Study On Robot System For Tissue Culture Plantlet Cutting And Transplanting

In the process of tissue culture plantlet production, the plantlet bottle with small entrance is used for reducing bacteria pollution. Since the diameter of the plantlet bottle's mouth and the space inside the bottle are both in the small size, at present, there hasn't been the relevant automatic transport system yet. The transplant of tissue culture plantlet is still done by hand. However, because of the low efficiency, labor compression and high cost of the transplant by hand, and especially the infection of bacterium from hands in transplantation, the ratio of plants' livability and the quality of the transplant becomes bad, which highly limit the development of tissue culture plantlet. This article aims to resolve those problems basing on a deeper study on tissue culture plantlet transplant robot and some important progresses have been made. The followings are the main research findings:1. Automatic product technique of tubular tissue culture plantlet in plantlet bottles is studied for the first time. Aiming at the characteristic of the plantlets in bottle, the idea of taking out one plantlet from bottle at one time to cut and transplant is put forward. According to this, the entire plan on automatic production of tissue culture plantlet is programmed.2. Design and make an articulated robot with 5 degrees of freedom, which can pick up and cut tissue culture plantlet automatically. On the basis of plentiful experiences, the length of the robot's arm and the maximum range of every joint's movement are confirmed on the request for working position, and the main technological parameters are given.3. Kinematical analysis is processed on the cut and transplant robot for tissue culture plantlet, the model of kinematical equation is made, and the positive solution and the negative solution of the kinematical equation are completed. According to the request of transportation, picking up, inserting plantlets, the motion track of the robot is programmed in the space of joints and rectangular in order to meet the need of route and velocity in different kinds of working place. The real-time calculating method for motion track of the robot is given. This research offers mathematic base and theoretical reference for the motion control of the robot.4. Found the embedded robot vision system based on TMS320C6711 DSP. The research on identification algorithm of the position of every plantlet in bottle and the node of single plantlet is done, and software of the identification algorithm is completed based on TMS320C6711 DSP. The results of the experiences showed that the accuracy rate of identification algorithm of the position of every plantlet in bottle is 92%, and the accuracy rate of identification algorithm of the position of the node of single plantlet is 91%. Both of them have reached the requirements of design. The software of vision system is of good stability and strong characteristic of real-time. The average time of identification of the position of every plantlet is 0.266s, and the average time of identification of the position of the node of single plantlet is 0.562s, which can perfectly meet the requirements of the real-time of robot control system.5. According to the request of function, the entire control plan is put forward, and aembedded controller suitable for this robot system is developed and explored. A hardware circuit board of the main controller based on ARM embedded MPU is produced, the start-up program bootloader of the system is complied, and the transplant of uCOS- II real-time embedded operation system is transplanted successfully on this board and the multi-assignment application program is explored on the base of uCOS- â…¡. The hardware circuit board of the joint controller based on MCU AT89C52 is produced, the control program of the position of robot joints is complied. Anti-jamming design of software and hardware to the entire control system is pressingly and reliably completed, which enhance the reliability of the control system.6. The test on the complete machine is done on the robot system, w...