Gel automatic plate placing system based on image data analysis

Abstract

The invention relates to the technical field of automation equipment, in particular to a Gel automatic tray placing system based on image data analysis, which comprises a tray conveying device, a screw device, a gel feeding device, a gel dispersing device, a filling working device, an image monitoring module and an adjusting module. And efficient, stable and accurate filling is achieved through the filling working device. The gel dispersing device effectively disperses gel according to the agglomeration degree, and waste is reduced. The image monitoring module cooperates with the adjusting module, the amount of remaining gel is recognized through CCD-A to regulate and control feeding, gel agglomeration is accurately judged through self-adaptive graying and multi-channel image fusion, corresponding treatment measures are taken according to different agglomeration degrees, all devices are coordinated to work cooperatively, and the equipment stability is improved. In addition, the adjusting module divides the material taking surface into areas, and CCD-B detection is combined, so that the material taking and filling quality and efficiency are guaranteed. The system improves the production efficiency and the product quality in all directions, reduces the cost, and has remarkable practical value.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and particularly to a Gel automatic plate placing system based on image data analysis. Background Art

[0002] The gel separated by gel electrophoresis carries extremely crucial experimental data information and needs to be accurately placed into specific containers or detection devices subsequently. This key operation is called the plate placing operation. These specific containers may include petri dishes for storing gel samples, or imaging plates for further analysis, etc.; while the detection devices cover gel imagers, etc. By imaging and analyzing the bands on the gel, relevant data of biomolecules can be obtained, such as the position, brightness, width of the bands, etc., thereby providing important information for researchers to judge experimental results and analyze the characteristics of biomolecules. The accuracy of the plate placing operation is directly related to the accuracy and reliability of subsequent experimental data acquisition and plays a crucial role in the success or failure of the entire biological experiment.

[0003] Chinese Patent Publication No.: CN117719744A discloses an automatic plate placing machine and its plate placing method, belonging to the technical field of automated equipment. The automatic plate placing machine includes a feeding module, a discharging module, and a picking and placing module. The discharging module includes a tray, and the picking and placing module includes a picking and placing mechanism, a calibration mechanism, and a manipulator. The picking and placing mechanism is used to pick and place multiple materials and can calibrate the multiple materials so that the multiple materials are located at a first preset position; the calibration mechanism is used to calibrate the multiple materials so that the materials are located at a second preset position; the picking and placing mechanism is connected to the end of the manipulator so that the picking and placing mechanism is respectively docked with the feeding module, the tray, and the calibration mechanism. The automatic plate placing machine and its plate placing method of the present invention can realize automatically and accurately placing multiple materials into the plate simultaneously.

[0004] It can be seen that the automatic plate placing machine and its plate placing method have the following problems: There is no specific control system and it is unable to efficiently disperse agglomerated gel masses. Summary of the Invention

[0005] Therefore, the present invention provides a Gel automatic plate placing system based on image data analysis to overcome the problem that existing technologies are unable to efficiently disperse gel agglomerates.

[0006] To achieve the above object, the present invention provides a Gel automatic plate placing system based on image data analysis, including: A tray transportation device for transporting and temporarily storing tray cartridges; A screw device connected to the tray transportation device for transporting the tray cartridge to the filling position; A gel feeding device for temporarily placing gel raw materials and intelligently supplying fillers. A gel dispersion device, connected to a gel feeding device, for dispersing the fillers for intelligent filling; A filler working device, arranged on a working platform, including a Scara mounting base, a Scara robot, and a suction filler head, for arranging the dispersed fillers on a tray; An image monitoring module, including a CCD-A arranged on the upper rack of the cavity and a CCD-B arranged at the lower end of the filler track of the Scara robot; An adjustment module, respectively connected to the CCD-A, the CCD-B, the gel feeding device, and the gel dispersion device, for adjusting the feeding amount of the gel feeding device into the cavity, determining the feeding duration according to the remaining amount of gel in the cavity after the last tray arrangement collected by the CCD-A image, determining the working modes of the ion blower and the air knife according to the proportion of the gel agglomeration area in the cavity collected by the CCD-A image, determining the material taking position of the filling device, and judging the material taking quality of the filling device through the CCD-B image.

[0007] Further, the air ionizer includes a corona discharger, a high-voltage power supply, a small vibration device, and a air supply system, for eliminating static ions in the gel raw material; A cover plate, which is a square flat plate structure, for covering the components during the air knife dispersion work; The cavity, which is a cylindrical concave structure, for accommodating a certain amount of gel for dispersion; The air knife, which is an extremely thin slit protruding along the edge direction of the cavity, enabling high-pressure air to be discharged from the slit opening, for dispersing the gel.

[0008] Further, the gel feeding device includes, A gel storage device, which is a hopper-shaped structure, for temporarily storing the gel; An outlet groove, which is a concave groove, arranged at the bottom of the gel storage device, for restricting the filler feeding direction; A partition plate disk, which is a square partition plate, opening the partition plate when there is a feeding requirement, for controlling the gel discharge amount; A vibration device, arranged at the bottom of the gel feeding device, for vibrating and dispersing the gel when the gel deposits.

[0009] Further, the monitoring module includes, The CCD-A, arranged on the upper rack of the cavity, for collecting images inside the cavity.

[0010] The CCD-B, arranged at the lower end of the filler track of the scara robot, for collecting images of the gel on the suction filler head.

[0011] Furthermore, the feeding adjustment unit uses the image of the CCD-A to confirm the amount of gel remaining in the last filling to determine the time to start the gel feeding device; The dispersion adjustment unit obtains the agglomeration ratio by analyzing the image of the CCD-A to determine the working mode of the dispersion device; The filling monitoring unit determines the material taking position according to the image of the CCD-A and excludes the gel of poor quality according to the image of the CCD-B.

[0012] Furthermore, the feeding adjustment unit determines the duration of opening the gel feeding device by combining the amount of remaining gel, the compensation parameter of the remaining gel amount to the feeding duration, and the basic feeding duration; The basic feeding time is the basic time for opening the gel feeding device when there is no residual gel to determine the feeding time; The feed regulating unit determines the specific value of the basic feed duration by comparing whether the amount of the remaining gel is within a reasonable range; The basic feeding time is a fixed value when the amount of the remaining gel is within a reasonable range, and is adjusted according to the fixed value when the amount of the remaining gel is not within the reasonable range; When there is a need for adjustment, the feed adjustment unit determines the basic feed duration by combining the amount of remaining gel exceeding a reasonable range, the fixed basic duration and the compensation value of the remaining gel exceeding a reasonable range for the basic feed duration.

