CAJ | 학술논문

为了解决秸秆粉碎机自动上料问题,设计了一种新的秸秆上料机械手装置,提高了秸秆粉碎机作业的精度和自动化水平. 该装置使用Canny算子对秸秆图像进行分割, 并对弱边缘进行提取,将提取信息传递给机械手PC处理中心,发出控制机械手的动作的指令;并利用PLC闭环系统控制,完成了秸秆上料机械手的自动化控制,优化了伺服电机的启停时间和上料的工作效率. 同时,对装置进行了秸秆上料试验,结果表明:与人工上料相比,使用自动化控制的机械手可以提高工作效率及秸秆的粉碎质量,且可降低上料过程对人造成的损害,是一种安全高效的上料装置.
위료해결갈간분쇄궤자동상료문제,설계료일충신적갈간상료궤계수장치,제고료갈간분쇄궤작업적정도화자동화수평. 해장치사용Canny산자대갈간도상진행분할, 병대약변연진행제취,장제취신식전체급궤계수PC처리중심,발출공제궤계수적동작적지령;병이용PLC폐배계통공제,완성료갈간상료궤계수적자동화공제,우화료사복전궤적계정시간화상료적공작효솔. 동시,대장치진행료갈간상료시험,결과표명:여인공상료상비,사용자동화공제적궤계수가이제고공작효솔급갈간적분쇄질량,차가강저상료과정대인조성적손해,시일충안전고효적상료장치.
In order to solve the problem of straw crusher automatic feeding, we design a new straw stalk feeding manipu-lator device, precision and automation level of the straw crusher is improved.The device using canny operator of straw image segmentation, and the weak edge extraction, extracted information to manipulator PC processing center, a control action of the manipulator's instructions, and a closed-loop control system based on PLC, completes the straw stalk feed-ing automatic control of the manipulator, and optimize the servo motor start-stop time, improve loading efficiency.The last straw is for device feeding experiment, the experimental results can be seen that,compared with the artificial feeding, use of automatic control of the manipulator can improve work efficiency and improve the quality of the shattering of the straw, and can reduce the feeding process of damage,which is a safe and efficient feeding device.