CN210701217U - Tomato grading robot control system - Google Patents
Tomato grading robot control system Download PDFInfo
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- CN210701217U CN210701217U CN201921727767.9U CN201921727767U CN210701217U CN 210701217 U CN210701217 U CN 210701217U CN 201921727767 U CN201921727767 U CN 201921727767U CN 210701217 U CN210701217 U CN 210701217U
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Abstract
The utility model relates to a tomato grading robot control system, a serial communication port, which comprises a controller, host system and tomato transport mechanism, letter sorting mechanism, vacuum chuck headtotail in the controller, host computer and machine vision grading headtotail in the controller, host system with the host computer communication is connected. The utility model discloses a to the integrated operation of transportation, classification, letter sorting of tomato, have the characteristics of high efficiency, objective, high accuracy that manual mode did not possess.
Description
Technical Field
The utility model belongs to the technical field of tomato grading robot, concretely relates to tomato grading robot control system.
Background
China is a large country for producing and selling fruits and vegetables, the selling prices of fruits and vegetables with different qualities in the market often differ by several times, and the hierarchical management and the sale of the fruits and vegetables are effective means for improving the added value of the fruits and vegetables and are inevitable trends. The machine vision technology is mature day by day and is widely applied to the quality detection research of agricultural products. A fruit and vegetable grading system based on a computer vision technology is always a hot point of research at home and abroad. And the control system matched with the fruit and vegetable grading system is the key for solving the grading problem of the fruits and vegetables.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a tomato grading robot control system aims at realizing the hierarchical operation to different grades of tomatoes high-efficiently.
In order to achieve the above purpose, the utility model adopts the following scheme:
the utility model provides a hierarchical robot control system of tomato, includes the controller, host system and tomato transport mechanism, letter sorting mechanism, vacuum chuck headtotail in the controller, host computer and machine vision hierarchical headtotail in the controller, host system with the host computer communication is connected.
Further, the machine vision grading system comprises a camera I, a camera II and a camera III, wherein the camera I, the camera II and the camera III are respectively connected with the upper computer to acquire the image information of a top view, a left view and a right view of the tomato to be detected.
Furthermore, the sorting mechanism comprises two groups of Delta execution mechanisms, each group of Delta execution mechanism comprises three mechanical arms driven by three stepping motors, and the stepping motors are connected with the main control module through corresponding stepping motor drivers.
Furthermore, a photoelectric switch is arranged at an inlet of a working space of the Delta actuating mechanism to detect the passing of the tomatoes, and the photoelectric switch is connected with the main control module.
Further, the vacuum chuck systems correspond to the Delta actuating mechanisms in the sorting mechanism one by one, and the vacuum chucks of the vacuum chuck systems are arranged at the tail ends of the corresponding Delta actuating mechanisms; and an electromagnetic valve switch of the vacuum sucker system is connected with the main control module.
Further, a transfer wheel driving motor of the tomato transfer mechanism is connected with the main control module through a motor driver; the conveyer belt of tomato transport mechanism with master control module connects.
Further, a transfer wheel driving motor of the tomato transfer mechanism is connected with the main control module through a motor driver; the conveyer belt of tomato transport mechanism with master control module connects.
Furthermore, the upper computer adopts a control machine and is provided with a visual operation interface.
Further, the main control module adopts an industrial STM32F407 development board.
This hierarchical robot control system of tomato has following beneficial effect:
(1) the utility model discloses, including host computer, letter sorting mechanism, machine vision grading system, tomato transport mechanism, vacuum chuck system, have visual operation interface, can show the profile information of the tomato that is detected at present, maturity information and the defect information of tomato, in the debugging process, operating personnel can be according to different demands, rationally improve the motor speed of conveyer belt and letter sorting mechanism, can effectively improve the hierarchical efficiency of tomato; the tomato sorting machine realizes the integrated operation of transferring, grading and sorting tomatoes and has the characteristics of high efficiency, objectivity and high precision which cannot be realized by a manual mode.
(2) The utility model discloses a machine vision has avoided artifical hierarchical subjective factor as a means of weighing tomato quality, and efficient, and hierarchical fast, with low costs, easy popularization.
(3) The utility model adopts Delta actuating mechanism as sorting means, and has accurate and efficient characteristics; the adoption of the sine correction algorithm ensures that Delta can work stably for a long time, reduces the speed impact when the machine moves and greatly prolongs the service life of a Delta actuating mechanism.
Drawings
FIG. 1: the utility model discloses a modular structure schematic diagram of a tomato grading robot control system in an implementation mode;
FIG. 2: the modular control structure schematic diagram of the tomato transferring mechanism in the embodiment of the utility model;
FIG. 3: the utility model discloses the modular control structure schematic diagram of the Delta actuating mechanism in the implementation mode;
FIG. 4: the utility model discloses a modular control structure schematic diagram of a machine vision grading system in the implementation mode;
FIG. 5: the utility model discloses the work flow chart of Delta actuating mechanism in the implementation mode;
FIG. 6: the utility model discloses tomato grading robot's structural schematic among the embodiment.