[0013] Furthermore, the dispersion adjustment unit analyzes the image acquired by CCD-A and the method of adaptive grayscale to present the contrast between the cluster area and the background area, and divides the cluster area and the background area through the SegNet semantic segmentation model to obtain the cluster ratio; And according to the area ratio, it is divided into no agglomeration, slight agglomeration and severe agglomeration; When it is determined that there is no agglomeration, no adjustment is required and the standard is met directly; When it is determined to be the mild agglomeration, the system adjusts the parameters; When it is determined to be a severe reunion, the system takes comprehensive measures; The dispersion adjustment unit immediately determines the material extraction position for the gel that is determined to meet the standard later, and also determines the material extraction position for the gel that does not meet the standard in the end.

[0014] Furthermore, the parameter adjustment determines the working mode of the ion blower and the wind knife, including: The dispersion adjustment unit performs a first pre-separation of the agglomerated gel groups in the cavity by adjusting the voltage of the ion blower alone, and determines the dispersion result; The dispersion adjustment unit performs a second pre-separation on the agglomerated gel mass in the cavity by separately adjusting the power of the ion blower, and determines the dispersion result; The dispersion adjustment unit compares the change amount of the agglomerated gel mass in the first pre-separation and the second pre-separation, determines the working mode of the ion blower during the formal separation, and determines the dispersion result; The dispersion adjustment unit confirms the working mode of the air knife through the power adjustment amount and voltage adjustment amount of the ion blower, and determines the dispersion result; The dispersion adjustment unit determines the basic feeding duration of the feeding device and the working state of the vibrating device according to the proportion of the agglomerated gel area after the parameter adjustment, and determines the dispersion result.

[0015] Further, the determination of the working modes of the ion blower and the CCD-A by the all-round measures includes: The dispersion adjustment unit starts the small vibration device integrated inside the ion blower to vibrate at a fixed frequency; The dispersion adjustment unit performs high-frequency image acquisition through the CCD-A to real-time judge whether to stop the all-round measures and perform the parameter adjustment; The dispersion adjustment unit determines whether to stop the all-round measures by setting a maximum duration for implementing the all-round measures, and performs the parameter adjustment.

[0016] Further, the loading monitoring unit divides the material-taking area according to the number of images of the CCD-A, detects the gel filler in each area, excludes the area with agglomerated gel mass, takes the material, and performs plate arrangement; The loading monitoring unit monitors the quality of the gel dipped by the suction filler head through the CCD-B image, and excludes the gel with poor quality.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: during the actual gel grabbing process, since the gel may not be completely dispersed, there is still some agglomeration when placing the filler. For such gels, they are not arranged on the plate. To ensure the rationality and result of gel dispersion, the feeding duration for the next time is adjusted according to the amount of the remaining partially agglomerated gel, reducing the amount of gel discharged into the cavity, ensuring the dispersion degree of the gel during the next dispersion process. At the same time, when determining the feeding duration, the basic duration for starting the gel feeding device is verified according to the remaining gel amount, reasonably determining the allowable amount of gel in the cavity during a single dispersion. Through autonomous control, the stable operation of the equipment is ensured, greatly reducing the downtime waiting time caused by unreasonable feeding, and greatly enhancing the coherence of the entire production process.

[0018] Furthermore, through the adaptive grayscale method, the loss of local information caused by global grayscaling is avoided, and the contrast between the gel agglomeration region and the background can be better presented under different lighting conditions. In some production environments where it is difficult to accurately control the lighting conditions, the traditional global grayscaling method may mask the details of some agglomeration regions, resulting in inaccurate detection. However, this adaptive grayscale method can make the features of the agglomeration region in the image clearer, providing a more accurate data basis for subsequent analysis.

[0019] Furthermore, during the actual image segmentation process, the edges may be unclear, making it difficult to directly separate the agglomeration region and the background region. By using the SegNet semantic segmentation model to effectively separate the boundaries and calculating the accurate agglomeration ratio according to the preset calculation method of the agglomeration ratio, the acquired image data can be quickly responded to and subsequent adjustments can be completed.

[0020] Furthermore, the operation of the parameter adjustment unit to increase the voltage can increase the electric field strength of the ion generator, prompting more air molecules to be ionized, thereby increasing the number of ions carried by the ion wind. Acting on the agglomerated gel with a relatively gentle physical impact force, it attempts to initially disperse the agglomeration structure. Since the number of ions is positively correlated with the voltage value, and the larger the proportion of the gel agglomeration region, the more ions are required to neutralize the charge carried by the gel. Therefore, a compensation coefficient of the gel agglomeration ratio for the preset voltage of the ion blower is set during this process to determine the voltage value required to eliminate the gel agglomeration and adjust the voltage value, which can accurately and quickly determine a suitable voltage value, thus ensuring the continuity of the adjustment process.

[0021] Furthermore, the parameter adjustment unit controls the increase of the ion wind frequency to form a high-intensity pulsed ion wind, which focuses on impacting the regions with stubborn agglomeration. There is a large viscosity between the agglomerated gels. The higher the ion wind frequency, the higher the charge carried by the charged particles and the impact frequency, and the easier it is to disperse the gel agglomeration. Therefore, different ion wind frequencies are adopted for different gel agglomeration situations, and a maximum limit is set for the ion wind frequency to prevent the excessive ion wind from blowing away the gel inside the cavity. Under the condition of ensuring that the gel is not wasted, both the speed of gel agglomeration dispersion and the quality of gel dispersion are taken into account.

[0022] Furthermore, the parameter adjustment unit can roughly determine the reason for gel agglomeration by adjusting the voltage and frequency. If the adjustment of voltage control fails to effectively reduce the proportion of gel agglomeration, it is considered that the main reason for the continued gel agglomeration lies in the viscosity between the gels themselves. If the adjustment of voltage effectively reduces the proportion of gel agglomeration, it is considered that the main reason for the continued gel agglomeration lies in the fact that the gel still carries a relatively large number of electrons. The first pre-separation determines the impact on the gel agglomeration area when only adjusting the voltage of the ion blower, and the second pre-separation determines the impact on the gel agglomeration area when only adjusting the power of the ion blower. The working mode of the ion blower during actual operation is calculated specifically by combining the weights of these two impacts. More weight is assigned to the voltage for gels carrying more electrons, and more weight is assigned to the ion wind frequency for gels with greater viscosity. In this way, specific adjustments can be made according to the specific reasons for gel agglomeration, saving energy and improving efficiency.

