Gel automatic tray placing system based on image data analysis

Abstract

The present application relates to the technical field of automation equipment, and more particularly to a Gel automatic tray placing system based on image data analysis, comprising 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. The filling working device realizes efficient and stable precise filling. The gel dispersing device effectively disperses the gel according to the degree of agglomeration, reducing waste. The image monitoring module and the adjusting module cooperate to control the feeding by identifying the remaining gel amount through CCD-A, accurately determine the gel agglomeration by using adaptive grayscale and multi-channel image fusion, take corresponding processing measures for different degrees of agglomeration, and coordinate the cooperative work of each device to improve the stability of the equipment. In addition, the adjusting module divides the area of the material taking surface, combined with the detection of CCD-B, to ensure the material taking and filling quality and efficiency. The system comprehensively improves the production efficiency, product quality and reduces the cost, and has significant practical value.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a gel automatic tray-stacking system based on image data analysis. Background Technology

[0002] The gels separated by gel electrophoresis carry crucial experimental data and need to be precisely placed into specific containers or detection devices. This critical operation is known as gel tray placement. These specific containers may include petri dishes for preserving gel samples or imaging plates for further analysis. Detection devices include gel imaging systems, which acquire relevant data about biomolecules, such as their position, brightness, and width, by imaging and analyzing the bands on the gel. This provides researchers with important information for interpreting experimental results and analyzing biomolecular properties. The precision of gel tray placement directly affects the accuracy and reliability of subsequent experimental data acquisition and plays a vital role in the success or failure of the entire biological experiment.

[0003] Chinese Patent Publication No. CN117719744A discloses an automatic tray-stacking machine and its tray-stacking method, belonging to the field of automation equipment technology. The automatic tray-stacking machine includes a feeding module, a discharging module, and a pick-and-place module. The discharging module includes a tray, and the pick-and-place module includes a pick-and-place mechanism, a correction mechanism, and a robotic arm. The pick-and-place mechanism is used to pick up and place multiple materials and can correct the multiple materials to position them in a first preset position. The correction mechanism is used to correct the multiple materials to position them in a second preset position. The pick-and-place mechanism is connected to the end of the robotic arm so that it can dock with the feeding module, the tray, and the correction mechanism respectively. This invention's automatic tray-stacking machine and its tray-stacking method enable the simultaneous, automated, and precise placement of multiple materials in a tray.

[0004] Therefore, it is evident that the automatic tray-stacking machine and its tray-stacking method have the following problems:

[0005] Without a specific control system, it is impossible to efficiently disperse aggregated gel clusters. Summary of the Invention

[0006] To address this issue, the present invention provides an automated gel tray system based on image data analysis to overcome the problem of inefficiently dispersing gel agglomerates in existing technologies.

[0007] To achieve the above objectives, the present invention provides an automatic gel plating system based on image data analysis, comprising:

[0008] Pallet transport device, used for transporting and temporarily storing palletized magazines;

[0009] A screw assembly, connected to the pallet conveying device, is used to transport the pallet clip to the filling position;

[0010] A gel feeding device is used for the temporary placement of gel raw materials and the intelligent supply of fillers;

[0011] A gel dispersion device, connected to a gel feeding device, disperses the intelligent filling filler.

[0012] The packing working device, set on the working platform, includes a Scara mounting base, a Scara robot, and a suction packing head, used to arrange the dispersed packing on a tray;

[0013] The image monitoring module includes a CCD-A mounted on the upper frame of the cavity and a CCD-B mounted on the lower end of the Scara robot's packing track;

[0014] The adjustment module is connected to the CCD-A, CCD-B, gel feeding device, and gel dispersing device, respectively. It is used to adjust the amount of gel fed into the cavity by the gel feeding device, determine the feeding time by the amount of gel remaining in the cavity after the last tray placement acquired by the CCD-A image, determine the working mode of the ion fan and air knife by the proportion of the gel agglomerated area in the cavity acquired by the CCD-A image, determine the material picking position of the packing device, and judge the material picking quality of the packing device by the CCD-B image.

[0015] Furthermore, the wind ionizer includes a corona discharger, a high-voltage power supply, a small vibration device, and an air supply system for eliminating electrostatic ions in the gel raw material;

[0016] The cover plate, which is a square flat plate structure, is used to cover the components when the air knife is being dispersed;

[0017] The cavity is a cylindrical concave structure used to contain a certain amount of gel for dispersion;

[0018] The air knife is a protruding, extremely fine slit along the edge of the cavity, allowing high-pressure airflow to exit from the slit opening for dispersing the gel.

[0019] Furthermore, the gel feeding device includes,

[0020] A gel storage device, which is a funnel-shaped structure, is used for temporary storage of gel;

[0021] The outlet channel, which is a concave channel, is located at the bottom of the gel storage device and is used to restrict the feed direction of the filler;

[0022] The partition plate is a square partition that is opened when there is a feeding demand to control the amount of gel discharged.

[0023] A vibration device, which is located at the bottom of the gel feeding device, causes the gel to vibrate and disperse during gel deposition.

[0024] Furthermore, the monitoring module includes,

[0025] The CCD-A is mounted on a frame at the upper end of the cavity and is used to acquire images inside the cavity.

[0026] The CCD-B is located at the lower end of the track of the Scara robot packing and is used to acquire images of the gel on the suction packing head.

[0027] Furthermore, the feeding adjustment unit uses the image from the CCD-A to confirm the amount of gel remaining from the previous filler application to determine when the gel feeding device should be turned on.

[0028] The dispersion adjustment unit determines the operating mode of the dispersion device by analyzing the image of the CCD-A sensor to obtain the agglomeration ratio.

[0029] The filling monitoring unit determines the feeding location based on the image of the CCD-A and excludes poor-quality gel based on the image of the CCD-B.

[0030] Furthermore, the feeding adjustment unit determines the duration for which the gel feeding device is turned on by combining the amount of remaining gel, the compensation parameter for the feeding time based on the amount of remaining gel, and the basic feeding time.

[0031] The basic feeding time is determined by the basic time during which the gel feeding device is turned on when there is no remaining gel.

[0032] The feeding adjustment unit determines the specific value of the basic feeding time by comparing whether the amount of remaining gel is within a reasonable range;

[0033] The basic feeding time is a fixed value when the amount of remaining gel is within a reasonable range, and is adjusted according to the fixed value when the amount of remaining gel is outside the reasonable range.

