ES1303722U - Automated system for mass phenotyping of plants. (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Automated system for mass phenotyping of plants, characterized in that it is made up of an autonomous mobile robot (100) that includes a collaborative robotic arm (101), as well as a low box (102) where an industrial PC is located. , the controller of both the collaborative robotic arm (101), as well as its programmable logic controller (PLC), the electrical/electronic system and its respective batteries, a box on which an upper box (103) or photographic station is established in which It has a tank (104) for taking images, a lighting system and an image acquisition system (105); having foreseen that the autonomous mobile robot (100) is self-moving throughout a room where growth supports are placed in buckets and these in cultivation cabinets, including the collaborative robotic arm (101) as a means of extracting the growth supports. growth of said cabinets (or other support), and deposition of the growth supports themselves in a deposit (104) for taking images, having software for analysis and processing of said images, together with the management software of testing and data storage. (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

Automated system for mass plant phenotyping

TECHNIQUE SECTOR

The present invention refers to an automated system for mass phenotyping of plants by taking and analyzing images. These plants are grown on growth supports that allow the visualization of the root and aerial part, as well as the application of different treatments.

BACKGROUND OF THE INVENTION

Phenotyping consists of the description of the physiological characteristics of an organism, in this case, a plant. Typically, this task has been carried out by manually annotating these characteristics based on specific, standardized descriptors published by organizations such as the IPGRI (International Plant Genetic Resources Institute) or the UPOV (International Union for the Protection of New Plant Varieties). .

Plant phenotyping is a fundamental task in the development of plant varieties in many crops. These tasks are essential for defining the observable characteristics of plants in different growing conditions. However, phenotyping tasks are carried out manually through the observation work of qualified personnel, this implies a high cost in human resources, as well as an error factor associated with the subjectivity of the observer. The reproducibility of the data is compromised depending on who takes it and, furthermore, the volume of data collected is not large enough to be able to develop predictive models or other types of more complex statistical treatments. Unlike the rest of omics technologies (genomics, transcriptomics, metabolomics...) phenomics is just beginning to develop, and that is why the system of the invention has been developed.

On the other hand, it is not only important to phenotype a plant, but it is also essential to know how this plant behaves under specific growing conditions. For example, knowing how it adapts to a climate change condition such as drought or salinity, or knowing if it can withstand the presence of a pathogenic fungus or bacteria in the soil. Study how it responds to a certain agricultural input (fertilizer or herbicide) or evaluate what germination conditions favor the development of a specific crop (priming and coating). All of these experiments and evaluations require not only reproducible phenotyping, but must also have a high enough volume of data to draw robust conclusions. Therefore, the system of the invention allows a high number of replicates to be made and, thanks to its cultivation system on growth supports, allows the application of multiple treatments in a very small space. This allows experimental designs that guarantee the reliability of the data based on an adequate number of technical and biological repetitions.

On the other hand, the system of the invention also ensures the quality of the results obtained not only by the quantity of data, but also by its quality, through the joint action of the artificial vision (VA) software and the appropriate lighting conditions. and stable than the structure that the system provides.

Another aspect to take into account is that, in the process of obtaining data, the plant always remains in optimal conditions and without suffering damage, that is, they are non-destructive tests; which allows the genetics of the plant to be protected, among other positive aspects.

Finally, the proposed system is an environmentally friendly experimental model, since it greatly reduces the need to carry out all these tests in open field conditions, reducing the land used for experimental development. This is especially important in the case of screening for agricultural inputs, which have such negative effects on groundwater due to leachate. With the system of the invention, thousands of compositions can be analyzed in a laboratory phase and only those that are truly effective can be taken to the final phase in the field, reducing the environmental impact.

EXPLANATION OF THE INVENTION

The system recommended involves an autonomous mobile robot, a collaborative robotic arm or robots that allow the same tasks to be carried out, that is, giving the possibility of moving through an environment and manipulating elements, and a photographic station to ensure optimal conditions. correct and constant lighting.

