CN106885812B - Crop seedling pot damage detection method based on CT technology - Google Patents
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Abstract
The invention discloses a seedling pot damage detection method and a device in a crop seedling clamping and seedling taking process based on a CT technology, and the method comprises the following steps: the seedling box that the preparation was used for placing crop seedling is got to preparation seedling centre gripping seedling device, and the scanning under the state is got to the different clamp of crop seedling, and the hole draws in the seedling alms bowl. Wherein the preparation of seedling device is got to the centre gripping: the supporting column is connected with the base and the cover plate; the sliding block is fixed on the bottom surface of the cover plate and is hinged with the seedling taking arm, and the lower end of the seedling taking arm is fixed with a clamping needle; the two ends of the clamping screw penetrate out of the seedling taking arm and are matched with the nut through threads to realize the tightening or the opening of the clamping needle. And (3) manufacturing a seedling box: the outer wall is cylindrical, and the inner wall is an inverted quadrangular frustum pyramid, and the size of the inverted quadrangular frustum pyramid is matched with that of the plug seedling pot. According to the invention, the CT scanner is used for carrying out tomography scanning on the plug seedlings under different clamping states, the holes in the seedling pots are extracted and three-dimensionally visualized, the generation and expansion of new holes and gaps in the seedling pots are researched, and a basis is provided for the structural design of the seedling taking end actuator and the clamping parameter selection.
Description
Technical Field
The invention belongs to the field of crop seedling transplanting, and particularly relates to a seedling pot damage detection method and device in a crop seedling clamping and seedling taking process based on a CT (computed tomography) technology.
Background
When the seedling is taken and transplanted by the transplanter, the seedling taking claw is mainly adopted to clamp the seedling pot to take out the seedling, and when the seedling is taken by the method, if the clamping parameters of the seedling taking claw, such as the seedling taking angle, the clamping depth, the clamping amount and the like, and the structure of the seedling taking claw are not properly selected, the seedling pot is broken or the seedling can not be reliably clamped and taken out, so that the seedling taking failure is caused. For the problem, Korean greening and the like test the seedling taking success rate of the seedling taking claw under different clamping parameters (clamping angle, clamping force and clamping deformation) through experiments; the method comprises the following steps of (1) carrying out single-factor test by taking a cucumber plug seedling as a research object, taking a clamping angle of a seedling taking claw, the number of clamping needles, the water content of a seedling pot, the growth vigor of the cucumber plug seedling, the seedling substrate ratio and the like as influence factors, and taking the clamping force of the seedling taking claw on the seedling pot as an optimization target to obtain an optimal influence factor horizontal combination; the structural appearance characteristics (pointer shape, tongue depressor shape, U-shaped shape) of the seedling taking claw, the water content of the seedling pot and the effect of improving the shearing resistance of the seedling root system to the substrate in the early growth stage of crops are researched by the warrior and the like, the integrity rate of the seedling pot is used as a test index, and the major and minor influence factors and the optimum level of the seedling taking claw structure, the water content of the seedling pot and the seedling age are obtained by an orthogonal test method. In the methods, the structure and the clamping parameters of the seedling taking claw are taken as test factors, and the proper structure and the proper clamping parameters of the seedling taking claw are obtained through a seedling taking test, but when a crop seedling is taken, damage is generated from the inside of a seedling pot, the generation and the expansion of a primary gap and a new gap in the seedling pot can not be directly observed when a clamping needle clamps the seedling pot, the relation between a root system and the damage can not be clarified, the design of a seedling taking mechanism lacks scientific theoretical basis, and the development of an automatic transplanting technology is restricted.