[0034] When there is an adjustment requirement, the feeding adjustment unit determines the basic feeding time by combining the amount of remaining gel that exceeds the reasonable range, the fixed basic time, and the compensation value of the remaining gel that exceeds the reasonable range for the basic feeding time.

[0035] Furthermore, the dispersion adjustment unit analyzes the image acquired by CCD-A and uses an adaptive grayscale method to present the contrast between the clustered region and the background region, and uses the SegNet semantic segmentation model to divide the clustered region and the background region to obtain the clustering ratio.

[0036] Furthermore, based on the area proportion, the clusters are divided into no clustering, mild clustering, and severe clustering;

[0037] When it is determined that there is no aggregation, no adjustment is needed, and the standard is met directly;

[0038] When the system determines that the aggregation is mild, it adjusts the parameters.

[0039] When a severe aggregation is identified, the system takes comprehensive measures.

[0040] The dispersion adjustment unit immediately determines the sampling location for gels that meet the standards after the initial determination, and also determines the sampling location for gels that do not meet the standards at the end.

[0041] Furthermore, the parameter adjustment determines the operating mode of the ion fan and the air knife, including:

[0042] The dispersion adjustment unit performs a first pre-separation of the aggregated gel clusters in the cavity by individually adjusting the voltage of the ion fan, and judges the dispersion result.

[0043] The dispersion adjustment unit adjusts the power of the ion fan individually to perform a second pre-separation of the aggregated gel clusters in the cavity and determines the dispersion result.

[0044] The dispersion adjustment unit compares the changes in the aggregated gel clusters between the first and second pre-separation to determine the working mode of the ion blower during formal separation and to judge the dispersion results.

[0045] The dispersion adjustment unit determines the working mode of the air knife and judges the dispersion result by adjusting the power and voltage of the ion fan.

[0046] The dispersion adjustment unit determines the basic feeding time of the feeding device and the working state of the vibration device by adjusting the proportion of the aggregated gel region after parameter adjustment, and judges the dispersion result.

[0047] Furthermore, the comprehensive measures for determining the ion fan and the CCD-A operating mode include:

[0048] The small vibration device integrated inside the starting ion fan of the dispersion adjustment unit vibrates at a fixed frequency.

[0049] The distributed adjustment unit performs high-frequency image acquisition via the CCD-A sensor to determine in real time whether to stop the omnidirectional measures and adjust the parameters accordingly.

[0050] The decentralized adjustment unit determines whether to stop the all-round measures by setting a maximum duration for implementing the all-round measures, and then adjusts the parameters accordingly.

[0051] Furthermore, the filling monitoring unit divides the material taking area by the number of images from the CCD-A sensor, detects the gel filler in each area, and takes material from areas with agglomerated gel clumps after excluding them, and then arranges the material on a tray.

[0052] The filling monitoring unit uses the CCD-B image to monitor the quality of the gel picked up by the suction filling head and to remove gels of poor quality.

[0053] Compared with the prior art, the beneficial effects of this invention are as follows: In the actual gel grasping process, due to the possibility of incomplete dispersion of the gel, some agglomeration may still exist when placing the filler. For such gels, no tray placement is performed. To ensure the rationality and dispersion result of the gel, the feeding time of the next feeding is adjusted according to the amount of the remaining agglomerated gel, reducing the amount of gel discharged into the cavity and ensuring the degree of gel dispersion in the next dispersion process. At the same time, when determining the feeding time, the basic time for starting the gel feeding device is checked based on the amount of remaining gel, and the allowable amount of gel in the cavity during a single dispersion is reasonably determined. Through autonomous control, the stable operation of the equipment is ensured, greatly reducing the downtime caused by unreasonable feeding and significantly enhancing the continuity of the entire production process.

[0054] Furthermore, the adaptive grayscale method avoids the loss of local information caused by global grayscale, and can better present the contrast between gel aggregation regions and the background under different lighting conditions. In some production environments where lighting conditions are difficult to control precisely, traditional global grayscale methods may obscure details of some aggregation regions, leading to inaccurate detection. This adaptive grayscale method, however, makes the features of aggregation regions in the image clearer, providing a more accurate data foundation for subsequent analysis.

[0055] Furthermore, in actual image segmentation, unclear edges may occur, making it difficult to directly distinguish between clustered regions and background regions. By using the SegNet semantic segmentation model to effectively separate the boundaries and calculate the accurate clustering ratio according to the preset clustering ratio calculation method, the acquired image data can be quickly responded to and subsequent adjustments can be made.

[0056] Furthermore, the parameter adjustment unit increases the electric field strength of the ion generator by boosting the voltage, causing more air molecules to be ionized. This increases the number of ions carried by the ion wind, which then acts on the aggregated gel with a gentler physical impact, attempting to initially break up the agglomeration. Since the number of ions is positively correlated with the voltage value, and the larger the proportion of gel agglomeration, the more ions are needed to neutralize the charge on the gel, a compensation coefficient is set between the gel agglomeration ratio and the preset voltage of the ion wind machine. This coefficient is used to determine the voltage value required to eliminate gel agglomeration and adjust the voltage value accordingly. This allows for accurate and rapid determination of a suitable voltage value, ensuring the continuity of the adjustment process.

[0057] Furthermore, the parameter adjustment unit controls the ion wind frequency to increase, forming a high-intensity pulsed ion wind that focuses on impacting areas with stubborn agglomeration. Agglomerated gels have high viscosity, and the higher the ion wind frequency, the higher the charge of the charged particles and the higher the impact frequency, making it easier to break up gel agglomeration. Therefore, different ion wind frequencies are used for different gel agglomeration conditions, and there is a maximum limit on the ion wind frequency setting to prevent excessive ion wind from blowing away the gel inside the cavity. While ensuring that the gel is not wasted, both the speed of gel agglomeration dispersion and the quality of gel dispersion are taken into account.

[0058] Furthermore, the parameter adjustment unit can roughly determine the cause of gel agglomeration by adjusting the dispersion effect of voltage and frequency. The determination is based on whether electrons within the agglomerates have been neutralized. If voltage adjustment fails to effectively reduce the proportion of agglomerates, the continued agglomeration is considered to be primarily due to the viscosity between the gels themselves. Conversely, if voltage adjustment effectively reduces the proportion of agglomerates, the continued agglomeration is considered to be primarily due to the gels carrying a significant number of electrons. The first pre-separation determines the impact on the gel agglomeration area when only the ion fan voltage is adjusted. The second pre-separation determines the impact on the gel agglomeration area when only the ion fan power is adjusted. By combining these two impacts with weights, the specific operating mode of the ion fan during operation is calculated. More weight is assigned to voltage for gels carrying more electrons, and more weight is assigned to the ion fan frequency for gels with higher viscosity. This method allows for specific adjustments based on the specific cause of gel agglomeration, saving energy and improving efficiency.

