CN108445003B - Fruit quality detection device and detection method - Google Patents
Fruit quality detection device and detection method Download PDFInfo
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- CN108445003B CN108445003B CN201810224277.0A CN201810224277A CN108445003B CN 108445003 B CN108445003 B CN 108445003B CN 201810224277 A CN201810224277 A CN 201810224277A CN 108445003 B CN108445003 B CN 108445003B
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- 238000001514 detection method Methods 0.000 title claims abstract description 59
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- 230000009286 beneficial effect Effects 0.000 description 10
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G01N21/88—Investigating the presence of flaws or contamination
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention relates to a fruit quality detection device, which comprises a speed reduction device, a photoelectric switch, at least three pairs of camera components and a control system, wherein the photoelectric switch and the camera components are connected with the control system; the speed reducing device, the photoelectric switch and the camera assembly are all arranged on the frame; the speed reduction device comprises an upper speed reduction net and a lower speed reduction net, an outlet of the upper speed reduction net is vertically aligned with an inlet of the lower speed reduction net, and a gap is formed between the outlet of the upper speed reduction net and the inlet of the lower speed reduction net; the camera components are arranged between the upper speed reducing net and the lower speed reducing net, and the shooting ranges of the camera components cover the whole surface of the fruit; the photoelectric switch comprises an internal photoelectric switch, and the internal photoelectric switch is arranged between the upper speed reducing net and the lower speed reducing net; also relates to a method for detecting the fruit quality by using the fruit quality detection device; simple structure, it is efficient, and can realize the omnidirectional detection of fruit.
Description
Technical Field
The invention relates to a fruit quality detection device and a detection method.
Background
The global fruit yield per year is very large, but basically, the quality and the grading of the fruits are checked by adopting an artificial method, the speed is low, the number of required personnel is large, the quantitative detection cannot be realized, the standards of each person are inconsistent, and the grading result is influenced by subjective factors.
In order to solve the problem, many scientific and technical personnel make various efforts and develop various automatic detection devices, and some detection devices are only provided with a camera above a fruit conveying device, can only shoot images on the surface of the upper half part of the fruit and cannot carry out all-dimensional detection on the fruit;
some detection devices adopt a double-cone roller fruit conveying and turning device, so that the fruits are automatically conveyed forward at a certain speed in a single row, and the fruits can freely rotate around a horizontal small shaft, so that the whole surface of the fruits is ensured to be detected; because most fruits are not standard spherical structures, a lot of fruits have fruit stems, and the apples also have concave fruit stem parts and fruit calyx parts, the fruits can be prevented from freely rotating, so that certain parts of the fruits can not be exposed for detection.
In addition, the fruit stem and the fruit calyx of some fruits (such as apples) are concave, and usually appear as dark spots in the image, which are easily confused with the defects on the fruit surface.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the detection device which has a simple structure and can detect the quality of the fruits in an all-round way.
The technical scheme for solving the technical problems is as follows: a fruit quality detection device comprises a speed reduction device, a photoelectric switch, at least three pairs of camera assemblies and a control system, wherein the photoelectric switch and the camera assemblies are connected with the control system; the speed reducing device, the photoelectric switch and the camera assembly are all arranged on the frame;
the speed reduction device comprises an upper speed reduction net and a lower speed reduction net, an outlet of the upper speed reduction net is vertically aligned with an inlet of the lower speed reduction net, and a gap is formed between the outlet of the upper speed reduction net and the inlet of the lower speed reduction net;
the upper speed reducing net and the lower speed reducing net comprise speed reducing net cloth, a plurality of layers of elastic ropes and fixing flanges, the speed reducing net cloth is cylindrical or conical, the upper end of the speed reducing net cloth is fixed on the fixing flanges, the elastic ropes comprise a plurality of transverse ropes and longitudinal ropes which are arranged in a criss-cross mode, and two ends of each of the transverse ropes and the longitudinal ropes are fixedly connected to the speed reducing net cloth;
the speed reducing mesh is made of soft materials, such as mesh woven by fibers, common cloth or rubber thin film;
the elastic ropes are rubber ropes with the diameter of 0.5-5mm, the elastic ropes can be fixed on the speed reducing screen cloth in a binding mode, or fixed on the speed reducing screen cloth in a mode of drilling a knot with the size larger than that of the hole outside through the hole on the speed reducing screen cloth, the elastic ropes are arranged in a multi-layer criss-cross mode, the distance between layers and the distance between adjacent transverse ropes or longitudinal ropes on the same layer are determined according to the size of fruits, for example, for apples, the distance between layers and the distance between adjacent transverse ropes or longitudinal ropes on the same layer are about 40mm, and for most small and medium-sized fruits, the distance ranges from 10 mm to 50 mm;
the fixing flange can be made of metal materials such as aluminum and steel, and can also be made of polymer materials or wood; the speed reducing mesh cloth can be fixed on the fixing flange in a bonding and binding (the fixing flange is connected with the speed reducing mesh cloth and is punched), and the speed reducing mesh cloth is fixed on the shell through the fixing flange or can be directly pressed on the shell through the fixing flange;
the camera components are arranged between the upper speed reducing net and the lower speed reducing net, and the shooting ranges of the camera components cover the whole surface of the fruit; each pair of camera assemblies comprises two camera assemblies with opposite lenses, each camera assembly comprises a camera and a camera bracket, each camera comprises a camera body and a lens, each lens is mounted on the corresponding camera body, and each camera is mounted on the corresponding stand through the corresponding camera bracket;
the photoelectric switch comprises an internal photoelectric switch, the internal photoelectric switch is arranged below the outlet of the upper speed reducing net and above the inlet of the lower speed reducing net, a connecting line is formed between the center of the outlet of the upper speed reducing net and the center of the inlet of the lower speed reducing net, and the center line of a light beam emitted by the internal photoelectric switch is perpendicular or approximately perpendicular to the connecting line and is intersected with or closer to the connecting line.
The fruit quality detection device has the beneficial effects that: fruit from the top down straight line whereabouts has three pairs of cameras to shoot fruit at least at the in-process of whereabouts, can all-round detection fruit's quality, and sets up upper and lower speed reduction net at the in-process of fruit whereabouts, is equipped with the multilayer elasticity rope in the upper and lower speed reduction net, carries out multistage speed reduction to fruit, and it is effectual to slow down, when controlling the falling speed of fruit, guarantees that the outward appearance of fruit is not knocked for badly.
