CN101121167A - Device for sizing spike-like fruits - Google Patents

Device for sizing spike-like fruits Download PDF

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Publication number
CN101121167A
CN101121167A CNA2007101202551A CN200710120255A CN101121167A CN 101121167 A CN101121167 A CN 101121167A CN A2007101202551 A CNA2007101202551 A CN A2007101202551A CN 200710120255 A CN200710120255 A CN 200710120255A CN 101121167 A CN101121167 A CN 101121167A
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China
Prior art keywords
spike
fruit
fruits
sizing
frame
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CNA2007101202551A
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CN100569389C (en
Inventor
陈英
李伟
林初靠
万虎
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China Agricultural University
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China Agricultural University
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Abstract

The present invention relates to the agricultural project field and discloses a spiciform fruit grading device; the invention comprises a driving device, a mounted delivery mechanism, a fruit clipping mechanism, an image collecting and handling system and a graded control system; the invention adopts computer visual technology and realizes the graded handling function on spiciform fruit; in addition, the invention prevents the spiciform fruit from bing damaged in the process of grading; the device boasts of simple structure and low cost.

Description

A kind of device for sizing spike-like fruits
Technical field
The present invention relates to the agriculture project field, particularly relate to a kind of device for sizing spike-like fruits.
Background technology
China is fruit big producing country, and the fruit laggard field flow that enters the market of classification that is graded according to quality is logical, is convenient to fix the price according to the quality, and improves its market competitiveness and commodity value, increases farmers' income.At present, fruit is adopted the back classification technique and is differentiated that from mechanical type size, weight grading and artificial visually examine quality develops to the direction based on the quality classification of machine vision, high speed fruit grading production line as the U.S., the fruit quality of Zhejiang University's development is intelligent to be detected and the classification production line in real time, the computer vision fruit grading automated system of China Agricultural University's development etc.
At present carry out the application that fruit detects classification and mainly comprise apple, citrus, peach, pears, mango etc. based on machine vision, their fruit is simple grain with single, in detecting classification process, can adopt mechanical device that fruit is separately put on monitor station, one or more image with picked-up simple grain fruit, obtain the information such as shape, size, color, defective of every fruit by graphical analysis, and then realize fruit grading.And for such as spike fruit such as grape, lichee, comprise a lot of pieces of fruit grains that are deposited in mutually together in every fringe fruit, requirement according to the grape grade scale, grape grade classification not only size and the fringe shape with whole fringe is relevant, more will see the features such as quantity, fruit grain size, fruit grain color and defective of fruit grain in the spiked vine.In addition, because the soft rapid wear of grape fruit does not allow detecting slip or rolling on the table top.Therefore, the grape detection classification based on machine vision has its own particularity and complexity.
Existing grading plant or be to adopt external production line, or manually finish.External whole production line structure is huge, complicated, costs an arm and a leg, and only carries out classification at the fruit grain of grape size and two appearance index of color.And adopt artificial classification, inefficiency and be difficult to accomplish objective and accurate.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, cheap real-time detection and automatic grading plant, a kind of device for sizing spike-like fruits particularly is provided.
For achieving the above object, technical scheme of the present invention provides a kind of device for sizing spike-like fruits, comprising: drive unit, overhead chain conveyor structure, fruit clamping device, IMAQ and treatment system and multi-level control system; Described drive unit is installed on the described overhead chain conveyor structure, is used to drive described overhead chain conveyor structure and transmits; Described fruit clamping device is installed on the described overhead chain conveyor structure, is used for clamping spike fruit; Described IMAQ and treatment system are installed on the described overhead chain conveyor structure, are used to gather and handle the image of described spike fruit; Described multi-level control system links to each other with treatment system with described IMAQ, carries out data communication, be used to control the image of gathering described spike fruit, and the grade that shows described spike fruit.
Wherein, described drive unit specifically comprises motor component and transmission mechanism, drives described transmission mechanism motion by described motor component.
Wherein, described motor component comprises deceleration buncher, motor bearing, and described transmission mechanism is a chain-drive mechanism, comprises shaft coupling, power transmission shaft, bearing, bearing block, sprocket wheel, supporting plate; Described motor is fixed on the described motor bearing, described motor bearing is fixed on the frame plate on frame top of described overhead chain conveyor structure, described supporting plate is fixed on the described frame, and described sprocket wheel links to each other with described motor by described bearing, bearing block, power transmission shaft, shaft coupling.
