| With the development of economy and technology in China,the mechanization and intelligentization of agricultural production have been improved remarkably.Among them,the Agaricus bisporus planting industry has already had a certain scale in China,but most of the picking is still through manual picking,and there are problems such as low efficiency and poor consistency.Due to the short growth interval,growth intensive,and damage to the production of Agaricus bisporus,it has brought great difficulties to the automation of picking machine.In order to improve the automation and industrialization level of Agaricus bisporus,and improve the efficiency of pickled mushroom,this paper mainly studies the control system of Agaricus bisporus picking machine.In this paper,based on the scene of picking agaricus bisporus growing on the plantation shelf,and on the basis of the demand analysis of the control system of agaricus bisporus picking machine,the overall control scheme of the control system is designed:the picking platform collects images through the machine vision device,extracts features of the image information,and sends control commands to the picking terminal,which controls the picking machine through the motor drive plate for picking.Firstly,based on the picking environment of Agaricus bisporus,the mechanical structure of the picking machine was designed,and the picking arm was modeled by Solidworks software,and the kinematics simulation was carried out on the MATLAB platform.Secondly,the software design of the control system picking platform is carried out under the Lab VIEW development environment,including the software design of the network communication module,the software design of the image information storage module and the software design of the GPS positioning display.Thirdly,the software and hardware of the remote picking terminal of the control system are designed.The hardware mainly includes the power control circuit,the LTE communication module driving circuit and the external device driving circuit.The software program includes the underlying configuration and application layer software design,and embeds the Free RTOS operation.The system increases the real-time response rate of the system.Fourthly,based on the watershed algorithm,the steps of image feature extraction of Agaricus bisporus were studied,and the selection of the Agaricus bisporus in the area was marked,which provided a guide for picking the robotic arm.The mushroom selection control system studied in this thesis not only carries out image feature recognition on Agaricus bisporus,but also automatically identifies and selects picking,saves the resources of Agaricus bisporus,and models and simulates the picking arm of Agaricus bisporus,which improves the picking efficiency and also designs the remote.The monitoring picking platform and the picking terminal control system were built,and the picking machine Io T platform was built to facilitate the management of the system.There is a great significance for the automation and mechanization research of Agaricus bisporus. |