Further, the photoelectric switches comprise a transmitting part and a receiving part, the transmitting part and the receiving part are respectively arranged on two sides of the fruit to be detected, and when no fruit passes through, the light emitted by the light emitting part can reach the light receiving part; when fruit passes through, the fruit can block the light emitted by the light emitting part, so that the emitted light cannot reach the receiving part, and a signal different from that when no fruit passes through can be generated.
Further, the frame is the casing, the casing includes roof, bottom plate and a plurality of curb plate, inside photoelectric switch and camera subassembly all set up inside the casing, the mounting flange of going up the speed reduction net is fixed on the lower terminal surface of roof, the mounting flange of speed reduction net passes through the support mounting down on the up end of bottom plate, still install illuminating light source in the casing.
Further, the camera is mounted on the side plate through a camera bracket.
Further, the housing is mounted to its work place by means of legs.
Furthermore, the speed reducer also comprises an inlet speed reducer mesh and an outlet speed reducer mesh, wherein the inlet speed reducer mesh, the upper speed reducer mesh, the lower speed reducer mesh and the outlet speed reducer mesh are sequentially arranged from top to bottom, and the inlet speed reducer mesh, the upper speed reducer mesh, the lower speed reducer mesh and the outlet speed reducer mesh form a fruit conveying channel;
the inlet mesh cloth support is arranged on two sides of the inlet mesh cloth, the distance between the inlet mesh cloth supports on the two sides is smaller than the width of the two sides of the inlet mesh cloth, the inlet mesh cloth is made of soft materials such as mesh cloth woven by fibers, common cloth or a rubber film, the lower end of the inlet mesh cloth support is fixed on the fixing plate, and the fixing plate is fixedly connected to the upper end face of the top plate;
the inlet mesh cloth bracket and the fixing plate are made of metal materials, such as aluminum and steel, and can also be made of polymer materials or wood; the inlet mesh cloth can be fixed on the mesh cloth bracket in the modes of bonding, binding or pressing plate and bolt (holes are formed on the inlet mesh cloth bracket);
the inlet mesh cloth is rectangular when laid flat, and after the inlet mesh cloth is arranged on the inlet mesh cloth support, the middle of the inlet mesh cloth is slightly lower than the two sides of the inlet mesh cloth;
the inlet mesh cloth support is a right-angled triangle-shaped plate, and the inlet mesh cloth is fixed on the oblique edge of the right-angled triangle.
The beneficial effect of adopting the further technical scheme is that: adopt soft entry screen cloth to entry screen cloth and entry screen cloth support form a gliding passageway, guarantee that fruit leans on gravity to slide down, and the gliding passageway can not be with the fruit scratch.
Furthermore, export speed reduction net includes export screen cloth, export screen cloth support and connecting plate, export screen cloth support mounting be in the both sides of export screen cloth, both sides export the distance between the screen cloth support is less than the width of the export screen cloth between it, the upper end fixed connection of export screen cloth support the connecting plate, connecting plate fixed connection be in on the lower terminal surface of bottom plate.
Furthermore, the outlet mesh cloth is made of the same or similar material as the inlet mesh cloth, the outlet mesh cloth support is of an inverted right-angled triangle structure, the outlet mesh cloth is installed on the oblique edge of the outlet mesh cloth, the connecting plate is fixed on the right-angled edge above the outlet mesh cloth support, the middle of the outlet mesh cloth is lower than the outlet mesh cloth support, and the connecting plate is provided with holes and can be connected with the bottom plate through bolts.
The beneficial effect of adopting the further technical scheme is that: the structure of export speed reduction net is similar with entry speed reduction net, and entry speed reduction net makes things convenient for fruit to put in, and export speed reduction net makes things convenient for fruit to export.
Further, the optoelectronic switch also comprises an inlet optoelectronic switch and an outlet optoelectronic switch. The inlet photoelectric switch is positioned on the inner side of the inlet deceleration net and is arranged on the upper end surface of the top plate, and the inlet photoelectric switch can detect fruits falling into the inlet deceleration net; the export photoelectric switch is located the inboard of export speed reduction net is installed on the lower terminal surface of bottom plate, just the fruit that falls can be detected to the export photoelectric switch. The inlet photoelectric switch and the outlet photoelectric switch are connected with the control system.
The beneficial effect of adopting the further technical scheme is that: the working conditions of the upper speed reducing net and the lower speed reducing net can be monitored by utilizing signals of the inlet photoelectric switch, the internal photoelectric switch and the outlet photoelectric switch, if the pulse signal of the inlet photoelectric switch is received but the pulse signal of the internal photoelectric switch is not received in an expected time interval, the fruit is blocked in the upper speed reducing net; if the pulse signal of the internal photoelectric switch is received but the pulse signal of the outlet photoelectric switch is not received in an expected time interval, the fruit is blocked in the lower speed reducing net; if the time interval from the pulse signal of the inlet photoelectric switch to the pulse signal of the internal photoelectric switch is too small, the performance of the upper speed reducing network is reduced; if the time interval from the pulse signal of the internal photoelectric switch to the pulse signal of the outlet photoelectric switch is too short, the performance of the lower speed reducing net is reduced, the speed reducing net needs to be stopped in time when the fact that fruits are blocked in the speed reducing net is detected, and the speed reducing net needs to be replaced in time when the fact that the performance of the speed reducing net is reduced is detected.
The camera assembly comprises three pairs, the camera optical axes of each pair of camera assemblies are on the same straight line, the lenses are opposite, the three pairs of camera assemblies are respectively marked as a first pair of camera assemblies, a second pair of camera assemblies and a third pair of camera assemblies, the straight line where the two camera optical axes of the first pair of camera assemblies are located is a first straight line, the straight line where the two camera optical axes of the second pair of camera assemblies are located is a second straight line, the straight line where the two camera optical axes of the third pair of camera assemblies are located is a third straight line, and the first straight line, the second straight line and the third straight line are intersected at one point and are perpendicular to each other.
Further, the internal photoelectric switch is located above an intersection of the first straight line and the second straight line.
The beneficial effect of adopting the further technical scheme is that: the three pairs of camera components can shoot six views of the fruit from different angles, the six views are equivalent to a front view, a rear view, a left view, a right view, a top view and a bottom view of the fruit, the image of the surface of the fruit can be comprehensively obtained, and the number of the used camera components is minimum, and the cost is lowest.