[0059] Furthermore, when addressing gel aggregation issues, the adjustment module coordinates the ion blower, air knife equipment, and vibration device to work together. This collaborative approach ensures that the equipment operates at its optimal state under various conditions, reducing the probability of malfunctions caused by incoordination between devices and improving the overall stability of the production equipment system.

[0060] Furthermore, the filler monitoring unit inspects the gel filler in each area, eliminating areas with gel agglomeration. This ensures the quality of the gel filler used for filling, preventing agglomerated gel from affecting the filling effect and product quality, thereby improving product quality and stability. For areas with gel agglomeration, the agglomerated gel is left to be dispersed with the next batch of filler gel. This method makes rational use of gel resources, reduces gel waste, and, through multiple dispersion processes, helps improve the uniformity of gel dispersion. The adjustment module controls the Scara robot to operate the suction filler head to sequentially pick up filler from areas without agglomeration and place it on the tray clips according to preset positions. This automates the picking and placement process, reduces manual intervention, and improves production efficiency and operational accuracy. During filler transportation, the CCD-B inspects the filler picked up by the suction filler head, providing double assurance in conjunction with the previous inspection of the picking areas. This further ensures that the transported filler is free of agglomeration, thus guaranteeing the smooth progress of subsequent filling processes and the quality of the final product. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the structure of the automatic gel plating system based on image data analysis in the embodiment;

[0062] Figure 2 This is a schematic diagram of the pallet transport device in the embodiment;

[0063] Figure 3 This is a schematic diagram of the screw device structure in the embodiment;

[0064] Figure 4 This is a schematic diagram of the packing working device in the embodiment;

[0065] Figure 5 This is a schematic diagram of the gel dispersion device in the embodiment;

[0066] Figure 6 This is a schematic diagram of the gel feeding device in the embodiment. Detailed Implementation

[0067] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0068] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0069] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0070] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0071] Please see Figures 1-6 As shown, Figure 1 This is a schematic diagram of the automatic gel plating system based on image data analysis described in this invention. Figure 2 This is a schematic diagram of the pallet conveying device 1 described in this invention. Figure 3 This is a schematic diagram of the screw 21 device 2 of the present invention. Figure 4 This is a schematic diagram of the packing working device 3 of the present invention. Figure 5 This is a schematic diagram of the gel dispersion device 4 described in this invention. Figure 6 This is a schematic diagram of the gel feeding device 5 described in this invention.

[0072] This application provides an automatic gel plating system based on image data analysis, including:

[0073] Pallet transport device 1, used for transporting and temporarily storing pallet clips;

[0074] The screw 21 device 2 is connected to the pallet conveying device 1 and is used to transport the pallet clip that needs to be filled to the filling position;

[0075] The gel feeding device 5 is used for temporary placement of gel raw materials and intelligent supply of fillers;

[0076] The gel dispersion device 4 is connected to the gel feeding device 5 to disperse the intelligent filling filler.

[0077] The packing working device 3 is set on the working platform and is used to load the dispersed packing.

[0078] The image monitoring module includes a CCD-A mounted on the upper frame of the cavity 43 and a CCD-B mounted on the lower end of the packing track of the Scara robot 31;

[0079] The adjustment module is connected to the CCD-A, the gel feeding device 5, and the gel dispersing device 4 respectively. It is used to adjust the amount of material fed into the cavity 43 by the gel feeding device 5, monitor the gel aggregation phenomenon in the cavity 43 by the CCD-A, and determine the working mode of the ion fan 42 and the air knife 44 based on the gel aggregation phenomenon.

[0080] Specifically, the pallet conveying device 1 includes,

[0081] The tray clip is a square plate with multiple holes inside, used for filling with gel.

[0082] The loading unit is used to manually load pallet magazines into the loading box 11 and transport them to the lifting unit.

[0083] The lifting unit is used to switch the working tray magazines inside the lifting box.

[0084] The unloading unit is used to transport the loaded pallet magazine out of the lifting box.

[0085] Rollers, which are installed on the loading channel 12, unloading channel 15 and lifting channel 16, reduce the wear of the pallet magazine during movement.

[0086] Specifically, the loading unit includes,

[0087] The loader frame is fixed to the entire device by two vertical main beams.

[0088] The loading box 11 is a square box containing several spring clips inside, and has a triangular base at the bottom.

[0089] The loading slide is mounted on the loader frame and connected to the triangular base, allowing the loading box 11 on the triangular base to slide up and down along the slide.

[0090] The loading channel 12 is located outside the loading box 11. After a certain layer of the loading box 11 is filled with a pallet magazine, the corresponding layer of the loading box 11 is aligned with the loading channel 12. The pallet magazine can slide within the loading channel 12.

[0091] Loading cylinder 13, located on the left side of loading channel 12, pushes the pallet magazine sliding within loading channel 12 into the lifting box.

[0092] The working process is as follows: the pallet magazine is manually loaded into the loading box 11, the loading box 11 is pressed down so that the corresponding layer inside the loading box 11 is aligned with the loading channel 12, and the loading cylinder 13 is automatically started to push the pallet magazine into the lifting box.

[0093] Specifically, the lifting unit includes...

[0094] The lifting frame is connected and fixed to the entire device by two vertical main beams.

[0095] The lifting box is a square box containing several spring clips inside, and its bottom is provided with a triangular base. The triangular base and the box are separated by a certain distance by a support.

[0096] The lifting slide is installed on the loader frame and connected to the triangular base, allowing the lifting box on the triangular base to slide up and down along the slide.

[0097] The support spring, located at the lower end of the triangular base, is used to support the lifting box.

[0098] The lifting channel 16 is coaxial with and has the same structure as the loading channel, and is connected to the loading channel.

[0099] The lifting cylinder, located at the top of the lifting frame, is used to control the up-and-down sliding of the lifting box.

[0100] Inside the lifting box, the tray magazines are pulled out in turn by screw 21 for loading operations. The lifting box is used to adjust which tray magazine needs to be loaded.

