerant crop varieties and hinders the development of more efficient agrochemicals for crop protection and growth stimulation.

[0020] Conventional methods for analyzing root systems in soil face significant challenges in providing real-time, non-invasive, and high-throughput assessments. Embodiments hereof provide a platform for efficient and accurate root phenotyping, and address challenges associated with obtaining a fully evolved root system, exposing and imaging the root system without damaging or disturbing it. Medical-system-based phenotyping technologies, such as magnetic resonance imaging (MRI), X-ray imaging, and computed tomography (CT), can be used to non-destructively study root systems grown in soil. However, the current scale, resolution, throughput, and cost efficiency of such medical-system-based phenotyping techniques limit their utility and render them impractical for field measurements and unsuitable for high-rate examination of a large quantity of root systems.

[0021] Measuring properties of root systems in transparent mediums (e.g., gellan gum growth) fails to replicate the complex, natural conditions of opaque substrates / soils. Another solution known in the art, is to grow the plants in rhizotrons, which offer a non-destructive way to observe root system development and interactions with the substrate / soil. However, the transparent viewing window / chamber of the rhizotrons exposes the root systems to pot effect distortions and light / radiation that influence natural root growth patterns and make them less suitable for studying undisturbed root systems. Other solutions proposed for field phenotyping typically suffer from low throughput and labour-intensive processes.

[0022] Chinese Utility Model Publication No. CN202931857U discloses a sleeved planted type plant bare-root fast-growing cultivation device which comprises a cultivation pot, and root penetrating holes formed in the wall of the cultivation pot. According to the sleeved planted type plant bare-root fast-growing cultivation device, plant habits of being loose, good in drainage, and rich in humus of dragon trees, of preferring soil are utilized, and roots of the dragon trees are exposed outside to fully absorb sunlight and grow fast. The sleeved planted type plant bare-root fast-growing cultivation device has the advantages of being low in cost, convenient to use, good in drainage, bareness of roots through the root penetrating holes, and facilitating fast growth of the dragon trees through sufficient sunlight absorption.

[0023] GENERAL DESCRIPTION

[0024] The present application discloses root cultivating and phenotyping solutions that addresses the aforementioned challenges, offering a transformative approach to prioritise roots as a focal point for crop breeding and agrochemical development. Embodiments disclosed herein can be used to provide efficient means to study characteristics of roots of plants grown in opaque soils / substrates and enable identification of new genetic variability for incorporation into novel crops. Implementations of embodiments hereof can be further used to advance the screening and discovering of agrochemicals, for the benefit of crop protection, crop nutrition and crop stimulant agents, with enhanced safety and efficacy, thereby contributing to the sustainable improvement of agricultural practices. The innovative approach of embodiments disclosed herein can thus provide valuable tools for researchers and practitioners alike, bridging the gap in root phenotyping and unlocking new avenues for crop improvements e.g., assist in the development of new crop varieties with enhanced resistance to diseases, pests and / or environmental conditions, such as drought.

[0025] The present application provides techniques for automation of the root phenotyping process, minimizing manual intervention, enabling high-throughput, and standardized data collection. Implementations of the embodiments disclosed herein are specifically designed to seamlessly integrate advanced hardware (e.g., robotic arms, conveyors, lifting mechanisms, and processing units) with dedicated control and analysis software to fully automate the stages of root exposure, cleaning, imaging, and data acquisition.

[0026] In embodiments the plant and its roots are grown in a growing module comprising the nursery and maturity pots. The growing module is a foundational component of automated root phenotyping platform disclosed herein, functioning both as a plant / root growth chamber and as the physical interface for fully automated root trait extraction. The growing module is designed for seamless integration with the equipment of the disclosed system (e.g., robotic arm / manipulator) and imaging elements thereof, the growing module enables flexible plant growth under a range of environmental conditions (e.g., drought, salinity, extreme temperatures), making it a precision-controlled unit for both cultivation and data acquisition. Together, the growing module and the automated platform deliver a unified, scalable solution for high-resolution, above- and belowground phenotyping — reducing labor, increasing reproducibility, and transforming plant-root analysis into a streamlined, industrial process.

[0027] The present application also discloses techniques for growing plants in controlled environments (e.g., using certain substrates / soils, nutrients, irrigation, temperatures and light exposure conditions, as well as biotic and abiotic stresses such as salinity, drought, nutrient deficiency, soil-borne pathogen etc.). The growing techniques may cover all plant developmental stages starting from seeds / seedlings to a vegetative stage and reproductive stage. The growing techniques guarantee development of uninterrupted and undistorted root systems. These techniques enable the root system to grow and develop in soil medium surrounding the roots from all its directions. This guarantees root growth without distortion due to artificial confinement, light exposure, and / or artificial substrates.

[0028] Also disclosed herein, techniques for removal of the substrate / soil in which the plants are grown without damaging their roots and without distorting their root system architecture (RSA). Further techniques hereof are directed to the imaging, recording and phenotyping of the root systems of the plants.

[0029] In embodiments disclosed herein, the process of plant growth aimed at root phenotyping, generally has two stages:

[0030] • a nursery stage; and

[0031] • a maturity stage.

[0032] The nursery-stage mainly aims to guarantee development of a healthy undisturbed, uniform initial root system from seed or young seedling. During the nursery stage, the seed or seedling grows within porous nursery pots (e.g., perforated mini / micro pots). Another goal of the nursery stage is to develop the root system until it protrudes out of the nursery pot, and then to cause air pruning of the tips of protruding root. The nursery stage is optional in some embodiments z.e., the nursery stage may be skipped, and the seed or seedling growth may be commenced directly in a maturity pot. The nursery pot can be thus configured to contain at least a portion of a root crown of the plant, and allow growth of a full root system via its pores / openings in the next one or more stages of the process.

[0033] In some embodiments seeds, or seedlings, are transplanted directly into the nursery pot while it is filled with a growing substrate and positioned inside the maturity pot, thereby skipping the separate phase of growing the plant in the nursery pot alone. The maturity pot may be filled with growing substrate before or after (to allow air pruning) the seeds are transplanted in the nursery pot.

[0034] The maturity stage focuses on further developing the plant root system under the various environmental conditions, and then producing images of the root system architecture of the plant when it reaches a certain development phase (e.g., vegetative and / or reproductive stage).

[0035] Though the growing of the seed / seedling in the porous nursery pot (also referred to herein as nursery pot for short) is optional, in embodiments disclosed herein the nursery pot remain in place with nursery substrate / soil contained therein, and moved together with the plant to the maturity stage of the process. During the maturity stage, the root system of the plant is spread in all directions inside the growing media / soil contained in the maturity pot z.e., through the pores of the nursery pot. The nursery pots can be provided in any suitable geometric shape, preferably having a tapering (c.g, conical or thrust-conical) shape and configured to ensure uninterrupted root development, permit root passage through the pores provided in their walls, and to enable air pruning the roots, if so needed (e.g., to prevent pot / circling effect). Optionally, but in some embodiments preferably, the colour of the nursery pots is configured to enable application of chroma keying techniques to imagery data of the root systems of the grown plants acquired later (e.g., green or blue to allow removal of the nursery pots from the acquired imagery data).

[0036] When the young plants reach a desired growth phase, the nursery pots are planted with the young plants grown therein in (e.g., dismantlable) maturity pots filled with a separable (e.g., grainy / sand) growing substrate. It is however noted that many substrates are separable and can be similarly used for planting the nursery pots in the maturity pots. The (e.g., dismantlable) maturity pots are configured to ensure uninterrupted root system development and prevent pot effect. The (e.g., dismantlable) maturity pots are configured to facilitate separation of the maturity pot substrate from the grown plant, and simplify the process of washing and removing the substrate from the root system before inspecting it.

[0037] In order to remove the growing media, the (e.g., dismantlable) maturity pot is placed together with its grown plant in one or more cleansing containers filled with (e.g., cooled) washing solution (e.g., comprising detergent and / or root stiffening substances), to thereby immerse at least the roots developed outside the nursery pot and the growing media in the washing solution. Optionally, but in some embodiments preferably, at least some portion of the stem of the plant, and its branches and leaves are maintained outside of the washing solution. After placing it in the cleansing container, the maturity pot is removed (e.g., dismantled) while immersed in the washing solution of the cleansing container, for washing away the growing media from the root system of the plant by one or more washing solutions.

[0038] If the growing media comprises grainy ingredients, it can be removed from the root system of the plant with minimal, or entirely without, intervention, by simply leaving the growing substrate / soil of the plant immersed in the washing solution until it become separated from the roots and sinks down to the bottom of the cleansing container by gravitation. On the other hand, if the growing media comprises less separable ingredients (e.g., dense or compact substrate), the stem of the plant can be gently vibrated (e.g., by a robotic arm) one or more times to promote separation thereof from the roots and facilitate its sinking in the cleansing container, without di sturbing / di storting the structure and shape of the root system. Optionally, removal of the growing media can be facilitated by slowly circulating the washing solution contained inside the cleansing container.

[0039] In some applications the nursery pot is provided with an outer grid or net structure surrounding the nursery pot to provide a volume filled with growing media surrounding the nursery pot. The grid or net can be attached to the nursery pot, or provided as integral part thereof. This additional volume of growing media surrounding the nursery pot allows the roots to grow through it while providing support to hold further portions of the root system during the cleaning, washing, and imaging processes. The size / diameter of the holes of the grid / net structure surrounding the nursery pot is generally greater than the size / diameter of the pores / openings of the nursery pot. During preparation for inspection, the space between the nursery pot and the outer grid / net structure is washed using any of the techniques disclosed herein (e.g., by submersion in standing or gently circulated washing media / water) to remove the growing media, thereby exposing the roots for imaging. The root system can be then imaged while the nursery pot, and the grid / net surrounding it, support the root system and preserve its original structure and shape substantially intact.

[0040] After the growing media is removed from the root system, an exposed, and / or cooled, and / or stiffened, root system is obtained in a fully spread and uninterrupted deployment inside the washing solution. In embodiments hereof the nursery pot is not removed (or removed at later stage) from the grown plant, so a base portion of the exposed root system remains contained inside and supported by the nursery pot, possibly with some or all of the nursery substrate / soil. This portion of the root system helps to stabilize and anchor the plant to the nursery pot, thereby allowing secure handling of the root and entire plant during the washing and cleaning process. This portion of the root system also preserves an undisturbed root portion, which facilitates successful replanting after the washing and imaging process is complete.

