CN103111427A - Fruit grader based on image processing - Google Patents

Fruit grader based on image processing Download PDF

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Publication number
CN103111427A
CN103111427A CN2013100092418A CN201310009241A CN103111427A CN 103111427 A CN103111427 A CN 103111427A CN 2013100092418 A CN2013100092418 A CN 2013100092418A CN 201310009241 A CN201310009241 A CN 201310009241A CN 103111427 A CN103111427 A CN 103111427A
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fruit
image
transport mechanism
pallet
materials transport
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CN103111427B (en
Inventor
张保华
刘成良
贡亮
李彦明
李子枫
林昌建
郭凯峰
金理钻
邵达
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Abstract

A fruit grader based on image processing belongs to the technical field of agricultural machinery and comprises a loading mechanism, a batch-type multi-channel material transport mechanism, a continuous single-channel material transport mechanism, a sorting box and a fruit information collecting mechanism. The front end of the batch-type multi-channel material transport mechanism is provided with the loading mechanism, the upper part of the batch-type multi-channel material transport mechanism is provided with the fruit information collecting mechanism, and the tail part of the batch-type multi-channel material transport mechanism is in vertical connection with the continuous single-channel material transport mechanism which is connected with the sorting box. Due to the effective machinery design, the fruit grader based on image process disclosed by the invention effectively avoids the ghost phenomenon when images are collected without lowering the grading efficiency and effectively improves the grading precision and the grading efficiency by combining with a schedule control method.

Description

Sorted fruits device based on the image processing
Technical field
What the present invention relates to is a kind of sorter of agricultural machinery technological field, specifically a kind of sorted fruits device of processing based on image.
Background technology
At present, machine vision is widely used in the detection of fruit exterior quality.Then the surface image of collected by camera fruit transfers to computer, and the method for processing by image obtains the external sort features such as the size, color, defective of fruit image, and then according to national fruit grading standard, fruit is carried out classification and process.More commonly single channel separator device and multi-path fruit separator device at present.The single channel separator is a kind of the most common screening installation, fruit is by the feed mechanism automatic charging, use mechanical device that fruit is arranged in single file in feeding process, camera is installed above streamline, when fruit under through out-of-date, the surface image that collects fruit, sometimes in order to obtain the full surface information of fruit, settle the roller of given configuration on streamline, due to the frictional force effect between roller and friction belt, fruit is upset evenly, by increasing the number of cameras of streamline top, the surface information of the different azimuth that can collect fruit.Yet this device is the image that gathers in the fruit transmission process, vibration and the existence of camera exposure time due to device, ghost image can appear in the image that gathers, fruit image with ghost image, the fruit surface information fuzzy, not only increase the difficulty that later image is processed, also reduced the sharpness of separation of fruit; Sometimes in order to eliminate ghost image, when fruit gathers image, stop the transmission of fruit, although the method has improved picture quality, greatly reduce the efficiency of separation, be unfavorable for the fast detecting of fruit.The multichannel sorting unit is also a kind of comparatively common screening installation, and principle is the same with the single channel separator, and is only that a plurality of single channel separators are in parallel, when the fruit amount is larger, can accelerate the separation velocity of fruit.Yet this separator is the same with single channel, and the image that also collects fruit in the fruit transmission process can produce the ghost image of image equally, is unfavorable for the post-processed of fruit.
Find through the retrieval to prior art, Chinese patent literature CN202079036, open day 2011-12-21, put down in writing a kind of fruit sorter, use pallet body, transmission conveying appliance, Weighing mechanism and controller, when the pallet body with fruit reached graded region, controller was controlled magnechuck by the break-make of controlling power supply and is got magnetic and loss of excitation, completes the upset of pallet body.But the prior art can only be carried out sorting according to the weight of fruit, having ignored affects the of paramount importance external appearance characteristic of fruit quality, and the upset of pallet body needs magnechuck energising loss of excitation, therefore each pallet must have the parts such as hot-wire coil, electric contact, electrified wire, tray supporter, causes like this structure relative complex of pallet body.
