Study on Robotics in Plant Tissue Culture

1开发并测试了能够在植物愈伤组织继代培养阶段进行生物技术操作的智能机器人系统。机器人系统在计算机控制下，通过电视摄像机获取愈伤组织图像，对图像数据进行处理，切割、分割、抓取和搬运，并将其放置在培养皿中的培养基上，自动、智能地完成操作。2.优化了系统的控制算法，通过图像数据帧中分隔的三个区域快速进行图像数据处理。在机器人机械手的一个工具平面上安装了两个愈伤组织切割器和手，并相继进行了两种操作。在该系统中，从将愈伤组织切成两块到放入培养皿中，大约需要80秒的时间完成一系列处理操作。3研究开发了一种无损伤、无碰撞抓取植物组织的机器人手指装置。采用形状记忆合金(SMA)元件作为执行器，实现了无机械零件的手机构小型化、轻量化。因此，应用模糊控制方法对指尖进行定位，精确控制抓持力。该指套能够成功地抓取烟草愈伤组织。

1 The intelligent robot system which could perform biotechnological operations in plant callus subculture stage was developed and tested. Operations of getting callus images through a TV camera, processing image data, cutting, dividing, grasping and carrying a piece of them, and putting it on culture medium in a Petri dish were automatically and intelligently carried out by the robotic system underthe computer control.2 Control algorithm for the system was optimized and image data processing was done speedily through three areas separated in a image data frame. Two devices, cutter and hand for calluses were attached on a tool plane of the robot manipulator and two kinds of operation were carried out one after another. In this system, it took about eighty seconds to complete a series of handling operation from cutting a callus into two pieces to putting them into Petri dishes.3 The robot finger set for gripping plant tissue without damage or crash was studied and developed. Shape memory alloy(SMA)element as actuator was used to make a hand mechanism small and light without machine parts. Therefore, the finger-tips were positioned and the gripping force was controlled accurately by applying fuzzy control method. The finger set was able to grasp tobacco callus successfully.