[0041] At this stage, an immobilizing substance (e.g., gelling agent, a thickener, or liquefied gas) may be introduced to the cleansing container to prevent movement of the roots thereinside.

[0042] In some embodiments the substrate / soil removal may include a number of phases in which the root system of the plant is moved into different cleansing containers, each filled with a different, or same, washing solution, at different, or same, temperature, with or without immobilizing agent(s). The different cleansing containers can be fluidly connected by one or more open channels configured to permit moving therethrough the plant and its root system from one cleansing container to the other, without pulling the root system out of the solution(s) into open air, and without di sturbing / di storting the structure and shape of the root system.

[0043] The root system imaging is done at the final container which may be filled with transparent liquid (water or other liquid) with different characteristics, such as specific weight, temperature, acidity, staining agents.

[0044] The root system can be then imaged from all directions, preferably 360-degree photography, at different angles and elevations, by one or more two-dimensional (2D) and / or three-dimensional (3D) imagers / cameras. The cameras can be area scan cameras and / or line scan cameras, arranged inside and / or external to a container e.g., filled with a transparent liquid / water and having one or more transparent walls and / or windows and / or transparent medium strip surrounding the imaging container. The inspection phase(s) can be carried out while the root system of the plant is immersed in a washing and / or immobilizing and / or cooled liquid / substance of the (e.g., transparent) cleansing container, or of a different (e.g., transparent) container adapted for acquiring the imagery data of the root system. Optionally, but in some embodiments preferably, during the inspection phase(s) the 2D and / or 3D cameras are moved (e.g., vertically and / or radially and / or angularly) to acquire the imagery data from different spatial angles, and / or elevation angles, and / or distances, while the plant and its root system remain stationary immersed in the solution of the imaging container.

[0045] The 2D and / or 3D cameras may be external to the container or immersed inside the solution contained inside the container.

[0046] Embodiments disclosed herein aim to provide high-throughput plant phenotyping techniques allowing acquisition of very large image datasets of root systems. The imaging of the root systems can be performed using one or multiple high throughput 2D and / or 3D imagers / cameras, and / or software tools configured to construct a set of one or multiple 2D images, and / or to construct 3D models / images of the root systems, from a plurality of 2D images thereof. The inspection phase can be repeated a number of times for acquiring comprehensive and detailed images of the root system during the maturity stage, starting from early stages of plant development, by potting the plant in a bigger (e.g., dismantlable) maturity pot after each inspection phase. This way, the root system of the plant can be used to identify and characterize young and mature root phenotypes, to study and / or predict RSA (root system architecture) traits of plants grown in certain and / or controlled environments.

[0047] The inspection phase(s) can be configured to capture multi-angle, detailed root systems images, ensuring high throughput through automated image acquisition. The imaging system can be configured to maintain consistency via calibration and to adhere to reproducible protocols, providing a comprehensive solution for accurate and efficient root imaging. The acquired imagery data can be recorded in a repository and analyzed by specialized e.g., deep learning (DL) / artificial intelligence (Al), algorithms / models, to phenotype the root systems of the grown plants and determine properties thereof e.g., roofs classification and / or circumnutation and / or gravitropic response and / or number / count and / or lengths and / or widths and / or initiation angles, and / or root system's centroid and / or volume and / or growth rate and / or bushiness, and / or crown's root number and / or average length, and / or lateral root number, and / or average lateral root length, and / or identification of pathogen symptoms, such as knots or gals or nodules, color change and variability.

[0048] The analysis of the acquired imagery data can include computer vision and / or deep learning algorithms, which can be harnessed to facilitate automated trait extraction, scalable customization, and ensure data accuracy. The inspection / imaging system can be accordingly designed for adaptability and scalability to meet various research needs.

[0049] The imaging system can be further configured to manage one or more repositories for storing, organizing, and facilitating efficient data search and retrieval, to thereby enable effective data management and / or utilization of tools for carrying out predictive analytics and informed decision-making. The management of the one or more repositories can further include tagging some or all of the imagery data to facilitate training of smart image analysis models.

[0050] The imagery data acquired from the inspected root systems can be processed to remove interferences e.g., using one or more low-pass filters - LPFs to remove noise and / or high-pass filters - HPFs to enhance edges, and / or to adjust brightness and / or contrast, to facilitate the analysis to be conducted therewith. In some embodiments the image processing can include use of chroma keying techniques to remove the nursery pot from the acquired images. In some embodiments the acquired 2D images can be used to construct a 3D image / model of the inspected root system e.g., using stereoscopy software tools.

[0051] The acquired imagery data can be studied and tagged / labelled e.g., by one or more users / experts to construct a training dataset therefrom. This way, one or more training datasets can be obtained for various different plants grown throughout their nursery, maturity, reproductive, or other stages, as their root systems develop e.g., to a fully established stage (also referred to herein as a secondary root system), exposed using one or more of the cleansing steps disclosed herein, imaged, and optionally replanted (e.g., in bigger maturity pots). The constructed one or more datasets can be used to train machine learning (ML) algorithms and / or artificial intelligence (Al) models to carry out the analysis and phenotyping of imagery data of root systems acquired by any technique known in the art. The ML and / or Al models (e.g., weights and parameters) can be also maintained in the one or more repositories, and updated from time to time when new training datasets are constructed.

[0052] Implementations of embodiments hereof can seamlessly integrate cutting-edge hardware (e.g., processing means, robotic arms, conveyors, tree spades, levers) and software to automate, streamline and standardize the root phenotyping process across diverse growth environments. The disclosed embodiments can be easily adapted for automation, efficiency, and standardization, to adapt a range of growing setups, including field assessments, controlled greenhouse conditions, and micro pots for high-throughput and rapid diagnosis.

[0053] Embodiments hereof can be accordingly configured to adapt for various different plants growing setups, to facilitate experiments and testing related to root phenotyping in different environments. For example:

[0054] • Realistic Field (in Situ) o Simulates natural and realistic growth conditions. o Enables experiments in experimental plots. o Allows root phenotyping on farmers' premises.

[0055] • Greenhouse and growth chamber setups: o Provides controlled environments for experiments and testing. o Factors like irrigation regimens, climate conditions, salinity, and stress conditions can be precisely manipulated. o Substrates in greenhouses or growth chambers can range from large pots (containers) to micro-pots.

[0056] • Versatility: o Accommodates different experimental needs. o Allows for high-throughput evaluations. o Facilitates fast and accurate diagnoses of root phenotypes.

[0057] • Dynamic Environment: o Provides a dynamic setting for studying root development.

[0058] Thus, embodiments hereof can be easily adapted to various different growing setups, ranging from realistic field conditions to controlled environments in greenhouses and growth chambers, to thereby provide a versatile platform for researchers. The ability to manipulate different factors and study root phenotypes in different scenarios enhances the flexibility and utility of the disclosed embodiments for a wide range of experiments and studies related to plant root development. It is noted that in embodiments disclosed herein the root system is entirely contained within / surrounded by growing media (e.g., soil, Coco Coir / peat, Perlite, artificial materials, Vermiculite, Rockwool, Peat Moss, spongy media) from all sides.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skills in the art to which this invention pertains. Although methods and configurations similar or equivalent to those described herein can be used in the practice or testing of the present invention, suitable methods and configurations are described below. In case of conflict, the specification, including definitions, will control. In addition, the configurations, methods, and examples are illustrative only and not intended to be limiting.

[0060] In one aspect there is provided a roots phenotyping system comprising a cleansing subsystem configured for the following: suspend a plant over / in a cleansing container such that at least a root system thereof is submerged in a washing solution, where the root system located at least partially within a growing media of the plant while a crown of the root system is located at least partially within a nursery pot of the plant; and separate and remove the growing media from said root system while supported by the nursery pot, an imaging subsystem configured to acquire imagery data of the root system while supported by the nursery pot from one or more angles, elevations and / or distances, and a processing subsystem configured to process and analyse said imagery data and determine one or more properties of the root system. In some embodiments the growing media is contained in a maturity pot of the plant, and / or in a grid / net structure surrounding the nursery pot, and the cleansing subsystem is further configured remove the maturity pot and the growing media surrounding the nursery pot within the cleansing container.

[0061] The system comprises in some embodiments a nursery subsystem configured for growing the plant from seed and / or seedling in the nursery pot at least until an initial root system is established. A maturity subsystem can be used for planting the plant with its nursery pot in the growing medium of the maturity pot, and / or growing the plant at least until a suitable root system is established. At least one conveyor and / or robotic arm can be used to transfer the plant from at least one subsystem to another. The system can be configured to preserve the root system architecture and / or the entire plant before transferring it to the cleansing subsystem. The system can be further configured to introduce in the growing media a stiffening and / or immobilizing agent before transferring it to the cleansing subsystem.

[0062] The nursery pot can be configured to cause roots' air pruning and permit outward passage of roots therethrough e.g., via a plurality of pores / openings provided in its wall(s). In some embodiments the maturity pot is at least partially dismantlable. The cleansing system can be configured to at least partially dismantle the maturity pot when immersed in the washing solution.

[0063] The cleansing subsystem comprises in some applications a plurality of cleansing containers containing same or different washing solution(s). The cleansing subsystem can be configured to transfer the plant with its nursery pot from one cleaning container to another one of the cleansing containers for removal of the growing media from the root system. Optionally, the system is configured to cool the washing solution(s). Additionally or alternatively, the system is configured to introduce a stiffening and / or immobilizing agent into the washing solution(s).

[0064] The imaging subsystem comprises in some embodiments an imaging container containing a suspension solution. The system can be configured to suspend the plant over the inspection container such that at least the root system is submerged in said suspension solution. Optionally, the system is configured to cool the suspension solution and / or introduce a stiffening and / or immobilizing agent into the suspension solution.

[0065] One or more open fluid channels connecting between one or more of the cleansing containers and / or the imaging container can be used to convey the plants from one of the containers to at least another one of the containers without pulling the root system out of the containers. A gripping conveyor can be used to convey the plants from one of the containers to at least another one of the containers vis the one or more open fluid channels without pulling the root system out therefrom.

[0066] The imaging subsystem can comprise one or more two-dimensional and / or three- dimensional imagers / cameras. At least one of the one or more imagers / cameras can be configured to movably acquire the imagery data of the root system from the one or more angles, elevations and / or distances, while said root system is maintained stationary. Alternatively, at least one of the one or more imagers / cameras is maintained stationary while the root system is rotated. Alternatively, both the one or more imagers / cameras and the root system are maintained stationary. In an application at least one of the one or more imagers / cameras is immersed in a suspension solution.

