CN102692419A - Spherical fruit and vegetable image acquisition device and method based on machine vision - Google Patents
Spherical fruit and vegetable image acquisition device and method based on machine vision Download PDFInfo
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Abstract
The invention discloses a spherical fruit and vegetable image acquisition device and method based on machine vision. The method comprises the following steps of: performing fixed axis rotation on spherical fruits and vegetables to be detected around a vertical central axis which passes through the center of sphere, acquiring extended surface image information through a lateral camera which is positioned on one horizontal side of the spherical fruits and vegetables when the spherical fruits and vegetables are rotated, making the spherical fruits and vegetables stop rotating after acquisition of the side camera is finished, acquiring the top image information of the spherical fruits and vegetables through a top camera which is positioned right above the spherical fruits and vegetables, turning the spherical fruits and vegetables for 180 degrees up and down around the center of sphere, acquiring the bottom image information of the spherical fruits and vegetables through the top camera, and finally, transmitting the image information acquired by the lateral camera and the top camera to an image processing system.. The spherical fruits and vegetables performs the fixed axis rotation around the vertical central axis which passes through the center of the sphere, so that the method can be applied to occasions with limited space, and the requirements of experimental teaching and scientific research are met.
Description
Technical field
The invention belongs to IMAQ and mode identification technology, be specifically related to a kind of spheral fruit image collecting device and acquisition method thereof that is suitable for satisfying the scientific experiment requirement based on machine vision.
Background technology
In recent years, Progress in technique such as Digital Image Processing and pattern-recognition had promoted the development of machine vision in the harmless classification technique field of spheral fruit.All be to use linear pattern crawler belt detection line to accomplish the collecting work of image during actual detected; As to adopt similar publication number be that the spherical surface defect detection method that is provided in the Chinese invention patent application of CN10170192A comes spheroid to be detected is carried out defects detection; In track, do pure rolling by spheroid to be detected in this method; In the developed surface image information that the camera collection spheroid is set over against the orbital position place; Then the image information that is collected is sent to image processing system and handles, calculate the position and the area of defective.But the complex structure of the harvester that uses in the said method, manufacture and design that difficulty is big, cost is high, floor area is big, maintenance is complicated, be inappropriate for the demand of experimental teaching, when scientific research, versatility and operability are not strong.
Summary of the invention
The object of the present invention is to provide a kind of spheral fruit image collecting device, with the surface image harvester complex structure that solves spheral fruit of the prior art, the technical matters that floor area is inappropriate for the demand of experimental teaching and scientific research greatly based on machine vision; Simultaneously, the present invention also provides a kind of spheral fruit image-pickup method based on machine vision.
For realizing above-mentioned purpose; Spheral fruit acquisition method based on machine vision provided by the present invention adopts following technical scheme: a kind of spheral fruit image-pickup method based on machine vision; Spheral fruit pile warp to be detected is crossed the vertical central axis of the centre of sphere and done the rotation of dead axle line; Developed surface image information when rotating by the side direction camera collection spheral fruit that is positioned at spheral fruit level one side, after the side direction camera collection was accomplished, spheral fruit stopped operating; By the top image information that is positioned at the top camera collection spheral fruit directly over the spheral fruit; Spheral fruit is done 180 ° spinning upside down around the centre of sphere, and by the bottom image information of top camera collection spheral fruit, the image information that at last side direction camera and top camera is collected is sent to image processing system.
On the external circumferential of spheral fruit to be detected, be evenly equipped with N mark in the described acquisition method, N is more than or equal to 3, during images acquired; A described N mark synchronously rotates with spheral fruit to be detected, by fixed photoelectric sensor certification mark, when spheral fruit to be measured rotate and photoelectric sensor before when detecting mark N time; Respectively gather image once by the side direction camera, when photoelectric sensor detected mark the N+1 time, spheral fruit stopped operating; The side direction camera stops images acquired; Simultaneously, by top camera collection image once information, after 5 seconds; Spheral fruit is done 180 ° spinning upside down around the centre of sphere, gather image once again by the top camera.