Find through the retrieval to prior art, Chinese patent literature CN201313098, open day 2009-9-23 has put down in writing a kind of fruit sorting computer image acquisition device based on LED and digital camera, the LED array plate is symmetrically arranged in fruit support table both sides, and overturning angle at 45 ° is placed.But the prior art belongs to single channel separator device, yet this device is the image that gathers in the fruit transmission process, vibration and the existence of camera exposure time due to device, ghost image can appear in the image that gathers, fruit image with ghost image, the fruit surface information fuzzy has not only increased the difficulty that later image is processed, and has also reduced the sharpness of separation of fruit.This device has adopted light source to belong to area source in addition, fruit belongs to class spherical biological body, therefore fruit can be regarded lambert's body as, according to the Lambertian reflection principle, on sphere the brightness of any point be to the normal vector of this point and change the time to the light source line between the cosine of angle be directly proportional, i.e. I D=I L* COS θ, wherein I DIntensity of reflected light, I LBe incident intensity, area source has more significantly lambert's phenomenon than arch light source, therefore adopts area source easily to make the image that gathers form the dark distribution of middle bright limb, increases the later image intractability.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of sorted fruits device of processing based on image is provided, can avoid in prior art because the image ghost image that the motion of the existence of camera exposure time and transmission fruit causes, improve the fruit image quality that gathers, reduced the image intractability; RGB image and the near-infrared image of a plurality of fruit of disposable collection, the fruit mask images of utilizing the larger luminance difference of near-infrared image fruit and background to obtain, disposable removal RGB image background; The disposable defective that comprises a plurality of fruit surface frames of completing is extracted, and has improved fruit quality feature extraction efficient; By the quantity of increase camera and the rolling effect of batch (-type) channel transmission roller, most surface information features that can collect fruit have improved sharpness of separation, have realized the high-speed and high-efficiency scheduling controlling of sorting mechanism to batch fruit.
The present invention is achieved by the following technical solutions, the present invention includes: feed mechanism, batch (-type) multichannel materials transport mechanism, continous way single channel materials transport mechanism, utility box and fruit information gathering mechanism, wherein: the front end of batch (-type) multichannel materials transport mechanism arranges feed mechanism, the top is provided with fruit information gathering mechanism, afterbody and vertical being connected of continous way single channel materials transport mechanism, utility box is connected with continous way single channel materials transport mechanism;
Described fruit information gathering mechanism comprises: cheese light source scattering device, a pair of trigger, some cameras that is connected with computer and light source, wherein: a pair of trigger be arranged on batch (-type) multichannel materials transport mechanism and the transmitted signal to camera, some cameras are fixed respectively with the information of each face of the record fruit of being surveyed in cheese light source scattering device top, the inboard is provided with light source, and light source is two to line up the paster LED of the distribution of line shape.
Described cheese light source scattering device be domes, the paster LED linear distribution is in the interior survey of domes, the both sides of batch (-type) multichannel materials transport mechanism upper surface, light that LED sends forms uniform light after through the domes diffuse reflection, and owing to detecting for fruit, each reflection ray direction ratio is more even, therefore can farthest eliminate lambert's phenomenon, improved the Luminance Distribution of fruit surface image, be conducive to fruit surface, especially the detection of edge defect.
described batch (-type) multichannel materials transport mechanism comprises: the first frame, some fruit transmission support rollers, transmission chain, ratchet, ratchet, connect baffle plate, rocking bar and connecting axle, wherein: some fruit transmission support rollers series winding structures are in a row, some row's support rollers are equally distributed on the transmission chain of frame both sides, the both sides up and down of fruit transmission support rollers arrange a pair of trigger, ratchet is connected with transmission chain and provides power for it, connecting baffle plate is fixed on the central shaft of ratchet, ratchet is fixed in and connects on baffle plate, one end of rocking bar is that ball connects with being connected baffle plate, the other end is connected with connecting axle, connecting axle is connected with continous way single channel materials transport mechanism.
Batch (-type) multichannel materials transport mechanism often transmits forward the distance at some fruit transmissions support rollers interval, and all cameras are triggered, and gathers a collection of fruit image, and image transmitting to computer is processed.
Described fruit transmission support rollers is the middle part concave inward structure, the radius at the two ends of this fruit transmission support rollers is suitable with the fruit radius, the middle part concave inward structure keeps relatively steadily fruit and guarantees the 1 every transmission of batch (-type) multichannel materials transport mechanism once when transmission, fruit rotation 50-70 degree.