[0067] The system can be configured for tagging and / or labelling at least some portion of the imagery data and prepare one or more training datasets therefrom. The processing subsystem can be configured to train a deep learning (DL) algorithm and / or artificial intelligence (Al) model to analyze imagery data of root systems. The DL algorithm and / or the Al model can be configured to provide a recommendation for improving plants' cultivation during nursery and / or maturity stages of the plants. The system can be configured to predict future plant growth based on the acquired imagery data and / or on analysis data thereby generated. The processing subsystem can be configured to identify plants' growth anomalies based on the acquired imagery data and / or on analysis data thereby generated. This comprises in some embodiments a data repository for storing at least one of the imagery data, training dataset(s), DL and / or Al models. In some embodiments the system is at least partially mounted on a movable platform having a transplanter tool configured to extract plant's roots (e.g., with its nursery pot) from a field and move it into one or more of the cleansing and imaging containers thereby carried. For example, the cleansing and inspection systems can be mounted on a moving platform configured for ground traveling, to traverse a field of crops and transpl ant / dig-up plants from the field and placing them inside the cleansing and imaging container provided on the moving platform for phenotyping.

[0068] In another aspect there is provided a method for inspecting of a root system, the method comprising growing a young plant from seed or seedling to obtain an initial root system inside a nursery pot configured to at least partially accommodate the initial root system, planting the young plant with its nursery pot in a growing media to develop a grown root system thereinside, placing the grown root system inside a washing liquid / solution such that at least the grown root system is submerged in the washing liquid, removing the growing media while the grown root system is immersed in the washing liquid / solution and supported by its nursey pot, and inspecting and / or analysing the grown root system i.e., while the nursery pot is supporting the root system. The method comprises in some embodiments planting the young plant with its nursery pot in a maturity pot filled with the growing media to develop the grown root system thereinside. The method can further comprise removing the maturity pot while the grown root system is placed with its nursery pot inside the washing liquid / solution. In some embodiments the method comprises growing the young plant from seed or seedling inside the nursey pot being already placed within growing substrate of the maturity pot.

[0069] The method can comprise one or more of the following: imaging the root system from one or more angles, elevations and / or distances; generating respective imagery data of the imaged root system; recording and / or analysing the imagery data to determine one or more properties of the root system; moving the plant to the maturity pot and / or placing the maturity pot in the washing liquid / solution by one or more robotic arms; stiffening the root system before placing it in the washing liquid / solution, and / or during the inspecting thereof; causing air pruning of the root system by the nursery pot and / or the maturity pot.

[0070] The removal of the maturity pot comprises in some embodiments at least partially dismantling the maturity pot inside the washing liquid / solution. The removal of the growing media can comprise moving the root system into one or more cleansing containers containing the same or different washing liquid / solution. The inspecting can comprise placing the root system in an imaging container containing a suspension solution. Optionally, the method comprises stiffening the root system inside the suspension solution e.g., by introducing a stiffening and / or immobilizing agent into the suspension solution.

[0071] The inspecting can comprise acquiring two-dimensional (2D) images and / or three- dimensional (3D) imagers of the root system from one or more angles, elevations and / or distances, and / or constructing a three-dimensional model from 2D and / or 3D images of the root system. The method comprises in some applications removing the nursery pot from the acquired images by image processing tools. The inspecting can comprise either moving at least one imager / camera relative to the root system, moving the root system relative to at least one imager / camera, or keeping the imagers / cameras and the root system stationary during image acquisition. The inspecting may comprise moving at least one imager / camera inside the suspension solution.

[0072] The method comprises in some embodiments tagging and / or labelling at least some portion of the imagery data and preparing one or more training datasets therefrom. The method can comprise training a deep learning (DL) algorithm and / or an artificial intelligence (Al) model to analyze imagery data of root system. The method can comprise at least one of the following: generating a recommendation by the DL algorithm and / or the Al model for improving plants' cultivation during nursery and / or maturity stages; identifying plants' growth traits and / or anomalies based on the acquired imagery data and / or on analysis data generated therefrom; predicting future plant growth based on acquired imagery data and / or on analysis data generated therefrom.

[0073] In yet another aspect there is provided a method of preparing a training data set for analysis of a root system. The method comprising acquiring a plurality of 2D and / or 3D images of a root system, wherein at least some portion of a root crown of the root system is located within a nursery pot having a plurality of pores / opening through which roots of the root system extend outwardly, generating label and / or tagging data for at least some of the acquired images, the label and / or tagging data comprises expert annotation(s) indicative of at least one feature and / or anomaly observed in the imaged root system, and at least one of the following: nursey data indicative of features of a nursery stage of the root system during cultivation thereof in the maturity pot; and / or maturity data indicative of features of a maturity stage of the root system during cultivation thereof potted in a maturity pot filled with a growing media with the nursery pot. The method can further comprise formatting the label and or tagging data into a training data set suitable for training a ML algorithm and / or Al model. The label and / or tagging data can comprise at least one of the following: parameters of the nursery pot, growth environment / parameters, information indicative of watering frequency and / or amounts and / or source during the nursery and / or the maturity stage, information indicative of treatments applied during the nursery and / or the maturity stage, information indicative of physical plants' measurements taken during the nursery and / or the maturity stage.

[0074] In yet another aspect there is provided a training data set for training a ML algorithm and / or Al model to analyze imagery data of a root system. The training data set comprises: a plurality of 2D and / or 3D images of the root system taken from one or more angles, elevations and / or distances, while at least a portion of a root crown of the root system is located in a nursery pot having a plurality of pores / openings through with roots of said root system extend outwardly; expert annotation(s) indicative of at least one feature and / or anomaly observed in the imaged root system; and at least one of the following: nursery data indicative of features of a nursery stage of the root system during cultivation thereof in the maturity pot; and / or maturity data indicative of features of a maturity stage of the root system during cultivation thereof potted in a maturity pot filled with a growing media with the nursery pot.

[0075] In yet another aspect there is provided a roots phenotyping system comprising: an imaging subsystem configured to acquire imagery data of a root system from one or more angles, elevations and / or distances, the imagery data acquired while at least a portion of a root crown of the root system is located in a nursery pot having a plurality of pores / openings through which roots of the root system extend outwardly; and a processing subsystem for examining the imagery data by ML and / or Al tools, and determining one or more traits and / or anomalies of the imaged root system, where the ML and / or Al tools is trained on a plurality of labels / tags associated with imagery data acquires for other root systems and indicative of at least one of the following: nursery data indicative of features of a nursery stage of the other root systems during cultivation thereof in maturity pots; and / or maturity data indicative of features of a maturity stage of the other root systems during cultivation thereof in maturity pots filled with a growing media with their nursery pots.

[0076] BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to understand the invention and to see how it may be carried out in practice, embodiments will now be described, by way of non-limiting examples only, with reference to the accompanying drawings. Features shown in the drawings are meant to be illustrative of only some embodiments of the invention, unless otherwise implicitly indicated. In the drawings same reference signs are used to indicate members (configural elements) having identical or corresponding functions and / or structures, and in which: Fig- 1 is a flowchart schematically illustrating a process for root system cultivation and phenotyping according to some embodiments;

[0078] Fig. 2 schematically illustrates a system for roots system cultivation and phenotyping according to some embodiments;

[0079] Figs. 3A to 31 schematically illustrate various stages of the root system cultivation and phenotyping according to some embodiments, wherein Fig. 3A shows a possible nursery stage pot configuration, Fig. 3B shows the nursery stage pot with a plant grown therein, Fig. 3C demonstrates transferring the plant grown in the nursery stage pot, Fig. 3D demonstrates potting the plant in a maturity stage pot, Fig. 3E demonstrates transferring of the plant to a cleansing container, Figs. 3F and 3G demonstrate removal of the maturity pot and separating the growing media from root system, and Figs. 3H and 31 demonstrate inspecting the root system;

[0080] Fig. 4 schematically illustrates a training data set according to some embodiments;

[0081] Figs. 5A to 5G schematically illustrate a root inspection system according to some embodiments, wherein Fig. 5A demonstrates operation of components of the system, Fig. 5B demonstrates an initial stage of the system operation, Fig. 5C demonstrates RSA receipt, Fig. 5D demonstrates a RSA submersion stage, Fig. 5E demonstrates RSA washing stages, Fig. 5F demonstrates RSA imaging stage, and Fig. 5G demonstrates growing media removal by the system operation;

[0082] Fig. 6A to 6C schematically illustrate a technique according to some embodiments for inspecting and analysing root system of plants grown in a field, wherein Fig. 6A is a flow chart of a process for inspection of plant's root system in the field, Fig. 6B demonstrates a system for inspections of plants' root systems in the field, and Fig. 6C shows a closer view of a transplanter tool usable for moving plants from the field to the inspection vehicle;

[0083] Fig. 7 exemplify embodiments of the phenotyping system configured according to some embodiments to use a gripper conveyor; and

[0084] Fig. 8 schematically illustrate a root support grid according to some embodiments coupled to a nursery pot.

[0085] DETAILED DESCRIPTION OF EMBODIMENTS

[0086] One or more specific and / or alternative embodiments of the present disclosure will be described below with reference to the drawings, which are to be considered in all aspects as illustrative only and not restrictive in any manner. It shall be apparent to one skilled in the art that these embodiments may be practiced without such specific details. In an effort to provide a concise description of these embodiments, not all features or details of an actual implementation are described at length in the specification. Elements illustrated in the drawings are not necessarily to scale, or in correct proportional relationships, which are not critical. Emphasis instead being placed upon clearly illustrating the principles of the invention such that persons skilled in the art will be able to achieve fully established root system architectures (RSA) of grown plants, and inspect and phenotype the RSA, once they understand the principles of the subject matter disclosed herein. This invention may be provided in other specific forms and embodiments without departing from the essential characteristics described herein.

[0087] The present application addresses challenges associated with phenotyping of root systems in general, and particularly phenotyping of root systems established within specific natural or engineered soils or substrates e.g., soil-grown plants. Root phenotyping involves the comprehensive study and analysis of root system characteristics, including but not limited to root architecture, morphology, growth dynamics, and physiological attributes. The following disclosure focuses on techniques for cultivating fully established root systems in defined environments (e.g., opaque growing media such as soil), inspecting the developing root system at various phases of plants' growth, and phenotyping the root system. Conventional methods for studying root systems in opaque growing media are typically limited by their inability to provide real-time, non-invasive, and high-throughput analysis. The techniques and setups disclosed herein overcome these limitations by introducing a novel platform for obtaining fully established and undisturbed root systems in grown plants, that allows efficient and accurate assessment of root traits in a variety of (e.g., soil) conditions.