[0101] Specifically, the unloading unit includes...

[0102] The unloading channel 15 is connected to the unloading box 14 and is located outside the unloading box 14. It is aligned with the loading channel 12 in an empty layer of the unloading box 14. The tray magazine can slide in the unloading channel 15 and enter the unloading box 14.

[0103] The unloading box 14 is a square box containing several spring clips inside, and has a triangular base at the bottom.

[0104] The unloading frame is fixed to the entire device by two vertical main beams.

[0105] The unloading slide is set on the unloading frame and connected to the triangular base, so that the unloading box 14 on the triangular base can slide up and down along the slide.

[0106] In the loading unit of the pallet transport device 1, a loading box 11 with a specific structure is designed. Its interior contains several spring clips to securely hold the pallet clips and prevent displacement during transport. The triangular base at the bottom connects to the loading slide, allowing workers to easily slide the loading box 11 up and down to precisely align the corresponding internal layers with the loading channel 12. This design greatly simplifies the manual loading process, reduces the time and effort required for manual adjustments, and improves loading efficiency.

[0107] The lifting unit, through the coordinated operation of components such as the lifting frame, lifting slide, support springs, and lifting cylinders, achieves smooth up-and-down sliding of the lifting box. Inside the lifting box, pallet clips are pulled out alternately by screw 21 for loading operations. This precise switching mechanism ensures that each pallet clip is transported to the appropriate position accurately and in a predetermined order, greatly improving the continuity and stability of the entire pallet transportation process and avoiding production stoppages caused by pallet switching errors.

[0108] The rollers installed in the loading channel 12, unloading channel 15, and gap partitions play a crucial role in the movement of the pallet magazine. The rolling friction of the rollers replaces traditional sliding friction, significantly reducing the friction between the pallet magazine and the contact surface, thereby effectively reducing wear on the pallet magazine during movement. This not only extends the service life of the pallet magazine and reduces equipment replacement costs, but also reduces production interruptions that may result from pallet magazine damage, improving production continuity and reliability.

[0109] Specifically, the screw assembly 2 includes,

[0110] Screw 21, which is mounted on the frame, is used to drag the pallet clip plate to the working position.

[0111] The pallet magazine carrier plate, which is movably connected to the screw 21, is a square plate slightly wider than the pallet magazine and is used to load and move the pallet magazine.

[0112] Adjusting cylinder 22, which is mounted on screw 21, is used to pull out tray clip to carrier plate when the end of screw 21 is close to tray clip, and to adjust the position of tray clip on carrier plate.

[0113] The gripper cylinder 23 is located at the end of the adjusting rod. When the adjusting cylinder 22 extends the gripper into the corresponding position of the tray magazine, it pushes the gripper to open and fix the tray magazine.

[0114] The ejector cylinder 24 is located below the pallet clip plate. After the pallet clip plate reaches the filling position, the horizontal position of the pallet clip plate is adjusted.

[0115] When the screw device 2 is working, first adjust the screw 21 so that the adjusting cylinder 22 on the screw 21 is close to the tray magazine. The adjusting cylinder 22 extends the jaws to the designated position. The jaw cylinder 23 pushes the jaws open and fixes the tray magazine. The adjusting cylinder 22 then pulls the tray magazine to the designated position on the tray magazine carrier plate and adjusts it. The screw 21 starts to pull the carrier plate to the working position. Then the ejector cylinder 24 adjusts the horizontal position to perform the loading operation.

[0116] The adjusting cylinder 22 in the screw assembly 2 can precisely extend the gripper to a designated position when the end of the screw 21 approaches the tray clip. After the gripper cylinder 23 pushes the gripper to open and fix the tray clip, the adjusting cylinder 22 can then precisely pull the tray clip to a designated position on the tray clip carrier plate and finely adjust its position. This high-precision position adjustment capability ensures that the positioning error of the tray clip on the carrier plate is controlled within a very small range, providing a solid foundation for subsequent filling work.

[0117] The ejector cylinder 24 is positioned below the tray clip carrier plate. When the carrier plate reaches the filling position, the ejector cylinder 24 can quickly and accurately adjust the horizontal position of the tray clip carrier plate. This operation ensures that the tray clip is in a horizontal state when filling gel, allowing the gel to be evenly filled into each hole of the tray clip, effectively avoiding uneven gel filling caused by tray clip tilting, and improving the consistency of product quality.

[0118] Specifically, the packing working device 3 includes...

[0119] Scara mounting base 32 is a square support that secures the robot to which it is connected.

[0120] The Scara robot 31, mounted on the Scara mount 32, can move smoothly on a horizontal surface.

[0121] The suction packing head 33 is mounted on the Scara robot 31 and works with the robot to complete the packing work.

[0122] The Scara mounting base 32, the Scara robot 31, and the suction filling head 33 work together to fill the dispersed gel in the cavity 43 into the tray cartridge.

[0123] The Scara mounting base 32 in the filling device 3 provides stable support for the Scara robot 31, ensuring that the robot does not shake or shift during operation. Thanks to its flexible and precise movement capabilities, the Scara robot can smoothly move the suction filling head 33 on a horizontal plane. The suction filling head 33 works closely with the robot to accurately fill the dispersed gel within the cavity 43 into each hole of the tray magazine, achieving efficient, stable, and precise filling operations, greatly improving the efficiency and quality of tray placement.

[0124] Specifically, the gel dispersion device 4 includes,

[0125] Ionizing blower 42, which includes a corona discharger, a high-voltage power supply, a small vibration device and an air supply system, is used to eliminate electrostatic ions in gel raw materials and disperse gel agglomerates.

[0126] The cover plate 41 is a square planar structure used to cover the components during dispersion work so that the high-pressure airflow will not blow away the gel when it is blown out from the air knife 44.

[0127] Cavity 43 is a cylindrical concave surface that contains a certain amount of gel for dispersion.

[0128] The air knife assembly includes a plurality of air knives 44, which are evenly distributed on the inner wall of the cavity and can disperse the gel. For any air knife 44, its tail end is attached to the inner wall of the cavity, and its top end protrudes from the inner wall. The tail end and the top end are streamlined. The height of the top end protrusion is 5.5% of the cavity diameter, and the width between the tail end and the top end is 20% of the cavity diameter.

[0129] When there is high-pressure airflow inside the component, the high-pressure airflow is discharged from the gap and the larger pieces of gel are blown apart.

