| As the betel nut is a naturally grown fruit with an irregular ellipsoidal shape,the traditional betel nut is manually ordered,which is ineffective and inefficient,and does not meet the high precision and efficiency requirements of today's enterprises.In this paper,a vision-based fully automatic brine dispensing robot is designed and analysed for the brine dispensing process.The position of the betel nut is determined through machine vision,and then image processing is carried out according to the set parameters to complete the automatic search for the centre point;the positioning result is transmitted to the motion control card,and then the motion trajectory of the brine dispensing is calculated using kinematics,and the automatic brine dispensing is achieved by controlling the motor-driven brine dispensing arm.This research is concerned with the selection and calculation of electrical components for the betel nut brine dispensing robot,the software design of image processing algorithms,the modelling and simulation analysis of the motion control of the brine dispensing platform,the writing of the motion control program and the experimental analysis and verification.The main research elements are as follows.(1)Based on the betel nut brining process and the needs of the enterprise,the overall scheme of the industrial brining robot is designed,which can identify different kinds of betel nuts and can efficiently complete the brining scheme for multiple targets,design and analyze the structure of the brining robot,and complete the calculation and analysis of key components and equipment selection.(2)In the process of recognizing irregular shaped objects like betel nut,the characteristics of betel nut are analyzed and calculated,and the spotting points are judged and determined.The H-component of the RGB image is extracted for analysis and processing,and the approximate contour of the betel nut is obtained by the threshold segmentation algorithm,the noise is removed by the region growth method and Retinex image enhancement,and finally the centerline of the inner contour of the betel nut is obtained by the skeleton extraction algorithm.The features of the centerline are analyzed to determine the point location and trajectory planning according to the requirements of point halos.(3)According to the spot brine control strategy,a simulation model of the spot brine system is established in the Simulink environment,and the modeling of the three sub-modules of the vector controller model,the kinetic model of the spot brine arm device and the permanent magnet synchronous motor of the spot brine system is completed,and a fuzzy PID controller is designed as the controller of the spot brine system and to verify the feasibility of the application of the fuzzy PID controller to the spot brine system,different spot brine rates,no load and with load,and trajectories are respectively In order to verify the feasibility of the fuzzy PID controller applied to the spot-halogen system,the trajectory simulation is performed for different spot-halogen rates,no load and with load.Analysis of fuzzy PID controller in the application of halogen spotting control can effectively eliminate errors and has a high response speed,can meet the requirements of high-speed halogen spotting operations.(4)Build the system test platform,develop a complete set of motion control software system according to the requirements,image test,error test,travel test,and whole machine test research of the halide dispensing system,further verifying the good performance of the halide dispensing system,which has important industrial application value. |
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