Tissue culture seedling planting robot arm end and operation method thereof

Abstract

The present invention proposes a tissue culture seedling planting robot arm end and an operating method thereof, including a thin film pressure sensor embedded in the inner side of the flexible clamping claw at the seedling removal end to monitor the clamping force in real time, combined with a staged control method: first, the clamping claw is quickly closed through position control, and when the pressure sensor detects that the clamping force is ≥0.5N and lasts for more than 0.2s, it switches to feedforward-fuzzy PID control, dynamically adjusts the PID parameters and combines feedforward compensation to achieve precise control of the clamping force. When removing seedlings, the straight line where the flexible clamping claw is located is 15°-30° to the line connecting the seedlings, and is 60°-75° to the plane of the hole tray when planting. The flexible baffle and the polyurethane material components of the transplant depth auxiliary mechanism are used to protect the stems, leaves and matrix of the seedlings. This solution realizes the non-destructive grasping and upright planting of tissue culture seedlings, improves the survival rate and the efficiency of automated operations, and is suitable for large-scale tissue culture seedling production.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural engineering, in particular to a tissue culture seedling planting mechanical arm end and an operation method thereof. Background Art

[0002] In plant tissue culture technology, automated transplantation of tissue culture seedlings is a key step in large-scale seedling cultivation. Existing tissue culture seedling transplantation robotic arms typically use rigid grippers or vacuum suction to grab seedlings, which presents the following problems:

[0003] 1. Rough clamping force control: Rigid jaws lack real-time force feedback, which can easily damage the stems of seedlings due to excessive clamping force, or cause seedlings to fall off due to insufficient clamping force;

[0004] 2. Low posture control accuracy: During the seedling removal and planting process, the contact angle between the seedling roots and the substrate is difficult to accurately control, resulting in the seedlings tilting or the substrate becoming loose after planting, affecting the survival rate;

[0005] 3. Insufficient flexible protection: Traditional auxiliary mechanisms are mostly made of hard materials, which can easily squeeze the leaves of seedlings when taking seedlings and easily damage the structure of the seedling matrix when planting.

[0006] Furthermore, existing control algorithms often rely on fixed PID parameters, which are unable to adapt to the hysteresis of the pneumatic system and the individual differences between seedlings, resulting in slow grasping response and poor stability. Therefore, a robotic end-arm and operation method that combines flexible protection, precise force control, and posture adjustment is urgently needed to improve the success rate and efficiency of tissue culture seedling transplantation. Summary of the Invention

[0007] The embodiment of the present invention provides a tissue culture seedling planting robot arm end and an operating method thereof, which addresses the problems existing in the current technology that the tissue culture seedling transplantation robot arm end lacks flexible force control and precise posture adjustment, which easily leads to seedling damage, planting tilt and low survival rate.

[0008] The core technology of this invention is mainly to achieve non-destructive grasping, precise posture adjustment and upright planting of tissue culture seedlings through a flexible gripper with an integrated thin film pressure sensor, a staged feedforward-fuzzy PID clamping force control algorithm, combined with an angle-adjustable flexible baffle and a transplant depth auxiliary mechanism.

[0009] In a first aspect, the present invention provides a tissue culture seedling planting robot arm end, comprising:

[0010] End of robotic arm;

[0011] The end mounting bracket is fixed to the end of the robotic arm;

[0012] The transplant push cylinder and the clamping cylinder are installed on the end mounting bracket;

[0013] Linear guide rail, connected to the gripping cylinder;

[0014] The seedling removal end is slidably connected to the linear guide rail, including a clamping claw mounting plate, a film pressure sensor and a flexible clamping claw. The film pressure sensor is embedded in the middle of the inner side of the flexible clamping claw to monitor the clamping force in real time.

