High-throughput flexible clamping laser sampling equipment and method for rice breeding

Abstract

The invention discloses high-throughput flexible clamping laser sampling equipment and a high-throughput flexible clamping laser sampling method for rice breeding. Comprising an automatic sorting module which comprises a track switching mechanism and at least one seed conveying track; the seed metering device is used for conveying seeds to the seed conveying track; the sample cutting and collecting module comprises a working plate and a suction nozzle; at least one operation groove is formed in the operation plate, the operation grooves correspond to the seed conveying rails one to one, and the operation grooves communicate with the corresponding seed conveying rails; each operation groove is provided with a suction nozzle; the laser is arranged above the working plate; and the visual camera is mounted on one side of the laser. The working quality and efficiency of the device are effectively improved, and the conditions of seed carrying, low-quality sampling and the like are avoided.

Description

Technical Field

[0001] This invention belongs to the field of agricultural engineering, and in particular relates to a high-throughput flexible clamping laser sampling device and method for rice breeding. Background Technology

[0002] my country has a large population, with about 60% of the population relying on rice as their staple food. However, arable land resources are limited, and improvements in agronomic techniques are no longer sufficient to meet the ever-increasing demand for agricultural products. Developing breeding technology has become crucial to breaking through the predicament of my country's agriculture. With the development of biotechnology, people have gradually realized the direct link between genes and plant traits. By sequencing the genotype of an organism, the traits it exhibits can be predicted, leading to the vigorous development of molecular breeding technology.

[0003] In molecular breeding, genotyping of massive quantities of seeds is required to select those that meet breeding objectives. Currently, my country has a limited number of automated rice breeding slicing devices, which generally use blade cutting. These devices suffer from several drawbacks, including difficulty in cutting certain materials (such as corn seeds), incomplete cutting of husk-covered seed samples (such as rice seeds), interspecific infection due to blade contact cutting, and material genotypic contamination. Previous devices often employed friction-based clamping methods, which caused significant seed damage. Other solutions relied on seed handling for sample collection, involving slow robotic arm movements. Therefore, the invention of a high-throughput flexible clamping laser sampling device for rice breeding will effectively improve the breeding process and promote the revitalization of the seed industry. Summary of the Invention

[0004] The purpose of this invention is to address the deficiencies and shortcomings of existing technologies and provide a high-throughput, high-precision, minimally damaging, and pollution-free high-throughput flexible clamping laser sampler for rice breeding, which can realize automatic sampling of rice seeds.

[0005] The technical solution adopted in this invention is: I. A high-throughput flexible clamping laser sampling device for rice breeding The device includes: An automatic sorting module includes a track switching mechanism and at least one seed conveying track; Seed metering device, used to deliver seeds onto a seed conveyor track; The sample cutting and collection module includes a working plate and a suction nozzle; the working plate is provided with at least one working slot, which corresponds one-to-one with the seed conveying track and is connected to the corresponding seed conveying track; each working slot is provided with a suction nozzle; The laser is positioned above the work plate; A vision camera is mounted on one side of the laser.

[0006] The track switching mechanism includes a first drive motor, a gear, a rack, and a sorting baffle; the first drive motor can drive the gear to rotate, the gear meshes with the rack, and the rack is connected to the sorting baffle; The seed conveying tracks are all set on the slide, and several baffles are set inside the slide. Each baffle is parallel to the outer wall of the slide, thus dividing the slide into multiple seed conveying tracks. The top inlet of the slide is connected to the outlet of the seed metering device. The sorting baffle extends downward into the slide from one side of the top inlet of the slide, and the end of the sorting baffle is always in contact with the top of one of the baffles.

[0007] The sample cutting and collection module further includes a second drive motor, a lead screw, a lead screw connector, a sample collection plate, a sample collection hole, and a seed mother collection hole. The second drive motor is connected to the sample collection plate via the lead screw and the lead screw connector. The sample collection plate is located on the side of the working plate away from the automatic sorting module. Several protrusions are provided on the side of the sample collection plate closest to the working plate. Each protrusion corresponds to a working groove and extends into the corresponding working groove. In each working groove, a sample collection hole and a seed mother collection hole are provided on the inlet side of the suction nozzle, which are used to collect the cut sample and the seed mother, respectively. The diameter of the sample collection hole is smaller than the diameter of the seed mother collection hole.