Described camera is that two and interval arrange to record respectively the information of fruit front, reverse side, is spaced apart the distance between the fruit transmission support rollers of four horizontally-arrangeds.
described continous way single channel materials transport mechanism comprises: the second frame, drive sprocket, driven sprocket, chain, pallet, the pallet pasting board, energising magnet, alnico magnets and tray supporter, wherein: the two ends of the second frame arrange respectively drive sprocket and driven sprocket, drive sprocket provides power by motor, the main shaft of drive sprocket is connected and drives its motion with batch (-type) multichannel materials transport mechanism, the two ends of chain be located at respectively on drive sprocket and driven sprocket and on chain by the equidistant evenly distribution pallet of back shaft, back shaft is positioned at apart from pallet outer edge 1/3 place, the other end contact pallet pasting board of pallet, alnico magnets are arranged at pallet inside, energising magnet is positioned on the pallet pasting board and with pasting board and is level, the opposite direction of the magnetic of alnico magnets and energising magnet, to guarantee producing opposite force when the discharging, to complete discharging.
Active force between described energising magnet and alnico magnets is F and satisfies F〉G/2, wherein: G is the gravity sum of fruit, alnico magnets and pallet.
The width of described utility box equals the width of 3 pallets.
The present invention relates to a kind of Fruit Sorting Method based on said apparatus, be used for the ambient interferences of the component of elimination tristimulus image by the mask images of producing fruit to be detected, then realize sizing screening by calculating fruit defects area summation to be measured.
This method concrete steps comprise:
1) isolate the NIR image (Near Infra-Red near-infrared) of fruit, accordingly image is carried out threshold process, obtain the mask images of fruit image;
2) G component (green component) image in the RGB image (Red Green Blue red-green-blue) of extraction fruit;
3) utilize mask images to remove in the G component image and the ambient interferences of defective same brightness value;
4) single threshold is completed the G component image of cutting apart after background, obtains the defect image of fruit;
5) the fruit domain of the existence is carried out location label, the zone with 1,2 ... n represents, to merge with a collection of fruit image, be the defect area sum of same numeral place fruit different azimuth, according to fruit grade classification criterion, complete the grade classification of regional, grade with 1,2 ... i represents;
6) when fruit is delivered to corresponding utility box everywhere from the pallet of continous way single channel materials transport mechanism initial, trigger this energising magnet, conducting magnetic iron produces magnetic, produce mutual repulsive force with alnico magnets, the moment that this power produces is opposite with the gravitational moment of fruit, pallet, the fulcrum of pallet on back shaft turns clockwise, and completes discharging;
Threshold process in described step 1) refers to: determining a gray value as level threshold value, is the defect part of fruit lower than the pixel of this value, is normal fruit surface higher than the pixel of this value.
Regional location label in described step 5) refers to: will record each face of same fruit and each fruit region between the camera that arranges label respectively successively.
The present invention has effectively avoided gathering the ghost phenomena of image by effective Machine Design when not reducing the efficiency of separation, in conjunction with dispatch control method, effectively raise sharpness of separation and the efficiency of separation.
Description of drawings
Fig. 1 is overall installation diagram of the present invention;
Fig. 2 is batch (-type) multichannel materials transport mechanism front view;
Fig. 3 is batch (-type) multichannel materials transport mechanism top view;
Fig. 4 is the subssembly drawing of ratchet bindiny mechanism;
Fig. 5 is fruit transmission support rollers schematic diagram;
Fig. 6 is front view and the left view of continous way single channel materials transport mechanism;
Fig. 7 is the pallet graphics;
Fig. 8 is pallet and pallet pasting board left view;
Fig. 9 is the image process chart;
Figure 10 is the NIR image that apparatus of the present invention once gather;
Figure 11 is the RGB image that apparatus of the present invention once gather;
Figure 12 utilizes mask to remove the fruit image of background;
Figure 13 is the defect Segmentation image;
Figure 14 carries out the location label schematic diagram to the fruit domain of the existence.
The specific embodiment
The below elaborates to embodiments of the invention, and the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment 1
As shown in Figure 1, the present embodiment comprises: batch (-type) multichannel materials transport mechanism 1, continous way single channel materials transport mechanism 2, utility box 3, feed mechanism 4 and fruit information gathering mechanism 6, wherein: the front end of batch (-type) multichannel materials transport mechanism 1 arranges feed mechanism 4, the top is provided with fruit information gathering mechanism 6, afterbody is connected with continous way single channel materials transport mechanism 2 with 2 vertical being connected of continous way single channel materials transport mechanism, utility box 3;
Described fruit information gathering mechanism 6 comprises: cheese light source scattering device 5, a pair of trigger (not shown), some cameras that is connected with computer 7 and light source 20, wherein: a pair of trigger be arranged on batch (-type) multichannel materials transport mechanism 1 and the transmitted signal to camera 7, some cameras 7 are fixed respectively with the information of each face of the record fruit of being surveyed in cheese light source scattering device 5 tops, the inboard is provided with light source 20, and light source is two to line up the high brightness paster LED of the distribution of line shape.