Spheral fruit harvester based on machine vision provided by the present invention adopts following technical scheme: a kind of spheral fruit image collecting device based on machine vision; This harvester comprises that being used to drive spheral fruit pile warp to be detected crosses the article carrying platform that horizontally rotates that the vertical central axis of the centre of sphere is done the rotation of dead axle line; This horizontally rotates article carrying platform and comprises that being used to support the pallet that horizontally rotates of placing spheral fruit horizontally rotates the rotating drive mechanism that pallet rotates with driving; Harvester comprises that also will be placed on the said spheral fruit that horizontally rotates on the pallet when using makees 180 ° the switching mechanism that spins upside down around the centre of sphere; This switching mechanism comprises and is positioned at the bracing frame that extends along the vertical direction that horizontally rotates article carrying platform one side; Side at bracing frame is equipped with clamp structure; This clamp structure comprises the adjustable along the vertical direction grip slipper on the bracing frame that is assemblied in; But the clamping limb that two along continuous straight runs that on grip slipper, are rotatably equipped with the folding that is used for the clamping spheral fruit when using extend; Harvester also comprises being positioned at when using and horizontally rotates article carrying platform level one side and over against the side direction camera that is used for the developed surface image information of collection spheral fruit when spheral fruit rotates of the centre of sphere of spheral fruit be positioned at and horizontally rotate above the article carrying platform and be used to gather the top of spheral fruit and the top camera of bottom image information over against the centre of sphere of spheral fruit; Said side direction camera and top signal at output end of camera are connected with image processing system, and described harvester comprises that also being used for controlling level rotates article carrying platform and switching mechanism work opportunity and control the side direction camera and the top camera images acquired control system on opportunity of taking pictures.
Described harvester also comprises and is arranged on the light source that near being used for top camera and the side direction camera shine spheral fruit to be detected.
Described harvester also comprises the camera bellows of sealing; Describedly horizontally rotate corresponding being installed in the described camera bellows of article carrying platform and switching mechanism; Described side direction camera and top camera are separately positioned on the side box wall and top tank wall of said camera bellows, and described light source is located in the camera bellows.
Be coated with on the medial surface of described camera bellows and be used to reduce the black matt enamelled coating that the IMAQ of side direction or top camera is influenced because of reflective.
Be evenly equipped with N mark on the described external circumferential that horizontally rotates the moving center that rotates on the pallet; N is more than or equal to 3; Described harvester also comprises the photoelectric sensor that is used for the mark on the detection level Rotary tray, and the signal output part of described photoelectric sensor is connected with control system.
Describedly horizontally rotate on the side of top camera, being coated with of pallet and be used to reduce black matt enamelled coating because of reflective IMAQ influence to side direction or top camera.
Described to horizontally rotate pallet be disk, and the home position place of this disk is provided with and is used to place spheral fruit to be detected and prevents that the pit that rolls from appearring in spheral fruit when rotating.
Describedly horizontally rotate article carrying platform and set firmly on the adjustable for height mounting seat of in the vertical direction, the arranged beneath of described mounting seat has a plurality of horizontal rollers that are used to support mounting seat.
The invention has the beneficial effects as follows: the spheral fruit image-pickup method based on machine vision provided by the present invention; The vertical central axis that employing is crossed the centre of sphere with the spheral fruit pile warp is done the rotation of dead axle line; Developed surface image information when rotating by the side direction camera collection spheral fruit that is positioned at the spheral fruit horizontal side; After spheral fruit stops operating, simultaneously, by being positioned at top image information and the bottom image information that top camera directly over the spheral fruit adopts spheral fruit; Side direction camera and top camera can cover all positions of spheral fruit like this, avoid occurring the problem that local location can't images acquired.And in the method, the spheral fruit pile warp is crossed the vertical central axis of the centre of sphere and is done the rotation of dead axle line, and this makes this method can be applied to the limited occasion in space, is convenient to satisfy the demand of experimental teaching and scientific research.
