CN114247657A

CN114247657A - Fruit sorting device based on image processing

Info

Publication number: CN114247657A
Application number: CN202111587265.2A
Authority: CN
Inventors: 魏瑞
Original assignee: Shaanxi University of Technology
Current assignee: Shaanxi University of Technology
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2022-03-29

Abstract

The invention discloses a fruit sorting device based on image processing, and belongs to the technical field of fruit and vegetable sorting. Fruit sorting device based on image processing includes: the image acquisition unit is used for acquiring fruit images and carrying out digital analysis to identify defective fruits; the fruit conveying device comprises a first conveying belt, a second conveying belt and a control unit, wherein the first conveying belt is used for carrying fruits to penetrate through an image acquisition unit, and a plurality of limiting baffles are fixed on the surface of the first conveying belt at equal intervals; the fruit tray is used for supporting single fruits, is placed on one side of the limiting baffle on the first conveyor belt during sorting, and is in contact with or fixedly connected with the limiting baffle; the two sides of the first conveyor belt are symmetrically provided with support frames, and the support frames and the first conveyor belt penetrate through the interior of the image acquisition unit; the fruit tray is inside to be half confined state and to install the soft brush area that can contact with fruit, fruit tray bottom is equipped with the clearance nature removal of the soft brush area of control, realizes the actuating mechanism of fruit upset.

Description

Fruit sorting device based on image processing

Technical Field

The invention relates to the technical field of fruit and vegetable sorting, in particular to a fruit sorting device based on image processing.

Background

According to the detection sorting device, the fruit grades are distinguished according to the appearance and/or internal characteristics of the fruits, sorting methods such as spectral characteristics, image scanning and the like are adopted, the appearance sorting of the fruits comprises sorting of weight, size, color, hardness, black and white spots on the surfaces and the like, and the internal sorting of the fruits comprises sorting of sugar content, moisture, plant diseases and insect pests, moldy core diseases and the like.

In reality, many domestic fruit sorting mechanisms still need a large amount of operation workman, carry out the sorting including appearances such as fruit size and color and luster to reject the rotten fruit in surface. And then the fruit is subjected to an inherently mechanically automated sorting. This semi-automated sorting environment reduces the efficiency of the job.

The fruit sorting comprises a to-be-selected fruit feeding hopper, a conveyor, a detection sorting device, a grading outlet and the like; the conveyer conveys the fruit in proper order and passes detection sorting device, detects fruit, outward appearance andor inherent grade by detecting sorting device. The conveying speed of the conveyor, whether the fruit can be turned over when passing through the detecting and sorting device, etc., will affect the sorting quality of the fruit. Due to the vibration of the conveyor and the existence of camera exposure time in the detection sorting device, the acquired images can generate double images, fruit images with the double images and fuzzy fruit surface information, and the acquired angles of the fruit images are single. Even if the fruit images detected by some sorting devices can avoid double images, due to high cost, a plurality of fruit sorting mechanisms still adopt a mode of partial worker operation.

When gathering based on fruit image, need carry out the multi-angle to fruit and gather, avoid the ghost image scheduling problem to realize the fruit of high quality simultaneously and select separately, this application designs the transport mode of fruit, what make fruit can be better is discerned and is selected separately to consequently design fruit sorting unit based on image processing.

Disclosure of Invention

The present invention is directed to a fruit sorting device based on image processing, which solves the above-mentioned problems of the prior art.

In order to achieve the purpose, the invention adopts the following technical scheme:

fruit sorting device based on image processing includes:

the image acquisition unit is used for acquiring fruit images and carrying out digital analysis to identify defective fruits;

the fruit conveying device comprises a first conveying belt, a second conveying belt and a control unit, wherein the first conveying belt is used for carrying fruits to penetrate through an image acquisition unit, and a plurality of limiting baffles are fixed on the surface of the first conveying belt at equal intervals;

the fruit tray is used for supporting single fruits, is placed on one side of the limiting baffle on the first conveyor belt during sorting, and is in contact with or fixedly connected with the limiting baffle;

the two sides of the first conveyor belt are symmetrically provided with support frames, and the support frames and the first conveyor belt penetrate through the interior of the image acquisition unit;

the fruit tray is inside to be half confined state and to install the soft brush area that can contact with fruit, fruit tray bottom is equipped with the clearance nature removal of the soft brush area of control, realizes the actuating mechanism of fruit upset.

