一种智能芦柑分拣机的设计与实现

The Design and Implementation of an Intelligent Citrus Sorting Machine

针对传统芦柑人工分拣方法效率低的问题,提出一种智能芦柑分拣机的设计方案。该方法以由六个舵机组成的机械臂为分拣结构,当芦柑通过滑杆运输至摄像头下方时,拍照获取全表面图像,基于OpenCV进行图像分析得出结果后,机械臂根据反馈的位置,进行抓取,并投放至相应的区域中,设计结构简单易于量产,基于树莓派(Raspberry Pi,RPi)、PWM舵机和python程序等机电一体产品技术,确保系统高效可靠。通过人工分拣与本方案对比实验表明,提出的方法比人工分拣方法在分拣速率方面效率更高。

In response to the low efficiency of the traditional citrus manual sorting method, a design of intelligent citrus sorting machine is proposed. The method uses a mechanical arm composed of six servos as the sorting structure. When the citrus is transported under the camera through the sliding bar, a full surface image is taken, and after the result of image analysis based on OpenCV, the robotic arm grabs and drops it into the corresponding area based on the feedback position. The design structure is simple and easy for mass production, based on Raspberry Pi(RPi), PWM servo and python program and other electromechanical integrated product technologies to ensure efficient and reliable system. The comparison experiments between manual sorting and this solution show that our proposed method is more efficient than the manual sorting method in terms of sorting rate.