Description of reference numerals:
1-a tomato transfer mechanism; 11-a transfer wheel drive motor; 12-a motor driver; 13-a conveyor belt; 2-machine vision grading system; 21-camera I; 22-camera II; 23-camera III; 3-a controller; 31-an upper computer; 32, a main control module; 4, a sorting mechanism; 41-step motor I; 42-step motor II; 43-step motor III; 44-step motor IV; 45-step motor V; 46-step motor VI; 47-photoelectric switch I; 48-photoelectric switch II; 49, a collecting box; 5-vacuum chuck system.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 to 6 show a specific embodiment of the present invention for a tomato grading robot control system. Fig. 1 is a schematic view of a modular structure of a tomato grading robot control system in the present embodiment; fig. 2 is a schematic view of a modular control structure of the tomato transfer mechanism in this embodiment; FIG. 3 is a schematic diagram of a modular control structure of the Delta actuator in the present embodiment; FIG. 4 is a schematic diagram of a modular control architecture of the machine vision grading system of the present embodiment; FIG. 5 is a flow chart of the operation of the Delta actuator in the present embodiment; fig. 6 is a schematic structural view of a tomato classifying robot in the present embodiment.
Referring to fig. 1, the tomato grading robot control system in the present embodiment includes a controller 3, a main control module 32 in the controller 3 is connected to a tomato transport mechanism 1, a sorting mechanism 4 and a vacuum chuck system 5, an upper computer 31 in the controller 3 is connected to a machine vision grading system 2, and the main control module 32 is in communication connection with the upper computer 31.
Preferably, the machine vision grading system 2 comprises a camera I21, a camera II22 and a camera III23, wherein the camera I21, the camera II22 and the camera III23 are respectively connected with the upper computer 31 to acquire image information of a top view, a left view and a right view of the tomato to be detected, as shown in fig. 4 and 6. In this embodiment, the machine vision grading system 2 further includes a vision box, the vision box is square and has five surfaces and two hollow surfaces, a camera is respectively placed at the central position of each of the remaining three surfaces in the vision box, and the vision box is placed above the conveyor belt 13, so that the top view image, the left view image and the right view image of the tomato can be observed. In the control system, the machine vision grading system 2 is matched with the upper computer 31 to realize the defect detection, maturity detection and maximum curvature radius calculation of the tomato outline.
Preferably, the sorting mechanism 4 includes two sets of Delta actuators, each set of Delta actuator includes three mechanical arms driven by three stepping motors, the stepping motors are connected with the main control module 32 through corresponding stepping motor drivers, as shown in fig. 1 and 3, and the control method for the Delta mechanism trajectory planning adopts a sine correction trapezoidal acceleration algorithm. In this embodiment, the two Delta actuators include a stepping motor I41, a stepping motor II42, a stepping motor III43, a stepping motor IV44, a stepping motor V45 and a stepping motor VI46, and the stepping motor I41, the stepping motor II42, the stepping motor III43, the stepping motor IV44, the stepping motor V45 and the stepping motor VI46 are respectively connected to the main control module 32 through corresponding stepping motor drivers. The Delta actuator places the picked tomatoes in the corresponding classified collection boxes 49 according to the corresponding machine vision classification results, and the total number of the collection boxes 49 is four, which represents four classification results, as shown in fig. 5 and 6.
Preferably, a photoelectric switch is arranged at the entrance of the working space of the Delta actuating mechanism to detect the passing of the tomatoes, and the photoelectric switch is connected with the main control module 32. As shown in fig. 6, in this embodiment, two sets of Delta actuators respectively correspond to the photoelectric switch I47 and the photoelectric switch II48, and the photoelectric switch I47 and the photoelectric switch II48 are respectively connected to the main control module 32.
Preferably, the vacuum chuck systems 5 correspond to the Delta actuating mechanisms one by one, and the vacuum chucks of the vacuum chuck systems 5 are arranged at the tail ends of the corresponding Delta actuating mechanisms; the solenoid valve switch of the vacuum chuck system is connected to the main control module 32, as shown in fig. 6. Adopt pneumatic mode to snatch the tomato, can avoid causing the damage because of snatching the dynamics too big to the tomato.
Preferably, the transfer wheel driving motor 11 of the tomato transfer mechanism 1 is connected with the main control module 32 through the motor driver 12; the conveyor belt 13 of the tomato transfer mechanism 1 is connected to the main control module 32, as shown in fig. 2 and 6.