[0015] The flexible baffle is installed on the end mounting bracket and is used to press the crown and leaves of the seedlings when removing the seedlings;

[0016] The transplant depth auxiliary mechanism is installed on the end mounting bracket, with the front edge covered with polyurethane film and an arc-shaped opening in the middle to limit the left and right movement of the seedlings and assist in controlling the planting depth;

[0017] The control module is used to receive the signal of the thin film pressure sensor and adopt a staged control method to realize the clamping force control of the flexible clamping claw. The staged control method includes:

[0018] Position control stage: After the clamping command is issued, the clamping cylinder drives the flexible clamping claw to close quickly. When the film pressure sensor detects that the clamping force is greater than or equal to the first set threshold and the duration is greater than or equal to the second set threshold, it is determined that the tissue culture seedling is in contact;

[0019] Force control stage: Based on the clamping force error and error change rate, the PID parameters are adjusted through fuzzy rule base reasoning, and combined with feedforward compensation to stabilize the clamping force at the target value. The input and output of the fuzzy rule base are divided into multiple fuzzy subsets, including {negative large, negative medium, negative small, zero, positive small, positive medium, positive large}.

[0020] Furthermore, the flexible clamping claws are made of nylon, the flexible baffle is made of polyurethane, and the front edge of the transplant depth auxiliary mechanism is covered with a 3mm thick polyurethane film.

[0021] Furthermore, the control module presets the PID initial parameter range as follows: proportional coefficient k p ∈[0.5,2], integration coefficient k i ∈[0.01,0.1], differential coefficient k d ∈[0.05,0.5], the fuzzy rule base includes Δk p , Δk i , Δk d The fuzzy rule table.

[0022] Furthermore, when taking seedlings, the angle α between the straight line where the flexible clamp is located and the line connecting the root, stem and crown of the tissue culture seedling is 15°-30°, and when planting, the angle β between the straight line where the flexible clamp is located and the plane where the plug tray is located is 60°-75°.

[0023] Furthermore, the clamping force error e is:

[0024]

[0025] The error change rate is:

[0026] de / dt

[0027] The control quantity T of the clamping cylinder is:

[0028]

[0029] in, is the target clamping force; is the actual output clamping force; t is the sensor sampling interval (controlled by the microcontroller with microsecond accuracy); is a proportional term; is the integral term; is the differential term; k f is the feedforward gain.

[0030] Furthermore, the thin film pressure sensor has a measuring range of 0-4.4N, a thickness of 0.2mm, and a response time of <1ms.

[0031] In a second aspect, the present invention provides an operation method for a tissue culture seedling planting robot arm end, comprising:

[0032] The following steps are involved:

[0033] S1. Visual positioning: The position and posture of the tissue culture seedlings are identified by a visual camera, the stem grabbing point is determined, and the end of the robotic arm is controlled to move to 5 cm above the tissue culture seedlings, so that the line connecting the end of the seedling is parallel to the line connecting the root, stem, and crown of the seedlings;

[0034] S2. Seedling removal preparation: Control the rotation of the end of the robotic arm so that the straight line where the flexible gripper is located forms an angle of 15°-30° with the line connecting the root, stem, and crown of the seedling. The end of the robotic arm moves downward, pressing the crown of the seedling with the flexible baffle and the front edge of the transplant depth auxiliary mechanism against the root of the seedling. The arc-shaped opening restricts the left and right movement of the seedling.

[0035] S3. Clamping the tissue culture seedlings: The clamping cylinder is driven to close, and the flexible clamping claws grasp the stems. The clamping force is monitored in real time by a thin film pressure sensor. The clamping claws are quickly closed through position control. When the clamping force is greater than or equal to a first threshold and the duration is greater than or equal to a second threshold, the clamping claws are switched to force control mode. The PID parameters are adjusted through fuzzy rule base reasoning and combined with feedforward compensation to stabilize the clamping force at the target value.

[0036] S4, transplant preparation: control the end of the robotic arm to rise to a preset distance directly above the plug tray, drive the transplant propulsion cylinder to extend, and flip the flexible baffle so that its lower edge faces upward;

[0037] S5. Planting positioning: Control the rotation of the end of the robotic arm so that the straight line where the flexible clamp is located forms an angle of 60°-75° with the plane where the hole tray is located, and move it to the top of the planting hole;

[0038] S6. Insertion and planting: Control the end of the robotic arm to move downward so that the roots of the tissue culture seedlings touch the seedling matrix, and continue to move downward until the front edge of the flexible baffle touches the matrix, drive the clamping cylinder to open, release the seedlings, and retract the transplant propulsion cylinder;

[0039] S7, reset waiting: control the end of the robotic arm to lift up and return to the seedling waiting area.

