东华大学硕士学位论文
ABSTRACT
RESEARCH ON ELECTRICAL CONTROL SYSTEM OF
PINEAPPLE AUTOMATIC PEELING EQUIPMENT
ABSTRACT
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 1
pineapple 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