CN108077952A - A kind of intelligence is peeled the cutting process of robot - Google Patents
A kind of intelligence is peeled the cutting process of robot Download PDFInfo
- Publication number
- CN108077952A CN108077952A CN201711040053.6A CN201711040053A CN108077952A CN 108077952 A CN108077952 A CN 108077952A CN 201711040053 A CN201711040053 A CN 201711040053A CN 108077952 A CN108077952 A CN 108077952A
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- test point
- axis
- control system
- turntable
- fruit
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Classifications
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N7/00—Peeling vegetables or fruit
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J17/00—Household peeling, stringing, or paring implements or machines
- A47J17/14—Machines for peeling
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J17/00—Household peeling, stringing, or paring implements or machines
- A47J17/14—Machines for peeling
- A47J17/16—Peeling machines with rotary fruit-holding spindles and fixed or movable peeler blades
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- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Polymers & Plastics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
It peels the invention discloses a kind of intelligence the cutting process of robot, the present invention includes the following steps：A, when robot starts, control system controls two clamps to open, and performs step b；B, fruit is placed on turntable, when start button is triggered, control system controls two clamps stitched together, performs step c.The cutting process fruit cutting process of the present invention of the present invention in clamp by setting multiple contacts, when fruit is put into clamp, shorten fruit compressing contact, the distance of shortening can be sent in control system by the range sensor set in contact forms test point, control system marks each test point in a coordinate system, then automatic centering is carried out by the coordinate pair fruit for the test point for taking symmetrical contact, control system can also be detected centering result, and the result of centering is influenced to avoid " pimple " prominent on fruit.
Description
Technical field
It peels the present invention relates to a kind of intelligence the cutting process of robot.
Background technology
Typically now people can by fruit knife cutting water pericarp, but such mode not only operate it is cumbersome,
And easily people is damaged, do not pay attention to slightly will fruit knife will scratch hand.Also occur currently on the market self-action and
The device of the skin that peels a fruit of auto-manual system, but these devices are often according to fixed mold, by fruit put in a mold into
Row rotation is peeled, and the pulp that cutting can be caused when this cutting mode is to peeling is more, be easy to cause serious waste.
The content of the invention
The technical problem to be solved by the present invention is to：The good intelligence that provides a kind of cutting effect is peeled the cutting side of robot
Method reduces waste.
To solve the above-mentioned problems, the present invention includes the following steps：A, when robot starts, control system controls two folders
Body opens, and performs step b；B, fruit is placed on turntable, when start button is triggered, control system controls two clamps to spell
It is combined, performs step c；When c, defining telescopic rod in the raw, sent apart from inductive pick-up to control system
Data are zero, telescopic rod to the direction of shortening move when, the data sent apart from inductive pick-up to control system are telescopic rod
Shortening value, every telescopic rod transmitted data in control system apart from inductive pick-up, control system will each away from
Detecting distance from sensor is labeled in as test point in virtual coordinate system, and virtual coordinate system is with the center of the upper surface of turntable
For zero point, using the upper surface where turntable as the X/Y plane of virtual coordinate system, using the pivot of turntable as the Z of virtual coordinate system
Axis performs step d；D, X-axis centering is handled：D1, control system take the point A in X-axis increment maximum in all test points, take with
The test point A ' for the telescopic rod that the telescopic rod of test point A is centrosymmetric on Z axis calculates test point A and test point A ' in X
The difference C of increment on axis when C is positive number, performs step d2, when C is negative, performs step d3；D2, close test point A
X-axis centering push rod fruit is promoted to promote C/2 distances to the direction of elongation, perform step e；D3, the X-axis pair close to test point A '
Middle push rod promotes fruit to promote C/2 distances to the direction of elongation, performs step e；E, X-axis centering is corrected：Control system takes several
It is a to be different from test point A, the test point E of test point A ', and it is in center on Z axis to be taken respectively with the telescopic rod of these test points E
The test point E ' of symmetrical telescopic rod calculates the difference of test point E and increments of the test point E ' in X-axis, if at difference respectively