The CT technology is successful in the medical research fields of bone microstructure, blood vessel imaging and the like, and can realize three-dimensional reconstruction of microscopic images of internal structures and extraction of medical morphological parameters. Because the CT technology has the characteristic of nondestructive detection of the internal structure of an object, research has been carried out on the growth condition of a crop root system in soil by using the technology, for example, Richard J and the like plant spring wheat in cylindrical barrels with different phosphate fertilizer supply modes, Micro-CT is used for scanning the soil at the root of the spring wheat, a cross-sectional picture obtained by scanning is led into Volume Graphics studio Max version 2.1 software, an area growth tool in the software is used for adjusting an image threshold value, the root system is divided from the cross-sectional picture to generate a three-dimensional image, and the growth and development conditions of the root system under different phosphate fertilizer supply conditions are compared; saiorse R and the like respectively plant three different varieties of wheat in cylindrical barrels with soil compaction degrees of 1.1g/cm3 and 1.5g/cm3, scan the root systems of the wheat by using an X-ray CT technology on the 2 nd, 5 th and 12 th days after the wheat germinates, extract the root systems by using Volume Graphics studio Max version 2.0 software, and compare and analyze the total length and the Volume change of the root systems under the conditions of different varieties, soil compaction degrees and growth days and the change of pores in the soil along with the depth; on the basis, Saiorse R also utilizes an X-ray CT technology to carry out nondestructive testing on tomato seedlings growing in different soils (clay loam and sandy loam) and different soil compactibility (1.2g/cm3 and 1.6g/cm3), and scans every day from 1 day to 10 days after tomato seeds germinate to research the change conditions of root system volume, root area, main root length, average rhizome, root curvature and the like. The technical difficulties of the researches mainly focus on how to divide, extract and three-dimensionally reconstruct the root system from the soil and how to measure the physical parameters of the root system. The CT technology is used for detecting the generation of internal damage of the crop seedling pot in the clamping process, and the difficulty is as follows: 1. when the clamping claws clamp the seedling pot, the clamping needles are inserted into the seedling pot and made of steel materials, the density difference between the clamping needles and the seedling pot is large, when the seedling pot in a clamped state is scanned by a CT (computed tomography) machine, the attenuation coefficients of the clamping needles and the seedling pot are different, and an artifact can be generated, so that a generated sectional picture is not clear, and the root system and the pores cannot be extracted from the seedling pot; 2. in order to avoid the harm of X-ray radiation to human bodies, CT scanning samples are required to be carried out in a closed space, crop seedlings and a seedling taking mechanism are required to be placed in a sample container with a certain size and shape, the seedling taking mechanism is required to meet the adjustment of structures and parameters such as a seedling taking angle, a clamping depth, a clamping amount, a clamping needle shape and the like, and a clamping seedling taking mechanism which can realize the functions and can be used for CT scanning is required to be designed; 3. in the tomographic picture generated by scanning, a lot of noises are generated, and meanwhile, a lot of small pores are distributed in the seedling pot, and the pores and the noises cannot be distinguished, so that the visual effect of the three-dimensional pore image in the tomographic picture is influenced.
Disclosure of Invention
The invention aims to explore the process of generating and forming internal damage of seedling bowls in the process of clamping and taking seedlings of crop seedlings, and provides a method and a device for detecting the damage of the seedling bowls in the process of clamping and taking the seedlings of the crop seedlings based on a CT technology.
The invention provides a clamping seedling taking device for scanning CT crop seedlings, which comprises a base, a support column, a cover plate, a slide block, a seedling taking arm, a clamping screw, a clamping nut and a clamping needle, wherein the support column is arranged on the base; the base is in a concentric ring shape; the cover plate is circular; the supporting column is connected with the circular ring base at the lower part and the circular cover plate at the upper part; the base and the cover plate are parallel to each other; the sliding block is fixed on the bottom surface of the cover plate through a screw which penetrates out of the long slotted hole in the cover plate; seedling taking arms are hinged below the sliding blocks and are connected through clamping screws and clamping nuts; a clamping needle is fixed in the through hole below the seedling taking arm; two ends of the clamping screw penetrate through the through hole groove on the seedling taking arm; the two ends of the clamping screw are matched with the clamping nut through threads; the clamping nut penetrates through the through hole groove in the seedling taking arm, and the two ends of the clamping nut block the through hole groove.
In the device, two clamping needles are arranged below each seedling taking arm, and the two clamping needles are symmetrically distributed.
In the device, the material density of the clamping needle is 1.1-1.9 times of the seedling pot density of the crop seedling.
In the above device, the number of the support columns is 3.