[0088] The root phenotyping platform of embodiments hereof encompasses hardware, software, and methodologies tailored to cultivate, capture, measure, and analyse key parameters associated with root systems of (e.g., soil-grown) plants. The disclosed embodiments address the complexities of studying root systems in natural and / or engineered environments, to enable enhanced understanding of plant-root interactions, nutrient uptake efficiency, and overall health, of plants grown in either natural or engineered environments.

[0089] The embodiments disclosed herein are relevant inter alia to modern agriculture, where optimizing plant performance, resource utilization, and sustainability, are paramount. Implementations of embodiments (e.g., root phenotyping platform) hereof extends to research institutions, agricultural enterprises, and environmental monitoring initiatives seeking to advance plant science, and improve crop yields and / or carbon up-takes in (e.g., soil-based) cultivation systems. In embodiments hereof root system cultivation includes a nursery stage, in which a plant is grown from a seed or seedling planted in a nursery pot at least until a primary / initial root system is developed therein, and a maturity stage, in which the young plant is transferred into one or more maturity pots designed for development of a secondary root system therein and to facilitate washing the growing media from the root system established therein for inspection and phenotyping. It is noted that certain types of growing media can be washed away from the root system by simply immersing the root system in a washing solution for few seconds (or minutes), and / or by gently streaming / circulating the washing solution.

[0090] In some embodiments the nursery pot is designed for growth of the plant thereinside and preventing the pot / circling effect of the grown roots. In some embodiments the wall(s) of the nursery pot comprises a plurality of pores configured to facilitate air pruning of the roots, and thereby prevent the pot / circling effect in the grown secondary root system. The maturity pot is configured to be easily removed and facilitate washing of the growing media from the root system of the plant with minimal, or without, disturbance / distortion to the natural 3D spread of the root system achieved therewithin. In some embodiments the maturity pot is also configured to prevent the pot / circling effect of the root system evolving thereinside, for example, by providing a plurality of pores in its wall(s) for causing air pruning of the roots.

[0091] When a desired maturity phase of the grown plant is reached, the plant is transferred (e.g., by a robotic arm) with its maturity pot into one or more cleansing containers filled with (e.g., cooled) washing solution(s) (e.g., water or detergent solution). The maturity pot can be then removed / dismantled to facilitate separation and sink of the growing media from the root system of the plant by gravitation. Optionally, the root system of the plant is cooled (e.g., by a cooled irrigation liquid and / or air conditioning) and / or stiffened / immobilized by a stiffening agent before and / or during the washing of the growing media.

[0092] In some applications, the separation of the growing media from the root system is carried out without moving the plant inside the cleansing container(s). Thus, in some embodiments the cleansing container(s) and the washing solution(s) contained thereinside are maintained stationary, to prevent movements of the exposed roots. Optionally, the washing solution is slowly circulated e.g., after cooling and / or stiffening and / or immobilizing the root system, to facilitate separation and removal of the growing media from the root system. Additionally, or alternatively, the stem of the plant and / or its nursery pot are gently vibrated (e.g., by a robotic arm) to facilitate separation and removal of the growing media from the root system. The exposed root system can be then imaged from various different angles by one or more (e.g., moving) 2D and / or 3D imagers / cameras arranged inside and / or external to a (e.g., transparent) cleansing or dedicated inspection container. After inspection, the plant can be discarded or potted back in the same, or in a new (e.g., of a greater geometrical dimension), maturity pot, for a next phase of plant / roots growth and inspection. The imagery data acquired during the one or more inspection phases can be analysed by computer vision algorithms, machine (e.g., deep) learning algorithms and / or suitable artificial intelligence (Al) models, designed for root phenotyping.

[0093] For an overview of several example features, process stages, and principles of the invention, the examples of plants and / or roots cultivation illustrated schematically and diagrammatically in the figures are intended for plants' roots phenotyping. These cultivation techniques are shown as one example implementation that demonstrates a number of features, processes, and principles used for roots phenotyping, but they are also useful for other applications and can be made in different variations. Therefore, this description will proceed with reference to the shown examples, but with the understanding that the invention recited in the claims below can also be implemented in myriad other ways, once the principles are understood from the descriptions, explanations, and drawings herein. All such variations, as well as any other modifications apparent to one of ordinary skill in the art and useful in plants cultivation applications may be suitably employed, and are intended to fall within the scope of this disclosure.

[0094] Fig. l is a flow chart schematically illustrating a process 10 of cultivating, inspecting, and phenotyping, root systems, according to some embodiments. The process 10 can start in a nursery stage (si), in which a plant is grown from seed or seedling in a nursery pot containing a suitable nursery growing medium (12e in Fig. 3B), such as terra rosa, red loam, sand. During the nursery stage the nursery pot is irrigated, with or without nutrients, and can be exposed to defined / controlled environmental (e.g., lighting / radiation, temperature, humidity, etc.) conditions, until a primary / initial root system is established.

[0095] As exemplified in Fig. 3A, the nursery pot 12p can have a tapering (e.g., conical, or frustoconical, or polygonal pyramid, or truncated / frustum polygonal pyramid) configuration. Optionally, but in some embodiments preferably, the nursery pot 12p is configured to prevent pot / circling effect of the roots (22r in Fig. 3B) of the plant (22) grown therein. The pot / circling effect is a phenomenon where the roots of a plant grown in a pot or container grow (e.g., in circles) along inner wall surfaces of the pot / container. The pot / circling effect typically occurs when the roots of the plant 22 reach the wall(s) of the pot / container, which limits their natural growth to the confined space of the pot / container, thereby causing them to swirl around the perimeter of the pot / container.

[0096] The pot / circling effect can lead to poor roots phenotyping, since the unnatural growth patterns caused by the pot / circling effect can make it difficult to accurately study and phenotype roots, as the growth observed in a pot may not reflect how the roots would grow in a natural environment. In order to mitigate and substantially prevent the pot / circling effect, and ensure accurate root phenotyping, specially designed nursery pots are utilized in embodiments hereof, configured to encourage air pruning, where the roots are naturally pruned by exposure to air.

[0097] This is achieved in some embodiments by implementing the walls 2p of the nursery pot 12p using perforated walls or porous material, which allows the roots to protrude / pass through the walls 2p. The pores 2p (e.g., having a diameter of from a fraction of millimetre to several millimetres) can be configured to guarantee air pruning of the root system (22r) developing thereinside, and to also permit passage of secondary roots therethrough during the maturity stage to be followed.

[0098] The nursery stage (si) can be ended once the grown plant develops a suitable root system 22r, and / or when a desired growth (e.g., vegetative) phase of the plant 22 is reached, as demonstrated in Fig. 3B. After the nursery stage (si), the process 10 can proceed to a maturity stage (s2), in which the grown plant 22 is transferred to a maturity pot (13p in Fig. 3D) containing a suitable growing media and configured for development of fully evolved / spread, root system (22f in Fig. 3E) thereinside. Fig. 3C demonstrates gripping a nursery pot 12p containing a primary / initial root system 22r of a plant 22 by a (e.g., robotic) gripper unit 11m (or manually), and Fig. 3D demonstrates using the gripper 11m to concentrically pot the plant 22 in a maturity pot 13p. In some embodiments the nursery pot 12p comprises one or more gripping elements lie configured to facilitate gripping it by the gripper unit 11m, and optionally also pot it in the maturity pot 13p.

[0099] Optionally, but in some embodiments preferably, the maturity pot 13p is provided with a plurality of pores 3p having a diameter ranging from a fraction of millimetre to several millimetres, formed in its wall(s) 13w, and configured to cause air pruning of the grown secondary roots and prevent pot / circling effect of the roots thereinside. For example, in some embodiments the maturity pot 13p are made from meshed / net / spongy wall(s) 13w fastened by a fastening element / pin (13t in Fig. 3E), that upon removal therefrom can at least partially release attachment(s) between the wall(s) 13w and / or enable some expansion of the pot diameter, to thereby release the grip of the maturity pot 13p over the growing media 13e contained thereinside. The maturity pots 13p can be configured in different structures, with porous material or walls with variable pores 3p sizes and / or density. Any suitable growing media 13e can be placed inside the maturity pots 13p, such as (e.g., grainy, sandy) soil for example, and / or comprising other substrate(s), such as, but not limited to, gel, fibers, or suchlike. A suitable maturity pot 13p is thus selected in some embodiments to adapt it to the RSA (size and geometry) of the specific plant 22. As the roots of the plant 22 grow and develop, they protrude outwardly through the pores 2p of the nursery pot 12p and develop into the surrounding growing media 13e of the maturity pot 13p. The maturity pot 13p can be accordingly configured to: a) enable easy separation of the roots 22f from the surrounding growing media 13e, without damaging, or with minimum damage, to the RSA geometry z.e., maintaining size, shape, and / or density intact. b) facilitate conveying the (whole unit -“smart pot”) to the cleansing process (cleansing the roots 22f developed in the maturity pot 13p so that the growing media 13e is washed out of the RSA). c) facilitate integration (e.g., concentrically) of the nursery pot therein.

[0100] The nursery pot can be configured to:

[0101] (a) facilitate conveying the plant 22 and its cleansed root system 22f through the cleansing process to the inspection / imaging subsystem. b) Improve the resolution / observability of the acquired imagery data, since the roots 22f are separated and supported by the nursery pot 12p. c) standardises the image acquisition process, since for each type of plant 22 a specific suitable nursery pot with the grid can be selected, and thus the geometry and size of the images acquired for each type of plant 22 can be uniform. d) Enable re-planting the plant 22 after each inspection cycle in either the same, or a new / bigger, maturity pot 13p for subsequent imaging.

[0102] As seen in Fig. 3D, the plant 22 can be potted concentrically in the maturity pot 13p while its root system is maintained in its nursery pot 12p. However, removal of the nursery pot 12p can damage the root system and / or affect its normal development, and thus in preferred embodiments the nursery pot 12p is maintained at least until one or more inspection phases (s7) are conducted. During the maturity stage the amounts and / or frequencies of irrigation, with or without nutrients, are adapted according to the specific type of plant grown and / or its growing phase, and the plant can be similarly exposed to defined / controlled environmental (e.g., lighting / radiation, temperature, humidity, etc.) conditions, if so needed. The maturity stage (s2) can be ended when a suitable a root system is obtained in the maturity pot 13p, and / or when the root system of the grown plant matures, and / or when a desired maturity (e.g., vegetative) level of the plant is reached.