When the data accounting in setting range is less than setting ratio, step f is performed, if difference is in the data accounting in setting range
During higher than setting ratio, step g, f, the data for the above-mentioned test point A that erases, and the d that repeats the above steps are performed；G, at Y-axis centering
Reason：G1, control system take the point B in Y-axis increment maximum in all test points, and take the telescopic rod with test point B on Z axis
The test point B ' for the telescopic rod being centrosymmetric calculates the difference D of test point B and increments of the test point B ' in Y-axis, if D is
During positive number, step g2 is performed, if D is negative, performs step g3；G2, the Y-axis centering push rod close to test point B promote fruit
D/2 distances are promoted to the direction of elongation, perform step h；g3：Fruit is promoted to elongation close to the Y-axis centering push rod of test point B '
Direction promote D/2 distances, perform step h；H, Y-axis centering is corrected：Control system takes several to be different from test point B and detection
The test point F of point B ', and the test point for the telescopic rod that the telescopic rod with these test points F is centrosymmetric on Z axis is taken respectively
F ' calculates the difference of test point F and increments of the test point F ' in Y-axis, if the data accounting that difference is in setting range is low
When ratio is set, step i is performed, if the data accounting that difference is in setting range is higher than setting ratio, performs step
j；i：Erase the data of above-mentioned test point B, and the g that repeats the above steps；j：The driving motor of the upper turntable of control system control rotates
Fork body is driven to move down, until when the pressure sensor sensing on fork body reaches setting pressure value, is turned in control system control
The driving motor of the driving motor of platform and lower turntable moves simultaneously, drive two fork bodies move toward one another and move setting away from
From fork body is inserted into fruit, performs step k；K, control system randomly chooses a test point G, is located at test point G same
Vertical plane and be sequentially connected positioned at the test point of same half ladle bowl by certain algorithm with round and smooth curve, with the curve
To the curve movement for increasing setting thickness of cutting formation cutter close to the direction of fruit, control system control turntable is rotated and controlled
Cutter is cut according to curve movement.
For the ease of setting intelligent robot of peeling, robot of the present invention includes control system, turntable and two
The clamp of tubbiness is spliced into, described two clamps are half ladle bowl, and being internally provided with for two and half ladle bowls is arranged as
If arranging the dry contact of arrangement, the contact is telescopic rod, and the length direction of the telescopic rod is along the radial direction side of half ladle bowl
To one end of telescopic rod is fixed on the medial surface of half ladle bowl, is provided in telescopic rod apart from inductive pick-up, the turntable
Including upper turntable and lower turntable, the upper turntable is located at the top of two clamps, and the lower turntable is located at two clamps
Bottom, the pivot center of upper turntable and lower turntable pivot center are conllinear with the central axis for the staving that two clamps are spliced into,
Fruit fixing device is both provided in the middle part of the middle part of upper turntable and lower turntable, the fruit fixing device includes fork body and drive
The driving part of moving fork body movement, is additionally provided with pressure sensor on the fork body of upper turntable, is also set between described two clamps
The cutter for having and moving up and down with Telescopic is equipped with, two X-axis centering push rods and two Y are additionally provided in half ladle bowl
Shaft assignment push rod, when two and half ladle bowls are stitched together, described two X-axis centering push rods are located on the same line, institute
The two Y-axis centering push rods stated are located on the same line, and the X-axis centering push rod and Y-axis centering push rod are perpendicular.
It is inserted into for the ease of fork body in fruit, fork body of the present invention includes head and bar portion, the head
Cross section from front to back is edge gradually increased cross, and the top of the fork body of upper turntable is blunt nosed, the fork body of lower turntable
Top for tip, the driving part includes driving motor and the drive gear being connected with driving motor, the fork body
Bar portion on be provided with the rack that connection is engaged with drive gear, the pressure sensor on the fork body of the upper turntable is arranged on
On the top surface on head.
For the ease of the displacement distance of control fork body, driving motor of the present invention uses stepper motor.
For the ease of controlling cutter, cutter of the present invention includes driving cutter and is integrally moved up and down along the edge of clamp
The first moving parts and driving blade along clamp the second moving parts for moving of radial direction.
