摘要
基于STM32F407单片机为控制核心设计了果套自动分离装置,包括硬件和软件两部分.硬件方面包括机械齿果套分离机和三自由度机械手,及工业控制计算机、图像数据采集卡、末端执行器等结构.软件系统基于Visual C++开发环境,采用图像处理和机器视觉等技术实现对果套的定位与识别,驱动机械手完成对泡沫网套的抓取、转移、放置指定位置的任务.实验表明:果套自动分离装置响应速度较快,分离成功率高,能够实现苹果和塑料泡沫网套的分离,为进一步研究和实现企业生产线的应用打下基础.
Based on STM32F407 single chip microcomputer as control core,automatic separation device of fruit sleeve was designed.This design consists of hardware and software.In hardware,it includes mechanical tooth separator and three degree of freedom manipulator, as well as industrial control computer,image data acquisition card,end effector and other structures.The software system was based on Visual C ＋＋ development environment,to achieve localization and recognition of fruit set with the technology of image processing and machine vision,drive manipulator of foam net sets of capture,transfer, the designated position task.The test showed that： The automatic separation device of the fruit sleeve had the advantages of quick response speed and high separation success rate,and could realize separation of the apple and plastic foam sleeve,and layed the foundation for further studying and realizing the application of the enterprise production line.
出处
《河南科技学院学报（自然科学版）》
2017年第4期59-63,72,共6页
Journal of Henan Institute of Science and Technology(Natural Science Edition)
基金
陕西省科技统筹关键技术链项目(2014KTCL02-17)
关键词
果套分离装置
机械手
机器视觉
图像处理
fruit net separation
manipulator
machine vision
image processing
