CN106896114B - A kind of apple automatic boxing method can detecte apple integrity degree - Google Patents
A kind of apple automatic boxing method can detecte apple integrity degree Download PDFInfo
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- CN106896114B CN106896114B CN201710141403.1A CN201710141403A CN106896114B CN 106896114 B CN106896114 B CN 106896114B CN 201710141403 A CN201710141403 A CN 201710141403A CN 106896114 B CN106896114 B CN 106896114B
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
Abstract
The present invention discloses a kind of apple automatic boxing method that can detecte apple integrity degree, belong to automatic packaging field, the vanning of apple is carried out while apple can be detected automatically with the presence or absence of surface defect, it is realized using a kind of apple automatic boxing machine that can detecte apple integrity degree, the equipment includes: apple integrity degree vision inspection apparatus, apple automatic bag sheathing device, apple automatic packing device and control host.Using the surface image of high contrast visual detection device detection apple and apple surface defect is identified using the characteristic value that control host extracts image, and it may be implemented to carry out bagging and vanning to apple automatically using automatic bag sheathing and automatic boxing component, save a large amount of manpower and material resources.
Description
Technical field
The invention belongs to automatic packaging technical fields, are related to automated packaging equipment, and especially one kind can detecte apple
The apple automatic boxing method of integrity degree.
Background technique
In actual life, open find after fruit fruit it is defective be ten to spare the gloomy thing of people and fruit was sold
Very common thing in journey, the presence of defect fruit is major issue urgently to be solved in fruit sales process, because of a fruit
Defect can breed bacterium colony in its rejected region, and then influence the preservation of other zero defect fruit.
At present, fruit was picked also in hand picking stage, low efficiency, effect difference be presently, there are generally ask
Topic, machine vision technique is fast with its speed in recent years, contain much information, the features such as function is more obtains in quality of agricultural product detection
It is widely applied, greatly improves the Quality Detection precision and efficiency of agricultural product, become agricultural product automatic detection and sorting skill
The research hotspot of art.Inventor studies the Apple surface defect detection based on machine vision technique with recognition methods, will
Daily apple passes through many experiments after carrying out Image Acquisition, determines pretreatment and the dividing method of image, finally to extraction apple
Surface defect image carries out matrix characteristic vector analysis, and realization identifies defect kind.
In addition, the bagging of apple and vanning are also required to a large amount of manpower to complete at present, it is unable to automatic bag sheathing vanning, significantly
Reduce production efficiency.
Summary of the invention
The present invention overcomes disadvantages described above, provides a kind of apple automatic boxing method that can detecte apple integrity degree.
Technical scheme is as follows:
A kind of apple automatic boxing machine can detecte apple integrity degree is provided first, apple integrity degree can be automatically performed
Detection and to apple automatic boxing, comprising: apple integrity degree vision inspection apparatus 1, apple automatic bag sheathing device 2, apple from
Dynamic boxing apparatus 3 and control host.
Further, apple integrity degree vision inspection apparatus includes: horizontal conveying belt 101, infrared detecting device 102, and
One high contrast visual detection device 103, the second high contrast visual detection device 104, the first infrared illumination light source 105,
Second infrared illumination light source, unqualified apple push-off device 106, unqualified apple collection bin 107；The hair of infrared detecting device
It penetrates end and receiving end is separately mounted to the two sides of horizontal conveying belt, for detecting whether there is apple to pass through from conveyer belt；It is hot
When outer detection device has detected that apple passes through, infrared detecting device sends signal to control host, controls host controlled level
Conveyer belt pause；First high contrast visual detection device and the second high contrast visual detection device are separately positioned on horizontal biography
Two upper sides of band are sent, on the camera of the first high contrast visual detection device and the second high contrast visual detection device point
The infrared illumination light source of annular is not installed；First high contrast visual detection device and the second high contrast visual detection dress
It sets from the two sides of apple and high-contrast image acquisition is carried out to apple respectively, and the data of acquisition are sent to control host, control
Host processed is by carrying out feature identification to high-contrast image to judge whether apple surface has damage；If detecting damage,
It controls host and controls unqualified apple push-off device stretching, apple is pushed out to unqualified apple slideway, unqualified apple passes through
Unqualified apple slideway falls into unqualified apple collection bin, and control host controlled level conveyer belt is opened；If controlling host inspection
It measures apple not damage, illustrates that apple surface integrity degree is qualified, control host controlled level conveyer belt is opened, and transmission apple is extremely
Apple automatic bag sheathing device.
