克隆挑取机器人控制系统设计与试验  

Design and Experiment of Control System for Clone Picking Robot

作　　者：朱伟 赵建新 杨林 何凯[2,3] ZHU Wei;ZHAO Jianxin;YANG Lin;HE Kai(School of Mechanical and Electrical Engineering,Anyang Vocational and Technical College,Anyang,Henan 455000;Shenzhen Key Laboratory of Precision Engineering,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen,Guangdong 518055;Guangdong-Hong Kong-Macao Joint Laboratory of Human-machine Intelligence-synergy Systems,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen,Guangdong 518055)

机构地区：[1]安阳职业技术学院机电工程学院,河南安阳455000 [2]中国科学院深圳先进技术研究院,深圳市精密工程重点实验室,广东深圳518055 [3]中国科学院深圳先进技术研究院,粤港澳人机智能协同系统联合实验室,广东深圳518055

出　　处：《液压与气动》2024年第7期1-11,共11页Chinese Hydraulics & Pneumatics

基　　金：国家重点研发计划(2018YFA0902901);广东省重点领域研发计划(2022B1111010003)。

摘　　要：为提高菌落挑取、接种效率,提出了一种基于运动控制器、图像识别算法和路径规划算法的智能挑取、接种、清洗、消毒系统。软件和硬件根据菌落样品智能处理系统的控制要求进行设计。系统采用运动控制板作为主控制器,实现伺服电机、光电传感器、气缸、电磁阀等设备的集成控制。系统前端基于Windows Form设计窗体和可视控件,后端采用多线程并发式通信及多线程插补运动技术实现对多台伺服电机的联动控制,视觉部分采用模式识别技术实现对目标菌落的识别、筛选与信息提取,数据库采用SQL Server实现对菌落及用户信息管理。通过调整对比度、亮度对采集的菌落图片进行识别,实现目标菌落的定位、筛选、路径优化、信息提取等。结果表明:路径优化后挑取路径缩短了34.37%。To improve the efficiency of colony picking and inoculation,an intelligent system based on motion controller,image recognition algorithm,and path planning algorithm is proposed,which has the functions of picking,inoculation,cleaning,and disinfection.The software and hardware are designed according to the control requirements of the intelligent colony sample processing system.The system uses the motion control board as the main controller to realize the integrated control of servo motors,photoelectric sensors,air cylinder,solenoid valves and other equipment.The front-end of the system is based on Windows Form design form and visual control,the back-end adopts multi-threaded concurrent communication and multi-threaded interpolation motion technology to realize the linkage control of multiple servo motors,the visual part uses pattern recognition technology to realize the identification,screening and information extraction of target colonies,and the database uses SQL Server to realize the management of colonies and user information.By adjusting the contrast and brightness,the collected colony images are identified,and the target colony positioning,screening,path optimization,and information extraction are realized.The results show that the selected path is shortened by 34.37%after path optimization.

关 键 词：克隆挑取 气缸 视觉定位 路径优化 

分 类 号：TH138[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]