[0103] Embodiments hereof can be implemented for certain growing setups for root phenotyping, such as, for example: plants grown in pots (e.g., using “soilless” medium); or plants grown in the field. The plants can be grown in pots according to the embodiments disclosed herein i.e., develop primary / initial roots in the nursery pot 12p and thereafter secondary roots in the maturity pot 13p e.g., while maintaining the nursery pot for supporting the root system. The maturity pot 13p can be configured to allow easy (e.g., automatic) conveying the plant from the maturity zone (13z in Fig. 2) to the cleansing subsystem (19). In some embodiments the maturity pot 13p can be placed on a conveyer (19v) configured to transfer the maturity pot 13p from the maturity zone (13z) to the cleansing subsystem (19). The maturity pot 13p can be configured to enable easy removal of the growing media 13e from the RSA 22f, as disclosed herein.

[0104] In applications where the plants 22 are grown in the field, the maturity pot 13p is typically not used i.e., the plants 22 are transplanted in the field with the nursery pot 12p only for supporting the root system.

[0105] After the maturity stage (s2), the maturity pot 13p is immersed with the plant 22 grown therein in a cleansing solution (s4) containing a washing solution (13u in Fig. 3E), the maturity pot 13p is removed and the growing media is washed (s5), for carrying out one or more inspection steps (s7). As exemplified in Fig. 3E, the maturity pot 13p can be placed inside a cleansing container Cl by the gripper (11m). Though Fig. 3E shows placing the maturity pot 13p by gripping the nursery pot 12p, alternatively or additionally, this step can be carried out by gripping the maturity pot 13p by the gripper 11m, and / or by another gripper e.g., the maturity pot 13p can be similarly equipped with one or more gripping elements - not shown.

[0106] Optionally, the root system 22f is stiffened by using a stiffening agent (s3 e.g., chemical or by temperature / cooling) introduced into the maturity pot 13p to further stiffen and / or immobilize the roots. Optionally, the maturity pot 13p is placed in the cleansing container Cl when the maturity stage is commenced, to prevent transferring it thereinto by the gripper 11m, and the container is filled with the washing solution 13u only when the maturity stage is ended. In some embodiments the washing solution 13u is maintained inside the cleansing container Cl cooled e.g., at about 0-10 Celsius degrees, to maintain the roots stiffened and / or immobilized. In some embodiments the maturity pot 13p is suspended e.g., by gripper 11m) in the cleansing container Cl such that at least the root system 22f of the grown plant 22 is immersed in the washing solution 13u. In order to maintain the natural structure / shape of the root system 22f, the suspension inside the cleansing container Cl can start by gripping both the nursery pot 12p and the maturity pot 13p by respective, or by the same, gripper. In such embodiments, the maturity pot 13p is removed (s5) after a predetermined soaking time interval for guaranteeing that the growing media inside the maturity pot 13p is well soaked with the washing solution. After the predetermined soaking time interval has passed, a fastening element / pin 13t of the maturity pot 13p can be removed, and then the gripping over the maturity pot 13p e.g., by gripper 11m or another gripper, can be also removed, to facilitate removal of the maturity pot 13p.

[0107] In order to efficiently cleanse the growing media (13e in Fig. 3F) out of the root system 22f of the plant 22, the maturity pots 13p can be configured as dismantlable pots, that are conveyed to the cleansing container containing the cleansing solution 13u and dismantled thereinside. As exemplified in Fig. 3E, the maturity pot 13p is designed in some embodiments such that its wall(s) 13w and / or base 13b can be manually or automatically opened / released by an unfastener device 13v provided in the cleansing container Cl, thereby facilitating removal / dismantle of the maturity pot 13p responsive to control signals 17v thereby received. After the maturity pot 13p is removed, the suspension of the plant 22 inside the cleansing container is maintained e.g., held by the gripper 11m holding the nursery pot 12p, such that at least the root system 22f is immersed in the washing solution 13u.

[0108] This configuration allows to gently loosen the growing media 13e from the root system 22f, as the maturity pot 13p is immersed in the washing solution 13u and dismantled thereinside, and thereafter letting the growing media 13e to separate from the roots 22f and sink by gravitation, while keeping the roots 22f submerged in the washing solution 13u and maintain their natural shape and structure.

[0109] The maturity pots 13p can be designed for efficient and easy conveying them from a maturity zone (13z in Fig. 1) to the cleansing container Cl, to ensure that the process of moving the plants 22 to the washing solution 13u is a smooth and streamlined manner. Fig. 3F demonstrates removal of the fastening element / pin 13t by the unfastener device 13v (e.g., from fastening loops 13o), to thereby release the base 13b of the maturity pot 13p from its wall(s) 13w, and release the grip of the surrounding wall(s) 13w over the growing media 13e of the maturity pot 13p. Fig. 3G demonstrates exposure of the root system 22f as the growing media 13e sinks by gravitation onto the bottom of the cleansing container Cl. The main purpose of the cleansing phase (s5) is to separate the growing media 23e from the roots 22f, while preserving the original / natural structure and / or shape and / or density of the RSA 22f the plant 22. This aim requires minimum damage to the delicate roots during the cleansing process. The cleansing step (s5) includes immersing the maturity pot 13p e.g., while the plant is maintained in its nursery pot 12p to support the roots, in a washing solution 13u. The washing solution 13u is maintained in some embodiments within a defined cooling temperature e.g., 0-10 Celsius degrees (depending on the type of the plant 22) for stiffening the root tissues. Optionally, but in some embodiments preferably, the washing solution 13u comprises detergent additive(s) for improving the separation of the growing media from the roots 22f. The washing solution 13u may additionally, or alternatively, comprise one or more roots stiffening agents (e.g., Calcium chloride).

[0110] Optionally, after the growing media 13e is removed from the root system 22f further stiffening and / or immobilizing (s6) of the root system 22f can be carried out e.g, using gelling agent, a thickener chemical. The exposed root system 22f can be then imaged (s7) from various spatial angles, and / or elevation angles, and / or distances e.g, by one or more 2D and / or 3D imagers / cameras (15i in Figs. 2 and 3H-I). The image acquisition can be carried out while the roots 22f of the plant 22 are immersed in the washing solution 13u of the cleansing container cl, or by conveying it to an inspection container of the inspection subsystem (15 in Fig. 2) having a dedicated inspection container (15c) and suspension solution (15u).

[0111] The imaging subsystem (15) can be configured to capture multi-angle, high-resolution images of the exposed root system 22f. Automated image acquisition can be utilized to ensure a high-throughput process, while maintaining consistency e.g., through calibration procedures and adherence to imaging protocols. The inspection system (15) can be equipped to facilitate detailed root analyses by providing clear and comprehensive imagery data for each plant under examination.

[0112] The imaging subsystem (15) comprises in some embodiment the following components:

[0113] • opaque or transparent container Cl comprising an immersion solution (e.g., water) 15u suitable for acquisition of the imager data therethrough e.g., the walls of the container may include transparent windows for image acquisition by the imagers / cameras and / or for lighting lamps.

[0114] • the immersion solution 15u contained inside the container Cl may be water, or other immersion solution with different specific weight and / or controlled temperature. The immersion solution 13u may be configured to have: o controlled optimal temperature (depending on the type of pant 22 that is being inspected) - cold temperature of the solution may stiffen the root tissues; and / or o root tissue stiffening material, such as Calcium chloride.

[0115] • Anchoring mechanism (e.g., gripper 11m) configured to hold the nursery pot 12p (and / or the maturity pot 13p before it is removed) suspended in the immersion solution 15u. o Optionally, the anchoring mechanism is configured to rotate (e.g., using controllably operated motor, gear system, and bearing - not shown) the plant 22, when its exposed roots are immersed in the immersion solution 15u of the inspection / imaging subsystem (15).

[0116] • One or more 2D and / or 3D imagers / cameras (15i in Figs. 3H and 31) surrounding the root system 22f, and located inside and / or outside the inspection container (15c). o The imagers / cameras (15i) can be installed on a rotating ring mechanism (15r). o The imager / camera (15i) can be configured to acquire imagery data in visible light and / or multi-spectral images. o One or more of the imagers / cameras (15i) may be immersed in the immersion solution (15u) and / or attached outside the walls of the inspection container (15c).

[0117] • A lighting subsystem (15h) comprising: o Several light sources (15j) surrounding the inspection container (15c). o One or more of the light sources (15j) may be immersed in the immersion solution (15u) and / or attached outside the walls of the inspection container (15c).

[0118] There are several possible configurations of the inspection / imaging subsystem (15) configured to affect relative motion between the imaged root system 22f and the imagers / cameras: o rotating the root system 22f e.g., the nursery pot 12p and / or the cleansing container Cl, and maintaining the cameras / imagers 25i stationary; o rotating the cameras / imagers 25i while maintaining the root system 22f e.g. , the nursery pot 12p and / or cleansing container Cl stationary; o maintaining both the cameras / imagers 25i and the nursery pot 12p stationary. In some embodiments the imagery data is acquired at one or more angles from a side bottom view, and / or a side top view, and / or from side views. In all options, the imagery data is acquired while the RSA 22f, and possibly also the nursery pot 12p, if not removed, is immersed in the immersion solution 15u of the inspection container 15c.

[0119] The collected (s7) imagery data can be then analyzed (s8) e.g., by computer vision tools, to determine various characterizing features and phenotyping the imaged root system 22f. The acquired imagery data is processed in some embodiments before it is analysed e.g., to remove interferences and / or improve separation / contrast of the imaged root systems. Advanced computer vision and / or deep learning algorithms are used in some embodiments before and / or during the data analysis phase. The data analysis module (17a in Fig. 2) can be configured to enable automated trait extraction and data analysis. The analysis module (17a) can be thus scalable and customizable, allowing researchers to adapt to specific experimental needs. Maintaining a focus on data accuracy, the analysis module (17a) plays a crucial role in transforming raw imagery data into meaningful insights, contributing to a deeper understanding of root phenotypes.