The beneficial effects of the invention are as follows：The cutting process fruit cutting process of the present invention of the present invention passes through in clamp
Interior to set multiple contacts, when fruit is put into clamp, fruit compressing contact is shortened, the range sensor energy set in contact
The enough distance of shortening is sent in control system forms test point, and control system marks each test point in a coordinate system,
Then automatic centering is carried out by the coordinate pair fruit for the test point for taking symmetrical contact, control system can also be to centering result
It is detected, to avoid " pimple " influence centering prominent on fruit as a result, after adjusting in fruit pair, passes through and control fork
Body is inserted into fruit, and turntable drives fruit to be rotated with turntable by pitching body, and cutter is by definite curve movement movement, to fruit
It is cut, to reduce pulp waste.
Description of the drawings
Fig. 1 is the schematic elevation view of the present invention；
Fig. 2 is the structure diagram that two clamps of the present invention open；
Fig. 3 is N-N schematic cross-sectional views in Fig. 1；
Fig. 4 is the arrangement schematic diagram of centering push rod；
Fig. 5 is the structure diagram of upper lower fork body
Fig. 6 is the original state schematic diagram when fruit of the present invention is put into；
Fig. 7 is schematic diagram after X-axis centering adjustment；
Fig. 8 is schematic diagram after Y-axis centering adjustment.
Wherein：1st, cutter, 2, half ladle bowl, 3, turntable, 4, telescopic rod, 5, X-axis centering push rod, 6, Y-axis centering push rod, 7, fork
Body, 3-1, upper turntable, 3-2, lower turntable.
Specific embodiment
Intelligent fruit cutting machines people as shown in Figs. 1-5, the robot include control system, turntable 3 and two
It is spliced into the clamp of tubbiness, described two clamps are half ladle bowl 2, and described two and half barrels of 2 shells are internally provided in a row
If the dry contact arranged in column, the contact is telescopic rod 4, and the length direction of the telescopic rod 4 is along the footpath of half ladle bowl 2
To direction, one end of telescopic rod 4 is fixed on the medial surface of half ladle bowl 2, is provided in telescopic rod 4 apart from inductive pick-up, institute
The turntable 3 stated includes upper turntable 3-1 and lower turntable 3-2, and the upper turntable 3-1 is located at the top of two clamps, under described
Turntable 3-2 is located at the bottom of two clamps, the pivot center of upper turntable 3-1 and lower turntable 3-2 pivot centers with two clamps
The central axis for the staving being spliced into is conllinear, and fruit fixation dress is both provided in the middle part of the middle part of upper turntable 3-1 and lower turntable 3-2
It puts, the driving part that the fruit fixing device includes fork body 7 and fork body 7 is driven to move, on the fork body 7 of upper turntable 3-1 also
Pressure sensor is provided with, fruit fixing device is provided in the rotation, tool is additionally provided between described two clamps
Have to move up and down and include what driving cutter was integrally moved up and down along the edge of clamp with the cutter of Telescopic 1, the cutter
The second moving parts that the radial direction of first moving parts and driving blade along clamp moves.It is also set in half ladle bowl 2
Two X-axis centering push rods 5 and two Y-axis centering push rods 6 are equipped with, when two and half ladle bowls 2 are stitched together, described two X
Shaft assignment push rod 5 is located on the same line, and described two Y-axis centering push rods 6 are located on the same line, the X-axis
Centering push rod 5 and Y-axis centering push rod 6 are perpendicular.
