CN101462112A - Laser instrument and method for sorting male and female graines - Google Patents
Laser instrument and method for sorting male and female graines Download PDFInfo
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- CN101462112A CN101462112A CNA2009100954292A CN200910095429A CN101462112A CN 101462112 A CN101462112 A CN 101462112A CN A2009100954292 A CNA2009100954292 A CN A2009100954292A CN 200910095429 A CN200910095429 A CN 200910095429A CN 101462112 A CN101462112 A CN 101462112A
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- 102000002322 Egg Proteins Human genes 0.000 claims description 101
- 108010000912 Egg Proteins Proteins 0.000 claims description 100
- 210000004681 ovum Anatomy 0.000 claims description 100
- 238000006073 displacement reaction Methods 0.000 claims description 72
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- 238000000926 separation method Methods 0.000 abstract description 5
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- CVOFKRWYWCSDMA-UHFFFAOYSA-N 2-chloro-n-(2,6-diethylphenyl)-n-(methoxymethyl)acetamide;2,6-dinitro-n,n-dipropyl-4-(trifluoromethyl)aniline Chemical compound CCC1=CC=CC(CC)=C1N(COC)C(=O)CCl.CCCN(CCC)C1=C([N+]([O-])=O)C=C(C(F)(F)F)C=C1[N+]([O-])=O CVOFKRWYWCSDMA-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention discloses a male and female graine laser separator and a separation method thereof. The separator comprises an elevated working platform, an egg raising paper positioning system, a graine color image processing system, a laser generation and light deflection scanning and egg launching system, and a computer. The separation method comprises the following steps: starting the separator, resetting the shifted working platform, placing egg raising paper on a negative-pressure adsorption platform, and starting an air pump to absorb the egg raising paper to be flat; starting a color image acquisition program, and controlling a color image sensor to shoot an egg raising paper image and transmit the egg raising paper image to the computer which processes data, gives out a work instruction for launching time-sequence laser pulse to a laser generator and an electric control device, and gives out a work instruction for light deflection scanning to a galvanometric scanning and electric control device, and generating laser beams to shoot female graine; and placing novel egg raising paper after the task is completed, and repeating the steps. The separator can automatically and accurately separate male and female graines with different graine colors at a high speed so as to save labor and improves the separation precision.
Description
Technical field
The present invention relates to female silkworm seed and male silkworm seed sorting technology field, particularly relate to a kind of efficient, save artificial male and female silkworm seed laser automatic separator and method for separating.
Background technology
High speed development along with biological gene engineering, the novel insect that now has been born grows sex-controlled high-tech subject, for example, can allow the female silkworm seed of black dead voluntarily, and the research success that allows white male silkworm seed keep the silkworm balanced lethal gene sex control technology of activity, first has realized the country of the male silkworm of extensive specially foster high-quality, high yield in the rural area in the world to have made China; And in this hero silkworm silkworm egg process of production, must hybridize with high-quality, the female silkworm of routine and the male silkworm in the balanced lethal system, just can cause the female silkworm seed among its offspring all dead, and only keep the activity of white male silkworm seed, therefore, production of hybrid seeds department must earlier kill the female silkworm seed of the black in the balanced lethal system and only keeps the white male silkworm seed of living; But owing to also do not have in the world at present thisly can be automatically to carry out the instrument and equipment that the female silkworm seed of black and white male silkworm seed carry out sorting by different ovum looks, therefore, this work can only rely on manually carries out sorting, earlier product is had promptly that balanced lethal system is female, the silkworm of male silkworm seed connects paper (promptly accepting silkworm moth lays eggs to stay the paper of silkworm egg), at proportion is to soak 6 to 6.5 minutes in 1.75 the aqueous hydrochloric acid solution, make mix that female, the male silkworm seed that sticks on the paper all splits away off and washes, after the drying, again by manually the female silkworm seed of black being come with the male silkworm seed sorting of white.This work was both consuming time takes a lot of work inefficiency; Owing to artificial long-time operation causes asthenopia, more easily produce human error again; Simultaneously, the system silkworm egg is again the work that seasonality is very strong, and the artificial separation of inefficiency often is difficult to satisfy the requirement of time schedule, and this has become the huge obstacle that influences these field research and production.Therefore, people urgently wish to develop a kind of instrument and equipment that can automatically the male and female silkworm seed of different ovum looks be carried out sorting.
