CN207771925U - A kind of plumule diced system based on DSP servo-control systems - Google Patents
A kind of plumule diced system based on DSP servo-control systems Download PDFInfo
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- CN207771925U CN207771925U CN201721911565.0U CN201721911565U CN207771925U CN 207771925 U CN207771925 U CN 207771925U CN 201721911565 U CN201721911565 U CN 201721911565U CN 207771925 U CN207771925 U CN 207771925U
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- conveyer belt
- plumule
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- servo
- manipulator
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Abstract
The utility model discloses a kind of plumule diced systems based on DSP servo-control systems, it includes mechanical system, servo-control system and vision system, and mechanical system includes manipulator（1）And conveyer belt（3）, manipulator（1）Mounted on conveyer belt（3）On, vision system（2）Hardware components be mounted on conveyer belt（3）On；Conveyer belt（3）The photoelectric sensor of upper installation（4）It is connect respectively with dsp controller conducting wire with encoder；Dsp system is connect with host computer；Solve the problems, such as that the current time-consuming and laborious efficiency of plumule cutting method is low；Solve the problems, such as current plumule identification process manually, recognition efficiency it is low；Solve the problems, such as current plumule cutting process manually, cutting mechanics and automation it is not high.
Description
Technical field
The utility model belongs to plumule cutting technique more particularly to a kind of plumule based on DSP servo-control systems
Diced system.
Background technology
Plumule is peculiar for monocotyledon, and the taper shell-like object especially outside grass plumule is a sheath
Shape structure.Plumule cutting generally includes two steps of plumule identification and cutting.It is very crucial one that plumule, which accurately identifies,
Step, only identification are accurate, just can guarantee smooth cutting.Traditional cutting mode be by people naked eyes and experience come judge plumule and
Cutting position, then cut by simple cutting mechanics.This time-consuming and laborious efficiency of method is very low.There is no embryo temporarily both at home and abroad
The research of bud scale Classical correlation and diced system.In consideration of it, a kind of plumule automatic cutting system of the utility model research and development and side
Method.
Utility model content：
The technical problems to be solved in the utility model：A kind of plumule cutting system based on DSP servo-control systems is provided
System, to solve：The low problem of the time-consuming and laborious efficiency of plumule cutting method at present；It solves current plumule identification process and depends on people
The low problem of work, recognition efficiency；Solve current plumule cutting process manually, cutting mechanics and automation not high ask
Topic.
Technical solutions of the utility model：
A kind of plumule diced system based on DSP servo-control systems, it include mechanical system, servo-control system and
Vision system, mechanical system include manipulator and conveyer belt, and manipulator is installed on a moving belt, and the hardware components of vision system are pacified
Dress is on a moving belt；The photoelectric sensor and encoder installed on conveyer belt are connect with dsp controller conducting wire respectively；Dsp system
It is connect with host computer.
Conveyer belt includes baffled conveyer belt and aluminium section bar truss structure；Conveyer belt includes the transmission at conveyer belt both ends
The transmission shaft of axis, wherein one end couples with synchronous pulley, and synchronous pulley is coupled by synchronous belt with the belt wheel on servo motor shaft.
Evenly spaced baffle is provided on conveyer belt, two baffle middle sections are working region, the one of conveyer belt
Side is equipped with photoelectric sensor；Baffle spacing is 200mm, length 200mm, is highly 20mm.
Manipulator includes the Cartesian robot that three single-shaft mechanical arms are built and a linear guide, Y-direction machinery
Hand and the linear guide couple with conveyer belt, and cutter is mounted on Z axis arm end, and the linear guide includes coordinating with the linear guide
Sliding block, sliding block are coupled by connecting plate with X-direction manipulator one end.
Vision system hardware components include camera support, CCD camera, camera lens and annular light source, and CCD camera and camera lens pass through
Camera support is mounted on right over conveyer belt；Coupled with conveyer belt by mounting plate；CCD camera is mounted on annular light source centre bit
It sets.
A kind of cutting method of the plumule diced system based on DSP servo-control systems, it includes：
STEP1：Conveyer belt instructs according to dsp controller plumule being delivered to CCD camera shooting area, photoelectric sensor
Detect that baffle passes through, triggering CCD camera carries out plumule image acquisition；
STEP2：Plumule moves forward under the control of dsp controller on conveyer belt, when next baffle just
Photoelectric sensor position is moved to, triggering CCD camera obtains next part plumule image, and first part's plumule starts at this time
Into manipulator cutting region；
STEP3：When getting Part III plumule image, first part's plumule is just completely into cutting area
Domain, conveyer belt is under the control that dsp controller instructs, stop motion；
STEP4：Manipulator sequentially cuts identified plumule under the control that dsp controller instructs, cutting
After the completion, second part plumule initially enters cutting region；
STEP5：Above-mentioned steps are recycled, plumule cutting operation is completed.