As shown in figs 6-8, the fruit cutting process of this implementation a kind of intelligent fruit cutting machines people, including as follows
Step：
A, when robot starts, control system controls two clamps to open, and performs step b；
B, fruit is placed on turntable 3, when start button is triggered, control system controls two clamps stitched together, holds
Row step c；
When c, defining telescopic rod 4 in the raw, the data sent apart from inductive pick-up to control system are zero, telescopic rod
4 to the direction of shortening move when, data from inductive pick-up to control system that is sent apart from for telescopic rod 4 shortening value, every
Telescopic rod 4 is transmitted data in control system apart from inductive pick-up, and control system is by the inspection of each range sensor
Ranging is labeled in from as test point in virtual coordinate system, and virtual coordinate system is using the upper surface center of turntable 3 as zero point, with turntable
Upper surface where 3 is the X/Y plane of virtual coordinate system, using the pivot center of turntable 3 as the Z axis of virtual coordinate system, performs step
d；Every telescopic rod 4 is record in control system compared with the angle excursion of XZ planes and the water apart from turntable of telescopic rod 4
The height in average face, distance of the telescopic rod 4 apart from the horizontal plane of turntable are the 4 corresponding test point of telescopic rod on Z axis
Coordinate according to orthographic projection rule, according to the angle of inclination of telescopic rod 4 and stroke, can determine that the telescopic rod 4 is corresponding respectively
Coordinate of the test point in X-axis and the coordinate in Y-axis；
D, X-axis centering is handled：D1, control system take the point A in X-axis increment maximum in all test points, take with test point A's
The test point A ' for the telescopic rod 4 that telescopic rod 4 is centrosymmetric on Z axis calculates test point A and test point A ' increments in X-axis
Difference C, when C is positive number, perform step d2, when C is negative, perform step d3；D2, the X-axis centering close to test point A
Push rod 5 promotes fruit to promote C/2 distances to the direction of elongation, performs step e；D3, the X-axis centering push rod 5 close to test point A '
Fruit is promoted to promote C/2 distances to the direction of elongation, performs step e；
E, X-axis centering is corrected：Control system take several be different from test point A, the test point E of test point A ', and take respectively with
The test point E ' for the telescopic rod 4 that the telescopic rod 4 of these test points E is centrosymmetric on Z axis calculates test point E and inspection respectively
The difference of increments of the measuring point E ' in X-axis if the data accounting that difference is in setting range is less than setting ratio, performs step
Rapid f if the data accounting that difference is in setting range is higher than setting ratio, performs step g；
F, erase the data of above-mentioned test point A, and the d that repeats the above steps；Centering rectification step and the principle phase of above-mentioned steps d
Together, by taking multigroup testing site, and the symmetric points of testing site are taken, calculates testing site and with the corresponding symmetric points in testing site in X
Whether the increment on axis identical or whether difference is in the scope in river, and big multigroup data deviation is larger, illustrates institute in step b
The data point taken does not have representativeness, should give up and choose test point again, and so setting can avoid what is protruded on fruit
" pimple " influences fruit centering；
G, Y-axis centering is handled：G1, control system take the point B in Y-axis increment maximum in all test points, and take and test point B
The test point B ' of telescopic rod 4 that is centrosymmetric on Z axis of telescopic rod 4, calculate test point B and test point B ' in Y-axis
The difference D of increment if D is positive number, performs step g2, if D is negative, performs step g3；G2, the Y-axis close to test point B
Centering push rod 6 promotes fruit to promote D/2 distances to the direction of elongation, performs step h；g3：It is pushed away in the Y-axis pair of test point B '
Bar 6 promotes fruit to promote D/2 distances to the direction of elongation, performs step h；
H, Y-axis centering is corrected：Control system take several be different from test point B and test point B ' test point F, and take respectively with
The test point F ' for the telescopic rod 4 that the telescopic rod 4 of these test points F is centrosymmetric on Z axis calculates test point F and test point
The difference of increments of the F ' in Y-axis if the data accounting that difference is in setting range is less than setting ratio, performs step i,
If the data accounting that difference is in setting range is higher than setting ratio, step j is performed；
i：Erase the data of above-mentioned test point B, and the g that repeats the above steps；Principle is identical to neutralizing correction with above-mentioned X-axis；
j：The driving motor of the upper turntable 3-1 of control system control rotates driving fork body 7 and moves down, until the pressure on fork body 7
When sensor sensing reaches setting pressure value, the driving motor of the upper turntable 3-1 of control system control and the driving electricity of lower turntable 3-2
Machine moves simultaneously, two fork bodies 7 is driven to move toward one another and move setpoint distance, fork body 7 is inserted into fruit, performs step k；
k：Control system randomly choose a test point G, with test point G be located at same vertical plane and be located at same half ladle bowl
2 test point is sequentially connected by certain algorithm with round and smooth curve, increases setting to close to the direction of fruit with the curve
Thickness of cutting forms the curve movement of cutter 1, and control system control turntable 3 rotates and cutter 1 is controlled to be cut according to curve movement.
