CN103196835B - Target tracking device for internal quality detection process of agricultural products - Google Patents
Target tracking device for internal quality detection process of agricultural products Download PDFInfo
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- CN103196835B CN103196835B CN201310125308.4A CN201310125308A CN103196835B CN 103196835 B CN103196835 B CN 103196835B CN 201310125308 A CN201310125308 A CN 201310125308A CN 103196835 B CN103196835 B CN 103196835B
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Abstract
The invention discloses a target tracking device for an internal quality detection process of agricultural products. The target tracking device consists of a rotary drum, a belt, a detection object, a tray, an object detection sensor, a tracking cylinder, a reflecting mirror, a fixed cylinder, an encoder, a controller, a detector, set screws, a fixed cylinder bracket, a tracking cylinder bracket, a screw rod assembly, a tracking cylinder final position sensor and a tracking cylinder starting point position sensor. The target tracking device can be used for tracking the agricultural products to be detected by combining the encoder and a screw rod, so that the detector and the agricultural product to be detected are maintained to be relatively static in a spectrum collection process, the spectrum collection is stable, and the detection accuracy is improved.
Description
Technical field
The present invention relates to the pick-up unit of agricultural product, especially relate to the target tracker in a kind of agricultural product inside quality testing process.
Background technology
Classification is one of important means of agricultural product commercialized treatment after adopting, and to enhancing agricultural product commodity market competitive power, that increases economic efficiency is significant.
Index of quality detection is the basis of classification.In quality of agricultural product Indexs measure, machine vision technique has been applied to the detection quality of agricultural product index of external sort.And near-infrared spectrum technique have also been obtained application in the detection of Internal quality index.
Existing for detecting the method for agricultural product inside quality when agricultural product are kept in motion based on agricultural product spectral signature, owing to there is relative motion between agricultural product and detecting device, the spectrum that detecting device gathers within integral time stably can not reflect the distribution of inner material, thus brings error.
Summary of the invention
Object of the present invention is to provide the target tracker in a kind of agricultural product inside quality testing process, the motion tracking method utilizing scrambler and screw mandrel to combine, and realizes the target tracker in agricultural product inside quality testing process.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention includes two cylinders, two belts, pallet, scrambler, screw mandrel assembly, Object tracking device; Wherein:
Article two, belt is looped around the both sides of two cylinders respectively, and detected object is placed on the pallet of hollow, and pallet is across on two belts, and scrambler is arranged on the cylinder of side;
Screw mandrel assembly: comprise screw mandrel stepper motor, screw rod bracket, screw mandrel, screw mandrel motion platform, screw mandrel rotates and drives motion platform to move;
Object tracking device: comprise objection detecting sensor, L shape follows the tracks of cylinder, catoptron, stationary magazine creel, controller, detecting device, stationary magazine creel support, follows the tracks of tube stent, follows the tracks of cylinder final position sensor and follows the tracks of cylinder start position sensor; L shape is followed the tracks of cylinder and is vertically mounted on screw mandrel motion platform by following the tracks of tube stent, catoptron is arranged on L shape and follows the tracks of cylinder corner, stationary magazine creel is arranged in screw rod bracket by stationary magazine creel support level, one end of stationary magazine creel is enclosed within L shape and follows the tracks of in the pipe of the horizontal one end of cylinder, the other end of stationary magazine creel is provided with detecting device, follow the tracks of cylinder final position sensor and follow the tracks of cylinder start position sensor be arranged on respectively L shape follow the tracks of tube length limit both sides, and be positioned at the below of pallet; Whole Object tracking device is arranged on the centre of two belts, the below of pallet; Objection detecting sensor is arranged on the side, front of pallet working direction, and between tracking cylinder final position sensor and tracking cylinder start position sensor.
Comprising of described controller:
U1, U2, U3 are install beforehand 4 scale-of-two up/down counter CD40193; U4 is two input nand gate CD4011; U5 is monostalbe trigger CD4528; U6 is two four input nand gate CD4012; U7 is three terminal regulator 7805; U8 is the active crystal oscillator of 2.048M; U9 is for selecting rejection gate CD4019; U10 is four d flip-flop CD40175; U11 is level transferring chip CD4504; U12 is ZD-6209-V2 type controllor for step-by-step motor; Screw mandrel stepper motor adopts 42BYG101 type stepper motor;
S5, S16, S17 are objection detecting sensor respectively, and follow the tracks of the output signal of cylinder final position sensor and tracking cylinder start position sensor, S9 is the output signal of scrambler;
U12 is ZD-6209-V2 type controllor for step-by-step motor A+, and A-, B+, B-connect screw mandrel stepper motor respectively.