[0008] The working trough is a Y-shaped trough, which is divided into a tapering section and a straight section. The wide opening of the tapering section is connected to the outlet of the corresponding seed conveying track, and the narrow opening is connected to the inlet of the straight section. The protruding block extends into the working trough from the outlet of the straight section. The tapering section is provided with a gradually sloping bottom, and the depth at the wide opening is less than the depth at the narrow opening. The suction nozzle, sample collection hole, and seed mother collection hole are all arranged in the straight section.

[0009] The device also includes a robot multi-node operating system; the robot multi-node operating system is electrically and / or communicatively connected to the automatic sorting module, seed metering device, sample cutting and collection module, laser and vision camera respectively.

[0010] II. A method for high-throughput flexible clamping laser sampling using the above-mentioned high-throughput flexible clamping laser sampling equipment. The method includes the following steps: S1. The seed metering device delivers individual seeds to each seed conveying track of the automatic sorting module. The seeds fall into the corresponding working slots through the seed conveying tracks, and are flexibly held by the suction nozzles in the working slots through negative pressure adsorption.

[0011] S2. Use a vision camera to acquire images of the seeds in each working slot, process them to obtain the laser path corresponding to the seeds in each working slot and send it to the laser. Use the laser to cut the seeds in each working slot to obtain the cut sample and the seed parent.

[0012] In step S2, the image is processed by a key point recognition algorithm to obtain the parent frame of the seed in each working slot and two key points, which represent the embryo side and the endosperm side, respectively. The midpoint coordinates of the two key points are calculated as the center point coordinates, and the angle between the vector formed by the two key points and the reference direction in the image coordinate system is calculated as the seed attitude angle. Based on the center point coordinates and the seed attitude angle, the cutting point is taken as 1 / 3 of the total length of the seed extending from the endosperm side key point to the embryo side key point, and a cutting path is generated.

[0013] The preferred key point recognition algorithm is the Yolov11-pose algorithm.

[0014] S3. After all the seeds in the working slots have been cut, the second drive motor is used to move the sample collection plate toward the entrance side of the working slot, so that the cut samples and seed mothers in each working slot fall into the sample collection hole and the seed mother collection hole respectively.

[0015] S4. Repeat steps S1 to S3 until the job is finished.

[0016] The present invention has the following advantages due to the adoption of the above technical solutions: 1. Compared with existing technologies, this high-throughput flexible clamping laser sampling device and control method for rice breeding uses a suction nozzle to flexibly clamp rice seeds, reducing damage to the seeds from compression; 2. Compared to existing technologies, this high-throughput flexible clamping laser sampling device and control method for rice breeding uses an automatic sorting device for single-seed rice sampling. Seed loading is achieved by the seed's own gravity and the negative pressure suction of the nozzle, avoiding the need for a robotic arm to handle the seeds and significantly increasing throughput. It is used in conjunction with a sample collection plate to collect both the sample and the seed stock. 3. Compared to existing technologies, this high-throughput flexible clamping laser sampling device and control method for rice breeding provides feedback on seed orientation before cutting, enabling re-sampling of unsuccessful seeds, thus improving the system's working quality and efficiency and eliminating invalid sampling. The use of a high-pixel camera and high-precision laser spot avoids low-quality sampling. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the automatic sorting device; Figure 3 This is a schematic diagram of the sample cutting and collection device. Figure 4 This is a schematic diagram of the sample cutting and collection device. Figure 5 This is a schematic diagram of the structure of a laser and imaging system.

[0018] Figure 6 This is a control flowchart of the device of the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention provides a high-throughput flexible clamping laser sampling device for rice breeding.

