CN107051902A - A kind of fine graded feeding of modified carrot computer vision and blanking device - Google Patents
A kind of fine graded feeding of modified carrot computer vision and blanking device Download PDFInfo
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- CN107051902A CN107051902A CN201611268400.6A CN201611268400A CN107051902A CN 107051902 A CN107051902 A CN 107051902A CN 201611268400 A CN201611268400 A CN 201611268400A CN 107051902 A CN107051902 A CN 107051902A
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- carrot
- connecting rod
- blanking device
- classification
- computer vision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
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- Sorting Of Articles (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The invention discloses a kind of fine graded feeding of modified carrot computer vision and blanking device, the device includes feeder and blanking device, wherein feeding device is the step feeder of a push-plate type, blanking device is a flat rubber belting formula pneumatic classification machine, the step feeder core of push-plate type is made up of the push pedal of two groups of fixations, under the drive of eccentric wheel, power is provided for push pedal by connecting rod, makes carrot ladder feeding；Flat rubber belting formula pneumatic classification machine core is made up of plane conveyer belt, 8 implication rifles, and when long carrot is moved under the drive of plane conveyer belt at corresponding classification mouth, air gun is blown, and fruits and vegetables are blown into corresponding classification mouth.The handling equipment coordinates V-arrangement conveyer belt, computer vision system and control system to use, and improves efficiency and effectiveness of classification.Realize the automation classification of carrot.
Description
Technical field
The invention discloses a kind of fine graded feeding of modified carrot computer vision and blanking device, specifically,
It is related to a kind of grading plant for carrying out automatic classification to carrot by obtaining carrot external appearance characteristic.
Background technology
Farm products area is sold, and is favorably improved the market competitiveness of agricultural product and is increased economic benefit, and China at present
Some agricultural product manufacturing and processing enterprises and foreign trade company, artificial progress is relied primarily on to farm products area.However, with
Expanding economy, the raising of labor cost, in addition, the low factor of manual grading skill efficiency are all directly or indirectly improved
The production cost of enterprise, profit cannot be greatly improved, and be not suitable for large-scale production and promoted.
Farm products area is the core link of agricultural product commercialized treatment after adopting, at present both at home and abroad also occur in that some for
Ball-type fruit, such as apple, citrus carry out the report of detection classification using computer vision methods, and such as Zhejiang University answers justice is refined to open
The automation grading production line suitable for apple has been sent out, national science and technology invention second prize is obtained, but these equipment are not appropriate for
The automation classification of the strip fruits and vegetables such as carrot, the classification to carrot is main manually at present, also has only in accordance with the thick of carrot
Degree, the machinery being substantially classified to carrot with the roller bearing of different gap, but be difficult to accomplish automation, and corresponding industry with
Trade standard（NYT 1983-2011 carrots grade specifications or SBT 10450-2007 carrots purchase and sale class requirement）It is defined
Carrot grade classification be based on length, and be in actually sorting based on weight, in addition also many product of concrete regulation
Matter index, such as blue or green head, length, cracking, fibrous root and bending, are realized, it is impossible to complete simultaneously because these features are not energetic
The Accurate Classification of multiple indexs.
In view of at this stage to carrot current situation of classification, it is desirable to provide a kind of modified carrot computer vision is finely divided
Level feeding and blanking device, while can carrying out fine graded according to weight and surplus ratio to carrot, additionally it is possible to according to outward appearance
Substandard products are removed by defect, realize becoming more meticulous and automating for carrot classification.
The content of the invention
The purpose of the present invention primarily directed to the not enough there is provided one kind is simple to operate of above mentioned problem, it is that multiple features quantify, point
The efficient carrot grading plant of level.
