ENDOSCOPE-WELL-BEHAVED DEVICE FOR UNDERGROUND RESEARCH, IN PARTICULAR TO THE INSITU PERCEPTION OF A BEING ROOTED OF PLANTS.

The present invention relates to the field of the study of plants growing in the soil. It aims more particularly an endoscope-type device intended more particularly to 1' study of!' rooting plants in-situ, without subjecting them to damage the root area. This device will be hereinafter by the term "

zoscope

P-III".Upto present, the study of the rooting plants in-situ was conventionally by soil sampling, extraction and measurements of roots.4fin avoid destruction plants that have required these methods, some investigators have proposed to apply to the study of

développemen

' L of the roots in the ground devices borescope mirror and optical fiber, and researchers

ciéseventuellement

to cameras, e.g. - env cameras or hooked

ras.De

such methods, although non-destructive and faster than conventional methods, did not however given the satisfaction researchers, because they are still difficult to use, and that they do not allow a fairly high approach with regard to the observations and the snapshots that they may yield, and this because, firstly, bad brightness at the site to observe, and, secondly, the poor contrast at the imaging, resulting in the snapshots are difficult to interpret.A first object of the invention is to provide a apparatus for the study and observation of the plant root growth in soil, which apparatus, obviating the drawbacks of prior devices, allows the m in a method for nondestructive, does

turtant

perse in any way plant growth and the structure of the - ation of the surrounding ground.A second object of the invention is to provide a

Rhizoscopepermettant

study of plant roots at a wall transparent to contact with at least one of the roots of the plant.A third object is to provide

unRhizoscopeltinvention

for analyzing and processing the collected information into digital data the root area and concerning their density, their dimensions, their arrangement and other physical characteristics.A fourth object of the invention is to provide

unRhizoscope

comprising a drive device automatically moving the scanning means along the transparent wall in contact with the roots.The present invention thereby an acoustic tool is, borescope, particularly useful for the study of roots plants in the ground, the apparatus being constituted by crawling means - type sensor, consisting of a light flux transmitter associated with a photoreceptor; - processing means of the luminous information transmitted by the photoreceptor, consisting di

gitalisation

and means for transmitting data to a processing unit cooperating with a control unit associated with, on the one hand, to means

stockace

Informatics' ion battery, and, on the other hand, to means for

visalisation

;; and - positioning means and driving said scanning means, a device is constituted by a helical movement according

déplaçant

low pitch by a soft - relative in steps resulting from the cooperation of two members driven by two systems of respective gears actuated by a stepper motor.According to a preferred embodiment, the transmitter of the sensor is a laser diode associated with means for

facalisation

, coupled to a photodetector for regulating the light flux emitted from said laser diode. The atten born motion imparting told to sensor are constituted by a threaded shaft cooperating with a hollow shaft longitudinally split to provide relative movement of smaller pitch than the helical pitch.

Égalenent

are provided means for synchronizing the rotational speed of the stepping motor, on the one hand cooperating with sensor and secondly to the

trai

unit equipped working online via a control unit of the engine. This sensor is activated by a reflector element fixed to a pinion secured to the rotational axis of the motor.The online processing unit comprises a microprocessor, while the control unit is constituted by a microcomputer, these two units being connected to one another by a bus. The storage unit is constituted advantageously by a series of floppy disks single sided and double density.Other advantages and features of the invention will appear on reading the following description of a non-limiting embodiment of the apparatus of the present invention subsurface exploration, reference to the accompanying drawings in which Figure 1 is a chart showing the layout in the ground observation tube for receiving the sensor of the apparatus of the invention subsurface exploration.Figure 2 is a schematic synoptic of different constituent units of the apparatus of the present invention subsurface exploration.Figure 3 is a schematic synoptic heading tower used according to the invention Figure 4 is a schematic of the electronic control system of the sensor utilized in the invention.Figure 5 is a longitudinal sectional view of a mechanical unit axial drive and positioning the sensor used according to the invention.Figure 6 is a cross-sectional view of the mechanical drive and positioning of Figure 5 at the sensor holder.Figure 7 is a perspective view to smaller scale of the sensor holder of Figure 6.Figure 8 is a schematic synoptic synchronizing means between the engine rotational speed and the viewing means.Figure 9 is a schematic electronic timing means of Figure 8.Figure 10 is a synoptic scheme of the

traitersent

online used according to the invention, and Figure ll is a schematic general operating

