Abstract:

With the increase in labor costs， using intelligent modern equipment to replace humans to complete a series of repetitive， boring， and even high-intensity labor is an important direction in current robot research. Sorting robots， as an important branch of agricultural robots， have good development potential. In order to replace manual， this article used the STM32 microcontroller， OpenMV machine vision module， and ESP32 microcontroller to design an intelligent fruit sorting robot so as to identify and sort fruits with different maturities and sizes. The OpenMV machine vision module collected the color and size information of the fruit， and judged whether the fruit was ripe. The STM32 microcontroller controlled the robot's movement and the robotic arm executed the corresponding sorting program to sort the fruit into the designated container. The ESP32 microcontroller uploaded the sorting data to the cloud. The robot used 3D software for structural design， established 3D models， and conducted simulation analysis during the design process. The simulation results indicated that sorting automation， informatization， and efficiency can be achieved to a certain extent. In the research， multiple and two sorting points were debugged on the physical object， and a total of 24 fruits were sorted. The success rate of fruit sorting reached 87.5%. The research results showed that the sorting robot can achieve precise sorting and achieve a certain degree of reliability and practicality， which can replace human beings to complete the work of precise fruit sorting.

Key words: STM32, OpenMV, intelligent sorting, ESP32, PID control, inverse kinematic analysis