[0021] like Figure 1 As shown, the high-throughput flexible clamping laser sampling device of the present invention includes: Automatic sorting module 2 includes a track switching mechanism and at least one seed conveying track 25; Seed metering device 3 is used to deliver individual seeds to each seed conveying track 25 of the automatic sorting module 2; The sample cutting and collection module 7 includes a working plate and a suction nozzle 76. The working plate is provided with at least one working slot, and the number of working slots is the same as that of the seed conveying tracks 25 and they correspond one-to-one. The inlet of the working slot is connected to the outlet of the corresponding seed conveying track 25, and the seeds in each seed conveying track 25 fall into the corresponding working slot. Each working slot is provided with a suction nozzle 76 at the bottom of the slot, and the suction nozzle 76 is used to flexibly hold the seeds in the working slot. Laser 9, positioned above the work plate, is used to laser cut the seeds in each work slot; A vision camera 94 is mounted on one side of the laser 9.

[0022] Specifically, such as Figure 2As shown, the track switching mechanism includes a first drive motor 21, a gear 22, a rack 23, and a sorting baffle. The first drive motor 21 can drive the gear 22 to rotate. The gear 22 is meshed with one end of the rack 23, and the other end of the rack 23 is connected to one end of the sorting baffle. The sorting baffle is used to sequentially distribute seeds into each seed conveying track. The seed conveying tracks 25 are all set on the slide rails, and several baffles 26 are set inside the slide rails. Each baffle 26 is parallel to the outer wall of the slide rail, thereby dividing the slide rail into multiple independent seed conveying tracks 25. The top inlet of the slide rail is connected to the seed metering device. The other end of the sorting baffle extends downward from one side of the top entrance of the slide and into the interior of the slide, and contacts the top of each baffle 26. The end of the sorting baffle (i.e. the end away from the rack 23) is always in contact with the top of one of the baffles 26. The sorting baffle, the slide entrance, and the outer wall on the opposite side of the sorting baffle form a sorting track 24. The entrance of the sorting track 24 is connected to the outlet of the seed metering device 3. When the end of the sorting baffle moves to the top of any baffle 26, the outlet of the sorting track 24 is connected to the entrance of the seed conveying track 25 on one side of the baffle 26.

[0023] Specifically, a rack meshing point 231 is provided at the end of the rack 23 away from the sorting baffle, and the gear 22 is meshed with the rack 23 through the rack meshing point 231.

[0024] Specifically, such as Figure 3 As shown, the sample cutting and collection module 7 also includes a second drive motor 71, a lead screw 72, a lead screw connector 73, a sample collection plate 74, a sample collection hole 78, and a seed mother body collection hole 79. The second drive motor 71 is connected to the sample collection plate 74 via the lead screw 72 and the lead screw connector 73. The sample collection plate 74 is located on the side of the working plate away from the automatic sorting module 2. Several protrusions are provided on the surface of the sample collection plate 74 near the working plate. The number of protrusions is the same as the number of working slots and they correspond one-to-one. The protrusions extend into the corresponding working slots. The second drive motor 71 can drive the sample collection plate 74, thereby driving the protrusions to reciprocate in the corresponding working slots.

[0025] Specifically, such as Figure 4 As shown, in each working slot, a sample collection hole 78 and a seed mother collection hole 79 are provided on the inlet side of the suction nozzle 76 (i.e. the side near the inlet of the working slot), which are used to collect the cut sample and the seed mother respectively. The diameter of the sample collection hole 78 is smaller than the diameter of the seed mother collection hole 79.

[0026] Preferably, the suction nozzle 76, the sample collection hole 78, and the seed mother collection hole 79 are arranged on the same straight line, and the straight line is parallel to the direction of movement of the protrusion.

[0027] Specifically, such as Figure 4As shown, the working trough is a Y-shaped trough, which is divided into a tapering section and a straight section. The wide opening of the tapering section is connected to the outlet of the corresponding seed conveying track 25, and the narrow opening is connected to the inlet of the straight section. The protruding block extends into the working trough from the outlet of the straight section. The tapering section is provided with a gradually sloping bottom, and the depth at the wide opening is less than the depth at the narrow opening. The suction nozzle 76, the sample collection hole 78, and the seed mother collection hole 79 are all arranged in the straight section.