Objection detecting sensor, follows the tracks of cylinder final position sensor, follows the tracks of cylinder start position sensor, scrambler, install beforehand 4 scale-of-two up/down counter U1, install beforehand 4 scale-of-two up/down counter U2, install beforehand 4 scale-of-two up/down counter U3, two input nand gate U4, monostalbe trigger U5, two four input nand gate U6, select rejection gate U9, the devices such as four d flip-flop U10, ZD-6209-V2 type controllor for step-by-step motor U12 all adopt 12V to power; 16th pin and the 8th pin of level transferring chip U12 are connected on+12V and GND respectively, and the 1st pin of level transferring chip U12 is connected on the 3rd pin of U7, and the 1st pin of level transferring chip U12 is connected on the 3rd pin of U7 by resistance R111.
The useful effect that the present invention has is:
Adopt scrambler and screw mandrel to combine to follow the tracks of agricultural product to be measured, make detecting device keep geo-stationary in spectra collection process and between agricultural product to be measured, ensure spectrum-stable collection, thus improve accuracy of detection.
Accompanying drawing explanation
Fig. 1 is apparatus structure principle schematic of the present invention.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is tracking means schematic diagram.
Fig. 4 is the vertical view of Fig. 3.
Fig. 5 is pallet schematic diagram.
Fig. 6 is stationary magazine creel support schematic diagram.
Fig. 7 follows the tracks of tube stent schematic diagram.
Fig. 8 is control circuit figure.
In figure: 1, cylinder, 2, belt, 3, detected object, 4, pallet, 5, objection detecting sensor, 6, follow the tracks of cylinder, 7, catoptron, 8, L shape stationary magazine creel, 9, scrambler, 10, controller, 11, detecting device, 12, fixed screw, 13, stationary magazine creel support, 14, follow the tracks of tube stent, 15, screw mandrel assembly, 16, cylinder final position sensor is followed the tracks of, 17, follow the tracks of cylinder start position sensor, 15.1, screw mandrel stepper motor, 15.2, screw rod bracket, 15.3, screw mandrel, 15.4, screw mandrel motion platform.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 1 and Figure 2, the present invention includes two cylinders, 1, two belts 2, pallet 4, scrambler 9, screw mandrel assembly 15, Object tracking device; Wherein:
As shown in Fig. 2, Fig. 5, two belts 2 are looped around the both sides of two cylinders 1 respectively, and detected object 3 is placed on the pallet 4 of hollow, and pallet 4 is across on two belts 2, and scrambler 9 is arranged on the cylinder 1 of side;
As shown in Figure 3 and Figure 4, screw mandrel assembly 15: comprise screw mandrel stepper motor 15.1, screw rod bracket 15.2, screw mandrel 15.3, screw mandrel motion platform 15.4, screw mandrel 15.3 rotates and drives motion platform 15.4 to move;
As shown in Fig. 1, Fig. 3, Fig. 4, Object tracking device: comprise objection detecting sensor 5, L shape follows the tracks of cylinder 6, catoptron 7, stationary magazine creel 8, controller 10, detecting device 11, fixed screw 12, stationary magazine creel support 13, follow the tracks of tube stent 14, follow the tracks of cylinder final position sensor 16 and follow the tracks of cylinder start position sensor 17; L shape is followed the tracks of cylinder 6 and is vertically mounted on screw mandrel motion platform 15.4 by tracking tube stent 14 and multiple fixed screw 12, catoptron 7 is arranged on L shape and follows the tracks of cylinder 6 corner, stationary magazine creel 8 is arranged in screw rod bracket 15.2 by stationary magazine creel support 13 and multiple fixed screw 12 level, one end of stationary magazine creel 8 is enclosed within L shape and follows the tracks of in the pipe of the horizontal one end of cylinder 6, the other end of stationary magazine creel 8 is provided with detecting device 11, follow the tracks of cylinder final position sensor 16 and follow the tracks of cylinder start position sensor 17 be arranged on respectively L shape follow the tracks of the long limit of cylinder 6 both sides, and be positioned at the below of pallet 4; Whole Object tracking device is arranged on the centre of two belts 2, the below of pallet 4; Objection detecting sensor 5 is arranged on the side, front of pallet 4 working direction, and between tracking cylinder final position sensor 16 and tracking cylinder start position sensor 17.
As shown in Figure 6, the left side of stationary magazine creel support 13 is semicircle, and right side is bathtub construction.