Further, the lens centers in the camera assemblies are the same distance from the intersection of the first and second lines. Further, the intersection point is on a center line of the conveying channel of the fruit. Furthermore, the cameras in the camera assembly can be color industrial cameras with a GigE interface, such as MER-051-120GC-P color cameras with large and constant images, the resolution is 808 multiplied by 608, the frame rate is 120fps, and the transmission rate can reach 1000Mbit/s at most.
Further, the camera component also comprises a line laser generator, the line laser generator comprises a plurality of line lasers, generally 6-30 line lasers, the line lasers are divided into two groups and symmetrically arranged on two sides of the camera, a small angle is formed between the plane of the fan-shaped laser emitted by the line lasers and the optical axis of the camera and ranges from 10 degrees to 45 degrees, the planes of the fan-shaped laser emitted by the line lasers in each group are parallel to each other, and the projection lines of the fan-shaped laser emitted by the line lasers on two sides of the camera on the plane perpendicular to the optical axis of the camera are parallel to each other.
Furthermore, the plane of the fan-shaped laser emitted by the line laser and the plane perpendicular to the optical axis of the camera on the surface of the fruit are intersected to generate a plurality of intersecting lines, the intersecting lines are parallel to each other, the distance between every two adjacent intersecting lines is smaller than half of the size of the concave fruit handle and the size of the calyx part of the fruit, and the distance between every two adjacent intersecting lines is generally between 5 and 20 mm.
The beneficial effect of adopting the further technical scheme is that: ensuring that at least two laser lines irradiate the fruit stem and the fruit calyx part so as to estimate the positions of the fruit stem and the fruit calyx part and identify the fruit stem and the fruit calyx.
Further, the interior of the housing is coated with black paint.
The beneficial effect of adopting the further technical scheme is that: and the ambient light is isolated, and the influence of internal reflection on the image quality is reduced.
Further, the illumination light source is an annular light source, and the annular light source is installed on the lens of each camera assembly.
The beneficial effect of adopting the further technical scheme is that: the installation is convenient.
Furthermore, the annular light source is a circular ring formed by light emitting diodes.
Further, the entrance, interior and exit photoelectric switches may be laser photoelectric switches.
The beneficial effect of adopting the further technical scheme is that: the laser has good monochromaticity, high brightness and long detection distance, and is not easily interfered by ambient light.
Further, the control system comprises a PLC (programmable logic controller), an RS232C serial port module, a general control computer, an industrial computer and a gigabit Ethernet switch.
Further, the PLC has more than 3 input points and more than 7 output points, such as S7-1200 of Siemens (CPU 1214C DC/DC/DC);
the RS232C serial port module is selected according to the selected PLC model, such as CM1241 of Siemens;
the general control computer is required to have two RS232C serial communication interfaces and one gigabit Ethernet interface, such as the porphyrized IPC-610L;
an industrial computer connected with each camera is required to have two gigabit ethernet interfaces, such as GK4000 of shenzhen, which is a member of the american college electronics ltd;
the gigabit Ethernet switch can be a TL-SG1008M8 gigabit switch of TP-LINK.
Further, the input point of the PLC is connected to the outputs of the entrance photoelectric switch, the interior photoelectric switch and the exit photoelectric switch;
one output of the PLC is connected to the illumination light source in the shell and is used for controlling the switch of the illumination light source;
three outputs of the PLC are respectively connected to the line laser generators of the three pairs of camera assemblies, and the switches of the line laser generators of the three pairs of camera assemblies can be respectively controlled;
the other three outputs of the PLC are respectively connected to three pairs of externally-connected exposure control signals of the camera assemblies and are used for controlling the exposure of the cameras of the three pairs of camera assemblies;
the PLC can transmit the states of the signals and related data to the general control computer through an RS232C serial port module;
each industrial computer is connected with a camera in one camera component through one gigabit Ethernet interface of the industrial computer so as to obtain an image acquired by the camera, is connected with a general control computer through another gigabit Ethernet interface and a gigabit Ethernet switch, and transmits a detection result to the general control computer;
the general control computer is responsible for summarizing the detection results of all the industrial computers and outputting the general detection results to the control system of the grading mechanism through another RS232C serial communication interface.
The invention also relates to a fruit quality detection method, which adopts the fruit quality detection device to detect the fruit.
The fruit quality detection method can be further technically improved as follows:
further, the method specifically comprises the following steps:
firstly, the fruits fall into a speed reducer one by one, an internal photoelectric switch firstly detects the fruits and sends signals to a PLC; then, after receiving a signal that the fruit passes through an internal photoelectric switch, the PLC turns on an illumination light source in the shell, sends out signal pulses for controlling the exposure of the cameras in all the camera assemblies after time delay, and then each industrial computer receives color images of the surfaces of the fruit collected by the cameras in the connected camera assemblies and turns off the illumination light source in the shell; and then, sequentially opening the line laser generators in the 3 pairs of camera assemblies, projecting laser lines to the surface of the fruit from two opposite directions by each pair of line laser generators, slightly delaying, sending out signal pulses for controlling the exposure of the cameras in each pair of camera assemblies, and then respectively receiving the acquired images of the laser lines on the surface of the fruit, which are connected with the corresponding cameras by each industrial computer.
Further, the method specifically comprises the following steps:
2, the fruits slide out of the outlet of the inlet speed reducing net and enter the upper speed reducing net, after being subjected to multiple speed reduction by the elastic strips in the upper speed reducing net, the fruits slide out of the outlet of the upper speed reducing net, and the internal photoelectric switch detects the fruits and sends signals to the PLC;
step 4, opening a line laser generator in the first pair of camera assemblies, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of two cameras in the first pair of camera assemblies, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the cameras, by an industrial computer connected with the cameras in the pair of camera assemblies;
step 5, opening a line laser generator in the second pair of camera components, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of the cameras in the second pair of camera components, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the two cameras, by an industrial computer connected with the cameras in the two camera components;
step 6, opening a line laser generator in a third pair of camera components, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of the cameras in the third pair of camera components, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the two cameras, by an industrial computer connected with the cameras in the two camera components;
step 7, each industrial computer performs image processing on the color image of the fruit surface shot by the camera in the camera assembly connected with the industrial computer, judges whether the fruit surface has defects or not by combining the image of the laser line of the fruit surface shot by the camera, estimates the shape, size and color information of the fruit, and transmits the detection result to the general control computer;
further, according to the shot color image of the fruit surface, the fruit shape of the fruit is represented by calculating the longitudinal diameter and the transverse diameter of the fruit, the defect of the fruit surface is detected by adopting a region segmentation method, the size of the fruit can be approximately estimated by the number of pixels forming a fruit pattern, namely the sectional area of the fruit is estimated according to the number of pixels and the area of the pixels, and then the radius of the fruit is estimated according to the sectional area (taking the fruit with the approximately circular section as an example); the shade of the fruit can be represented by the average color (average intensity of R, G, B components) of the pixels that make up the fruit pattern.