[0040] Furthermore, the first threshold is 0.5N, and the second threshold is 0.2s.

[0041] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the above-mentioned operation method of the end of the tissue culture seedling planting robot arm.

[0042] In a fourth aspect, the present invention provides a readable storage medium, in which a computer program is stored. The computer program includes a program code for controlling a process to execute a process, and the process includes an operating method of the end of the tissue culture seedling planting robot arm according to the above-mentioned method.

[0043] The main contributions and innovations of the present invention are as follows:

[0044] 1. Flexible clamping and precise force control to avoid seedling damage

[0045] By integrating a flexible nylon gripper with a thin-film pressure sensor, the system employs a phased force control strategy combining position control with feedforward and fuzzy PID, monitoring the gripping force in real time and adjusting it dynamically. Upon contact with the seedling, the PID parameters are optimized online using a fuzzy rule library. Combined with feedforward compensation to offset pneumatic hysteresis, the gripping force is stabilized at the target value, avoiding stem damage caused by rigid clamping or inefficient force control, enabling non-destructive gripping of fragile tissue culture seedlings.

[0046] 2. Precise posture adjustment to improve planting survival rate

[0047] When taking seedlings, the flexible clamp is controlled to form an angle of 15°-30° (α angle) with the line connecting the seedlings to avoid rigid collision between the clamp and the seedling leaves; when planting, the clamp is controlled to form an angle of 60°-75° (β angle) with the plane of the hole tray to ensure that the seedlings are inserted upright into the substrate. The arc-shaped opening of the transplant depth auxiliary mechanism limits the left and right movement of the seedlings, and the planting verticality error is controlled within a safe range, which significantly improves the survival rate of the seedlings.

[0048] 3. Flexible auxiliary mechanism design to protect the substrate and seedlings

[0049] The flexible baffle and transplant depth auxiliary mechanism are made of polyurethane material. When removing seedlings, they press the crown leaves and roots without damaging the seedlings and leaves. When planting, they evenly press the substrate to avoid root tearing or substrate collapse. The 3mm polyurethane film and arc-shaped opening design on the leading edge of the transplant depth auxiliary mechanism provide flexible buffering while limiting the position of the seedlings, thereby improving the success rate of seedling removal and substrate integrity.

[0050] 4. Adaptive control algorithm to improve system response speed and stability

[0051] The feedforward-fuzzy PID composite control algorithm targets the hysteresis of the pneumatic system by adjusting the control quantity in advance through feedforward compensation. Combined with the fuzzy rule library, it dynamically adapts to the differences in the mechanical characteristics of the seedlings (such as changes in stem thickness and stiffness), making the clamping force response time less than 1ms and the stabilization time shortened by more than 40%, effectively suppressing overshoot and oscillation to meet the needs of high-speed automated operations.

[0052] 5. Full process automation integration to improve operational efficiency

[0053] By combining visual positioning with collaborative control of robotic arms, unmanned operation of the entire process from seedling removal to planting is achieved, the single-plant transplantation process is standardized, random errors in manual operation are avoided, and the production efficiency and consistency of large-scale tissue culture seedlings are significantly improved.

[0054] The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below so that other features, objects, and advantages of the invention are more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0056] Figure 1 This is a structural diagram of the end of a tissue culture seedling planting robot arm according to an embodiment of the present invention;

[0057] Figure 2 is another perspective view of the end of the tissue culture seedling planting robot arm according to an embodiment of the present invention;

[0058] Figure 3 2. It is a schematic diagram of a seedling removal action according to an embodiment of the present invention;

[0059] Figure 4 2. It is a schematic diagram of a seedling-picking posture according to an embodiment of the present invention;

[0060] Figure 5 is a schematic diagram of a planting posture according to an embodiment of the present invention;

[0061] Figure 6is a schematic diagram of a transplanting action according to an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram of the process of taking seedlings and planting according to an embodiment of the present invention;

[0063] Figure 8 This is a flow chart of the rapid and flexible grabbing of tissue culture seedlings according to an embodiment of the present invention;

[0064] Figure 9 is a control block diagram of a clamping force control method based on feedforward-fuzzy PID according to an embodiment of the present invention;

[0065] Figure 10 FIG. 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments are not intended to represent all implementations consistent with one or more embodiments of this specification. Rather, they are merely examples of apparatuses and methods consistent with certain aspects of one or more embodiments of this specification, as detailed in the appended claims.

