CN103234905B - A method and a device for acquiring non-redundant image information of ball-shaped fruits - Google Patents
A method and a device for acquiring non-redundant image information of ball-shaped fruits Download PDFInfo
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- 101100489713 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) GND1 gene Proteins 0.000 claims description 18
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- 238000010330 laser marking Methods 0.000 abstract 3
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Abstract
The invention discloses a method and a device for acquiring non-redundant image information of ball-shaped fruits. The device comprises a servo motor, four circumferential direction cameras, a top view camera, a trigger controller, a computer, four cross laser marking devices, a groove-shaped photoelectric sensor, a tray and a conveyor. The trigger controller is separately connected with the servo motor, the groove-shaped photoelectric sensor, the four cross laser marking devices and the top view camera. The computer is separately connected with the four circumferential direction cameras and the top view camera. A fruit is loaded on the tray, and the tray is mounted on the conveyor. According to the present invention, cross laser markings are employed for positioning boundaries among a plurality of fruit images, improving the stitching speed of the fruit images and the stitching accuracy of the images.
Description
Technical field
The present invention relates to the method and apparatus of image information acquisition, especially relate to a kind of method and apparatus for the irredundant image information acquisition of spherical fruit.
Background technology
Along with the development with precision agriculture that improves constantly of automaticity, certainly will be more and more higher to the requirement of fruit grading precision.Extract the image of the irredundant information of fruit surface, then based on the quality of this image to fruit, as color, defect etc. judge further, have very important meaning for the effectiveness of classification improving fruit.In the research of existing production line, mainly contained by the mode of the image of collected by camera fruit:
Single camera gathers image.In the process of image acquisition, fruit self rotates along with while production line operation on a production line, and camera fields of view comprises multiple station.Therefore multiple image can be gathered for same fruit.The United States Patent (USP) of the people such as Yang Tao " Methold and apparatus for sorting objects by color(carries out the method and apparatus of classification by Color pair article) application number: 5339963 " adopt a camera to detect and classification the article on carrier chain.The people such as the Ying Yibin of Zhejiang University detect and grading robot system (application number: 02136377.3) in real time at patent fruit quality, 02295073.7) etc. the fruit real-time graded control system that utilizes shift register to control (application number: 02266031.3) (application number: 201120140461.0), based on the fruit grading machine (application number: describe the hierarchy system adopting single camera to obtain fruit surface image in of machine vision for fruit sorter patent.
Multiple camera gathers image simultaneously.In multiple camera system, one method is placed on by fruit in fruit cup, trigger image that multiple camera collects fruit simultaneously (Li Qingzhong, Wang Maohua. the Apple Automatic Grading system hardware based on machine vision is developed. agricultural mechanical journal, 2000,31(2): 56-59); A kind of is that Production of fruit line self rotates along with time production line runs, trigger several fruit images of collected by camera, as the apparatus and method (application number: 200410065216.2) based on three online fruit quality detection and classifications of camera system that Zhao Jiewen etc. designs.
No matter be the further detection that the image adopting which kind of image acquisition mode to obtain fruit carries out fruit quality, all there is fruit surface image information by the problem of repeated acquisition.And based on the image that there is duplicate message, fruit quality is judged, the accuracy of classification will certainly be affected.Do not guarantee the method obtaining the irredundant frame of class spherical fruit multi-surface at present.
Summary of the invention
For the problem occurring image redundancy in spherical fruit surface image acquisition process, the object of the present invention is to provide a kind of method and apparatus for the irredundant image information acquisition of spherical fruit, in conjunction with polyphaser, cross laser is launched and trigger control circuit, ensures to obtain the irredundant frame of spherical fruit multi-surface.
The technical solution adopted for the present invention to solve the technical problems is:
One, for the method for the irredundant frame acquisition of spherical fruit multi-surface:
With 1 top view camera and 4 circumferential cameras, fruit top view picture not with cross laser graticule of the fruit circumference image of the fruit top view picture of 1 web cross laser graticule and 4 web cross laser graticules, 1 width and the fruit circumference image of 4 width not with cross laser graticule are gathered respectively to the fruit in visual field; By fruit top view picture not with cross laser graticule of the fruit of the fruit top view picture of 1 web cross laser graticule and 4 web cross laser graticules circumference image and 1 width and the fruit circumference of 4 width not with cross laser graticule, image is corresponding respectively subtracts each other, and obtains 1 width top view laser line image and the circumferential laser line image of 4 width; The border circular areas of top view laser line image is multiplied with the fruit top view picture not with cross laser graticule, obtains top view interesting image regions; Respectively 4 width circumference laser line image are multiplied with the corresponding fruit not with cross laser graticule circumference image, obtain 4 width circumference interesting image regions; By top view interesting image regions and circumferential interesting image regions split, obtain the irredundant frame of fruit surface.