Further, apple automatic bag sheathing device is arranged in below the end of horizontal conveying belt, apple automatic bag sheathing device
It include: apple collection funnel 201, polybag bagging tool 202 and discharge belt 203 with heating function；Apple collection funnel
It is arranged in below the end of horizontal conveying belt, takes the apple fallen for collecting horizontal transmission；Polybag with heating function
Bagging tool is arranged in below the outlet of apple collection funnel comprising: the first plastic sheet roller bearing 204, the second plastic sheet roller bearing, the
One heated connector 205, the second heated connector and apple detection device 206；The first plastic sheet roller bearing is arranged first
Above heated connector, for exporting the first plastic sheet, the second plastic sheet roller bearing is arranged above the second heated connector,
For exporting the second plastic sheet；First heated connector and the second heated connector are oppositely arranged, and are that vertical direction is opened
Two semicircles that mouth direction is disposed opposite to each other, wherein two semicircles being located above can add the first plastic sheet and the second plastic sheet
It is thermally connected into the semicircle of opening upwards, for catching the apple fallen；Apple detection device is arranged in the first heated connector
With above the second heated connector, whether there is the apple fallen caught in heated connector for detecting, if detected
Apple, apple detection device send signal to control host, and control host controls the first plastic sheet roller bearing and the rolling of the second plastic sheet
Axis rolls, and exports plastics, moves down apple；Underlying two semicircles can heat the first plastic sheet and the second plastic sheet
It is semicircle to connect into that Open Side Down, is the first plastic sheet and the sealing of the second plastic sheet and cutting plastics after moving down for apple；It cuts
It has no progeny, is fallen on exit conveyor by the apple that polybag wraps up and transport apple automatic packing device to.
Further, apple automatic packing device includes swinging slideway 301, tilts supporting plate 302 and pallet with groove
303；The starting point for swinging slideway is connected to the end of exit conveyor, and the end for swinging slideway can be swung；Tilt supporting plate packet
The hole that three rows can be such that apple passes through is included, has baffle to separate between every round；Pallet setting with groove is below inclination supporting plate
Slant setting, and it is parallel at a distance of the height of a 5-15cm with inclination supporting plate；Apple packing case is cased with outside pallet with groove；The
One apple falls into swing slideway from exit conveyor, rolls into the first round of inclination supporting plate by swinging slideway, and fall into the
In one hole, and fall on pallet with groove；Second apple passes through identical mode, due to having been filled out by apple in the first hole
Full, second apple is fallen into the second hole, and so on, when row's apple all fills up, swings slideway and be rocked to the second round；
After all holes for tilting supporting plate are filled, apple vanning is completed.
A kind of apple automatic boxing method that can detecte apple integrity degree is executed using apparatus above to include the following steps:
1) host-initiated horizontal conveying belt is controlled, and monitors whether infrared detecting device has detected apple from conveyer belt
By；When infrared detecting device has detected that apple passes through, infrared detecting device sends signal to control host, controls host
The pause of controlled level conveyer belt；
2) control host controls the first high contrast visual detection device and the second high contrast visual detection device from apple
The two sides of fruit carry out high-contrast image acquisition to apple respectively, and the data of acquisition are sent to control host, control host
By carrying out feature identification to high-contrast image to judge whether apple surface has damage；If detecting damage, control master
Machine controls unqualified apple push-off device and stretches out, and apple is pushed out to unqualified apple slideway, unqualified apple is by unqualified
Apple slideway falls into unqualified apple collection bin, and control host controlled level conveyer belt is opened；If controlling Host Detection to apple
Fruit does not damage, and illustrates that apple surface integrity degree is qualified, and control host controlled level conveyer belt is opened, and transmission apple to apple is certainly
Dynamic bagging device；
3) whether there is the apple fallen caught in control host control apple detection device detection heated connector, if
Apple is detected, apple detection device sends signal to control host, and control host controls the first plastic sheet roller bearing and second
Plastic sheet roller bearing rolls, and exports plastics, moves down apple；Control heated connector is the first plastic sheet and second after apple moves down
Plastic sheet sealing and cutting plastics；After cutting, is fallen on exit conveyor by the apple that polybag wraps up and transport apple to and fill automatically
Case apparatus；
4) control host control swing slide egress be located at inclination planker the first round, and detect the first round whether by
It fills up；Host control swing slideway is controlled after the first round is filled and is rocked to the second round, and whether detects the second round
It is filled；Host control swing slideway is controlled after the second round is filled and is rocked to third round, and detects third round to be
It is no to be filled；After third round is filled, apple vanning is completed.