As shown in Figure 7, the left side of following the tracks of tube stent 14 is semicircle, and right side is tabular.
The radius of cylinder 1
r, scrambler 9 resolution be
p, the helical pitch of screw mandrel 15.3
t, the step angle of screw mandrel stepper motor 15.1
αrelation determined by formula (1):
(1)
As shown in Figure 8, comprising of described controller 10:
U1, U2, U3 are install beforehand 4 scale-of-two up/down counter CD40193; U4 is two input nand gate CD4011; U5 is monostalbe trigger CD4528; U6 is two four input nand gate CD4012; U7 is three terminal regulator 7805; U8 is the active crystal oscillator of 2.048M; U9 is for selecting rejection gate CD4019; U10 is four d flip-flop CD40175; U11 is level transferring chip CD4504; U12 is ZD-6209-V2 type controllor for step-by-step motor; Screw mandrel stepper motor 15.1 adopts 42BYG101 type stepper motor.
S5, S16, S17 are objection detecting sensor 5 respectively, and follow the tracks of the output signal of cylinder final position sensor 16 and tracking cylinder start position sensor 17, S9 is the output signal of scrambler 9.
U12 is ZD-6209-V2 type controllor for step-by-step motor A+, and A-, B+, B-connect screw mandrel stepper motor 15.1 respectively.
Objection detecting sensor 5, follows the tracks of cylinder final position sensor 16, follows the tracks of cylinder start position sensor 17, scrambler 9, install beforehand 4 scale-of-two up/down counter U1, install beforehand 4 scale-of-two up/down counter U2, install beforehand 4 scale-of-two up/down counter U3, two input nand gate U4, monostalbe trigger U5, two four input nand gate U6, select rejection gate U9, the devices such as four d flip-flop U10, ZD-6209-V2 type controllor for step-by-step motor U12 all adopt 12V to power.16th pin and the 8th pin of level transferring chip U12 are connected on+12V and GND respectively, and the 1st pin of level transferring chip U12 is connected on the 3rd pin of U7, and the 1st pin of level transferring chip U12 is connected on the 3rd pin of U7 by resistance R111.
First equipment adjustment is carried out:
The switch that disconnection or close SW1, SW2, S are, arranges the preset number of U1, U2, U3.
Power-on, under the effect of resistance R101 and electric capacity C101, U10 is reset, and the 2nd pin of U10 becomes low level.11st pin of U4D becomes high level.Direction+the terminal of U12 is low level.
Tracking cylinder 6 is put into and follows the tracks of cylinder final position sensor 16, follow the tracks of between cylinder start position sensor 17, now S5, S16, S17 are high level, the 2.048MHz that U8 produces, amplitude are that the pulse signal of 5V carries out after level adjustment through U11, become 2.048MHz, amplitude be the pulse signal of 12V, then after U13 frequency division, become 1000Hz, amplitude is the clock signal SC of 12V.Clock signal SC is input to the 7th pin of U9 through the 10th pin of U4C, outputs to the pulse+terminal of U12 from the 10th pin of U9, drives screw mandrel stepper motor 15.1 to move.If follow the tracks of cylinder 6 to the direction motion following the tracks of cylinder final position sensor 16, then powered-down, exchanges the A+ of screw mandrel stepper motor 15.1 to U12, A-and B+, B-wiring.If follow the tracks of cylinder 6 to the motion of tracking cylinder start position sensor 17 direction, then, when following the tracks of cylinder 6 arrival and following the tracks of cylinder start position sensor 17, S17 becomes low level, and the 10th pin of U4C becomes low level, screw mandrel stepper motor 15.1 stop motion.Above tracking cylinder 6, put pallet 4, make tracking cylinder 6 just to the central through hole of pallet 4, objection detecting sensor 5 is adjusted to pallet 4 location right (Fig. 1).
Quality of agricultural product detection method:
Start power supply, allow two belts 2 move under the drive of cylinder 1, detected object 3 be placed on pallet 4, by pallet 4 from the left side across being put in two belts 2, then pallet 4 moves to the right under the drive of two belts 2.