[0028] like Figure 4 As shown, in the specific embodiment provided by the present invention, the tapered section is formed by the outer baffle 711 and the inner baffle 712 of the spline curve track arranged opposite to each other, and the straight section is formed by the outer baffle 75 and the inner baffle 77 of the seed track arranged opposite to each other. The outer baffle 711 and the outer baffle 75 of the spline curve track are connected, and the inner baffle 712 and the inner baffle 77 of the seed track are connected.

[0029] Furthermore, the ends of the working groove and the suction nozzle 76 (i.e., the end suction port) are both made of aluminum to prevent deformation during carbon dioxide laser cutting.

[0030] Specifically, such as Figure 5 As shown, the laser 9 includes a laser tube and heat dissipation hole 91, a laser tube galvanometer connector 92, a camera sleeve 93, a galvanometer 96, a laser output port 97, and a laser camera connection housing 98.

[0031] Preferably, the scanning range of the laser 9 covers all the clamping and cutting points of the working slots, which are the positions of the suction nozzle 76.

[0032] Furthermore, the high-throughput flexible clamping laser sampling device also includes a robot multi-node operating system. The robot multi-node operating system is electrically and / or communicatively connected to the first drive motor 21 of the automatic sorting module 2, the seed metering device 3, the second drive motor 71 and the suction nozzle 76 of the sample cutting and collection module 7, the laser 9, and the vision camera 94, respectively, for control or communication purposes.

[0033] The high-throughput flexible clamping laser sampling method using the above-mentioned high-throughput flexible clamping laser sampling equipment includes the following steps: S1. The seed metering device 3 delivers individual seeds to each seed conveying track 25 of the automatic sorting module 2. The seeds fall into the corresponding working trough after passing through the seed conveying track 25, and are flexibly held by the suction nozzle 76 in the working trough through negative pressure adsorption.

[0034] S2. Use vision camera 94 to acquire images of seeds in each working slot, process them to obtain the laser path corresponding to the seeds in each working slot and send it to laser 9. Use laser 9 to cut the seeds in each working slot to obtain the cut sample and the seed parent.

[0035] In step S2, the image is processed by a key point recognition algorithm to obtain the parent frame of the seed in each working slot and two key points, which represent the embryo side and the endosperm side, respectively. The midpoint coordinates of the two key points are calculated as the center point coordinates, and the angle between the vector formed by the two key points and the reference direction in the image coordinate system is calculated as the seed attitude angle. Based on the center point coordinates and the seed attitude angle, a cutting point is generated at 1 / 3 of the total length of the seed extending from the endosperm side key point to the embryo side key point. A straight line passing through the cutting point and perpendicular to the major axis is generated as the cutting path.

[0036] S3. After all the seeds in the working slots have been cut, the second drive motor 71 drives the sample collection plate 74 to move towards the entrance side of the working slot, so that the cut sample and seed mother in each working slot fall into the sample collection hole 78 and the seed mother collection hole 79 respectively. S4. Repeat steps S1 to S3 until the job is finished.

[0037] Preferably, the key point recognition algorithm is the Yolov11-pose algorithm.

[0038] Specific embodiments of the present invention are as follows: Example 1 like Figures 1 to 5 As shown in the figure, this embodiment provides a high-throughput flexible clamping laser sampling device and control method for rice breeding.

[0039] The high-throughput flexible clamping laser sampling device for rice breeding provided in this embodiment includes a working plane 4. The working plane 4 is fixed above the laser cutting table 6 by an aluminum profile 5. A lifting adjustment table 1 is installed on the laser cutting table 6 and connected to the laser 9 through a connector 8. The lifting adjustment table 1 is equipped with a manual adjustment device 11, which can be used to adjust the height of the laser 9 from the working plane 4.