Two, for the device of the irredundant frame acquisition of spherical fruit multi-surface:
The present invention includes servomotor, 4 circumferential cameras, top view camera, trigger controller, computing machine, 4 cross laser line marking devices, flute profile photoelectric sensor, pallet and travelling belt.
4 circumferential cameras are evenly arranged in same plane ringwise, 4 cross laser line marking devices are evenly arranged between 4 circumferential cameras, be arranged in below circumferential camera and cross laser line marking device by the driving-belt of driven by servomotor, the space angle of driving-belt and a circumferential camera 22.5 degree; Driven by servomotor driving-belt rotates, and fruit is loaded on pallet, and pallet is installed on the belt, installs top view camera above fruit; Flute profile photoelectric sensor across driving-belt both sides, and is positioned at pallet working direction front;
Trigger controller respectively with servomotor, flute profile photoelectric sensor, 4 circumferential cameras are connected with top view camera, and computing machine is connected with top view camera with 4 circumferential cameras respectively.
Described trigger controller: comprise microprocessor U1, optocoupler U2, optocoupler U3, motor driver U4, optocoupler U5, relay U6, triode Q1, diode D1, pot Rp, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5 and resistance R6;
Brown lead-in wire and the blue lead-in wire of flute profile photoelectric sensor meet+24V power supply and GND1 respectively, flute profile photoelectric sensor black lead connects optocoupler U2 the 1st pin by resistance R2, optocoupler U2 second pin meets GND1, resistance R1 is connected on 6 pins of+5V power supply and microprocessor U1, optocoupler U2 the 5th pin connects microprocessor U1 the 6th pin, optocoupler U2 the 4th pin meets GND0, microprocessor U1 the 19th pin connects camera trigger pip input end, resistance R4 connects+5V power supply and optocoupler U5 the 1st pin respectively, optocoupler U5 the 2nd pin connects microprocessor U1 the 17th pin, optocoupler U5 the 5th pin connects+24V power supply, resistance R5 is connected between optocoupler U5 the 4th pin and triode Q1 base stage, relay U6 coil is connected between+24V power supply and triode Q1 collector, transistor emitter meets GND1, diode D1 reversal connection is at the coil two ends of relay U6, the normally opened contact of relay U6 is connected between+3V power supply and 4 cross laser line marking devices, the power cathode of 4 cross laser line marking devices meets GND1, optocoupler U3 the 1st pin connects microprocessor U1 the 18th pin, optocoupler U3 the 2nd pin meets GND0 by resistance R7, optocoupler U3 the 3rd pin connects+24V power supply, optocoupler U3 the 4th pin meets the 2nd pin and the resistance R6 of the CN1 interface of motor driver U4 respectively, 13rd pin of the CN1 interface of motor driver U4 meets GND1 and resistance R6, resistance R3 is connected between the 22nd pin of the CN1 interface of+24V power supply and motor driver U4, pot Rp meets the 22nd pin and GND1 of the CN1 interface of motor driver U4, the TB3 interface of motor driver U4 connects servomotor.
The useful effect that the present invention has is:
The present invention utilizes cross laser graticule to locate boundary line between several fruit images, improves speed and the image mosaic accuracy of fruit image splicing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the vertical view not comprising top view camera.
Fig. 3 is trigger control circuit schematic diagram.
Fig. 4 is trigging control time diagram.
Fig. 5 is the image schematic diagram that top view collected by camera arrives.
Fig. 6 is the image schematic diagram that one of them circumferential collected by camera arrives.
Fig. 7 is the area-of-interest (dash area) in the image collected of five cameras.
Fig. 8 is the irredundant frame of class spherical fruit multi-surface obtained.
In figure: 1, servomotor, 2,4 circumferential cameras, 3, top view camera, 4, trigger controller, 5, computing machine, 6,4 cross laser line marking devices, 7, fruit, 8, flute profile photoelectric sensor, 9, pallet, 10, travelling belt.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 1, the present invention includes a servomotor Isosorbide-5-Nitrae circumferential camera 2, top view camera 3, trigger controller 4, computing machine 5,4 cross laser line marking devices 6, flute profile photoelectric sensor 8, pallet 9 and travelling belt 10.
As shown in Figure 1 and Figure 2,4 circumferential cameras 2 are evenly arranged in same plane ringwise, 4 cross laser line marking devices 6 are evenly arranged between 4 circumferential cameras 2, the driving-belt 10 driven by servomotor 1 is arranged in below circumferential camera 2 and cross laser line marking device 6, the space angle of driving-belt 10 and a circumferential camera 2 22.5 degree; Servomotor 1 drives driving-belt 10 to rotate, and fruit 7 is loaded on pallet 9, and pallet 9 is arranged on driving-belt 10, installs top view camera 3 above fruit 7; Flute profile photoelectric sensor 8 across driving-belt 10 both sides, and is positioned at pallet 9 working direction front.