When pallet 4 stops objection detecting sensor 5, S5 becomes low level, 6th pin of U5A exports the 14th pin that a positive pulse signal divides the 1st pin and the 2nd pin and U1, U2, the U3 being clipped to U4A, complete the reset of U1, U2, U3, the 3rd pin through U4A exports 11st pin of a low level signal to U1, U2, U3, realizes the preset of U1, U2, U3.7th pin of U5A exports 4th pin of a undersuing to U6A, a pulse is produced at the 1st pin of U6A, this Puled input is to the 9th pin of U10, the 2nd pin of U10 is made to become high level, 11st pin of U4D becomes low level, and the direction+terminal of U12 is low level, and the pulse signal S9 of the output of scrambler 9 outputs to the pulse+terminal of U12 through U9, drive screw mandrel stepper motor 15.1 to move, follow the tracks of cylinder 6 to the motion of tracking sensor 16 direction, cylinder final position; Clock signal SC is through the 4th pin of U4B arrival U1 simultaneously, makes U1 start work and subtracts counting, after the preset counting number of U1,13rd pin of U1 exports a pulse, makes U2 start work and subtracts counting, after the preset counting number of U2,13rd pin of U2 exports a pulse, makes U3 start work and subtracts counting.After the preset counting number of U3, export a pulse to the 2nd pin of U6A and the 3rd pin, a pulse is produced at the 1st pin of U6A, this Puled input is to the 9th pin of U10, the 2nd pin of U10 is made to become low level, 11st pin of U4D exports high level, clock signal SC is input to the 7th pin of U9 through the 10th pin of U4C, pulse+the terminal of U12 is outputted to from the 10th pin of U9, screw mandrel stepper motor 15.1 is driven to move, follow the tracks of cylinder 6 to the motion of tracking cylinder start position sensor 17 direction, then when following the tracks of cylinder 6 and arriving tracking cylinder start position sensor 17, S17 becomes low level, 10th pin of U4C becomes low level, screw mandrel stepper motor 15.1 stop motion.If before the preset counting number of U3 is complete, follow the tracks of cylinder 6 and arrive tracking cylinder final position sensor 16, the output signal S16 then following the tracks of cylinder final position sensor 16 becomes low level, 9th pin of U5B exports 5th pin of a positive pulse signal to U6A, a pulse is produced at the 1st pin of U6A, this Puled input is to the 9th pin of U10, the 2nd pin of U10 is made to become low level, 11st pin of U4D exports high level, clock signal SC is input to the 7th pin of U9 through the 10th pin of U4C, pulse+the terminal of U12 is outputted to from the 10th pin of U9, screw mandrel stepper motor 15.1 is driven to move, follow the tracks of cylinder 6 to the motion of tracking cylinder start position sensor 17 direction, then when following the tracks of cylinder 6 and arriving tracking cylinder start position sensor 17, S17 becomes low level, 10th pin of U4C becomes low level, screw mandrel stepper motor 15.1 stop motion.
Claims (2)
1. the target tracker in agricultural product inside quality testing process, is characterized in that, comprises two cylinders (1), two belts (2), pallet (4), scrambler (9), screw mandrel assembly (15), Object tracking device; Wherein:
Article two, belt (2) is looped around the both sides of two cylinders (1) respectively, detected object (3) is placed on the pallet (4) of hollow, pallet (4) is across on two belts (2), and scrambler (9) is arranged on the cylinder (1) of side;
Screw mandrel assembly (15): comprise screw mandrel stepper motor (15.1), screw rod bracket (15.2), screw mandrel (15.3), screw mandrel motion platform (15.4), screw mandrel (15.3) rotates and drives motion platform (15.4) mobile;
Object tracking device: comprise objection detecting sensor (5), L shape follows the tracks of cylinder (6), catoptron (7), stationary magazine creel (8), controller (10), detecting device (11), stationary magazine creel support (13), follow the tracks of tube stent (14), follow the tracks of cylinder final position sensor (16) and follow the tracks of cylinder start position sensor (17), L shape is followed the tracks of cylinder (6) and is vertically mounted on screw mandrel motion platform (15.4) by following the tracks of tube stent (14), catoptron (7) is arranged on L shape and follows the tracks of cylinder (6) corner, stationary magazine creel (8) is arranged in screw rod bracket (15.2) by stationary magazine creel support (13) level, one end of stationary magazine creel (8) is enclosed within L shape and follows the tracks of in the pipe of cylinder (6) horizontal one end, the other end of stationary magazine creel (8) is provided with detecting device (11), follow the tracks of cylinder final position sensor (16) and follow the tracks of cylinder start position sensor (17) be arranged on respectively L shape tracking cylinder (6) long limit both sides, and be positioned at the below of pallet (4), whole Object tracking device is arranged on the centre of two belts (2), the below of pallet (4), objection detecting sensor (5) is arranged on the side, front of pallet (4) working direction, and is positioned at tracking cylinder final position sensor (16) and follows the tracks of between cylinder start position sensor (17).
