基于单片机的果实品质分类装置设计

北京理工大学珠海学院2020届本科生毕业设计Design of picking device of mechanical arm based on single chipmicrocomputerAbstractIn short,machine vision uses the camera to take the actual image,automatically convertsthe image information into the corresponding electrical signal through the camera module,and transmits it to the single chip microcomputer for logical processing,so as to achieve theintelligent recognition of the image.Machine vision is widely used in fruit picking system.In this paper,a kind of fruit quality classification device based on single-chipmicrocomputer is designed,which can recognize the general color of fruit surface throughpattern recognition,judge whether the fruit is mature and further decide whether to pick thefruit.After picking,the quality of the fruit was judged by the different reflectioncharacteristics of damaged and undamaged fruit surface,and the fruit was classified.Themain functions are as follows:1)judging whether the fruit is mature by the shape,size andcolor of the fruit;2)classifying the quality of the picked fruit.First of all,this paper describes the scheme of this design,and divides the whole systeminto hardware design and software design.Firstly,the paper introduces the research of fruitimage recognition,the principle of fruit color recognition and the algorithm of fruit colorrecognition.The hardware design of the system is based on STM32 single chipmicrocomputer.The whole hardware is divided into recognition module,grabbing and cuttingmodule,fruit quality classification module and power module.The camera recognitionmodule is mainly used to identify mature fruit,achieve accurate arrival and cutting,andidentify the damage degree of fruit surface,so as to realize the quality classification of fruit;the grabbing and cutting module realizes the flexible control of the mechanical arm and thepicking of mature fruit;the fruit quality classification module is to place different qualityfruits in the designated position after the fruit is cut;the power module Power the wholesystem.Secondly,the paper designs the program of the whole system.Finally,the wholesystem is made and debugged,and the function of the system meets the design requirements.Key words:Image recognition;algorithm;MCU;picking;classification