The beneficial effects of the utility model：
Under the control of DSP servo-control systems, plumule is driven at conveyer belt both ends the utility model on the conveyor belt
Under the driving of axis, into camera shooting area, photoelectric sensor has detected that baffle passes through, and triggering camera obtains plumule figure
Picture, plumule are moved forward under the driving of transmission shaft into robot work region, and next baffle just arrives at this time
Photoelectric sensor position, camera starts to obtain plumule image again, when getting the image of Part III plumule, passes
Band stop motion is sent, manipulator handles the plumule location information that image is obtained according to vision system and starts to sequentially cut at this time
Plumule completes first part's plumule and cuts work, is recycled with this and completes all plumules identifications and cutting work.Uniaxial machine
Tool hand both sides are equipped with limit sensors, it is ensured that robot movement range not surpassed distance.DSP servo-control systems can realize conveying
Band and robot movement speed and position are monitored and controlled in real time, the utility model mechanization and high degree of automation, it can be achieved that
Plumule automatic identification and cutting work, realize intelligent plumule cutting operation process；Solves current plumule cutting side
The low problem of the time-consuming and laborious efficiency of method；Solve the problems, such as current plumule identification process manually, recognition efficiency it is low；Solve mesh
Preceding plumule cutting process manually, cutting mechanics and the not high problem of automation.
Description of the drawings：
Fig. 1 is the utility model plumule diced system composition schematic diagram；
Fig. 2 is that the utility model is based on DSP plumule image processing system schematic diagrames；
Fig. 3 is cutting method block diagram；
Fig. 4 is the utility model cutting method flow diagram
Fig. 5 is the utility model cutter device schematic front view；
Fig. 6 is the utility model cutter device left view schematic diagram；
Fig. 7 is the utility model cutter device axis geodesic structure schematic diagram.
In figure：1. robot section, 2. vision system hardware components, 3. transport portions, 4. photoelectric sensors, 5. synchronous belts
Running part, 6. the linear guides, 7. baffled conveyer belts, 8. connecting plates, 9. shooting working regions, 10.CCD cameras, 11.
Annular light source, 12. cutting working regions, 13. hoof feet, 14. connecting plates.
Specific implementation mode：
A kind of plumule diced system based on DSP servo-control systems, it include mechanical system, servo-control system and
Vision system, mechanical system include manipulator 1 and conveyer belt 3, and manipulator 1 is mounted on conveyer belt 3, the hardware of vision system 2
It is partially installed on conveyer belt 3；The photoelectric sensor 4 and encoder installed on conveyer belt 3 connect with dsp controller conducting wire respectively
It connects；Dsp controller is connect by pci bus with host computer.
The travelling speed of conveyer belt 3 and position are detected by encoder, controlled by servo-control system.
Conveyer belt 3 includes baffled conveyer belt and aluminium section bar truss structure；Conveyer belt 3 includes the biography at conveyer belt both ends
The transmission shaft with synchronous pulley 5 of moving axis, wherein one end couples, and synchronous pulley 5 passes through the belt wheel on synchronous belt and servo motor shaft
Connection.Evenly spaced baffle is provided on conveyer belt, two baffle middle sections are working region, in the side of conveyer belt 3
Photoelectric sensor 4 is installed；Baffle spacing is 200mm, length 200mm, is highly 20mm.It is by photoelectric sensor judgement
It is no to there is baffle to pass through, plumule is shot to trigger camera, obtain plumule image, when next baffle by when before
A part has obtained the plumule of image just into manipulator cutting region, while triggering camera and carrying out figure to current plumule
As obtaining, when getting Part III plumule image, first part's plumule just completely into cutting working region, passes
Band stop motion is sent, waits for cutting completely and complete, conveyer belt setting in motion again is recycled with this, until all cutting is completed.Gear
Plate spacing is 200mm, length 200mm, is highly 20mm.200mm*200mm is both image-acquisition area and manipulator is cut
Cut working region.Using discontinuous identification and cutting mode, wait for that the cutting of front portion plumule is completed, rear portion plumule is again
Working region is cut into manipulator.This avoid belt system error, be conducive to improve plumule recognition efficiency and essence
Degree.
Manipulator 1 includes the Cartesian robot and a linear guide 6 that three single-shaft mechanical arms are built, Y-direction machine
Tool hand and the linear guide 6 couple with conveyer belt 3, and cutter is mounted on Z axis arm end, and the linear guide 6 includes and the linear guide 6
The sliding block of cooperation, sliding block are coupled by connecting plate 8 with X-direction manipulator one end.
2 hardware components of vision system include camera support, CCD camera 10, camera lens and annular light source 11,10 He of CCD camera
Camera lens is mounted on by camera support right over conveyer belt 3；Coupled with conveyer belt 3 by mounting plate；CCD camera 10 is mounted on ring
Shape light source center position.