[0023] Furthermore, when the adjustment module is dealing with the problem of gel agglomeration, the system can coordinate the collaborative work of the ion blower, air knife device, vibration device, etc. This collaborative working method ensures that the equipment can operate in the best state under different conditions, reduces the probability of failures caused by uncoordinated work between equipment, and improves the stability of the entire production equipment system.

[0024] Furthermore, the filler monitoring unit detects the gel filler in each area, excludes the areas with gel agglomeration, ensures the quality of the gel filler used for filling, and avoids the influence of agglomerated gel on the filling effect and product quality, thereby improving the quality and stability of the product. For the areas with gel agglomeration, the agglomerated gel is left to be redispersed together with the gel of the next filling. This method makes rational use of the gel resources, reduces the waste of gel, and at the same time, through multiple dispersion treatments, helps to improve the dispersion uniformity of the gel. The adjustment module controls the Scara robot to operate the suction filler head to pick up materials from the areas without agglomeration phenomenon in sequence and place them on the tray magazine according to the preset positions, realizing the automated operation of the material picking and placing processes, reducing manual intervention, and improving production efficiency and operation accuracy. During the filler transportation process, CCD-B detects the filler dipped by the suction filler head, forming a double guarantee with the previous detection of the material picking area, further ensuring that the transported filler has no agglomeration phenomenon, thus guaranteeing the smooth progress of the subsequent filling link and the quality of the final product. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the Gel automatic palletizing system based on image data analysis in the embodiment; Figure 2 It is a schematic structural diagram of the tray conveying device in the embodiment; Figure 3 Schematic structural diagram of the screw device in the embodiment; Figure 4 Schematic structural diagram of the packing working device in the embodiment; Figure 5 Schematic structural diagram of the gel dispersion device in the embodiment; Figure 6 Schematic structural diagram of the gel feeding device in the embodiment. Detailed implementation manners

[0026] In order to make the objectives and advantages of the present invention clearer, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] The preferred implementation manners of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these implementation manners are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0028] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0029] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0030] Please refer to Figures 1 - 6 as shown Figure 1 Schematic structural diagram of the Gel automatic tray arranging system based on image data analysis according to the present invention, Figure 2 Schematic structural diagram of the tray transporting device 1 according to the present invention, Figure 3 Schematic structural diagram of the screw 21 device 2 according to the present invention, Figure 4 Schematic structural diagram of the packing working device 3 according to the present invention, Figure 5 Schematic structural diagram of the gel dispersion device 4 according to the present invention, Figure 6 Schematic structural diagram of the gel feeding device 5 according to the present invention.

[0031] This application provides a Gel automatic palletizing system based on image data analysis, including A pallet transporting device 1, used for the transportation and temporary storage of pallet magazines; A screw 21 device 2, connected to the pallet transporting device 1, used to transport the pallet magazine to be filled to the filling position; A gel feeding device 5, used for the temporary placement of gel raw materials and the intelligent supply of fillers; A gel dispersion device 4, connected to the gel feeding device 5, used to disperse the fillers filled intelligently; A filling working device 3, arranged on the working platform, used to load the dispersed fillers; An image monitoring module, including CCD-A arranged on the upper frame of the cavity 43 and CCD-B arranged at the lower end of the filling track of the Scara robot 31; An adjustment module, respectively connected to CCD-A, the gel feeding device 5, and the gel dispersion device 4, used to adjust the feeding amount of the gel feeding device 5 into the cavity 43, monitor the gel agglomeration phenomenon in the cavity 43 through CCD-A, and determine the working modes of the ion blower 42 and the air knife 44 according to the gel agglomeration phenomenon.

[0032] Specifically, the pallet transporting device 1 includes A pallet magazine, which is a square plate with multiple holes inside, used for loading gel.

[0033] A loading unit, used to manually load the pallet magazine into the loading box 11 and transport it into the lifting unit.

[0034] A lifting unit, used to switch the pallet magazine to be worked in the lifting box.

[0035] An unloading unit, used to transport the loaded pallet magazine out of the lifting box.

[0036] Rollers, which are arranged on the loading channel 12, the unloading channel 15, and the lifting channel 16, to reduce the wear generated during the movement of the pallet magazine.

[0037] Specifically, the loading unit includes A loading rack, which is connected and fixed to the whole device by two vertical main beams.

[0038] A loading box 11, which is a square box containing several spring clips inside, and has a triangular base at the bottom.

[0039] A loading slideway, which is arranged on the loading rack and connected to the triangular base, so that the loading box 11 on the triangular base can slide up and down along the slideway.

[0040] The loading channel 12 is arranged outside the loading box 11. After filling the pallet magazine on a certain layer of the loading box 11, the corresponding layer of the loading box 11 is aligned with the loading channel 12, and the pallet magazine can slide within the loading channel 12.

[0041] The loading cylinder 13 is arranged on the left side of the loading channel 12 and pushes the pallet magazine sliding within the loading channel 12 into the lifting box Its working process is to manually load the pallet magazine into the loading box 11, press down the loading box 11 to align the corresponding layer inside the loading box 11 with the loading channel 12, and the loading cylinder 13 automatically starts to push the pallet magazine into the interior of the lifting box.

[0042] Specifically, the lifting unit includes, The lifting frame is connected to the entire device by two vertical main beams to fix the two beams.

[0043] The lifting box is a square box containing several spring clips inside, and a triangular base is provided at its bottom. There is a certain distance between the triangular base and the box body separated by a support.

[0044] The lifting slideway is arranged on the loading frame and is connected to the triangular base, enabling the lifting box on the triangular base to slide up and down along the slideway.

[0045] The supporting spring is arranged at the lower end of the triangular base and is used to support the lifting box.

[0046] The lifting channel 16 is coaxial with and has the same structure as the loading channel and is connected to the loading channel.

[0047] The lifting cylinder is arranged at the top of the lifting frame and is used to control the up and down sliding of the lifting box.

[0048] The pallet magazines inside the lifting box are alternately pulled out by the screw 21 for loading operations, and the lifting box is used to adjust which pallet magazine needs to be loaded.

[0049] Specifically, the unloading unit includes, The unloading channel 15 is connected to the unloading box 14 and is arranged outside the unloading box 14. When a certain empty layer of the unloading box 14 is aligned with the loading channel 12, the pallet magazine can slide within the unloading channel 15 and enter the unloading box 14.

[0050] The unloading box 14 is a square box containing several spring clips inside, and a triangular base is provided at the bottom.