Described cheese light source scattering device 5 be domes, the paster LED linear distribution is in the interior survey of domes, the both sides of batch (-type) multichannel materials transport mechanism upper surface, light that LED sends forms uniform light after through the domes diffuse reflection, and owing to detecting for fruit, each reflection ray direction ratio is more even, therefore can farthest eliminate lambert's phenomenon, improved the Luminance Distribution of fruit surface image, be conducive to fruit surface, especially the detection of edge defect.
as Fig. 2, Fig. 3 and shown in Figure 4, described batch (-type) multichannel materials transport mechanism 1 comprises: the first frame, some fruit transmission support rollers 9, the transmission chain (not shown), ratchet 14, ratchet 16, connect baffle plate 17, rocking bar 18 and connecting axle 19, wherein: some fruit transmission support rollers 9 series winding structures are in a row, some row's support rollers 9 are equally distributed on the transmission chain of frame both sides, the both sides up and down of fruit transmission support rollers 9 arrange a pair of trigger, ratchet 14 is connected with transmission chain and provides power for it, connecting baffle plate 17 is fixed on the central shaft of ratchet 14, ratchet 16 is fixed in and connects on baffle plate 17, one end of rocking bar 18 be connected baffle plate 17 and be that ball connects, the other end is connected with connecting axle 19, connecting axle 19 is connected with continous way single channel materials transport mechanism 2.
Batch (-type) multichannel materials transport mechanism 1 often transmits forward the distance at the interval of some fruit transmissions support rollers 9, and all cameras 7 are triggered, and gather a collection of fruit image, and image transmitting to computer is processed.
As shown in Figure 5, described fruit transmission support rollers 9 is the structure that two ends are thick, the centre caves inward, guarantee that like this fruit can be between two rollers 9, and roller 9 can rub with institute's veneer, and then drive fruit rotation, the radius r at roller two ends is suitable with the fruit radius, generally choose 5-6cm, intermediate recess can make fruit keep relatively steady when transmission, guarantee simultaneously the 1 every transmission of batch (-type) multichannel materials transport mechanism once, fruit approximately along central shaft rotation 50-70 degree, is preferably 60 degree.
as Fig. 6, Fig. 7 and shown in Figure 8, described continous way single channel materials transport mechanism 2 comprises: the second frame 8, drive sprocket 15, driven sprocket 11, the chain (not shown), pallet 23, pallet pasting board 22, energising magnet 27, alnico magnets 26 and tray supporter 25, wherein: the two ends of the second frame 8 arrange respectively drive sprocket 15 and driven sprocket 11, drive sprocket 15 provides power by motor, motor is by computer control, the main shaft of drive sprocket 15 is connected and drives its motion with batch (-type) multichannel materials transport mechanism 1, the two ends of chain be located at respectively on drive sprocket 15 and driven sprocket 11 and on chain by the equidistant even distribution pallet 23 of back shaft 25, back shaft 25 is positioned at apart from pallet 23 outer edge 1/3 places, the other end contact pallet pasting board 22 of pallet 23, alnico magnets 26 are arranged at pallet 23 inside, energising magnet 27 is positioned on pallet pasting board 22 and with pasting board 22 and is level, the opposite direction of the magnetic of alnico magnets 26 and energising magnet 27, to guarantee producing opposite force when the discharging, to complete discharging.
Active force between described energising magnet 27 and alnico magnets 26 is F and satisfies F〉G/2, wherein: G is the gravity sum of fruit 12, alnico magnets 26 and pallet 23.
The width of described utility box 3 equals the width of 3 pallets 23.
Described feed mechanism 4 comprises: hopper and roller bearing 10.Wherein: roller bearing 10 is arranged in the fruit of hopper by driven by motor, and under roller bearing 10 rolled, coagulation mechanism transmitted downwards.
