Design And Realization Of Logistics Robot For Tissue Culture Plantlets Transplantation

With the widespread application of tissue culture technology in the field of plant rapid propagation,the factory production of tissue culture seedlings has become a trend.However,the production process of tissue culture seedlings is still mainly manual,and the production efficiency is low,which is not suitable for factory scale production.Therefore,research on the automated production technology of tissue culture seedlings and the development of logistics robots for transplanting tissue culture seedlings are of great significance to promote the development of tissue culture industry.By analyzing the process of artificial shear transplantation of tissue culture seedlings,this paper proposed an automated production process consisting of a transplantation center,a solid culture medium preparation center,a tissue culture seedling cultivation center,and a storage center based on the existing tissue culture seedling robots.According to the technology,the overall scheme of autonomous navigation logistics robot is designed.This paper designed the mechanical structure of the robot,completed the design of the robot body,motion mechanism and transfer mechanism in view of the general scheme.An embedded system control scheme based on ARM architecture was proposed.The STM32F103ZET6 microcontroller was used as the core of the robot’s motion and transfer control.The hardware selection and design of the motion unit and the transfer unit were performed based on the mechanical design parameters.The power supply system was aimed at ensuring the continuous operation of the robot according to the working cycle of the robot.Based on the robot control system hardware platform and the robot transportation process,the software architecture of the robot control system was designed to accomplish the functions of wireless communication,site identification,autonomous navigation,collision warning and material transfer.The autonomous navigation function of the robot used the least squares method to perform navigation deviation curve fitting,and simultaneously controls the robot’s running speed and direction by the PID control algorithm.In this paper,the functional test was performed on the platform of logistics robot for tissue culture plantlets transplantation.The test results showed that the logist ics robot for tissue culture plantlets transplantation designed in this paper can complete the material transportation operation between the tissue culture seedlings automatic production equipment and achieved the expected purpose.