基于视觉的茭白自动分级包装设备研究与开发

doi:10.13733/j.jcam.issn.20955553.2021.12.17

摘要/Abstract

摘要： 为降低茭白品质分级的劳动成本，建立统一分级标准，提高茭白分级包装的准确率及效率，开发一种基于机器视觉的茭白自动分级包装设备，利用深度学习技术获取茭白大小、形状、颜色、病虫害情况等表型特征对茭白进行品质分级。设备包含控制系统、上料模块、品质分级模块、分拣包装模块，具备自动分料、传输、品质分级、分拣包装功能。完成分料移送机构和归整机构设计以约束茭白位置实现单根有序稳定传输。机械臂4自由度协同控制确保茭白分拣包装有序进行。经现场测试，茭白品质分级的准确率为95.62%，分级包装效率达3 s/根，且稳定性良好。结果表明，该设备能自动、准确地完成茭白的品质分级和分拣包装，可为实现“机器换人”的转化和提升农业智能化水平提供技术支撑。

关键词: 茭白, 品质分级, 机器视觉, 分拣包装

Abstract: To reduce the labor cost of quality grading, we established a unified grading standard, improved the accuracy and efficiency of sorting and packing of Zizania, and developed an automatic sorting and packing equipment of Zizania based on machine vision. Quality grading of Zizania was achieved by deep learning technology to obtain phenotypic characteristics of Zizania such as size, shape, color, diseases, and pests. The equipment was composed of a control system, a feeding module, a quality grading module, and a sorting and packing module. The functions of automatic dividing, transmission, quality grading, sorting, and packaging were accomplished. Dividing and transferring mechanisms were designed to constrain Zizania to be separately transmitted orderly and steady. The 4DOF collaborative control of manipulator ensured sorting and packaging of Zizania orderly. The testing result showed that the accuracy of quality grading of Zizania was 95.62%, and the efficiency of sorting and packing was up to 3 seconds per Zizania, with good stability. The results showed that the equipment could complete the sorting and packing of Zizania automatically and accurately. The equipment could also provide technical support for the transformation of “human labor replaced with machines” and for the promotion of agricultural intelligence level.

Key words: Zizania, quality grading, machine vision, sorting and packing

中图分类号:

TP391.41

张文蓉, 王朋, 钟鸣, 黄博, 曹景军, 柴秀娟, . 基于视觉的茭白自动分级包装设备研究与开发[J]. 中国农机化学报, 2021, 42(12): 114-121.

Zhang Wenrong, Wang Peng, Zhong Ming, Huang Bo, Cao Jingjun, Chai Xiujuan.. Research and development on the automatic sorting and packing equipment of Zizania based on vision [J]. Journal of Chinese Agricultural Mechanization, 2021, 42(12): 114-121.

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