[0130] Different dispersion device operating modes are selected to disperse gel agglomerates based on their degree of agglomeration.

[0131] Gel feeding device 5, including,

[0132] The gel storage device 51 is a funnel-shaped structure used to temporarily store the gel and automatically feed it when there is a feeding requirement.

[0133] The outlet groove 53, which is a concave groove, is located at the bottom of the gel storage device 51, allowing the gel in the gel storage device 51 to flow along the direction of the outlet groove 53 and into the cavity 43.

[0134] The partition plate 52 is a square partition. When there is a need for feeding, the partition plate is opened and the gel automatically enters the cavity 43 from the gel storage device 51.

[0135] The vibrating device 54 causes the gel to vibrate and disperse during deposition.

[0136] The gel feeding device 5 solves the problem of frequent filling. Only one manual filling is required. The gel feeding device 5 will fill the gel in batches according to the needs of the dispersion device.

[0137] The ion fan 42 in the gel dispersion device 4 includes a corona discharger, a high-voltage power supply, a small vibration device, and an air supply system. Under the action of the high-voltage power supply, the corona discharger generates a large number of positive and negative ions. These ions neutralize the electrostatic ions in the gel raw material, thereby effectively eliminating static electricity in the gel raw material. The elimination of static electricity not only facilitates the dispersion of gel agglomerates but also prevents agglomeration caused by electrostatic adsorption during dispersion, ensuring the uniformity of gel dispersion.

[0138] Depending on the degree of gel agglomeration, the system can select different operating modes for the dispersion device. For gels with light agglomeration, a small vibration device can be used to gradually disperse the gel agglomerates through slight vibration; while for gels with heavy agglomeration, the air knife 44 is activated, and the high-pressure airflow inside the air knife 44 is discharged from extremely fine slits, which can effectively disperse larger gel agglomerates. This targeted dispersion mode greatly improves the efficiency and effect of gel dispersion, meeting the stringent requirements for gel state under different production needs.

[0139] During dispersion, the cover plate 41 covers the components, preventing the gel from being blown away by the high-pressure airflow from the air knife 44, thus effectively avoiding gel loss. This design not only ensures the smooth progress of gel dispersion but also reduces raw material waste and lowers production costs.

[0140] Specifically, the image monitoring module includes,

[0141] The CCD-A is mounted on a frame at the top of cavity 43 and is used to acquire images inside cavity 43.

[0142] The CCD-B, located at the lower end of the track of the Scara robot 31 packing, is used to acquire images on the suction packing head 33.

[0143] Specifically, the adjustment module is connected to the CCD-A, the gel feeding device 5, and the gel dispersing device 4 respectively. Through the image of the CCD-A, the feeding time of the gel feeding device 5 is adjusted, the gel aggregation in the cavity 43 is monitored, and the working mode of the dispersing device is determined according to the gel aggregation.

[0144] Specifically, the feeding adjustment unit confirms the remaining gel amount L of the previous filling through the CCD-A image, and determines the opening duration H1 of the gel feeding device 5 based on the remaining gel amount.

[0145] The more residual gel there is, the shorter the operating time H1 of the feeding device.

[0146] H1=HL×b

[0147] b is a compensation parameter for the remaining gel amount in relation to the feeding time;

[0148] H is the base feeding time;

[0149] The basic feeding time is the basic time during which the gel feeding device 5 is turned on when there is no remaining gel.

[0150] The feeding time is determined by the amount of remaining gel. When the amount of remaining gel is small, the dispersing device can easily disperse the gel supplied 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 dispersing device cannot handle the excessive gel, and the gel supply should be appropriately reduced, thus reducing the feeding device opening time.

[0151] The basic feeding time H is a floating value, and the specific determination process is as follows:

[0152] Determine whether the basic feeding time needs to be adjusted by comparing the remaining gel amount L of the previous filling with the reasonable range of remaining gel of the previous filling amount M.

[0153] When determining the adjustment, the base feeding time H is determined by combining the fixed base feeding time Hg with the maximum amount of gel remaining allowed in the previous filling and the compensation coefficient.

[0154] M represents the amount of packing material used in the previous filling operation;

[0155] In this embodiment, the maximum amount of gel remaining is allowed to be 5% of the previous filler volume;

[0156] When L < M × 5%;

[0157] H=Hg;

[0158] L≥M×5%;

[0159] H = Hg - (LM × 5%) × c

[0160] c is the compensation coefficient for the basic feeding time of the gel feeding device 5 when the remaining gel amount exceeds 5% of the previous filler amount.

[0161] Among them, 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 feeding time H is.

[0162] If the amount of residual gel exceeds the normal value, it is likely related to quality issues of the gel itself, such as viscosity and charge. If there are quality issues with the gel, it will be difficult to disperse. Therefore, the basic operating time of the gel feeding device 5 should be reduced according to the parameter of the amount of residual gel exceeding the positive value.

[0163] In the actual gel grasping process, due to the possibility of incomplete gel dispersion, some agglomeration may still occur when placing fillers. For such gels, fillers are not placed. To ensure the rationality and dispersion result of gel dispersion, the feeding time of the next batch is adjusted according to the amount of remaining agglomerated gel, reducing the amount of gel discharged into cavity 43 and ensuring the degree of gel dispersion in the next dispersion process. At the same time, when determining the feeding time, the basic opening time of gel feeding device 5 is checked based on the amount of remaining gel, and the allowable amount of gel in cavity 43 during a single dispersion is reasonably determined. Through autonomous control, the stable operation of the equipment is ensured, greatly reducing downtime caused by unreasonable feeding and significantly enhancing the continuity of the entire production process.

[0164] Specifically, the dispersion adjustment unit determines the proportion R of gel agglomerates using CCD-A images.

[0165] The adjustment module is based on an adaptive grayscale method using local region statistics. The image is divided into multiple small sub-regions, and for each sub-region, a local grayscale conversion coefficient is calculated based on the grayscale distribution characteristics of its pixels, so that the gel image under different lighting conditions can better present the contrast between the aggregated area and the background.

[0166] The distributed adjustment unit collects a large number of labeled gel agglomeration image samples, including accurate annotation information of agglomeration regions and background regions, to train a deep learning-based SegNet semantic segmentation model. The model learns the feature patterns of gel agglomeration regions and background, and performs accurate pixel-level classification on the input image to segment the image into gel agglomeration regions and background regions.

