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BenchBot - Machine vision systems for monitoring phenotyping variables in greenhouses.
BenchBot is a plant phenotyping platform, which consists of two major components: a semi-automatic image acquisition device and a central process unit to control the platform and camera movement. BenchBot is low-cost, modular, upgradeable, portable, and easy to use. Specifically, BenchBot can be adjusted to work in benches of different dimensions and the camera height can be changed to accommodate plants of different heights and sizes. We are currently examining image acquisition and processing approaches that work best under greenhouse conditions (i.e. high levels of light and heat) (Figure 3). Furthermore, we are developing image-processing algorithms needed to detect and identify plants, detect leaves, determine leaf area and estimate overall plant biomass.
Our first prototype consisted of a frame that can be moved along greenhouse benches with a mounted camera system (camera and lights) that stops at each potted plant to take individual RGB and depth images. We are currently developing a semi-autonomous system, which requires minimal human intervention. Expected products include a stable control application and a suitable database that enables biomass measurements and plant detection algorithms. We are also working on full automation of the platform and image acquisition. We anticipate broad adoption of this technology among public and private plant breeders.
Our origin history - It's too hot!
While our team has been focused on high throughput phenotyping systems for years, this specific approach was motivated because of the unbearably hot conditions that occur in greenhouses in the peak of the summer. We felt there had to be a better way! In 2019, we explored breeding cover crops for shade tolerance to fit within corn and soybean production systems. This effort began with a greenhouses screening of germplast at the USDA Agricultural Research Service site in Beltsville, Maryland. We had 73 genotypes, 3 treatments, and 4 reps (~876 plants!). In order to evaluate the performance of the genotypes under different shade conditions, we used classic phenotyping techniques such as measuring the width and height of each plant. We also took pictures of the plants using a PVC frame and a standard compact camera with the intent of using those to evaluate the performance of the plants as well. This process was repeated every week for 10 weeks. Measuring and taking pictures for almost 9000 plants, we needed 2 people, more than 120 hours inside of the greenhouse during the summer with more than 100 F, super-hot. Unless you like the sauna, this is not an ideal place to stay for a long time during the summer.
How did we decide what problem to solve?
The need for an automating image acquisition that could reduce operators' time in the greenhouse as well as standardize data acquisition systems using high throughput phenotyping birthed BenchBot. in Using simple RGB and depth images combined with a semiautonomous platform at low cost could revolutionize the breeding of new germplasm. Over time, we have created improvements to BenchBot and expanded its applications to include various camera systems that correlate to a diverse array of phenotyping targets in crops.
Figure 1. Prototype design.
Figure 2. System mounted with camera, lighting and close-up system to the pots.
Figure 3. Color and Depth information.