Wherein, described overhead chain conveyor structure comprises: frame, frame plate, closed orbit, chain, rolling bearing assembly, described frame is the shaped steel Welding Structure, described frame plate is fixed on described frame top, described closed orbit is fixed on described frame plate below, described chain has hanger up and down, and the top hanger links to each other with described closed orbit by described rolling bearing assembly, and the below hanger links to each other with described fruit clamping device.
Wherein, described fruit clamping device comprises: cramping body, spring, latch plate, bolt, nut, rubber gripper pad; Described cramping body is fixed on the hanger of below, and two rubber blankets are equipped with in described cramping body inboard, and described spring, latch plate are fixed on the described cramping body by described bolt, nut.
Wherein, described IMAQ and treatment system comprise two ccd video cameras, lighting box, light source, image pick-up card, computer; Described lighting box is installed on the described frame of a side; The described light source of described lighting box installed inside; Described two ccd video cameras are installed in described lighting box both sides; Described ccd video camera and described IMAQ card connection are carried out IMAQ; Described computer is connected with described multi-level control system, carries out image and handles and transfer of data.
Wherein, described multi-level control system comprises sensor, PLC controller and classification indicator lamp; Described sensor is installed in the image acquisition region of spike fruit grader; The classification indicator lamp is installed in stepped zone; Described PLC controller is connected with capture card with described computer, carries out image data transmission.
Wherein, described sensor is the inductance type proximity transducer.
A technical scheme in the technique scheme has following advantage: in the suspension type of spike fruit is carried continuously, adopt computer vision technique, take simultaneously the multiple image of cluster of grapes from different perspectives, extract fruit ear shape, the size of grape, fruit grain size and quantity, information such as color, defective, and then realize the classification of outward appearance integrated quality, classification is accurate, objective, avoids the damage to grape simultaneously.
Description of drawings
Fig. 1 is the structural representation of a kind of device for sizing spike-like fruits of the embodiment of the invention;
Fig. 2 is the drive unit drive end cutaway view of a kind of device for sizing spike-like fruits of the embodiment of the invention;
Fig. 3 is the overhead chain conveyor structure and the spike fruit clamping device local appearance schematic diagram of a kind of device for sizing spike-like fruits of the embodiment of the invention;
Fig. 4 is the overhead chain conveyor structure cutaway view of a kind of device for sizing spike-like fruits of the embodiment of the invention;
Fig. 5 is IMAQ and the treatment system and the multi-level control system schematic diagram of a kind of device for sizing spike-like fruits of the embodiment of the invention;
Fig. 6 is the grading control flow chart of a kind of device for sizing spike-like fruits of the embodiment of the invention.
Wherein:
1-drive unit 11-motor 12-motor bearing 13-shaft coupling 14-power transmission shaft 15-bearing 16-bearing block 17-sprocket wheel 18-supporting plate chain-wheel mechanism 1-1,1-2,1-3 and 1-4;
2-overhead chain conveyor structure 21-frame 22-frame plate 23-circular orbit 24-chain 25-rolling bearing 26-rolling bearing support 27-connecting ring 28-pressing plate 29-screw;
3-grape clamping device 31-cramping body 32-spring 33-latch plate 34-bolt 35-nut 36-rubber gripper pad 37-grape;
4-IMAQ and treatment system 41-CCD video camera 42-lighting box 43-light source 44-image pick-up card 45-computer;
5-multi-level control system 51-sensor 52-PLC controller 53-classification indicator lamp.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6 the embodiment of the invention is elaborated.Device for sizing spike-like fruits is the grape grader, and specifically by drive unit 1, overhead chain conveyor structure 2, clamping device 3, IMAQ and treatment system 4, multi-level control system 5 are formed.
As shown in Figure 1, drive unit 1 comprises four chain-wheel mechanism 1-1,1-2,1-3 and 1-4, and wherein 1-1 is a drive end, and all the other are driven end, and Fig. 2 is the cutaway view of drive unit drive end.In conjunction with Fig. 1, Fig. 2 as can be known, this drive unit is made up of deceleration buncher 11, motor bearing 12, shaft coupling 13, power transmission shaft 14, bearing 15, bearing block 16, sprocket wheel 17, supporting plate 18, motor 11 is fixed on the motor bearing 12, motor bearing 12 is fixed on the frame plate 22 on frame 21 tops, supporting plate 18 is fixed on the frame 21, is used to support the whole chain wheel mechanism.