Above-mentioned purpose is achieved through the following technical solutions, and is comprised the following steps：
A kind of fine graded feeding of modified carrot computer vision and blanking device, the device includes feeder and blanking is filled
Put, wherein feeding device is the step feeder of a push-plate type, blanking device is a flat rubber belting formula pneumatic classification machine, the feeding
V-arrangement conveyer belt is coordinated to be used with computer vision system control system with blanking device, wherein step feeder is defeated installed in V-arrangement
Band seating side is sent, V-arrangement conveying end of tape connection lamp box, planar band classification mouth is arranged on the other end of lamp box, described lamp box
Camera is inside installed, camera is connected with computer switch board, switch board connection air gun realizes control.
Wherein：
Push-plate type step feeder is winnowed with a dustpan beanstalk, the spacing oblique chute 1 in side, ladder scraping wings group 1, ladder scraping wings by frame, vibrations
2 are organized, formula connecting rod 1 is turned, turns formula connecting rod 2, connecting rod 1, connecting rod 2, eccentric wheel, motor, side limit sliding chutes 2, fixed plate 1, fixation
Plate 2, the band that jumps are constituted, and the step feeder core of described push-plate type is made up of the push pedal of two groups of fixations, in eccentric wheel
Under drive, power is provided for push pedal by connecting rod, makes carrot ladder feeding, particularly, ladder scraping wings middle can add twice to cut
Plate, is divided into 3 areas, while realizing the single fruit feeding of 3 fruits.
Two groups of ladder scraping wings of step feeder of push-plate type are relatively fixed by two groups of fixed plates, and cross arrangement is being turned
Formula connecting rod 1 is connected with turning formula connecting rod 2 by straight connecting rod 1, wherein one section is fixed in frame, the other end is fixed in fixed plate,
Connecting rod 2 is connected in the turning joint for turning formula connecting rod 2, and the other end is connected on eccentric wheel, under the drive of eccentric wheel, turns formula company
Bar is stretched and bent respectively, drives two groups of ladder pusher version stepwise movements, and carrot ladder in pusher version rises, and realizes single fruit
Upper fruit.
Flat rubber belting formula pneumatic classification machine is classified mouth group by plane belt, 8 air guns, 8 certified products classification mouths and a substandard products
Into described flat rubber belting formula pneumatic classification machine core is made up of plane conveyer belt, 8 implication rifles, when carrot drives in plane conveyer belt
Under move at corresponding classification mouth, computer control magnetic valve is opened, and air gun is blown, and carrot is blown into opposite and divided accordingly
In level mouth.The distribution of classification mouth is smaller grade closer to lamp box, and bigger carrot is closer to substandard products mouthful.
Computer vision system is first judged carrot substandard products according to surface defect by gathering carrot image, is led to
Cross linear motion to flow out from substandard products mouthful, carrot is divided into S, M, L, 2L by the weight being then fitted according to image area according to weight
It is divided into four grades, the road radish of same grade is quantified as two specifications of tubbiness type and slender type, 8 further according to length-width ratio
Grade is followed successively by：S is elongated, S tubbiness, M elongated, M tubbiness, L elongated, L tubbiness, 2L are elongated, 2L tubbiness, can also set as needed
Put corresponding classification mouth.
Carrot is when moving to line-scan digital camera front end, and line-scan digital camera gathers a two field picture, is particularly 2048*2 pixels,
The visual field whether carrot enters camera is judged by being summed to pixel count gray value, if into visual field, starting timing, and open
Begin to preserve two field picture, terminate when gray value is less than some setting value, all two field pictures are merged into a secondary complete image, on
It is transmitted to computer to be judged, the result of processing is transmitted to corresponding magnetic valve by computer by slave computer, passes through initial time
Opened with the corresponding air gun of motion delays time to control, the carrot of respective level specification is blown out to be classified accordingly it is intraoral.
The band that jumps is arranged on the end for shaking beanstalk of winnowing with a dustpan, and jump band pumping scraping wings, is changed into left and right fortune
It is dynamic, when carrot vertically drop jump take when, carrot is shaken, is allowed to level by the side-to-side movement in the presence of the band that jumps,
Improve fruit efficiency.The power set that jump are arranged on vibrations and winnowed with a dustpan the lower section of beanstalk, by fixed block, the pulley of ladder scraping wings group 1,
The pulley of ladder scraping wings group 2, and steel wire rope composition, steel wire rope connect the two ends for the band that jumps, and the version rise and fall of ladder pusher drive
Two groups of pulleys replace rise and fall, alternately pull steel wire rope so that jump band horizontal reciprocating movement, plays the effect jumped.