[0040] An automatic sorting module 2, a seed metering device 3, and a sample cutting and collection module 7 are installed on the working plane 4. A vision camera 94 is mounted on the side of the laser 9 with its acquisition end facing downwards, and is used to acquire images of the seeds to be cut in the working slot.

[0041] like Figure 1 As shown, the seed metering device 3 is a vibrating seed metering device.

[0042] like Figure 3 As shown, the sample cutting and collection module 7 includes a second drive motor 71, a lead screw 72, a lead screw connector 73, a sample collection plate 74, a seed outer baffle 75, a suction nozzle 76 and a pneumatic hose 761, a seed inner baffle 77, a sample collection hole 78 and a sample collection tube 781, a seed mother collection hole 79 and a seed mother collection tube 791.

[0043] like Figure 4 As shown, the work plate has four work slots. Each work slot is specifically configured as follows: the space between the oppositely arranged outer baffle 711 and inner baffle 712 of the spline curve track forms the tapering section of the work slot; the space between the oppositely arranged outer baffle 75 and inner baffle 77 of the seed track forms the straight section of the work slot. The outer baffle 711 of the spline curve track and the outer baffle 75 of the seed track are connected, and the inner baffle 712 of the spline curve track and the inner baffle 77 of the seed track are connected.

[0044] like Figure 5 As shown, the laser 9 includes a laser tube and heat dissipation hole 91, a laser tube galvanometer connector 92, a camera sleeve 93, a galvanometer 96, a laser output port 97, and a laser camera connection housing 98.

[0045] Depend on Figure 5 As can be seen, the lens 95 of the vision camera 94 is positioned facing the working slot below the laser output port 97.

[0046] First, combined Figure 2 Introducing the working process of automatic sorting module 2: After the seeds enter the automatic sorting module 2, they are initially aligned with the leftmost free-fall track in the top view. Figure 2 (As shown in the left figure), gear 22 drives rack 23 to move, allowing seeds to fall onto the first seed conveying track 25 without sorting baffles on the sorting track 24 by gravity, thus achieving automatic single-seed sorting. Figure 2 In the left image, the first seed transport track 25 without a sorting baffle is the rightmost seed transport track 25.

[0047] Below, in conjunction with Figure 3 The following diagram illustrates the working process of sample cutting and collection module 7: The second drive motor 71 drives the sample collection plate 74 to move to the right via the lead screw 72, so as to collect the cut sample and the seed mother into the sample collection tube 781 and the seed mother collection tube 791 respectively.

[0048] In this embodiment, the working principle of the device is as follows: Initially, the sample collection plate 74 is in a tightened state. Seeds fall freely through the automatic sorting module 2 to the vicinity of the suction nozzle 76. The suction nozzle 76 uses an air pump to provide negative pressure to attract surrounding seeds 762. After identification by the vision camera 94, the laser 9 is invoked to cut the seeds. After all four working slots have been cut, the second drive motor 71 drives the sample collection plate 74 to move the seed samples and seed mothers towards the sample collection hole 78 and the seed mother collection hole 79, completing the sample collection of the four working slots.

[0049] Example 2 This embodiment proposes a method for a high-throughput flexible clamping laser sampling device for rice breeding.

[0050] The method in this embodiment includes the following steps: 1) First, based on Zhang Zhengyou's calibration method, the working space of the sample cutting and collection module 7 is calibrated using a vision camera 94 to obtain the absolute coordinate values ​​of the suction nozzles 76, sample collection holes 78, and mother body collection holes 79 of the four working slots.

[0051] 2) The vibrating seed metering device 3 feeds single rice seeds into the sorting track 24 of the automatic sorting module 2. Under the action of gravity, the seeds enter the seed conveying track 25. The gear 22 drives the rack 23 to move, so that the seeds fall into the first seed conveying track 2 without the obstruction of the sorting baffle on the sorting track 24 according to gravity, thus realizing the automatic sorting of single seeds.

