A CT-based method for detecting damage to seedling pots of crop seedlings

Abstract

The invention discloses a seedling pot damage detection method and device in a crop seedling clamping and taking process on the basis of CT (computed tomography) technology. The method comprises the following steps: making a seedling clamping and taking device, making a seedling box for placing crop seedlings, scanning the crop seedlings in different clamping and taking states, and extracting pores in the seedling pot. The seedling clamping and taking device is prepared by the following steps: a support column is connected with a pedestal and a cover plate; a slider is fixed to the bottom surface of the cover plate, and hinged with a seedling taking arm; the lower end of the seedling taking arm is fixed with clamping pins; and both ends of a clamping and taking screw rod penetrate out of the seedling taking arm and form a thread fit with a nut to implement the tightening or expansion of the clamp pins. The seedling box is prepared by the following steps: the outer wall is cylindrical, the inner wall is an inverted square frustum pyramid, and the size is matched with that of the hole tray seedling pot. The CT scanner is utilized to perform computed tomography on the crop hole tray seedlings in different clamping and taking states, performs extraction and three-dimensional visualization on the pores in the seedling pot, and researches the generation and expansion of new pores and gaps inside the seedling pot, thereby providing references for the seedling taking end effector structural design and clamping parameter selection.

Description

Technical field [0001] The invention belongs to the field of transplanting crop seedlings, in particular to a method and device for detecting the damage of the seedling bowl during the process of clamping and taking the seedlings of the crop seedlings based on the CT technology. Background technique [0002] When crop seedlings are automatically taken and transplanted with a transplanter, the seedling claws are mainly used to clamp the seedling bowl to take out the crop seedlings. When taking seedlings in this way, if the seedling angle, clamping depth and clamping amount of the claws are taken Improper selection of picking parameters and seedling claw structure will cause the seedling pot to be broken or the crop seedlings cannot be reliably picked out, resulting in seedling picking failure. In response to this problem, Han Lvhua et al. tested the success rate of seedling extraction under different clamping parameters (clamping angle, clamping force and clamping deformation) of ...

AI Technical Summary

Problems solved by technology

Using CT technology to detect the internal damage of crop seedling pots during the clamping process, the difficulties are: 1. When the clamping claws are clamping the seedling pots, the clamping pins must be inserted into the seedling pots. The clamping pins are made of steel materials. The density of the clamping needle and the seedling pot is very different. When the CT machine is used to scan the clamped seedling pot, the attenuation coefficients of the clamping needle and the seedling pot are different, which will produce artifacts, resulting in unclear tomographic images. The root system and pores cannot be extracted from the seedling pot; 2. In order to avoid the harm of X-ray radiation to the human body, the CT scan samples must be carried out in a closed space, and the crop seedlings and seedling collection institutions should be placed in a sample of a certain size and shape In the container, the seedling picking mechanism should meet the adjustment of the structure and parameters such as seedling picking angle, gripping depth, gripping amount, pinch shape, etc., and it is necessary to design a gripping seedling picking mechanism that realizes these functions and can be used for CT scanning; 3 1. In the tomographic image generated by scanning, a lot of noise will be generated. At the same time, there are many small pores distributed in the seedling pot. These pores and noise cannot be distinguished, which will affect the visual effect of the three-dimensional image of the pores in the tomographic image.

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