The present invention effect be：By frequency conversion, pusher version upper fruit per second 2.3 times, three passages fruit 6.9 in theory per second
Individual, fruit rate is 60%-70% on machine actual average, upper fruit per second more than 4, average 250 grams or so of carrot, according to one day
10 hours workloads, day processing is handled more than about 35 tons of carrots, is matched with existing cleaning machine day flushing dose.It is simultaneously this
Device effectively prevent the subjectivity of manual grading skill, be easy to regulation to calibrate, easy to operate and without any environmental pollution.By this hair
Bright above-mentioned technical proposal, described carrot classification equipment configuration is rationally simple, manufactures easily and cost is low, operation letter
It is single, and the intelligence classification of carrot can be efficiently realized, the defect of the subjective judgement of artificial screening is overcome, labor can be saved
Power cost, also has good application value while equipment Market competitiveness is improved.
Brief description of the drawings
Fig. 1 is that whole device of the present invention connects top view.
Fig. 2 is that planar band of the present invention is classified side view.
Fig. 3 is planar band grader top view of the present invention.
Fig. 4 is planar band grader front view of the present invention.
Fig. 5 is that the present invention jumps with mechanism front view.
1.1st, step feeder, 1.2, V-arrangement conveyer belt, 1.3, computer switch board, 1.4, lamp box and camera,
1.5th, planar band classification mouth.
2.1st, frame, 2.2, vibrations winnow with a dustpan beanstalk, 2.3, the spacing oblique chute 1,2.4 in side, ladder scraping wings group 1,2.5, ladder
Scraping wings group 2,2.6, turn formula connecting rod 1,2.7, turn formula connecting rod 2,2.8, connecting rod 1,2.9, connecting rod 2,2.10, eccentric wheel, 2.11,
Motor, 2.12, side limit sliding chutes 2,2.13, fixed plate 1,2.14, fixed plate 2,2.15, jump band.
3.1st, plane belt, 3.2,1# air guns, 3.3,2# classification mouths, 3.4,3# air guns, 3.5,4# classification mouths, 3.6,
5# air guns, 3.7,6# classification mouths, 3.8,7# air guns, 3.9,8# classification mouths, 3.10,2# air guns, 3.11,1# classification mouths, 3.12,
4# air guns, 3.13,3# classification mouths, 3.14,6# air guns, 3.15,5# classification mouths, 3.16,8# air guns, 3.17,7# classification mouths,
3.18th, substandard products classification mouth.
4.1st, bend pipe, 4.2, plane belt, 4.3, cucurbit radish, 4.4, magnetic valve, 4.5, classification mouth.
Embodiment
The embodiment that the present apparatus carries out intelligent classification to carrot is described below in conjunction with accompanying drawing.