Preferably, the limit baffle and the first conveyor belt are integrally formed, and the limit baffle is provided with a threaded hole which can be fixedly connected with the fruit tray.

Preferably, the fruit tray includes fruit bowl, base, the base is structure in the rectangle, the circular shape connecting hole has been seted up at base top middle part, be fixed with spacing pipe in the connecting hole, spacing outer wall of the pipe welding has the snap ring, the fruit bowl adopts rubber to make, the fruit bowl cover is located the spacing outside of the pipe and has been seted up the ring channel in the position that corresponds the snap ring, the fruit bowl top is hemispherical recess downwards, and its middle part is in the below intercommunication, the fruit bowl is a plurality of arc tray fixed at equidistant with the recess bottom.

Preferably, soft brush area includes soft brush, second conveyer belt, the second conveyer belt both ends are rotated and are connected with the support, and are a plurality of the second conveyer belt arranges in proper order in spacing socle portion and passes through the support rather than being connected fixedly, and is a plurality of soft brush is annular equidistant and is fixed in second conveyer belt surface.

Preferably, actuating mechanism includes brushless motor, pivot A, be connected with gear A on the brushless motor output shaft, pivot A passes the drive roller at a plurality of second conveyer belts middle part in proper order, it has gear B to adjust in the pivot A, pivot A one side parallel is equipped with pivot B, two gear C have been cup jointed on the pivot B, one of them gear C is connected with gear A meshing, another gear C is connected with gear B meshing after the equidistant a plurality of teeth of excision.

Preferably, bearings are arranged inside two ends of the first conveying belt, the bearings are respectively rotatably connected with the two support frames, and one of the bearings penetrates through one support frame to be fixedly connected with a servo motor.

Preferably, an annular conductive rod is fixed inside the other support frame, a power line extends out of the base, the power line extends into the support frame and is in sliding connection with the annular conductive rod, and a connecting groove is formed in one surface, facing the first conveyor belt, of the support frame along an annular motion track of the power line on the first conveyor belt.

Compared with the prior art, the invention provides the fruit sorting device based on image processing, which has the following beneficial effects:

(1) the fruit image acquisition system utilizes a plurality of fruit trays to respectively support fruits and distribute the fruits on a first conveyor belt, the fruits pass through a shooting area of an image acquisition unit along with the first conveyor belt, the fruit image acquisition is carried out, the fruit image acquisition is uploaded to an upper computer, and the fruit image acquisition system carries out digital analysis and identification on the fruits with defects such as black and white spots, plant diseases and insect pests, moldy core diseases and the like; the fruit tray has the effect of intermittent turning, so that the image acquisition unit can better identify the appearance or the interior of the fruit, avoid double images of acquired images and realize fruit grade classification.

(2) According to the fruit tray, the fruit tray for supporting fruits on the upper layer is matched with the base of the driving mechanism arranged on the lower layer in an inserting mode, the soft brush belt is arranged in the middle of the interior of the fruit tray, the soft brush belt can be upwards contacted with the placed fruits, the soft brush belt is downwards connected with the driving mechanism, when the driving mechanism is powered on to work, the soft brush belt is driven to move in a clearance mode, the fruits are turned over periodically, multi-surface collection of the fruits is conducted, and the accuracy of fruit image digital analysis is improved.