For the fruit with the fruit stem and the fruit calyx part which are concave inwards, the method for judging the fruit stem and the fruit calyx part of the fruit according to the laser line projected to the surface of the fruit comprises the following steps:
(1) the laser line is broken when the laser line does not reach the edge of the fruit pattern;
(2) the direction of bending of the laser line changes (the sign of the second derivative changes);
(3) the degree of bending changes more than for the laser lines adjacent on the same side (the second derivative of the same ordinate points on the two laser lines differ by more than 30%).
And 8, integrating the detection results transmitted by the six industrial computers by the general control computer, judging whether the surface of the fruit has defects, estimating the shape, size and color information of the fruit, and transmitting the grading result to a control system of the grading mechanism.
Further, in the step 1, the fruits are firstly arranged into a single row by the conveying device, and then the fruits fall into the inlet speed reducing net one by one.
Further, the fruit conveying device further comprises a step 9, the fruit slides out of the lower speed reducing net and enters the outlet speed reducing net, and when the fruit slides out of the outlet speed reducing net, the fruit is detected by the outlet photoelectric switch through the outlet photoelectric switch, and signals are transmitted to the PLC.
The general control computer carries out comprehensive judgment and calculation according to the following principles:
(1) defects in the central region of the fruit surface pattern detected by each camera (distance from the center is within 0.707 of the estimated fruit radius) can be directly determined; however, the defects detected outside the non-central area are comprehensively judged according to the detection results of the adjacent cameras, if no defect is detected at the corresponding position of the central area of the fruit surface pattern detected by the adjacent cameras, the defect can be temporarily determined as a suspicious defect, and the fruit with the suspicious defect can be finally classified manually.
(2) The fruit size and color were averaged over the results of 6 industrial computer tests.
The beneficial effect of adopting the further technical scheme is that: the fruit quality can be detected in an all-round manner, the structure is simple, and the cost is low.
The invention also relates to a fruit detection and classification system which comprises a conveying device, the fruit quality detection device and a classification mechanism.
Drawings
FIG. 1 is a schematic diagram of the general structure of a fruit detection and grading system;
FIG. 2 is a schematic structural view of the fruit quality detecting device of the present invention without the casing;
FIG. 3 is a schematic view of the fruit quality detecting device with a partial housing according to the present invention;
FIG. 4 is a schematic view of the inlet deceleration net of the present invention;
FIG. 5 is a schematic structural diagram of an upper retarding net according to the present invention;
FIG. 6 is a top view of FIG. 5 of the present invention;
FIG. 7 is a schematic view of the exit deceleration net of the present invention;
FIG. 8 is a schematic view of a camera module according to the present invention;
FIGS. 9 and 10 are schematic diagrams of the intersection of the plane of fan laser light emitted by a line laser in one camera assembly of the present invention with a plane at the fruit surface perpendicular to the optical axis of the camera;
FIGS. 11-13 are images of the laser line projected onto the apple surface by the line laser generator viewed from the camera in accordance with the present invention;
FIGS. 14-17 are schematic diagrams of the arrangement positions of the camera modules according to the present invention;
FIG. 18 is a diagram of a control system of the fruit quality detecting device according to the present invention;
FIG. 19 is a schematic view of the connection between the control system of the fruit quality detecting apparatus and the control system of the classifying mechanism according to the present invention;
in the drawings, the parts names represented by the respective reference numerals are listed as follows: 1. a conveying device 2, a fruit quality detection device 3, a grading mechanism 4 and fruits;
2-1, an entrance deceleration net, 2-2, an entrance photoelectric switch, 2-3, an upper deceleration net, 2-4, a camera component, 2-4-1, a first pair of camera components, 2-4-2, a second pair of camera components, 2-4-3, a third pair of camera components, 2-5, an internal photoelectric switch, 2-6, a lower deceleration net, 2-7, an intersection point, 2-7-1, a first straight line, 2-7-2, a second straight line, 2-7-3, a third straight line, 2-8, an exit deceleration net, 2-9, an exit photoelectric switch, 2-10, a shell, 2-11, a pillar, 2-12, a camera body, 2-13, a lens, 2-14, a ring light source, 2-15, 2-16 parts of a line laser, 2-17 parts of a camera support and 2-17 parts of a fan-shaped laser plane;
2-1-1 parts of inlet mesh cloth, 2-1-2 parts of inlet mesh cloth bracket, 2-1-3 parts of fixing plate, 2-3-1 parts of speed reducing mesh cloth, 2-3-2 parts of fixing flange, 2-3-3 parts of transverse rope, 2-3-4 parts of longitudinal rope;
2-8-1 of outlet mesh cloth, 2-8-2 of an outlet mesh cloth support, 2-8-3 of a connecting plate;
2-10-1, a top plate, 2-10-2, a bottom plate, 2-10-3 and a side plate.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 2-18, a fruit quality detection device comprises a speed reduction device, a photoelectric switch and a camera assembly, wherein the photoelectric switch and the camera assembly are all connected to a control system through signals, the speed reduction device comprises an inlet speed reduction net 2-1, an upper speed reduction net 2-3, a lower speed reduction net 2-6 and an outlet speed reduction net 2-8 which are sequentially arranged from top to bottom, the inlet speed reduction net 2-1, the upper speed reduction net 2-3, the lower speed reduction net 2-6 and the outlet speed reduction net 2-8 form a fruit conveying channel, the inlet photoelectric switch 2-2 is arranged on the inner side of the inlet speed reduction net 2-1, and the inlet photoelectric switch 2-2 can detect fruits 4 entering the inlet speed reduction net;
an upper speed reducing net 2-3 is arranged at an outlet of the inlet speed reducing net 2-1, an internal photoelectric switch 2-5 is arranged below an outlet of the upper speed reducing net 2-3, and the internal photoelectric switch 2-5 can detect falling fruits; specifically, the internal photoelectric switch 2-5 is installed below the outlet of the upper deceleration net 2-3 and above the inlet of the lower deceleration net 2-6, and if a connecting line is formed between the center of the outlet of the upper deceleration net 2-5 and the center of the inlet of the lower deceleration net 2-6, the center line of the light beam emitted by the internal photoelectric switch 2-5 is perpendicular or approximately perpendicular to the connecting line, and intersects with or is close to the connecting line.
