Vision and motion control integrated mushroom centering and sorting system

• Main Authors: YANG YONGDA, ZHANG PING, ZHANG ZHAIWU, WU JICHUN
• Format: Patent
• Language: Chinese; English
• Published: 12.08.2022
• Subjects: PERFORMING OPERATIONS; POSTAL SORTING; SEPARATING SOLIDS FROM SOLIDS; SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTEDPIECE-MEAL, e.g. BY PICKING; TRANSPORTING

According to the mushroom centering and sorting system integrating vision and motion control, the mass center of irregular mushrooms is determined and tracked through treatment of the vision system, and then the mushrooms are pushed out through the execution mechanism. For example, when the shiitake mushrooms are sorted, the sizes of the shiitake mushrooms and the stations into which the shiitake mushrooms need to be pushed are determined firstly, then the mass centers of the shiitake mushrooms are found out, and when the mass centers reach the corresponding stations, the pushing action is executed. The centering mechanism is mainly used for determining the center of mass through a visual system; determining the size of the mushroom: measuring the size of the object through a visual system so as to determine which station the mushroom should be pushed into; and the actuating mechanism is mainly characterized in that a pneumatic device is quickly pushed out when the visual system sends out a pushing signal thr