Spheral fruit image collecting device based on machine vision provided by the present invention; This harvester comprises that being used to drive spheral fruit to be detected does horizontally rotating article carrying platform and being used for making the switching mechanism that spins upside down around the centre of sphere with being placed on the spheral fruit that horizontally rotates on the pallet of dead axle line rotation; Described harvester also comprises side direction camera and top camera; During use; Spheral fruit to be detected is placed on horizontally rotates horizontally rotating on the pallet in the article carrying platform, drive the spheral fruit pile warp and cross the vertical central axis of the centre of sphere and make the dead axle line and rotate by horizontally rotating pallet, simultaneously; Developed surface image information when rotating by side direction camera collection spheral fruit; After the side direction camera collection is accomplished, horizontally rotate pallet and spheral fruit stops operating, by the top image information that is positioned at the top camera collection spheral fruit directly over the spheral fruit; Through switching mechanism spheral fruit is done 180 ° spinning upside down around the centre of sphere then; By the bottom image information of top camera collection spheral fruit, the image information that at last side direction camera and top camera is collected is sent to image processing system, and the entire image gatherer process has the control system controlling level to rotate article carrying platform, switching mechanism, side direction camera and top camera when to work.Harvester provided by the present invention is crossed the dead axle line of the vertical central axis of the centre of sphere and is rotated and simulated in the prior art spheroid and in long track, do the complete collection that pure rolling realizes image through driving the spheral fruit pile warp when gathering the image information of spheral fruit.Harvester provided by the present invention will horizontally rotate article carrying platform and switching mechanism combines, and has the advantage that little, simple in structure, the convenient experiment of floor area is gathered and teaching is showed, is suitable for the demand of experimental teaching and scientific research.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of spheral fruit harvester based on machine vision provided by the present invention;
Fig. 2 is the structural representation that horizontally rotates article carrying platform among Fig. 1;
Fig. 3 is the logic diagram of the harvester work shown in Fig. 1.
Embodiment
A kind of embodiment of the spheral fruit acquisition method based on machine vision; Acquisition method among this embodiment is: the vertical central axis of at first spheral fruit pile warp to be detected being crossed the centre of sphere is made the dead axle line and is rotated; Developed surface image information when rotating by the side direction camera collection spheral fruit that is positioned at spheral fruit level one side; After the side direction camera collection is accomplished; Spheral fruit stops operating, and by the top image information that is positioned at the top camera collection spheral fruit directly over the spheral fruit, spheral fruit is done 180 ° spinning upside down around the centre of sphere; By the bottom image information of top camera collection spheral fruit, the image information that at last side direction camera and top camera is collected is sent to image processing system.
Preferably, on the external circumferential of spheral fruit to be detected, be evenly equipped with 3 marks in the above-mentioned acquisition method, during images acquired; Described 3 marks synchronously rotate with spheral fruit to be detected, by fixed photoelectric sensor certification mark, when spheral fruit to be measured rotates and photoelectric sensor when 3 times detecting mark; Respectively gather image once by the side direction camera, when photoelectric sensor the 4th detected mark, spheral fruit stopped operating; The side direction camera stops images acquired; Simultaneously, by top camera collection image once information, after 5 seconds; Spheral fruit is done 180 ° spinning upside down around the centre of sphere, gather image once again by the top camera.
In the foregoing description, what on the external circumferential of spheral fruit to be detected, be evenly equipped with is labeled as three, in other embodiments, also can be four or more.But also portion needs too much, and the requirement that can satisfy the side direction camera gets final product.
Like Fig. 1, shown in Figure 2, a kind of embodiment of the spheral fruit image collecting device based on machine vision, the harvester in the present embodiment can be used to implement above-mentioned acquisition method.Harvester among this embodiment comprises the camera bellows 3 of sealing, in camera bellows 3, is furnished with to be used to drive spheral fruit pile warp to be detected and to cross and will be placed on the said spheral fruit that horizontally rotates on the pallet when the vertical central axis of the centre of sphere is done the dead axle line rotates horizontally rotating article carrying platform and using and make 180 ° the switching mechanism that spins upside down around the centre of sphere.The side box wall of camera bellows 3 be positioned at when being provided with and using level one side that horizontally rotates article carrying platform and over against the centre of sphere of spheral fruit 8 be used for when spheral fruit 8 rotates, gather the side direction camera 1 of the developed surface image information of spheral fruit; The top tank wall of camera bellows 3 be positioned at when being provided with and using horizontally rotate article carrying platform above and over against the top camera 5 of top image information and bottom image information that is used to gather spheral fruit of the centre of sphere of spheral fruit; In camera bellows, also be provided with and be arranged in the light source 2 that near being used for top camera and the side direction camera shine spheral fruit to be detected; For reducing, on the interior side box wall of camera bellows 3, be coated with the black matt enamelled coating because of reflective IMAQ influence to side direction camera or top camera.