[0052] In this step, the selection of the seed sorting track 24 is achieved by the movement of the rack 23 and the gravity of the rice seeds themselves. The rice seeds fall into the flexible clamping point of the suction nozzle through different free fall tracks, preventing the seeds from shifting due to the impact of laser cutting, and ensuring single-seed sampling, reliable clamping, no handling, and high throughput.

[0053] 3) Under the influence of gravity and inertia, the seeds will fall freely to the vicinity of the suction nozzle 76. The suction nozzle 76 uses an air pump to provide negative pressure to attract the surrounding seeds 762. The visual camera 94 acquires images, processes the images using the Yolov11-pose algorithm, and identifies the coordinates of the seed center point and the seed attitude angle.

[0054] In this step, the YOLOv11-pose algorithm can also be used to identify whether rice seeds are present. If rice seeds are not present, the rack will be repositioned to re-control the seed metering device to plant the seeds in three rows. The accuracy of identifying the length of rice seeds and the control accuracy of the cutting path can reach 0.2 mm.

[0055] 4) The Robot Multi-Node Operating System (ROS) generates a cutting path corresponding to 1 / 3 of the total seed length on the endosperm side based on the seed center point coordinates and attitude information. The laser 9 is controlled by TCP to perform laser cutting. After the sample is cut, the air pump provides positive pressure and the suction nozzle 76 releases the seed mother body.

[0056] In this step, the Robot Multi-Node Operating System (ROS) generates a cutting path on the endosperm side using calibrated work plane coordinates and attitude angles, ensuring the sample quantity for gene analysis while maintaining the biological activity of the seed mother.

[0057] 5) The robot multi-node operating system (ROS) controls the gear 22 to move the rack 23, and the vibrating seed metering device 3 continues to meter seeds to complete the cutting task of the next working slot.

[0058] 6) After all four working slots have completed their cutting tasks, the second drive motor 71 is driven to move the sample collection plate 74, which moves the seed sample and the seed mother towards the sample collection hole 78 and the seed mother collection hole 79, thus completing the sample collection of the four working slots.

[0059] 7) Drive the second drive motor 71 to tighten the sample collection plate 74, and at the same time drive the drive motor 21 to tighten the rack and pinion, in preparation for the next operation.

[0060] In this embodiment, the keypoint algorithm is specifically the YOLOv11-pose algorithm. The YOLOv11-pose model is pre-trained according to the following process: First, multiple images of rice seeds are acquired to ensure the sample diversity, position, and pose diversity of the training set; a total of 400 images are acquired. Then, image enhancement methods such as contrast adjustment, image flipping, and Gaussian blur are used to generate a training set of 2000 images. Ultralytics (the YOLOv11-pose pre-trained weights provided by YOLO) is used, and the output layer parameters are modified to use the parent bounding box as the seed and include two keypoints (head and tail) in the output layer JSON file. The model is then trained using the training methods provided by YOLO.

[0061] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-throughput flexible clamping laser sampling device for rice breeding, characterized in that, It comprises: An automatic sorting module (2) comprising a track switching mechanism and at least one seed conveying track (25); A seed dispenser (3) for conveying seeds to the seed conveying track (25); A sample cutting and collecting module (7) comprising a workboard and a suction nozzle (76); the workboard is provided with at least one work slot corresponding to the seed conveying track (25), and the work slot is in communication with the corresponding seed conveying track (25); each work slot is provided with a suction nozzle (76); A laser (9) arranged above the workboard; A visual camera (94) installed on one side of the laser (9).

2. The high throughput flexible gripper laser sampling device for breeding of rice as claimed in claim 1 wherein: The track switching mechanism comprises a first drive motor (21), a gear (22), a rack (23) and a sorting baffle; the first drive motor (21) can drive the gear (22) to rotate, the gear (22) is connected with the rack (23) in meshing, and the rack (23) is connected with the sorting baffle; The seed conveying track (25) is arranged on the slide, and a plurality of baffles (26) are arranged in the slide; each baffle (26) is parallel to the outer side wall of the slide, thereby separating the slide into a plurality of seed conveying tracks (25); the top entrance of the slide is connected with the outlet of the seed dispenser (3), and the sorting baffle is inclined from one side of the top entrance of the slide to extend into the interior of the slide, and the end of the sorting baffle is always in contact with the top end of one of the baffles (26).