[0067] It should be noted that in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than those described in this specification. In addition, a single step described in this specification may be broken down into multiple steps for description in other embodiments, and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0068] The existing tissue culture seedling transplanting robot arm lacks flexible force control and precise posture adjustment, which can easily lead to seedling damage, planting tilt and low survival rate.

[0069] Based on this, the present invention solves the problems existing in the prior art by using a flexible clamping claw with an integrated thin film pressure sensor and a staged feedforward-fuzzy PID clamping force control algorithm.

[0070] Example 1

[0071] The present invention aims to propose a tissue culture seedling planting robot arm end, specifically, Figure 1As shown, it mainly consists of a six-axis / multi-axis robotic arm end 1, an end mounting bracket 2, a transplant propulsion cylinder 3, a clamping cylinder 4, a linear guide 5, a seedling removal end 6, a flexible baffle 7, a transplant depth auxiliary mechanism 8, tissue culture seedlings 9, a hole tray 10, and a planting hole 11.

[0072] In this embodiment, if Figure 2 As shown, the seedling removal terminal 6 is composed of a clamp mounting plate 61, a thin film pressure sensor 62, and a flexible clamp 63. The thin film pressure sensor 62 uses the FlexiForce A401 sensor with a range of 0-4.4N, a thickness of 0.2mm, and a response time of less than 1ms. It can adapt to the shape of the clamp and meet the measurement requirements of the tissue culture seedling grasping force. The thin film pressure sensor 62 is embedded and installed in the middle of the inner side of the flexible clamp 63. When the flexible clamp 63 is manufactured, a groove slightly larger than the sensor size is pre-set. After the thin film pressure sensor 62 is flatly embedded, it is sealed and fixed with silicone. The output end of the thin film pressure sensor 62 is connected to the signal conditioning circuit to amplify and filter the signal. Among them, the signal conditioning circuit belongs to the existing technology and its structure and principle are not described in detail here; the processed signal is transmitted to the ADC module to be converted into a digital signal; the STM32F407 series microcontroller of the control module receives the digital signal through the SPI communication protocol and processes the data analysis to realize real-time monitoring and control of the clamping force.

[0073] In this embodiment, the flexible clamping claws 63 are made of nylon. Due to their good resilience, they can be clamped without damaging the stems of the seedlings. The flexible baffle 7 is made of polyurethane, which ensures a certain strength while also having a certain degree of flexibility. This prevents damage to the leaves when removing the seedlings and does not damage the seedling substrate when planting them in the planting holes 11. The front edge 82 of the transplant depth assist mechanism 8 is covered with a 3mm thick polyurethane film. This film prevents damage to the roots when pressing against them. Furthermore, the arc-shaped opening 81 limits the left and right position of the seedlings, thereby improving the success rate of the clamping claws in removing the seedlings.

[0074] In this embodiment, when the flexible clamping claw 63 of the end of the robot arm 1 grabs the tissue culture seedling 9, it first ensures that the outer edge of the flexible baffle 7 presses the crown and leaves of the seedling, and the front edge 82 of the transplant depth auxiliary mechanism 8 presses the root of the seedling. At this time, the stem of the seedling is in the area of the flexible clamping claw 63 in the open and closed posture, as shown in FIG. Figure 3 At this time, the line where the flexible clamp is located, the root-stem-crown line of the tissue culture seedling 9 (seedling placement plane) forms an angle α, as shown in FIG. Figure 4 As shown, in order to ensure the success rate of seedling removal and reduce damage to the seedlings during the seedling removal process, the α angle needs to be kept within the range of 15°-30°.