[0167] All clustered gel pixels are classified. Gel clusters with a single pixel area greater than 3% of the total pixel area are denoted as independent gel clusters St1, and gel clusters with a single pixel area less than or equal to 3% of the total pixel area are denoted as subordinate gel clusters St2. The specific cluster area St is obtained by weighting the two.

[0168] St = St1 + St2 × Z

[0169] The region of pixels that do not exhibit any gel aggregation is designated as the background region Sb.

[0170] Then, the reunion area and the background area are combined to obtain the reunion ratio R.

[0171] R = St / (St1 + St2 + Sb)

[0172] And divided according to the proportion of family reunions,

[0173] No aggregation was observed, indicating that the gel aggregation rate was between 0% and 5%.

[0174] Mild aggregation, with the gel aggregation rate determined to be between 5% and 25%;

[0175] Severe aggregation, with the gel aggregation rate ranging from 25% to 100%.

[0176] If no family reunification is determined, no adjustment is needed; the target level can be met directly.

[0177] When the condition is determined to be mild aggregation, parameter adjustments are made;

[0178] When a severe clustering is identified, the system takes comprehensive measures.

[0179] Parameter adjustments, including:

[0180] By adjusting the voltage of the ion fan 42, the aggregated gel clusters in the cavity 43 are pre-separated for the first time.

[0181] By adjusting the power of the ion fan 42, the aggregated gel clusters in the cavity 43 are pre-separated a second time.

[0182] By comparing the working processes of the first pre-separation and the second pre-separation, the working mode of the ion fan 42 during the formal separation is determined.

[0183] The working mode of the air knife 44 is determined by adjusting the power and voltage of the ion fan 42.

[0184] After adjusting the parameters of the working mode, the proportion of the aggregated gel area is determined, the basic value of the feeding time of the feeding device and the working status of the vibration device 54 are determined, and the next stage of tray placement operation is carried out.

[0185] The purpose of the first pre-separation is to determine the weight of voltage in the formal adjustment by controlling variables and determining the effect on the gel aggregation area when only the voltage of the ion fan 42 is adjusted.

[0186] The purpose of the second pre-separation is to determine the weight of voltage in the formal adjustment by controlling variables to determine the effect on the gel aggregation area when only the power of the ion fan 42 is adjusted.

[0187] The first pre-separation includes,

[0188] The preset voltage U of the ion blower 42 is initially adjusted according to the proportion of gel agglomeration R, and the preset voltage U is adjusted to the temporary voltage U1.

[0189] U1 = U + R × e;

[0190] e is the compensation coefficient for the proportion of gel agglomeration to the preset voltage of the ion blower 42;

[0191] After adjusting the voltage separately and working for 30 seconds, the cover plate 41 pops out and covers the cavity 43. The air knife 44 device is started and the gel is dispersed with the preset power Ed of the air knife 44. The area of ​​the gel agglomeration region is measured after five seconds of dispersion and named as the voltage interference ratio R1.

[0192] If the voltage interference ratio is reduced to 5% or below, it will directly meet the standard without a second pre-separation and formal separation.

[0193] The second pre-separation includes,

[0194] When the voltage interference ratio is still above 5%, the temporary voltage is restored to the preset voltage, and the preset power P of the ion fan 42 is adjusted separately to the temporary voltage P1. In this process, a calculated temporary voltage Pz1 is introduced as a process variable.

[0195] Pz1=P+R×e1

[0196] Set a compensation coefficient e1 for the gel agglomeration ratio to the preset power of the ion blower 42;

[0197] Set a temporary maximum power value Pmax to verify whether the calculated power can be used as the temporary power rate P1;

[0198] Pz1 > Pmax, P1 = Pmax;

[0199] Pz1≤Pmax, P1=Pz1.

[0200] The power is adjusted individually, and after 30 seconds of operation, the cover plate 41 pops out, covering the cavity 43 and starting the air knife 44 device. The air knife 44 disperses the gel with the preset power Pd. The gel agglomeration ratio is detected after five seconds and named as the power interference ratio R2.

[0201] If the power interference accounts for 5% or less, it meets the standard directly and no formal separation is required.

[0202] When the formal separation is determined, the operating modes of the ion fan 42 include:

[0203] If the power interference ratio is still above 5%, then the power weight ratio Q is calculated.

[0204] Q = (R - R1) / (R1 - R2)

[0205] Based on the weight ratio, the working mode of ion fan 42 during formal separation is determined, and it will operate under these parameters.

[0206] During the formal separation, the voltage of the ion fan 42 is the temporary voltage U1;

[0207] During the formal separation, the power of the ion fan 42 is the weighted power P2;

[0208] P2 = P1 × Q

[0209] After working for two minutes, the cover plate 41 pops out and covers the cavity 43. The air knife 44 device is started and the gel is dispersed with the preset power Pd of the air knife 44. After 10 seconds, the gel aggregation ratio is detected as the comprehensive interference ratio R3.

[0210] An analysis of the overall interference ratio is conducted. If the overall interference ratio is 5% or less, the standard is met directly.

[0211] The confirmed working mode of the air knife 44 includes,

[0212] When the overall interference ratio is still above 5%, the power E of the air knife 44 and the working time M of the air knife 44 are adjusted according to the adjustment amount ΔU of the voltage of the ion fan 42 and the adjustment amount ΔP of the power of the ion fan 42.

[0213] ΔU=U1-U

[0214] ΔP=P2-P

[0215] Among them, the power E of the air knife 44 is,

[0216] E=ΔU×k1+ΔP×k2

[0217] k1 is the compensation parameter for the power of the air knife 44 by adjusting the voltage of the ion fan 42.

[0218] k2 is the compensation parameter for the power of the air knife 44 by adjusting the power of the ion fan 42;

[0219] The working time H of the air knife 44 is,

[0220] M = ΔU × b1 + ΔP × b2

[0221] b1 is the compensation parameter for the duration of the air knife 44 based on the voltage adjustment of the ion fan 42.

[0222] b2 is the compensation parameter for the duration of the air knife 44 based on the power adjustment of the ion fan 42;

[0223] After the gel is dispersed again with the adjusted power E and working time M of the air knife 44, the interference ratio R4 of the air knife 44 is determined based on the detected proportion of gel agglomeration area.

[0224] If the interference rate of the wind knife 44 is 5% or less, it meets the standard.