Present invention has the advantage that
1) feature identification can be carried out using image of the control host to high contrast visual detection device, realized full-automatic
The detection of apple integrity degree is carried out while automatic packaging apple；
2) bagging can be carried out to apple automatically；
3) it can case automatically apple.
Detailed description of the invention
The schematic top plan view of Fig. 1 present device.
The schematic side view of Fig. 2 present device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
A kind of apple automatic boxing machine can detecte apple integrity degree is provided first, apple integrity degree can be automatically performed
Detection and to apple automatic boxing, comprising: apple integrity degree vision inspection apparatus 1, apple automatic bag sheathing device 2, apple from
Dynamic boxing apparatus 3 and control host.
Further, apple integrity degree vision inspection apparatus includes: horizontal conveying belt 101, infrared detecting device 102, and
One high contrast visual detection device 103, the second high contrast visual detection device 104, the first infrared illumination light source 105,
Second infrared illumination light source, unqualified apple push-off device 106, unqualified apple collection bin 107；The hair of infrared detecting device
It penetrates end and receiving end is separately mounted to the two sides of horizontal conveying belt, for detecting whether there is apple to pass through from conveyer belt；It is hot
When outer detection device has detected that apple passes through, infrared detecting device sends signal to control host, controls host controlled level
Conveyer belt pause；First high contrast visual detection device and the second high contrast visual detection device are separately positioned on horizontal biography
Two upper sides of band are sent, on the camera of the first high contrast visual detection device and the second high contrast visual detection device point
The infrared illumination light source of annular is not installed；First high contrast visual detection device and the second high contrast visual detection dress
It sets from the two sides of apple and high-contrast image acquisition is carried out to apple respectively, and the data of acquisition are sent to control host, control
Host processed is by carrying out feature identification to high-contrast image to judge whether apple surface has damage；If detecting damage,
It controls host and controls unqualified apple push-off device stretching, apple is pushed out to unqualified apple slideway, unqualified apple passes through
Unqualified apple slideway falls into unqualified apple collection bin, and control host controlled level conveyer belt is opened；If controlling host inspection
It measures apple not damage, illustrates that apple surface integrity degree is qualified, control host controlled level conveyer belt is opened, and transmission apple is extremely
Apple automatic bag sheathing device.
Further, apple automatic bag sheathing device is arranged in below the end of horizontal conveying belt, apple automatic bag sheathing device
It include: apple collection funnel 201, polybag bagging tool 202 and discharge belt 203 with heating function；Apple collection funnel
It is arranged in below the end of horizontal conveying belt, takes the apple fallen for collecting horizontal transmission；Polybag with heating function
Bagging tool is arranged in below the outlet of apple collection funnel comprising: the first plastic sheet roller bearing 204, the second plastic sheet roller bearing, the
One heated connector 205, the second heated connector and apple detection device 206；The first plastic sheet roller bearing is arranged first
Above heated connector, for exporting the first plastic sheet, the second plastic sheet roller bearing is arranged above the second heated connector,
For exporting the second plastic sheet；First heated connector and the second heated connector are oppositely arranged, and are that vertical direction is opened
Two semicircles that mouth direction is disposed opposite to each other, wherein two semicircles being located above can add the first plastic sheet and the second plastic sheet
It is thermally connected into the semicircle of opening upwards, for catching the apple fallen；Apple detection device is arranged in the first heated connector
With above the second heated connector, whether there is the apple fallen caught in heated connector for detecting, if detected
Apple, apple detection device send signal to control host, and control host controls the first plastic sheet roller bearing and the rolling of the second plastic sheet
Axis rolls, and exports plastics, moves down apple；Underlying two semicircles can heat the first plastic sheet and the second plastic sheet
It is semicircle to connect into that Open Side Down, is the first plastic sheet and the sealing of the second plastic sheet and cutting plastics after moving down for apple；It cuts
It has no progeny, is fallen on exit conveyor by the apple that polybag wraps up and transport apple automatic packing device to.
