Research On Electrical Control System Of Pineapple Automatic Peeling Equipment

With the increasing demand for deep processing of pineapple,there are more and more studies on pineapple processing equipment at home and abroad.However,the existing equipment has the problems of low automation and intelligence and high waste rate of pulp.In response to the above problems,the electrical control system of the pineapple automatic cutting equipment is designed by using digital image processing and motion control technologies.The image processing method is used to extract the pineapple outer contour information and plan the unique cutting motion trajectory for each pineapple.The electrical control system controls the equipment to complete the pineapple cutting task according to the planned pineapple processing trajectory to realize automatic,differentiated and low-loss pineapple peeling processing.The specific research on the electrical control system of the pineapple automatic peeling and cutting equipment is as follows:1.using the two-dimensional plane target calibration method to calibrate the camera,using the calibration parameters obtained to correct the aberrations of the captured image to improve the image accuracy.Comparing the common image segmentation methods,a combination of mask map and grayscale threshold-based segmentation is used to extract the pineapple foreground image and remove the image noise using the open-close operation in image morphology.Subsequently,the pineapple edge contour is extracted by area contrast method and contour fitting is performed by least squares method,and finally the appropriate pineapple contour feature information is extracted as the input parameters of the motion control algorithm.2.Analyze the process of pineapple cutting and peeling processing,extract the geometric model and parameters of the equipment cutting knife and related mechanical structures,select the feature radius values of pineapple specific 5 positions and 1pineapple height value as input parameters,and design a four-segment rotary cutting motion control scheme.Determine the distance of each segment of X-axis and Y-axis operation and the angle of each segment of R-axis operation,realize the interpolation motion of three axes by multi-axis relative interpolation algorithm,and propose the pineapple eccentricity scheme to optimize the chipping algorithm and improve the quality of the processed pineapple.3.Complete the system hardware design according to the system scheme and technical requirements.Complete the hardware selection of camera and lens,camera light source,motor and driver,cylinder and solenoid valve,motion control card,proximity switch,etc.,design the interface scheme of some modules and the overall hardware wiring scheme of the system,and complete the system integration and debugging.4.Use the Win Form framework of.NET platform,use open source libraries such as AForge,Open CV and other tools such as MATLAB to complete the development of the electrical control system software for pineapple automatic chipping and cutting equipment.The software mainly includes two modules of image processing and motion control,and the two modules use the method of dynamic link library(DLL)to transfer data between them to improve the maintainability and expandability of the software.And the software graphical interactive interface(GUI)is created in the host machine to monitor the processing status in real time and realize visual operation.5.through the pineapple peeling and cutting experiments to determine the cutting depth of 10 mm when the best cutting effect,and after cutting the number of pineapple eye diameter greater than 5mm less than 10,pineapple 5 characteristics of the radius of the cutting thickness error are less than 3mm,to achieve the expected technical requirements.