The above-mentioned article carrying platform that horizontally rotates comprises that being used to support the pallet 6 that horizontally rotates of placing spheral fruit horizontally rotates the rotating drive mechanism that pallet rotates with driving; The rotating drive mechanism here is a buncher 10, and this buncher can horizontally rotate the rotating speed of article carrying platform according to the image acquisition request adjustment.Describedly horizontally rotate pallet 6 and be the disk of cast iron, preferred, the home position place of this disk is provided with and is used to place spheral fruit to be detected and prevents that the pit 61 that rolls from appearring in spheral fruit when rotating.The lower surface towards buncher of this disk offers the corresponding inserting hole 62 of pegging graft and cooperating of only revolving of output shaft with buncher; Inserting hole through disk cooperates with the grafting of only revolving of the output terminal of buncher; Horizontally rotate the vertical center dead axle line rotation that the pallet pile warp is crossed the center of rotation that horizontally rotates pallet by the buncher driving; During IMAQ; Spheral fruit to be detected 8 is placed on horizontally rotates on the pallet, the centre of sphere that guarantee spheral fruit horizontally rotates in described process on the vertical center dead axle line of center of rotation of pallet.
In the present embodiment; Describedly horizontally rotate article carrying platform and set firmly on the adjustable for height mounting seat 9 of in the vertical direction; Described buncher is by being bolted on the mounting seat 9, during use, through the height of adjustment mounting seat; Guarantee that when information acquisition, the side direction camera is over against the centre of sphere of spheral fruit.Preferably; Also the arranged beneath in mounting seat has a plurality of horizontal rollers 14 that are used to support mounting seat; Like this can be according to the actual conditions needs, the position of adjustment mounting seat guarantees when images acquired, to horizontally rotate top camera directly over the pallet over against the centre of sphere of spheral fruit to be detected.
In the present embodiment; Preferably; On the external circumferential of vertical central axis, be evenly equipped with 3 marks on pallet 6 bottom surfaces horizontally rotating, described harvester also comprises the photoelectric sensor that is used for the mark on the detection level Rotary tray 12 that is arranged on the mounting seat.During images acquired, described 3 marks are with horizontally rotating pallet and spheral fruit to be detected synchronously rotates, by fixed photoelectric sensor certification mark; When spheral fruit rotates and photoelectric sensor when 3 times detecting mark, respectively gather image once by the side direction camera, when photoelectric sensor the 4th detects mark; Spheral fruit stops operating, and the side direction camera stops images acquired, simultaneously; Top image information by top camera collection spheral fruit; After 5 seconds, spheral fruit is done 180 ° spinning upside down around the centre of sphere, again by the bottom image information of top camera collection spheral fruit by switching mechanism.
This switching mechanism comprises and is positioned at the bracing frame 7 that extends along the vertical direction that horizontally rotates article carrying platform one side; Bracing frame is placed on the mounting seat 9 in the present embodiment; And move up at upper and lower with mounting seat and to do position adjustment; Side at bracing frame is equipped with clamp structure; This clamp structure comprises the adjustable along the vertical direction grip slipper on the bracing frame 7 that is assemblied in, but on grip slipper, is rotatably equipped with the clamping limb 11 of two along continuous straight runs extensions of the folding that is used for the clamping spheral fruit when using.For guaranteeing that the clamping limb clamping puts in place, also is provided with pressure transducer on clamping limb.During use, when needs switching mechanism upset spheral fruit, control system provides energizing signal; The clamping limb action clamps spheral fruit to be detected then, and at this moment, the pressure transducer on the clamping limb provides clamping signal; Drive two clamping limbs segment distance that rises by grip slipper; Two clamping limbs upsets is 180 ° then, and grip slipper drives same distance under two clamping limbs and the spheral fruit to be detected, when spheral fruit drop on horizontally rotate on the article carrying platform after; Clamping limb unclamps spheral fruit, accomplishes rotary movement.
Described harvester also comprises the image processing system that is used for being connected with the signal output part of side direction camera 1 and top camera 5 and is used for controlling level and rotates article carrying platform and switching mechanism work opportunity and control the side direction camera and the top camera images acquired control system on opportunity of taking pictures.In the present embodiment, image processing system is a computing machine 13, and computing machine 13 links to each other with the top signal at output end of camera with the side direction camera.In the present embodiment, the control system controlling level is rotated the work of article carrying platform, switching mechanism, side direction camera and top camera, and the signal output part of photoelectric sensor links to each other with control system, can adopt single-chip microcomputer or computing machine during practical implementation.