Trigger controller 4 respectively with servomotor 1, flute profile photoelectric sensor 8,4 circumferential cameras 2 are connected with top view camera 3, and computing machine 5 respectively camera 2 circumferential with 4 is connected with top view camera 3.
As shown in Figure 3, described trigger controller 4: comprise microprocessor U1, optocoupler U2, optocoupler U3, motor driver U4, optocoupler U5, relay U6, triode Q1, diode D1, pot Rp, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5 and resistance R6;
Brown lead-in wire and the blue lead-in wire of flute profile photoelectric sensor 8 meet+24V power supply and GND1 respectively, flute profile photoelectric sensor 8 black lead connects optocoupler U2 the 1st pin by resistance R2, optocoupler U2 second pin meets GND1, resistance R1 is connected on 6 pins of+5V power supply and microprocessor U1, optocoupler U2 the 5th pin connects microprocessor U1 the 6th pin, optocoupler U2 the 4th pin meets GND0, microprocessor U1 the 19th pin connects camera trigger pip input end, resistance R4 connects+5V power supply and optocoupler U5 the 1st pin respectively, optocoupler U5 the 2nd pin connects microprocessor U1 the 17th pin, optocoupler U5 the 5th pin connects+24V power supply, resistance R5 is connected between optocoupler U5 the 4th pin and triode Q1 base stage, relay U6 coil is connected between+24V power supply and triode Q1 collector, transistor emitter meets GND1, diode D1 reversal connection is at the coil two ends of relay U6, the normally opened contact of relay U6 is connected between+3V power supply and 4 cross laser line marking devices (6), the power cathode of 4 cross laser line marking devices 6 meets GND1, optocoupler U3 the 1st pin connects microprocessor U1 the 18th pin, optocoupler U3 the 2nd pin meets GND0 by resistance R7, optocoupler U3 the 3rd pin connects+24V power supply, optocoupler U3 the 4th pin meets the 2nd pin and the resistance R6 of the CN1 interface of motor driver U4 respectively, 13rd pin of the CN1 interface of motor driver U4 meets GND1 and resistance R6, resistance R3 is connected between the 22nd pin of the CN1 interface of+24V power supply and motor driver U4, pot Rp meets the 22nd pin and GND1 of the CN1 interface of motor driver U4, the TB3 interface of motor driver U4 connects servomotor 1.
As shown in Figure 1, during work, fruit 7 is loaded on pallet 9.Re-expose method is adopted to obtain the image of fruit 7.Under the drive of servomotor 1, driving-belt 10 drives pallet 9 to move from left to right.
(1) as shown in Figure 4, when fruit 7 arrives flute profile photoelectric sensor 8, flute profile photoelectric sensor 8 produces high level, and make the 5th pin of optocoupler U2 become low level, triggers microprocessor U1 interrupts.
(2) as shown in Figure 4, microprocessor U1 break in service handling procedure first closes interruption, makes microprocessor U1 the 18th pin become low level, servomotor 1 stop motion; After time delay T0, microprocessor U1 the 17th pin becomes low level, triggers cross laser line marking device 6 Emission Lasers; After time delay T1, microprocessor U1 the 19th pin exports high level, trigger top view camera 3 and circumferential camera 2 collect fruit 7 the fruit top view picture of 1 web cross laser graticule and the fruit circumference image of 4 web cross laser graticules.
(3) photo is reached computing machine 5 by triggering top view camera 3 and circumferential camera 2.
(4) after microprocessor U1 time delay T2, microprocessor U1 the 17th pin exports high level, closes cross laser line marking device 6; Meanwhile, microprocessor U1 the 19th pin output low level; Again after time delay T3, microprocessor U1 the 19th pin exports high level, trigger top view camera 3 and circumferential camera 2 collect fruit 7 the fruit top view picture of 1 width not with cross laser graticule and the fruit circumference image of 4 width not with cross laser graticule.
(5) photo is reached computing machine 5 by triggering top view camera 3 and circumferential camera 2.