Be illustrated in figure 3 as overhead chain conveyor structure and grape clamping device local appearance schematic diagram, Fig. 4 is an overhead chain conveyor structure cutaway view.By Fig. 1, Fig. 3, Fig. 4 as can be known, the overhead chain conveyor structure is made up of frame 21, frame plate 22, circular orbit 23, chain 24, rolling bearing 25, rolling bearing support 26, connecting ring 27.Frame 21 adopts the section bar Welding Structure, is used to support whole system of the present invention, and frame plate 22 is fixed on frame 21 tops.In order to realize the continuous conveying of grape, adopting the cross section is that the I-shaped aluminium section bar of class bends a circular orbit 23, by pressing plate 28 and screw 29 circular orbit 23 is connected frame plate 22 belows.Many group rolling bearings 25 are equipped with in the left and right sides in circular orbit 23, and a pair of rolling bearing 25 is linked to each other by a rolling bearing support 26, and connecting ring 27 is equipped with in rolling bearing support 26 lower ends, by connecting ring 27 chain 24 is lifted on circular orbit 23 belows.Chain 24 adopts the upper and lower precision roller chain that has hanger respectively, and the top hanger is used for linking to each other with circular orbit 23, and the below hanger is used to hang grape.
As shown in Figure 3, the fruit clamping device is specially the grape clamping device at present embodiment, form by cramping body 31, spring 32, latch plate 33, bolt 34, nut 35, rubber gripper pad 36, cramping body 31 is fixed on the hanger of chain 24 belows, and two rubber blankets 36 are equipped with in cramping body 31 inboards.With forefinger with thumb is placed on latch plate 33 respectively and slightly firmly pinch at cramping body 31 left surface places, two rubber gripper pads 36 unclamp under the effect of spring, and the carpopodium of grape 37 is inserted, and openhanded to open the back carpopodium promptly clamped.Screw nut 35, pretension degree that can regulating spring 32 guarantees reliable clamping carpopodium and does not come off, and the elasticity of rubber gripper pad 36 self can guarantee grape not to be caused damage in the clamping process.
Start buncher 11, motor 11 drives power transmission shaft 14, sprocket wheel 1-1,1-2,1-3,1-4 rotation, sprocket wheel 1-1,1-2,1-3,1-4 drive chain 24 motions, because chain 24 is suspended on circular orbit 23 belows by rolling bearing 25, rolling bearing support 26, connecting ring 27, chain hanger, thereby guarantee that chain 24 is all the time along circular orbit 23 runnings.Because grape 37 links to each other by clamping device and chain below hanger, thereby can realize that grape carries continuously along the suspension type of planned orbit.
Because chain suspension is below circular orbit 23, with track by 27 non-rigid connections of the connecting ring in the rolling bearing assembly, thereby need not tensioning and can move by continous-stable.
Owing to adopted rolling bearing 25, make whole induction system at the volley and 23 of circular orbits be rolling friction, frictional force is very little, thereby makes that motor 11 loads are very little, sleeve mechanism operates steadily.Clamping device itself has good rigidity, can reduce grape the rocking in course of conveying of clamping as far as possible, is convenient to subsequently IMAQ and processing.Adopt the deceleration buncher in the embodiment of the invention, can carry out stepless speed regulation easily,, thereby satisfy different hierarchical algorithmses and classification efficiency requirement with the speed of adjusting grape conveying.
Fig. 5 is IMAQ of the present invention and treatment system and multi-level control system schematic diagram, as shown in Figure 5, IMAQ and treatment system comprise two ccd video cameras 41, lighting box 42, light source 43, image pick-up card 44, computer 45 and imgae processing software, lighting box 42 is across a side frame 21, installed inside light source 43 makes the grape surface that enters into image acquisition region form uniform lighting effect.Two ccd video cameras 41 are installed in lighting box 42 both sides, and when grape ran to pickup area (in the lighting box), two ccd video cameras 41 were taken two width of cloth images on two sides, grape front and back simultaneously, are input to computer 45 by capture card 44.Image processing software merges two width of cloth images of cluster of grapes, cut apart and feature extraction through preliminary treatment, image, detect the fruit ear shape and information such as size, fruit grain number amount and size, color, defective of grape, comprehensive then these four kinds of information are judged the grape grade.
Multi-level control system is made up of inductance type proximity transducer 51, PLC controller 52 and classification indicator lamp 53 as shown in Figure 5.Sensor 51 is installed in the image acquisition region of grape grader, and classification indicator lamp 53 is installed in stepped zone.PLC controller 52 is connected with computer 45 with capture card 44, carries out image data transmission.