When feed mechanism 4 is carried fruit to batch (-type) multichannel materials transport mechanism 1, under the effect between roller bearing 10 and fruit transmission support rollers 9, fruit can be divided into multiple row, in the present embodiment, be divided into 3 row, and come transmission on batch (-type) multichannel materials transport mechanism 1.
the power of batch (-type) multichannel materials transport mechanism 1 is provided by ratchet 14, the power of ratchet 14 has the central shaft of the drive sprocket 11 of continous way single channel materials transport mechanism 2 to provide, ratchet 14 and drive sprocket 11 are by connecting axle 19, connect baffle plate 17, rocking bar 18 connects, drive sprocket 11 often rotates a circle, being positioned at pallet 23 on continous way single channel materials transport mechanism 2 travels forward and specifies pallet 23 numbers, number really transmits by 1 top one draining of batch (-type) multichannel materials transport mechanism the fruit number decision that support rollers 9 transmits, ratchet 14 rotates a certain angle under the promotion of ratchet 16 simultaneously, the roller that the guarantees batch (-type) multichannel materials transport mechanism 1 top spacing of rolling forward, it is the distance between adjacent two row rollers, under the cooperation of batch (-type) multichannel materials transport mechanism 1 and continous way single channel materials transport mechanism 2, one draining is really transmitted the fruit of support rollers 9 transmission by multichannel one row, row that join on continous way single channel materials transport mechanism 2 transmit.
surface image for the different azimuth that collects fruit, the fruit transmission support rollers 9 of batch (-type) multichannel materials transport mechanism 1 top is under fruit and the Action of Gravity Field of himself, has certain frictional force with the plane of being close to, under the frictional force effect, fruit transmission support rollers 9 can drive the fruit upset, fruit is lying type when rolling, as shown in Figure 3, 1 motion of batch (-type) multichannel materials transport mechanism once, fruit forwards a spacing (distances between adjacent two row rollers), simultaneously, fruit evenly overturns approximately 60 °, batch (-type) multichannel materials transport mechanism 1 motion three times, fruit is turned to another side.Thus can three, interval pitch arrangement camera 7, can the collect fruit image information at different surfaces place of assurance.
As shown in Figure 8, when normal transmission, due to back shaft 25 and the supporting role that is positioned at the pallet pasting board 22 on continous way single channel materials transport mechanism 2 frames, be positioned at the fruit on pallet 23, can move by held stationary, the center of pallet 23 and fruit 12 near pallet 23 centers, is the width of 1/6 pallet 23 apart from the distance of back shaft 25.when discharging, the energising magnet 27 that discharge zone is arranged and treat that the alnico magnets 26 of discharging pallet 23 inside press close to, give this moment energising magnet 27 energisings, energising magnet polarization, polarity is opposite with alnico magnets, produce a directed force F of repelling mutually, moment with respect to back shaft 25 is F*2L/3, existence due to the alnico magnets width, moment is slightly less than this value, fruit 12, the opposing torque of alnico magnets 26 and pallet 23 is G*1L/6, wherein L is the width of pallet 23, F is the active force of alnico magnets 26 and energising magnet 27, G is fruit 12, the gravity of alnico magnets 26 and pallet 23.According to mechanical knowledge, F〉during G/4, in theory just can complete discharging, but consider that pallet 23 is in motion, magnet is limited 27 times of contact with switching on, therefore need the directed force F between assurance energising magnet 27 and alnico magnets 26〉G/2, can in time complete the discharging action like this.
Embodiment 2
As shown in Figure 9, the present embodiment step comprises:
1) isolate the NIR image of fruit, accordingly image is carried out threshold process, obtain the mask images of fruit image;
2) the G component image in the RGB image of extraction fruit;
3) utilize mask images that the NIR image obtains can remove background in the G component image, eliminate and the ambient interferences of defective same brightness value;
4) single threshold is completed the G component image of cutting apart after background, obtains the defect image of fruit;
5) the fruit domain of the existence is carried out location label, the zone with 1,2 ... n represents, to merge with a collection of fruit image, be the defect area sum of same numeral place fruit different azimuth, according to fruit grade classification criterion, complete the grade classification of regional, grade with 1,2 ... i represents;
6) when fruit is delivered to corresponding utility box everywhere from the pallet 23 of continous way single channel materials transport mechanism 2 initial, trigger this energising magnet 27, conducting magnetic iron produces magnetic, produce mutual repulsive force with alnico magnets 26, the moment that this power produces is opposite with the gravitational moment of fruit, pallet 23, the fulcrum of pallet 23 on back shaft 25 turns clockwise, and completes discharging;
Threshold process in described step 1) refers to: because defect part is different with the gray value of normal fruit surface, therefore the grey level histogram of the image that gathers presents the distribution of " two peak one paddy ", the normal surface gray value is larger, and fruit defects part gray value is less, choose a gray value of histogram the lowest point as segmentation threshold, the image that gathers is carried out Threshold segmentation, is the defect part of fruit lower than the pixel of this value, is normal fruit surface higher than the pixel of this value.
