CN111693551B - Nondestructive measurement device and method for three-dimensional characters of rice plants and roots - Google Patents
Nondestructive measurement device and method for three-dimensional characters of rice plants and roots Download PDFInfo
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Abstract
The invention relates to a device and a method which are suitable for agricultural scientific researchers to simultaneously obtain three-dimensional morphological parameters of rice plants and rice roots in rice cultivation and genetic breeding research. The CT detection device mainly comprises a ray source, a flat panel detector, a carrying rotary table, a lifting module, a roller conveying line, a precision motion controller and 7 functional modules of a computer system; the invention adopts a roller conveyor line to convey and move a sample to be detected from a planting area to a detection area, realizes automatic positioning rotation of potted plants and automatic lifting of a ray source flat panel detector through a precise motion controller so as to obtain visible light images of overground plants and X-ray tomographic images of underground root systems at different angles and heights, then obtains three-dimensional reconstruction data of rice plants and root systems through a motion recovery algorithm SFM and a cone beam FDK algorithm, obtains three-dimensional model data of the whole rice plant through a fusion algorithm, and performs character analysis.
Description
Technical Field
The invention belongs to the field of machine vision detection technology and digital agriculture, and particularly relates to a nondestructive measuring device and method for three-dimensional characters of rice plants and roots.
Background
The rice root system plays an important role in the growth of rice plants. The rice root system is not only the organ of rice plant for absorbing water and nutrition, but also the synthesis site of various hormones and amino acids. The rice root system influences the ecological environment of plant soil microorganisms by secreting plant hormones, organic acids and other substances. The related characters and the yield of the root system are closely related, and the structure of the root system can influence the effective utilization of the whole plant to the nutrient resources in the soil. The structure of the root system indirectly influences the yield of the rice to a great extent, so that the research on the phenotype of the rice root system has very important theoretical and practical significance.
Traditional rice root system research mostly relies on artifically, dig out rice root system from soil and measure after cleaning, obtain some property parameters such as the length of root system, diameter and relevant biomass, this kind of traditional method consumes the labour very much, the cost of labor is too high, and is inefficient, also have the damage to rice root system, manual measurement can lead to measuring error big because of measurement personnel's subjective consciousness when data bulk is big, manual measurement is difficult to carry out dynamic measurement to the rice root system of full growth phase in addition.
Disclosure of Invention
The invention aims to overcome the defects and provides a nondestructive measuring device and a nondestructive measuring method for three-dimensional characters of rice plants and root systems. The technical scheme of the invention is as follows:
the utility model provides a rice plant and three-dimensional property nondestructive measurement device of root system which characterized in that: the device comprises a first lifting module 8, a second lifting module 9, a carrying rotary table 5, a translation module 6, a CT ray source 3, a flat panel detector 4, a visible light sensor 11, a roller conveying line 7, a precision motion controller 2 and a computer system 1; the first lifting module 8, the second lifting module 9, the carrying rotary table 5 and the translation module 6 are all driven by servo motors, and each motion mechanism can be independently positioned and moved and can also be linked; the visible light sensor 11 is used for acquiring 2D plane images of rice plants at different angles; the CT ray source 3 is used for providing a stable X-ray beam, and the flat panel detector 4 is used for collecting a CT fault plane array image; the roller conveying line 7 is used for conveying the rice pot plants 10 to a specified detection position; the precise motion controller 2 is used for carrying out drive control on the first lifting module 8, the second lifting module 9, the carrying rotary table 5 and the translation module 6, and the computer system 1 realizes automatic acquisition of CT images, automatic acquisition of visible light images, reconstruction of visible light images SFM3D, automatic reconstruction of CT images, three-dimensional modeling and correction of whole plants, extraction of plant phenotype characters, extraction of root system phenotype characters, storage management of images and data, automatic communication control of a lower computer and full-automatic receiving and processing of information of the whole system.
