Automatic grafted seedling fixing method based on multi-point gluing fixation

Abstract

The invention discloses an automatic grafted seedling fixing method based on multi-point gluing fixation, which comprises the following steps: firstly, butting a scion and a stock through a clamping mechanism, then acquiring an image of the butting part of the scion and the stock through a visual identification unit, and identifying through an image analysis means to obtain coordinate information of a plurality of key points on the outer edge of the scion section; a plurality of dispensing mechanisms are uniformly distributed on the periphery of the joint of the scion and the stock in the circumferential direction, and the dispensing mechanisms are controlled to apply a predetermined amount of adhesive to key point positions according to the obtained coordinate information of the key point positions on the outer edge of the scion section, so that a plurality of discrete adhesive points are formed; the stock and the scion are firmly and fixedly connected through the synergistic curing effect of the glue points. A traditional grafting clamp is replaced with a dispensing structure, full automation of the fixing process is achieved, the grafting efficiency is remarkably improved, the cost of a single plant is greatly reduced, physical damage of the grafting clamp to seedlings and potential disease spreading risks are avoided, and high-quality healing of the grafted seedlings is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of grafting technology, specifically relating to an automatic fixation method for grafted seedlings based on multi-point adhesive fixation. Background Technology

[0002] The existing grafting technology process mainly includes three core steps: cutting, joining, and fixing the rootstock and scion. Among them, the technical solution used in the fixing step directly determines the grafting efficiency, cost, and quality of the grafted seedlings. At present, most grafting operations in production, whether manual or semi-automatic grafting machine operations, adopt the physical clamping method, that is, using special grafting clamps to tighten and fix the joint of the rootstock and scion to keep the cuts of the two close together until the callus tissue connects and the vascular bundles are connected. This traditional fixing method with grafting clamps as the core has the following inherent defects: (1) It seriously restricts the efficiency of automated production, and the grafting robot needs to complete complex clamping and clamping actions; (2) It generates material costs per plant and requires handling recycling issues; (3) Grafting clamps are prone to causing mechanical damage to fragile grafted seedlings; (4) Reusable grafting clamps may become a medium for disease transmission. Although some studies have tried to use glue spraying for fixing, most of them use ring-shaped or full-wrap glue application, which has problems such as large glue consumption, hindering callus tissue growth, poor air permeability, and being unfriendly to stem thickening. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an automatic fixation method for grafted seedlings based on multi-point adhesive fixation.

[0004] This invention is achieved through the following technical solution: This invention provides an automatic fixation method for grafted seedlings based on multi-point adhesive bonding, the method comprising the following steps: Step 1: Install the scion on the scion clamping mechanism and the rootstock on the rootstock clamping mechanism. The scion clamping mechanism and the rootstock clamping mechanism are on the same axis through the support frame foundation, so that the cut surface of the scion is in contact with the cut surface of the rootstock. Step 2: Obtain an image of the joint between the scion and rootstock using a visual recognition unit, and identify the coordinate information of multiple key points on the outer edge of the scion's cross-section using image analysis methods; Step 3: Multiple adhesive dispensing devices are evenly distributed around the periphery of the scion and rootstock joint. Based on the key point coordinate information on the outer edge of the scion cut surface obtained in Step 2, the adhesive dispensing devices are controlled to apply a predetermined amount of adhesive to the key points to form multiple discrete adhesive dots. Through the synergistic curing effect of these adhesive dots, the rootstock and scion are firmly fixed and connected.

[0005] In the above technical solution, the mating surfaces of the rootstock and scion are cut at a 45-degree angle by a cutting mechanism.

[0006] In the above technical solution, during the image analysis process, the outer edge of the scion cut surface and the outer edge of the rootstock cut surface are identified by image edge detection technology. Since the outer edge of the rootstock cut surface is larger than the outer edge of the scion cut surface, the smaller outer edge is determined to be the outer edge of the scion cut surface.

[0007] In the above technical solution, the multiple key points on the outer edge of the scion cut surface that are identified include: the highest point, the lowest point, and the midpoint on both sides of the outer edge of the scion cut surface.

[0008] In the above technical solution, the adhesive used is an α-cyanoacrylate fast-drying adhesive.

[0009] In the above technical solution, the volume of adhesive solution for a single adhesive dot is 0.5 to 2 microliters.