The outlet of the upper speed reducing net 2-3 is vertically aligned with the inlet of the lower speed reducing net 2-6, a gap is reserved between the outlet of the upper speed reducing net 2-3 and the inlet of the lower speed reducing net 2-6, the outlet of the lower speed reducing net 2-6 is provided with the outlet speed reducing net 2-8, the inner side of the outlet speed reducing net 2-8 is provided with the outlet photoelectric switch 2-9, and the outlet photoelectric switch 2-9 can detect the fruit 4.
The camera module further comprises a shell 2-10, the shell 2-10 comprises a top plate 2-10-1, a bottom plate 2-10-2 and side plates 2-10-3, the internal photoelectric switch 2-5 and the camera module are all arranged inside the shell 2-10, an illuminating light source is further installed inside the shell 2-10, the illuminating light source adopts an annular light source 2-14, the annular light source 2-14 forms a ring by using a light emitting diode, the inlet deceleration net 2-1 and the inlet photoelectric switch 2-2 are both installed on the upper end face of the top plate 2-10-1, and the internal photoelectric switch 2-5 is installed on the side plates 2-10-3;
the lower speed reducing net 2-6 is arranged on the upper end face of the bottom plate 2-10-2, the upper end of the lower speed reducing net 2-6 is arranged on the upper end face of the bottom plate through a strut 2-11, and the lower end of the lower speed reducing net 2-6 penetrates through the bottom plate 2-10-2;
the outlet speed reducing net 2-8 is arranged on the lower end face of the bottom plate 2-10-2.
The inlet speed reducing net 2-1 comprises an inlet mesh 2-1-1, an inlet mesh bracket 2-1-2 and a fixing plate 2-1-3, the inlet mesh cloth supports 2-1-2 are arranged on two sides of the inlet mesh cloth 2-1-1, the distance between the inlet mesh cloth supports 2-1-2 on two sides is smaller than the width of the inlet mesh cloth 2-1-1 on two sides, the inlet mesh cloth 2-1-1 is made of soft materials, such as a mesh fabric woven by fiber, general cloth or a rubber film, the lower end of the inlet mesh fabric support 2-1-2 is fixed on the fixing plate 2-1-3, the fixed plate 2-1-3 is fixedly connected to the top plate 2-10-1;
the inlet mesh cloth bracket 2-1-2 and the fixing plate 2-1-3 are made of metal materials, such as aluminum and steel, and can also be made of polymer materials or wood; the inlet mesh cloth 2-1-1 can be fixed on the inlet mesh cloth support 2-1-2 by means of bonding, binding or pressing plates and bolts (holes are formed in the inlet mesh cloth support) and the like;
the inlet mesh 2-1-1 is rectangular when laid flat, and after the inlet mesh 2-1-1 is arranged on the inlet mesh support 2-1-2, the middle of the inlet mesh 2-1-1 is slightly lower than the two sides;
the inlet mesh cloth support 2-1-2 is a right-angled triangular plate, and the inlet mesh cloth 2-1-1 is fixed on the oblique edge of the right-angled triangle.
The upper speed reducing net 2-3 and the lower speed reducing net 2-4 comprise speed reducing net cloth 2-3-1, a plurality of layers of elastic ropes and fixing flanges 2-3-2, the speed reducing net cloth 2-3-1 is cylindrical or conical, the upper end of the speed reducing net cloth 2-3-1 is fixed on the fixing flanges 2-3-2, the elastic ropes comprise a plurality of transverse ropes 2-3-3 and longitudinal ropes 2-3-4 which are arranged in a criss-cross mode, and two ends of the transverse ropes 2-3-3 and two ends of the longitudinal ropes 2-3-4 are fixedly connected to the speed reducing net cloth 2-3-1;
the fixing flange 2-3-2 of the upper speed reducing net 2-3 is fixed on the lower end face of the top plate 2-10-1 through bolts or screws;
the speed reducing mesh cloth 2-3-1 is made of soft materials, such as mesh cloth woven by fibers, common cloth or rubber thin film and the like;
the elastic ropes are rubber ropes with the diameter of 0.5-5mm, the elastic ropes can be fixed on the speed reducing screen cloth 2-3-1 in a binding mode, or fixed on the speed reducing screen cloth in a mode of drilling a knot with the size larger than that of the hole outside through the hole on the speed reducing screen cloth 2-3-1, the elastic ropes are arranged in a multi-layer criss-cross mode, the distance between layers and the distance between the adjacent transverse ropes 2-3-3 or the longitudinal ropes 2-3-4 on the same layer are determined according to the size of the fruit and the elasticity of the elastic ropes, for example, for apples, the distance between layers and the distance between adjacent transverse ropes 2-3-3 or the longitudinal ropes 2-3-4 on the same layer are about 40mm, and for most small and medium-sized fruits, the distance ranges from 10 mm to 50 mm;
the fixed flange 2-3-2 can be made of metal materials such as aluminum and steel, polymer materials or wood and the like; the speed reducing mesh cloth 2-3-1 can be fixed on the fixed flange 2-3-2 through bonding, binding (the fixed flange 2-3-2 is connected with the speed reducing mesh cloth and is provided with holes), and the like, and then is fixed on the shell 2-10 through the fixed flange 2-3-2, or the speed reducing mesh cloth 2-3-1 can be directly pressed on the shell 2-10 through the fixed flange 2-3-2.
The outlet speed reducing net 2-8 comprises an outlet mesh 2-8-1, outlet mesh supports 2-8-2 and a connecting plate 2-8-3, the outlet mesh supports 2-8-2 are installed on two sides of the outlet mesh 2-8-1, the distance between the outlet mesh supports 2-8-2 on the two sides is smaller than the width of the outlet mesh 2-8-1 between the outlet mesh supports, the upper end of the outlet mesh support 2-8-2 is fixedly connected with the connecting plate 2-8-3, and the connecting plate 2-8-3 is fixedly connected with the lower end face of the bottom plate 2-10-2;
the outlet mesh cloth 2-8-1 is made of the same or similar material as the inlet mesh cloth 2-3-1, the outlet mesh cloth support 2-8-2 is of an inverted right-angled triangle structure, the outlet mesh cloth 2-8-1 is installed on the oblique side of the outlet mesh cloth support 2-8-2, the connecting plate 2-8-3 is fixed on the right-angled side above the outlet mesh cloth support 2-8-2, the middle of the outlet mesh cloth 2-8-1 is lower than the outlet mesh cloth support 2-8-2, and holes are formed in the connecting plate 2-8-3 and can be connected with the bottom plate 2-10-2 through bolts.