(3) The driving mechanism of the invention adopts a brushless motor to drive the second conveyor belt to rotate in a gear meshing connection mode, and finishes driving the second conveyor belt in a mode of cutting off partial driving gear teeth and then meshing the driving gear teeth with the driven gear, thereby realizing the clearance rotation of the soft brush belt, and the soft brush of the soft brush belt reduces the problem of image acquisition double images by intermittent overturning through plucking fruits.

Drawings

FIG. 1 is a schematic overall perspective view of the present invention;

fig. 2 is a schematic view of a disassembled structure of the first conveyor belt and the supporting frame under the fruit tray with uniform distribution according to the present invention;

FIG. 3 is a schematic view of a structure of the tray for separating the first conveyor belt and the supporting frame without fruit

FIG. 4 is an enlarged schematic view of the structure at A in FIG. 2 according to the present invention;

FIG. 5 is a schematic view of the overall structure of the fruit tray of the present invention;

FIG. 6 is a schematic top view of the fruit tray of the present invention;

FIG. 7 is a schematic view of the whole structure of the fruit tray of the present invention after the cross section of the fruit tray and the limiting tube;

FIG. 8 is a schematic view of an overall split structure of the fruit tray, the base and the limiting pipe of the fruit tray according to the present invention;

FIG. 9 is an enlarged view of the structure of FIG. 8 at B in accordance with the present invention;

fig. 10 is a disassembled schematic view of the supporting frame for mounting the annular conducting rod of the invention.

Description of the figure numbers: 1. an image acquisition unit; 2. a first conveyor belt; 3. a limit baffle; 301. a threaded hole; 4. a fruit tray; 401. fruit bowl; 402. a base; 403. connecting holes; 404. a limiting pipe; 405. a snap ring; 406. an annular groove; 407. an arc-shaped supporting block; 5. a support frame; 501. an annular conductive rod; 502. connecting grooves; 503. a first grinding roller; 504. a bearing; 6. a soft brush belt; 601. soft brushing; 602. a second conveyor belt; 603. a support; 7. a drive mechanism; 701. a brushless motor; 702. a rotating shaft A; 703. a gear A; 704. a gear B; 705. a gear C; 706. a rotating shaft B; 707. a second grinding roller; 8. a servo motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example (b):

referring to fig. 1-10, a fruit sorting device based on image processing includes: the image acquisition unit 1 is used for acquiring fruit images and carrying out digital analysis to identify defective fruits; the fruit conveying device comprises a first conveying belt 2, an image acquisition unit 1, a plurality of limiting baffles 3 and a plurality of conveying belts, wherein the first conveying belt 2 is used for carrying fruits to penetrate through the image acquisition unit 1, and the surfaces of the first conveying belt 2 are fixed with the limiting baffles 3 at equal intervals; the fruit tray 4 is used for supporting single fruits, is placed on one side of the limiting baffle 3 on the first conveyor belt 2 during sorting, and is in contact with or fixedly connected with the limiting baffle 3; the two sides of the first conveyor belt 2 are symmetrically provided with support frames 5, and the support frames 5 and the first conveyor belt 2 penetrate through the image acquisition unit 1; the inside soft brush area 6 that is semi-enclosed state and installs ability and fruit contact of

fruit tray

4, and 4 bottoms of fruit tray are equipped with the clearance nature in the soft brush of control area 6 and remove, realize actuating mechanism 7 of fruit upset.

Some embodiments of the present application will be described in detail below with reference to the following drawings:

referring to fig. 1, in an embodiment of the present application, an image processing-based fruit sorting apparatus includes: the fruit picking device comprises an image collecting unit 1, a first conveyor belt 2 and a fruit tray 4;

the two support frames 5 are arranged on two sides of the first conveyor belt 2 to support the first conveyor belt 2 and are in rotating connection with the first conveyor belt, the plurality of fruit trays 4 are placed on the first conveyor belt 2, the support frames 5 and the first conveyor belt 2 penetrate through the image acquisition unit 1, when the fruit trays 4 carrying fruits pass through the image acquisition unit 1, the image acquisition unit 1 carries out fruit image acquisition and uploads the fruit images to an upper computer to carry out digital analysis and identification on defective fruits such as black and white spots, plant diseases and insect pests, moldy core diseases and the like; and then sorted.