During the work of above-mentioned harvester, spheral fruit to be detected 8 is placed on horizontally rotates horizontally rotating on the pallet 6 in the article carrying platform, send signal by control system; Horizontally rotate article carrying platform work, drive spheral fruits 8 pile warps and cross the vertical central axis of the centre of sphere and make the dead axle line and rotate by horizontally rotating pallet 6, at this moment; Horizontally rotate 3 marks on the pallet 6 with horizontally rotating pallet and spheral fruit synchronously rotates, by fixed photoelectric sensor 12 certification marks, when spheral fruit rotates and photoelectric sensor when 3 times detecting mark; Photoelectric sensor sends signal to control system, and control system control side direction camera 1 is respectively gathered image once, when photoelectric sensor 14 the 4th detect mark; Photoelectric sensor 14 sends signal to control system, rotates article carrying platform by the control system controlling level and quits work, and spheral fruit 8 stops operating; Simultaneously, stop images acquired by control system control side direction camera 1, simultaneously; Top image information by control system control top camera 5 collection spheral fruits; And give computing machine as information conveyance with this top graph, after 5 seconds, spheral fruit is done 180 ° spinning upside down around the centre of sphere by control system control switching mechanism; The bottom image information of gathering spheral fruit by control system control top camera 5 is again given computing machine with this bottom diagram as information conveyance.
In the foregoing description; The height that horizontally rotates pallet through adjustment guarantees that when images acquired side direction camera is corresponding with the centre of sphere of spheral fruit to be detected, horizontally rotates the position of pallet in surface level through adjustment and guarantees that when images acquired top camera is corresponding with the centre of sphere of spheral fruit to be detected.In other embodiments, also can be with vertically adjustable being installed on the camera bellows of side direction camera, at this moment, can guarantee that the centre of sphere of side direction camera and spheral fruit to be detected is relative through the upper-lower position of adjustment side direction camera.Same, can be with adjustable in the plane being installed in by upwards of top camera, like this, can guarantee that the centre of sphere of top camera and spheral fruit to be detected is relative through the position of adjustment top camera.Certainly, when side direction camera and top camera moved, the light source that is used to shine spheral fruit also will move thereupon.
In the above-described embodiments, for having improved IMAQ efficient, designed camera bellows especially.In other embodiments, also camera bellows can be set.
In the above-described embodiments, horizontally rotating be labeled as three that arrange on the pallet, in other embodiments, also can be four or more.But also do not need too much, the requirement that can satisfy the side direction camera gets final product.
In the foregoing description, horizontally rotate the output axle head that tray support is placed on buncher, the rotating drive mechanism here is for driving buncher.In other embodiments; Also supporting revolving shaft can be set on mounting seat; Horizontally rotate pallet and rotate the top be assemblied in supporting revolving shaft through bearing described, described to horizontally rotate pallet be disc structure, on the outer peripheral face that horizontally rotates pallet of disc structure, is furnished with engaging tooth; At this moment, can drive through output gear commonly used and horizontally rotate pallet and rotate.
Claims (10)
1. spheral fruit image-pickup method based on machine vision; It is characterized in that: the vertical central axis of spheral fruit pile warp to be detected being crossed the centre of sphere is done the rotation of dead axle line; Developed surface image information when rotating by the side direction camera collection spheral fruit that is positioned at spheral fruit level one side; After the side direction camera collection is accomplished; Spheral fruit stops operating, and by the top image information that is positioned at the top camera collection spheral fruit directly over the spheral fruit, spheral fruit is done 180 ° spinning upside down around the centre of sphere; By the bottom image information of top camera collection spheral fruit, the image information that at last side direction camera and top camera is collected is sent to image processing system.
2. the spheral fruit image-pickup method based on machine vision according to claim 1 is characterized in that: on the external circumferential of spheral fruit to be detected, be evenly equipped with N mark in the described acquisition method, N is more than or equal to 3; During images acquired, a described N mark synchronously rotates with spheral fruit to be detected, by fixed photoelectric sensor certification mark; When spheral fruit to be measured rotate and photoelectric sensor before when detecting mark N time, respectively gather image once by the side direction camera, when photoelectric sensor detects mark the N+1 time; Spheral fruit stops operating, and the side direction camera stops images acquired, simultaneously; By top camera collection image once information; After 5 seconds, spheral fruit is done 180 ° spinning upside down around the centre of sphere, gather image once again by the top camera.
