基于群簇获取与振-气分离的条状组培苗高效移植机理研究

In subculture process for tissue culture seedlings, efficient and practical mechanization transplanting equipments were needed urgently in transplanting operation,in which maximum labor force was needed and seedlings were susceptible to bacterial infections. While the traditional transplanting equipments were inefficient and couldn't be used to actual production,because a slow transplanting method with which the nodes were detected and cut one by one was adopted by the eduipments.A efficient cutting and transplanting method based on cluster seedlings handled one time was proposed in this project. Three key issues of how to take out clustered seedlings from bottle, how to separate the clustered seedlings quickly and how to cut the multi-target nodes fast were discussed. A method for taking out all of the seedlings one time from confined space was explored and a kind of mechanism for getting out seedlings was innovatively designed.A method for seperating clustered seedlings by vibration and airflow was putfowarded, and a kind of vibration griddle was designed to treat with the clustered seedlings which were soft, fragile and intertwining together easily. Fast-focus model for a non-contact laser cutter was researched to dispose seedlings with different diameter. A prototype for cutting and transplanting tissue culture seedlings efficiently was developed integrating the previous research achievements.Efficient mechanized transplanting theory and original equipment for tissue culture seedlings were provided by the research.

在组培苗继代培养过程中，劳动力耗费多、易受病菌感染的分割移植作业急需高效、实用的机械化移植设备，而目前的组培苗移植设备采用逐株逐段切割移植苗株的方式导致作业效率低、难以用于实际生产。本项目提出基于群簇苗株处理的高效分割移植方式，针对群簇苗株的整体取出、群簇苗株的快速分离和多目标苗株节点的快速切割三个关键问题展开研究。探索从受限空间中将群簇苗株一次性全部取出的低损伤取苗方法，创新设计取苗机构；提出基于振动与气流联合作用的方式和振动筛机构，解决苗株柔、脆、易折断、枝叶易缠绕的难题，实现成簇苗株的快速分离；探索非接触式激光切割方法实现对多目标苗株节点的快速切割，建立基于不同苗株直径的激光切割器快速对焦模型。集成前期研究成果研制出组培苗高效分割移植设备原型样机，为我国组培苗高效机械化移植装备的研发提供理论和技术储备。

在组培苗继代培养过程中，劳动力耗费多、重复性工作量大、易受病菌感染的分割移植作业急需高效、实用、不需人工介入的机械化移植设备，而目前的组培苗移植技术采用机器视觉识别苗株、机械手切割移植苗株片段的操作模式，这种逐株逐段切割移植苗株的方法导致作业效率低、难以用于生产实际。. 本项目从变革移植方法本身出发，提出了一种基于群簇苗株处理的组培苗高效分割移植方法。以马铃薯组培苗为研究对象，对受限空间内群簇苗株整体一次性无损伤取出方法、群簇苗株快速聚拢和高效切割方法、组培苗段均匀分散方法等进行了创新性研究，提出了系统的解决方法。提出将培养基和群簇苗株作为一个整体，采用培养瓶相对于取苗爪片边行进边微幅摆动、取苗爪片拉取培养基的方式，实现群簇苗株一次性无损伤整体取出，解决了受限空间内苗株数量多、柔、脆、易折断造成的取苗难的问题。采用将群簇苗株切割成短小茎段、再将短小茎段均匀分散的方式，实现成簇苗株的快速分离，解决了群簇苗株互相缠绕难以分离的难题。基于提出的群簇苗株高效分割移植方法，研制出了一台用于整瓶组培苗移植的马铃薯组培苗高效移植机器人试验样机，分别对取苗效果和切苗效果进行了试验研究，确定了各关键部件结构和工作参数。对整机进行了组培苗移植试验。该机器人能够将整瓶马铃薯组培苗一次性无损伤全部取出、快速聚拢、分段剪切，并均匀分散于新培养瓶中，拢苗损伤率0.79%，切苗损失率1.37%，集苗成功率97.53%。移植一瓶马铃薯组培苗所需时间平均为1分45秒，转接比1:4。对比逐株逐段分割移植方式，本研究提出的组培苗移植方式和研制的组培苗移植样机能够实现马铃薯组培苗的高效移植。