Specifically, the computer system 1 has a built-in measurement system, and the measurement system specifically includes:
the hardware control module is used for realizing the communication between the computer system 1 and the precision motion controller 2; sending a control command to the precision motion controller 2 through the computer system 1, and further controlling the roller conveyor line 7 to perform a potted rice conveying function; meanwhile, the first lifting module 8, the second lifting module 9 and the carrying rotary table 5 are driven by the precise motion controller 2, so that the angle rotation and the height lifting of the rice pot plant are precisely controlled;
the image acquisition module is used for acquiring root system sectional images of the rice potting 10 through the flat panel detector 4 after the rice potting 10 rotates by an angle and is lifted by a height, so as to control the ordered coordinated operation of the CT ray source 3, the flat panel detector 4, the carrying rotary table 5, the first lifting module 8 and the second lifting module 9;
the image processing module is used for reconstructing the acquired rice root system tomograms through an FDK algorithm and processing the reconstructed images; the system is also used for performing three-dimensional reconstruction on the 2D images of the rice pot plants 11 under different angles acquired by the visible light sensor 11 through a motion recovery structure algorithm (SFM), and then performing three-dimensional point cloud analysis on the reconstructed rice plant images; and the system is also used for fusing the rice root system three-dimensional data model obtained by the FDK algorithm with the rice plant three-dimensional data model obtained by the motion recovery structure algorithm SFM to obtain a three-dimensional model of the whole rice plant, performing visual analysis on the three-dimensional model of the whole plant, performing effect test and correction through a standard sample, calculating plant type parameters and root system character parameters, and outputting and displaying the result.
Specifically, the CT ray source 3 is connected with the second lifting module 9, the flat panel detector 4 is connected with the first lifting module 8, and the CT ray source 3 and the flat panel detector 4 are synchronously lifted and lowered by the precision motion controller 2.
Specifically, the roller conveying line 7 is used for conveying the rice potted plants 10 between the planting area 13 and the carrying rotary table 5; the roller conveying line 7 comprises a stainless steel roller 15, so that the transmission of the rice pot plant 10 is realized; the stainless steel roller 15 adopts a rubber-coated structure and is used for increasing the friction force and providing stable power for the transmission of the rice pot 10; the roller conveying line 7 also comprises a positioning sensor 14 which adopts a metal proximity switch to sense the bottom edge of the bottom support of the rice potting 10 so as to realize the positioning of the rice potting 10; the roller conveyor line 7 also contains a powered motor 16.
A nondestructive measurement method for three-dimensional characters of rice plants and roots adopts the nondestructive measurement device for the three-dimensional characters of the rice plants and the roots, and is characterized by comprising the following steps:
and 6, conveying the rice pot plants 10 to a planting area by a roller conveying line 7.
Specifically, in the step 5, the plant traits and the root system three-dimensional traits of the rice potted plant 10 are calculated, and the following steps are specifically adopted:
step 51, testing various performance indexes of the CT system and the visible light sensor by using a standard sample, and calibrating various parameters of system reconstruction;
step 52, collecting 2D images of single-pot rice potted plants at all angles on the basis of completing the calibration of all performance index parameters, firstly segmenting visible light images through deep learning, extracting visible light images of the rice plants after removing backgrounds, and then realizing three-dimensional point cloud reconstruction of the rice plants based on a motion recovery structure algorithm SFM;
step 53, acquiring projection pictures of the single-pot rice potted plant root system at various angles and heights on the basis of calibration of various performance index parameters, and acquiring a three-dimensional rice root system reconstruction image based on a CT reconstruction FDK algorithm;
step 54, respectively obtaining three-dimensional model structures of the rice plants and the root systems on the basis of the obtained three-dimensional reconstruction data of the rice plants and the root systems, and then constructing a three-dimensional data model of the whole overground and underground rice plants on the basis of a three-dimensional model fusion algorithm;
step 55, carrying out effect test and correction on the constructed three-dimensional model of the whole rice plant through a standard sample, and then measuring and calculating plant type parameters and root system character parameters; plant type parameters include: plant height, leaf angle, plant compactness, leaf number, leaf area, biomass and rice ear biomass; root system trait parameters include: maximum root length, maximum root width, minimum root width, root length-to-width ratio, root surface area, root volume, circumscribed convex hull volume, average root number, maximum root number, root area/volume ratio, root volume/convex hull volume ratio, and the like;
and 56, outputting and displaying the three-dimensional model of the whole rice plant, and the obtained plant type parameters and root system character parameters.