Fig. 6 is the grading control schematic diagram, and as shown in Figure 6, IMAQ and treatment system and control system adopt the master-slave mode framework of computer PC-PLC, and computer is mainly finished collection, processing and the analysis of image information as host computer.PLC handles the grape positional information that is transmitted by sensor on the one hand as the control of the main completion logic of slave computer, the control IMAQ, on the other hand by and the communication of host computer, realize the demonstration control of rating information.When grape enters pickup area, sensor detects the clamping device that links to each other with grape, produce a pulse triggering signal and send PLC to, the position that this pulse triggering signal is used to follow the tracks of grape by PLC is triggered two width of cloth single-frame images that ccd video camera is gathered this grape simultaneously.The image that collects is handled the grade that this grape is judged in the back through computer image analysis software, and by the RS232 serial ports grade point is sent to PLC.PLC receives, preserves the grape class information, and when treating that this string grape moves to stepped zone, the control indicator lamp shows the grade of this grape, grape is taken off put into corresponding packing case then.
By above embodiment as can be seen, the embodiment of the invention is pressed fruit ear shape, size by adopting computer vision technique with grape, fruit grain size, and integrated quality classifications such as color, defective, classification is accurate, objective.Grape is carried continuously with suspension status, be convenient to take from different perspectives simultaneously the multiple image of cluster of grapes, the comprehensive grape information of convenient extraction.And whole system operates steadily, and grape is carried continuously with suspension status, rocks very for a short time therebetween, do not produce with system any position and contact or collide, and carpopodium partly is resilient clamp, so whole detection classification process does not cause damage to grape.Simple in structure, low cost and other advantages that this device has.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (8)

1. a device for sizing spike-like fruits is characterized in that, comprising: drive unit, overhead chain conveyor structure, fruit clamping device, IMAQ and treatment system and multi-level control system;
Described drive unit is installed on the described overhead chain conveyor structure, is used to drive described overhead chain conveyor structure and transmits;
Described fruit clamping device is installed on the described overhead chain conveyor structure, is used for clamping spike fruit;
Described IMAQ and treatment system are installed on the described overhead chain conveyor structure, are used to gather and handle the image of described spike fruit;
Described multi-level control system links to each other with treatment system with described IMAQ, carries out data communication, be used to control the image of gathering described spike fruit, and the grade that shows described spike fruit.
2. device for sizing spike-like fruits as claimed in claim 1 is characterized in that described drive unit specifically comprises motor component and transmission mechanism, drives described transmission mechanism motion by described motor component.
3. device for sizing spike-like fruits as claimed in claim 2 is characterized in that, described motor component comprises deceleration buncher, motor bearing, and described transmission mechanism is a chain-drive mechanism, comprises shaft coupling, power transmission shaft, bearing, bearing block, sprocket wheel, supporting plate;
Described motor is fixed on the described motor bearing, described motor bearing is fixed on the frame plate on frame top of described overhead chain conveyor structure, described supporting plate is fixed on the described frame, and described sprocket wheel links to each other with described motor by described bearing, bearing block, power transmission shaft, shaft coupling.
4. device for sizing spike-like fruits as claimed in claim 1 is characterized in that, described overhead chain conveyor structure comprises: frame, frame plate, closed orbit, chain, rolling bearing assembly;
Described frame is the shaped steel Welding Structure, described frame plate is fixed on described frame top, described closed orbit is fixed on described frame plate below, described chain has hanger up and down, the top hanger links to each other with described closed orbit by described rolling bearing assembly, and the below hanger links to each other with described fruit clamping device.
5. as claim 1 or 4 described device for sizing spike-like fruits, it is characterized in that described fruit clamping device comprises: cramping body, spring, latch plate, bolt, nut, rubber gripper pad;
Described cramping body is fixed on the hanger of below, and two rubber blankets are equipped with in described cramping body inboard, and described spring, latch plate are fixed on the described cramping body by described bolt, nut.
6. as claim 1 or 4 described device for sizing spike-like fruits, it is characterized in that described IMAQ and treatment system comprise two ccd video cameras, lighting box, light source, image pick-up card, computer;
Described lighting box is installed on the described frame of a side; The described light source of described lighting box installed inside; Described two ccd video cameras are installed in described lighting box both sides; Described ccd video camera and described IMAQ card connection are carried out IMAQ; Described computer is connected with described multi-level control system, carries out image and handles and transfer of data.