Summary of the invention
The present invention is directed to existing silkworm balanced lethal system dependence and manually the male and female silkworm seed of different ovum looks is carried out existing consuming time the taking a lot of work of sorting, inefficiency and be difficult to satisfy the schedule requirement of the silkworm egg production of hybrid seeds to the time, reach the defective that more easily produces human error, provide a kind of can be automatically, at a high speed, accurately the laser sorter and the method for separating of the different ovum look of sorting male and female silkworm seed, thereby saved manually, improved sharpness of separation.Basic principle of the present invention is; collection and treatment system by the silkworm seed coloured image; reach differentiate have the male and female silkworm seed of different ovum looks after; instruction laser takes place and the light deflection scanning is penetrated the ovum system; optionally will mix and stick to silkworm and connect the target ovum that has certain specific color on the paper and shoot to death; and the silkworm seed of another color has obtained protection, thereby has realized at a high speed, the accurate purpose of the female or male silkworm seed of sorting.
Technical scheme of the present invention is achieved in that
Male and female silkworm seed laser sorter, this sorter includes:
A, self-powered platform comprises workbench case shell, lifter plate can be regulated the lifting regulating mechanism of lifter plate lifting;
B, silkworm connects the paper navigation system, comprises negative-pressure adsorption platform and coupled air exhauster, and negative-pressure adsorption platform level level is installed on the lifter plate;
C, silkworm seed Color Image Acquisition and treatment system, include color image sensor (5), color image sensor (5) links to each other with a computer (11), on computer (11), be mounted with in order to control color image sensor (5) and gather the Color Image Acquisition program that silkworm connects the paper image, in order to preserve the silkworm seed template data storehouse of various silkworm seed breed standard ovum looks, in order to image is handled and is converted to the silkworm seed Color Image Processing program of laser shooting parameter, Color Image Acquisition programme-control color image sensor (5) is gathered silkworm and is connected the paper image and be transferred to silkworm seed Color Image Processing program, silkworm seed Color Image Processing program is according to the characteristics of the different ovum looks of male and female silkworm, with the template data that is stored in this kind in the silkworm seed template data storehouse is standard of comparison, tell the average color and the outline position of each ovum, for each female ovum is determined the target center of a laser shooting and hit the degree of depth, and work out laser automatically and accurately penetrate the ovum parameter;
D, laser takes place and the light deflection scanning is penetrated the ovum system, be arranged on frame (a 33) top that is higher than self-powered platform (1), comprise laser generator and electric control gear (9), be provided with beam expanding lens (10) successively at the laser beam emitting head place of laser generator, vibration mirror scanning and electric control gear (7), F-θ set of lenses (8), laser generator and electric control gear (9), vibration mirror scanning and electric control gear (7) all connect computer (11), on computer (11), be mounted with in order to penetrate ovum parameter control laser generation and light deflection scanning according to laser and penetrate laser instrument control and the light deflection scanning program that ovum system emission laser is penetrated ovum, laser instrument control and light deflection scanning program are obtained laser from silkworm seed Color Image Processing program and are penetrated the ovum parameter, and the work order of sending emission sequential laser pulse to laser generator and electric control gear (9), to the work order that vibration mirror scanning and electric control gear send the light deflection scanning, the female ovum of shooting gives off laser beam.
As preferably, between lifter plate and negative-pressure adsorption platform, be provided with upper and lower stack and all the Y that moves of along continuous straight runs to displacement workbench, X to the workbench that is shifted, be equipped with mobile guide mechanism to displacement workbench, X to the bottom of displacement workbench at Y, mobile guide mechanism connects computer, be mounted with workbench displacement control program on computers, Y is connected to the displacement stationary table with X to the mobile guide mechanism of displacement workbench bottom, and X is fixedlyed connected with lifter plate to the mobile guide mechanism of displacement workbench bottom.Thus, when the silkworm of need scanning connects paper when big, need be divided into a plurality of subregions and scan, penetrate ovum, the negative-pressure adsorption platform can be under the situation of having regulated rational focal length, level is to directions X or the Y direction moves, and continues each subregion of scanning to make things convenient for color image sensor, has improved homework precision.
As preferably, described mobile guide mechanism includes at least two guide rails, sliding sleeve, belt pulley set, stepper motor, sliding sleeve are slidingly connected with guide rail and are connected with the displacement stationary table, the belt that belt pulley set includes driving wheel, driven pulley and is provided with along same direction with guide rail, the middle part of belt is connected with the displacement stationary table, and driving wheel connects stepper motor, and stepper motor connects computer; Wherein, Y to guide rail, the belt of displacement workbench bottom all be along Y to setting, X all is to setting along X to guide rail, the belt of displacement workbench bottom.