Specifically, in step 51, the performance indexes of the CT system and the visible light sensor specifically include an imaging angle, a resolution, a pitch angle, an object distance, a single rotation angle of the rotating table, a determination of a spatial magnification of the CT system, a field of view FOV, a system spatial resolution, a system uniformity test, a system density resolution test, a radiation source divergence angle, a radiation source voltage, a radiation source current, a projection rotation angle, a central point position, and a distance from an object to a radiation source.
Through the technical scheme, the invention has the following positive technical effects: the method has the advantages that the in-vivo lossless high-flux automatic measurement of the whole rice plant is realized, the method not only comprises a ground plant part, but also comprises an underground root system part, the measurement results of the two parts are fused and corrected to obtain an accurate whole plant three-dimensional model, and accurate plant type parameters and root system character parameters are obtained through measurement on the basis, so that higher efficiency and accuracy are obtained compared with the prior art.
Drawings
FIG. 1 is a schematic view of a full-automatic CT rice plant and root system three-dimensional character nondestructive measuring device
FIG. 2 is a schematic view of a stainless steel roller conveyor line structure
FIG. 3 turning schematic diagram of planting area
FIG. 4 is a flow chart of a full-automatic CT nondestructive measurement technique
FIG. 5 reconstructed images of rice plants
FIG. 6 image of rice root system after reconstruction
Detailed Description
The specific embodiment of the invention is as follows:
the utility model provides a rice plant and three-dimensional property nondestructive measurement device of root system which characterized in that: the device comprises a first lifting module 8, a second lifting module 9, a carrying rotary table 5, a translation module 6, a CT ray source 3, a flat panel detector 4, a visible light sensor 11, a roller conveying line 7, a precision motion controller 2 and a computer system 1; the first lifting module 8, the second lifting module 9, the carrying rotary table 5 and the translation module 6 are all driven by servo motors, and each motion mechanism can be independently positioned and moved and can also be linked; the visible light sensor 11 is used for acquiring 2D plane images of rice plants at different angles; the CT ray source 3 is used for providing a stable X-ray beam, and the flat panel detector 4 is used for collecting a CT fault plane array image; the roller conveying line 7 is used for conveying the rice pot plants 10 to a specified detection position; the precise motion controller 2 is used for carrying out drive control on the first lifting module 8, the second lifting module 9, the carrying rotary table 5 and the translation module 6, and the computer system 1 realizes automatic acquisition of CT images, automatic acquisition of visible light images, reconstruction of visible light images SFM3D, automatic reconstruction of CT images, three-dimensional modeling and correction of whole plants, extraction of plant phenotype characters, extraction of root system phenotype characters, storage management of images and data, automatic communication control of a lower computer and full-automatic receiving and processing of information of the whole system.
Specifically, the computer system 1 has a built-in measurement system, and the measurement system specifically includes:
the hardware control module is used for realizing the communication between the computer system 1 and the precision motion controller 2; sending a control command to the precision motion controller 2 through the computer system 1, and further controlling the roller conveyor line 7 to perform a potted rice conveying function; meanwhile, the first lifting module 8, the second lifting module 9 and the carrying rotary table 5 are driven by the precise motion controller 2, so that the angle rotation and the height lifting of the rice pot plant are precisely controlled;
the image acquisition module is used for acquiring root system sectional images of the rice potting 10 through the flat panel detector 4 after the rice potting 10 rotates by an angle and is lifted by a height, so as to control the ordered coordinated operation of the CT ray source 3, the flat panel detector 4, the carrying rotary table 5, the first lifting module 8 and the second lifting module 9;
the image processing module is used for reconstructing the acquired rice root system tomograms through an FDK algorithm and processing the reconstructed images; the system is also used for performing three-dimensional reconstruction on the 2D images of the rice pot plants 11 under different angles acquired by the visible light sensor 11 through a motion recovery structure algorithm (SFM), and then performing three-dimensional point cloud analysis on the reconstructed rice plant images; and the system is also used for fusing the rice root system three-dimensional data model obtained by the FDK algorithm with the rice plant three-dimensional data model obtained by the motion recovery structure algorithm SFM to obtain a three-dimensional model of the whole rice plant, performing visual analysis on the three-dimensional model of the whole plant, performing effect test and correction through a standard sample, calculating plant type parameters and root system character parameters, and outputting and displaying the result.