[0051] The unloading frame is connected to the entire device by two vertical main beams to fix the two beams.

[0052] The unloading chute is arranged on the unloading rack and connected to the triangular base, enabling the unloading box 14 on the triangular base to slide up and down along the chute.

[0053] In the loading unit of the pallet conveying device 1, a loading box 11 with a specific structure is designed. It contains several spring clips inside, which can firmly fix the pallet magazine and prevent displacement during transportation. The triangular base at the bottom is connected to the loading chute, allowing the operator to easily slide the loading box 11 up and down to precisely align its corresponding layer inside with the loading channel 12. This design greatly simplifies the operation process after manually loading the pallet magazine, reduces the time and energy consumption of manual adjustment, and improves the loading efficiency.

[0054] The lifting unit realizes the smooth up and down sliding of the lifting box through the coordinated operation of components such as the lifting rack, lifting chute, supporting spring, and lifting cylinder. Inside the lifting box, the pallet magazines are alternately pulled out by the screw 21 for loading operations. This precise switching mechanism ensures that each pallet magazine can be accurately transported to the appropriate position in the established order, greatly enhancing the coherence and stability of the entire pallet transportation link and avoiding production stagnation caused by pallet switching errors.

[0055] The rollers arranged on the loading channel 12, unloading channel 15, and the gap partition play a key role in the movement of the pallet magazine. The rolling friction of the rollers replaces the traditional sliding friction, significantly reducing the friction force between the pallet magazine and the contact surface, thereby effectively reducing the wear generated during the movement of the pallet magazine. This not only extends the service life of the pallet magazine, reduces the equipment replacement cost, but also reduces the production interruption that may be caused by the damage of the pallet magazine, improving the continuity and reliability of production.

[0056] Specifically, the screw device 2 includes, The screw 21 is arranged on the rack and is used to drag the pallet magazine carrier plate to the working position.

[0057] The pallet magazine carrier plate is movably connected to the screw 21. It is a square plate slightly wider than the pallet magazine and is used to load and move the pallet magazine.

[0058] The adjusting cylinder 22 is arranged on the screw 21 and is used to pull out the pallet magazine to the carrier plate when the end of the screw 21 approaches the pallet magazine and adjust the position of the pallet magazine on the carrier plate.

[0059] The jaw cylinder 23 is arranged at the end of the adjusting rod. When the adjusting cylinder 22 extends the jaws into the corresponding position of the pallet magazine, it pushes the jaws to open and fix the pallet magazine.

[0060] The thimble cylinder 24 is arranged below the tray magazine carrier plate and adjusts the horizontal position of the tray magazine carrier plate after the tray magazine carrier plate reaches the filling position.

[0061] When the screw device 2 works, first adjust the screw 21 to make the adjusting cylinder 22 on the screw 21 close to the tray magazine. The adjusting cylinder 22 extends the jaws to the specified position. The jaw cylinder 23 pushes the jaws to open and fixes the tray magazine. Then the adjusting cylinder 22 pulls the tray magazine to the specified position on the tray magazine carrier plate and makes adjustments. The screw 21 starts to pull the carrier plate to the working position, and then the thimble cylinder 24 adjusts the horizontal position to perform the filling work.

[0062] When the adjusting cylinder 22 in the screw device 2 is close to the tray magazine at the end of the screw 21, it can accurately extend the jaws to the specified position. After the jaw cylinder 23 pushes the jaws to open and fix the tray magazine, the adjusting cylinder 22 can accurately pull the tray magazine to the specified position on the tray magazine carrier plate and make fine adjustments to its position. This high-precision position adjustment ability ensures that the positioning error of the tray magazine on the carrier plate is controlled within a very small range, providing a solid foundation for the subsequent filling work.

[0063] The thimble cylinder 24 is arranged below the tray magazine carrier plate. After the carrier plate reaches the filling position, the thimble cylinder 24 can quickly and accurately adjust the horizontal position of the tray magazine carrier plate. This operation ensures that the tray magazine is in a horizontal state when filling the gel, enabling the gel to be evenly filled into each hole of the tray magazine, effectively avoiding the problem of uneven gel filling caused by the inclination of the tray magazine, and improving the consistency of product quality.

[0064] Specifically, the filling working device 3 includes The Scara mounting base 32 is a square support for fixing the connected robot.

[0065] The Scara robot 31 is arranged on the Scara mounting base 32 and can move smoothly on the horizontal plane.

[0066] The suction filling head 33 is arranged on the Scara robot 31 and cooperates with the robot to complete the filling work.

[0067] The Scara mounting base 32, the Scara robot 31, and the suction filling head 33 jointly complete the filling work, filling the gel dispersed in the cavity 43 into the tray magazine.

[0068] The Scara mounting base 32 in the packing working device 3 provides stable support for the Scara robot 31, ensuring that the robot does not shake or displace during operation. With its flexible and precise motion capabilities, the Scara robot can smoothly move the suction packing head 33 on the horizontal plane. The suction packing head 33 closely cooperates with the robot and can accurately fill the gel dispersed in the cavity 43 into each hole of the tray magazine, achieving efficient, stable, and precise packing operations, greatly improving the efficiency and quality of tray loading.

[0069] Specifically, the gel dispersion device 4 includes, An ion blower 42, which includes a corona discharger, a high-voltage power supply, a small vibration device, and a ventilation system, is used to eliminate static ions in the gel raw material and disperse gel agglomerates.

[0070] A cover plate 41, which is a square planar structure, is used to cover the components during dispersion work so that the high-pressure air flow does not blow away the gel when blowing out from the air knife 44.

[0071] A cavity 43, which is a cylindrical concave surface, accommodates a certain amount of gel for dispersion.

[0072] The air knife assembly includes a plurality of air knives 44. The plurality of air knives 44 are evenly arranged on the inner side wall of the cavity and can disperse the gel. For any air knife 44, its tail end is attached to the inner side wall of the cavity, the top end protrudes from the inner side wall, and the shape between the tail end and the top end is streamlined. The height of the top end bulge is 5.5% of the cavity diameter, and the width between the tail end and the top end is 20% of the cavity diameter.

[0073] When there is high-pressure air flow inside the component, the high-pressure air flow is discharged from the gap opening to disperse larger pieces of gel.

[0074] According to different degrees of gel agglomeration, different working modes of the dispersion device are selected to disperse gel agglomerates.

[0075] The gel feeding device 5 includes, A gel storage device 51, which is a hopper-shaped structure, is used to temporarily store the gel body and automatically feed when there is a feeding requirement.

