Robotic system for nursing micropropagated sugarcane

开发并测试了一种机器人系统，该系统可以在不使用机器视觉系统的情况下自动将一丛离体微繁殖甘蔗分离成单独的枝条。在分裂之前将芽种植在50室的插塞盘中。它们长得很粗，它们的根在一个细胞里相互缠绕，形成一个根球，因此分离是一个微妙的任务。为了分离浓密生长的枝条，开发了两种类型的末端执行器。第一种是连续采笋机构（CSPM）。这个末端执行器的设计目的是把茂密的芽成一条线，并举行他们没有损坏他们。第二种是单芽分离器（SSS）。这个末端执行器被设计成从丛中一个接一个地拔出嫩枝。这两个末端执行器安装在两种类型的机器人上。结果表明，77.1%的芽被该系统正确地分离成单个芽，66.7%的芽在分裂后生根。

A robot system that automatically separates a clump of ex vitro micropropagated sugarcane into individual shoots without using a machine vision system was developed and tested. The shoots were planted in a 50-cell plug tray before division. They grew thickly and their roots became entangled with each other in a cell, forming a root ball, therefore the separation was a delicate task. To separate the thickly grown shoots, two types of end-effecters were developed. The first one was a continuous shoots picking mechanism (CSPM). This end-effecter was designed to bring the thickly grown shoots into a line and hold them without damaging them. The second o5ie was a single shoot separator (SSS). This end-effecter was designed to pull off the shoots from the clump one by one. These two end-effecters were installed on two types of robots. As a result, 77.1 % of shoots were properly separated into individual shoots by this system and 66.7 % of the shoots rooted after division.