The camera assemblies 2-4 are arranged between the upper deceleration net 2-3 and the lower deceleration net 2-6, and the shooting ranges of the camera assemblies 2-4 cover the whole surface of the fruit 4; each pair of camera assemblies 2-4 comprises two camera assemblies with opposite lenses, each camera assembly comprises a camera and a camera support, each camera comprises a camera body 2-12 and a lens 2-13, each lens 2-13 is mounted on the corresponding camera body 2-12, each camera is mounted on the corresponding side plate 2-10-3 through a camera support 2-14, and each annular light source 2-14 is mounted on the corresponding lens 2-13.
The camera assemblies 2-4 comprise three pairs, the camera optical axes of each pair of camera assemblies are on the same straight line, the lenses of the camera assemblies are opposite, the three pairs of camera assemblies are respectively marked as a first pair of camera assemblies 2-4-1, a second pair of camera assemblies 2-4-2 and a third pair of camera assemblies 2-4-3, the straight line where the two camera optical axes of the first pair of camera assemblies 2-4-1 are located is a first straight line 2-7-1, the straight line where the two camera optical axes of the second pair of camera assemblies 2-4-2 are located is a second straight line 2-7-2, the straight line where the two camera optical axes of the third pair of camera assemblies 2-4-3 are located is a third straight line 2-7-3, and the first straight line 2-7-1, the second straight line 2-7-2 and the third straight line 2-7-3 are compared with one straight line And perpendicular to each other, the intersection points are marked as 2-7, the distance from the center of the lens 2-13 in each camera assembly to the intersection point 2-7 of the first straight line 2-7-1 and the second straight line 2-7-2 is the same, and the intersection point 2-7 is on the central line of the conveying channel of the fruit.
The internal photoelectric switch 2-5 is located above the intersection of the first and second straight lines.
The cameras 2-12 can be color industrial cameras with a GigE interface, such as MER-051-120GC-P color cameras with large and constant images, the resolution is 808 multiplied by 608, the frame rate is 120fps, and the transmission rate can reach 1000 Mbit/s.
The camera assembly further comprises a line laser generator, the line laser generator comprises a plurality of line lasers 2-15, generally 6-30 line lasers, the line lasers 2-15 are divided into two groups and symmetrically installed on two sides of the camera, fan-shaped laser planes 2-17 are emitted by the line lasers 2-15, small angles are formed between the fan-shaped laser planes 2-17 and an optical axis of the camera, the angles are 10-45 degrees, the fan-shaped laser planes 2-17 emitted by the line lasers 2-15 in each group are parallel to each other, and projection lines of the fan-shaped laser planes 2-17 emitted by the line lasers 2-15 on two sides of the camera on a plane perpendicular to the optical axis of the camera are parallel to each other.
The fan-shaped laser planes 2-17 emitted by the line lasers 2-15 are intersected with the plane perpendicular to the optical axis of the camera on the surface of the fruit 4 to generate a plurality of intersecting lines, the intersecting lines are parallel to each other, the distance between every two adjacent intersecting lines is smaller than half of the size of the fruit handle and the calyx part of the fruit, and the distance between every two adjacent intersecting lines is generally 5-20 mm.
The inner walls of the shells 2-10 are coated with black paint, so that ambient light is isolated, and the influence of internal reflection on image quality is reduced.
The entrance photoelectric switch 2-2, the internal photoelectric switch 2-5 and the exit photoelectric switch 2-9 each include a light emitting portion and a receiving portion, and the entrance photoelectric switch 2-2, the internal photoelectric switch 2-5 and the exit photoelectric switch 2-9 may be laser photoelectric switches.
The control system of the invention is shown in a figure 18, and comprises a PLC (programmable logic controller), an RS232C serial port module, a general control computer, an industrial computer and a gigabit Ethernet switch; the PLC has more than 3 input points and more than 7 output points, such as S7-1200 of Siemens (CPU 1214C DC/DC/DC);
the RS232C serial port module is selected according to the selected PLC model, such as CM1241 of Siemens;
the general control computer is required to have two RS232C serial communication interfaces and one gigabit Ethernet interface, such as the porphyrized IPC-610L;
an industrial computer connected with each camera is required to have two gigabit ethernet interfaces, such as GK4000 of shenzhen, which is a member of the american college electronics ltd;
the gigabit Ethernet switch can be a TL-SG1008M8 gigabit switch of TP-LINK.
The input point of the PLC is connected to the outputs of the inlet photoelectric switch, the inner photoelectric switch and the outlet photoelectric switch;
one output of the PLC is connected to the illumination light source in the shell and is used for controlling the switch of the illumination light source;
three outputs of the PLC are respectively connected to the line laser generators of the three pairs of camera assemblies, and the switches of the line laser generators of the three pairs of camera assemblies can be respectively controlled;
the other three outputs of the PLC are respectively connected to three pairs of externally-connected exposure control signals of the camera assemblies and are used for controlling the exposure of the cameras of the three pairs of camera assemblies;
the PLC can transmit the states of the signals and related data to the general control computer through an RS232C serial port module;
each industrial computer is connected with a camera in one camera component through one gigabit Ethernet interface of the industrial computer so as to obtain an image acquired by the camera, is connected with a general control computer through another gigabit Ethernet interface and a gigabit Ethernet switch, and transmits a detection result to the general control computer;
the general control computer is responsible for summarizing the detection results of all the industrial computers and outputting the general detection results to the control system of the grading mechanism through another RS232C serial communication interface.