[0075] When the end of the robotic arm 1 is planting the tissue culture seedlings 9, the transplant propulsion cylinder 3 is in the extended state. At this time, the flexible clamping claw 63 extends out of the front edge 82 (polyurethane edge) of the transplant depth auxiliary mechanism 8. When it is inserted into the planting hole 11 with the root of the seedling, the straight line where the flexible clamping claw 63 is located forms an angle β with the plane where the plug tray 10 is located, as shown in FIG. Figure 5 As shown, in order to ensure that the seedlings are in an upright state in the seedling substrate stored in the planting hole 11 when planting, to improve the survival rate of the seedlings after planting, and to prevent the mounting plate (end mounting bracket 2) of the end 1 of the robotic arm from interfering with the hole tray 10, the β angle needs to be guaranteed to be within the range of 60-75°.

[0076] In this embodiment, when the flexible clamping claw 63 grabs the seedling, the flexible clamping claw 63 is squeezed and deformed, pressing the film pressure sensor 62 and outputting the current clamping force. The clamping process needs to go through the stages of not contacting the tissue culture seedling 9 - contacting the tissue culture seedling 9 - clamping the tissue culture seedling 9. In order to achieve fast and flexible grasping of the tissue culture seedling 9, the following is adopted: Figure 8 The staged control method shown.

[0077] After the clamping command is issued, the position control is first used to quickly close the clamping jaws. When the clamping force detected by the pressure sensor is greater than or equal to 0.5N and the duration is greater than or equal to 0.2s, the clamping jaws are considered to have contacted the tissue culture seedlings 9. Then a clamping force control method based on feedforward-fuzzy PID is used to quickly reach and stably maintain the clamping force at the target. F target The clamping force control method is as follows. Figure 9 As shown in the figure, it mainly includes three links: fuzzy parameter control, PID controller and feedforward compensation. After the target clamping force is set, the system detects and calculates the clamping force error e and error change de / dt. The fuzzy parameter control module takes e and de / dt as input and calculates the proportional coefficient increment Δk based on the fuzzy rule base. p , integral coefficient increment Δk i , differential coefficient increment Δk d PID parameters. The input and output of the fuzzy rule base are divided into 7 fuzzy subsets: {Negative Large (NB), Negative Medium (NM), Negative Small (NS), Zero (ZE), Positive Small (PS), Positive Medium (PM), Positive Large (PB)}. Three fuzzy rule bases are established as follows:

[0078] Table 1 Δk p Fuzzy rule base

[0079]

[0080] Table 2 Δk i Fuzzy rule base

[0081]

[0082] Table 3 Δk d Fuzzy rule base

[0083]

[0084] According to the tissue culture seedling grabbing conditions and experience, set the initial value range of PID parameters: k p ∈[0.5,2], k i ∈[0.01,0.1], k d ∈[0.05,0.5]. During operation, the fuzzy controller uses the fuzzy rule base combined with the triangle membership function to infer Δk based on the clamping force error e and de / dt (error change rate). p , Δk i , Δk d , and adjust the PID initial parameter k online in turn p 、k i 、k d .

[0085] The initial parameter range of PID is the “safety boundary” for the fragility of tissue culture seedlings and the characteristics of the pneumatic system, and the fuzzy controller uses real-time reasoning k p 、k i 、k d , dynamically optimizing PID parameters within a safe range and achieving a precise match between the rigid system (pneumatics) and the flexible object (seedling). This design breaks through the limitations of traditional "one-size-fits-all" control at the end of a robotic arm and forms the core algorithmic support for the "non-destructive grasping" technology in this invention.

[0086] Since the pneumatic control system has a certain hysteresis, in order to improve the response speed of the system, the feedforward module is used to compensate the output of the PID module, such as Figure 9 As shown, the cylinder solenoid valve control quantity T can be calculated by the following formula:

[0087]

[0088]

[0089] Where, is the target clamping force; is the actual output clamping force; t is the sampling interval; is a proportional term; is the integral term; is the differential term; k f is the feedforward gain.

