Design of Tissue Culture Plantlets Transplanting Robot and Control System

To reduce the cost of labor in the transplanting operation of tissue culture, a vision-guided tissue culture plantlets transplant robot (TCPTR) is developed in this paper. The TCPTR adopted the embedded control system based on ARM+ DSP architecture, which included ARM motion control system and DSP machine vision system, the serial data chain was used to share information between motion control and machine vision. A fast refinement algorithm was employed to extract the skeleton of the tissue culture plantlet, and the template matching was adopted to identify nodes of tissue culture plantlet. Combined with manual transplantation process, the control strategy of TCPTR was designed on the system hardware platform. The experimental results indicated that TCPTR designed can complete the transplant operation of the tissue culture plantlets, and control system had good real-time performance and high stability.