The autonomous mobile robot acts as a support for the rest of the system, the collaborative robotic arm is anchored to the base of the autonomous mobile robot, the system incorporates a low box where an industrial PC is located, the controller of both the collaborative robotic arm and its logical controller. programmable (PLC), the entire electrical/electronic system (solid state relays) and their respective batteries.

The upper box or photo station rests on the lower box. It contains the tank for taking images of the photo strips, the lighting system and the artificial vision (VA) cameras.

On the other hand, the designs of the cultivation system are presented. This cultivation system is made up of two main elements, the growth supports and the buckets. The autonomous mobile robot moves around a room where growth stands and buckets are kept in grow cabinets. Once the autonomous mobile robot is positioned in front of the growing cabinet (or any other location intended for phenotyping), it takes the growth supports with the collaborative robotic arm using adapted fingers and deposits the growth support in the photographic station of the high box for taking images. These images are sent to software for analysis.

The growth supports are the main and key element of the system since it allows the cultivation of seeds of multiple sizes thanks to its innovative funnel shape and also forces the roots to grow in two dimensions in its lower part to facilitate the study of these from image analysis systems. The entire growth support is filled with a culture matrix that can be any type of agar or similar, where any biological or chemical treatment can be applied in the solid phase, simulating different growth conditions in the soil. The bucket may contain also a liquid solution at the bottom that, due to capillarity and thanks to the lower opening of the growth support, can rise through the agar, so that we can also apply this type of treatments in the liquid phase.

On the other hand, the adapter is a piece that allows the growth supports to be filled with the chosen agar or gelling agent, which is initially liquid until it reaches the solidification temperature. In this way, the liquid column is prevented from leaving the growth support until it solidifies.

DESCRIPTION OF THE DRAWINGS

To complement the description that will be made below and in order to help a better understanding of the characteristics of the invention, in accordance with a preferred example of its practical implementation, a set of plans is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:

Figure 1. Shows a perspective view of the system of the invention, composed of two robots, the low box where the electrical and control system is located and the high box where the photographic station is located.

Figure 2. Shows different views of the cultivation system, composed of the growth supports and the bucket.

Figure 3. Infographic illustrating how to grow seedlings on growth supports. On the left we see plants grown in a growth support with a gel matrix. On the right we see the same thing but this time already introduced into the bucket that contains a liquid treatment inside, which ascends through the gel matrix through capillarity, affecting the development of one of the seedlings.

Figure 4. Detail of the adapter to allow the growth supports to be filled with the gelling matrix and prevent it from coming out until solidification occurs.

Figure 5. Non-robotic parts of the system assembled and with their assembly diagram. From bottom to top we find: Low support plate, high support plate, trim, low box and high box.

Figure 6. The plan, elevation and profile are illustrated, as well as a perspective image of the low support plate.

Figure 7. The plan, elevation and profile are illustrated, as well as a perspective image of the high support plate.

Figure 8. The plan, elevation and profile are illustrated, as well as a perspective image of the trim.

Figure 9. The plan, elevation and profile are illustrated, as well as a perspective image of the lower box.

Figure 10. The plan, elevation and profile are illustrated, as well as a perspective image of the upper box.

Figure 11. The plan, elevation and profile are illustrated, as well as a perspective image of the tank for taking images.

Figure 12. The plan, elevation and profile are illustrated, as well as a perspective image and a cross section of a growth support.

Figure 13. The plan, elevation and profile are illustrated, as well as a perspective image of a bucket.

Figure 14. A diagram of a growth support (front view) inserted in a bucket (cross section) is illustrated. You can see the space left between the growth support and the bucket to contain the treatments in the liquid phase.

Figure 15. The plan, elevation and profile are illustrated, as well as a perspective image of the adapter.

