水果机器视觉重量综合分选机机械系统及称重模块的设计.pdf

山东农业大学硕上学位论文摘 要水果分选是水果进入流通领域的一个重要环节，直接关系到水果生产的效益在市场经济高度发达的今天，异地销售、大宗农产品交易和农产品国际贸易等均离不开标准化而水果分选就是实现水果商品标准化的最基础的一步我国是水果生产大国，但绝大部分水果来源于农村集体和个体种植户，其品质差别很大，加上采摘及运输过程中不同程度的损伤等影响，给水果的分选工作带来一定的困难尤其是在出口的水果当中，由于大部分没有经过严格的分级处理，致使出口价格偏低，每年的经济损失上亿美元目前我国的水果分选工作多由人工完成，缺点是劳动强度大，生产率低且分选精度不稳定采用微机控制的机电一体化设备来代替人工作业，可以实现水果分选的自动化，有效地提高分选效率和分选精度因此，研究丌发水果采后的自动化处理设备，对水果进行分级筛选然后销售或加工，是我国目前农业机械化研究的重要课题本论文的研究主要以机械设计基础、单片机应用及接口技术、单片机的C语言应用程序设计、模拟电子基础、C程序设计等学科的理论为基础，主要研究和设计了水果机器视觉重量综合分选机的机械系统和称重模块具体研究内容如下：1．设计制作了水果机器视觉重量综合分选机的机械系统，并用该系统做了水果的运行试验。

试验表明，整机运行情况正常，满足预期设计要求能实现大小相差近一倍的苹果(直径50 nlln．100 mm)的近似等角速度均匀翻转和平稳无冲击卸料，且卸料之后的苹果没有出现明显的机械损伤2．设计了水果机器视觉重量综合分选机的称重模块硬件电路主要由低通滤波电路、A／D转换电路、键盘／显示电路和复位及存储电路组成由安装在滚子下面的称重传感器检测水果重量，将水果的重量信号转换为模拟电压信号，再经过低通滤波电路滤波，经A／D转换器模数转换后，送入称重模块控制器进行数据处理，并得出水果的重量值3．设计了水果分选机的同步控制系统并通过试验表明，在预期的水果输送速度下，能够完成输送线上水果动态位置的实时检测和连续跟水果机器视觉重量综合分选机机械系统及称重模块的设计踪，及水果重量、水果等级和水果位置信息的正确配准4．利用C语言完成了整个系统的软件设计，并通过了调试主程序主要包括A／D转换子程序、中断服务子程序、数据存储子程序、数据处理子程序、键盘显示子程序及CAN总线程序等5．用设计完成的整个系统进行了试验，试验表明，该分选机在同步控制系统的控制下，各模块能协调工作，对水果进行外观品质检测和重量检测；通过用大小不等的苹果进行多次试验及对试验结果的分析，得出了水果的重量信号与A／D转换值之间的关系。

关键词：水果； 机械系统； 称重模块； 同步控制； 分选山东农业火学硕士学位论文AbstractFruit grading is an important tache for it entering circulating field，and ithas direct relationship with the benefit of the fruit producing．Today withhighly developed market economy，any of the trade such aS selling in thedifferent place，a large amount of farm production business and internationaltrade of farm produce Can’t disengage standardization，and fruit grading is themost basal step for realizing standardization of fruit commodities．Fruitresource of Our country iS abundant and with various varieties，but as most ofthe fruit come from country collectivities and individual growers，the fruit ofdifferent sources have different quality，big and small apples are immingled，and with the influence of the damnification of different extent during pickingand transporting，it takes series of problems for the grading and machining offruit．Especially the fruit for export，as without strict grading，the exportingquality of the fruit and its production is on the low side，and about a hundredmillion dollars iS lost．Fruit of Our country is graded most by manpower at present．Thedisadvantage is that labor intensity is large，productivity is low,and gradingprecision is not stable．It Can realize automatization of fruit grading，improvegrading efficiency and precision effectively，by using incorporate machine andelectricity equipment controlled by microcomputer to replace busywork ofmanpower．So it becomes an important task of mechanization of farming ofOur country to research and empolder automatic fruit disposal equipment afterthe fruit iS picked，sell it or process it with different classes．The research of the paper is mainly on the base of machine designelements，apply of singlechip and interface technology，language Capplications programmer of singlechip，analog electron elements，Cprogrammer and SO on，machine system and weighing module of fruit graderon machine vision and weight is mainly researched and designed．Specificresearch contents are as follows：1-The machine system of fruit grader on machine vision and weight isIIIdesigned and manufactured，and a running test has been made by the system．The test shows that，the whole machine runs well，and satisfies the prospectivedesign demand．It Can realize even overturning in approximate equal anglevelocity and discharging reposefully without impact for the apples that the bigone iS twice as big as the small one(the diameter is between 50 mm and 1 00mm)，and the apples that are discharged without obvious damnification．2．The weighing module of the fruit grader on machine vision and weightis designed．The hardware mainly includes lowpass filtrate circuit，Analog tODigital convert circuit，keyboard／display circuit and reset and storage circuit．Itinspects the apples’weight by the weighing sensor fixed under the rollers，converts the apples’weight signal into analog voltage signal，and the signal isfiltrated by the lowpass circuit，converted by Analog to Digital converter,delivered into weighing module controller for data processing，and the fruit’Sweight is educed．3．Synchronous control system of the fruit grader is designed．Throughthe test，it shows that，at the prospective transporting velocity，the systemcould accomplish real time inspection and continuous tracking of fruit’Sdynamic position in the feeding line，and accurate match of the weight，gradesand position information．4．Software design of the whole system is accomplished using C，and thedebug is passed．The main programme mostly include the subprogram ofanalog tO digital converting，interrupt serving，data memorizing，dataprocessing，keyboard／display and CAN-bus．5．Test is made using the whole system，and it shows that，at the controlof the synchronous control system，the modules of the grader Can work inphase，inspect the exterior quality and weight of the apples；upon many timesof tests and analyzing of the testing result，the corre。