Embodiment 1, according to Fig. 1-4：
When carrying out carrot classification, carrot 4.3 is poured into 1.1 push-plate type feedings by the carrot 4.3 after cleaning by feeder
The vibrations of machine are winnowed with a dustpan on beanstalk 2.2, and the horizontal positioned in the case where the band 2.15 that jumps is acted on, motor 2.11 is rotated with movable eccentric wheel 2.10, led to
The pulling of connecting rod 2.9 is crossed, formula connecting rod 2.6 is turned and turns formula connecting rod 2.7 and alternately stretch and bend under the support of connecting rod 2.8, drive
It is fixed on fixed plate 1（2.3）On ladder scraping wings group 1（2.4）Be fixed on fixed plate 2（2.12）On ladder scraping wings group
2（2.5）, the limit sliding chutes 1 in side（2.13）With side limit sliding chutes 2（2.14）It is spacing under, alternately raising and lowering.Hu Luo
Foretell（4.3）Ladder rises in the presence of thrust and gravity, and level is fallen when moving to end, falls and is passed in two rectangular V-types
Send and take, transmission belt is travelled forward with substantially 4m/s speed, drive carrot to enter lamp box 1.4, carrot is when entering lamp box
Line-scan digital camera sees whether carrot enters viewing field of camera by gathering a two field picture, realizes that frame triggering is taken pictures, and start timing, lamp
The camera installed in case 1.4 starts the carrot image in collection motion, and image is passed into computer 1.3, computer root
According to carrot image, image procossing is carried out, judges whether it is substandard products by surface defect, weight is fitted according to area to certified products Carrot Roots
Amount, is divided into four grades S, M, L, 2L by carrot, carrot then is divided into elongated and two specifications of tubbiness according to length-width ratio, altogether
8 control signals are formed, carrot moves to plane conveyer belt（3.1,4.3）During relevant position, computer switch board passage time
The magnetic valve 4.4 of delay control air gun 4.1, carrot is blown in corresponding classification mouth, the small carrot of weight first blows out, weight
Blown out after big carrot, it is that the control time of the smaller needs of carrot is more accurate, carrot run duration why so to arrange
It is more long more be difficult to control to.Substandard products carrot is slipped in substandard products classification mouth 3.18 automatically.Present invention prize carrot has quantified substandard products altogether
Specification and 8 certified products specifications, have 9 specifications, it is achieved thereby that screening and the place to go of substandard products carrot to certified products carrot
Become more meticulous classification.
Meanwhile, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it equally should be regarded as content disclosed in this invention.In addition, the present invention is not limited in above-mentioned embodiment
Detail, in the range of the technology design of the present invention, can carry out a variety of simple variants to technical scheme, these
Simple variant belongs to protection scope of the present invention.Protection scope of the present invention is defined by the claims.
Claims (7)
1. a kind of fine graded feeding of modified carrot computer vision and blanking device, the device include feeder and blanking
Device, wherein feeding device are the step feeders of a push-plate type, and blanking device is a flat rubber belting formula pneumatic classification machine, on this
Material and blanking device coordinate V-arrangement conveyer belt to be used with computer vision system control system, and wherein step feeder is arranged on V-arrangement
Conveyer belt seating side, V-arrangement conveying end of tape connection lamp box, planar band classification mouth is arranged on the other end of lamp box, described lamp
Camera is installed, camera is connected with computer switch board in case, switch board connection air gun realizes control.
2. requiring described a kind of fine graded feeding of modified carrot computer vision and blanking device according to right 1, it is special
Levy and be：The step feeder of described push-plate type by frame, vibrations winnow with a dustpan beanstalk, the spacing oblique chute 1 in side, ladder scraping wings group 1,
Ladder scraping wings group 2, turn formula connecting rod 1, turn formula connecting rod 2, it is connecting rod 1, connecting rod 2, eccentric wheel, motor, side limit sliding chutes 2, solid
Fixed board 1, fixed plate 2, the band that jumps are constituted, and the step feeder core of described push-plate type is made up of the push pedal of two groups of fixations,
Under the drive of eccentric wheel, power is provided for push pedal by connecting rod, makes carrot ladder feeding, particularly, ladder scraping wings can in
Between plus twice cut plate, be divided into 3 areas, while realizing the single fruit feeding of 3 fruits.
3. requiring described a kind of fine graded feeding of modified carrot computer vision and blanking device according to right 1, it is special
Levy and be：Described two groups of ladder scraping wings of push-plate type step feeder are relatively fixed by two groups of fixed plates, cross arrangement,
Turn formula connecting rod 1 and be connected with turning formula connecting rod 2 by straight connecting rod 1, wherein one section is fixed in frame, the other end is fixed on fixed plate
On, connecting rod 2 is connected in the turning joint for turning formula connecting rod 2, and the other end is connected on eccentric wheel, under the drive of eccentric wheel, is turned
Formula connecting rod is stretched and bent respectively, drives two groups of ladder pusher version stepwise movements, and carrot ladder in pusher version rises, realized
Fruit on single fruit.