Rhizoscope

according to the invention.As shown

fiqure

1, is arranged in the ground a number of tubes 1 in the vicinity of plants but 2, these tubes being inclined lo about 150 or more according to need with respect to the normal, while the corn plants are for example spaced 0.75 meter. Patent represents an early stage of growth but, while the step e represents a later stage.In both cases and more

particulié

-

revent

in step b the roots of the plants come into contact with respective tubes 1 in Figure 2, see also a tube 1 has 1' with an internal sensor 3 is connected to a driver stepping H by a positioning rod and drive 3a.The engine 4 is associated with a measurement unit of its speed of rotation and for detecting the end of line 5, which is ven connected to a processing unit in line 6 which on the one hand cooperates with a control unit 7 and to a control unit of the engine 8. the

contrb

- the 7 cooperates with a logic processing unit 9, and is further connected to a data storage device 10 and to display means 11.As shown schematically in Figure 3, the sensor 3 is made of a transmitter 12, e.g. a laser diode whose brightness is focused by an optical system 13 before passing through the wall of the tube 1 and encounter a root of SCL 14 into contact with the tube 1, and a photoreceptor 15 receiving the light flux reflected by the root portion. The laser diode 12 is associated with a servo optical power 16. The photoreceptor 15 transmits a signal corresponding to the light flux reflected hr a digitizing unit 17 where the signal thus obtained is playback apparatus under 8 bits and transmitted by the plain tee transmission 18 in 1 bit to the online processing 6. les digitizing units 17 and 18 cooperate transmission paths starting fl., occupancy φ2, synchronization f3 with delay units 19 and 20

iogique

timing, associated with a clock 21.As shown schematically in Figure 4, the electronics of the sensor 3 is substantially divided into three P-; - sections that.The first part is a device for obtaining a stabilized power supply, and which converts the input voltage!15 volt volt + 2)/two-output voltage of 4, 6 and 9.6 volts with respect to ground (0 volts) 7. electronic voltage of 4.6 volts is taken as the reference voltage for the logic of digitalization and transmission (17, 18) of the acquired signals, thereby obtaining the supply voltages of 5 volt virtual (TTL power supply) and of-4.6 volt (analog reference voltage of the analog/digital 22; pin 22a). This arrangement is used to satisfy the three voltage levels needed by the sensor 3 and to limit to two the number of electrical transmission systems by ring and brush between the transmission unit and the sensor 6 in line 3.The second component of the electronic system is constituted by a control of the light intensity of the laser diode 12, which is coupled to a photodetector 23, thereby adjusting the luminous flux of the diode so as to circumvent including effects related to temperature variations. If, for some reason or another, this flow decreases while the photodetector 23 will result in less current, thereby

aménera

a decrease in the voltage across the resistor 24. This decrease will cause by I '

inteédiaire

amplifier 25 increases the conduction of the transistor 26, thereby increasing the luminous flux of the diodel2.The third part of the sensor electronics is a system logic

digitalisa

except and transmission signals acquired (referenced 17, Figure 3 le).The system divides itself into four parts, namely a circuit for transforming the light signal into an electrical signal comprised by the

ohetorécepteur

15 and the operational amplifier, ; a second signal digitizing circuit is represented by the converter a digital logic/FNR naked. 22; a third transmission series parallel data

assurrepar

1 receiving/transmitting asynchronous unit 18; the fourth circuit or synchronization unit consists of a clock 21, sequencer-divider 28 that controls the timing of the digital/analog conversion and operation synchrony between the digital/analog converter 22 and the receiving/transmitting asynchronous unit 18, through integrating circuitry, differentiating and conventional signal shaping.The mechanical unit drive and positioning of the sensor, as shown in Figure 5 is made of an electric motor 4 stepping on the drive shaft are supported, on the one hand a primary gear 31 meshed with a primary wheel 33 which drives an input shaft 34 to which is connected a split tubular shaft 35, and star hand one output gear 36 meshed with a secondary wheel 32 which drives the secondary shaft 31 and connected to a threaded rod 38 arranged concentrically to the shaft split 35. le relative movement of the threaded rod 38 whose speed of rotation is 0.75 times that the split shaft 35 rotating turn MMEs engine speed the K, makes it possible to move the sensor

obteni

- 3 according to a helical movement of a pitch of 0.2 mm. Can be designed that the device of Figure 5 can be associated A. extensions for increasing the depth explored by the sensor 3 in the tubes 1.The 6 and 7 respectively represent

fiçures

sectional and perspective, the mounting element of the sensor 3 which will be laid in the interval between two flanges 39, Ag by struts secured blades 41, of N2, h3 one of which is a in

treto.se

h3 drive keyed by a pin 44 to the split shaft 35 and meshed with the threaded rod 38. The entire sensor holder can slide in the tube 1.Figure 8 is represented the measuring unit speed and timing picture, this unit for the synchronization of the engine speed and the data acquisition. Indeed the rate limiting for the data acquisition is that of the formation of the picture on the graphics console 11 constituting the display means. This unit is used to adapt the data acquisition rate, based on the engine speed, than that of the formation of the picture on the graphics console 11. This unit is comprised of an optical sensor 45 whose signal is then amplified by the amplifier 46 and the differential amplifier 47, and is then filtered by a low pass filter of the fourth order 48 cooperating with the transmission unit by current 49 for sending said signal to the unit 6. le