PREFERRED EMBODIMENT OF THE INVENTION

In view of the figures reviewed, and especially Figure 1, it can be seen how an autonomous mobile robot (100), a collaborative robotic arm (101), and a photographic station participate in the system of the invention to ensure certain conditions. correct and constant lighting, where the autonomous mobile robot (100) acts as a support for the rest of the system, the collaborative robotic arm (101) is anchored to the base of the autonomous mobile robot (100), so that the system incorporates a box downstairs (102) where an industrial PC is located, the controller of both the collaborative robotic arm (101) and its programmable logic controller (PLC). The entire electrical/electronic system (solid state relays) and their respective batteries. The upper box (103) or photographic station rests on the lower box. It contains the tank (104) for taking images of the photo strips, the lighting system and the artificial vision (VA) cameras (105).

Regarding the cultivation system, shown in Figure 2, said cultivation system is composed of two main elements, the growth supports (106) made of resistant transparent material, and the buckets (107). The autonomous mobile robot (100) moves through a room where growth supports and buckets are kept in grow cabinets. Once the autonomous mobile robot (100) is positioned in front of the growing cabinet, it takes the growth supports with the collaborative robotic arm (101) using adapted fingers and deposits the growth support in the photographic station of the tall box to taking images. These images are sent to image analysis and processing software, along with test management and data storage software.

The growth supports are the main and key element of the phytobot system since they allow the cultivation of seeds of multiple sizes thanks to their innovative funnel shape and also force the roots to grow in two dimensions in their lower part to facilitate the study. of these from analysis and image systems. The entire growth support is filled with a culture matrix that can be any type of agar or similar, where any biological or chemical treatment can be applied in the solid phase, simulating different growth conditions in the soil (Figure 3). The cuvette can also contain a liquid solution at the bottom that, due to capillarity and thanks to the lower opening of the growth support, can rise through the agar, so that We can also apply this type of treatments in the liquid phase.

Figure 3 illustrates how the cultivation of seedlings is carried out on the growth supports. On the left we see plants grown in a growth support with a gel matrix. On the right we see the same thing but this time already introduced into the bucket that contains a liquid treatment inside, which ascends through the gel matrix through capillarity, affecting the development of one of the seedlings.

Reference (108) shows the use of the growth support filling adapter. This piece allows the growth supports to be filled with the chosen agar or gelling agent, which is initially liquid until it reaches the solidification temperature. In this way, the liquid column is prevented from leaving the growth support until it solidifies (Figure 4).

Figure 5 describes the parts of the fairing that house the different elements of the system. All of this rests on an autonomous mobile robot, as well as housing a collaborative robotic arm in its action center, which are not susceptible to protection, but can be used in conjunction with this fairing to form the system of the invention. The low support plate (109) anchors the entire structure to the autonomous mobile robot, then we find the high support plate (110) whose main function is to generate sufficient thickness to be able to give adequate tightening torque to the nuts that join the robot. collaborative robotic arm to the autonomous mobile robot, without compromising the integrity of the entire structure. This assembly has a trim (111) that covers all the screws, is finished with two covers (112) and has a main hole (111.4) for the exit of the robotic arm. On the other hand, we find the low box (102) that rests on the low support plate (109). Likewise, the upper box (103) rests on the lower box.

Now moving on to analyze the content of Figure 6, it illustrates the design of the low support plate; it is constructed of high-density polyethylene (although materials with similar characteristics are contemplated). It is one of the fundamental parts of the system since it will help anchor the rest of the pieces to the surface of the autonomous mobile robot. This piece contains 25 holes (109.1) whose main function is to join the low support plate to the high support plate. The four holes (109.2) have the function of anchoring the robotic arm to the surface of the autonomous mobile robot. The four holes (109.3) anchor the low support plate to the surface of the autonomous mobile robot. This piece has two holes (109.4) that give access to the connectors of the autonomous mobile robot (RJ45, safety button, battery...). Finally we find 15 more holes for joining the low box to the low support plate (109.5).