As preferably, described lifting regulating mechanism comprises adjustment disk, guide pillar, worm and gear device and center bolt, adjustment disk is arranged on the lifting platform case shell lateral surface, guide pillar upwards stretches out in the workbench case shell and fixedly connected with lifter plate in the top of guide pillar, center bolt is arranged between the guide pillar, and it is protruding from the middle part of workbench case shell, the top of center bolt is connected with the center fixation of lifter plate, the worm and gear device is installed in the workbench case shell, it includes worm gear, worm screw, worm screw is fixed on the worm bearing holder by worm bearing, the worm screw major axis stretches out outside the workbench case shell fixedlys connected with adjustment disk, worm gear is fixed on the Worm Bearing holder by Worm Bearing, the worm bearing holder, the Worm Bearing holder all is fixed on the inboard top board of workbench case shell, the lower end of worm gear and a position-limited rack offset, fixedly connected with workbench case shell biside plate in the two ends of position-limited rack, on position-limited rack, be provided with the circular hole that a shape and center bolt are complementary, the center screw of worm gear has the screw thread that is complementary with center bolt, and the lower end of center bolt is passed the center screw of worm gear and the circular hole of position-limited rack successively.
As preferably, described color image sensor is to be arranged on F-θ set of lenses other camera or camera.
As preferably, this sorter also includes at least one and is arranged on the other assist illuminator of color image sensor.Open assist illuminator, can help color image sensor to obtain the image of more clear easy resolution.
As preferably, described negative-pressure adsorption platform is a rectangular box, is distributed with several pores on the upper surface of rectangular box, is provided with bleeding point on the side of rectangular box or bottom surface, and described bleeding point connects air exhauster by tracheae.
The method for separating of male and female silkworm seed includes following job step:
(1), start makes Y reset to the displacement workbench to displacement workbench, X, and coordinate is (0,0);
(2), on the negative-pressure adsorption platform, place silkworm and connect paper, and open air exhauster, inhale flat silkworm and connect paper;
(3), start the Color Image Acquisition program, the control color image sensor is taken silkworm and is connected the paper image and reach computer, characteristics according to the different ovum looks of male and female silkworm, with the template data that is stored in this kind in the silkworm seed template data storehouse is standard of comparison, tell the average color and the outline position of each ovum by silkworm seed Color Image Processing program,, and work out laser automatically and accurately penetrate the ovum parameter for each female ovum is determined the target center of a laser shooting and hit the degree of depth; Laser instrument control and light deflection scanning program are obtained the above-mentioned ovum parameter of penetrating, and the work order of sending emission sequential laser pulse to laser generator and electric control gear, to the work order that vibration mirror scanning and electric control gear send the light deflection scanning, the female ovum of shooting gives off laser beam;
(4), after task is finished, put into new silkworm and connect paper, repeat above-mentioned (2)-(3) step.
As preferably, above-mentioned steps (3) specifically comprises: one whole silkworm can be connected paper and be divided into a plurality of breadths, size operation adjustment disk according to color image sensor focal length and corresponding scanning breadth is regulated the upper surface of negative-pressure adsorption platform and the distance of color image sensor, make color image sensor can accurately catch the image that silkworm connects paper first district, handle through each process analysis, work out laser automatically and accurately penetrate the ovum parameter; And control laser generator and vibration mirror scanning and electric control gear and automatically the target ovum of (0,0) breadth is shot; After first district's breadth is shot the end of target ovum to death, computer sends end signal, workbench displacement control program control Y moves horizontally a step or controls X to the Y direction to the displacement workbench and moves horizontally a step to the displacement workbench towards directions X, make color image sensor catch silkworm and connect paper second district's image, the second district silkworm is connected the paper web face penetrate ovum; After penetrated ovum and finishes in second district, control displacement workbench continued to move, and repeats above-mentioned steps, all finishes up to all subregion breadths and penetrates ovum operation, task termination.
The beneficial effect that has adopted the present invention of technique scheme to have is:
1. male and female silkworm seed laser sorter of the present invention, be to have female or male wherein a kind of design feature that is used as distinguishing the male and female ovum of different ovum looks in the silkworm seed, by to silkworm seed image taking, collection, sensing, machine image resolution and processing as calculated, have the characteristics of different ovum looks according to the male and female ovum, shoot the target ovum to death the instruction laser selective, realize at a high speed accurately sorting male and female silkworm seed, saved manually, improved accuracy rate;
2, little at laser instrument from the silkworm seed distance, under the less situation of sweep limits, amass bigger because of silkworm connects paper, clear for guaranteeing IMAQ, the table design that will be shifted is upper strata Y to displacement workbench and the X of lower floor to the displacement workbench, Y can move to the Y direction along horizontal plane to the displacement workbench, and X can move to directions X along horizontal plane to the displacement workbench, and two workbench all connect stepper motor separately; Will bigger silkworm connect the paper branch and be set as several districts, by the mode of finishing district by district, after the laser in the Dang Yi district image is beaten ovum and is finished, Y to displacement workbench or X to the displacement workbench under computer instruction automatic shift to next default zone position, the location; Color image sensor begins automatic shooting and sensed image again, and another working cycles begins; Thereby overcome the restriction of color image sensor light angle, the IMAQ distortion is unintelligible, penetrates the coarse problem of ovum;
3, to connect paper generally bigger at produce going up silkworm that silkworm lays eggs, it is again flexible material, the uncertain problem of tool flatness, can have influence on the definition of IMAQ and the accuracy that laser is penetrated ovum, connect the paper navigation system by installing silkworm additional, make silkworm connect paper and on the negative-pressure adsorption platform, fully flatten and fixedly positioning, guaranteed that the accurate positioning when laser is penetrated ovum is consistent with focal length;
4, every silkworm connect the placement area and the density of male and female ovum on the paper may be different, in order accurately to focus, by the adjustment disk in the operation lifting regulating mechanism, the flexible negative-pressure adsorption platform that drives of center bolt is moved up and down, thereby can accurately bring to focus, with definition that guarantees IMAQ and the accuracy that laser is penetrated ovum.