Specifically, the CT ray source 3 is connected with the second lifting module 9, the flat panel detector 4 is connected with the first lifting module 8, and the CT ray source 3 and the flat panel detector 4 are synchronously lifted and lowered by the precision motion controller 2.
Specifically, the roller conveying line 7 is used for conveying the rice potted plants 10 between the planting area 13 and the carrying rotary table 5; the roller conveying line 7 comprises a stainless steel roller 15, so that the transmission of the rice pot plant 10 is realized; the stainless steel roller 15 adopts a rubber-coated structure and is used for increasing the friction force and providing stable power for the transmission of the rice pot 10; the roller conveying line 7 also comprises a positioning sensor 14 which adopts a metal proximity switch to sense the bottom edge of the bottom support of the rice potting 10 so as to realize the positioning of the rice potting 10; the roller conveyor line 7 also contains a powered motor 16.
A nondestructive measurement method for three-dimensional characters of rice plants and roots adopts the nondestructive measurement device for the three-dimensional characters of the rice plants and the roots, and is characterized by comprising the following steps:
and 6, conveying the rice pot plants 10 to a planting area by a roller conveying line 7.
Specifically, in the step 5, the plant traits and the root system three-dimensional traits of the rice potted plant 10 are calculated, and the following steps are specifically adopted:
step 51, testing various performance indexes of the CT system and the visible light sensor by using a standard sample, and calibrating various parameters of system reconstruction;
step 52, collecting 2D images of single-pot rice potted plants at all angles on the basis of completing the calibration of all performance index parameters, firstly segmenting visible light images through deep learning, extracting visible light images of the rice plants after removing backgrounds, and then realizing three-dimensional point cloud reconstruction of the rice plants based on a motion recovery structure algorithm SFM;
step 53, acquiring projection pictures of the single-pot rice potted plant root system at various angles and heights on the basis of calibration of various performance index parameters, and acquiring a three-dimensional rice root system reconstruction image based on a CT reconstruction FDK algorithm;
step 54, respectively obtaining three-dimensional model structures of the rice plants and the root systems on the basis of the obtained three-dimensional reconstruction data of the rice plants and the root systems, and then constructing a three-dimensional data model of the whole overground and underground rice plants on the basis of a three-dimensional model fusion algorithm;
step 55, carrying out effect test and correction on the constructed three-dimensional model of the whole rice plant through a standard sample, and then measuring and calculating plant type parameters and root system character parameters; plant type parameters include: plant height, leaf angle, plant compactness, leaf number, leaf area, biomass and rice ear biomass; root system trait parameters include: maximum root length, maximum root width, minimum root width, root length-to-width ratio, root surface area, root volume, circumscribed convex hull volume, average root number, maximum root number, root area/volume ratio, root volume/convex hull volume ratio, and the like;
and 56, outputting and displaying the three-dimensional model of the whole rice plant, and the obtained plant type parameters and root system character parameters.
Specifically, in step 51, the performance indexes of the CT system and the visible light sensor specifically include an imaging angle, a resolution, a pitch angle, an object distance, a single rotation angle of the rotating table, a determination of a spatial magnification of the CT system, a field of view FOV, a system spatial resolution, a system uniformity test, a system density resolution test, a radiation source divergence angle, a radiation source voltage, a radiation source current, a projection rotation angle, a central point position, and a distance from an object to a radiation source.
Through the technical scheme, the invention has the following positive technical effects: the method has the advantages that the in-vivo lossless high-flux automatic measurement of the whole rice plant is realized, the method not only comprises a ground plant part, but also comprises an underground root system part, the measurement results of the two parts are fused and corrected to obtain an accurate whole plant three-dimensional model, and accurate plant type parameters and root system character parameters are obtained through measurement on the basis, so that higher efficiency and accuracy are obtained compared with the prior art.