traitementen

line sensor is activated by a reflector 50 fixed to a pinion 51 integral with the axis of rotation of the motor 4.The motor 4 is controlled by the engine controller 52, this control being achieved via intensity rather than the voltage of the current, thereby work quickly and at a long distance. This unit is controlled by the processing unit 6 commercials after each turn engine (after the records - telling a line of given), the measuring unit speed and timing picture, as shown in Figure 9, transmits an electrical signal to the processing unit online 6 ensuring to the computer the line feed and to verify the angular velocity and the running of the engine 4. this is made possible due to the electronics arrangement shown schematically in Figure 9, arrangement in which there is provided an optical sensor 45 signal generator and associated with the reflector 50. The circuit is fed under 15 volt power from the power supply 52 through lescsndens2teurs filtering c13 to C14, C16 alkyl c15 > , c18 the light intensity of the diode

èlectroluminescente

- 53 is set by the resistor R17 together, the current of the receiving diode 54 is amplified by the transistor 55 (receives feedback by the resistor r20 to stabilize the operating point) internal to the sensor 3 before being taken into account by a high impedance differential amplifier input 56, 57. le signal to, which is very noisy due to the proximity of the motor 6, is smoothed by two low-pass filters cascaded second order 58.59.The second filter, amplifier 59, provides an output signal which switches between 0 and 15 volts DC.Figure 10 is represented a synoptic scheme of the tacitly online 6, allowing the

Rhizoscope

achieve the above goal, is stored in a magnetic memory a picture

dioitalisée

roots in contact with the wall of tubes implanted in the ground, the picture is subjected to further processes and viewable on a graphical screen.The storage, treatment, viewing of the image take place using various functions which can be summarized as follows: in the first place the control methods,

c'est

-to - say the arrival in series data provided by the sensor, the control of the position of the sensor, the synchronization management line picture/motor, the engine controller.The processing and filtering data, namely the digital filtering of the picture with respect to a gray level selected in view of the curved optical density that the apparatus provides, formatting data and I 'routing of data and status information methods to the control unit of Ta multiplicity of these functions has us to distribute the tasks thus specified between two computing units, on the one hand, the processing unit online 6 that provides the functions previously enunciated, constructed around a microprocessor CPU will be the Intel 8085-AH-2, and on the other hand the content identity; die process constituted by a microcomputer

JLSIîî

-to-

'a

(

Enertec

-to-Schlumberger's).Cocatalyst mth shown in fig. 10, the processing unit online 6 is made of several parts of several parts 1. a CPU 60 are activities are directed by programs stored in non-volatile memories and erasable by

rsyonnement

ultraviolet (

EPRON

type 2716).2. the RAMs (random access) in which information is stored intermediate, a RAM--clock interface register 61, or formatted information, random access buffer 62, ready to be sent to the control unit 7.3. the address decoder 63 compound of 3 circuits for individually addressing the different ITPs -

phériques

.4. the circuits involved in the monitoring of methods the asynchronous receive and transmit 75 which transforms the data from the sensor series to parallel data (5 bits or more).the timing circuit line picture/engine data from the asynchronous unit transmitting/receiving 75 and timing circuit 64 pass via the port has the circuit 61 before being taken into account by the central unit 60.the amplification circuits and shaping for the control unit of the stepper motor: the return signals of the control motor and the signal control system sensor position 3 pass via the port I to the central unit 60.the series/parallel conversion is provided by the internal clock of the circuit 61, while the rotational speed of the stepping motor is dictated and then verified by the clocks of the circuit 65.5. the circuitry for the links with the control unit 7 are provided through a bus

CAMAS

not depicted in the drawings the orders about tasks to be executed by the CPU 60 are routed through the registers "L control" 66.The CPU 60 is informed of the presence of these gold

drues

type signal by a "flag" on the circuit "sync commands" 67 generated by program instructions of the control unit 7.The states methods related tasks previously defined are provided to the unit control system 7 through the registers "L state" 68 and the circuits "synchro state" 69 of same type according to the same procedures.The data from the sensor 3, passing through the port has been, are filtered and formatted by the unit 60 and then Copart centrally stored in the buffer memories 62. Over display and are then sent to the control unit 7 to ART to the registers "L data" 70 and the circuits "sync - data" 71 also of the same type and the same hard image display apparatus.It should be noted that the access time to memories 72 is slow relative to the elementary cycle of the CPU, the latter is synchronized by a circuit "sync - an EPROM" 73. In addition the number of peri

phériques

connected on the CPU being large, it is necessary to amplify the output of the buffer amplifier

ficateurs

drunk by humans. The central unit 60 is further initialized as required by the control unit 7 by the circuit 74 "bed".Figure 11 represents a general model of operation of the