Description of drawings
Fig. 1 is the structural representation of laser sorter of the present invention;
Fig. 2 is the structural representation of self-powered platform of the present invention and displacement workbench;
Fig. 3 is the workflow diagram of laser sorter of the present invention.
The specific embodiment
The specific embodiment of the present invention is as follows:
Embodiment: male and female silkworm seed laser sorter of the present invention, as shown in Figure 1 and Figure 2, this sorter includes:
A, self-powered platform 1 as shown in Figure 2, comprises workbench case shell 31, lifter plate 34 can be regulated the lifting regulating mechanism of lifter plate 34 liftings; Described lifting regulating mechanism comprises adjustment disk 7,4 guide pillars 32, worm and gear device and center bolt 36, adjustment disk 7 is arranged on lifting platform case shell 31 lateral surfaces, 4 guide pillars 32 are upwards stretched out by interior from four angles on workbench case shell 31 tops, and fixedly connected with four angles of lifter plate 34 in the top of 4 guide pillars 32, and guide pillar 32 plays and supports and guide effect; Center bolt 36 is arranged between 4 guide pillars 32, and upwards stretch out by interior from the center of workbench case shell 31, the top of center bolt 36 is connected with the center fixation of lifter plate 34, the worm and gear device is installed in the workbench case shell 31, it includes worm gear 43, worm screw 44, worm screw 44 is fixed on the worm bearing holder 45 by worm bearing, the worm screw major axis stretches out outside the workbench case shell 31 fixedlys connected with adjustment disk 7, worm gear 43 is fixed on the Worm Bearing holder 46 by Worm Bearing, worm bearing holder 45, Worm Bearing holder 46 all is fixed on the workbench case shell 31 inboard top boards 61, the lower end of worm gear 43 and a position-limited rack 47 offset, fixedly connected with workbench case shell 31 biside plates in the two ends of position-limited rack 47, on position-limited rack 47, be provided with the circular hole that a shape and center bolt 36 are complementary, the center screw of worm gear 43 has the screw thread that is complementary with center bolt 36, and the lower end of center bolt 36 is passed the center screw of worm gear 43 and the circular hole of position-limited rack 47 successively.When rotating adjustment disk 7 with hand, drive the rotation of worm screw major axis, make the worm drive worm gear around center bolt 36 spirals.Because worm gear 43 is by spacing up and down, the axially-movable that forces center bolt 36 to be done up or down drives lifter plate 34 and rises or descend.
On lifter plate 34, be provided with upper and lower stack and all the Y that moves of along continuous straight runs to displacement workbench 41, X to the workbench 42 that is shifted, be equipped with mobile guide mechanism to displacement workbench 41, X to the bottom of displacement workbench 42 at Y, mobile guide mechanism connects computer 11, be mounted with workbench displacement control program on computers, Y is fixedlyed connected to displacement workbench 42 with X to the mobile guide mechanism of displacement workbench 41 bottoms, and X is fixedlyed connected with lifter plate 34 to the mobile guide mechanism of displacement workbench 42 bottoms.
X includes two cylindrical slideways 71 that are arranged on X to displacement both sides, workbench 41 bottom to the mobile guide mechanism of displacement workbench 42 bottoms, sliding sleeve 72, belt pulley set, stepper motor 73, sliding sleeve 72 sheathed with guide rail 71 on, be slidingly connected with guide rail and fixedly connected to displacement workbench 42 with X, belt pulley set includes driving wheel 74, driven pulley 75 and the belt 76 that is provided with along same direction with guide rail 71, fixedly connected to displacement workbench 42 with X in the middle of belt 76 tops, its connected mode is varied, adopts screw to fixedly connected to displacement workbench 42 with X in the middle of belt 76 tops in the present embodiment; Driving wheel 74, driven pulley 75, stepper motor 73, guide rail 71 are all fixedlyed connected with lifter plate 34 upper surfaces by support member separately; Driving wheel 74 connects stepper motor 73, and stepper motor 73 connects computer 11, and computer 11 can be controlled stepper motor 73 drive X and move along the directions X on the horizontal plane to displacement workbench 42; X all is to setting along X to guide rail 71, the belt 76 of displacement workbench 42 bottoms.
