Study on Robotics in Plant Tissue Culture

1.研制了一种能够完成植物愈伤组织继代培养阶段生物技术操作的智能机器人系统。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、搬运愈伤组织，并将愈伤组织置于培养皿中的培养基上，这些操作均由机器人系统在计算机控制下自动智能完成。2.优化了系统的控制算法，通过图像数据帧中的三个区域快速完成图像数据处理。在机器人操作器的工具平面上安装了切割器和胼胝处理手两个装置，并依次进行两种操作。在该系统中，从愈伤组织切成两块到放入培养皿的一系列操作大约需要80秒。3.研究和开发了无损伤、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）作为驱动元件，使手机构小型化、轻量化，无需机械部件。因此，应用模糊控制方法对手指指尖进行精确定位，并对夹持力进行精确控制。该手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.