[0120] In some embodiments image processing (e.g., chroma keying) software tools are used to remove (s9) the nursery pots 12p from the acquired imagery data. In some embodiments the software (e.g., stereoscopy) tools are used to construct 3D models / images (slO) of the inspected root system from a plurality 2D images thereof. The 3D models / images (slO) can be constructed directly from the acquired 2D images (s7), and / or after removal of the (s9) the nursery pots 12p therefrom. Optionally, but in some embodiments preferably, the acquired imagery data is tagged and / or labelled to construct (sll) one or more training data sets. The training dataset(s) can be constructed directly from some or all the acquired 2D images (s7), and / or after removal of the (s9) the nursery pots 12p therefrom, and / or after construction of 3D models / images therefrom (slO). The training data set(s) can be used for training ML algorithms and / or Al models for carrying out the analysis and phenotyping of imagery data of root systems acquired utilizing any technique disclosed herein and / or known in the art.

[0121] After completing the washing and imaging processes, the plant and its roots can be replanted, with or without the nursery pot e.g., in a bigger maturity pot. This way further stages of the plant's growth (e.g., reproductive stage) can be monitored and analyzed, possibly by repeating the washing and imaging processes one or more additional times.

[0122] Fig. 2 schematically illustrates a plants' roots cultivation and inspection / imaging system 20 according to some embodiments. The system 20 generally includes a plants nursery zone / sub system 12z, wherein the seed / seedlings are planted and grown in the nursery pots 12p, a plants maturity zone / sub system 13z can be also used to transplant the young plants 22 and grow them in the maturity pots 13p, a cleansing subsystem 19 can be used to wash and expose the root systems 22f of the grown plants 22, an inspection / imaging subsystem 15 can be used to image the exposed RSAs 22f, and a control subsystem 17 can be used to orchestrate the plants' RSA cultivation, exposure, imaging, and / or analysing process. The control subsystem 17 comprises one or more processors 17c and memory 17m configured with a plurality of modules for orchestrating operation / functionality of the system 20, and process, analyze and record the imagery data acquired by inspection / imaging subsystem 15.

[0123] One or more robotic arms 11 and / or conveyors 19v,13v can be controllably used in the system 20 to transfer the grown plants from one zone or subsystem to another. For example, the transfer module 17t of the control subsystem 17 can be configured to generate control data / signals (shown as dashed-dotted arrowed lines) for operating the conveyors 19v,13v and / or the robotic arm 11. The conveyor 19v can be accordingly configured to receive control data / signals from the control subsystem 17 for transferring the maturity pots 13p from the maturity subsystem 13z to the cleansing subsystem 19. The conveyor 13v can be similarly configured to receive control data / signals from the control subsystem 17 for transferring the nursery pots 12p from the nursery subsystem 12z to the maturity subsystem 13z for potting in the maturity pots 13p.

[0124] Additionally, or alternatively, the robotic arm 11 can be configured to receive control data / signals from the control subsystem 17 for: transferring the nursery pots 12p from the nursery subsystem 12z, and / or from the conveyor 13v, to the maturity subsystem 13z for potting in the maturity pots 13p; and / or for transferring the maturity pots 13p from the maturity subsystem 13z, and / or from the conveyor 19v to the cleansing subsystem 19; and / or for transferring plants 22 from the cleansing subsystem 19 to the inspection subsystem 15.

[0125] The cultivation module 17n of the control subsystem 17 can be configured to generate control data / signals to operate irrigation, nutrients provision, lighting, air-conditioning, and other plants cultivation units (not shown) of the nursery subsystem 12z, and / or of the maturity subsystem 13z. The potting module 17p of the control subsystem 17 can be configured to generate control data / signals to operate the one or more robotic arms 11 for transplanting the nursery pots 12p transferred from the nursery subsystem 12z in the maturity pots 13p of the maturity subsystem 13z.

[0126] The washing module 17d of the control subsystem 17 can be configured to generate control data / signals to remove / dismantle (e.g., 17v) the maturity pots 13p when placed in the cleansing container Cl, and / or transfer (by conveyors 13v,19v and / or the one or more robotic arms 11) the plants 22 between one or more cleansing containers Cl,..,Cn, for washing the growing media (13e) from the plants' root systems, and / or monitoring temperature of the washing solution 13u in the one or more cleansing containers Cl,.., CM, based on sensor data from (e.g., temperature) sensors 19s, and / or stream washing solution and / or stiffener to the one or more cleansing containers Cl,.., CM from respective wash solution tank 14w and stiffener tank 14s, and / or activate a cooler unit 19c for cooling temperature of the washing solution 13u in the one or more cleansing containers C1,..,CM, and / or in the wash solution tank 14w, and / or for cooling a stiff ener / soluti on in the stiffener tank 14s, and / or for cooling the RSA (22f) and / or the entire plants 22 in the maturity pots 13p before transferring them to the cleansing subsystem 19

[0127] In some embodiments at least some of the cleansing containers C1,..,CM are connected by one or more open fluid channels 14c configured to allow moving (e.g., by gripper unit 11m) the plants 22 with their nursery pots 12p from one container to another without pulling their root systems out of the washing solution of the cleansing containers C1,..,CM. One or more open fluid channels 14c can be similarly used (not shown) to connect between at least one of the cleansing containers C1,..,CM and the imaging container 15c, in order to allow moving the plants with their nursery pots 12p to the imaging container 15c without pulling their root systems out of the washing solution of the cleansing containers Cl,.., CM.

[0128] As better seen in Fig- 7, in embodiments utilizing a fluid channel 14c to connect between one or more of the cleansing / inspection containers Cl,.., CM, 15c a gripper conveyor system 71 can be used to transfer the plants 22 between the one or more containers. The gripper conveyor 71 can utilize a plurality of movable gripping units 71g configured to controllably grip the nursery pots 12p, or a stem portion of the plants 22, and convey the plants 22 along the fluid channel 14c while their root systems maintained immersed in the washing solution. The plants 22 can be transferred from the maturity zone / sub system 13z to the gripper conveyor 71 manually, or by controllable transfer unit e.g., gripper conveyor 71. This way, the roots washing and inspection processes can be carried within one continuous trave / transfer process, with determined stops in one or more of the containers C1,..,CM,15C, without pulling the root systems of the plants 22 out of the washing solution.

[0129] The inspection / imaging module 17i of the control subsystem 17 can be configured to generate control data / signals to operate the one or more imagers / cameras 15i for acquiring the imagery data of the exposed root systems 22f, and / or operating a scan unit 15a of the imaging subsystem 15 for moving the one or more imagers / cameras 15i to new angles and / or elevation, and / or distance for image acquisitions, and / or monitor the temperature of the immersion solution 15u based on sensor data from (e.g., temperature) sensor device 15s. The inspection module 17i can be further configured to process the acquired imagery data (apply image processing filters / tools), and / or store it in one or more repositories 18, which may be at least partially part of the control subsystem 17, located at a separate or remote location, or distributed therebetween.

[0130] The analysis module 17a can be configured to analyze and phenotype (e.g., utilizing DL algorithms and Al models) the acquired imagery data received from the inspection subsystem 15, and / or stored in the one or more repositories 18 and / or memory 17m, and generate reports indicative thereof, if so needed. The one or more repositories 18 can serve as a central hub for storing, organizing, and / or managing vast amount of data acquired and generated during root phenotyping, and / or preparation of training dataset(s), and / or during the DL / AI algorithms / models training. The one or more repositories 18 can be configured to facilitate efficient data search and retrieval, and promoting effective data management practices.

[0131] In some applications the control subsystem 17 comprises a roots traits extraction module 17e which may be used to determined and / or predict plant characteristics, such as, but not limited to, biotic and aboitic stresses resilience and plant performance, based on the imagery data from the imaging module 17i and / or on analysis data from the analysis module 17a. In some embodiments, the one or more repositories 18 can be further configured to incorporate predictive analytic tools 18e, configured for enabling researchers to make informed decisions based on comprehensive datasets. The predictive tools 18e can be configured to use predictions models known in the art for assessing plants growth e.g., based on calculated RS A length and / or area, and / or RSA topology, and / or using ML regression / deep learning models.

[0132] The tagging / labelling module 17g can be configured to automatically and / or manually tag and / or label the imagery data from the inspection subsystem 15 and / or the one or more repositories 18, and generate training dataset(s) 18t, that can be stored in the memory 17m of the control subsystem 17 and / or the one or more repositories 18.

[0133] The training module 17r can be configured to train deep learning algorithms and / or Al models 18m with the training dataset(s) 18t produced by the tagging module 17g. The training module 17r can be further configured to store the DL and / or Al models (e.g., weights and / or parameters) obtained after the training carried out by the training module 17r in the memory 17m of the control subsystem 17 and / or the one or more repositories 18.

[0134] Fig. 4 schematically illustrates a data record Rz of the training data set 18t comprising according to some embodiments: • Identifier (ID): a unique identifier (e.g., extracted from a QR-code attached to, or marked on, the nursery) associated with the inspected plant (22) linking all of the acquired images and / or generated data to the specific plant (22).

[0135] • Metadata (MT): specific information of the inspected plant (22) itself e.g., plant's species, and / or genus, and / or name, and / or age, and / or cultivator / variety, and / or genotype, environmental data such as soil type, irrigation regimes, temperature regimes, stress type and levels of biotic and abiotic stress.

[0136] • Nursey data (ND): information concerning the nursery stage of the plant, such as, parameters of the nursery pot e.g., volume and / or number and / or density and / or geometry of pores, geometrical shape / dimensions of the nursery pot, constituent materials of the nursery pot, growth environment / parameters e.g., type of growing media used, air and / or growing media / soil temperature and / or humidity and / or light intensity / spectrum, and / or watering frequency and / or amounts and / or source, and / or nursery stage treatments that had been applied, and / or physical nursery stage plants' measurements e.g., height and / or stem parameters and / or leaf area and / or number of leaf, and suchlike.

[0137] • Maturity data (MD): information concerning the maturity stage of the plant, such as, parameters of the maturity pot e.g., volume and / or number and / or density and / or geometry of pores, geometrical shape / dimensions of the maturity pot, constituent materials of the maturity pot, growth environment / parameters e.g., type of growing media used, air and / or growing media / soil temperature and / or humidity and / or light intensity / spectrum, and / or watering frequency and / or amounts and / or source, and / or maturity stage treatments that had been applied, and / or physical maturity stage plants' measurements e.g., height and / or stem parameters and / or leaf area and / or number of leaf, and suchlike.

[0138] • Imagery data (IG): the 2D / 3D images of the plant (22) acquired by the imaging subsystem (15) and / or constructed therefrom.

[0139] • Image ID (II): a unique identifier for each image of the imagery data.

[0140] • Image metadata (IM): metadata for each image of the plant (22) e.g., reproducibility - image capture conditions, angle and / or distance and / or elevation of image acquisition, any filter(s) / image processing applied to the acquired image, environmental conditions, image resolution and / or background and / or format and / or color space.