3. spheral fruit image collecting device based on machine vision; It is characterized in that: this harvester comprises that being used to drive spheral fruit pile warp to be detected does the article carrying platform that horizontally rotates that the dead axle line rotates with the vertical central axis of crossing the centre of sphere; This horizontally rotates article carrying platform and comprises that being used to support the pallet that horizontally rotates of placing spheral fruit horizontally rotates the rotating drive mechanism that pallet rotates with driving; Harvester comprises that also will be placed on the said spheral fruit that horizontally rotates on the pallet when using makees 180 ° the switching mechanism that spins upside down around the centre of sphere; This switching mechanism comprises and is positioned at the bracing frame that extends along the vertical direction that horizontally rotates article carrying platform one side; Side at bracing frame is equipped with clamp structure; This clamp structure comprises the adjustable along the vertical direction grip slipper on the bracing frame that is assemblied in; But the clamping limb that two along continuous straight runs that on grip slipper, are rotatably equipped with the folding that is used for the clamping spheral fruit when using extend; Harvester also comprises being positioned at when using and horizontally rotates article carrying platform level one side and over against the side direction camera that is used for the developed surface image information of collection spheral fruit when spheral fruit rotates of the centre of sphere of spheral fruit be positioned at and horizontally rotate above the article carrying platform and be used to gather the top of spheral fruit and the top camera of bottom image information over against the centre of sphere of spheral fruit; Said side direction camera and top signal at output end of camera are connected with image processing system, and described harvester comprises that also being used for controlling level rotates article carrying platform and switching mechanism work opportunity and control the side direction camera and the top camera images acquired control system on opportunity of taking pictures.
4. the spheral fruit image collecting device based on machine vision according to claim 3 is characterized in that: described harvester also comprises and is arranged on the light source that near being used for top camera and the side direction camera shine spheral fruit to be detected.
5. the spheral fruit image collecting device based on machine vision according to claim 4; It is characterized in that: described harvester also comprises the camera bellows of sealing; Describedly horizontally rotate corresponding being installed in the described camera bellows of article carrying platform and switching mechanism; Described side direction camera and top camera are separately positioned on the side box wall and top tank wall of said camera bellows, and described light source is located in the camera bellows.
6. the spheral fruit image collecting device based on machine vision according to claim 5 is characterized in that: be coated with the black matt enamelled coating that is used to reduce because of reflective IMAQ influence to side direction or top camera on the medial surface of described camera bellows.
7. according to any described spheral fruit image collecting device in the claim 3 to 6 based on machine vision; It is characterized in that: be evenly equipped with N mark on the described external circumferential that horizontally rotates the moving center that rotates on the pallet; N is more than or equal to 3; Described harvester also comprises the photoelectric sensor that is used for the mark on the detection level Rotary tray, and the signal output part of described photoelectric sensor is connected with control system.
8. according to any described spheral fruit image collecting device in the claim 3 to 6, it is characterized in that: describedly horizontally rotate on the side of top camera, being coated with of pallet and be used to reduce black matt enamelled coating because of reflective IMAQ influence to side direction or top camera based on machine vision.
9. according to any described spheral fruit image collecting device in the claim 3 to 6 based on machine vision; It is characterized in that: described to horizontally rotate pallet be disk, and the home position place of this disk is provided with and is used to place spheral fruit to be detected and prevents that the pit that rolls from appearring in spheral fruit when rotating.
10. according to any described spheral fruit image collecting device in the claim 3 to 6 based on machine vision; It is characterized in that: describedly horizontally rotate article carrying platform and set firmly on the adjustable for height mounting seat of in the vertical direction, the arranged beneath of described mounting seat has a plurality of horizontal rollers that are used to support mounting seat.
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| CN107576304A (en) * | 2017-10-18 | 2018-01-12 | 庞雨 | A kind of device and method of core class fruit orientation detection and adjustment based on image recognition |
| CN108133199A (en) * | 2018-01-15 | 2018-06-08 | 庞雨 | A kind of device and method of spherical fruit orientation detection and adjustment based on image identification |
| CN112345521A (en) * | 2020-10-29 | 2021-02-09 | 广东食品药品职业学院 | Food quality quick detection device based on machine vision |
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