3. The high-throughput flexible gripper laser sampling device for rice breeding of claim 1, wherein: The sample cutting and collecting module (7) further comprises a second drive motor (71), a lead screw (72), a lead screw connecting piece (73), a sample collection plate (74), a sample collection hole (78) and a seed parent collection hole (79); the second drive motor (71) is drivingly connected with the sample collection plate (74) through the lead screw (72) and the lead screw connecting piece (73); the sample collection plate (74) is located on the side of the workboard away from the automatic sorting module (2), and the side of the sample collection plate (74) close to the workboard is provided with a plurality of protruding blocks corresponding to the work slots; the protruding blocks extend into the corresponding work slots; a sample collection hole (78) and a seed parent collection hole (79) are formed in each work slot on the inlet side of the suction nozzle (76) for collecting the cutting sample and the seed parent, respectively; the aperture of the sample collection hole (78) is smaller than that of the seed parent collection hole (79).

4. The high-throughput flexible gripper laser sampling device for rice breeding of claim 3, wherein: The work slot is a Y-shaped slot, which is divided into a tapered section and a straight section; the wide mouth of the tapered section is in communication with the outlet of the corresponding seed conveying track (25), the narrow mouth is in communication with the inlet of the straight section, and the protruding block extends into the work slot from the outlet of the straight section; the tapered section is provided with a tapered inclined groove bottom, and the depth of the wide mouth is smaller than that of the narrow mouth; the suction nozzle (76), the sample collection hole (78) and the seed parent collection hole (79) are arranged in the straight section.

5. The high-throughput flexible gripper laser sampling device for rice breeding of claim 1, wherein: It further comprises a robot multi-node operating system; the robot multi-node operating system is electrically connected and / or communicatively connected with the automatic sorting module (2), the seed dispenser (3), the sample cutting and collecting module (7), the laser (9) and the visual camera (94).

6. A high-throughput flexible clamping laser sampling method using the high-throughput flexible clamping laser sampling device according to any one of claims 1-5, characterized in that, It comprises the following steps: S1, use the seed metering device (3) to respectively transport single-seed seeds to each seed transport track (25) of the automatic sorting module (2), and the seeds fall into the corresponding operation groove through the seed transport track (25), and the flexible clamping is realized by the suction nozzle (76) in the operation groove through negative pressure adsorption; S2, use the visual camera (94) to collect the image of the seed in each operation groove, and after processing, the corresponding laser path of the seed in each operation groove is obtained and sent to the laser (9), and the seed in each operation groove is cut by the laser (9), to obtain the cutting sample and the seed mother body; S3, after the seeds in all operation grooves are cut, the second driving motor (71) is used to drive the sample collection plate (74) to move to the inlet side of the operation groove, so that the cutting sample and the seed mother body in each operation groove respectively fall into the sample collection hole (78) and the seed mother body collection hole (79); S4, repeat steps S1-S3 until the operation is completed.

7. The high throughput, flexible clamp laser sampling method of claim 6, wherein: In the step S2, the image is processed by a key point recognition algorithm to obtain the mother body frame of the seed in each operation groove and two key points, and the two key points respectively represent the embryo side and the endosperm side; the midpoint coordinates of the two key points are calculated as the center point coordinates, and the angle between the vector formed by the two key points and the reference direction in the image coordinate system is calculated as the seed posture angle; according to the center point coordinates and the seed posture angle, the cutting point is taken as the distance of 1 / 3 of the full length of the seed extending from the endosperm side key point to the embryo side key point direction, and the cutting path is generated.

8. The high throughput, flexible clamp laser sampling method of claim 7, wherein: The key point recognition algorithm is specifically a Yolov11-pose algorithm.

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