In this embodiment, the upper computer 31 is an industrial personal computer and has a visual operation interface. The upper computer 31 is a window of a system control center, can adjust the rotating speed of the tomato transfer mechanism 1, can monitor the control system in real time, can communicate with a Delta executing mechanism, can display the size information and the maturity information of the detected tomato at present in real time (comparing HSV threshold values of the tomato to be detected with values of the surface of the mature tomato in HSV color space, and judging the maturity information of the tomato according to the method), and defect information, and can display images of the detected tomato after being processed by machine vision.
In this embodiment, the main control module 32 adopts an industrial STM32F407 development board. The STM32F407 development board is connected with the industrial personal computer 31 through a serial port, and the industrial personal computer 31 sends the tomato grading information to the development board by using an industrial personal computer interface to guide the main control module 32 to control the Delta actuating mechanism to correctly grab the tomatoes. The main control module 32 can control the speed of the conveyor belt 13 and the rotating wheel in the tomato transferring mechanism 1.
When the grading robot works, firstly, the upper computer 31 is started, and the upper computer software has the function of starting the grading robot by one key and the function of monitoring tomato information in real time. When the grading robot is started, the main control module 32 starts initialization, the Delta execution mechanism resets, the machine vision grading system 2 starts to wait for tomatoes to appear in a detection area, the tomato transfer mechanism 1 starts to rotate, the rotating wheel mechanism of the tomato transfer mechanism 1 transfers the tomatoes to be detected to the moving conveyor belt 13 at a certain frequency, the rotating wheel mechanism is made of rubber materials, has a buffering effect, and reduces damage to the tomatoes caused by collision during transferring of the tomatoes, as shown in fig. 6; the tomatoes are conveyed through the machine vision grading system 2 through the conveyor belt 14, when the tomatoes pass through the machine vision grading system 2, the camera I21, the camera II22 and the camera III23 shoot a top view, a left view and a right view of the tomatoes, and feed the shot image information back to the upper computer 31, the upper computer software in the upper computer 31 processes the image information at the background, displays the size, the maturity and the defect condition of the tomatoes to be detected and the tomato images before and after processing on the upper computer software, and simultaneously sends the grading result of the tomatoes to the main control module 32 through a serial port to guide the sorting of the tomato Delta actuating mechanism; when the photoelectric switch detects that the tomato appears below the reset position of the Delta actuating mechanism, the main control module 32 outputs a comparison function through a timer according To the information of the upper computer 31 To realize the control of the Delta actuating mechanism, and the upper computer 31 is connected with the main control module 32 through the USB To TTL To realize the communication between the upper computer and the main control module 32 and control the running speed of the Delta actuating mechanism. That is, the machine vision grading system 3 can feed back the final grading result to the upper computer 31, and the upper computer 31 transmits the grading information of the detected tomatoes to the main control module 32 to guide the Delta tomato execution mechanism to correctly place the tomatoes of different grades into the corresponding collection boxes 49. The tomatoes of grade I and grade II are sorted by the Delta actuator I and are placed in the collection boxes I and II according to corresponding grades, and the tomatoes of grade III and grade IV are sorted by the Delta actuator II and are placed in the collection boxes III and IV according to corresponding grades, as shown in FIGS. 5 and 6.
Specifically, the tomatoes enter the working space of the Delta tomato actuating mechanism after passing through the area 2 of the machine vision grading system, the photoelectric switch I47 detects the passing of the tomatoes and feeds back low level to the main control module 32, and the main control module 32 correspondingly grabs the tomatoes of I, II grades by receiving the grading result of the tomatoes transmitted from the upper computer 31 and places the tomatoes in the collecting boxes of the corresponding grades. Similarly, for the third and the fourth grades of tomatoes, the second part of the Delta actuator is responsible for sorting and placing in the corresponding collection box.
Specifically, the relationship between the various modules of the Delta actuator is shown in FIG. 3. The Delta executing mechanism I receives the instruction of the main control module 32 and outputs pulse to control the driver of the stepping motor to drive the stepping motor according to the output comparison function. The tomatoes of grade I and grade II are sorted by the Delta actuating mechanism I, and the tomatoes of grade III and grade IV are sorted by the Delta actuating mechanism II. Specifically, as shown in fig. 6, the Delta actuator is controlled by the STM32F407 main control module, and outputs pulses with different frequencies by using a timer output comparison function, so as to control the stepping motor. The path of the Delta actuating mechanism adopts a straight-line circular arc path, and the interpolation algorithm is adopted in the algorithm to realize path curve fitting. The method is realized by adding a sine correction trapezoidal acceleration algorithm to the starting and braking of the Delta actuating mechanism, so that the speed impact of the tomato actuating mechanism is reduced, the stability of the Delta actuating mechanism is improved, and the service life of the Delta actuating mechanism is prolonged.