[0225] The determination of the basic value of the feeding time of the feeding device and the working status of the vibration device 54 includes:

[0226] If the interference rate of the air knife 44 is still above 5%, it is determined that the gel dispersion is not up to standard and there is gel agglomeration. The basic value H of the feeding time of the feeding device is adjusted according to the amount of remaining gel that exceeds the reasonable range. The vibration device 54 is activated to disperse the gel in the gel feeding device 5 by vibration, thereby reducing the possibility of gel agglomeration.

[0227] The parameter adjustment working mode increases the voltage, which increases the electric field strength of the ion generator, causing more air molecules to be ionized. This increases the number of ions carried by the ion wind, which acts on the aggregated gel with a gentler physical impact, attempting to initially break up the aggregated structure. Since the number of ions is positively correlated with the voltage value, and the larger the proportion of gel agglomeration, the more ions are needed to neutralize the charge on the gel. Therefore, a compensation coefficient is set between the gel agglomeration ratio and the preset voltage of the ion winder 42 to determine the voltage value required to eliminate gel agglomeration. This allows for accurate and rapid determination of a suitable voltage value, ensuring the continuity of the adjustment process.

[0228] The parameter adjustment working mode controls the increase of ion wind frequency to form a high-intensity pulsed ion wind, which focuses on impacting areas with more stubborn agglomeration. Agglomerated gels have a large degree of viscosity. The higher the ion wind frequency, the higher the charge of the charged particles and the higher the impact frequency, making it easier to break up the gel agglomeration. Therefore, different ion wind frequencies are used for different gel agglomeration conditions, and there is a maximum limit on the ion wind frequency setting to prevent excessive ion wind from blowing away the gel inside the cavity 43. While ensuring that the gel is not wasted, both the speed of gel agglomeration dispersion and the quality of gel dispersion are taken into account.

[0229] By analyzing the dispersion effect of voltage and frequency adjustments on gel agglomeration, we can roughly determine whether the electrons within the agglomerates have been neutralized. If voltage adjustment fails to effectively reduce the proportion of gel agglomerates, the reason for continued agglomeration is considered to be the viscosity between the gels themselves. Conversely, if voltage adjustment effectively reduces the proportion of gel agglomerates, the reason for continued agglomeration is considered to be that the gels still carry a significant number of electrons. The first pre-separation determines the impact on the gel agglomeration area when only the voltage of the ion fan 42 is adjusted. The second pre-separation determines the impact on the gel agglomeration area when only the power of the ion fan 42 is adjusted. By combining these two impacts with weights, the specific operating mode of the ion fan 42 during operation is calculated. More weight is assigned to the voltage for gels carrying more electrons, and more weight is assigned to the ion fan frequency for gels with higher viscosity. In this way, specific adjustments can be made based on the specific cause of gel agglomeration, saving energy and improving efficiency.

[0230] Comprehensive measures, including

[0231] The small vibration device integrated inside the ion fan 42 is activated to gently vibrate the gel carrier at a frequency of 50Hz.

[0232] Throughout the entire comprehensive measures, the image monitoring module continuously monitors the cluster changes at a high frequency of 2 times per second. Once the cluster ratio drops below 25%, the system immediately stops the current control level and returns to the normal working mode.

[0233] A maximum duration is set for the all-round measures. Once the maximum duration is reached, the all-round measures will stop and an error will be reported even if the agglomeration rate does not drop below 25%. At this time, the gel may have expired, and staff need to be reminded to refill the gel storage device 51.

[0234] The small vibration device inside the ion fan 42 can slightly vibrate the gel carrier, which can disrupt the stability of gel aggregation at the physical structure level. Combined with the effect of pulsed ion wind, it can accelerate the gel to return to a uniform state.

[0235] Under such vibration, the monitoring unit detects the proportion of gel agglomeration area at a high frequency, and the dispersion adjustment unit promptly determines the working status of the small vibration device inside the ion blower 42, ensuring that the vibration can be stopped as soon as the proportion of gel agglomeration area reaches the standard, avoiding damage to the machine due to excessive vibration. The maximum duration of such vibration is limited, ensuring that while effectively handling mild agglomeration, the impact on the normal operation of the ion blower 42 and the production environment is minimized.

[0236] The parameter adjustment process begins when the proportion of agglomerated gel regions reaches a specified value or the adjustment time reaches the maximum duration.

[0237] When addressing gel aggregation issues, the adjustment module coordinates the ion blower 42, air knife 44, and vibration device 54 to work together. This collaborative approach ensures that the equipment operates at its optimal state under various conditions, reducing the probability of malfunctions caused by incoordination between devices and improving the stability of the entire production equipment system.

[0238] Specifically, the filling monitoring unit divides the material taking surface inside the cavity 43 into multiple regions according to the shape of the suction filling head 33 based on the CCD-A image data. It then detects the gel filling material in each region, excludes regions with gel agglomeration, leaves the gel in the still agglomerated regions to be dispersed again with the next filling of gel, and proceeds to the next gel filling in the regions without gel agglomeration.

[0239] The adjustment module controls the Scara robot 31 to operate the suction head 33 to sequentially pick up materials from areas without agglomeration and transport the packing to the tray clips and place them in preset positions. During the packing transport process, the CCD-B located below the packing head transport path will detect the packing picked up by the suction head 33 to ensure that the transported packing is free from agglomeration.

[0240] Based on the image data from the CCD-A sensor, the adjustment module divides the material-taking surface inside the cavity 43 into regions according to the shape of the suction packing head 33. This enables precise positioning and division of the material-taking area, making subsequent material taking and testing operations more targeted and efficient, and improving the overall orderliness of the work.

[0241] By testing the gel filler in each region and eliminating areas with gel agglomeration, the quality of the gel filler used for filling is ensured. This prevents agglomerated gel from affecting the filling effect and product quality, thereby improving product quality and stability. For areas with gel agglomeration, the agglomerated gel is left to be dispersed with the gel in the next filling process. This method makes rational use of gel resources, reduces gel waste, and the multiple dispersion processes help improve the uniformity of gel dispersion.

[0242] The adjustment module controls the Scara robot 31 to operate the suction head 33 to sequentially pick up materials from areas without agglomeration and place them on the tray clips according to preset positions. This automates the material picking and placement process, reducing manual intervention and improving production efficiency and operational accuracy. During the material transport process, the CCD-B sensor detects the material picked up by the suction head 33, providing double assurance in conjunction with the previous detection of the picking area. This further ensures that the transported material is free of agglomeration, thus guaranteeing the smooth progress of subsequent filling processes and the quality of the final product.