[0076] An outlet groove 53, which is a concave groove, is arranged at the bottom of the gel storage device 51, so that the gel in the gel storage device 51 flows along the direction of the outlet groove 53 and flows into the cavity 43. A partition plate 52, which is a square partition plate. When there is a feeding requirement, the partition plate is opened and the gel automatically enters the cavity 43 from the gel storage device 51.

[0077] A tremor device 54, which trembles and disperses the gel during coagulation deposition.

[0078] The setting of the gel feeding device 5 solves the problem of frequent filling. Only one manual filling is required, and the gel feeding device 5 will fill the gel in batches according to the requirements of the dispersion device.

[0079] The ion blower 42 in the gel dispersion device 4 includes a corona discharger, a high-voltage power supply, a small vibration device, and a air supply system. Under the action of the high-voltage power supply, the corona discharger can generate a large number of positive and negative ions, and these ions neutralize the static ions in the gel raw material, thus comprehensively and effectively eliminating the static electricity in the gel raw material. The elimination of static electricity not only facilitates the dispersion of gel aggregates, but also prevents the agglomeration phenomenon caused by static adsorption during the dispersion process of the gel, ensuring the uniformity of gel dispersion.

[0080] According to different degrees of gel aggregation, the system can select different working modes of the dispersion device. For gels with a relatively low degree of aggregation, the small vibration device can play a role, and the gel aggregates are gradually dispersed through slight vibration; while for gels with a relatively high degree of aggregation, the air knife 44 is started. The high-pressure air flow inside the air knife 44 is discharged from an extremely fine gap, which can strongly disperse larger gel aggregates. This targeted dispersion mode greatly improves the efficiency and effect of gel dispersion, meeting the strict requirements for the gel state under different production demands.

[0081] During the dispersion operation, the cover plate 41 can cover the components, so that when the high-pressure air flow blows out from the air knife 44, the gel will not be blown away, effectively avoiding the loss of gel. This design not only ensures the smooth progress of the gel dispersion operation, but also reduces the waste of raw materials and lowers the production cost.

[0082] Specifically, the image monitoring module includes, CCD-A, which is arranged on the frame at the upper end of the cavity 43 and is used to collect images inside the cavity 43.

[0083] CCD-B, which is arranged at the lower end of the track where the Scara robot 31 fills the material and is used to collect images on the suction filling head 33.

[0084] Specifically, the adjustment module is respectively connected to CCD-A, the gel feeding device 5, and the gel dispersion device 4. Through the images of CCD-A, it adjusts the feeding duration of the gel feeding device 5, monitors the gel aggregation situation in the cavity 43, and determines the working mode of the dispersion device according to the gel aggregation situation.

[0085] Specifically, the feeding adjustment unit confirms the remaining gel amount L of the previous filling through the images of CCD-A, and confirms the opening duration H1 of the gel feeding device 5 according to the remaining gel amount; The more the remaining gel amount is, the shorter the opening duration H1 of the feeding device is.

[0086] H1=HL×b b is the compensation parameter of the remaining gel amount to the feeding time; H is the basic feeding time; The basic feeding time is the basic time for opening the gel feeding device 5 when there is no residual gel.

[0087] The feeding time is determined by the amount of remaining gel. When the amount of remaining gel is small, the dispersion device can easily disperse the gel provided to the cavity 43, so a longer feeding device opening time can be selected. When the amount of remaining gel is large, it means that the dispersion device cannot handle the excess gel, and the supply of gel should be appropriately reduced, thereby reducing the feeding device opening time.

[0088] The basic feeding time H is a floating value and the specific determination process is as follows; Determine whether the basic feeding time value needs to be adjusted based on the comparison between the remaining gel amount L of the last filling and the reasonable gel remaining range of the last filling amount M; When determining the adjustment, the basic feeding time value H is determined by combining the fixed basic feeding time Hg with the maximum gel residue allowed to remain after the previous filling and the compensation coefficient.

[0089] M is the last filling amount; The maximum amount of gel remaining allowed in this embodiment is 5% of the last filling amount; When L<M×5%; H = Hg; L ≥ M × 5%; H = Hg - (LM × 5%) × c c is the compensation coefficient of the basic feeding time of the gel feeding device 5 for the remaining gel amount exceeding 5% of the previous filling amount.

[0090] The value of the basic feeding time H is related to the remaining gel amount L. The larger the remaining gel amount L is, the smaller the value of the basic time H is.

[0091] The fact that the amount of remaining gel exceeds the normal value is likely related to quality problems of the gel itself, such as the viscosity of the gel and the amount of charge it carries. If there are quality problems with the gel, the gel will be difficult to disperse. In this case, the basic opening time of the gel feeding device 5 should be reduced according to the parameter of the part of the remaining gel amount that exceeds the positive value.

[0092] During the actual gel grabbing process, since the gel may not be completely dispersed, there is still some agglomeration when arranging the packing material. For such gels, no packing material is arranged. To ensure the rationality and result of gel dispersion, the feeding duration for the next time is adjusted according to the amount of the remaining partially agglomerated gel, reducing the amount of gel discharged into the cavity 43. When the next dispersion process is carried out, the dispersion degree of the gel is ensured. At the same time, when determining the feeding duration, the basic duration for starting the gel feeding device 5 is verified according to the remaining gel amount, and the allowable gel amount in the cavity 43 during a single dispersion is reasonably determined. Through autonomous regulation, the stable operation of the equipment is guaranteed, and the downtime waiting time caused by unreasonable feeding is greatly reduced, significantly enhancing the coherence of the entire production process.

[0093] Specifically, the dispersion adjustment unit determines the gel agglomeration proportion R through CCD-A image. The adjustment module is based on the method of adaptive grayscale conversion for local area statistics. The image is divided into multiple small sub-regions. For each sub-region, according to the gray distribution characteristics of its pixels, a local gray conversion coefficient is calculated, enabling the gel images under different lighting conditions to better present the contrast between the agglomeration region and the background.

[0094] The dispersion adjustment unit collects a large number of gel agglomeration image samples with annotations, including accurate annotation information of the agglomeration region and the background region, to train a SegNet semantic segmentation model based on deep learning. The model learns the feature patterns of the gel agglomeration region and the background, and through accurate pixel-level classification of the input image, the image is segmented into the gel agglomeration region and the background region; Classify all the gel pixel points of the agglomeration. For the gel agglomeration with the area of a single agglomerated pixel point greater than 3% of the area of all pixel points in the entire region, it is recorded as an independent gel agglomeration area St1. For the gel agglomeration with the area of a single agglomerated pixel point less than or equal to 3% of the area of all pixel points in the entire region, it is recorded as a subordinate gel agglomeration area St2. The specific agglomeration region St is obtained by weighting the two; St = St1 + St2×Z Record the area of the pixel points without any gel agglomeration phenomenon as the background region Sb; And combine each agglomeration region and the background region to obtain the agglomeration proportion R.