Further, apple automatic packing device includes swinging slideway 301, tilts supporting plate 302 and pallet with groove
303；The starting point for swinging slideway is connected to the end of exit conveyor, and the end for swinging slideway can be swung；Tilt supporting plate packet
The hole that three rows can be such that apple passes through is included, has baffle to separate between every round；Pallet setting with groove is below inclination supporting plate
Slant setting, and it is parallel at a distance of the height of a 5-15cm with inclination supporting plate；Apple packing case is cased with outside pallet with groove；The
One apple falls into swing slideway from exit conveyor, rolls into the first round of inclination supporting plate by swinging slideway, and fall into the
In one hole, and fall on pallet with groove；Second apple passes through identical mode, due to having been filled out by apple in the first hole
Full, second apple is fallen into the second hole, and so on, when row's apple all fills up, swings slideway and be rocked to the second round；
After all holes for tilting supporting plate are filled, apple vanning is completed.
A kind of apple automatic boxing method that can detecte apple integrity degree is executed using apparatus above to include the following steps:
1) host-initiated horizontal conveying belt is controlled, and monitors whether infrared detecting device has detected apple from conveyer belt
By；When infrared detecting device has detected that apple passes through, infrared detecting device sends signal to control host, controls host
The pause of controlled level conveyer belt；
2) control host controls the first high contrast visual detection device and the second high contrast visual detection device from apple
The two sides of fruit carry out high-contrast image acquisition to apple respectively, and the data of acquisition are sent to control host, control host
By carrying out feature identification to high-contrast image to judge whether apple surface has damage；If detecting damage, control master
Machine controls unqualified apple push-off device and stretches out, and apple is pushed out to unqualified apple slideway, unqualified apple is by unqualified
Apple slideway falls into unqualified apple collection bin, and control host controlled level conveyer belt is opened；If controlling Host Detection to apple
Fruit does not damage, and illustrates that apple surface integrity degree is qualified, and control host controlled level conveyer belt is opened, and transmission apple to apple is certainly
Dynamic bagging device；
3) whether there is the apple fallen caught in control host control apple detection device detection heated connector, if
Apple is detected, apple detection device sends signal to control host, and control host controls the first plastic sheet roller bearing and second
Plastic sheet roller bearing rolls, and exports plastics, moves down apple；Control heated connector is the first plastic sheet and second after apple moves down
Plastic sheet sealing and cutting plastics；After cutting, is fallen on exit conveyor by the apple that polybag wraps up and transport apple to and fill automatically
Case apparatus；
4) control host control swing slide egress be located at inclination planker the first round, and detect the first round whether by
It fills up；Host control swing slideway is controlled after the first round is filled and is rocked to the second round, and whether detects the second round
It is filled；Host control swing slideway is controlled after the second round is filled and is rocked to third round, and detects third round to be
It is no to be filled；After third round is filled, apple vanning is completed.
Embodiment described above is only that embodiments of the present invention are described, not to design of the invention and
Range is defined.Without departing from the design concept of the invention, ordinary people in the field is to technical solution of the present invention
The all variations and modifications made, should all drop into protection scope of the present invention, the scope of the present invention by appended claims and
It is not that above description limits, it is intended that all changes that come within the meaning and range of equivalency of the claims are included
In the present invention, any reference signs in the claims should not be construed as limiting the involved claims.