[0141] • Capture timestamp / location data (CD): date and time, and / or image capture location, for each image of the imagery data. • Expert annotations (EA): identified diseases / infections / infestations (if any), root-rot, root lesions, root discoloration, reduced root growth, lack of root hair ,for example, root-knot nematodes, root nodules, root color change.

[0142] • Extracted root traits (ET): number / count and / or lengths and / or widths and / or initiation angles, and / or root system's centroid and / or volume and / or growth rate and / or bushiness, and / or crown's root number and / or average length, and / or lateral root number, and / or average lateral root length, and / or identification of pathogen symptoms, such as knots or gals or nodules, color change and variability.

[0143] • Derived data (DD): stores the outputs of the machine learning models e.g., predicted growth stage and / or estimated yield or health status.

[0144] Figs. 5A to 5G schematically illustrate a root phenotyping system 100 according to some embodiments. Fig. 5A demonstrates operation of components of the system 100 arranged in a support frame 40. The system 100 comprises a pot maintaining zone 41 for receiving the maturity pots 13p after removal from the plants, a plurality of cleansing container Cl,..., CM filled with a washing solution (e.g., water with or without detergents) 13u, at least one imaging container 15c filled with a suspension solution (e.g., water) 15u, one or more mechanical / robotic arms Al,..., An, for transferring the RS A to and / or from the different containers, and a plant / root system transfer zone for placing the root system in one or more carts 16 for removal back to a growing area / field or disposal. The mechanical / robotic arms Al,..., AM, can be configured for sliding motion over one or more rails (42,43 in Fig. 5G)

[0145] Fig. 5A shows the cleansing container Cl with a root system 22r with its nursery pot 12p and growing media 13e contained in a maturity pot 13p held by the mechanical / robotic arm Al submerged in the cleaning solution 13u, the cleansing container CM with another root system 22r with its nursery pot 12p held by the mechanical / robotic arm A2 submerged in the cleaning solution 13u after removal of its maturity pot (13p) and growing media (13e) therefrom, the imaging container 15c with yet another root system 22r with its nursery pot 12p held by the mechanical / robotic arm AM submerged in the suspension solution 15u and imaged thereinside by one or more imagers / cameras 15i through respective one or more transparent windows 15w.

[0146] Fig. 5B shows the system 100 with a reception zone 44 configured to receive the maturity pots 13p with their root system 22r and nursery pots 12p and growing media 13e (e.g. , from the maturity zone 13z) e.g, over the conveyor 19v. In Fig. 5C the mechanical / robotic arm Al is moved into the reception zone 44 for grabbing and moving one of the maturity pots 13p with its root system 22r, growing media 13e and nursery pot 12p from the reception zone 44 (e.g., the conveyor 19v) to the cleansing zone of the system 100. In Fig. 5D the mechanical / robotic arm Al submerges the maturity pots 13p with its root system 22r and nursery pot 12p in the cleansing solution 13u of the cleansing container Cl for removal / dismantle of the maturity pots 13p and removal of the growing media 13e from the root system 22r thereinside.

[0147] Fig. 5E shows moving the root system 22r with its nursery pot 12p by the mechanical / robotic arm A2 to another cleansing container Cn for further washing the root system 22r by same or different washing solution 13u contained in it, if so needed, or to the imaging container 15c. For example, after removal of the maturity pot 13p and grow media 13e inside the cleansing contained CM, the mechanical / robotic arm A2 is mover into container Cn to grab the nursey pot 12p and move it with its root system 22r to another container. As seen, in this stage the mechanical / robotic arm Al can be used to grab the removed / dismantled maturity pot 13p for moving it outside of the cleansing container Cl e.g., to the pot maintaining zone 41. It is noted that all the process can be done unis one robotic arm for moving the nursery pot(s) through all the stages.

[0148] After further washing in any one of the cleansing containers C2,. . ,,Cn, if so needed, in Fig. 5F the mechanical / robotic arm A2 moves the root system out of the cleansing zone to the imaging container 15c, wherein it is held submerged in the suspension solution 15u by the mechanical / robotic arm A2 for imaging by the imagers / cameras 15i. After the imaging stage is completed the imaged roots system 22r can be moved by the mechanical / robotic arm A2 to the cart 16.

[0149] As exemplified in Fig. 7, in some embodiments one or more open fluid channels (14c) are used to connect between one or more of the containers C1,..,CM, 15c, for allowing moving the plants with their nursery pots 12p from one container to another without pulling their root systems out of the washing / suspension solution. A gripper conveyor (71) can be similarly used to transfer the plants 22 between the one or more containers Cl,.., CM, 15C, instead of, or in addition to, the one or more mechanical / robotic arms Al, . . . ,AM.

[0150] Fig. 5G shows a grow media removal system 47 used in some embodiment to remove the growing media from the cleansing containers Cl, ... ,CM of the system, 100. The grow media removal system 47 comprises one or more pumps 48 configured to pump the growing media 13e from the cleansing containers Cl, . . . ,CM into one or more grow media tanks 49.

[0151] Fig. 6A to 6C schematically illustrate a technique according to some embodiments for inspecting and analysing root system of plants grown in a field. Fig. 6A is a flow chart of a process 58 for inspection of plants' root systems (22r) in the field. In this process the plants are similarly grown from seed or seedlings in nursery pots (12p) configured for roots air pruning, until a suitable initial root system is developed therein (ql). The young plants can be then transplanted in the field (q2) with their nursery pots, until a desirable growth stage thereof is reached. The grown plants can be then extracted with their root systems and soil from the field (q4, e.g., using a transplanter tool 56) and moved to a portable inspection system (50), or to a stationary inspection system (100). In some embodiments, the root systems of the plants are stiffened and / or cooled (q3) before they are extracted from the field.

[0152] Next, the root system of the plants is washed to remove the soil, and thereafter imaged (q5) in the portable (or stationary) root inspection system (50 / 100) using any of the techniques disclosed herein e.g., using steps s4 and s5-s7 of Fig. 1. Any one of steps s9 to sl2 of Fig. 1 can be similarly carried out, but without carrying out the steps / actions associated with the maturity pots. After the root system of the plant is inspected / imaged, the plant can be transplanted back in the field (q6), or discarded.

[0153] Fig. 6B demonstrates a portable root inspection system 50 for inspections of plants' root systems in the field. The system 50 generally comprises a movable support (e.g., wagon) 52 coupled to a field vehicle 51 for dragging the movable support 52 in the field. The movable support 52 comprises a base platform 52w configured to support a plurality of cleansing and imaging containers 55, an auxiliary platform 52u configured to support a plurality of liquid / solution containers 54, a transplanter tool 56 (c.g, spade) configured to controllably extract the plants from the soil and move them from the field into one of the contains 55 of the portable root inspection system 50, and a control system 17' configured to operate the system.

[0154] Fig. 6B exemplifies field phenotyping embodiments utilizing a ground vehicle (e.g., tractor) 51 and wagon 52, but other movable platforms can be similarly used. For example, the field vehicle 51 and / or movable support 52 can be implemented by various different field traversing means, such as, a field scanning platform, lateral move systema (such as bridge used for field phenotyping), horizonal boom (such as used agricultural sprayer), configured to traverse the field on wheels or over rails.

[0155] With reference to Figs. 6A and 6C, the transplanter tool 56 can be mounted on a slidable and extendible (e.g, telescopic) arm 53 configured to controllably advance the transplanter tool 56 towards the plant for extraction from the field, lift the transplanter tool 56 with the extracted plant upwardly, slide the transplanter tool 56 along a longitudinal rail 53s towards the container and place the root system inside one of the containers from cleansing and / or imaging. Alternatively, the slidable and extendible arm 53 can be configured to move the plants extracted from the field to a stationary inspection system 100 as shown in Figs. 5A to 5G. Fig. 8 shows nursery pot 12c provided in some embodiments with a support grid 12g configured for supporting further root portions of the root system of the plant. The support grid 12g can be fixedly or releasably attached to the nursery pot 12c, or an integral part of the nursery pot 12c. The support grid 12g can be designed as a skeleton-like structure varied in a size of the spaces between the ribs 12r, according to the type of the plant and its RSA. A grip element 12q can be provided / fixedly attached to an upper end portion of the support grid 12g to facilitate gripping e.g., by a robotic arm.

[0156] The support grid 12g can be attached to the nursery pot 12c before transplanting the plant with its nursery pot 12c in the maturity pot (13p). Alternatively, the support grid 12g is an integral part of the nursery pot 12c z.e., the plant is grown in the nursery pot 12c already having the support grid 12g starting from the beginning of the process. When the grown plant is moved to the washing and / or inspection phases, the growing media of the maturity pot (13p) is removed, and the imagery data is acquired, while the nursery pot 12c and its support grid 12g support the root system of the plant.

[0157] Relative terms such as "lower," "upper," "horizontal," "vertical," "above," "below," "up," "down," "top" and "bottom", as well as derivatives thereof (e.g., "horizontally," "downwardly," "upwardly," etc.), and similar adjectives in relation to orientation of the described elements / components refer to the manner in which the illustrations are positioned on the paper / screen, not as any limitation to the orientations in which these elements / components can be used in actual applications.

[0158] The application also provides a computer program and a computer program product for managing plants cultivation and / or the phenotyping of their root systems, and / or a computer readable medium (e.g., magnetic media, such as diskette, tape or fixed disk, or optical media, such as a CD-ROM, DVD, flash memory, solid state drives (SSD having said computer program stored thereon. Additionally, or alternatively, the software can be supplied via the Internet or any type of private / public data network. Each feature disclosed in the description, claims and drawings, may be provided independently or in any appropriate combination. Apparatus features may be applied to the method features and vice versa. Features of one aspect of the application may be applied to other aspects of the application.

[0159] It should also be understood that throughout this disclosure, where a process or method is shown or described, the steps / acts of the method may be performed in any order and / or simultaneously, and / or with other steps / acts not-illustrated / described herein, unless it is clear from the context that one step depends on another being performed first. In some embodiments not all of the illustrated / described steps / acts are required to carry out the method. As described hereinabove and shown in the associated figures, the present disclosure provides a system for cultivating and / or phenotyping root system and related methods. While particular embodiments of the invention have been described, it will be understood, however, that the disclosure is not limited thereto, since modifications may be made by those skilled in the art, particularly in light of the foregoing teachings. As will be appreciated by the skilled person, the embodiments disclosed herein can be carried out in a great variety of ways, employing more than one technique from those described herein, all without exceeding the scope of the claims.