[0090] In the case of transplanting tissue culture seedlings, which requires extremely high precision and speed, this design, through a combination of "predictive control + feedback" control, resolves the contradiction between the inherent flaws of pneumatic systems and the fragility of biological seedlings. This is one of the key technologies for achieving "non-destructive grasping." While maintaining the stability of PID control, it also overcomes the performance bottleneck of the pneumatic system through feedforward compensation, ultimately achieving efficient and precise control of the end-of-arm for transplanting tissue culture seedlings.

[0091] Among them, the thin film pressure sensor 62 is a flexible sensor based on the piezoresistive effect. When subjected to pressure, the resistance value changes, and the resistance signal is converted into a clamping force value by measuring.

[0092] Example 2

[0093] Based on the same concept, the present invention also proposes an operation method for the end of a tissue culture seedling planting robot arm, comprising:

[0094] Follow these steps:

[0095] S1. Visual positioning: Use the visual camera to identify the position and posture of the tissue culture seedling 9, determine the stem grabbing point, and control the end of the robotic arm to move to 5 cm above the tissue culture seedling, so that the line connecting the end of the seedling 6 is parallel to the line connecting the root, stem, and crown of the seedling. Figure 7 (1) shown.

[0096] S2. Preparation for seedling removal: Control the rotation of the end of the robotic arm 1 so that the straight line where the flexible clamping claw 63 is located forms an angle of 15°-30° with the line connecting the root, stem and crown of the seedling. The end of the robotic arm 1 moves downward, pressing the crown and leaves of the seedling through the flexible baffle 7, and the front edge 82 of the transplant depth auxiliary mechanism 8 presses the root of the seedling. The arc-shaped opening 81 restricts the left and right movement of the seedling;

[0097] S3, clamping tissue culture seedlings: drive the clamping cylinder 4 to close, the flexible clamping claw 63 grabs the stem, and the clamping force is monitored in real time by the film pressure sensor 62. First, the clamping claw is quickly closed by position control. When the clamping force is greater than or equal to the first threshold and the duration is greater than or equal to the second threshold, it switches to force control mode, adjusts the PID parameters through fuzzy rule base reasoning and combines feedforward compensation to stabilize the clamping force at the target value, such as Figure 7 (2) shown;

[0098] S4, transplant preparation: control the end of the robot arm 1 to lift to 10 cm above the plug tray 10, drive the transplant propulsion cylinder 3 to extend, and flip the flexible baffle 7 so that its lower edge faces upward;

[0099] S5. Planting positioning: Figure 6 As shown, the end of the robot arm 1 is controlled to rotate so that the straight line where the flexible clamping claw 63 is located forms an angle of 60°-75° with the plane where the hole tray 10 is located, and moves to 10 cm above the planting hole 11, as shown in FIG. Figure 7(3) As shown; the end of the robotic arm is controlled to move downward 10 cm, driving the flexible clamp 63 to move downward 10 cm. At this time, the end of the flexible clamp just contacts the planting hole 11, and the root portion of the tissue culture seedling 9 is inserted into the seedling matrix stored in the planting hole 11.

[0100] S6, Insertion and Planting: Continue to control the end of the robot arm 1 to move downward along the Z axis. When the front edge of the flexible baffle 7 contacts the seedling raising mechanism, the flexible clamp 63 drives the tissue culture seedling 9 to be fully inserted into the seedling raising matrix. Then the program controls the clamping cylinder 4 to open, and the flexible clamp 63 opens to release the clamping state of the seedling. After it is fully opened, the transplanting propulsion cylinder 3 is controlled to retract. At this time, due to the tight pressure of the flexible baffle 7 on the seedling raising matrix, the seedling is still kept in the seedling raising mechanism. Figure 7 (4) shown;

[0101] S7, reset waiting: control the end of the robot arm 1 to lift along the Z axis, leave the upper surface of the hole tray 10, and move to the seedling waiting area, such as Figure 7 (5) shown.

[0102] Example 3

[0103] This embodiment also provides an electronic device, referring to Figure 10 , includes a memory 404 and a processor 402, wherein the memory 404 stores a computer program, and the processor 402 is configured to run the computer program to perform the steps in any of the above method embodiments.

[0104] Specifically, the processor 402 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits for implementing the embodiments of the present invention.