[0095] R = St / (St1 + St2 + Sb) And classify according to the agglomeration proportion, No agglomeration, determine that the gel agglomeration proportion is between 0% - 5%; Mild agglomeration, determine that the gel agglomeration proportion is between 5% - 25%; Severe agglomeration, it is determined that the proportion of gel agglomeration is between 25% - 100%.

[0096] When it is determined that there is no agglomeration, no adjustment is required and it directly meets the standard; When it is determined that there is mild agglomeration, parameter adjustment is carried out; When it is determined that there is severe agglomeration, the system takes comprehensive measures.

[0097] Parameter adjustment includes, By adjusting the voltage of the ion blower 42, the first pre-separation of the agglomerated gel mass in the cavity 43 is carried out; By adjusting the power of the ion blower 42, the second pre-separation of the agglomerated gel mass in the cavity 43 is carried out; By comparing the working processes of the first pre-separation and the second pre-separation, when determining the formal separation, the working mode of the ion blower 42 is determined; The working mode of the air knife 44 is confirmed through the power adjustment amount and voltage adjustment amount of the ion blower 42; Based on the proportion of the agglomerated gel area after the parameter adjustment working mode is completed, the feeding duration base value of the feeding device and the working state of the dynamic vibration device 54 are determined, and the next-stage dish placing operation is carried out; The purpose of the first pre-separation is to, by controlling variables, determine the influence on the gel agglomeration area when only adjusting the voltage of the ion blower 42 to judge the weight of the voltage in the formal adjustment; The purpose of the second pre-separation is to, by controlling variables, determine the influence on the gel agglomeration area when only adjusting the power of the ion blower 42 to judge the weight of the voltage in the formal adjustment.

[0098] The first pre-separation includes, According to the gel agglomeration proportion R, the preset voltage U of the ion blower 42 is initially adjusted, and the preset voltage U is adjusted to the temporary voltage U1; U1 = U + R×e; e is the compensation coefficient of the gel agglomeration proportion for the preset voltage of the ion blower 42; After adjusting the voltage alone and working for 30s, the cover plate 41 pops up, covers the cavity 43, starts the air knife 44 device, disperses the gel with the preset power Ed of the air knife 44, and after dispersing for five seconds, the area proportion of the gel agglomeration area detected is named the voltage interference proportion R1; If the voltage interference proportion is reduced to 5% and below, it directly meets the standard, and the second pre-separation and formal separation are not carried out.

[0099] The second pre-separation includes, When the proportion of voltage interference is still above 5%, restore the temporary voltage to the preset voltage, and separately adjust the preset power P of the ion blower 42. Adjust the preset power P to the temporary voltage P1, and introduce a calculated temporary voltage Pz1 as a process variable during this process; Pz1 = P + R × e1 Set a compensation coefficient e1 for the proportion of gel agglomeration to the preset power of the ion blower 42; Set a maximum temporary power Pmax to verify whether the calculated power can be used as the temporary power P1; If Pz1 > Pmax, then P1 = Pmax; If Pz1 ≤ Pmax, then P1 = Pz1.

[0100] Separate the power adjustment. After working for 30s, the cover plate 41 pops up, covers the cavity 43, and starts the air knife 44 device. Disperse the gel with the preset power Pd of the air knife 44, and detect the proportion of gel agglomeration after five seconds, named the proportion of power interference R2.

[0101] If the proportion of power interference is 5% or less, it is directly qualified and no formal separation is carried out.

[0102] When determining the formal separation, the working mode of the ion blower 42 includes, When the proportion of power interference is still above 5%, calculate the power weight ratio Q.

[0103] Q = (R - R1) / (R1 - R2) Determine the working mode of the ion blower 42 during formal separation according to the weight ratio, and work formally under this parameter; Among them, during formal separation, the voltage of the ion blower 42 is the temporary voltage U1; During formal separation, the power of the ion blower 42 is the weighted power P2; P2 = P1 × Q After working for two minutes, the cover plate 41 pops up, covers the cavity 43, starts the air knife 44 device, disperses the gel with the preset power Pd of the air knife 44, and detects the proportion of gel agglomeration after 10 seconds as the comprehensive interference ratio R3; Analyze the comprehensive interference ratio. If the comprehensive interference ratio is 5% or less, it is directly qualified.

[0104] When confirming the working mode of the air knife 44, it includes, When the comprehensive interference ratio is still above 5%, adjust the power E and the working duration M of the air knife 44 according to the adjustment amount ΔU of the voltage of the ion blower 42 and the adjustment amount ΔP of the power of the ion blower 42.

[0105] ΔU = U1 - U ΔP = P2 - P Among them, the power E of the air knife 44 is E = ΔU × k1 + ΔP × k2 k1 is the compensation parameter of the adjustment amount of the voltage of the ion blower 42 for the power of the air knife 44; k2 is the compensation parameter of the adjustment amount of the power of the ion blower 42 for the power of the air knife 44; Among them, the working duration H of the air knife 44 is M = ΔU × b1 + ΔP × b2 b1 is the compensation parameter of the adjustment amount of the voltage of the ion blower 42 for the duration of the air knife 44; b2 is the compensation parameter of the adjustment amount of the power of the ion blower 42 for the duration of the air knife 44; After re-dispersing the gel with the adjusted power E of the air knife 44 and the working duration M of the air knife 44, determine the interference ratio R4 of the air knife 44 according to the detected proportion of the gel agglomeration area; If the interference ratio of the air knife 44 is 5% or less, it meets the standard.

[0106] The determination of the basic feeding duration of the feeding device and the working state of the dynamic vibration device 54 includes If the interference ratio of the air knife 44 is still above 5%, it is determined that the gel dispersion does not meet the standard, there is gel agglomeration remaining, and adjust the basic feeding duration H of the feeding device according to the part of the remaining gel amount exceeding the reasonable range, and start the vibration device 54 to make the gel in the gel feeding device 5 vibrate and disperse, reducing the possibility of gel agglomeration.