In figure 7 you can see the design of the high support plate, this is also constructed of high-density polyethylene (although materials with similar characteristics are contemplated). It is a very important technical part in the central and anchoring structure of the robotic arm since it generates sufficient thickness to be able to give adequate tightening torque to the nuts that join it to the autonomous mobile robot and gives stability to the assembly, without compromising the integrity. of the entire structure. This piece has 25 holes (110.1) that coincide with reference 109.1 whose main function is to join the low support plate to the high support plate. We find four holes (110.2) coinciding with reference 109.2 that serve to anchor the robotic arm to the autonomous mobile robot. Again we find two holes (110.3) coinciding with reference 109.3, which serve to anchor the high support plate to the autonomous mobile robot. Finally we find a hole (110.4) partially coincident with reference 109.4 that gives access to the AMR connectors.

Figure 8 illustrates the design of the trim, which is made of methacrylate (although materials with similar characteristics are contemplated). This piece has a mainly aesthetic function in order to hide all the screws of the two previous pieces, as well as the wiring of the two robots and their connections. It has 4 holes (111.1) whose main function is to join the support plates. The 8 holes (111.2) have the function of screwing the cover (112) that hides the accesses (111.3) of the trim to the elements of the high anchoring plate. The gap 111.4 serves to allow the robotic arm to exit from the high support plate to the outside. In the same way, hole 111.5 allows the exit of the safety mushroom of the autonomous mobile robot.

Turning now to analyzing figure 9, it illustrates the design of the low box that is built in methacrylate (although materials with similar characteristics are contemplated). This has the function of housing most of the electrical/electronic parts of the system. Inside it houses the controller of the robotic arm collaborative, an industrial PC to control the entire system, a battery to give autonomy to the industrial PC, VA camera and the lighting system (the collaborative robotic arm and the autonomous mobile robot already have the integrated battery) and finally the entire electrical wiring. The low box has 8 holes (102.1) for its connection to the high box.

On the other hand, it has 17 holes (102.2) for joining the low box with the low support plate and which coincide with reference 109.5. The holes 102.4 are coincident with the holes 109.4 and 110.4 and again serve to provide access to the connections of the autonomous mobile robot. The holes 102.5 serve to attach the battery charger of the industrial PC to the base box and make it accessible to the user. Hole 102.6 serves to pass cables, as does hole 102.7 along with holes 102.8, which are for anchoring cables. The four holes 102.9 serve to anchor the power switch of the industrial PC that protrudes through the hole 102.10. In addition, it has 2 holes (102.3), coinciding with holes 109.3 and which serve to join the complete structure to the base of the mobile autonomous robot. Finally, on the back of the low box we find 6 more holes (102.11) to screw in the ventilation grille that is located in hole 102.12.

Figure 10 illustrates the design of the tall box, which is made of methacrylate (although materials with similar characteristics are contemplated). In itself it constitutes the photographic station of the system. The four holes 103.1 serve to anchor the guides where the overhead camera will be held. The 6 holes 103.2 on the back serve to anchor the tablet with which the robotic arm is controlled and which has its safety mushroom integrated. Hole 103.3 as well as 103.8 serve to pass the wiring for the control tablet of the collaborative robotic arm. The hole on the side (103.4) is used to anchor the lighting system of the photography station, while the lower holes (103.5) are used to anchor the guides where the side camera will be installed. At the base we find 6 holes (103.6) that have the function of anchoring the growth support reservoir for taking images (reference 104). Finally, the last 8 holes (103.7) coincide with reference 102.1 and serve to anchor the upper box to the lower box.

Figure 11 illustrates the design of the growth support tank for taking images that is built in PLA (although materials with similar characteristics are contemplated). The holes 104.1 are coincident with the reference 103.6 and are used to anchor this piece to the base of the tall box. Area 104.2 has the function of holding the growth support, allowing the taking of a frontal photograph and acting as a contrast background, as does area 104.3, which has this function, giving contrast to the image and acting as a background.

Figure 12 illustrates the design of a growth support that is built in PS crystal (although materials with similar characteristics are contemplated), this material was chosen since it provides us with a compromise between transparency (essential for taking images of the root part ) and physical and chemical resistance (to prevent it from breaking during handling and disinfection). Growth support is the most important element of the entire mass phenotyping system. This element allows the cultivation of plants in a way in which the growth of the root system, as well as the aerial part, can be evaluated. In addition, it also allows the application of treatments in both solid phase and liquid phase thanks to its design, and also allows foliar application of said treatments.

