【摘要】 提出了一种能实现准球形柑橘五向摄像时的快速翻转机构,使柑橘能以合适的位置和姿态呈现在摄像机的视场内。对柑橘的翻转过程进行了运动分析,给出了动力学解释;推导出柑橘在翻转过程中打滑情况下,转角相对误差变化率公式,保证计算机视觉系统能检测到柑橘的全部表面。更多还原

【Abstract】 An orange five-direction imaging and rotation installation based on real-time quality detection was designed. Oranges were rotaed 180° between each imaging that enables the imaging sytem to acquire full orange surface information. By modeling the orange as a sphere, motion and dynamics equations of the orange handling were established. Considering the orange slipping parameter, rotational errors due to the various orange diameters were estimated. Results showed that rotation parameters selection based on orange size variation would limit rotation error to the desired amount of roll.更多还原