The CMOS Sensor In The Application Research Of Cotton Picking Machine

Arificial picking cotton is time-consuming and laboriouw. The existing mechanicalharvesting equipments not only have a high price but also have a poor ability to adapt theenvironment, a wide range of mechanical picking have difficulty to promotion. If we candevelop a cheap, efficient and intelligent device is has a important significane to therealization of automatic cotton picking.In order to realize the intelligent picking the most important is to get cotton fruit imageand recognize it,s position, the image sensor controled by MCU can obtain the cotton fruitimage in cotton plant and calculate it,s corresponding position coordinates, then themultiple working controled by MCU can realize the cotton fruit picking.In order to achieve multiple manipulator control, this system take two image sensorworking form, the upper level used to coarse positioning the cotton fruit and assign it,sposition to corresponding manipulator, the next level sensor controled by MCU cancontrol, coordinate, guide the manipulator to achieve the cotton fruit precision positioningand picking. Research on image acquisition unit design, image acquisition unit productionand debugging, computer debugging, cotton fruit position and pick up algorithm design.Contrast CCD with CMOS at peroperties and functional analysis choose the CMOS arrayimage sensor for acquiring image, using C51to write the MCU main program; the boardis designed in the Protel, in the circuit board debugging process found that the MT9V011has a very strict requirement on time and waveform, the key problem with TTL chipinterface is level matching; using serial communication to transmite the image accquistionunit acquired two walue date to the PC, in the PC using VB language to develop a set ofsoftware, this software can verificate the image acquired by image acquistion unit, in asimulated natural light condition the best integration time of the light can be foundthrough the software analysis; image sensor and MCU shared use of dual port RAM,improve the speed of date processing; in order to calculate the cengtroid coordinates ofcotton, first proposed the ranks of positioning calculation method.