The utility model discloses, tomato grading robot's control system with visual operation interface, including host computer, Delta actuating mechanism, machine vision grading system, tomato transport mechanism, host system. The upper computer can display the contour information, the maturity information and whether the tomato has defects or not of the currently detected tomato. In the debugging process, operating personnel can rationally improve the rotational speed of conveyer belt and Delta actuating mechanism according to different demands, can effectively improve hierarchical efficiency.
The utility model discloses a machine vision has avoided artifical hierarchical subjective factor as a means of weighing tomato quality, and efficient, and hierarchical fast, with low costs, easy popularization.
The utility model discloses, adopt Delta actuating mechanism as the means of letter sorting. Delta is widely applied to the industrial fields of sorting, packaging and the like at present, and the characteristics of precision and high efficiency are more and more concerned by various industries. In order to ensure that Delta can work stably for a long time, after positive and negative solutions of Delta are reasonably calculated and the motion space of Delta is analyzed, a sine correction acceleration algorithm for driving the Delta motor to start and brake is added, acceleration impact and speed impact which possibly exist when the machine moves are reduced, and the service life of a Delta actuating mechanism is greatly prolonged.
The present invention has been described in detail with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various improvements of the method concept and the technical solution of the present invention can be made without modification, or the present invention can be directly applied to other occasions without modification, and is within the protection scope of the present invention.
Claims (9)
1. The utility model provides a hierarchical robot control system of tomato which characterized in that, includes the controller, host system and tomato transport mechanism, letter sorting mechanism, vacuum chuck headtotail in the controller, host computer and machine vision hierarchical system in the controller are connected, host system with the host computer communication is connected.
2. The tomato grading robot control system according to claim 1, wherein the machine vision grading system comprises a camera I, a camera II and a camera III, and the camera I, the camera II and the camera III are respectively connected with the upper computer to obtain image information of a top view, a left view and a right view of a tomato to be detected.
3. The tomato grading robot control system according to claim 1, wherein the sorting mechanism comprises two sets of Delta actuators, each set of Delta actuators comprises three mechanical arms driven by three stepper motors, and the stepper motors are connected with the main control module through corresponding stepper motor drivers.
4. The tomato grading robot control system according to claim 3, wherein a photoelectric switch is arranged at the entrance of the Delta actuator working space to detect the passing of the tomato, and the photoelectric switch is connected with the main control module.
5. The tomato grading robot control system according to any one of claims 1 to 4, wherein the vacuum cup systems correspond to Delta actuators in the sorting mechanism one by one, and vacuum cups of the vacuum cup systems are arranged at the tail ends of the corresponding Delta actuators; and an electromagnetic valve switch of the vacuum sucker system is connected with the main control module.
6. The tomato grading robot control system according to any one of claims 1 to 4, wherein a transport wheel driving motor of the tomato transport mechanism is connected with the main control module through a motor driver; the conveyer belt of tomato transport mechanism with master control module connects.
7. The tomato grading robot control system according to claim 5, wherein a transfer wheel driving motor of the tomato transfer mechanism is connected with the main control module through a motor driver; the conveyer belt of tomato transport mechanism with master control module connects.
8. Tomato grading robot control system according to claim 1, 2, 3, 4 or 7, characterized in that the upper computer employs a control machine with a visual operation interface.
9. Tomato staging robot control system according to claim 1, 2, 3, 4 or 7, characterized in that the master control module employs an industrial-grade STM32F407 development board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921727767.9U CN210701217U (en) | 2019-10-15 | 2019-10-15 | Tomato grading robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921727767.9U CN210701217U (en) | 2019-10-15 | 2019-10-15 | Tomato grading robot control system |
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| CN210701217U true CN210701217U (en) | 2020-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921727767.9U Expired - Fee Related CN210701217U (en) | 2019-10-15 | 2019-10-15 | Tomato grading robot control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060074A (en) * | 2020-07-21 | 2020-12-11 | 无锡职业技术学院 | Delta robot control system based on machine vision |
| CN112275656A (en) * | 2020-10-12 | 2021-01-29 | 苏州品超智能设备有限公司 | Vegetable and fruit sorting robot and using method thereof |
-
2019
- 2019-10-15 CN CN201921727767.9U patent/CN210701217U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112060074A (en) * | 2020-07-21 | 2020-12-11 | 无锡职业技术学院 | Delta robot control system based on machine vision |
| CN112275656A (en) * | 2020-10-12 | 2021-01-29 | 苏州品超智能设备有限公司 | Vegetable and fruit sorting robot and using method thereof |
| CN112275656B (en) * | 2020-10-12 | 2022-07-01 | 苏州品超智能设备有限公司 | Vegetable and fruit sorting robot and using method thereof |
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Granted publication date: 20200609 Termination date: 20201015 |