The invention provides a seedling pot damage detection method in a crop seedling clamping and seedling taking process based on a CT technology, which comprises the following steps:
s1, manufacturing a crop seedling clamping and taking device for CT scanning: seedling device is got by the base to crop seedling centre gripping, the support column, the apron, the slider, get the seedling arm, press from both sides and get the screw rod, press from both sides and get the nut and press from both sides the needle and constitute, the base is concentric ring shape, the apron is circularly, connect base and the apron on upper portion of lower part with the support column, base and apron are parallel to each other, the screw is through the slotted hole on the apron, two fixed sliders in the apron below, it gets the seedling arm to articulate one on every slider, get between the seedling arm with one press from both sides to get the screw rod and two press from both sides to get the nut and connect, it is fixing the double-layered needle of two.
S2, manufacturing a seedling box for placing crop seedlings: the seedling box is made by even thin-walled material, and the outside is cylindrical, and inside is the shape of invering quadrangular frustum pyramid, and the size of invering quadrangular frustum pyramid is the same with the size of the seedling alms bowl of vegetables cave dish seedling, and the wall thickness of seedling box is 1 ~ 3 mm.
S3, scanning of the crop seedlings in different clamping states: scanning the plug seedlings in a state that the seedling pots are not inserted into the clamping needles, in a state that the seedling pots are inserted into the clamping needles and in a state that the clamping needles are clamped to the maximum displacement, wherein the scanning in different clamping states needs to be continuously carried out, namely, the scanning in the next state needs to be carried out immediately after the scanning in one state is finished; the scanning from the state that the seedling pot is inserted into the clamping needle to the state that the clamping needle is clamped to the maximum displacement can be decomposed into the scanning under different clamping displacement amounts of the clamping needle.
S4, pore extraction in the seedling pot: averaging all pore threshold values read in an operating system of a CT scanner to obtain an average pore threshold value range of 0-N, executing a segmentation extraction command on all tomograms, setting the threshold value range in the segmentation extraction command to be N + 1-1000 to obtain a three-dimensional visual graph of other substances in the seedling pot except pores, executing a maximum object extraction command on the generated three-dimensional graph, finally performing attribute setting on the three-dimensional image, setting the object attribute in the three-dimensional image to be 0, setting the attribute of a background to be a numerical value larger than 0, and generating a visible object again to be the pores.
In the method, the density of the material of the clamping needle in the step S1 is 1.1-1.9 times of the density of the seedling pot of the crop seedling.
In the above method, in the step S1, the base, the supporting pillar, and the cover are made of PVC material.
In the method, the material density of the seedling box in the step S2 is lower than the seedling pot density of the crop seedling.
The invention has the following specific beneficial effects: the CT scanner is used for carrying out tomography scanning on the plug seedlings of the crops in different clamping states, the holes in the seedling pots are divided, extracted and three-dimensionally visualized, the generation and the expansion of new holes and gaps in the seedling pots are researched, and theoretical basis is provided for the structural design of the seedling taking end effector and the selection of clamping parameters.
Drawings
FIG. 1 is a schematic view of a seedling holding and taking device and a seedling box of a crop seedling placed in a sample container;
FIG. 2 is a schematic view of a structure of a device for holding and taking seedlings of crops;
FIG. 3 is a side view schematic of the structure of FIG. 2;
FIG. 4 is a schematic top view of the structure of FIG. 2;
FIG. 5 is a schematic sectional view A-A of FIG. 2;
FIG. 6 is a schematic sectional view of the seedling box;
FIG. 7 is a schematic top view of the structure of FIG. 6;
FIG. 8 is a three-dimensional visual graph of the pores obtained by dividing and extracting crop seedling pots by the method of the invention;
fig. 9 is a three-dimensional visualization graph of the pores obtained by direct pore segmentation and extraction of crop seedling pots.
The labels in the figure are: 1: a base; 2: a support pillar; 3: a cover plate; 4: a slider; 5: taking a seedling arm; 6: clamping a screw; 7: clamping a nut; 8: clamping a needle; 9: seedling boxes; 10: a sample container; 5-1: a through hole; 3-1: a long slot hole.