Regional location label in described step 5) refers to: will record each face of same fruit and each fruit region between the camera that arranges label respectively successively.
The present embodiment arranges the information that two cameras 7 record respectively fruit front, reverse side.
Described fruit is delivered to the corresponding utility box time everywhere from the pallet 23 of continous way single channel materials transport mechanism 2 initial and is (Ni+k) * L/v, wherein: Ni is the number of trays that regional n arrives i level utility box, i is the fruit grade, L is the spacing between pallet 23 in continous way single channel materials transport mechanism 2, v is the movement velocity of sprocket wheel, and k is by the determining positions of fruit.Turn single channel as example take 3 passages, if the fruit Position Number is designated as Label, the concrete of k value determines that method is, at first divide the fruit domain of the existence according to support rollers place, fruit place passage, zones of different k value is different, but same passage has certain rule, and fruit is in 1,4, during 7 regional location, k=Label-1; Fruit is in 2,5, during 8 regional location, k=Label-3; Fruit is in 3,6, during 9 regional location, k=Label-5.
As Figure 10, Figure 11, Figure 12 and shown in Figure 13, be the image in this device image acquisition and processing process.
As Figure 14, the fruit domain of the existence is carried out location label, be labeled as respectively 1-9 zone.Then the same a collection of fruit image according to previous collected by camera merges, and is the defect area sum of same numeral place fruit different azimuth, according to fruit grade classification criterion, completes the grade classification of regional.
As shown in the table, be divided into 1,2,3 grades as example take fruit, suppose that in continous way single channel materials transport mechanism 2, the spacing between pallet 23 is L, the movement velocity of sprocket wheel is v, the number of trays that zone 1 arrives 1 grade of utility box is N1, the number of trays that zone 1 arrives 2 grades of utility boxs is N2, and the number of trays that zone 1 arrives 3 grades of utility boxs is N3, and the mapping table between regional fruit grade, fruit regional location and solenoid relation conduction time as shown in figure 14.Take zone 4 as example, if the fruit grade is judged as 2 grades, this fruit arrives 2 grades of utility boxs in (N2+3) * L/v time, the magnet 27 of switching on this moment is affixed with its place pallet alnico magnets 26, triggers this energising magnet 27, and conducting magnetic iron produces magnetic, produce mutual repulsive force with alnico magnets 26, the moment that this power produces is opposite with the gravitational moment of fruit, pallet 23, and the fulcrum of pallet 23 on back shaft 25 turns clockwise, and completes discharging.
Figure BDA00002724343400081
In the present embodiment, related image processing method all can adopt existing known collection and account form to realize.

Claims (10)

1. sorted fruits device of processing based on image, it is characterized in that, comprise: feed mechanism, batch (-type) multichannel materials transport mechanism, continous way single channel materials transport mechanism, utility box and fruit information gathering mechanism, wherein: the front end of batch (-type) multichannel materials transport mechanism arranges feed mechanism, the top is provided with fruit information gathering mechanism, afterbody and vertical being connected of continous way single channel materials transport mechanism, utility box is connected with continous way single channel materials transport mechanism;
Described fruit information gathering mechanism comprises: cheese light source scattering device, a pair of trigger, some cameras that is connected with computer and light source, wherein: a pair of trigger be arranged on batch (-type) multichannel materials transport mechanism and the transmitted signal to camera, some cameras are fixed respectively with the information of each face of the record fruit of being surveyed in cheese light source scattering device top, the inboard is provided with light source, and light source is two to line up the paster LED of the distribution of line shape.
