Research And Application Of Automatic Bacteria Collection Control System

At present,the operation of collecting bacteria mainly relies on manual work.Its main problems are:the operation process is tedious,the efficiency is low,and it is easy to occur secondary contamination in the process of drug transfer.To provide a solution for manual enrichment and sub-packing of ampoule samples in enterprises at this stage,so as to reduce the probability of false positive bacteria and false negative bacteria caused by misoperation.From the source to reduce the drug contamination caused by the errors in the aseptic testing process.Improving the working environment of technical personnel and the efficiency of enrichment and packaging.This paper aims at developing a new type of control system of automatic bacteria collection operating system and studying the whole control process and algorithm.The main contents of this paper are as follows:1.This paper analyzed the development situation of domestic and foreign bacterium-gathering system and introduced the deficiency of artificial bacterium-gathering system,and put forward the concept of automatic bacterium-collecting operating system.2.Puting forward the scheme of automatic bacteria collection and packaging operating system.The specific operation flow of automatic bacteria collection system was designed and the working efficiency was optimized.Making the control system scheme of the automatic collection system,and designing and developing the automatic collection control system according to the control scheme.3.In the process of bacteria collection,obstacles exist in the environment when the robot transfers the culture medium bottle.In order to avoid collision between the robot and obstacles,barrier-free path planning should be carried out for the robot.Firstly,the path method of manual teaching robot was introduced,and then the path of teaching was simply optimized.Because human teaching path was arbitrary,it could not achieve the effect of the optimal path.So an improved particle swarm optimization(PSO)algorithm was proposed.The algorithm was used for robot path planning.The concept,principle,advantages and implementation steps of the algorithm were explained in detail.Finally,the path planning of standard particle swarm optimization and improved particle swarm optimization were simulated and compared by using MATLAB software.4.On the basis of generating a series of discrete points in the collision-free path,in order to minimize the movement time of the robot,it was necessary to plan the movement path of the robot.Firstly,mathematical modeling of SCARA robot was established and the improved B-spline curve was used to simulate the smooth trajectory of all the value points in the space.Then,an improved genetic algorithm was proposed to solve the shortcomings of the traditional genetic algorithm in the robot motion trajectory planning.Finally,MATLAB program was written to verify that the improved genetic algorithm could achieve the shortest robot motion time.5.Software design and field test of automatic bacterium-collecting operating system.Writing corresponding control program for ampule bottle breaking module and robot action.It was verified in the field environment that the designed automatic collection control system can realize the function of automatic enrichment and sub-packing of ampoule liquid.