山地果园链索运送装备运动传感系统设计

Motion Sensing System of Chain Equipment for Hilly Orchard

为获取山地果园链索运送装备工作过程中的牵引链索运动状态,采用混合滤波算法设计了一种基于图像实时采集技术的运动传感系统。利用两组高速工业相机对轴向运动的牵引链索进行捕捉,通过Cortex-A9控制板融合混合滤波算法与自适应阈值二值化对图像进行处理,实时识别牵引链索的空间位置变化。试验结果表明:所设计的运动传感系统可以快速准确获取链索运行状态,图像采集与处理的运算速度能够满足链索实时控制的要求。本研究为链索类运送装备的运动采集与数据处理提供了参考。

To obtain the motion features of axial moving chain for hilly orclaarO, a morion sensing system oaseu on me real-time image acquisition technology was developed. Two high speed industrial cameras were used for the image capture of moving chain. The Cotex-A9 control board was implemented to process the captured images using a hybrid filtering method and adaptive threshold binarization. The real-time spatial position of moving chain can be recognized and calcu- lated. The experimental results showed that the proposed image acquisition system can quickly and accurately obtain the motion features of moving chain. The processing speed of image acquisition system can meet the requirements of realtime control for moving chain. This study provides a reference for the data acquisition and processing of orchard ropeway and chain system.