System for topping and tailing lettuce heads using a camera-guided servo-controlled water knife

摘要

A system for trimming a lettuce head using a digital imaging system and cutting mechanism. The lettuce head is conveyed between a lower feed conveyor and an upper feed conveyor that is disposed a fixed distance over and substantially aligned with a lower feed conveyor. The digital imaging system is configured to capture an image of the lettuce head and determine a cutting profile using the image. The cutting mechanism is disposed over the lower feed conveyor and includes: a servo motor mechanically coupled to a drive shaft; an armature with a pivot end mounted to the drive shaft and a sweep end disposed a radial distance from the pivot end; a cutting nozzle, mounted to the sweep end of the armature, configured to trim the lettuce head; and servo-control circuitry configured to articulate the cutting nozzle through a cutting arc based on the cutting profile.