Research On Design And Prototype Building Of A Vision Based Grafting Machine

With the improvement of grafting demand,make artificial heavy homework burden,automatic grafting machine on the basis of guarantee rate and production efficiency can liberate the workforce,so this article in view of the vegetables grafting machine process is still widely used in artificial seedling grafting machine of the high cost of operation and the whole problem,puts forward the prototype test for visual driven automatic grafting machine research,by designing a set of grafting machine prototype model of simple structure,using the visual inspection technology seedlings on the driving mechanical arm to complete the automatic operation.The main work of this thesis is as follows:(1)The overall structure and terminal device design of the grafting machine.First,the software is applied to the overall design of the prototype,including the seedling system,the station rotation system and the seedling system.In this paper,the spatial structure analysis of each subsystem of the manipulator and the prototype is analyzed,and the rationality of the design of the system design in the space structure is obtained.Finally,the software is used to design the terminal clamping mechanism,and the feasibility of the design of the clamping mechanism is verified by software simulation analysis.(2)Design of the electrical control system for grafting.Against the mechanical arm adopts stepper motor,the main control board performance indicators and IO mouth features,and through the design of PCB threatening the whole control system integration design,makes the integration control system in a control panel to realize stepper motor control,4 road under 8 subdivision step motor speed can be up to 16 r/s,out of step control within 10 steps,control end of the mechanical arm motion resolution of 0.017 mm.Based on hardware segmentation method to study the trajectory of robot arm,the control of the speed,tail in the early period of adjustment method,the minimum period of fine to 1 mm,with 9 kinds of commonly used to interact with the upper machine instructions.Finally,the driver of the terminal clamping device is completed,which only needs to provide one second to drive theself-maintaining current at a time,and it also reduces the heating problem caused by the long-term power supply of the device.(3)Multithread image processing and seedling seeding method of The center of mass.First of all,on the embedded system based on LINUX platform 4 core,adopts four threads to distributed processing of the image,the final parameters by a thread of image synthesis,image processing time of 640 x 480 size with an average of 30.52ms;Then,the working distance of the acquisition system was studied,and the image acquisition was carried out at different distances.The working distance was clear when the depth of field was 18 mm,and the average length of contour chain extraction and centroid calculation was 23.79 ms.Finally,according to the system demand analysis,design the visual drive communication system,through the test to carry on the feasibility verification analysis to the communication system.(4)Implement and test the prototype system of grafting machine.According to the overall design drawing of the prototype,the overall structure of the prototype was made,and the subsystems were tested and analyzed,In the seedling system,57 steps were used to control the motor.According to the interval between the points,the sliding table was 5cm each time.The control system adopted 16 subdivision drives,and the single time of the feeding system was 2.5 seconds.Set by the program,the workshop rotation control system according to the location required 0.5 seconds for different rotate 90°,the complete location change takes 2 seconds,location change cycle of 4.The experimental stage of seedling system was set up,and the spatial position test was carried out according to the structure of the prototype.