| With the development of biotechnology,it was a developing trend to use plant tissue culture technology to produce crops in factory.The operations for tissue culture plantlets were still being carried out manually,it needs a high labour input and high cost in plant tissue culture in manually transplanting plantlets.This had been a major constraint to the larger scale deployment of tissue culture,so,it was of great practical significance to study the automatic production technology of the tissue culture plantlets and develop the tissue culture plantlets transplant robot to replace the manual operation with mechanical production.On the basis of analyzing and comparing the mechanized methods of tissue culture plantlets transplantation in china and at abroad,through the analysis of the manual transplantation process,a vision-guided tissue culture plantlets transplant robot was developed in this paper,which recongnized the nodes of tissue culture seedling with machine vision technology.Identifying and locating nodes,the robot grasped,cut and inserted the tissue culture plantlet according to the position coordinates.The mechanical structure of robot was designed,the design of the robot body mechanism,the grasping mechanism,the cutting mechanism and the transmission mechanism were completed.The hardware of robot was carried out,including design,selection and integration of the robot control system.An embedded control scheme based on ARM+DSP architecture was proposed,which used STM32F103RCT6 microcontroller as core of motion control and TMS320DM642 as core of the machine vision,the serial data chain was used to share information between motion control and machine vision.Based on the hardware platform of robot control system,Combined with the transplantation process of tissue culture seedlings,the software architecture of robot control system was designed,which included the design of robot transplantation,design of robot reset,zero point adjustment and power-off memory function.In machine vision,template matching method was used to identify tissue culture nodes in the region of interest in the field of view,the coordinates of nodes was obtained in the image,and the coordinates of nodes were obtained in the robot coordinate system through coordinate transformation.Finally,a vision-guided tissue culture plantlets transplant robot was tested.The experimental results indicated that the scheme of tissue culture plantlets transplantation based on machine vision designed can complete the grasping,cutting and transplanting of tissue culture plantlets,which achieved the expected purpose. |