4. requiring described a kind of fine graded feeding of modified carrot computer vision and blanking device according to right 1, it is special
Levy and be：Described flat rubber belting formula pneumatic classification machine is classified by plane belt, 8 air guns, 8 certified products classification mouths and a substandard products
Mouth composition, described flat rubber belting formula pneumatic classification machine core is made up of plane conveyer belt, 8 implication rifles, when carrot is in plane conveyer belt
Moved under drive at corresponding classification mouth, computer control magnetic valve is opened, and air gun is blown, and carrot is blown into opposite corresponding
Classification mouthful in, the distribution of classification mouth be smaller grade closer to lamp box, bigger carrot is closer to substandard products mouthful.
5. requiring described a kind of fine graded feeding of modified carrot computer vision and blanking device according to right 1, it is special
Levy and be：Described computer vision system is first judged carrot substandard products according to surface defect by gathering carrot image
Go out, flowed out by moving along a straight line from substandard products mouthful, the weight being then fitted according to image area by carrot according to weight be divided into S, M,
L, 2L points are four grades, and the road radish of same grade is quantified as into two specifications of tubbiness type and slender type further according to length-width ratio,
8 grades are followed successively by：S is elongated, S tubbiness, M elongated, M tubbiness, L elongated, L tubbiness, 2L are elongated, 2L tubbiness, can also be according to need
Corresponding classification mouth is set.
6. requiring described a kind of fine graded feeding of modified carrot computer vision and blanking device according to right 1, it is special
Levy and be：In described computer vision system, carrot is when moving to line-scan digital camera front end, and line-scan digital camera gathers a frame figure
Picture, is particularly 2048*2 pixels, the visual field whether carrot enters camera is judged by being summed to pixel count gray value, if entering
Enter visual field, then start timing, and start to preserve two field picture, terminate when gray value is less than some setting value, by all frame figures
As merging into a secondary complete image, it is uploaded to computer and is judged, the result of processing is transmitted to phase by computer by slave computer
The magnetic valve answered, is opened by initial time and the corresponding air gun of motion delays time to control, the carrot of respective level specification is blown out
It is intraoral to being classified accordingly.
7. described a kind of fine graded feeding of modified carrot computer vision and blanking device are required according to right 1, it is described
Jump band be characterized in that：The band that jumps is arranged on the end for shaking beanstalk of winnowing with a dustpan, and jump band pumping scraping wings, turns
Be changed into side-to-side movement, when carrot vertically drop jump take when, jump band in the presence of side-to-side movement, carrot is shaken
, level is allowed to, fruit efficiency is improved, the power set that jump are arranged on the lower section for shaking beanstalk of winnowing with a dustpan, by fixed block, stepped push
The pulley of flitch group 1, the pulley of ladder scraping wings group 2, and steel wire rope composition, steel wire rope connect the two ends for the band that jumps, ladder pusher version
Rise and fall, drive two groups of pulley alternating rise and fall, alternately pull steel wire rope so that jump band horizontal reciprocating movement, plays
The effect jumped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268400.6A CN107051902B (en) | 2016-12-31 | 2016-12-31 | Improved generation carrot computer vision is meticulous to grade material loading and unloader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611268400.6A CN107051902B (en) | 2016-12-31 | 2016-12-31 | Improved generation carrot computer vision is meticulous to grade material loading and unloader |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107051902A true CN107051902A (en) | 2017-08-18 |
| CN107051902B CN107051902B (en) | 2022-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611268400.6A Active CN107051902B (en) | 2016-12-31 | 2016-12-31 | Improved generation carrot computer vision is meticulous to grade material loading and unloader |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107961990A (en) * | 2017-12-27 | 2018-04-27 | 华侨大学 | A kind of building waste sorting system and method for sorting |
| CN108787488A (en) * | 2018-07-03 | 2018-11-13 | 浙江工业职业技术学院 | A kind of automatic sorting classification spool device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| Publication number | Publication date |
|---|---|
| CN107051902B (en) | 2022-10-11 |
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