Robotization and Automation of a Plant Phenotyping Gan

At Thomas Constructions Mécaniques (TCM SAS), we specialize in the design, manufacture and commissioning of custom-made special machines. We recently worked with INRAE, a major player in agricultural research, to develop a cutting-edge robotized and automated plant phenotyping gantry.

A customized solution for agricultural research

Our team designed and manufactured a custom-made plant phenotyping gantry, for characterizing plant cover via non-destructive methods. This system generates the temporal trajectories of phenotypes using integrated sensors, offering unrivaled accuracy for the scientific analysis of agronomic data.

The gantry, which spans 168 growing containers, is fully automated.  It moves along three axes (X, Y and Z), to position a cradle equipped with sensors above the containers, for precise and repeatable data acquisition.  With its customized robotic computer interface, the gantry’s movement and acquisition sequences can be programmed and managed automatically, for optimal efficiency of phenotyping operations.

Computer interface and advanced automation system

In the second phase of development, we integrated a remote computer interface to automatically control the gantry’s movement. The growing containers are geolocated, and the movement of the bridge and cradle can be controlled autonomously. The user can configure data acquisition sequences via a remote PC, guaranteeing total flexibility in test management.

The system is fully modular in design, enabling data acquisition from all or some of the containers at selected time intervals. Once the sequence has been programmed, the gantry operates in complete autonomy, for accurate and reliable plant phenotyping.

High-performance software architecture

We developed a client-server application using LabVIEW, to control the sensors and the gantry PLC via TCP/IP communication. This robust and scalable software architecture ensures optimal reliability and maintainability, essential for use in research and development.

The sensors and the gantry’s movements are centrally controlled via the server, while the client, installed on a desktop PC, features a user-friendly interface for real-time monitoring of tests, viewing of historical data and programming of acquisition sequences.

Principle diagram of the robotized system:
  • Integration of a rugged industrial PC (“control” part), installed in the enclosure of the cradle, as close as possible to the sensors, for centralized control/command.
  • Installation of a dedicated application, designed to interact as a control/command server and installed on the industrial PC.
    This “server” application is used to:
    • Communicate with the cameras via their APIs (Application Programming Interface).
    • Communicate directly with the PLC via Modbus.
  • The desktop PC features a “Client” application which interacts with the server via TCP/IP and UDP communication.
    This application is equipped with the following features:
    • Programming of tests via an ergonomic interface: sequencing + individual sensor/lighting settings for each container
    • Real-time monitoring of test progress (positions + latest data acquisitions)
    • Historical data display
  • The “Server” and “Client” applications were developed in LabVIEW, published by National Instruments, a graphical programming language specifically for research and development applications that ensures maintainability and scalable code.
  • The sensors, equipped with “native” HMIs, as well as movement monitoring devices, are installed on the server for instrument control, updating and maintenance of the entire system.
The technical and IT software enables:
  • Modular data acquisition: data can be collected from all or some of the containers, at time intervals selected by the operator.
  • Subsequent upgrades and management of the equipment integrated into the cradle.
  • Remote control of the industrial PC (“active” part) – innate function of the solution.
Software environment:
  • The PC runs on Windows 10.
  • The software architecture is based on a Client/Server structure. The Client (Desktop PC) and the Server (Industrial PC) communicate via a TCP/IP and UDP link (Ethernet cable).
  • The Server performs actions and collects information from the instrumentation chain. It receives requests issued by the Client.
Server functions:
  • Communication with the gantry PLC:
    • Continuous scanning of PLC data: position and safety information
    • Sending of position instructions to the PLC
    • Sending of lighting instructions to the PLC
  • Communication with the sensors via their APIs:
    • Sending of parameters to the sensors
    • Data acquisition
  • Archiving of local data
  • Management of event log (action, errors, etc.)
  • Receiving and execution of requests from the “Client” application:
    • Modification of general settings
    • Real-time display of system status (position, latest images, etc.)
    • Programming of sequences
    • Transmission of collected data
Client functions:
  • Display of system status in real-time: positions, safety, sensor statuses, etc.
  • Programming and configuration of the testing sequence:
    • Input of general information on the test (name, type of study, conditions, etc.)
    • Definition of the positioning sequence and sensor settings
  • Control of the sequence: Select/Start/Stop/Pause sequence
  • Local archiving of data on demand or automatically
  • Display of archived data
HMI:
  • The “Server” application does not have a user interface as such, other than for the development and maintenance phases via remote control.
  • The “Client” application features a set of tabs which include:
    • A display tab for viewing the system status in real-time with sequence control
    • A data display tab
    • A tab (or sub-interface) for configuring sequences
    • A maintenance tab (or sub-interface) accessible in advanced mode
  • The various interfaces contain a maximum amount of graphic objects (buttons, indicators, menus, etc.) to minimize repetitive data input.

Communication:

  • The server communicates with the gantry PLC via the Modbus TCP protocol – data exchange via register system.
  • It communicates with the sensors via their APIs.

Data:

  • Data is archived according to the specific needs of the customer (INRAE)

Development:

  • The system was developed in the form of a LabVIEW project, integrating the source code of the two complementary “Server” and “Client” applications.
  • LabVIEW can be used to create a modular and hierarchical structure (programs/subprograms) that facilitates development, by going from the unit function test to the integration tests in stages.
    When using LabVIEW, each developer can adopt their own development protocol, focusing on simple architecture models that comply with best industry practice, to create scalable and easy-to-access structures.

Expertise in robotization and automation

At TCM SAS, our extensive expertise in robotization, industrial automation, and special machine design, enables us to meet our customers’ most exacting needs. Whether for agronomy, the food industry, or other industrial sectors, we provide innovative, customized solutions, tailored to the specific requirements of each project.

Our teams are available to provide additional information or to discuss your projects.  Contact us to find out how we can support you in realizing your industrial projects.