Study On Automatic Separating Technology Of Edible Rose Patals-Receptacle Based On Vision

At present, agricultural mechanization, automation, information technology is widely used in producing and processing of agricultural products, agricultural robots also emerge as the times require. At the same time, people increasingly concerned for the nutritional value of edible roses, make the development of edible roses processing industry, provides practical significance to research on the rose petals automatic separating technology.The edible roses as the object of research, through the research on computer vision, manipulator, screening and separating device, to solve the related problems of rose petals-receptacle separating automation. Firstly, according to the color, shape and texture features of edible roses, select the appropriate color model segment target image, and targeted at the mutual contact situation, research on separation algorithm for edible roses by Matlab, and methods to achieve the roses posture discrimination and position location by trinocular stereo vision principle. Secondly, according to the geometric characteristics of edible roses, and combined with the actual separating process requirement, design the structure and principle of the screening and separating device. Then, according to the edible roses concrete operation object and working way, design the manipulator structure, kinematics equation is established by D-H matrixin in the Descartes coordinate system, describe the relations of spatial posture and attitude between each link and end effector. To solve the Jacobi matrix of manipulator by differential transformation method, to establish linear relationship between manipulator operating space velocity and joint space velocity, and to solve the workspace of the manipulator by Monte Carlo method, measure the operating range characteristic of manipulator. Finally, modeling and simulation of the mechanical parts by Solidworks and ADAMS. This paper research on the edible rose petals automatic separating technology and equipment, through experiment and simulation for edible rose petals-receptacle separating automation provided certain reference value.