The invention also relates to a fruit quality detection method, which adopts the fruit quality detection device to detect fruits and specifically comprises the following steps:
2, the fruits 4 slide out of an outlet of the inlet deceleration net 2-1, enter the upper deceleration net 2-3, slide out of the outlet after being decelerated for multiple times by the elastic strips in the upper deceleration net 2-3, and the internal photoelectric switch 2-5 detects the fruits and sends signals to the PLC;
step 4, opening a line laser generator of the first pair of camera components 2-4-1, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of the first pair of camera components 2-4-1, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the pair of cameras, by an industrial computer connected with the pair of cameras;
step 5, opening a line laser generator of the second pair of camera assemblies 2-4-2, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of two cameras in the second pair of camera assemblies 2-4-2, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the two cameras, by an industrial computer connected with the two cameras;
step 6, opening the line laser generator of the third pair of camera components 2-4-3, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of two cameras in the third pair of camera components 2-4-3, and then respectively receiving the laser line images of the surface of the fruit collected by the two cameras by an industrial computer connected with the two cameras;
step 7, each industrial computer carries out image processing on the color image of the surface of the fruit shot by the camera of the camera assembly connected with the industrial computer, judges whether the surface of the fruit has defects or not by combining the laser line image of the surface of the fruit shot by the camera, estimates the shape, size and color information of the fruit and transmits the detection result to the general control computer;
step 8, the general control computer integrates the detection results transmitted by the six industrial computers, judges whether the surface of the fruit has defects, and estimates the shape, size and color information of the fruit;
and 9, the fruits slide out of the lower speed reducing net and enter the outlet speed reducing net, and when the fruits slide out of the outlet speed reducing net, the fruits are detected by the outlet photoelectric switch through the outlet photoelectric switch, and signals are transmitted to the PLC.
The invention also relates to a fruit detection and grading system, which comprises a conveying device 1, the fruit quality detection device 2 and a grading mechanism 3, as shown in figure 1. The fruits 4 are arranged in a single row by the conveying device 1, and fall into the fruit quality detection device 2 of the invention one by one, and enter the grading mechanism 3 after detection, the fruit quality detection device 2 transmits the detection result to the control system of the grading mechanism 3, the grading mechanism 3 grades the fruits according to the detection result, and the connection diagram of the control system of the fruit quality detection device 2 and the control system of the grading mechanism is shown in fig. 19.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A fruit quality detection device is characterized by comprising a speed reduction device, a photoelectric switch, at least three pairs of camera components and a control system, wherein the photoelectric switch and the camera components are connected with the control system; the speed reducing device, the photoelectric switch and the camera assembly are all arranged on the frame;
the speed reduction device comprises an upper speed reduction net and a lower speed reduction net, an outlet of the upper speed reduction net is vertically aligned with an inlet of the lower speed reduction net, and a gap is formed between the outlet of the upper speed reduction net and the inlet of the lower speed reduction net;
the upper speed reducing net and the lower speed reducing net comprise speed reducing net cloth, a plurality of layers of elastic ropes and fixing flanges, the speed reducing net cloth is cylindrical or conical, the upper end of the speed reducing net cloth is fixed on the fixing flanges, the elastic ropes comprise a plurality of transverse ropes and longitudinal ropes which are arranged in a criss-cross mode, and two ends of each of the transverse ropes and the longitudinal ropes are fixedly connected to the speed reducing net cloth;
the camera components are arranged between the upper speed reducing net and the lower speed reducing net, and the shooting ranges of the camera components cover the whole surface of the fruit; the camera assembly comprises a camera and a camera bracket, the camera comprises a camera body and a lens, and the lens is mounted on the camera body;
the optoelectronic switch comprises an internal optoelectronic switch, and the internal optoelectronic switch can detect falling fruits;
the speed reducer also comprises an inlet speed reducer mesh and an outlet speed reducer mesh, wherein the inlet speed reducer mesh, the upper speed reducer mesh, the lower speed reducer mesh and the outlet speed reducer mesh are sequentially arranged from top to bottom, and the inlet speed reducer mesh, the upper speed reducer mesh, the lower speed reducer mesh and the outlet speed reducer mesh form a fruit conveying channel;
the inlet mesh cloth support is arranged on two sides of the inlet mesh cloth, the distance between the inlet mesh cloth supports on the two sides is smaller than the width of the two sides of the inlet mesh cloth, the lower end of the inlet mesh cloth support is fixed on the fixing plate, and the fixing plate is fixedly connected to the upper end face of the top plate of the rack;
the outlet speed reduction net comprises outlet net cloth, an outlet net cloth support and a connecting plate, the outlet net cloth support is installed on two sides of the outlet net cloth, the distance between the outlet net cloth supports on the two sides is smaller than the width of the outlet net cloth between the outlet net cloth supports, the upper end of the outlet net cloth support is fixedly connected with the connecting plate, and the connecting plate is fixedly connected onto the lower end face of the bottom plate of the rack.
2. The fruit quality detection device according to claim 1, wherein the frame is a housing, the housing includes a top plate, a bottom plate and a plurality of side plates, the internal photoelectric switch and the camera assembly are disposed inside the housing, the fixing flange of the upper deceleration net is fixed on the lower end surface of the top plate, the fixing flange of the lower deceleration net is mounted on the upper end surface of the bottom plate through a bracket, and the housing further includes a lighting source.
3. The fruit quality detecting device according to claim 1, wherein the photoelectric switch further comprises an inlet photoelectric switch and an outlet photoelectric switch, the inlet photoelectric switch is located inside the inlet deceleration net and is installed on the upper end surface of the top plate, and the inlet photoelectric switch can detect the fruit falling into the inlet deceleration net; the export photoelectric switch is located the inboard of export speed reduction net is installed on the lower terminal surface of bottom plate, just export photoelectric switch can detect the fruit that falls, entry photoelectric switch and export photoelectric switch with control system links to each other.
4. The fruit quality detection apparatus according to any one of claims 1 to 3, the camera assemblies comprise three pairs, the camera optical axes of each pair of camera assemblies are on the same straight line, and the lenses are opposite, the three pairs of camera components are respectively marked as a first pair of camera components, a second pair of camera components and a third pair of camera components, the straight line where the two camera optical axes of the first pair of camera components are located is a first straight line, the straight line where the two camera optical axes of the second pair of camera components are located is a second straight line, the straight line where the two camera optical axes of the third pair of camera components are located is a third straight line, the first straight line, the second straight line and the third straight line are intersected at one point to form an intersection point, and are perpendicular to each other, and the lens centers in the camera assemblies are at the same distance from the intersection point, and the intersection point is on the central line of the conveying channel of the fruit.