[0107] The operation of increasing the voltage in the parameter adjustment working mode can increase the electric field strength of the ion generator, prompting more air molecules to be ionized, thereby increasing the number of ions carried by the ion wind, acting on the agglomerated gel with a relatively gentle physical impact force to try to initially break up the agglomerated structure. Since the number of ions is positively correlated with the voltage value, and the more the proportion of the gel agglomeration area, the more ions are required to neutralize the charge carried by the gel. Therefore, a compensation coefficient of the gel agglomeration ratio for the preset voltage of the ion blower 42 is set during this process to determine the voltage value required to eliminate gel agglomeration to adjust the voltage value, which can accurately and quickly determine a suitable voltage value, thus ensuring the continuity of the adjustment process.

[0108] Adjust the parameter working mode, control the increase of the ion wind frequency, form a high-intensity pulsed ion wind, and focus on impacting the areas where agglomeration is more stubborn. There is a large viscosity between the agglomerated gels. The higher the ion wind frequency, the higher the charge of the charged particles and the impact frequency, and the easier it is to disperse the gel agglomeration. Therefore, different ion wind frequencies are adopted for different gel agglomeration situations, and there is a maximum limit for the ion wind frequency setting to prevent the gel inside the cavity 43 from being blown away by an excessive ion wind. Under the condition of ensuring that the gel is not wasted, both the dispersion speed of the gel agglomeration and the quality of the gel dispersion are taken into account.

[0109] Through the adjustment of voltage and frequency, the dispersion effect of gel agglomeration can be used to roughly judge the reason for gel agglomeration, that is, whether the electrons inside the agglomeration have been neutralized. If the adjustment of voltage control fails to effectively reduce the proportion of gel agglomeration, it is considered that the main reason for the gel still agglomerating is the viscosity between the gels themselves. If the adjustment of voltage effectively reduces the proportion of gel agglomeration, it is considered that the main reason for the gel still agglomerating is that the gel itself still carries more electrons. The first pre-separation determines the impact on the gel agglomeration area when only adjusting the voltage of the ion blower 42, and the second pre-separation determines the impact on the gel agglomeration area when only adjusting the power of the ion blower 42. Through the combination weights of these two impacts, the working mode of the ion blower 42 during specific operation is specifically calculated. More weight is assigned to the voltage for those carrying more electrons, and more weight is assigned to the ion wind frequency for those with greater gel viscosity. In this way, specific adjustments can be made according to the specific reasons for gel agglomeration, saving energy and improving efficiency.

[0110] Comprehensive measures include Start the small vibration device integrated inside the ion blower 42 to slightly vibrate the gel carrier at a frequency of 50 Hz; During the entire comprehensive measure process, the image monitoring module continuously monitors the agglomeration changes at a high frequency of 2 times per second. Once the proportion of agglomeration drops below 25%, the system immediately stops the current control level and returns to the normal working mode state; And set a maximum duration for the comprehensive measures. After the duration reaches the maximum duration, even if the proportion of agglomeration does not drop below 25%, the comprehensive measures are stopped and an error is reported. At this time, the gel is likely to have failed, and the staff needs to be reminded to refill the gel storage device 51 with gel again.

[0111] The slight vibration of the gel carrier by the small vibration device inside the ion blower 42 can destroy the stability of the gel agglomeration from the physical structure level, and cooperate with the action of the pulsed ion wind to accelerate the gel to return to a uniform state.

[0112] In the case of such vibration, the monitoring unit performs high-frequency detection on the proportion of the gel agglomeration area, and the dispersion adjustment unit promptly determines the working state of the small vibration device in the ion blower 42, ensuring that the vibration can be stopped as soon as the proportion of the gel agglomeration area reaches the standard, avoiding damage to the body due to excessive vibration, and limiting the maximum duration of such vibration, ensuring that while effectively handling mild agglomeration, the impact on the normal operation of the ion blower 42 and the production environment is minimized; When the proportion of the agglomerated gel area reaches a specified value or the adjustment time reaches a maximum time, the parameter adjustment process is entered.

[0113] When the regulating module is dealing with the gel agglomeration problem, the system can coordinate the ion blower 42, the wind knife 44, the vibrating device 54, etc. to work together. This collaborative working mode ensures that the equipment can operate in the best state under different conditions, reduces the probability of failure caused by uncoordinated work between equipment, and improves the stability of the entire production equipment system.

[0114] Specifically, the filling monitoring unit divides the material taking area in the cavity 43 into multiple areas according to the shape of the suction filling head 33 based on the image data of CCD-A, and detects the gel filler in each area, excludes the areas with gel agglomeration, and leaves the gel in the areas where there are still agglomerations, and disperses the gel again with the next filling, and fills the areas without gel agglomeration with gel for the next step.

[0115] The adjustment module controls the Scara robot 31 to operate the suction filling head 33 to take materials from each area without agglomeration in turn, and transports the fillers to the pallet clip and places them according to the preset position. During the transportation of the fillers, the CCD-B located below the transportation path of the filling head will detect the fillers dipped by the suction filling head 33 to ensure that the transported fillers are not agglomerated.

[0116] The adjustment module divides the material collection surface in the cavity 43 into regions according to the shape of the suction filling head 33 based on the image data of CCD-A, which can achieve accurate positioning and division of the material collection area, making subsequent material collection and detection operations more targeted and efficient, and improving the orderliness of the overall work.

[0117] By testing the gel filler in each area and excluding areas with gel agglomeration, the quality of the gel filler used for filling is guaranteed, and the filling effect and product quality are not affected by the agglomerated gel, thereby improving the quality and stability of the product. For areas with gel agglomeration, the agglomerated gel is left and dispersed with the gel for the next filling. This method makes rational use of gel resources and reduces gel waste. At the same time, multiple dispersion treatments help improve the dispersion uniformity of the gel.

[0118] The adjustment module controls the Scara robot 31 to operate the suction filling head 33 to sequentially pick up materials from areas without agglomeration phenomenon and place them on the tray magazine according to the preset positions, realizing the automated operation of the material picking and placing processes, reducing manual intervention, and improving production efficiency and operation accuracy. During the filling material transportation process, CCD-B detects the filling material dipped by the suction filling head 33, forming a double guarantee with the previous detection of the material picking area, further ensuring that the transported filling material has no agglomeration phenomenon, thereby guaranteeing the smooth progress of the subsequent filling link and the quality of the final product.