After in, it is meant that fruit is placed on the centre position of turntable 3, and control system control fixing device consolidates fruit
Fixed, control system determines a cutting camber line being consistent with fruit outer surface, and turntable 3 rotates, and cutter 1 is according to cutting camber line rail
Mark cutting fruit.
Claims (5)
- The cutting process of robot 1. a kind of intelligence is peeled, it is characterised in that：Include the following steps：A, when robot starts, control System processed controls two clamps to open, and performs step b；B, fruit is placed on turntable, when start button is triggered, control system System two clamps of control are stitched together, perform step c；When c, defining telescopic rod in the raw, apart from inductive pick-up To control system send data be zero, direction from telescopic rod to shortening move when, apart from inductive pick-up to control system send out The data sent are the shortening value of telescopic rod, and every telescopic rod is transmitted data in control system apart from inductive pick-up, The detecting distance of each range sensor is labeled in as test point in virtual coordinate system by control system, virtual coordinate system with turn The center of the upper surface of platform is zero point, using the upper surface where turntable as the X/Y plane of virtual coordinate system, in the rotation of turntable The heart is the Z axis of virtual coordinate system, performs step d；D, X-axis centering is handled：D1, control system are taken in all test points in X-axis The point A of increment maximum takes the test point A ' for the telescopic rod being centrosymmetric with the telescopic rod of test point A on Z axis, calculates inspection The difference C of measuring point A and test point A ' increments in X-axis when C is positive number, perform step d2, when C is negative, perform step d3；D2, the X-axis centering push rod close to test point A promote fruit to promote C/2 distances to the direction of elongation, perform step e；D3, lean on The X-axis centering push rod of nearly test point A ' promotes fruit to promote C/2 distances to the direction of elongation, performs step e；E, X-axis centering is rectified Just：Control system takes several to be different from test point A, the test point E of test point A ', and takes stretched with these test points E respectively The test point E ' for the telescopic rod that contracting bar is centrosymmetric on Z axis calculates test point E and increasings of the test point E ' in X-axis respectively The difference of amount if the data accounting that difference is in setting range is less than setting ratio, performs step f, is set if difference is in When determining the data accounting in scope higher than setting ratio, step g, f, the data for the above-mentioned test point A that erases are performed, and are repeated above-mentioned Step d；G, Y-axis centering is handled：G1, control system take the point B in Y-axis increment maximum in all test points, and take and detect The test point B ' for the telescopic rod that the telescopic rod of point B is centrosymmetric on Z axis calculates test point B and test point B ' in Y-axis Increment difference D, if D is positive number, perform step g2, if D is negative, perform step g3；G2, the Y close to test point B Shaft assignment push rod promotes fruit to promote D/2 distances to the direction of elongation, performs step h；g3：Close to the Y-axis centering of test point B ' Push rod promotes fruit to promote D/2 distances to the direction of elongation, performs step h；H, Y-axis centering is corrected：Control system takes several Different from the test point F of test point B and test point B ', and it is in center pair on Z axis to be taken respectively with the telescopic rod of these test points F The test point F ' of the telescopic rod of title calculates the difference of test point F and increments of the test point F ' in Y-axis, if difference is in setting In the range of data accounting less than setting ratio when, perform step i, set if the data accounting that be in setting range of difference is higher than During fixed-ratio, step j is performed；i：Erase the data of above-mentioned test point B, and the g that repeats the above steps；j：Turn in control system control The driving motor of platform rotates driving fork body and moves down, when the pressure sensor sensing on fork body, which reaches, sets pressure value, The driving motor of the upper turntable of control system control and the driving motor of lower turntable move simultaneously, drive two fork bodies move toward one another and The distance of setting is moved, fork body is inserted into fruit, performs step k；K, control system randomly chooses a test point G, with Test point G be located at same vertical plane and positioned at same half ladle bowl test point by certain algorithm with round and smooth curve according to Secondary connection, with the curve to the curve movement close to the direction of fruit increase setting thickness of cutting formation cutter, control system control Turntable processed rotates and control cutter is cut according to curve movement.
