Pistachio nut head and tail replacement and posture adjustment rotary mechanical device and method

Abstract

The invention discloses a pistachio nut head and tail replacement and posture adjustment rotary mechanical device and method. The device comprises a computer, an industrial camera, an imaging structure and the like. The camera collects images, and the computer identifies the outline and inclination angle of pistachio nuts. The angle extraction algorithm comprises the steps of median filtering, blue component extraction, image segmentation, connectivity analysis, morphological transformation, edge detection, contour extraction, ellipse fitting and inclination angle extraction. The specific control method comprises the steps that (1) when pistachio nuts enter a head-tail replacement rotating station, comparing the current angle with a preset angle for judgment, and determining an angle adjustment value; 2) converting an adjustment value into a pulse signal and transmitting the pulse signal to a servo motor, and 3) outputting power of rotary motion by the servo motor, and driving the pistachio nuts to rotate through a coupler, a rotary main shaft and a rotary supporting platform in sequence. The inclination angle of the pistachio nuts is extracted by adopting intelligent vision, so that manual operation is effectively replaced, and the production efficiency is improved.

Description

Technical field [0001] The invention relates to the field of agricultural food processing machinery manufacturing, in particular to a rotating mechanical device and method for pistachio head and tail replacement and posture adjustment. Background technique [0002] At present, in the process of replacing the head and tail of pistachios, the most common and traditional method is to manually rotate the pistachios one by one to the preset position after manual visual inspection by the operator. However, this method is time-consuming, labor-intensive, reproducible, labor-intensive, low-efficiency, and subjective factors have a greater impact. Moreover, as the operating time increases, it is easy to cause operator fatigue, thereby increasing the work error rate. In the production process of the production line, only manual operation is not only time-consuming and laborious, but also the work accuracy is not accurate enough. Therefore, the manual placement method can no longer meet the...

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present invention provides a rotating mechanical device and method for pistachio head and tail

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