[0119] So far, the technical solution of the present invention has been described in combination with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0120] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A Gel automatic plating system based on image data analysis, characterized in that: include, Pallet transport device, used for transporting and temporarily storing pallet magazines; a screw device connected to the pallet conveying device and used to convey the pallet clip to a filling position; Gel feeding device, used for temporary placement of gel raw materials and intelligent supply of fillers; A gel dispersing device, connected to the gel feeding device, to disperse the filler of the smart filling; A filling working device is arranged on the working platform, including a Scara mounting seat, a Scara robot, and a suction filling head, and is used to arrange the dispersed filling on a plate; An image monitoring module, including a CCD-A disposed on a frame at the upper end of the cavity and a CCD-B disposed at the lower end of the filling track of the Scara robot; The regulating module is respectively connected to the CCD-A, the CCD-B, the gel feeding device, and the gel dispersing device, and is used for regulating the amount of material supplied by the gel feeding device into the cavity, determining the feeding duration through the amount of gel remaining in the cavity after the last plate swing acquired through the CCD-A image, determining the working mode of the ion blower and the wind knife assembly through the proportion of the gel area currently agglomerated in the cavity acquired through the CCD-A image, determining the material taking position of the filling device, and judging the material taking quality of the filling device through the CCD-B image.

2. The automatic gel plating system based on image data analysis according to claim 1, characterized in that: The gel dispersing device comprises: The wind ionizer includes a corona discharger, a high voltage power supply, a small vibration device and an air supply system, and is used to eliminate static ions in the gel raw material; A cover plate, which is a square planar plate structure, used to cover the components when the wind knife assembly is performing dispersion work; The cavity is a cylindrical concave structure used to contain a certain amount of gel for dispersion; The wind knife assembly includes a plurality of wind knives, and the plurality of wind knives are evenly distributed on the inner side wall of the cavity and can disperse the gel.

3. The automatic gel plating system based on image data analysis according to claim 1, characterized in that: The gel feeding device comprises: A gel storage device, which is a bucket-shaped structure, used to store the gel to be dispersed; An outlet groove, which is a concave groove, is arranged at the bottom of the gel storage device and is used to limit the feeding direction of the filler; The partition plate is a square partition, which is opened when there is a feeding demand to control the amount of gel discharged; The vibrating device is arranged at the bottom of the gel supply device and vibrates and disperses the gel when the gel is deposited.

4. The automatic gel plating system based on image data analysis according to claim 1, characterized in that: The monitoring module comprises: The CCD-A is arranged on a frame at the upper end of the cavity and is used to collect images inside the cavity; The CCD-B is arranged at the lower end of the track of the scara robot filler and is used to collect the image of the gel on the suction filler head.

5. The automatic gel plating system based on image data analysis according to claim 1, characterized in that: The feeding adjustment unit uses the image obtained by the CCD-A to confirm the amount of gel remaining from the last filling to determine the duration of opening the gel feeding device; The dispersion adjustment unit determines the agglomeration ratio by analyzing the image of the CCD-A to determine the working mode of the dispersion device; The filling monitoring unit determines the material taking position according to the image of the CCD-A and excludes the gel of poor quality according to the image of the CCD-B.

6. The automatic gel plating system based on image data analysis according to claim 5, characterized in that: The feeding adjustment unit determines the duration of opening the gel feeding device by combining the amount of residual gel, the compensation parameter of the residual gel amount to the feeding duration, and the basic feeding duration; The basic feeding time is the basic time for opening the gel feeding device when there is no residual gel; The feed regulating unit determines the specific value of the basic feed duration by comparing whether the amount of the remaining gel is within a reasonable range; The basic feeding time is a fixed value when the amount of the remaining gel is within a reasonable range, and is adjusted according to the fixed value when the amount of the remaining gel is not within the reasonable range; When there is a need for adjustment, the feed adjustment unit determines the basic feed duration by combining the amount of remaining gel exceeding a reasonable range, the fixed basic duration and the compensation value of the remaining gel exceeding a reasonable range for the basic feed duration.

7. The automatic gel plating system based on image data analysis according to claim 6, characterized in that: The dispersion adjustment unit analyzes the image acquired by CCD-A and the adaptive grayscale method to present the contrast between the cluster area and the background area, and divides the cluster area and the background area through the SegNet semantic segmentation model to obtain the cluster ratio; And according to the area ratio, it is divided into no agglomeration, slight agglomeration and severe agglomeration; When it is determined that there is no agglomeration, no adjustment is required and the standard is met directly; When it is determined to be the mild agglomeration, the system adjusts the parameters; When it is determined to be a severe reunion, the system takes comprehensive measures; The dispersion adjustment unit immediately determines the material extraction position for the gel that is determined to meet the standard later, and also determines the material extraction position for the gel that does not meet the standard in the end.

8. The automatic gel plating system based on image data analysis according to claim 7, characterized in that: The parameter adjustment determines the working mode of the ion blower and the wind knife, including: The dispersion adjustment unit performs a first pre-separation of the agglomerated gel groups in the cavity by adjusting the voltage of the ion blower alone, and determines the dispersion result; The dispersion adjustment unit performs a second pre-separation of the agglomerated gel mass in the cavity by adjusting the power of the ion blower alone, and determines the dispersion result; The dispersion adjustment unit compares the change amount of the agglomerated gel mass in the first pre-separation and the second pre-separation, determines the working mode of the ion blower during formal separation and judges the dispersion result; The dispersion adjustment unit confirms the working mode of the wind knife and determines the dispersion result through the power adjustment amount and voltage adjustment amount of the ion fan; The dispersion adjustment unit determines the basic feeding time of the feeding device and the working state of the vibrating device through the proportion of the agglomerated gel area after the parameter adjustment, and determines the dispersion result.

9. The automatic Gel plating system based on image data analysis according to claim 7, characterized in that: The comprehensive measures for determining the working mode of the ion blower and the CCD-A include: The small vibration device integrated in the start-up ion blower of the dispersion adjustment unit vibrates at a fixed frequency; The decentralized adjustment unit performs high-frequency image acquisition through the CCD-A to determine in real time whether to stop the omnidirectional measures and perform the parameter adjustment; The decentralized adjustment unit determines whether to stop the comprehensive measures and performs the parameter adjustment by setting a maximum duration for implementing the comprehensive measures.

10. The automatic gel plating system based on image data analysis according to claim 1, characterized in that: The filling monitoring unit divides the material taking area according to the image number of the CCD-A, and detects the gel filler in each area, removes the material after excluding the area with agglomerated gel groups, and arranges the material on the plate; The filling monitoring unit monitors the quality of the gel dipped by the suction filling head through the CCD-B image, and removes the gel of poor quality.

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