| In recent years,the research on fruit grading and screening devices has developed rapidly at home and abroad.However,there is still no large-scale automation in the picking and screening machines of small berry fruits.The picking of cherries and the culling of bad fruits after harvest are mainly carried out manually worldwide,because the surface of cherries is smooth and mechanical picking is likely to cause secondary damage.The research on cherry grading and screening machine is of positive significance to realize the screening of cherry fruit and avoid secondary damage to cherry.In this paper,a bad-cherry screening device is designed that can be matched with the conveyor belt.Labview programming software is selected to develop the bad-cherry screening software and control the adsorption device.The negative pressure was used to screen the bad fruit of cherry flexibly to avoid secondary damage.This paper provides a foundation for the development of a grader system for small berry fruits.The main research contents and achievements are as follows:1.This paper introduces the research status of “fruit grading” device at home and abroad,analyzes the application of path planning in the research of "fruit grading" device,and determines the research contents and objectives.2.It completes the hardware design of the control system,and develops a fast switching adsorption device according to the actual needs,which can meet the needs of high-frequency and long-term continuous operation on the assembly line.3.It develops the control software of bad-cherry screening device,and realizes real-time screening of bad fruits on the conveyor belt when bad-cherry coordinates are known.The current screening device realizes the efficiency of 50 bad cherries per minute,and the success rate reaches 90%,basically meeting the production demand.4.TSP problem is used to model the moving path of suction head on the screening device.Greedy algorithm and GA algorithm is used to optimize the moving path. |
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