Y is identical to the structure of the mobile guide mechanism of displacement workbench 42 bottoms with X to the mobile guide mechanism of displacement workbench 41 bottoms, comprise two cylindrical slideways 81 that are arranged on Y to displacement both sides, workbench 41 bottom, the sliding sleeve (not shown), stepper motor 83, driving wheel 84, the driven pulley (not shown), the belt (not shown), different is that guide rail 81, belt all are along the setting of Y direction, guide rail 81, stepper motor 83, driving wheel 84, driven pulley are all fixedlyed connected to the upper surface of displacement workbench 42 with X by support member separately.Stepper motor 83 connects computer 11, and computer 11 can be controlled stepper motor 83 drive Y and move along the Y direction on the horizontal plane to displacement workbench 41.
B, silkworm connects the paper navigation system, as shown in Figure 1 and Figure 2, comprise negative-pressure adsorption platform 3 and coupled centrifugal air exhauster 4, negative-pressure adsorption platform 3 is horizontally set on Y on displacement workbench 41 upper surfaces, fixedly connected to displacement workbench 41 upper surfaces with Y, described negative-pressure adsorption platform 3 is a rectangular box, the upper surface of rectangular box is a horizontal plane, on the upper surface of rectangular box, be evenly distributed with several pores 37, be provided with bleeding point on the side of rectangular box or bottom surface, described bleeding point connects air exhausters 4 by tracheae 38.It is generally bigger that the silkworm that cause is used to lay eggs connects paper, is flexible material, and its flatness is uncertain.The size of negative-pressure adsorption platform 3 upper surfaces can connect paper to put a silkworm completely, when air exhauster 4 runnings, produces negative pressure in the negative-pressure adsorption platform 3, and the numerous spileholes on the box just can connect silkworm paper and hold flat.
C, laser takes place and the light deflection scanning is penetrated the ovum system, be horizontally set on a stirrup frame 33 tops, stirrup frame 33 is close to workbench 1 and is provided with, described laser generation and light deflection scanning are penetrated the ovum system and are comprised laser generator and electric control gear 9, be provided with beam expanding lens 10, vibration mirror scanning and electric control gear 7, F-θ set of lenses 8 successively at the laser beam emitting head place of laser generator, vibration mirror scanning and electric control gear 7, F-θ set of lenses 8 are successively set on beam expanding lens 10 belows, and laser generator and electric control gear 9, vibration mirror scanning and electric control gear 7 all connect computer 11.The laser electric control gear comprises LASER Light Source 19, and LASER Light Source 19 is connected to total electric cabinet 18, is provided with starting switch 21 on total electric cabinet 18.Laser beam emitting head is fixed on negative-pressure adsorption platform 3 tops as cantilever, can launch laser vertically downward by beam expanding lens 10, vibration mirror scanning and electric control gear 7, F-θ set of lenses 8, and F-θ set of lenses 8 is arranged on directly over the negative-pressure adsorption platform 3.
The light deflection scanning system that is made up of vibration mirror scanning and electric control gear 7 and F-θ set of lenses 8 adopts 2 tunnel 16 DA motion control cards, motion positions precision=125/65536=0.002mm.Whole process adopts closed loop feedback control, by five big control circuit actings in conjunction such as position sensor, error amplifier, power amplifier, position circuit sectionalizer, current integrators.Vibration mirror scanning and electric control gear 7 can be controlled rotation or the swing that two speculums of two groups of two-dimensional servo driven by motor are made high-speed, high accuracy, short vector according to the instruction of computer, make the laser beam of injecting through two secondary reflections, and penetrate by self-focusing F-θ set of lenses 8.Formed hot spot is made the bidimensional high-speed mobile in the same focal plane of lens, accurately each is needed the target ovum center emission laser beam of shooting.Because of vibration mirror scanning and electric control gear 7 are prior art, so be not described in detail at this.
D, silkworm seed Color Image Acquisition treatment system includes color image sensor 5, and color image sensor 5 links to each other with computer 11; In the present embodiment, color image sensor adopts the TOSHIBA camera 5 of 3,200,000 (2080 * 1560) pixel, and ultimate resolution is 0.08mm.GTG is 7.Camera lens is under the situation of 150mm focal length, and field range is 125 * 125mm, so F-θ set of lenses 8 adopts M1214-MP (12mm) camera lens.After color image sensor 5 is caught two-dimentional silkworm seed image, output RAW signal, computer is gathered by 1394 video frequency collection cards.In order to help color image sensor 5 to take HD image, at the color image sensor 5 other assist illuminators 6 that are provided with.