Claims (3)
1. a kind of apple automatic boxing method that can detecte apple integrity degree, can be automatically performed the detection of apple integrity degree simultaneously
To apple automatic boxing, it is characterised in that: a kind of apple automatic boxing machine that can detecte apple integrity degree is provided first, it is described
A kind of apple automatic boxing machine can detecte apple integrity degree includes: apple integrity degree vision inspection apparatus (1), and apple is automatic
Bagging device (2), apple automatic packing device (3) and control host；
Apple integrity degree vision inspection apparatus includes: horizontal conveying belt (101), infrared detecting device (102), the first high contrast
Vision inspection apparatus (103), the second high contrast visual detection device (104), the first infrared illumination light source (105), second
Infrared illumination light source, unqualified apple push-off device (106), unqualified apple collection bin (107)；The hair of infrared detecting device
It penetrates end and receiving end is separately mounted to the two sides of horizontal conveying belt, for detecting whether there is apple to pass through from conveyer belt；It is hot
When outer detection device has detected that apple passes through, infrared detecting device sends signal to control host, controls host controlled level
Conveyer belt pause；First high contrast visual detection device and the second high contrast visual detection device are separately positioned on horizontal biography
The two sides with top are sent, on the camera of the first high contrast visual detection device and the second high contrast visual detection device point
The infrared illumination light source of annular is not installed；First high contrast visual detection device and the second high contrast visual detection dress
It sets from the two sides of apple and high-contrast image acquisition is carried out to apple respectively, and the data of acquisition are sent to control host, control
Host processed is by carrying out feature identification to high-contrast image to judge whether apple surface has damage；If detecting damage,
It controls host and controls unqualified apple push-off device stretching, apple is pushed out to unqualified apple slideway, unqualified apple passes through
Unqualified apple slideway falls into unqualified apple collection bin, and control host controlled level conveyer belt is opened；If controlling host inspection
It measures apple not damage, illustrates that apple surface integrity degree is qualified, control host controlled level conveyer belt is opened, and transmission apple is extremely
Apple automatic bag sheathing device；
Apple automatic bag sheathing device is arranged in below the end of horizontal conveying belt, and apple automatic bag sheathing device includes: that apple is collected
Funnel (201), polybag bagging tool (202) and discharge belt (203) with heating function；Apple collection funnel is arranged in water
Below the end of flat conveyer belt, the apple fallen is taken for collecting horizontal transmission；Polybag bagging tool with heating function is set
It sets below the outlet of apple collection funnel comprising: the first plastic sheet roller bearing (204), the second plastic sheet roller bearing, the first heating
Connector (205), the second heated connector and apple detection device (206)；The first plastic sheet roller bearing setting adds first
Above Thermal connector, for exporting the first plastic sheet, the second plastic sheet roller bearing is arranged above the second heated connector, uses
In exporting the second plastic sheet；First heated connector and the second heated connector are oppositely arranged, and are vertical direction opening
Two semicircles that direction is disposed opposite to each other, wherein two semicircles being located above can heat the first plastic sheet and the second plastic sheet
The semicircle for connecting into opening upwards, for catching the apple fallen；The setting of apple detection device in the first heated connector and
Above second heated connector, whether there is the apple fallen caught in heated connector for detecting, if having detected apple
Fruit, apple detection device send signal to control host, and control host controls the first plastic sheet roller bearing and the second plastic sheet roller bearing
It rolls, exports plastics, move down apple；Underlying two semicircles can connect the first plastic sheet and the heating of the second plastic sheet
It is semicircle to be connected into that Open Side Down, is the first plastic sheet and the sealing of the second plastic sheet and cutting plastics after moving down for apple；Cutting
Afterwards, it is fallen on exit conveyor by the apple that polybag wraps up and transports apple automatic packing device to.
2. a kind of apple automatic boxing method that can detecte apple integrity degree as described in claim 1, it is characterised in that: apple
Fruit automatic packing device includes swinging slideway (301), tilts supporting plate (302) and pallet with groove (303)；Swing rising for slideway
Beginning is connected to the end of exit conveyor, and the end for swinging slideway can be swung；Inclination supporting plate includes that three rows can make apple
The hole passed through has baffle to separate between every round；Pallet with groove setting is placed in inclination supporting plate inclined downward, and with inclination
Supporting plate is parallel at a distance of the height of a 5-15cm；Apple packing case is cased with outside pallet with groove；First apple is passed from output
It send band to fall into swing slideway, rolls into the first round of inclination supporting plate by swinging slideway, and fall into the first hole, and fall in recessed
On the pallet of slot；Second apple passes through identical mode, and due to having been filled up by apple in the first hole, second apple is fallen into
In second hole, and so on, when row's apple all fills up, swings slideway and be rocked to the second round；When owning for inclination supporting plate
After hole is filled, apple vanning is completed.