Detailed Description
The following will further explain the implementation process of the present invention by taking the seedling pot damage detection in the tomato plug seedling clamping and seedling taking process as an example with reference to the attached drawings.
S1 tomato plug seedling clamping and taking device for CT scanning
When using a CT scanner to perform tomography scanning on the tomato plug seedlings, the tomato plug seedlings and the clamping seedling taking device must be placed in a sample container 10 of the CT scanner, as shown in FIG. 1, the internal space of the sample container 10 of the CT scanner is cylindrical, and the diameter is
The height is 10cm, therefore, the tomato plug seedling clamping and taking device is designed, as shown in figures 2, 3, 4 and 5, the tomato plug seedling clamping and taking device comprises a base 1, a support column 2, a cover plate 3, a slide block 4, a seedling taking arm 5 and a clampThe seedling taking device comprises a screw taking rod 6, a clamping nut 7 and clamping needles 8, wherein a base 1 is in a concentric ring shape, a cover plate 3 is in a circular shape, the base 1 at the lower part and the cover plate 3 at the upper part are connected through a support column 2, the base 1 and the cover plate 3 are parallel to each other, the screw passes through a long slotted hole 3-1 in the cover plate 3, two sliding blocks 4 are fixed below the cover plate 3, a seedling taking arm 5 is hinged on each sliding block 4, the two seedling taking arms 5 are connected through the clamping screw rod 6 and the clamping nuts 7, and the two clamping needles 8 which are symmetrically distributed are fixed in a through hole 5-1 below each seedling taking arm 5; two ends of the clamping screw penetrate through the through hole grooves in the seedling taking arms, threads with the same size are arranged at two ends of the clamping screw 6, the directions of the threads at the two ends are opposite, two ends of the clamping screw are matched with the clamping nut through the threads, the clamping screw is rotated to drive the clamping nut to linearly move along the clamping screw, the clamping nut penetrates through the through hole grooves in the seedling taking arms, and two ends of the clamping nut block the through hole grooves, so that the seedling taking arms can be driven to rotate around a hinge point with the cover plate when the clamping nut linearly moves, and the two seedling taking arms are tightened or opened; in order to avoid image interference caused by the fact that the density of materials for clamping and taking each part of the seedling device is obviously higher than that of a seedling pot during scanning and to avoid generated fault pictures from being unclear, the base, the supporting columns and the cover plate are made of PVC materials; in order to avoid image interference caused by the fact that the material density of the clamping needles inserted into the seedling pots is obviously higher than that of the seedling pots, and meanwhile, the clamping needles in the generated sectional pictures are obviously different from all components in the seedling pots, the material density of the clamping needles should be larger than that of the seedling pots of the tomato plug seedlings, but the density difference cannot be too large, otherwise, the image interference is caused, the generated sectional pictures are not clear, meanwhile, the clamping needles need to keep certain hardness, the clamping needles can reliably clamp the seedling pots, and the material of the clamping needles can be glass fiber or aluminum alloy.
S2 seedling box for placing tomato plug seedlings
In order to obtain the tomograms of the seedling pot at the same position and angle in different clamping states and analyze the change of pores in the two-dimensional picture, the seedling pot needs to keep the same spatial position during each CT scanning, and a seedling box 9 for placing the tomato plug seedlings is designed for the purpose, as shown in fig. 6 and 7. Seedling box 9 is made by even thin-walled material, and the outside is cylindrically, and inside is the shape of inversion quadrangular frustum pyramid, and the size of inversion quadrangular frustum pyramid is the same with the size of the seedling alms bowl of tomato plug seedling, and the image interference that causes in order to avoid the material density of seedling box to be obviously higher than seedling alms bowl density, and X ray can comparatively easy pierce through seedling box simultaneously, and the wall thickness of seedling box should be as thin as possible, and the wall thickness of seedling box sets up to 1 ~ 3mm, and the material density of seedling box is less than the seedling alms bowl density of tomato plug seedling.
