水果高速实时分级机构控制系统

Controller for Real-time Sorting Mechanism of Fruits

设计了水果实时分级机构 ,研究了确定水果位置信息并实现同步跟踪的方法 ,建立了水果在图像中的位置和分级机构分级时的实际位置间的关系 ,设计了由计算机、位置传感器、通用的数字逻辑芯片、分立电子元器件和步进电机等组成的水果分级控制系统 ,并进行了试验验证。试验结果表明 :控制系统可以对分级机构实现及时、准确的启闭控制 ,达到了实际分级过程所要求的速度。

A real-time fruit sorting mechanism and its controller, which are the key parts of a robot for fruit quality inspecting and sorting, were developed in this work. The sorting mechanism consists of a feeding chain wheel, fruit pads and a grading controller, and the controller includes a computer, position sensors, a logical circuit, discrete components and step motors. Various measures to position fruits and track them synchronously were investigated, and the relationship between the positions of fruits in images and their real positions in the sorting mechanism was obtained. The test results verified that the controller could control the sorting mechanism opening and closing accurately and timely, and its speed could satisfy the requirement of real-time sorting.