The specific embodiments described in this application are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a rice plant and three-dimensional property nondestructive measurement device of root system which characterized in that: the device comprises a first lifting module (8), a second lifting module (9), a carrying rotary table (5), a translation module (6), a CT ray source (3), a flat panel detector (4), a visible light sensor (11), a roller conveying line (7), a precision motion controller (2) and a computer system (1); the first lifting module (8), the second lifting module (9), the carrying rotary table (5) and the translation module (6) are all driven by servo motors, and each motion mechanism can be independently positioned and moved and can also be linked; the visible light sensor (11) is used for acquiring 2D plane images of rice plants at different angles; the CT ray source (3) is used for providing a stable X-ray beam, and the flat panel detector (4) is used for acquiring a CT fault plane array image; the roller conveying line (7) is used for conveying the rice pot plants (10) to a designated detection position; the precise motion controller (2) is used for performing drive control on the first lifting module (8), the second lifting module (9), the carrying rotary table (5) and the translation module (6), and synchronous rising and falling of the CT ray source (3) and the flat panel detector (4) are realized through the precise motion controller (2); the computer system (1) realizes automatic acquisition of CT images, automatic acquisition of visible light images, reconstruction of visible light images SFM3D, automatic reconstruction of CT images, three-dimensional modeling and correction of whole plants, extraction of plant phenotype characters, extraction of root system phenotype characters, storage management of images and data, automatic communication control of a lower computer and full-automatic receiving and processing of information of the whole system;
wherein, computer system (1) has built-in measurement system, and measurement system specifically includes:
the hardware control module is used for realizing the communication between the computer system (1) and the precision motion controller (2); sending a control command to the precision motion controller (2) through the computer system (1) so as to control the roller conveying line (7) to carry out the conveying function of the potted rice; meanwhile, the first lifting module (8), the second lifting module (9) and the carrying rotary table (5) are driven by the precise motion controller (2), so that the angle rotation and the height lifting of the rice pot plant are precisely controlled;
the image acquisition module is used for acquiring root system tomograms of the rice pot (10) through the flat panel detector (4) after the rice pot (10) rotates by an angle and is lifted by a height, so as to control the ordered coordinated operation of the CT ray source (3), the flat panel detector (4), the carrying rotary table (5), the first lifting module (8) and the second lifting module (9);
the image processing module is used for reconstructing the acquired rice root system tomograms through an FDK algorithm and processing the reconstructed images; the system is also used for carrying out three-dimensional reconstruction on the 2D images of the rice pot plant (10) under different angles acquired by the visible light sensor (11) through a motion recovery structure algorithm (SFM), and then carrying out three-dimensional point cloud analysis on the reconstructed rice plant image; and the system is also used for fusing the rice root system three-dimensional data model obtained by the FDK algorithm with the rice plant three-dimensional data model obtained by the motion recovery structure algorithm SFM to obtain a three-dimensional model of the whole rice plant, performing visual analysis on the three-dimensional model of the whole plant, performing effect test and correction through a standard sample, calculating plant type parameters and root system character parameters, and outputting and displaying the result.
2. The nondestructive measurement device for the three-dimensional character of the rice plant and the root system of the rice plant as claimed in claim 1, characterized in that:
the CT ray source (3) is connected with the second lifting module (9), the flat panel detector (4) is connected with the first lifting module (8), and the CT ray source (3) and the flat panel detector (4) are synchronously lifted and lowered through the precision motion controller (2).
3. The nondestructive measurement device for the three-dimensional character of the rice plant and the root system of the rice plant as claimed in claim 1, characterized in that:
the roller conveying line (7) is used for conveying the rice pot plants (10) between the planting area (13) and the carrying rotary table (5); the roller conveying line (7) comprises a stainless steel roller (15) and realizes the transmission of the rice pot culture (10); the stainless steel roller (15) adopts a rubber-coated structure and is used for increasing the friction force and providing stable power for the transmission of the rice pot culture (10); the roller conveying line (7) also comprises a positioning sensor (14), and a metal proximity switch is adopted to sense the bottom edge of the bottom support of the rice pot plant (10) so as to realize the positioning of the rice pot plant (10); the roller conveying line (7) also comprises a power motor (16).
