Robotic Leaf Imaging Chamber for Consistent Field Phenotyping
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Solution Overview
Problem
Current plant phenotyping systems suffer from inconsistent leaf handling, low throughput, and labor-intensive operations, leading to reduced imaging quality and increased human error, especially in hyperspectral imaging under varying lighting conditions and long imaging distances.
Innovation Solution
An autonomous robotic system with a manipulator and imaging system that positions a leaf parallel to the imaging chamber, using a machine vision algorithm to detect and grasp target leaflets, and a control and path planning algorithm to ensure consistent imaging, coupled with a hyperspectral or multispectral camera for high-precision agriculture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual leaf manipulation is used to improve image quality, then imaging quality can be adjusted, but human error and inconsistency increase
Solution Approach 1:
The patent replaces manual mechanical manipulation of leaves with an automated robotic system. The robotic arm with gripper mechanically positions leaves into the imaging chamber, eliminating human error and inconsistency while maintaining controlled positioning for high-quality imaging.
Solution Approach 2:
The system enables self-service through automated leaf handling where the robotic system independently manipulates leaves without human intervention. The automated positioning and imaging processes work together to consistently position leaves at optimal angles for imaging.
2Measurement precision
If handheld hyperspectral imagers are used to improve imaging quality, then image resolution improves, but throughput decreases and labor cost increases
Solution Approach 1:
The patent implements continuous automated operation where the robotic system continuously handles leaves and the imaging system continuously captures images. The automated workflow eliminates interruptions and maintains steady-state operation, significantly improving throughput compared to manual handheld imaging.
Solution Approach 2:
The system replaces manual handheld imaging operations with an automated robotic-imaging integrated system. The robotic arm automates leaf positioning while the imaging system automatically captures data, eliminating the need for manual operation and enabling high-throughput continuous processing.
3Productivity
If automatic leaf-handling mechanisms are used to improve throughput, then processing speed increases, but leaf acceptance consistency decreases
Solution Approach 1:
The patent incorporates feedback mechanisms where the imaging system captures leaf images and the system evaluates whether the leaf is properly positioned and imaged. Based on this feedback, the robotic system adjusts its positioning actions to ensure consistent acceptance and imaging quality across all leaves.
Solution Approach 2:
The system employs dynamic adjustment capabilities where the robotic arm can adapt its positioning in real-time based on leaf characteristics. The gripper force, positioning speed, and articulation angles are dynamically adjusted to accommodate varying leaf types while maintaining consistent imaging quality.
4Measurement precision
If human intervention is used to manipulate leaves, then image quality can be optimized, but labor cost and time consumption increase
Solution Approach 1:
The patent replaces manual mechanical leaf manipulation with an automated robotic system. The robotic arm performs all leaf handling operations including grasping, positioning, and placing leaves into the imaging chamber, completely eliminating human intervention and associated time losses.
Solution Approach 2:
The system maintains continuous operation without human intervention interruptions. The robotic system continuously processes leaves through the imaging chamber, and the automated workflow ensures no time is lost to human setup, adjustment, or operation.
Data Source
AI summary
An autonomous system for providing consistent images of leaves of plants is disclosed which includes a mobility system configured to move from an originating position to a position above a plant in a field, a robotic system coupled to the mobility system, the robotic system includes a manipulator providing a plurality of degrees of freedom, and an imaging system having an imaging chamber and one or more cameras, the imaging system coupled to the manipulator, the manipulator and the imaging system cooperate to position the imaging system about a leaf of a plant such that the manipulator articulates the imaging chamber substantially parallel and in line with the leaf and further moves the imaging system so that the leaf enters the imaging chamber thereby allowing the imaging system to obtain images of the leaf.