[0010] The advantages and beneficial effects of this invention are as follows: This invention replaces the traditional grafting clip with an adhesive dotting configuration, achieving complete automation of the fixing process, significantly improving grafting efficiency, greatly reducing the cost per plant, and avoiding physical damage to seedlings and potential disease transmission risks caused by grafting clips, which is conducive to high-quality healing of grafted seedlings. Attached Figure Description

[0011] Figure 1 This is a flowchart illustrating the implementation of an automatic fixation method for grafted seedlings based on multi-point adhesive bonding.

[0012] Figure 2 This is a schematic diagram of the grafting device.

[0013] Figure 3 This is a schematic diagram showing the glue application at the junction of the scion and rootstock.

[0014] For those skilled in the art, other related figures can be obtained from the above figures without any creative effort. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to specific embodiments.

[0016] Example 1 This embodiment designs an automatic fixation method for grafted seedlings based on multi-point adhesive bonding, see appendix. Figure 1 The method includes the following steps: Step 1: Prepare the rootstock and scion (the joint surfaces of the rootstock and scion are beveled at a 45-degree angle using a cutting mechanism). Install the scion on the scion clamping mechanism and the rootstock on the rootstock clamping mechanism. The scion clamping mechanism and the rootstock clamping mechanism are aligned on the same axis via a support frame, ensuring the cut surfaces of the scion and rootstock are aligned. Because the scion clamping mechanism and the rootstock clamping mechanism are on the same axis, the axes of the scion and rootstock are aligned, and the scion and rootstock are stably clamped by the clamping mechanisms, thus ensuring a stable joint between the cut surfaces of the scion and the rootstock.

[0017] Step 2: Deploy visual recognition units around the junction of the scion and rootstock. Use these units to acquire images of the junction and obtain the coordinates of the highest and lowest points on the outer edge of the scion's cut surface through image analysis. Then, based on these coordinates, calculate the midpoints on both sides of the outer edge of the scion's cut surface, thus obtaining four key points on the outer edge of the scion's cut surface for subsequent automatic glue application.

[0018] Furthermore, the camera of the visual recognition unit is pre-calibrated so that it can identify the coordinate position data of key points on the outer edge of the scion's cut surface based on the acquired images.

[0019] Furthermore, during image analysis, image edge detection technology can identify the outer edge of the scion cut surface and the outer edge of the rootstock cut surface. Since the outer edge of the rootstock cut surface is larger than the outer edge of the scion cut surface, the smaller outer edge is determined to be the outer edge of the scion cut surface.

[0020] Furthermore, the visual recognition unit preferably has two cameras, which can be set in front and behind (front and behind refers to the height direction of the joint surface between the scion and the rootstock) or left and right (left and right refers to the two sides of the joint surface between the scion and the rootstock). The shooting angle of the cameras should be adjusted so that the outer edge of the joint surface between the scion and the rootstock can be captured.

[0021] Step 3: Multiple adhesive dispensing devices are evenly distributed around the periphery of the scion and rootstock joint. Based on the coordinate data of the highest point, lowest point and middle points on both sides of the outer edge of the scion cut surface obtained in Step 2, the adhesive dispensing devices are controlled to apply a predetermined amount of adhesive to these four key points to form four discrete adhesive dots. Through the synergistic curing effect of these adhesive dots, the rootstock and scion are firmly fixed and connected.

[0022] Furthermore, preferably, the adhesive is an α-cyanoacrylate quick-drying adhesive, and the volume of the adhesive solution in a single adhesive dot is 0.5 to 2 microliters.

[0023] Example 2 This embodiment provides a device for implementing the automatic fixation method for grafted seedlings based on multi-point adhesive fixation as described in Embodiment 1. See the attached diagram below. Figure 2 This section will provide a detailed introduction to the device.

[0024] The device includes a scion clamping mechanism 1, a rootstock clamping mechanism 2, a visual recognition unit 3, an adhesive dispensing device 4, and a control system.

[0025] The scion clamping mechanism 1 and the rootstock clamping mechanism 2 are on the same axis via the support frame base 5. The scion clamping mechanism 1 is used to clamp the scion 100, and the rootstock clamping mechanism 2 is used to clamp the rootstock 200. Preferably, both the scion clamping mechanism 1 and the rootstock clamping mechanism 2 adopt pneumatic gripper devices, which is a conventional technology and will not be described in detail here.