A kind of cutting method of the plumule diced system based on DSP servo-control systems, specifically includes following step
Suddenly：
STEP1：Conveyer belt instructs according to dsp controller plumule being delivered to CCD camera shooting area, photoelectric sensor
Detect that baffle passes through, triggering CCD camera carries out plumule image acquisition；
STEP2：Plumule moves forward under the control of dsp controller on conveyer belt, when next baffle just
Photoelectric sensor position is moved to, triggering CCD camera obtains next part plumule image, and first part's plumule starts at this time
Into manipulator cutting region；
STEP3：When getting Part III plumule image, first part's plumule is just completely into cutting area
Domain, conveyer belt is under the control that dsp controller instructs, stop motion；
STEP4：Manipulator sequentially cuts identified plumule under the control that dsp controller instructs, cutting
After the completion, second part plumule initially enters cutting region；
STEP5：Above-mentioned steps are recycled, plumule cutting operation is completed.
Plumule is on the conveyor belt under the driving of conveyer belt both ends transmission shaft, into camera shooting area, photoelectric sensing
Device has detected that baffle passes through, and triggering camera obtains plumule image, and plumule moves forward under the driving of transmission shaft
Robot work region is initially entered, next baffle just arrives photoelectric sensor position at this time, and camera starts to obtain again
Plumule image, when getting Part III plumule image, first part's plumule is completely into cutting region, conveyer belt
Stop motion, at this time manipulator the plumule location information that is obtained of image is handled according to vision system and starts to sequentially cut plumule
Sheath completes first part's plumule and cuts work, is recycled with this and completes all plumules identifications and cutting work.Single-shaft mechanical arm
Both sides are equipped with limit sensors, it is ensured that robot movement range not surpassed distance.DSP control system can realize conveyer belt and machinery
Hands movement speed and position are monitored and controlled in real time.
Claims (5)
1. a kind of plumule diced system based on DSP servo-control systems, it includes mechanical system, servo-control system and regards
Feel system, it is characterised in that：Mechanical system includes manipulator（1）And conveyer belt（3）, manipulator（1）Mounted on conveyer belt（3）
On, vision system（2）Hardware components be mounted on conveyer belt（3）On；Conveyer belt（3）The photoelectric sensor of upper installation（4）And volume
Code device is connect with dsp controller conducting wire respectively；Dsp system is connect with host computer.
2. a kind of plumule diced system based on DSP servo-control systems according to claim 1, it is characterised in that：
Conveyer belt（3）Including baffled conveyer belt and aluminium section bar truss structure；Conveyer belt（3）Include the transmission at conveyer belt both ends
Axis, the wherein transmission shaft and synchronous pulley of one end（5）Connection, synchronous pulley（5）Pass through the band on synchronous belt and servo motor shaft
Wheel connection.
3. a kind of plumule diced system based on DSP servo-control systems according to claim 2, it is characterised in that：
Evenly spaced baffle is provided on conveyer belt, two baffle middle sections are working region, in conveyer belt（3）Side installation
There is photoelectric sensor（4）；Baffle spacing is 200mm, length 200mm, is highly 20mm.
4. a kind of plumule diced system based on DSP servo-control systems according to claim 1, it is characterised in that：
Manipulator（1）The Cartesian robot built including three single-shaft mechanical arms and a linear guide（6）, Y-direction manipulator
And the linear guide（6）With conveyer belt（3）Connection, cutter are mounted on Z axis arm end, the linear guide（6）Including being led with straight line
Rail（6）The sliding block of cooperation, sliding block pass through connecting plate（8）Couple with X-direction manipulator one end.
5. a kind of plumule diced system based on DSP servo-control systems according to claim 1, it is characterised in that：
Described vision system (2) hardware components include camera support, CCD camera（10）, camera lens and annular light source（11）, CCD camera
（10）Conveyer belt is mounted on by camera support with camera lens（3）Surface；Pass through mounting plate and conveyer belt（3）Connection；CCD camera
（10）Mounted on annular light source center.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721911565.0U CN207771925U (en) | 2017-12-30 | 2017-12-30 | A kind of plumule diced system based on DSP servo-control systems |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721911565.0U CN207771925U (en) | 2017-12-30 | 2017-12-30 | A kind of plumule diced system based on DSP servo-control systems |
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| CN207771925U true CN207771925U (en) | 2018-08-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000594A (en) * | 2017-12-30 | 2018-05-08 | 贵州大学 | A kind of plumule diced system and method based on DSP servo-control systems |
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- 2017-12-30 CN CN201721911565.0U patent/CN207771925U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000594A (en) * | 2017-12-30 | 2018-05-08 | 贵州大学 | A kind of plumule diced system and method based on DSP servo-control systems |
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