S3 scanning different tomato plug seedlings in clamping states
Sequentially and respectively scanning the tomato plug seedlings in a state that the seedling pots are not inserted into the clamping needles, a state that the seedling pots are inserted into the clamping needles and a state that the clamping needles are clamped to the maximum displacement; firstly, putting seedling pots into a seedling box, placing the seedling box into a vegetable plug seedling clamping and taking device through an inner ring of a base, then placing the seedling box and the tomato plug seedling clamping and taking device into a sample container of a CT scanner together, and carrying out tomography scanning on the seedling pots; after the scanning is finished, the seedling box and the vegetable plug seedling clamping and taking device are taken out of the sample container, the clamping needle is inserted into the seedling pot through a through hole below the seedling taking arm, and then the seedling box and the vegetable plug seedling clamping and taking device are placed into the sample container for scanning; scanning the seedling pot in the clamping state by the same method; in order to reduce the influence of water evaporation on the three-dimensional imaging quality and pore distribution when the tomato plug seedling pots are placed for a long time in the scanning process, the scanning in different clamping states needs to be continuously carried out, namely, the scanning in the next state needs to be carried out immediately after the scanning in one state is finished; in order to enable the seedling pot tomograms generated by each scanning to have the same orientation, the relative positions of the seedling box, the tomato plug seedling clamping and taking device and the sample container are always kept unchanged during each scanning; in order to be beneficial to analyzing the space distribution change process of the root system and the pores inside the seedling pot in the clamping process, the scanning from the state that the seedling pot is inserted into the clamping needle to the state that the clamping needle is clamped to the maximum displacement can be decomposed into the scanning under different clamping displacement of the clamping needle.
S4, pore extraction in seedling pot
In a tomographic image generated by scanning, directly distinguishing a region where pores are located, drawing a closed loop line for any pore, reading a threshold value in the drawn closed loop line region in a CT scanner operating system, distinguishing any pore region in other tomographic images by adopting the same method, drawing a closed loop line for any pore, reading a threshold value of a pore in the closed loop line, averaging all the read pore threshold values, and obtaining an average threshold value range of the pore, wherein the average threshold value range of the pore is 0-15; executing a segmentation and extraction command on all the tomograms, setting a threshold range in the segmentation and extraction command to be 16-1000, obtaining a three-dimensional visual graph of other substance bodies in the seedling pot without pores, wherein the generated three-dimensional graph not only comprises seedling culture substrates and root systems which are connected together, but also comprises a large number of tiny discrete points which are formed by noise in the tomograms, executing an extraction maximum object command on the generated three-dimensional graph, so that small discrete points in the three-dimensional graph are removed, finally, performing attribute setting on the three-dimensional image, setting the object attribute in the three-dimensional image to be 0, setting the attribute of a background to be a numerical value which is larger than 0, wherein the object becomes transparent, the background color becomes a visible object, and the regenerated visible object is the pores.
Effect of CT scan
The test is carried out in the laboratory of the institute of agricultural and agricultural equipment engineering college of Jiangsu university, the computer tomography image scanning equipment used in the implementation process of the test is SCANCO MEDICA L μ CT100 produced by Switzerland SCANCO Medical AG company, and during scanning, the tomato plug seedlings, the clamping seedling taking device and the seedling box are placed in the inner volume with the diameter and the height respectively being
In a 10cm sample container, the scanning parameters of the CT scanner are set as 70kVp voltage, 50 muA current, 200ms integration time and 45μm resolution, and a scanning filter is set as an aluminum filter, after the scanning is finished, the obtained seedling pot tomogram is processed by using the operating system of the CT scanner and an IP L language (imaging language), a closed loop line is drawn for the aperture in the tomogram by using a framing tool, the threshold value in the closed loop line is read in the operating system of the CT scanner, the same operation is carried out on other tomograms to obtain the aperture threshold values in the tomograms, and the aperture threshold values are takenAverage value; deleting all closed loop lines drawn for the holes, and drawing closed contour lines for the seedling pots in the tomogram by using a frame selection tool and a contour automatic selection tool; the operation described in step S4 is performed on all the tomograms, and a three-dimensional pore figure is generated. In order to compare the effects of the generated three-dimensional pore graphics, segmentation and extraction commands are executed on all the tomograms, the threshold value range in the segmentation and extraction commands is set to be 0-15, and the three-dimensional visible pore graphics are directly generated. As shown in fig. 8 and 9, it can be seen that the threshold is set to be 0-15, and the directly generated three-dimensional pore graphs contain a large amount of noise, so that the distribution of pores inside the seedling pot cannot be seen.