[0026] The visual recognition unit 3 is mounted on the support frame base 5 via a bracket. It is used to collect images of the scion and rootstock joint, and obtain the coordinate data of the highest and lowest points on the outer edge of the scion's cross-section through image analysis. Then, based on the coordinate data of the highest and lowest points, it calculates the midpoints on both sides of the outer edge of the scion's cross-section, thereby obtaining four key points on the outer edge of the scion's cross-section. Preferably, the visual recognition unit 3 has two cameras, positioned on the front and rear sides of the scion-rootstock joint.

[0027] The dispensing device 4 is used to dispense adhesive to key points on the outer edge of the scion cut surface identified by the visual recognition unit 3 according to the control instructions of the control system (see Appendix). Figure 3 The diagram shows the result after gluing, with four discrete glue dots (300) formed. The gluing device 4 is installed on the support frame base 5. Preferably, there are four gluing devices 4, which are respectively arranged on the front, back, left, and right sides of the joint between the scion and the rootstock.

[0028] The dispensing device 4 includes a dispensing device 40 and a posture adjustment mechanism that drives the dispensing device 40 to adjust its posture. The control system controls the posture adjustment mechanism of the dispensing device according to the coordinate data of key points on the outer edge of the scion cut surface identified by the vision recognition unit 3, so that the dispensing nozzle of the dispensing device reaches the target dispensing position.

[0029] Furthermore, the pose adjustment mechanism includes a vertical adjustment mechanism 41, a longitudinal adjustment mechanism 42, and a lateral adjustment mechanism 43. The longitudinal adjustment mechanism 42 is mounted on the vertical adjustment mechanism 41, the lateral adjustment mechanism 43 is mounted on the longitudinal adjustment mechanism 42, and the dispensing device 40 is mounted on the lateral adjustment mechanism 43, thereby realizing the three-axis (XYZ) pose adjustment of the dispensing device 40.

[0030] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein can be interpreted accordingly. Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, and do not necessarily require or imply any such actual relationship or order between the components.

[0031] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. An automatic fixation method for grafted seedlings based on multi-point adhesive bonding, characterized in that: The method includes the following steps: Step 1: Install the scion on the scion clamping mechanism and the rootstock on the rootstock clamping mechanism. The scion clamping mechanism and the rootstock clamping mechanism are on the same axis through the support frame foundation, so that the cut surface of the scion is in contact with the cut surface of the rootstock. Step 2: Obtain an image of the joint between the scion and rootstock using a visual recognition unit, and identify the coordinate information of multiple key points on the outer edge of the scion's cut surface using image analysis methods; Step 3: Multiple adhesive dispensing devices are evenly distributed around the periphery of the scion and rootstock joint. Based on the key point coordinate information on the outer edge of the scion cut surface obtained in Step 2, the adhesive dispensing devices are controlled to apply a predetermined amount of adhesive to the key points respectively, forming multiple discrete adhesive dots. Through the synergistic curing effect of these adhesive dots, the rootstock and scion are firmly fixed and connected.

2. The automatic fixation method for grafted seedlings based on multi-point adhesive fixation according to claim 1, characterized in that: The joint surfaces of the rootstock and scion are cut at a 45-degree angle by a cutting mechanism.

3. The automatic fixation method for grafted seedlings based on multi-point adhesive fixation according to claim 1, characterized in that: During image analysis, image edge detection technology is used to identify the outer edges of the scion cut and the rootstock cut. Since the outer edge of the rootstock cut is larger than the outer edge of the scion cut, the smaller outer edge is determined to be the outer edge of the scion cut.

4. The automatic fixing method for grafted seedlings based on multi-point adhesive fixation according to claim 1, characterized in that: The identified key points on the outer edge of the scion's cut surface include: the highest point, the lowest point, and the midpoints on both sides of the outer edge of the scion's cut surface.

5. The automatic fixing method for grafted seedlings based on multi-point adhesive fixation according to claim 1, characterized in that: The adhesive used is an α-cyanoacrylate fast-drying adhesive.

6. The automatic fixation method for grafted seedlings based on multi-point adhesive fixation according to claim 1, characterized in that: The volume of adhesive solution in a single adhesive dot is 0.5 to 2 microliters.

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