基于FPGA的可重构水果分拣系统设计

Design of Reconfigurable Fruit Sorting System Based on FPGA

针对当前水果分拣系统存在灵活性低、运行速度慢、资源利用率低的问题,采用现场可编程逻辑门阵列(Field Progranunable Gate Array,FPGA)设计了一款可重构水果分拣系统。系统主要分为水果分级子系统和机械手抓取子系统,结合水果颜色与形态特征实现水果精准分级与定位,通过异步串口通信协议(Universal Asynchronous Receiver Transmitter,UART)传输坐标信息,经逆运动学算法解算,由六轴机械臂实现实时分拣腐烂水果,再判定完好水果进行水果品质。经测定,该分拣系统可移植性高、运行速度快、资源利用率高,在水果分拣领域具有较高的应用价值。

Aiming at the problems of low flexibility,slow running speed and low resource utilization in the current fruit sorting system,a reconfigurable fruit sorting system was designed using a programmable device Field Progranunable Gate Array(FPGA).The system is mainly divided into the fruit grading subsystem and the robot grabbing subsystem.Combined with the color and shape characteristics of the fruit to achieve precise fruit grading and positioning,the coordinate information is transmitted through the Universal Asynchronous Receiver Transmitter(UART)protocol,and the inverse kinematics algorithm is used to solve the problem.The six-axis robotic arm realizes Sorting of rotten fruits in real time,and then judging the quality of intact fruits.It has been determined that the sorting system has high portability,fast operation speed,and high resource utilization rate,and has high application value in the field of fruit sorting.