液压与气动2024，Vol.48Issue(7)：1-11,11.DOI:10.11832/j.issn.1000-4858.2024.07.001
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
摘要
Abstract
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Key words
clone picking/air cylinder/visual positioning/path optimization分类
机械制造引用本文复制引用
朱伟,赵建新,杨林,何凯..克隆挑取机器人控制系统设计与试验[J].液压与气动,2024,48(7):1-11,11.基金项目
国家重点研发计划(2018YFA0902901) （2018YFA0902901）
广东省重点领域研发计划(2022B1111010003) （2022B1111010003）