4. A nondestructive measurement method for three-dimensional characters of rice plants and roots, which adopts the nondestructive measurement device for the three-dimensional characters of the rice plants and the roots as claimed in any one of claims 1 to 3, and is characterized in that the measurement method comprises the following steps:
step 1, conveying a rice pot (10) to a carrying rotary table (5) through a roller conveying line (7);
step 2, enabling the CT ray source (3) and the flat panel detector (4) to ascend and descend at the same height and enable the carrying rotary table to rotate at the same angle through the precision motion controller (2);
step 3, collecting 2D images of the rice pot plant (10) at different angles by a visible light sensor (11) when the angular rotation of the carrying rotary table (5) is suspended, and transmitting the images to the computer system (1);
step 4, collecting root system tomograms of the rice pot (10) by the flat panel detector (4) and transmitting the root system tomograms to the computer system (1) when the lifting module (8) and the second lifting module (9) rise at the same height and the carrying rotary table (5) rotate at the same angle and stop;
step 5, after the rice pot culture (10) is collected under all angles and heights, a measurement system of the computer system (1) is used for fusion treatment to obtain a whole rice three-dimensional model, visual analysis is carried out on the three-dimensional model, effect test and correction are carried out through a standard sample, plant characters and root system three-dimensional characters of the rice pot culture (10) are calculated, and results are stored and displayed;
and 6, conveying the rice pot plants (10) to a planting area by a roller conveying line (7).
5. The nondestructive measurement method for the three-dimensional character of the rice plant and the root system as claimed in claim 4, characterized in that: in the step 5, the plant character and the root system three-dimensional character of the rice pot plant (10) are calculated, and the following steps are specifically adopted:
step 51, testing various performance indexes of the CT system and the visible light sensor by using a standard sample, and calibrating various parameters of system reconstruction;
step 52, collecting 2D images of single-pot rice potted plants at all angles on the basis of completing the calibration of all performance index parameters, firstly segmenting visible light images through deep learning, extracting visible light images of the rice plants after removing backgrounds, and then realizing three-dimensional point cloud reconstruction of the rice plants based on a motion recovery structure algorithm SFM;
step 53, acquiring projection pictures of the single-pot rice potted plant root system at various angles and heights on the basis of calibration of various performance index parameters, and acquiring a three-dimensional rice root system reconstruction image based on a CT reconstruction FDK algorithm;
step 54, respectively obtaining three-dimensional model structures of the rice plants and the root systems on the basis of the obtained three-dimensional reconstruction data of the rice plants and the root systems, and then constructing a three-dimensional data model of the whole overground and underground rice plants on the basis of a three-dimensional model fusion algorithm;
step 55, carrying out effect test and correction on the constructed three-dimensional model of the whole rice plant through a standard sample, and then measuring and calculating plant type parameters and root system character parameters; plant type parameters include: plant height, leaf angle, plant compactness, leaf number, leaf area, biomass and rice ear biomass; root system trait parameters include: maximum root length, maximum root width, minimum root width, root aspect ratio, root surface area, root volume, circumscribed convex hull volume, average root number, maximum root number, root area/volume ratio, and root volume/convex hull volume ratio;
and 56, outputting and displaying the three-dimensional model of the whole rice plant, and the obtained plant type parameters and root system character parameters.
6. The nondestructive measurement method for the three-dimensional character of the rice plant and the root system as claimed in claim 5, characterized in that: in step 51, the performance indexes of the CT system and the visible light sensor specifically include an imaging angle, a resolution, a pitch angle, an object distance, a single rotation angle of the rotating table, a determination of a spatial magnification of the CT system, a field of view FOV, a system spatial resolution, a system uniformity test, a system density resolution test, a radiation source divergence angle, a radiation source voltage, a radiation source current, a projection rotation angle, a central point position, and a distance from an object to a radiation source.
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| CN112595367A (en) * | 2020-12-14 | 2021-04-02 | 武汉谷丰光电科技有限公司 | Rice root system property nondestructive measurement device based on intelligent robot |
| CN113295133A (en) * | 2021-05-17 | 2021-08-24 | 中国科学院东北地理与农业生态研究所 | Method for measuring root system angle of rice in field of soda saline-alkali soil |
| CN115152468A (en) * | 2022-07-26 | 2022-10-11 | 上海市农业科学院 | Device and method for acquiring underground phenotype of agricultural crop |
| CN115435715B (en) * | 2022-11-10 | 2023-01-13 | 山东省林业保护和发展服务中心 | Leaf area measuring device and measuring method for viburnum sargentii planting monitoring |
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