E, computer 11 is mounted with on computer 11 in order to the Color Image Acquisition program of gathering images from color image sensor 5, in order to the silkworm seed Color Image Processing program of image being handled and is converted to the laser shooting parameter, in order to the silkworm seed template data storehouse of preserving various silkworm seed breed standard ovum looks, laser instrument control and light deflection scanning program in order to penetrate ovum according to laser shooting parameter control laser instrument and vibration mirror scanning and electric control gear emission laser.Computer 11 disposes 15 cun LCDs 13, can show the ruuning situation of each program on display 13, is beneficial to manually and operates.
Silkworm seed Color Image Processing program is that form, color, the silkworm according to silkworm seed connects the paper characteristics and laser shooting target ovum requires and the program of specific establishment, except that aforesaid function, also has simulation test and Presentation Function.In addition, because different silkworm kinds, male and female ovum look not necessarily identical, so being various silkworm kinds with different different in nature ovum looks, silkworm seed template data storehouse carries out the image processing, obtain data, and set up the target ovum sample standard database of each kind, and be stored in the storehouse.When a certain silkworm kind of laser sorting male and female ovum, just access the target ovum sample of this kind, standard as a comparison.
It is brown kraft paper that silkworm connects paper.Male silkworm seed look is a yellow-white, and female silkworm seed look is the grey black look, requires the center with every female ovum of laser hits.The silkworm seed majority is flat ellipse, and size is generally wide 1mm, long 1.5-1.8mm, thick 0.5mm.The skewness of ovum on paper has overlapping on a small quantity.For overlapping ovum, with color image sensor 5 gather image was embodied top one be as the criterion.Because camera is not mounted in the center of vibration mirror scanning and electric control gear 7, but on the next door of F-θ set of lenses 8, therefore there are certain drift angle in shooting center and scanning center, so the Color Image Processing program has comprised revision program in establishment, make scan image more accurate.
The resolution ratio of laser sorter of the present invention and accuracy rate〉90%, misdetection rate＜10% is penetrated ovum positioning accuracy ± 0.1mm, accidental injury rate＜100 points is penetrated ovum power stability ± 15%, image processing time＜3S, penetrate the ovum time〉3PP (point/second), laser intensity is adjusted to penetrate and is worn silkworm seed and be as the criterion.
The displacement workbench 2 can non-penetrate ovum during, workbench displacement control program instruction according to computer 11 is moved by predetermined being provided with along X or Y direction automatic horizontal, for color image sensor 5 provides correct and suitable silkworm seed image taking position, and the location, finish several times but make a bigger silkworm connect the paper subregion.
Laser generator and electric control gear 9 adopt the CO2 laser instrument, are the air-cooled metallic RF pipe of 15w.Beam expanding lens 10 adopts 6 times of mirrors, to guarantee at the diameter≤0.2mm that penetrates outgoing hot spot under the prerequisite of silkworm seed.
Fig. 3 has represented the workflow of laser sorter of the present invention, and the course of work of laser sorter of the present invention is as follows:
(1), start, start makes Y reset to displacement workbench 42 to displacement workbench 41, X, and coordinate is (0,0);
(2), on negative-pressure adsorption platform 3, place silkworm and connect paper, and open air exhauster 4, inhale flat silkworm and connect paper;
(3), start the Color Image Acquisition program, control color image sensor 5 is taken whole silkworm and is connected the paper image and reach computer 11, characteristics according to the different ovum looks of male and female silkworm, with the template data that is stored in this kind in the silkworm seed template data storehouse is standard of comparison, tell the average color and the outline position of each ovum by silkworm seed Color Image Processing program,, and work out laser automatically and accurately penetrate the ovum parameter for each female ovum is determined the target center of a laser shooting and hit the degree of depth; Laser instrument control and light deflection scanning program are obtained the above-mentioned ovum parameter of penetrating, and the work order of sending emission sequential laser pulse to laser generator and electric control gear 9, to the work order that vibration mirror scanning and electric control gear send the light deflection scanning, the female ovum of shooting gives off laser beam;
(4), after task is finished, put into new silkworm and connect paper, repeat above-mentioned (2)-(3) step.
Above-mentioned steps (3) is though can disposablely finish scanning, analyze, penetrate ovum operation, and the area that the silkworm balanced lethal system silkworm that applied one whole of the present invention is used for the production of hybrid seeds connects paper is 245 * 380mm, and the actual ovum zone of penetrating is 200 * 350mm.Area is bigger, and is bigger as the design focal length, though but also complete ovum paper of single treatment, hot spot is thick more, and the anamorphose aggravation is unfavorable for accurately penetrating ovum.Therefore designing focal length is about 150mm, and selecting the scanning breadth is 125 * 125mm, as the field lens scope.Promptly one whole silkworm seed paper will divide 6 breadths to finish dealing with, and displacement workbench 2 needs to move automatically to penetrate ovum respectively 6 times.
