Research On Cutter Trajectory Control System For Pineapple Skin Cutting

Pineapple peeling is a key link in the deep processing of pineapples.The existing automated pineapple peeling equipment generally has the problem of high pulp loss and inability to automatically adapt to pineapples of different sizes.This subject adopts the automatic peeling method of pineapple based on computer vision three-dimensional reconstruction technology.This method combined with the automatic removal of fruit eyes method can simultaneously realize low-loss,adaptive pineapple peeling processing.On this basis,pineapple peeling cutter trajectory control system is designed to verify the processing method.First,this paper proposes the overall scheme of pineapple peeling cutter trajectory control system.The program adopts the upper and lower computer structure.The upper computer is responsible for 3D reconstruction and peeling trajectory planning for the target pineapple,and the lower computer controls the processing test bench to peel the pineapple according to the trajectory data.Secondly,the pineapple automatic three-dimensional reconstruction algorithm and the pineapple skin cutting cutter trajecto ry planning algorithm were studied.Then,according to the overall scheme of the system,a system experiment platform is built.It mainly includes the mechanical structure design of the processing test bench for pineapple peeling,the selection and constru ction of the hardware of the upper computer,and the circuit design and production of the control board of the lower computer.Next,after the system experiment platform was built,the upper and lower computer software of the system was designed and develo ped.The upper computer software mainly includes pineapple automatic three-dimensional reconstruction program,pineapple peeling trajectory planning program,GUI interface and other auxiliary programs;the lower computer software mainly includes serial communication program,motion control program and trajectory processing program.Finally,the automatic peeling processing test of pineapple is carried out,and the feasibility of the processing method proposed in this paper is verified by experiments.