In some embodiments, the first conveyors 2 may be arranged in parallel and jointly pass through the image capturing unit 1 to improve the image processing efficiency of the fruit.

Referring to fig. 2-4, in the embodiment of the present application, the first conveyor belt 2 is integrally formed or fixedly connected to the plurality of limiting baffles 3, the limiting baffles 3 are uniformly distributed on the first conveyor belt 2, the fruit trays 4 are placed at the front side of the moving direction of the limiting baffles 3, so as to limit the resistance when the fruit trays 4 move, and the fruit trays 4 are uniformly distributed when moving, so that the fruit images can be conveniently collected.

In addition, this application has seted up screw hole 301 on limit baffle 3 and can be connected fixedly with fruit tray 4, specifically is connected fixedly with base 402 of fruit tray 4, will describe in detail below.

Here it is possible to have the fruit tray 4 rotate synchronously with the first conveyor 2, alternating only with fruit.

In some embodiments, the fruit tray 4 may not be fixedly connected to the first conveyor belt 2, and the fruit tray may enter the next process step with the fruit after the fruit image is collected.

Referring to fig. 5-7, in the embodiment of the present application, the fruit tray 4 includes a fruit tray 401 on an upper layer for supporting fruits and a base 402 on a lower layer for installing the driving mechanism 7, the middle portions of the fruit tray 401 and the base 402 are connected to each other, a soft brush belt 6 is disposed in the middle portion inside the fruit tray 4, the soft brush belt 6 can contact with the placed fruits upwards, the soft brush belt 6 is connected with the driving mechanism 7 downwards, and when the driving mechanism 7 is powered on to work, the soft brush belt 6 is driven to move intermittently, so that the fruits turn over periodically, and the accuracy of the fruit image digital analysis is improved.

Specifically, base 402 is rectangle hollow structure, connecting hole 403 and outside intercommunication are seted up at base 402 top surface middle part, and locate to install spacing pipe 404 at connecting hole 403, spacing pipe 404 upwards protrudes the back, the fruit bowl 401 cover is established and is overlapped rather than the position in its outside, the fruit bowl 401 top is the ball-type recess downwards, recess middle part and below intercommunication, the recess bottom is equidistant fixed a plurality of arc tray 407, enlarge recess and below intercommunication area, be convenient for and soft brush area 6 abundant contact, add a plurality of arc tray 407 and prevent the whereabouts of small-size fruit.

Wherein, the snap ring 405 has been fixed in the spacing pipe 404 outside, and has set up ring channel 406 at fruit bowl 401 inner wall relevant position, and consequently fruit bowl 401 realizes with base 402 that the joint is fixed, and the mode of its split is more convenient.

In some embodiments, after the base 402 is fixed to the limiting baffle 3, the fruit tray 401 is fixed to the base 402 in a clamping manner, the fruit is placed on the fruit tray 401, and only the best fruit is replaced before and after the fruit image is collected along with the movement of the first conveyor belt 2.

In some embodiments, after the base 402 and the limiting baffle 3 are fixed, the snap ring 405 is removed from the outer side of the limiting pipe 404, the fruit tray 401 is movably connected with the base 402, the fruit is placed on the fruit tray 401, and the fruit tray 401 and the fruit enter the next link together before and after the fruit image acquisition is completed along with the movement of the first conveyor belt 2.

This application is at non-dead formula fixed connection of lock between fruit bowl 401 and base 402, and the mode of split is more convenient, when discerning to different grade type fruit figure collection, the fruit bowl 401 of adaptation that can be better.