5. The fruit quality inspection device according to claim 4, wherein the camera assembly further comprises a line laser generator, the line laser generator comprises a plurality of line lasers, the line lasers are divided into two groups and symmetrically installed on both sides of the camera, the line lasers emit fan-shaped laser planes, the fan-shaped laser planes are at a small angle with the optical axis of the camera, the angle is between 10 ° and 45 °, the planes of the fan-shaped laser beams emitted by each group of line lasers are parallel to each other, and the projection lines of the fan-shaped laser beams emitted by the line lasers on both sides of the camera on the plane perpendicular to the optical axis of the camera are parallel to each other.
6. The fruit quality detection device of claim 5, wherein the interior of the housing is painted with black paint.
7. The fruit quality detection device of claim 6, wherein the control system comprises a PLC (programmable logic controller), an RS232C serial port module, a general control computer, an industrial computer and a gigabit Ethernet switch;
the general control computer is provided with two RS232C serial communication interfaces and one gigabit Ethernet interface;
the industrial computer connected with each camera is provided with two gigabit Ethernet interfaces;
the input point of the PLC is connected to the outputs of the inlet photoelectric switch, the inner photoelectric switch and the outlet photoelectric switch;
one output of the PLC is connected to the illumination light source in the rack and is used for controlling the switch of the illumination light source;
three outputs of the PLC are respectively connected to the line laser generators of the three pairs of camera assemblies, and the switches of the line laser generators of the three pairs of camera assemblies can be respectively controlled;
the other three outputs of the PLC are respectively connected to three pairs of externally-connected exposure control signals of the camera assemblies and are used for controlling the exposure of the cameras of the three pairs of camera assemblies;
the PLC is connected with a general control computer through an RS232C serial port module;
each industrial computer is connected with a camera in one camera component through one gigabit Ethernet interface of the industrial computer so as to obtain an image acquired by the camera, and is connected with the general control computer through the other gigabit Ethernet interface and the gigabit Ethernet switch so as to transmit a detection result to the general control computer.
8. A method for detecting the quality of fruit, which is characterized in that the fruit is detected by the fruit quality detection device according to any one of claims 1 to 7.
9. The fruit quality detection method according to claim 8, comprising the following steps:
step 1, the fruits fall into an inlet speed reducing net one by one;
2, the fruits slide out of the outlet of the inlet speed reducing net and enter the upper speed reducing net, after being subjected to multiple speed reduction by the elastic strips in the upper speed reducing net, the fruits slide out of the outlet of the upper speed reducing net, and the internal photoelectric switch detects the fruits and sends signals to the PLC;
step 3, after receiving a signal that the fruit passes through an internal photoelectric switch, the PLC turns on an illumination light source in the shell, and sends out a signal pulse for controlling the exposure of cameras in all the camera assemblies after delaying, and each industrial computer then receives a color image of the surface of the fruit collected by the cameras in the connected camera assemblies and then turns off the illumination light source in the shell;
step 4, opening a line laser generator in the first pair of camera components, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of the two cameras in the first pair of camera components, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the two cameras, by an industrial computer connected with the two cameras;
step 5, opening a line laser generator in the second pair of camera components, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of the two cameras in the second pair of camera components, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the two cameras, by an industrial computer connected with the two cameras;
step 6, opening a line laser generator in a third pair of camera components, projecting laser lines to the surface of the fruit from two opposite directions, slightly delaying, sending out signal pulses for controlling the exposure of two cameras in the third pair of camera components, and then respectively receiving the images of the laser lines on the surface of the fruit, which are acquired by the two cameras, by an industrial computer connected with the two cameras;
step 7, each industrial computer performs image processing on the color image of the fruit surface shot by the camera in the camera assembly connected with the industrial computer, judges whether the fruit surface has defects or not by combining the image of the laser line of the fruit surface shot by the camera, estimates the shape, size and color information of the fruit, and transmits the detection result to the general control computer;
and 8, integrating detection results transmitted by the six industrial computers by the general control computer, judging whether the surface of the fruit has defects, and estimating the shape, size and color information of the fruit.
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| CN2717193Y (en) * | 2004-07-15 | 2005-08-17 | 胡韫文 | Picking up tool for fruit tree |
| CN203053876U (en) * | 2012-12-28 | 2013-07-10 | 崇州君健塑胶有限公司 | Online detection mechanism of combined cover |
| CN103149891B (en) * | 2013-01-29 | 2015-03-18 | 中国工程物理研究院化工材料研究所 | Temperature isostatic pressure control system |
| CN103323457B (en) * | 2013-05-20 | 2015-08-26 | 中国农业大学 | Fruit appearance defect real-time online detection system and detection method |
| US9878842B2 (en) * | 2013-12-23 | 2018-01-30 | Dow Agrosciences Llc | Plant imaging and spectral scanning system and method |
| CN203949625U (en) * | 2014-05-16 | 2014-11-19 | 南京南车浦镇城轨车辆有限责任公司 | A kind of Metro Clearance pick-up unit based on laser measurement |
| CN204302192U (en) * | 2014-12-22 | 2015-04-29 | 苏州浩克***检测科技有限公司 | A kind of online containers labels quality detection device |
| CN104897671B (en) * | 2015-05-07 | 2018-09-11 | 北京农业智能装备技术研究中心 | A kind of identifying system of fruit carpopodium calyx |
| CN104949916B (en) * | 2015-05-29 | 2017-12-01 | 中国农业大学 | The formula that drops corn ear panicled characters measurement apparatus and its measuring method |
| CN106020103A (en) * | 2016-07-25 | 2016-10-12 | 河南志信科技有限公司 | Cargo forwarding bag packing and counting control system and cargo forwarding bag packing and counting control method |
| CN106093075B (en) * | 2016-08-10 | 2019-03-19 | 万新光学集团有限公司 | A kind of eyeglass automatic charging device and method for vision-based detection |
| CN106429305B (en) * | 2016-10-19 | 2018-11-30 | 顺丰速运有限公司 | A kind of pipeline blocking package detection method and device |
| CN206440244U (en) * | 2016-12-27 | 2017-08-25 | 江苏量淘数据技术有限公司 | Distributed multi-view stereo vision system |
| CN107310795A (en) * | 2017-07-04 | 2017-11-03 | 上海烟草机械有限责任公司 | Product external packaging detector and detecting system based on machine vision technique |
| CN206959803U (en) * | 2017-08-11 | 2018-02-02 | 深圳新誉德泰技术有限公司 | A kind of tunnel cross-section panoramic imaging device |
| CN110794776B (en) * | 2019-10-23 | 2023-05-02 | 凯迈(洛阳)机电有限公司 | Remote control method and remote control system for intelligent tea bag packaging machine |
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