Design And Realization Of Potato Tissue Culture Plantlets Transplantation Robot

The demand for potato output in my country is increasing year by year,and the use of plant tissue culture technology to increase potato output has become a development trend.At present,Plant tissue culture operations have not been mechanized,which has the problems of high labor cost,low production efficiency and high pollution rate.Therefore,the research on the automated transplantation technology of tissue culture seedlings and Potato planting seedlings are of great significance for reducing labor costs and pollution rates,improving efficiency,and promoting the automated development of the tissue culture industry.The paper analyzes the manual operation process.Aiming at the problems of the tissue culture seedling node recognition accuracy,clamping success rate,and low shear success rate in the existing tissue culture seedling transplantation robot of the author’s team,a method is proposed.The overall plan of Transplant robot based on follow-up binocular vision;complete the system hardware architecture design,and propose an embedded system control plan based on ARM+DSP.The control core of the transplanted robot adopts the main processor STM32F103 of the ARM architecture.The coprocessor adopts the multi-core processor JN-mini5728 of ARM+DSP architecture,and the two work together through serial communication;According to the control plan,the hardware design and selection of the follow-up binocular vision system and the motion control system are carried out,namely The vision system adopts the follow-up +binocular vision method to solve the problems of low recognition accuracy and multi-station no feedback.Using polarization to fill light method to solve the strong reflection problem of the culture test tube;the adaptive gripper adopts the current feedback method to achieve The non-destructive clamping;the pressure-cutting tool adopts the "two-end restriction" + constant force shearing method to achieve accurate cutting of the tissue culture seedlings;according to the transplantation robot hardware platform,combined with the potato tissue culture seedling transplantation process,the transplantation is designed Robot software architecture,using the back-end system before interruption to complete the functions of start-stop reset,zero point teaching,serial communication,adaptive clamping,automatic transplantation,etc.;the machine vision system uses binocular cameras for three-dimensional reconstruction to obtain spatial position coordinates and motion control The system adopts ladder type acceleration and deceleration algorithm to realize the position control of multi-axis motors.The paper implements and tests the designed potato tissue culture seedling transplantation robot.The test results show that the potato tissue culture seedling transplantation robot designed in the paper can complete the node recognition,non-destructive gripping,cutting and planting operations of potato tissue culture seedlings.The success rate of tissue culture seedling transplantation is >90%,and the efficiency reaches 6 nodes/min,which achieves the expected goal.