Referring to fig. 7, in the embodiment of the present application, the soft brush belt 6 is fixed at the bottom of the limiting pipe 404, and includes a soft brush 601 and a second conveyor belt 602, the second conveyor belt 602 is rotatably connected to the limiting pipe 404 through a bracket 603, the soft brush 601 is equidistantly distributed on the second conveyor belt 602, the soft brush 601 can extend into the groove of the fruit tray 401, and when the second conveyor belt 602 rotates, the soft brush 601 crosses the bottom of the groove and makes the fruit poke and turn over.

Wherein, the driving mechanism 7 comprises a brushless motor 701, a rotating shaft A702, a second grinding roller 707 in friction fit with the second conveyor belt 602 is arranged in the middle of the second conveyor belt 602, the rotating shaft A702 penetrates through a plurality of second grinding rollers 707 and is fixedly connected with the second grinding rollers 707, the end of the rotating shaft A702 is sleeved with a gear B704, the brushless motor 701 is fixed on the base 402 and sleeved with a gear A703, in the application, because the base 402 has limited space, a rotating shaft B706 which is parallel to the rotating shaft a702 and is staggered up and down is arranged, two gears C705 are sleeved on the rotating shaft B706, one of the gears C705 is meshed with the gear a703, so that the brushless motor 701 drives the rotating shaft B706 to rotate, the other gear C705 is meshed with the gear B704 to drive the rotating shaft a702 to rotate, wherein, the gear C705 meshed with the gear B704 is cut off a plurality of teeth at equal intervals, so that a meshing gap exists between the gear C705 and the gear B704, and the problem of image acquisition ghost image is reduced due to the intermittent overturning of fruits.

In some embodiments, the gear a703 is directly meshed with the gear B704, and in order to achieve the rotation effect of the above embodiments, the teeth of the gear a703 are cut off.

Referring to fig. 8-9, in the embodiment of the present application, the first grinding rollers 503 symmetrically disposed inside the first conveyor belt 2 are rotatably connected to the two support frames 5 through the first grinding rollers 503, the first grinding rollers 503 are in friction fit with the first conveyor belt 2, the first conveyor belt 2 is driven to rotate when the first grinding rollers 503 rotate, the upper bearing 504 is fixed in the middle of one of the first grinding rollers 503, the bearing 504 is connected and fixed to the servo motor 8 after passing through one of the support frames 5, and the servo motor 8 is used to control the rotation of the first conveyor belt 2.

Referring to fig. 10, in the embodiment of the present application, an annular conductive rod 501 is disposed in another supporting frame 5 symmetrical to the supporting frame 5 in the above embodiment, a power line connected to the brushless motor 701 extends from the inside of the base 402, and the power line penetrates into the inside of the supporting frame 5 and is electrically connected to the annular conductive rod 501, wherein the power line is made of a hard conductive material or is directly bound to a paper insulating rod and penetrates through the supporting frame 5, and since the power line moves on the first conveyor belt 2 along with the base 402, a connection slot 502 is formed on the supporting frame 5 according to a track of one rotation of the power line, so that the brushless motor 701 can normally operate.

In some embodiments, a removable or replaceable portable power source is mounted inside base 402 to power brushless motor 701.

In some embodiments, a power supply mechanism is installed in the middle of the first conveyor belt 2, and a power line passes through the first conveyor belt 2 to be connected with the first conveyor belt.

In some embodiments, the side walls of the base 402 may be replaced with a solar charging panel to achieve self-sufficiency of power.

Based on the above embodiment, when the fruit tray 4 is movably disposed on the first conveyor belt 2, the base 402 carries the portable power source for continuous power supply without affecting the transition with the next process.