2. the target tracker in a kind of agricultural product inside quality testing process according to claim 1, it is characterized in that, described controller (10) comprising: three install beforehand, 4 scale-of-two up/down counter U1, U2, U3; Two input nand gate U4; Monostalbe trigger U5; Two four input nand gate U6; Three terminal regulator U7; Active crystal oscillator U8; Select rejection gate U9; Four d flip-flop U10; Level transferring chip U11; Controllor for step-by-step motor U12;
U1, U2, U3 are install beforehand 4 scale-of-two up/down counter CD40193; U4 is two input nand gate CD4011; U5 is monostalbe trigger CD4528; U6 is two four input nand gate CD4012; U7 is three terminal regulator 7805; U8 is the active crystal oscillator of 2.048M; U9 is for selecting rejection gate CD4019; U10 is four d flip-flop CD40175; U11 is level transferring chip CD4504; U12 is ZD-6209-V2 type controllor for step-by-step motor; Screw mandrel stepper motor adopts 42BYG101 type stepper motor;
S5, S16, S17 are objection detecting sensor respectively, and follow the tracks of the output signal of cylinder final position sensor and tracking cylinder start position sensor, S9 is the output signal of scrambler;
Objection detecting sensor (5), follow the tracks of cylinder final position sensor (16), follow the tracks of cylinder start position sensor (17), scrambler (9), install beforehand 4 scale-of-two up/down counter U1, install beforehand 4 scale-of-two up/down counter U2, install beforehand 4 scale-of-two up/down counter U3, two input nand gate U4, monostalbe trigger U5, two four input nand gate U6, select rejection gate U9, four d flip-flop U10, ZD-6209-V2 type controllor for step-by-step motor U12 adopts 12V to power, 16th pin and the 8th pin of level transferring chip U11 are connected on+12V and GND respectively, 1st pin of level transferring chip U11 is connected on the 3rd pin of three terminal regulator U7, 13rd pin of level transferring chip U11 is connected on the 3rd pin of three terminal regulator U7 by resistance R111.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310125308.4A CN103196835B (en) | 2013-04-10 | 2013-04-10 | Target tracking device for internal quality detection process of agricultural products |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310125308.4A CN103196835B (en) | 2013-04-10 | 2013-04-10 | Target tracking device for internal quality detection process of agricultural products |
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| CN103196835A CN103196835A (en) | 2013-07-10 |
| CN103196835B true CN103196835B (en) | 2014-12-17 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113118030B (en) * | 2019-12-30 | 2023-08-04 | 湖南山水检测有限公司 | Embedded food detection device based on visual recognition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SE404964B (en) * | 1977-03-22 | 1978-11-06 | Sarlos Seppo Edvard | DEVICE FOR DETECTING RADIATION FROM A FORM FOR DETERMINING DEVIATIONS OR ERRORS ON A SURFACE OF THE SAME |
| JP2000266637A (en) * | 1999-03-18 | 2000-09-29 | Olympus Optical Co Ltd | Following device for inspecting substrate |
| CN1210112C (en) * | 2002-12-27 | 2005-07-13 | 浙江大学 | Mechanical vision fruit classifying system controlled by shift register |
| CN2601754Y (en) * | 2003-01-20 | 2004-02-04 | 浙江大学 | Fruit-grading device controlled in synchronization controlled by single chip processor |
| CN2699292Y (en) * | 2004-05-24 | 2005-05-11 | 夏云厚 | Rock core and sample imaging instrument |
| CN201903508U (en) * | 2010-07-23 | 2011-07-20 | 武汉华科新材料有限公司 | Online detection device for sheet hole |
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Effective date of registration: 20200717 Address after: 321300 No. 199 Huacheng East Road, Xicheng Street, Yongkang City, Jinhua City, Zhejiang Province Patentee after: ZHEJIANG DEFEILUO INTELLIGENT MACHINERY MANUFACTURING Co.,Ltd. Address before: 321300, Lantian Road, Xicheng Industrial Zone, Xicheng County, Jinhua, Zhejiang, Yongkang 16 Patentee before: SIMTO GROUP Co.,Ltd. |
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Denomination of invention: Target tracking device in the process of internal quality detection of agricultural products Effective date of registration: 20220413 Granted publication date: 20141217 Pledgee: Yongkang branch of the Industrial Commercial Bank of China Ltd. Pledgor: ZHEJIANG DEFEILUO INTELLIGENT MACHINERY MANUFACTURING Co.,Ltd. Registration number: Y2022330000503 |
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