[0243] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles 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 scope of protection of the present invention.

[0244] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection 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 palletized magazines; A screw assembly, connected to the pallet conveying device, is used to transport the pallet clip to the filling position; A gel feeding device is used for the temporary placement of gel raw materials and the intelligent supply of fillers; A gel dispersion device, connected to a gel feeding device, disperses the intelligent filling filler. The packing working device, set on the working platform, includes a Scara mounting base, a Scara robot, and a suction packing head, used to arrange the dispersed packing on a tray; The image monitoring module includes a CCD-A mounted on the upper frame of the cavity and a CCD-B mounted on the lower end of the Scara robot's packing track; An adjustment module, connected to the CCD-A, CCD-B, gel feeding device, and gel dispersing device respectively, is used to adjust the amount of gel fed into the cavity by the gel feeding device, determine the feeding time by the amount of gel remaining in the cavity after the last tray placement acquired by the CCD-A image, determine the working mode of the ion fan and air knife assembly by the proportion of the gel agglomerated area in the cavity acquired by the CCD-A image, determine the material picking position of the filling device, and judge the material picking quality of the filling device by the CCD-B image. The feeding adjustment unit uses the image acquired by the CCD-A to confirm the amount of gel remaining from the previous filler application and to determine the duration for which the gel feeding device is turned on. The dispersion adjustment unit determines the agglomeration ratio by analyzing the CCD-A image to determine the operating mode of the dispersion device; The filling monitoring unit determines the material picking location based on the image of the CCD-A and excludes poor-quality gels based on the image of the CCD-B. The feeding adjustment unit determines the duration for which the gel feeding device is turned on by combining the amount of remaining gel, the compensation parameter for the feeding time of the remaining gel, and the basic feeding time. Among them, the basic feeding time is the basic time during which the gel feeding device is turned on when there is no remaining gel; The feeding adjustment unit determines the specific value of the basic feeding time by comparing whether the amount of remaining gel is within a reasonable range; The basic feeding time is a fixed value when the amount of remaining gel is within a reasonable range, and is adjusted according to the fixed value when the amount of remaining gel is outside the reasonable range. When there is an adjustment requirement, the feeding adjustment unit determines the basic feeding time by combining the amount of remaining gel that exceeds the reasonable range, the fixed basic time, and the compensation value of the remaining gel that exceeds the reasonable range for the basic feeding time.

2. The Gel automatic plating system based on image data analysis of claim 1, wherein, The gel dispersion device includes, The ion blower includes a corona discharger, a high-voltage power supply, a small vibration device, and an air supply system, used to eliminate electrostatic ions in the gel raw material; The cover plate, which is a square flat plate structure, is used to cover the components when the air knife assembly is performing dispersed operation; The cavity is a cylindrical concave structure used to contain a certain amount of gel for dispersion; The air knife assembly includes several air knives, which are evenly distributed on the inner wall of the cavity and are capable of dispersing the gel.

3. The gel automatic plating system based on image data analysis of claim 1, wherein, The gel feeding device includes, A gel storage device, which has a funnel-shaped structure, is used to store gels to be dispersed; The outlet channel, which is a concave channel, is located at the bottom of the gel storage device and is used to restrict the feed direction of the filler; The partition plate is a square partition that is opened when there is a feeding demand to control the amount of gel discharged. A vibration device, which is located at the bottom of the gel feeding device, causes the gel to vibrate and disperse during gel deposition.

4. The gel automatic plating system based on image data analysis of claim 1, wherein, The monitoring module includes, The CCD-A is mounted on a frame at the upper end of the cavity and is used to acquire images inside the cavity; The CCD-B is located at the lower end of the track of the Scara robot packing and is used to acquire images of the gel on the suction packing head.

5. The automatic gel plating system based on image data analysis according to claim 1, characterized in that, The dispersion adjustment unit analyzes the image acquired by CCD-A and uses an adaptive grayscale method to present the contrast between the clustered region and the background region. It then uses the SegNet semantic segmentation model to divide the clustered region and the background region to obtain the clustering ratio. Furthermore, based on the area proportion, the clusters are divided into no clustering, mild clustering, and severe clustering; When it is determined that there is no aggregation, no adjustment is needed, and the standard is met directly; When the system determines that the aggregation is mild, it adjusts the parameters. When a severe aggregation is identified, the system takes comprehensive measures. The dispersion adjustment unit immediately determines the sampling location for gels that meet the standards after the initial determination, and also determines the sampling location for gels that do not meet the standards at the end.

6. The automatic gel plating system based on image data analysis according to claim 5, characterized in that, The parameter adjustments determine the operating mode of the ion fan and the air knife, including: The dispersion adjustment unit performs a first pre-separation of the aggregated gel clusters in the cavity by individually adjusting the voltage of the ion fan, and judges the dispersion result. The dispersion adjustment unit adjusts the power of the ion fan individually to perform a second pre-separation of the aggregated gel clusters in the cavity and determines the dispersion result. The dispersion adjustment unit compares the changes in the aggregated gel clusters between the first and second pre-separation to determine the working mode of the ion blower during formal separation and to judge the dispersion results. The dispersion adjustment unit determines the working mode of the air knife and judges the dispersion result by adjusting the power and voltage of the ion fan. The dispersion adjustment unit determines the basic feeding time of the feeding device and the working status of the vibration device at the bottom of the gel feeding device by the proportion of the agglomerated gel region after the parameter adjustment, and judges the dispersion result.

7. The automatic gel plating system based on image data analysis according to claim 6, characterized in that, The comprehensive measures for determining the ion fan and the CCD-A operating mode include, The dispersion adjustment unit activates the small vibration device integrated inside the ion fan to vibrate at a fixed frequency. The distributed adjustment unit performs high-frequency image acquisition via the CCD-A sensor to determine in real time whether to stop the omnidirectional measures and adjust the parameters accordingly. The decentralized adjustment unit determines whether to stop the all-round measures by setting a maximum duration for implementing the all-round measures, and then adjusts the parameters accordingly.

8. 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 using the images from the CCD-A sensor, detects the gel filler in each area, removes areas with agglomerated gel clumps, and then takes the material and arranges it on a tray. The filling monitoring unit uses the CCD-B image to monitor the quality of the gel picked up by the suction filling head and to remove gels of poor quality.

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