[0105] Memory 404 may include a large-capacity memory 404 for data or instructions. By way of example, and not limitation, memory 404 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 404 may include removable or non-removable (or fixed) media. Where appropriate, memory 404 may be internal or external to the data processing device. In certain embodiments, memory 404 is non-volatile memory. In certain embodiments, memory 404 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. In appropriate circumstances, the RAM may be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM may be a fast page mode dynamic random access memory 404 (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0106] The memory 404 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 402 .

[0107] The processor 402 reads and executes the computer program instructions stored in the memory 404 to implement any one of the operating methods of the end of the tissue culture seedling planting robot arm in the above embodiments.

[0108] Optionally, the electronic device may further include a transmission device 406 and an input / output device 408 , wherein the transmission device 406 is connected to the processor 402 , and the input / output device 408 is connected to the processor 402 .

[0109] Transmission device 406 can be used to receive or transmit data via a network. Specific examples of such networks may include wired or wireless networks provided by the electronic device's communications provider. In one embodiment, the transmission device includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 406 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0110] The input / output device 408 is used to input or output information.

[0111] Example 4

[0112] This embodiment also provides a readable storage medium, which stores a computer program. The computer program includes a program code for controlling a process to execute a process. The process includes an operating method of the end of a tissue culture seedling planting robot arm according to Example 2.

[0113] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be repeated here.

[0114] In general, various embodiments may be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. Some aspects of the invention may be implemented in hardware, while other aspects may be implemented in firmware or software executed by a controller, microprocessor, or other computing device, but the invention is not limited thereto. Although various aspects of the invention may be shown and described as block diagrams, flow charts, or using some other graphical representation, it should be understood that, as non-limiting examples, the blocks, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or a controller or other computing device, or some combination thereof.

[0115] Embodiments of the present invention can be implemented by computer software, which is executable by a data processor of a mobile device, such as in a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets and / or macros can be stored in any device-readable data storage medium, and they include program instructions for performing specific tasks. A computer program product may include one or more computer executable components configured to perform an embodiment when the program is running. One or more computer executable components may be at least one software code or a portion thereof. Software may be stored on physical media such as memory chips or storage blocks implemented in a processor, magnetic media such as hard disks or floppy disks, and optical media such as, for example, DVDs and data variants thereof, CDs. Physical media is non-transient media.

[0116] Those skilled in the art should understand that the technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0117] The above embodiments merely illustrate several embodiments of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of the present invention. Therefore, the scope of the present invention shall be determined by the appended claims.

Claims

1. A tissue culture seedling planting robot arm end, characterized in that: include: End of robotic arm (1); An end mounting bracket (2) is fixed to the end of the robotic arm (1); The transplanting propulsion cylinder (3) and the clamping cylinder (4) are mounted on the end mounting bracket (2); A linear guide rail (5) connected to the clamping cylinder (4); The seedling removal end (6) is slidably connected to the linear guide rail (5), and includes a clamping claw mounting plate (61), a film pressure sensor (62) and a flexible clamping claw (63). The film pressure sensor (62) is embedded in the middle of the inner side of the flexible clamping claw (63) for real-time monitoring of the clamping force. A flexible baffle (7) is mounted on the end mounting bracket (2) and is used to press down the crown leaves of the seedlings when removing the seedlings; A transplant depth assist mechanism (8) is mounted on the terminal mounting bracket (2), with a front edge (82) covered with a polyurethane film for pressing the roots of the seedlings, and an arc-shaped opening (81) in the middle for limiting the left and right movement of the seedlings and assisting in controlling the planting depth; A control module is used to receive a signal from the film pressure sensor (62) and to control the clamping force of the flexible clamp (63) using a staged control method, wherein the staged control method comprises: Position control stage: after the clamping instruction is issued, the clamping cylinder (4) drives the flexible clamping claw (63) to close quickly, and when the film pressure sensor (62) detects that the clamping force is greater than or equal to a first set threshold and the duration is greater than or equal to a second set threshold, it is determined that the tissue culture seedling is in contact; Force control stage: Based on the clamping force error and error change rate, the PID parameters are adjusted through fuzzy rule base reasoning, and combined with feedforward compensation to stabilize the clamping force at the target value. The input and output of the fuzzy rule base are divided into multiple fuzzy subsets, including {negative large (NB), negative medium (NM), negative small (NS), zero (ZE), positive small (PS), positive medium (PM), positive large (PB)}.