- The cutting process of robot 2. intelligence according to claim 1 is peeled, it is characterised in that：The robot includes Control system, turntable and two clamps for being spliced into tubbiness, described two clamps are half ladle bowl, two and half ladle bowls If be internally provided with the in a row dry contact arranged in column, the contact is telescopic rod, the length direction of the telescopic rod Along the radial direction of half ladle bowl, one end of telescopic rod is fixed on the medial surface of half ladle bowl, and distance perspective is provided in telescopic rod Inductive sensing device, the turntable include upper turntable and lower turntable, and the upper turntable is located at the top of two clamps, under described Turntable is located at the bottom of two clamps, the bucket that the pivot center of upper turntable and lower turntable pivot center are spliced into two clamps The central axis of body is conllinear, is both provided with fruit fixing device in the middle part of the middle part of upper turntable and lower turntable, the fruit is consolidated Determining device includes fork body and the driving part of driving fork body movement, and pressure sensor is additionally provided on the fork body of upper turntable, described Two clamps between be additionally provided with cutter with Telescopic is moved up and down, be additionally provided with two in half ladle bowl X-axis centering push rod and two Y-axis centering push rods, when two and half ladle bowls are stitched together, described two X-axis centering push rod positions In on same straight line, described two Y-axis centering push rods are located on the same line, the X-axis centering push rod and Y-axis pair Middle push rod is perpendicular.
- The cutting process of robot 3. intelligence according to claim 2 is peeled, it is characterised in that：The fork body includes Head and bar portion, the cross section of the head from front to back are the gradual increased cross in edge, the top of the fork body of upper turntable Portion is blunt nosed, and the top of the fork body of lower turntable is tip, and the driving part includes driving motor and is connected with driving motor Drive gear, the rack that connection is engaged with drive gear, the fork of the upper turntable are provided in the bar portion of the fork body Pressure sensor on body is arranged on the top surface on head.
- The robot 4. intelligence according to claim 3 is peeled, it is characterised in that：The driving motor is using stepping electricity Machine.
- The robot 5. intelligence according to any one of claim 1-3 is peeled, it is characterised in that：The cutter includes The first moving parts and driving blade that driving cutter is integrally moved up and down along the edge of clamp are moved along the radial direction of clamp The second moving parts.
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| CN201711040053.6A CN108077952A (en) | 2017-10-30 | 2017-10-30 | A kind of intelligence is peeled the cutting process of robot |
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| CN201711040053.6A CN108077952A (en) | 2017-10-30 | 2017-10-30 | A kind of intelligence is peeled the cutting process of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109170949A (en) * | 2018-10-24 | 2019-01-11 | 许军 | A kind of beverage processing watermelon device for peeling |
| CN111060528A (en) * | 2019-12-31 | 2020-04-24 | 塔里木大学 | Optical detection system and detection method for fruit defect development rule |
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| CN204363705U (en) * | 2015-01-07 | 2015-06-03 | 路官正 | A kind of electric fruit peeler |
| CN204617857U (en) * | 2015-04-17 | 2015-09-09 | 吴翰哲 | Semi-automatic fruit skiving machine |
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| CN109170949A (en) * | 2018-10-24 | 2019-01-11 | 许军 | A kind of beverage processing watermelon device for peeling |
| CN111060528A (en) * | 2019-12-31 | 2020-04-24 | 塔里木大学 | Optical detection system and detection method for fruit defect development rule |
| CN111060528B (en) * | 2019-12-31 | 2023-02-07 | 塔里木大学 | Optical detection system and detection method for fruit defect development rule |
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