3. a kind of apple automatic boxing method that can detecte apple integrity degree as claimed in claim 2, it is characterised in that packet
Include following steps:
1) host-initiated horizontal conveying belt is controlled, and monitors whether infrared detecting device has detected that apple is passed through from conveyer belt
It crosses；When infrared detecting device has detected that apple passes through, infrared detecting device sends signal to control host, controls host control
Horizontal conveying belt pause processed；
2) control host controls the first high contrast visual detection device and the second high contrast visual detection device from apple
Two sides carry out high-contrast image acquisition to apple respectively, and the data of acquisition are sent to control host, and control host passes through
Feature identification is carried out to judge whether apple surface has damage to high-contrast image；If detecting damage, host control is controlled
It makes unqualified apple push-off device to stretch out, apple is pushed out to unqualified apple slideway, unqualified apple passes through unqualified apple
Slideway falls into unqualified apple collection bin, and control host controlled level conveyer belt is opened；If control Host Detection does not have to apple
There is damage, illustrate that apple surface integrity degree is qualified, control host controlled level conveyer belt is opened, and transmission apple covers automatically to apple
It is packed to set；
3) whether there is the apple fallen caught in control host control apple detection device detection heated connector, if detection
To there is apple, apple detection device sends signal to control host, and control host controls the first plastic sheet roller bearing and the second plastics
Piece roller bearing rolls, and exports plastics, moves down apple；Control heated connector is the first plastic sheet and the second plastics after apple moves down
Piece sealing and cutting plastics；After cutting, is fallen on exit conveyor by the apple that polybag wraps up and transport apple automatic boxing dress to
It sets；
4) control of control host swings the first round that slide egress is located at inclination planker, and detects whether the first round is filled out
It is full；Control host control after the first round is filled and swing slideway and be rocked to the second round, and detect the second round whether by
It fills up；Host control swing slideway is controlled after the second round is filled and is rocked to third round, and whether detects third round
It is filled；After third round is filled, apple vanning is completed.
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| CN201710141403.1A CN106896114B (en) | 2017-03-10 | 2017-03-10 | A kind of apple automatic boxing method can detecte apple integrity degree |
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| CN201710141403.1A CN106896114B (en) | 2017-03-10 | 2017-03-10 | A kind of apple automatic boxing method can detecte apple integrity degree |
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| CN109827971B (en) * | 2019-03-19 | 2021-09-24 | 湖州灵粮生态农业有限公司 | Method for nondestructive detection of fruit surface defects |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10113619A (en) * | 1996-10-11 | 1998-05-06 | Nambu Electric Co Ltd | Sorting and collecting device for chicken eggs or the like |
| JP2000193602A (en) * | 1998-12-28 | 2000-07-14 | Hiroshi Katagawa | External appearance inspecting device |
| JP2000235005A (en) * | 1999-02-15 | 2000-08-29 | Nidec Tosok Corp | Egg inspection device |
| MY141259A (en) * | 2005-02-17 | 2010-04-16 | Food Processing Systems | Apparatus for transferring products |
| CN101194161B (en) * | 2005-06-03 | 2012-05-23 | 株式会社前川制作所 | Apparatus for detecting contaminants in food |
| CN101949686A (en) * | 2010-08-02 | 2011-01-19 | 扬州福尔喜果蔬汁机械有限公司 | Online nondestructive testing (NDT) method and device for comprehensive internal/external qualities of fruits |
| CN103101638A (en) * | 2013-02-22 | 2013-05-15 | 郝保军 | Bagging and encasement all-in-one machine |
| CN103143508B (en) * | 2013-03-15 | 2015-06-10 | 上海理工大学 | Machine-vision-based online grading and packaging production line for bananas |
| 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 |
| CN103418554B (en) * | 2013-08-27 | 2015-09-30 | 华南农业大学 | Based on control system and the control method of the small-sized Intelligent agricultural product separator of DSP |
| CN103521456B (en) * | 2013-10-25 | 2015-09-30 | 尹伟彬 | A kind of fruit automatic screening boxing apparatus |
| CN104646305A (en) * | 2013-11-25 | 2015-05-27 | 王健 | Machine vision-based apple online automatic classification separation system |
| CN103949409A (en) * | 2014-04-21 | 2014-07-30 | 三峡大学 | Automatic fruit sorting system |
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