Integration of sorting system for contaminant removal from wool using a second computer

This paper presents integration of a mechatronic sorting system with a vision system for contaminant removal from wool using a second computer by two parallel data transmission methods. The used parallel data transmission methods include one using interrupt controlled Windows® callback functions and another which continuously checks INTRA and INTRB signals. The sorting system primarily consists of eight solenoid valves that direct compressed air streams to blow the contaminants away. After image processing, the high-resolution image is mapped to a low-resolution image with the spatial positions of moving contaminants on the conveyor. Then, the low-resolution image data are transmitted from the host computer to the second computer by either of the parallel data transmission methods. Finally, the second computer sends the received low-resolution image data to the solenoid valves in real time by synchronized interrupt data transmission mode. The experimental results demonstrate that the second computer can correctly receive the low-resolution image data from the host computer and accurately send the low-resolution image data to the sorting system, at the camera speed of around 1500 lines/s, and the conveyor speed of 20 m/min in real time. The successful integration of the sorting task using a second computer has a practical significance. This makes the use of a microcontroller to replace the second computer possible, which can complete more complex control tasks in real time.