In manually propagating potato test-tube plantlets (PTTPs), the plantlet is usually grasped and cut at the node point between the\ncotyledon and stem, which is hardly located and is easily damaged by the gripper. Using an agricultural intelligent robot to replace\nmanual operation will greatly improve the efficiency and quality of the propagation of PTTPs. An automatic machine visionguided\nsystem for the propagation of PTTPs was developed and tested. In this paper, the workflow of the visual system was\ndesigned and the image acquisition device was made. Furthermore, the image processing algorithm was then integrated with the\nimage acquisition device in order to construct an automatic PTTP propagation vision system. An image processing system for\nlocating a node point was employed to determine a suitable operation point on the stem. A binocular stereo vision algorithm was\napplied to compute the 3D coordinates of node points. Finally, the kinematics equation of the three-axis parallel manipulator was\nestablished, and the three-dimensional coordinates of the nodes were transformed into the corresponding parameters X, Y, and Z\nof the three driving sliders of the manipulator. The experimental results indicated that the automatic vision system had a success\nrate of 98.4%, 0.68 s time consumed per 3 plants, and approximate 1mm location error in locating the plantlets in an appropriate\nposition for the medial expansion period (22 days).
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