关键词: 砂糖橘, 采摘机械人, 机器视觉, 步进电机, 分拣系统, 收获机械

Abstract: There are some problems in sorting clementine in our country, such as great difference in fruit size, low sorting efficiency, high manpower cost and low automation level. In order to solve the automatic sorting mature clementine, this paper introduces a machine which uses machine vision technology to identify, detect and sort mature clementine. The machine is composed of MCU module, vision recognition module, Stepper Motor Drive Module, actuator module, humancomputer interaction module, LCD module. Firstly, the machine vision module OpenMV is used to get the color image of the fruit, and the image is binarized. Secondly, the threshold editor in the OpenMV IDE software is used to set the LAB value representing the orange color of the mature sugar orange fruit. The SCM can judge whether the color of the sugar orange fruit is orange through calculation and comparison. Finally, the diameter of clementine is calculated by the relationship between the pixel and the diameter. The results show that the device can automatically identify the color, size and sorting of the target fruit. When the sorting rate is set at 120 fruits per minute, the error of the fruit diameter is less than 1.6 mm, the accuracy is 96.19%, the accuracy of classification and sorting is 95.4%, and the detection rate of unqualified fruits is 97.2%.

Key words: clementine, picking robot, machine vision, stepper motor: sorting system, harvest machinery