So step (3) detailed process is: one whole silkworm can be connected paper and be divided into 6 breadths, size operation adjustment disk 7 according to color image sensor 5 focal lengths and corresponding scanning breadth is regulated the upper surface of negative-pressure adsorption platform 3 and the distance of color image sensor 5, make color image sensor 5 can accurately catch the image that silkworm connects paper first district, handle through each process analysis, work out laser automatically and accurately penetrate the ovum parameter; And control laser generator and vibration mirror scanning and electric control gear and automatically the target ovum of (0,0) breadth is shot; After first district's breadth is shot the end of target ovum to death, computer 11 sends end signal, workbench displacement control program control X moves horizontally a step or controls Y towards directions X to displacement workbench 42 and moves horizontally a step to displacement workbench 41 to the Y direction, make color image sensor 5 catch silkworm and connect paper second district's image, the second district silkworm is connected the paper web face penetrate ovum; After the ovum end was penetrated in second district, control X was mobile to 41 continuation of displacement workbench to displacement workbench 42 or Y, repeats above-mentioned steps, finished up to the 6th subregion breadth and penetrated ovum operation, task termination.Computer 11 sends and finishes the acousto-optic indication, and travelling table 2 resets to (0,0), carries out the ovum of penetrating that new silkworm connects paper.
Claims (9)
1, male and female silkworm seed laser sorter is characterized in that this sorter includes:
A, self-powered platform (1) comprises workbench case shell (31), lifter plate (34) can be regulated the lifting regulating mechanism of lifter plate (34) lifting;
B, silkworm connects the paper navigation system, comprises negative-pressure adsorption platform (3) and coupled air exhauster (4), and negative-pressure adsorption platform (3) level is installed on the lifter plate (34);
C, silkworm seed Color Image Acquisition and treatment system, include color image sensor (5), color image sensor (5) links to each other with a computer (11), on computer (11), be mounted with in order to control color image sensor (5) and gather the Color Image Acquisition program that silkworm connects the paper image, in order to preserve the silkworm seed template data storehouse of various silkworm seed breed standard ovum looks, in order to image is handled and is converted to the silkworm seed Color Image Processing program of laser shooting parameter, Color Image Acquisition programme-control color image sensor (5) is gathered silkworm and is connected the paper image and be transferred to silkworm seed Color Image Processing program, silkworm seed Color Image Processing program is according to the characteristics of the different ovum looks of male and female silkworm, with the template data that is stored in this kind in the silkworm seed template data storehouse is standard of comparison, tell the average color and the outline position of each ovum, for each female ovum is determined the target center of a laser shooting and hit the degree of depth, and work out laser automatically and accurately penetrate the ovum parameter;
D, laser takes place and the light deflection scanning is penetrated the ovum system, be arranged on frame (a 33) top that is higher than self-powered platform (1), comprise laser generator and electric control gear (9), be provided with beam expanding lens (10) successively at the laser beam emitting head place of laser generator, vibration mirror scanning and electric control gear (7), F-θ set of lenses (8), laser generator and electric control gear (9), vibration mirror scanning and electric control gear (7) all connect computer (11), on computer (11), be mounted with in order to penetrate ovum parameter control laser generation and light deflection scanning according to laser and penetrate laser instrument control and the light deflection scanning program that ovum system emission laser is penetrated ovum, laser instrument control and light deflection scanning program are obtained laser from silkworm seed Color Image Processing program and are penetrated the ovum parameter, and the work order of sending emission sequential laser pulse to laser generator and electric control gear (9), to the work order that vibration mirror scanning and electric control gear send the light deflection scanning, the female ovum of shooting gives off laser beam.
2, male and female silkworm seed laser sorter according to claim 1, it is characterized in that: between lifter plate (34) and negative-pressure adsorption platform (3), be provided with, stack down and all the Y that moves of along continuous straight runs to the workbench (41) that is shifted, X is to displacement workbench (42), Y to the displacement workbench (41), X is equipped with mobile guide mechanism to the bottom of displacement workbench (42), mobile guide mechanism connects computer (11), be mounted with workbench displacement control program on computers, Y is fixedlyed connected to displacement workbench (42) with X to the mobile guide mechanism of displacement workbench (41) bottom, and X is fixedlyed connected with lifter plate (34) to the mobile guide mechanism of displacement workbench (42) bottom.
3, male and female silkworm seed laser sorter according to claim 2, it is characterized in that: described mobile guide mechanism includes at least two guide rails, sliding sleeve, belt pulley set, stepper motor, sliding sleeve are slidingly connected with guide rail and are connected with the displacement stationary table, the belt that belt pulley set includes driving wheel, driven pulley and is provided with along same direction with guide rail, the middle part of belt is connected with the displacement stationary table, and driving wheel connects stepper motor, and stepper motor connects computer (11); Wherein, Y to the displacement workbench (41) bottom guide rail, belt all be along Y to setting, X to the displacement workbench (42) bottom guide rail, belt all be to setting along X.