For detecting the damage of the seedling pot for clamping and taking the other crop seedlings, the method for detecting the damage of the seedling pot for clamping and taking the tomato plug seedling can be referred to.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (3)
1. A seedling pot damage detection method in a crop seedling clamping and seedling taking process based on a CT technology is characterized by comprising the following steps:
s1, manufacturing a crop seedling clamping and taking device for CT scanning: the crop seedling clamping and taking device comprises a base (1), a support pillar (2), a cover plate (3), a slide block (4), a seedling taking arm (5), a clamping screw (6), a clamping nut (7) and a clamping needle (8); the base (1) is in the shape of a concentric ring; the cover plate (3) is circular; the supporting column (2) is connected with the circular ring base (1) at the lower part and the circular cover plate (3) at the upper part; the base (1) and the cover plate (3) are parallel to each other; the sliding block (4) is fixedly connected to the bottom surface of the cover plate through a screw penetrating through a long slotted hole (3-1) in the cover plate; the seedling taking arm (5) is hinged with the sliding block (4); threads are arranged at two ends of the clamping screw (6), and two ends of the clamping screw (6) penetrate through the through hole groove of the seedling taking arm (5); the two ends of the clamping screw rod (6) are in threaded fit with the clamping nut (7); the clamping nut (7) penetrates through the through hole groove of the seedling taking arm, and two ends of the clamping nut (7) block the through hole groove; when the clamping screw rod (6) rotates, the clamping nut (7) can be driven to do linear motion, and then the seedling taking arm (5) is driven to rotate around a hinge point with the sliding block (4), so that the seedling taking arm (5) is tightened or loosened; two clamping needles (8) are fixed in the through holes (5-1) below the seedling taking arms (5);
s2, manufacturing a seedling box for placing crop seedlings: the seedling box (9) is made of a uniform thin-wall material, the outer wall of the seedling box is cylindrical, the inner wall of the seedling box is in an inverted quadrangular frustum pyramid shape, the size of the inverted quadrangular frustum pyramid is matched with that of a seedling pot of the vegetable plug seedling, and the wall thickness of the seedling box is 1-3 mm;
s3, carrying out tomography scanning on the crop seedlings in different clamping states: scanning the plug seedlings in three states of a seedling pot non-insertion needle clamping state, a seedling pot insertion needle clamping state but a needle clamping non-clamping state and a needle clamping state to the maximum displacement state sequentially and respectively, decomposing the scanning from the seedling pot insertion needle clamping state to the maximum displacement state into scanning under different needle clamping displacement amounts, and continuously scanning under different needle clamping states, namely immediately scanning in the next state after scanning in one state;
s4, pore extraction in seedling pots: reading all pore thresholds in an operating system of a CT scanner, averaging to obtain an average threshold range of the pores from 0 to N, executing a segmentation extraction command on all tomograms, setting the threshold range in the segmentation extraction command to be N +1 to 1000, obtaining a three-dimensional visual graph of other substances in the seedling pot except the pores, executing a maximum object extraction command on the generated three-dimensional graph, finally performing attribute setting on the three-dimensional graph, setting the object attribute in the three-dimensional graph to be 0, setting the attribute of a background to be a numerical value larger than 0, and re-generating a visible object which is the pores;
the detection method is realized based on the following detection device,
the material density of the clamping needle (8) of the detection device is 1.1-1.9 times of the seedling pot density of the crop seedling;
the number of the supporting columns (2) of the detection device is 3.
2. The method for detecting damage of the seedling pot in the clamping and seedling taking process of the crop seedlings based on the CT technology as claimed in claim 1, wherein in the step S1, the base (1), the supporting column (2) and the cover plate (3) are made of PVC materials.
3. The method for detecting the damage of the seedling pot in the clamping and seedling taking process of the crop seedlings based on the CT technology as claimed in claim 1, wherein the material density of the seedling box (9) in the step S2 is lower than the seedling pot density of the vegetable plug seedlings.
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