Claims

CLAIMS:

1. A roots phenotyping system comprising: a cleansing subsystem configured for the following: suspend a plant in a cleansing container such that at least a root system thereof is submerged in a washing solution, said root system located at least partially within a growing media while a crown of said root system located at least partially within a nursery pot of said plant; separate and remove said growing media from said root system supported by said nursery pot; an imaging subsystem configured to acquire imagery data of said root system supported by said nursery pot from one or more angles, elevations and / or distances; and a processing subsystem configured to process and analyse said imagery data and determine one or more properties of said root system.

2. The system of claim 1 comprising a nursery subsystem configured for growing the plant from seed and / or seedling in the nursery pot at least until an initial root system is established.

3. The system of claim 2 comprising a maturity subsystem configured for planting the plant with its nursery pot in growing media of a maturity pot, and / or growing said plant at least until a suitable root system is established, and wherein the cleansing subsystem is further configured to remove said maturity while the submerged in the washing solution.

4. The system of any one of the preceding claims comprising at least one conveyor and / or robotic arm configured to transfer the plant from at least one subsystem to another.

5. The system of any one of claims 3 to 4 configured to introduce in the growing media a stiffening and / or immobilizing agent before transferring it to the cleansing subsystem.

6. The system of any one of claims 3 to 5 wherein the nursery pot is configured to cause roots' air pruning.

7. The system of any one of the preceding claims wherein the maturity pot is at least partially dismantlable, and wherein the cleansing system is configured to at least partially dismantle the maturity pot when immersed in the washing solution.

8. The system of any one of the preceding claims wherein the cleansing subsystem comprises a plurality of cleansing containers containing same or different washing solution(s), and wherein said cleansing subsystem configured to transfer the plant with its nursery pot from one cleansing container to at least another one of said plurality of cleansing containers for removal of the growing media from the root system.

9. The system of any one of the preceding claims configured to cool the washing solution(s).

10. The system of any one of the preceding claims configured to introduce a stiffening and / or immobilizing agent into the washing solution(s).

11. The system of any one of the preceding claims wherein the imaging subsystem comprises an imaging container containing a suspension solution, said system configured to suspend the plant over said inspection container such that at least the root system is submerged in said suspension solution.

12. The system of claim 11 comprising one or more open fluid channels connecting between one or more of the cleansing containers and / or the imaging container for conveying the plants from one of said containers to at least another one of said containers without pulling the root system out therefrom.

13. The system of claim 12 comprising a gripping conveyor configured to convey the plants from one of the containers to at least another one of said vias the one or more open fluid channels containers without pulling the root system out.

14. The system of claim 13 configured to cool the suspension solution and / or to introduce a stiffening and / or immobilizing agent into the suspension solution.

15. The system of any one of the preceding claims wherein the imaging subsystem comprises one or more two-dimensional and / or three-dimensional imagers / cameras.

16. The system of claim 15 wherein at least one of the one or more imagers / cameras are configured to movably acquire the imagery data of the root system from the one or more angles, elevations and / or distances, while said root system is maintained stationary.

17. The system of claim 15 wherein at least one of the one or more imagers / cameras is maintained stationary while the root system rotated.

18. The system of claim 15 wherein both the one or more imagers / cameras and the root system are maintained stationary.

19. The system of claim 15 wherein at least one of the one or more imagers / cameras is immersed in a suspension solution.

20. The system of any one of the preceding claims configured for tagging and / or labelling at least some portion of the imagery data and prepare one or more training datasets therefrom.

21. The system of any one of the preceding claims wherein the processing subsystem is configured to train a deep learning (DL) algorithm and / or artificial intelligence (Al) model to analyze imagery data of root systems.

22. The system of claim 21 wherein the DL algorithm and / or the Al model are configured to provide a recommendation for improving plants' cultivation during nursery and / or maturity stages of the plants.

23. The system of any one of the preceding claims wherein the processing subsystem is configured to predict future plant growth based on the acquired imagery data and / or on analysis data thereby generated.

24. The system of any one of the preceding claims wherein the processing subsystem is configured to identify plants' growth anomalies based on the acquired imagery data and / or on analysis data thereby generated.

25. The system of any one of the preceding claims comprising a data repository for storing at least one of the imagery data, training dataset(s), DL and / or Al models.

26. The system of any one of the preceding claims at least partially mounted on a movable platform having a transplanter tool configured to extract a plant with its nursery pot from a field and move it into one or more of the cleansing and imaging containers thereby carried.

27. A method for inspection of a root system, the method comprising: growing a young plant from seed or seedling to obtain an initial root system inside a nursey pot configured to at least partially accommodate said initial root system; planting said young plant with its nursery pot in a growing media to develop a grown root system thereinside; placing said grown root system with its nursery pot inside a washing liquid / solution such that at least the grown root system is submerged in said washing liquid; removing said growing media while said grown root system is immersed in said washing liquid / solution and supported by its nursey pot; and inspecting and / or analysing the grown root system while supported by said nursey pot.

28. The method of claim 27 comprising either planting said young plant with its nursery pot in a maturity pot filled with the growing media to develop the grown root system thereinside, or growing the young plant from seed or seedling inside a nursey pot while said nursey pot is already placed within growing substrate of the maturity pot, and wherein the method further comprises removing said maturity pot after the grown root system is established , while the grown root system is supported by said nursery pot inside the washing liquid / solution.

29. The method of claim 27 or 28 comprising imaging the root system from one or more angles, elevations and / or distances, generating respective imagery data thereof, and recording and / or analysing said imagery data to determine one or more properties of said root system.

30. The method of any one of claims 27 to 29 comprising moving the plant to a maturity pot and / or placing the maturity pot in the washing liquid / solution by one or more robotic arms.

31. The method of any one of claims 27 to 30 comprising stiffening the root system before placing it in the washing liquid / solution, and / or during the inspecting thereof.

32. The method of any one of claims 27 to 31 comprising causing air pruning of the root system by the nursey pot and / or the maturity pot.

33. The method of claim 28 wherein the removing of the maturity pot comprises at least partially dismantling said maturity pot inside the washing liquid / solution.

34. The method of any one of claims 27 to 33 wherein the removing of the growing media comprises moving the root system into one or more cleansing containers containing same or different washing liquid / solution.

35. The method of any one of claims 27 to 34 wherein the inspecting comprises placing the root system in an imaging container containing a suspension solution.

36. The method of claim 35 comprising introducing a stiffening and / or immobilizing agent into the suspension solution.

37. The method of any one of claims 27 to 36 wherein the inspecting comprises acquiring two-dimensional (2D) images and / or three-dimensional (3D) images of the root system from one or more angles, elevations and / or distances, and / or constructing a three-dimensional model from 2D and / or 3D images of the root system.

38. The method of claim 37 comprising removing the nursery pot from the acquired images by image processing tools.

39. The method of claim 37 or 38 wherein the inspecting comprises either moving at least one imager / camera relative to the root system, moving the root system relative to at least one imager / camera, or keeping the imagers / cameras and the root system stationary during image acquisition.

40. The method of claim 39 wherein the inspecting comprises moving at least one imager / camera inside the suspension solution.

41. The method of any one of claims 27 to 40 comprising tagging and / or labelling at least some portion of the imagery data and preparing one or more training datasets therefrom.

42. The method of any one of claims 27 to 41 comprising training a deep learning (DL) algorithm and / or an artificial intelligence (Al) model to analyze imagery data of root system.

43. The method of claim 42 comprising generating a recommendation by the DL algorithm and / or the Al model for improving plants' cultivation during nursery and / or maturity stages.

44. The method of any one of claims 27 to 43 comprising identifying plants' growth anomalies based on the acquired imagery data and / or on analysis data generated therefrom.

45. The method of any one of claims 27 to 44 comprising predicting future plant growth based on acquired imagery data and / or on analysis data generated therefrom.

46. A method of preparing a training data set for analysis of root systems, the method comprising: acquiring a plurality of 2D and / or 3D images of a root system, wherein at least some portion of a root crown of said root system is located within a nursery pot having a plurality of pores / opening through which roots of said root system extend outwardly; generating label and / or tagging data for at least some of the acquired images, said label and / or tagging data comprises expert annotation(s) indicative of at least one feature and / or anomaly observed in the imaged root system, and at least one of the following: nursey data indicative of features of a nursery stage of the root system during cultivation thereof in the maturity pot; and / or maturity data indicative of features of a maturity stage of the root system during cultivation thereof potted in a maturity pot filled with a growing media with said nursery pot; and formatting the label and / or tagging data into a training data set suitable for training a ML algorithm and / or Al model.

47. The method of claim 46 wherein the label and / or tagging data comprises at least one of the following: parameters of the nursery pot; growth environment / parameters; information indicative of watering frequency and / or amounts and / or source during the nursery and / or a maturity stage; information indicative of treatments applied during the nursery and / or the maturity stage; information indicative of physical plants' measurements taken during the nursery and / or the maturity stage.

48. A training data set for training a machine learning (ML) and / or artificial intelligence (Al) model configured to analyze imagery data of a root system, said training data set comprising: a plurality of 2D and / or 3D images of said root system taken from one or more angles, elevations and / or distances, while at least a portion of a root crown of said root system is located in a nursery pot having a plurality of pores / openings through with roots of said root system extend outwardly; expert annotation(s) indicative of at least one feature and / or anomaly observed in the imaged root system; and at least one of the following: nursey data indicative of features of a nursery stage of the root system during cultivation thereof in the maturity pot; and / or maturity data indicative of features of a maturity stage of the root system during cultivation thereof potted in a maturity pot filled with a growing media with said nursery pot.

49. A roots phenotyping system comprising: an imaging subsystem configured to acquire imagery data of a root system from one or more angles, elevations and / or distances, said imagery data acquired while at least a portion of a root crown of said root system is located in a nursery pot having a plurality of pores / openings through which roots of said root system extend outwardly; and a processing subsystem for examining said imagery data by machine learning (ML) and / or artificial intelligence (Al) tools, and determining one or more traits and / or anomalies of the imaged root system, said ML and / or Al tools is trained using a plurality of labels / tags associated with imagery data acquired for other root systems and indicative of at least one of the following: nursey data indicative of features of a nursery stage of said other root systems during cultivation thereof in nursey pots; and / or maturity data indicative of features of a maturity stage of said other root systems during cultivation thereof in maturity pots filled with a growing media with their nursery pots.

Images