7. as claim 1 or 6 described device for sizing spike-like fruits, it is characterized in that described multi-level control system comprises sensor, PLC controller and classification indicator lamp;
Described sensor is installed in the image acquisition region of spike fruit grader; The classification indicator lamp is installed in stepped zone; Described PLC controller is connected with capture card with described computer, carries out image data transmission.
8. device for sizing spike-like fruits as claimed in claim 7 is characterized in that, described sensor is the inductance type proximity transducer.
CNB2007101202551A 2007-08-14 2007-08-14 A kind of device for sizing spike-like fruits Expired - Fee Related CN100569389C (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103143508A (en) * 2013-03-15 2013-06-12 上海理工大学 Machine-vision-based online grading and packaging production line for bananas
CN105035947A (en) * 2015-07-25 2015-11-11 安徽卡塔门窗有限公司 Hoisting convey system for automatically washing door frame and window frame
CN105057223A (en) * 2015-08-13 2015-11-18 苏州华拓信息技术有限公司 Novel agricultural product sorting device
CN105738294A (en) * 2016-03-01 2016-07-06 江苏大学 Automatic spikelike fruit detection device and method based on monocular multi-view imaging
CN106076890A (en) * 2016-08-08 2016-11-09 北京农业智能装备技术研究中心 Fruit corruption fruit on-line detecting system and method in early days
CN106111556A (en) * 2016-08-22 2016-11-16 华中农业大学 Automatically the detection of spike fruit is equipped with classification
CN110238078A (en) * 2019-05-17 2019-09-17 顺丰科技有限公司 Method for sorting, device, system and storage medium
CN110691653A (en) * 2017-05-16 2020-01-14 尤尼泰克公司 Device for treating horticultural products
EP3683565A4 (en) * 2018-10-12 2020-12-09 Sony Semiconductor Solutions Corporation Measurement device, measurement method, and program
CN113247546A (en) * 2021-06-16 2021-08-13 成都古河云科技有限公司 Multifunctional conveying and sorting system

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103143508A (en) * 2013-03-15 2013-06-12 上海理工大学 Machine-vision-based online grading and packaging production line for bananas
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
CN105035947A (en) * 2015-07-25 2015-11-11 安徽卡塔门窗有限公司 Hoisting convey system for automatically washing door frame and window frame
CN105057223A (en) * 2015-08-13 2015-11-18 苏州华拓信息技术有限公司 Novel agricultural product sorting device
CN105738294A (en) * 2016-03-01 2016-07-06 江苏大学 Automatic spikelike fruit detection device and method based on monocular multi-view imaging
CN105738294B (en) * 2016-03-01 2018-11-06 江苏大学 The spike fruit automatic detection device and method of imaging are regarded based on monocular more
CN106076890B (en) * 2016-08-08 2018-09-11 北京农业智能装备技术研究中心 Early stage fruit corruption fruit on-line detecting system and method
CN106076890A (en) * 2016-08-08 2016-11-09 北京农业智能装备技术研究中心 Fruit corruption fruit on-line detecting system and method in early days
CN106111556A (en) * 2016-08-22 2016-11-16 华中农业大学 Automatically the detection of spike fruit is equipped with classification
CN106111556B (en) * 2016-08-22 2018-02-23 华中农业大学 The automatic detection of spike fruit is equipped with classification
CN110691653A (en) * 2017-05-16 2020-01-14 尤尼泰克公司 Device for treating horticultural products
CN110691653B (en) * 2017-05-16 2022-04-12 尤尼泰克公司 Device for treating horticultural products
US11331695B2 (en) 2017-05-16 2022-05-17 Unitec S.P.A. Apparatus for treating horticultural products
EP3683565A4 (en) * 2018-10-12 2020-12-09 Sony Semiconductor Solutions Corporation Measurement device, measurement method, and program
CN110238078A (en) * 2019-05-17 2019-09-17 顺丰科技有限公司 Method for sorting, device, system and storage medium
CN110238078B (en) * 2019-05-17 2022-04-26 丰翼科技(深圳)有限公司 Sorting method, device, system and storage medium
CN113247546A (en) * 2021-06-16 2021-08-13 成都古河云科技有限公司 Multifunctional conveying and sorting system
CN113247546B (en) * 2021-06-16 2021-09-24 成都古河云科技有限公司 Multifunctional conveying and sorting system

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