The growth support is an element that consists of two main parts, the seed deposit zone (defined by references 106.1, 106.3 and 106.4) and the root growth zone (defined by references 106.2, and 106.6). The design of the seed deposit area is critical for the proper functioning of the growth support, the aforementioned references define a cone that allows seeds of multiple sizes to be housed in its highest part, but at the same time guides the root so that grow towards the flat zone of root growth. The width of the mouth of the funnel is defined by the levels 106.3 and 106.7, and can be variable depending on the size of the seed. The inclination of the cone is defined by references 106.1 and 106.4 and can also be variable depending on the root penetration capacity of the species in question.

On the other hand, the next element of great importance in the design of this piece is the root growth zone since it will depend on it for the development of this organ to occur in the appropriate way to be able to take the images for analysis. Reference 106.2 indicates the total length of the growth support, which can be variable depending on the size of the root to be evaluated, reference 106.6 indicates the thickness of the growth support lumen, defining the space the root has to develop. since this must be large enough to accommodate the root, but enough narrow enough to only do it in two dimensions. This is essential so that the root structure can be studied properly. Finally, reference 106.7 defines the lateral width of the growth support that will limit growth across the width of the root system.

The rest of the growth support references define structural and handling aspects by the collaborative robotic arm. Reference 106.5 indicates the base with which the growth support rests on the tray. Reference 106.8 corresponds to the side wall of the growth support on which the grippers of the collaborative robotic arm rest to hold it. On the other hand, reference 106.9 corresponds to a safety trim for better adaptation and fastening of the grippers of the collaborative robotic arm. Reference 106.10 corresponds to the front face of the growth support. Reference 106.11 indicates the transverse partitions that separate each of the growth units from the growth support, in this example it has 4 units, but this number could be higher or lower depending on the plant species to be evaluated. Reference 106.12 corresponds to supports to prevent the column of gelling agent from yielding downwards due to gravity (see further detail in figure 14) since, as indicated in reference 106.13, each column of the growth support is also open at the bottom ( area opposite the germination cone).

Figure 13 illustrates the design of a bucket that is built in ABS (although materials with similar characteristics are contemplated). The function of this element is to contain the growth supports and act as a bucket for the application of liquid phase treatments. Reference 107.1 indicates the ribs, the set of two ribs 107.2 is the surface on which the growth support rests (by reference 106.5), this distance should preferably be the same in all the holes of the tray, so as to that in the particular case that it is desired to separate the growth supports even further for a test, this is possible by putting the maximum number of growth supports in the same bucket. The distance between the rib groups of the bucket depends on the size of the growth supports (107.3). References 107.4, 107.5 and 107.6 define the length, width and height dimensions of the bucket and will depend on the size of phyto-strip used. The height (107.7) and thickness of the base (107.8) and the surface (107.9) of the ribs are designed to provide robustness and fit good growth supports. An important detail of the chosen material is that it should preferably be dark and opaque, in order to adequately simulate the real container of the plant in the field, that is, the soil.

Figure 14 illustrates how a growth support would fit into a bucket. As you can see, the growth support rests on the surface of the ribs, however, in no case does it touch the base of the bucket, there is always a space between the growth support and it. The space allows for the incorporation of a liquid phase that will penetrate through the lower part of the growth support that is open (as indicated in figure 12, reference 106.13). In this perspective, the transverse partitions that separate each growth unit from the growth support, as well as the supports for the gelling agent, can be better appreciated (106.12).