Rhizoscope

, wherein Z represents the power sensors, recording the data of b, c is the limit of the sensor 1 d the bus driver U to the blends of propylene based engine controller, I supply to the motor and f the detector end of line. It is clear that this model can be extended to other types of use of the control unit 7. other part1 in the present schedule, a single execution station 1 operates the online unit.It is contemplated extensions by creating other ATS - want, for example by a simultaneous acquisition pleat on sister

tunes

I from several sensors 3."apparatus according to the invention operates as if NAVs: after positioning the tubes 1 in the vicinity of roots, sensor 3 is pulled down to a certain level by the motor 4 and starts a scanning operation contacts between roots 14 and tube 1 in the laser diode 12

énergissant

which emits light incidence which strikes the root in the form of a Gaussian beam section (standard deviation, e.g. 100 meters)) whose candlelight - rebreathing is partially" scattered " by the root it strikes, making it particularly visible against a root illuminated by diffuse light. Each table has white contact of a root with a tube, light scattered by the root and in contact is sensed by the photoreceptor 15. le signal obtained playback apparatus in 8 bits and transmitted to the receiving/transmitting asynchronous unit 18 which converts the parallel data from the sensor into data

sérieset

transmits them to the processing unit 6 online, via a second transmitting asynchronous reception unit 75 which transforms the data series to parallel data (bit 5). The processing unit 6 online, that receives instructions from the control unit and the recorded using a "toggle" register, then executes them, thereby receiving a feedback from the plant parts that are sent in the same type of register that, then captured by the monitoring unit.Each set of instructions corresponds to one of 16 tasks clearly defined which are in permanent memory (EPROM memory 72) of the processing unit in

licne

.

Pail

blobs, include in particular the filtering of the data from the sensor: the significant data,

c'est

both those corresponding to the observation of roots contacts the tube scanned, comprising the following parameters: signal amplitude under 5 bit, coordinates of the observation point (depth beneath 14 bit, position on 12 circumference explored under 10 bit), are formatted, and then recorded line by line (a line corresponding to a

cirronfrence

tube) using two buffers (6z1?

uísenvoyées

to the controlled

le.Comme

specifies above, the dialog between the processing unit and the control unit binder is by a bus

CAMAC

.It should be noted that the setp oads, in the apparatus of the invention, the executive in a working structure designed in accordance with a hierarchical control model (see Fig 11!. In effect, the entire sys tem 2 been organized so that the operator using the instrument in the field can occur regularly to check the working correctly and fix some parameters, for example of detection thresholds and the like roots.The functions of the control unit are - assisting the operator (decision maker in the schema of the IF

gufe

11) in selecting control; - verify that such control is executable, this used to palliate a human error; - testing of the hardware and ye sky the lower level before initiating the operation; - ensure at conducting of the operation and in ten-R. informed the operator; - finally perform different types of processing each in connection with information on the suitable graphical hearth 11, the other with the treatment discs that these given

es.Par

example, there may be mentioned DIFs

férents

methods leading to an enlargement of a st PGCs root-riser, the elimination of background noise, the calculation of the attenuating root density as a function of the soil layer studied, at calculating root elongation in TREs two sample dates and

aalogues

.These calculations may be performed either immediately on site ("the pipeline") or subsequently though storing data on diskette C. "off-line") joins the data transmitted by the on-line process to the control unit

peuventetrevstialisées

as described above using a console

graphicue

it, possibly associated with a hard copy printer unused imaging field, which has the purpose of Con

vernation

between the operator and the control unit and, at TREs hand, to visualizing the results. image processing software has been specially designed for this use, but may also be used to multiple other applications.Thus, is solved, according to the present invention, the problem of the examination in situ roots, and this owing to the cooperation of the means employed and described above,

asavoir

a sensor comprising a laser diode emitter, of which the incident light is scattered by the roots, which makes them highly visible, a positioning device for movement of the sensor unit of the sensor in a very slight extent, e.g. 0.2 mm, both along a circumference of the tube and in the vertical direction, the position of the sensor is thus known with very high accuracy, thereby comparing without difficulty the results of observations temporally successive, and logical processing resources of high performance and appropriate sensitivity, which control the movement of the apparatus and control its position.I1 is evident that the apparatus of the present invention may be associated with any automated means and controlled by the control unit, such as devices for telescopic positioning of the set of sensor feedback, carousel devices enabling a displacement and automatic positioning of the sensor and the like.