2. the sorted fruits device of processing based on image according to claim 1, it is characterized in that, described batch (-type) multichannel materials transport mechanism comprises: the first frame, some fruit transmission support rollers, transmission chain, ratchet, ratchet, connect baffle plate, rocking bar and connecting axle, wherein: some fruit transmission support rollers series winding structures are in a row, some row's support rollers are equally distributed on the transmission chain of frame both sides, the both sides up and down of fruit transmission support rollers arrange a pair of trigger, ratchet is connected with transmission chain and provides power for it, connecting baffle plate is fixed on the central shaft of ratchet, ratchet is fixed in and connects on baffle plate, one end of rocking bar is that ball connects with being connected baffle plate, the other end is connected with connecting axle, connecting axle is connected with continous way single channel materials transport mechanism.
3. the sorted fruits device of processing based on image according to claim 2, is characterized in that, described camera is that two and interval arrange to record respectively the information of fruit front, reverse side, is spaced apart the distance between the fruit transmission support rollers of four horizontally-arrangeds.
4. according to claim 2 or 3 described sorted fruits devices of processing based on image, it is characterized in that, described fruit transmission support rollers is the middle part concave inward structure, the radius at the two ends of this fruit transmission support rollers is suitable with the fruit radius, the middle part concave inward structure keeps relatively steadily fruit and guarantees the 1 every transmission of batch (-type) multichannel materials transport mechanism once when transmission, fruit rotation 50-70 degree.
5. the sorted fruits device of processing based on image according to claim 1, it is characterized in that, described continous way single channel materials transport mechanism comprises: the second frame, drive sprocket, driven sprocket, chain, pallet, the pallet pasting board, energising magnet, alnico magnets and tray supporter, wherein: the two ends of the second frame arrange respectively drive sprocket and driven sprocket, drive sprocket provides power by motor, the main shaft of drive sprocket is connected and drives its motion with batch (-type) multichannel materials transport mechanism, the two ends of chain be located at respectively on drive sprocket and driven sprocket and on chain by the equidistant evenly distribution pallet of back shaft, back shaft is positioned at apart from pallet outer edge 1/3 place, the other end contact pallet pasting board of pallet, alnico magnets are arranged at pallet inside, energising magnet is positioned on the pallet pasting board and with pasting board and is level, the opposite direction of the magnetic of alnico magnets and energising magnet, to guarantee producing opposite force when the discharging, to complete discharging.
6. the sorted fruits device of processing based on image according to claim 5, is characterized in that, the active force between described energising magnet and alnico magnets is F and satisfies F〉G/2, wherein: G is the gravity sum of fruit, alnico magnets and pallet.
7. Fruit Sorting Method based on arbitrary described device in claim 1-6, be used for the ambient interferences of the component of elimination tristimulus image by the mask images of producing fruit to be detected, then realize sizing screening by calculating fruit defects area summation to be measured.
8. method according to claim 7, is characterized in that, described method comprises:
1) isolate the NIR image of fruit, accordingly image is carried out threshold process, obtain the mask images of fruit image;
2) the G component image in the RGB image of extraction fruit;
3) utilize mask images to remove in the G component image and the ambient interferences of defective same brightness value;
4) single threshold is completed the G component image of cutting apart after background, obtains the defect image of fruit;
5) the fruit domain of the existence is carried out location label, will merge with a collection of fruit image, be the defect area sum of same numeral place fruit different azimuth, according to fruit grade classification criterion, complete the grade classification of regional;
6) when fruit is delivered to corresponding utility box everywhere from the pallet of continous way single channel materials transport mechanism initial, trigger this energising magnet, conducting magnetic iron produces magnetic, produce mutual repulsive force with alnico magnets, the moment that this power produces is opposite with the gravitational moment of fruit, pallet, the fulcrum of pallet on back shaft turns clockwise, and completes discharging.
9. method according to claim 7, is characterized in that, the threshold process in described step 1) refers to: determining a gray value as level threshold value, is the defect part of fruit lower than the pixel of this value, is normal fruit surface higher than the pixel of this value.
10. method according to claim 7, is characterized in that, the regional location label in described step 5) refers to: will record each face of same fruit and each fruit region between the camera that arranges label respectively successively.