Figure number 15 illustrates the design of the adapter, which is made of elastic plastic (TPU), although materials with similar characteristics are contemplated. The main function of this element is to plug the openings in the lower part of the growth support (reference 106.13) and prevent the escape of the gelling agent during its setting process where it is still liquid until reaching the solidification temperature. Reference 108.1 indicates the base of the adapter, which serves both to provide stability and to make it easier for the user to place and remove the growth support. Reference 108.2 indicates the projections that are pressed into the opening of reference 106.13, blocking the gel outlet. Finally, reference 108.3 indicates a trim with a certain height that performs a compressive and clamping action around the base of the growth support.

It only remains to be noted finally that, although the description is susceptible to various modifications and alternative forms, the methods of manufacture, assembly, materials and specific apparatus have been shown by way of example in the drawings and are described in detail in this document. It should be understood, however, that it is not intended to limit the invention to the particular apparatus, assemblies, materials or methods described, but rather, the intention is to cover all modifications, equivalents and alternatives that fall within the scope of the claims. .

Claims (8)

1a.- Automated system for mass phenotyping of plants, characterized in that it is made up of an autonomous mobile robot (100) that includes a collaborative robotic arm (101), as well as a low box (102) where a PC is located. industrial, the controller of both the collaborative robotic arm (101), as well as its programmable logic controller (PLC), the electrical/electronic system and its respective batteries, a box on which an upper box (103) or photographic station is established in which a tank (104) is provided for taking images, a lighting system and image acquisition system (105); having foreseen that the autonomous mobile robot (100) is self-moving throughout a room where growth supports are placed in buckets and these in cultivation cabinets, including the collaborative robotic arm (101) as a means of extracting the growth supports. growth of said cabinets (or other support), and deposition of the growth supports themselves in a deposit (104) for taking images, having software for analysis and processing of said images, together with the management software of testing and data storage. 2a.- Automated system for mass phenotyping of plants, according to claim 1a, characterized in that the growth supports are made of resistant transparent material, in which two main parts participate, an upper seed deposit area (106.1, 106.3 and 106.4) and a lower open root growth zone (106.2, and 106.6), presenting a flattened cone-shaped profile configuration, defining an essentially two-dimensional root growth space, and including a coupling base (106.5). to the buckets, as well as coupling means on their side walls for the extraction means of the collaborative robotic arm (101), growth supports that are likely to be filled with agar or gelling agent or any other growth support or substrate. 3a.- Automated system for mass phenotyping of plants, according to claims 1a and 2a, characterized in that each growth support includes transverse partitions (106.11) that define different growth units of plant species in said growth support. 4a.- Automated system for mass phenotyping of plants, according to claims 1a and 2a, characterized in that each phyto-strip internally includes transverse lower supports (106.12) of the gelling agent column. 5a.- Automated system for mass phenotyping of plants, according to claim 1a, characterized in that the buckets are made up of a bucket-like body for the application of treatments in the liquid phase, in which a plurality of ribs are established. on which the growth supports rest, conveniently spaced from each other. 6a.- Automated system for mass phenotyping of plants, according to claims 1a to 5a, characterized in that the growth supports are complemented with an adapter (108) that functions as a plugging element for its lower extremity in case the gelling agent contained within it has not reached the solidification temperature, adapter (108) that includes a base (108.1), as well as projections (108.2) capable of being inserted under pressure into openings (106.13) provided at the lower end of the growth supports ( 106), with a compression and fastening trim (108.3) around the base of the growth support. 7a.- Automated system for mass phenotyping of plants, according to claim 1a, characterized in that a low support plate (109) is fixed to the autonomous mobile robot (100) on which a high support plate (110) is arranged. acting as a connecting link with the collaborative robotic arm (101), complemented by a trim (111) that covers all the screws, and finished with two covers (112), trim (111) that has a main hole (111.4) for the output of the collaborative robotic arm (101), with the particularity that the low box (102) rests on the low support plate (109) while the high box (103) rests on the low box. 8a.- Automated system for mass phenotyping of plants, according to claim 1a, characterized in that the tank (104) for taking images of the growth supports, includes an area (104.2) for receiving the growth support, as well as a background or area (104.3) behind said reception area, made of dark and opaque material that constitutes a contrast element in the taking of the corresponding photograph.