4, male and female silkworm seed laser sorter according to claim 1, it is characterized in that: described lifting regulating mechanism comprises adjustment disk (7), guide pillar, worm and gear device and center bolt (36), adjustment disk (7) is arranged on lifting platform case shell (31) lateral surface, guide pillar (32) upwards stretches out in the workbench case shell (31) and fixedly connected with lifter plate (34) in the top of guide pillar (32), center bolt (36) is arranged between the guide pillar (32), and it is protruding from the middle part of workbench case shell (31), the top of center bolt (36) is connected with the center fixation of lifter plate (34), the worm and gear device is installed in the workbench case shell (31), it includes worm gear (43), worm screw (44), worm screw (44) is fixed on the worm bearing holder (45) by worm bearing, the worm screw major axis stretches out outside the workbench case shell (31) fixedlys connected with adjustment disk (7), worm gear (43) is fixed on the Worm Bearing holder (46) by Worm Bearing, worm bearing holder (45), Worm Bearing holder (46) all is fixed on the inboard top board of workbench case shell (31) (61), the lower end of worm gear (43) and a position-limited rack (47) offset, fixedly connected with workbench case shell (31) biside plate in the two ends of position-limited rack (47), on position-limited rack (47), be provided with the circular hole that a shape and center bolt (36) are complementary, the center screw of worm gear (43) has the screw thread that is complementary with center bolt (36), and the lower end of center bolt (36) is passed the center screw of worm gear (43) and the circular hole of position-limited rack (47) successively.
5, male and female silkworm seed laser sorter according to claim 1 is characterized in that: described color image sensor (5) is for being arranged on camera or the camera by the F-θ set of lenses (8).
6, according to claim 1 or 4 described male and female silkworm seed laser sorters, it is characterized in that: this sorter also includes at least one and is arranged on the other assist illuminator (6) of color image sensor (5).
7, male and female silkworm seed laser sorter according to claim 1, it is characterized in that: described negative-pressure adsorption platform (3) is a rectangular box, on the upper surface of rectangular box, be distributed with several pores, be provided with bleeding point on the side of rectangular box or bottom surface, described bleeding point connects air exhauster (4) by tracheae.
8, the method for separating of male and female silkworm seed is characterized in that including following job step:
(1), start makes Y reset to displacement workbench (42) to displacement workbench (41), X, and coordinate is (0,0);
(2), go up the placement silkworm at negative-pressure adsorption platform (3) and connect paper, and open air exhauster (4), inhale flat silkworm and connect paper;
(3), start the Color Image Acquisition program, control color image sensor (5) is taken silkworm and is connected the paper image and reach computer (11), characteristics according to the different ovum looks of male and female silkworm, with the template data that is stored in this kind in the silkworm seed template data storehouse is standard of comparison, tell the average color and the outline position of each ovum by silkworm seed Color Image Processing program,, and work out laser automatically and accurately penetrate the ovum parameter for each female ovum is determined the target center of a laser shooting and hit the degree of depth; Laser instrument control and light deflection scanning program are obtained the above-mentioned ovum parameter of penetrating, and the work order of sending emission sequential laser pulse to laser generator and electric control gear (9), to the work order that vibration mirror scanning and electric control gear send the light deflection scanning, the female ovum of shooting gives off laser beam;
(4), after task is finished, put into new silkworm and connect paper, repeat above-mentioned (2)-(3) step.
9, the method for separating of male and female silkworm seed according to claim 8, it is characterized in that: step (3) specifically comprises: one whole silkworm is connected paper be divided into a plurality of breadths, size operation adjustment disk (7) according to color image sensor (5) focal length and corresponding scanning breadth is regulated the upper surface of negative-pressure adsorption platform (3) and the distance of color image sensor (5), make color image sensor (5) can accurately catch the image that silkworm connects paper first district, handle through each process analysis, work out laser automatically and accurately penetrate the ovum parameter; And control laser generator and vibration mirror scanning and electric control gear and automatically the target ovum of (0,0) breadth is shot; After first district's breadth is shot the end of target ovum to death, computer (11) sends end signal, workbench displacement control program control Y moves horizontally a step or controls X to the Y direction to displacement workbench (41) and moves horizontally a step to displacement workbench (42) towards directions X, make color image sensor (5) catch silkworm and connect paper second district's image, the second district silkworm is connected the paper web face penetrate ovum; After penetrated ovum and finishes in second district, control displacement workbench continued to move, and repeats above-mentioned steps, all finishes up to all subregion breadths and penetrates ovum operation, task termination.
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| CN2009100954292A CN101462112B (en) | 2009-01-12 | 2009-01-12 | Laser instrument and method for sorting male and female graines |
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