This application has adopted the inside power supply connected mode of comparatively complicated base 402, and in use can set up power cord and base 402 into plug connected mode, and when the base 402 of fruit tray 4 was fixed with first conveyer belt 2 limit baffle 3 in the face of above-mentioned embodiment, this connected mode can guarantee brushless motor 701's long-term power supply, reduces the loaded down with trivial details step of the change that charges.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims

1. Fruit sorting device based on image processing, its characterized in that includes:

the image acquisition unit (1) is used for acquiring fruit images and carrying out digital analysis to identify defective fruits;

the fruit conveying device comprises a first conveying belt (2) and a second conveying belt (2), wherein the first conveying belt (2) is used for carrying fruits to penetrate through an image acquisition unit (1), and a plurality of limiting baffles (3) are fixed on the surface of the first conveying belt (2) at equal intervals;

the fruit tray (4) is used for supporting a single fruit and is placed on one side of the limiting baffle (3) on the first conveyor belt (2) during sorting, and the fruit tray (4) is in contact with or fixedly connected with the limiting baffle (3);

the two sides of the first conveyor belt (2) are symmetrically provided with support frames (5), and the support frames (5) and the first conveyor belt (2) penetrate through the interior of the image acquisition unit (1);

fruit tray (4) are inside to be half confined state and install soft brush area (6) that can contact with fruit, fruit tray (4) bottom is equipped with control soft brush area (6) clearance nature and removes, realizes actuating mechanism (7) of fruit upset.

2. The image processing based fruit sorting device of claim 1, wherein: spacing baffle (3) and first conveyer belt (2) integrated into one piece, spacing baffle (3) are equipped with can be connected fixed screw hole (301) with fruit tray (4).

3. The image processing based fruit sorting device of claim 2, wherein: fruit tray (4) include fruit bowl (401), base (402) are rectangle hollow structure, circular shape connecting hole (403) have been seted up at base (402) top middle part, be fixed with spacing pipe (404) in connecting hole (403), spacing pipe (404) outer wall welding has snap ring (405), fruit bowl (401) adopt rubber to make, spacing pipe (404) outside is located in fruit bowl (401) cover and ring channel (406) have been seted up in the position that corresponds snap ring (405), fruit bowl (401) top is hemispherical recess downwards, its middle part and below intercommunication, fruit bowl (401) are equidistant fixed a plurality of arc tray (407) with the recess bottom.

4. The image processing based fruit sorting device of claim 3, wherein: soft brush area (6) are including soft brush (601), second conveyer belt (602) both ends are rotated and are connected with support (603), and are a plurality of second conveyer belt (602) are arranged in proper order and are passed through support (603) in spacing pipe (404) bottom and be connected fixedly rather than, and are a plurality of soft brush (601) are the annular equidistant second conveyer belt (602) surface of being fixed in.

5. The image processing based fruit sorting device of claim 4, wherein: the driving mechanism (7) comprises a brushless motor (701) and a rotating shaft A (702), a gear A (703) is connected to an output shaft of the brushless motor (701), a second grinding roller (707) is arranged in the middle of the second conveyor belt (602) in a friction fit mode, the rotating shaft A (702) sequentially penetrates through the plurality of second grinding rollers (707), a gear B (704) is adjusted on the rotating shaft A (702), a rotating shaft B (706) is arranged on one side of the rotating shaft A (702) in parallel, two gears C (705) are sleeved on the rotating shaft B (706), one gear C (705) is meshed with the gear A (703), and the other gear C (705) is meshed with the gear B (704) after a plurality of teeth are cut at equal intervals.

6. The image processing based fruit sorting device of claim 5, wherein: the grinding device is characterized in that first grinding rollers (503) are symmetrically arranged in two ends of the first conveying belt (2), the first grinding rollers (503) are in friction fit with the first conveying belt (2), an upper bearing (504) is fixed in the middle of one first grinding roller (503), and the bearing (504) penetrates through a supporting frame (5) to be connected and fixed with a servo motor (8).

7. The image processing based fruit sorting device of claim 6, wherein: and an annular conductive rod (501) is fixed inside the other support frame (5), a power line extends out of the base (402), the power line extends into the support frame (5) and is in sliding connection with the annular conductive rod (501), and a connecting groove (502) is formed in the annular motion track of the first conveyor belt (2) along the power line on the surface of the support frame (5) opposite to the first conveyor belt (2).