2. The tissue culture seedling planting robot arm end according to claim 1, characterized in that: The flexible clamping claw (63) is made of nylon, the flexible baffle (7) is made of polyurethane, and the front edge (82) of the transplant depth auxiliary mechanism (8) is covered with a polyurethane film with a thickness of 3 mm.

3. The tissue culture seedling planting robot arm end according to claim 1, characterized in that: The control module presets the PID initial parameter range as follows: proportional coefficient k p ∈[0.5,2], integration coefficient k i ∈[0.01,0.1], differential coefficient k d ∈[0.05,0.5], the fuzzy rule base includes Δk p , Δk i , Δk d The fuzzy rule table.

4. The tissue culture seedling planting robot arm end according to claim 1, characterized in that: When removing seedlings, the angle α between the straight line where the flexible clamp (63) is located and the line connecting the root, stem and crown of the tissue culture seedling (9) is 15°-30°, and when planting, the angle β between the straight line where the flexible clamp (63) is located and the plane where the plug tray (10) is located is 60°-75°.

5. The tissue culture seedling planting robot arm end according to claim 1, characterized in that: The clamping force error e is: The error change rate is: de / dt The control quantity T of the clamping cylinder (4) is: in, is the target clamping force; is the actual output clamping force; t is the sampling interval; is a proportional term; is the integral term; is the differential term; k f is the feedforward gain.

6. A tissue culture seedling planting robot arm end according to any one of claims 1 to 5, characterized in that: The thin film pressure sensor (62) has a measuring range of 0-4.4N, a thickness of 0.2mm, and a response time of <1ms.

7. An operation method for a tissue culture seedling planting robot arm end according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Visual positioning: Use a visual camera to identify the position and posture of the tissue culture seedling (9), determine the stem grabbing point, and control the end of the robotic arm to move to 5 cm above the tissue culture seedling, so that the line connecting the end of the seedling (6) is parallel to the line connecting the root, stem, and crown of the seedling; S2. Preparation for seedling removal: Control the rotation of the end of the robotic arm (1) so that the straight line where the flexible clamp (63) is located forms an angle of 15°-30° with the line connecting the root, stem and crown of the seedling. The end of the robotic arm (1) moves downward, pressing the crown of the seedling through the flexible baffle (7), pressing the root of the seedling through the front edge (82) of the transplant depth auxiliary mechanism (8), and limiting the left and right movement of the seedling. S3, clamping the tissue culture seedlings: driving the clamping cylinder (4) to close, the flexible clamping claw (63) to grasp the stem, and monitoring the clamping force in real time through the thin film pressure sensor (62). First, the clamping claw is quickly closed through position control. When the clamping force is detected to be greater than or equal to a first threshold and the duration is greater than or equal to a second threshold, the clamping claw is switched to force control mode, and the PID parameters are adjusted through fuzzy rule base reasoning and combined with feedforward compensation to stabilize the clamping force at the target value; S4, transplant preparation: control the end of the robotic arm (1) to rise to a preset distance just above the plug tray (10), drive the transplant propulsion cylinder (3) to extend, and flip the flexible baffle (7) so that its lower edge faces upward; S5, planting positioning: controlling the rotation of the end of the robotic arm (1) so that the straight line where the flexible clamping claw (63) is located and the plane where the hole tray (10) is located form an angle of 60°-75°, and move to the top of the planting hole (11); S6. Insertion and planting: Control the end of the robotic arm (1) to move downward so that the roots of the tissue culture seedlings contact the seedling matrix, continue to move downward until the front edge of the flexible baffle (7) contacts the matrix, drive the clamping cylinder (4) to open, release the seedlings, and retract the transplanting propulsion cylinder (3); S7, reset waiting: control the end of the robotic arm (1) to lift up and return to the seedling waiting area.

8. The operation method according to claim 7, characterized in that: The first threshold is 0.5N, and the second threshold is 0.2s.

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