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CN104001676A (en) * 2014-05-04 2014-08-27 广东都市丽人实业有限公司 Automatic sorting method and production line for large-scale multi-variety mixed-match underwear
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CN105903682A (en) * 2016-04-11 2016-08-31 深圳淘绿信息科技股份有限公司 Automatic mobile phone sorting system and mobile phone sorting method
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CN108906657A (en) * 2018-07-03 2018-11-30 北京市农林科学院 A kind of fruits and vegetables sorting table
CN110057745A (en) * 2019-04-19 2019-07-26 华中科技大学 A kind of infrared detection method of metal component corrosion condition
CN110201900A (en) * 2019-05-31 2019-09-06 安徽理工大学 A kind of apple screening plant based on machine vision
CN110361401A (en) * 2019-07-31 2019-10-22 新疆农业大学 A kind of soft X-ray check moth fruit pest device
CN110385275A (en) * 2019-08-30 2019-10-29 贵州大学 A kind of flexible feeding device for apple sorting
CN111522193A (en) * 2020-04-15 2020-08-11 中国农业大学 Method for collecting all surface images of spherical material by using concave mirror
CN112044795A (en) * 2020-09-25 2020-12-08 塔里木大学 Korla fragrant pear outward appearance quality detection device

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CN103528967A (en) * 2013-09-25 2014-01-22 西北农林科技大学 Hyperspectral image based overripe Lonicera edulis fruit identification method
CN103521459A (en) * 2013-09-25 2014-01-22 西北农林科技大学 Kiwi fruit grading conveying apparatus and method thereof
CN103528967B (en) * 2013-09-25 2016-08-31 西北农林科技大学 Overdone indigo fruit fruit identification method based on high spectrum image
CN103639121B (en) * 2013-12-27 2016-05-11 天津市光学精密机械研究所 The automatic separation equipment of red date elephant skin
CN103639121A (en) * 2013-12-27 2014-03-19 天津市光学精密机械研究所 Automatic sorting equipment of red date cockles
CN103949409A (en) * 2014-04-21 2014-07-30 三峡大学 Automatic fruit sorting system
CN104001676A (en) * 2014-05-04 2014-08-27 广东都市丽人实业有限公司 Automatic sorting method and production line for large-scale multi-variety mixed-match underwear
CN104043596A (en) * 2014-06-11 2014-09-17 洛阳方智测控股份有限公司 Detection sorting device for steel balls
CN104084384A (en) * 2014-06-16 2014-10-08 石河子大学 Fruit detection classifier
CN104084384B (en) * 2014-06-16 2016-03-30 石河子大学 A kind of fruit detects grader
CN105642564A (en) * 2016-01-12 2016-06-08 山东理工大学 Blueberry maturity cleaning equipment
CN105642559A (en) * 2016-01-12 2016-06-08 山东理工大学 Apple maturity cleaning equipment
CN105665302A (en) * 2016-01-12 2016-06-15 山东理工大学 Winter jujube ripeness separating equipment
CN105665303A (en) * 2016-01-12 2016-06-15 山东理工大学 Hawthorn ripeness separating equipment
CN105642559B (en) * 2016-01-12 2017-12-29 山东理工大学 A kind of ripe apples degree cleaning equipment
CN105903682A (en) * 2016-04-11 2016-08-31 深圳淘绿信息科技股份有限公司 Automatic mobile phone sorting system and mobile phone sorting method
CN106076864A (en) * 2016-06-29 2016-11-09 华南农业大学 A kind of sequence vision detection and classification machine
CN108275323A (en) * 2018-01-22 2018-07-13 海宁鼎达纺织有限公司 A kind of garment production batch wrapping equipment
CN108906657A (en) * 2018-07-03 2018-11-30 北京市农林科学院 A kind of fruits and vegetables sorting table
CN108906657B (en) * 2018-07-03 2020-07-31 北京市农林科学院 Fruit and vegetable sorting table
CN110057745A (en) * 2019-04-19 2019-07-26 华中科技大学 A kind of infrared detection method of metal component corrosion condition
CN110201900A (en) * 2019-05-31 2019-09-06 安徽理工大学 A kind of apple screening plant based on machine vision
CN110361401A (en) * 2019-07-31 2019-10-22 新疆农业大学 A kind of soft X-ray check moth fruit pest device
CN110385275A (en) * 2019-08-30 2019-10-29 贵州大学 A kind of flexible feeding device for apple sorting
CN111522193A (en) * 2020-04-15 2020-08-11 中国农业大学 Method for collecting all surface images of spherical material by using concave mirror
CN111522193B (en) * 2020-04-15 2021-04-23 中国农业大学 Method for collecting all surface images of spherical material by using concave mirror
CN112044795A (en) * 2020-09-25 2020-12-08 塔里木大学 Korla fragrant pear outward appearance quality detection device
CN112044795B (en) * 2020-09-25 2022-01-07 塔里木大学 Korla fragrant pear outward appearance quality detection device

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