(6) again after time delay T3, microprocessor U1 the 19th pin becomes low level, and meanwhile, microprocessor U1 the 18th pin exports high level, makes servomotor 1 setting in motion;
As shown in Figure 5, for pushing up the fruit top view picture of fruit 7 with cross laser graticule (scheming shown in (a) in Fig. 5) and the fruit top view picture not with cross laser graticule (scheming shown in (b) in Fig. 5) that collect to camera 3.The lines (in figure (a) shown in broken circle) that the border of interior circle is formed for laser that 4 cross laser line marking devices are launched, outer circle is the border (in figure (a) shown in solid line circle) of fruit 7.Intersect the laser formation that vertical line (shown in figure (a) dotted line) is respectively 4 cross laser line marking devices transmittings.The fruit top view picture (scheming shown in (a) in Fig. 5) of band cross laser graticule and the fruit top view picture not with cross laser graticule (scheming shown in (b) in Fig. 5) are subtracted each other, extracts top view laser line image.The border circular areas of the top view laser lines of extraction is multiplied with the fruit top view picture (scheming in Fig. 5 shown in (b)) not with cross laser graticule, obtains top view interesting image regions (scheming the shadow region of (a) in Fig. 7).
As shown in Figure 6, the fruit circumference image (scheming shown in (a) in Fig. 6) of the band cross laser graticule of the fruit 7 collected for wherein 1 circumferential camera 2 and the fruit circumference image not with cross laser graticule (scheme in Fig. 6 (b) shown).The lines that the dotted line of scheming (b) in Fig. 6 is formed for laser.The fruit circumference image (scheming shown in (a) in Fig. 6) of band cross laser graticule and the fruit circumference image (scheming shown in (b) in Fig. 6) not with cross laser graticule are subtracted each other, obtains circumferential laser line image.The lower zone of circumferential laser line image is multiplied with the fruit circumference image (scheming in Fig. 6 shown in (b)) not with cross laser graticule, obtains circumferential interesting image regions (scheming the shadow region of (b) in Fig. 7).
As shown in Figure 8, top view interesting image regions and 4 circumferential interesting image regions are carried out Image Mosaic, obtains the irredundant frame of spherical fruit surface.
The flute profile photoelectric sensor 8 that the present invention adopts is FGL 220-R-PSM3; Microprocessor U1 is AT89C2051; Optocoupler U2 and optocoupler U5 is 4N25; Optocoupler U3 is friendly nation UDK-0 5Vdc; Motor driver U4 is Fuji RYHD751-FS-VV2; Relay U6 is SRD-5VDC-SL-C; Triode Q1 is 8050; Diode D1 is 1N4148.
Claims (3)
1. for a method for the irredundant image information acquisition of spherical fruit, it is characterized in that: with 1 top view camera and 4 circumferential cameras, fruit top view picture not with cross laser graticule of the fruit circumference image of the fruit top view picture of 1 web cross laser graticule and 4 web cross laser graticules, 1 width and the fruit circumference image of 4 width not with cross laser graticule are gathered respectively to the fruit in visual field; By fruit top view picture not with cross laser graticule of the fruit of the fruit top view picture of 1 web cross laser graticule and 4 web cross laser graticules circumference image and 1 width and the fruit circumference of 4 width not with cross laser graticule, image is corresponding respectively subtracts each other, and obtains 1 width top view laser line image and the circumferential laser line image of 4 width; The border circular areas of top view laser line image is multiplied with the fruit top view picture not with cross laser graticule, obtains top view interesting image regions; Respectively 4 width circumference laser line image are multiplied with the corresponding fruit not with cross laser graticule circumference image, obtain 4 width circumference interesting image regions; By top view interesting image regions and circumferential interesting image regions split, obtain the irredundant frame of fruit surface.
2. a kind of device for the irredundant image information acquisition of spherical fruit of method as claimed in claim 1, comprise 4 circumferential cameras (2), top view camera (3), trigger controller (4), computing machine (5), flute profile photoelectric sensor (8) and travelling belt (10), is characterized in that: also comprise servomotor (1), 4 cross laser line marking devices (6) and pallet (9);
4 circumferential cameras (2) are evenly arranged in same plane ringwise, 4 cross laser line marking devices (6) are evenly arranged between 4 circumferential cameras (2), the driving-belt (10) driven by servomotor (1) is arranged in circumferential camera (2) and cross laser line marking device (6) below, the space angle 22.5 degree of driving-belt (10) and a circumferential camera (2); Servomotor (1) drives driving-belt (10) to rotate, fruit (7) is loaded on pallet (9), pallet (9) is arranged on driving-belt (10), installs top view camera (3) in fruit (7) top; Flute profile photoelectric sensor (8) across driving-belt (10) both sides, and is positioned at pallet (9) working direction front;
Trigger controller (4) respectively with servomotor (1), flute profile photoelectric sensor (8), 4 circumferential cameras (2) are connected with top view camera (3), and computing machine (5) is connected with top view camera (3) with 4 circumferential cameras (2) respectively.
3. a kind of device for the irredundant image information acquisition of spherical fruit according to claim 2, is characterized in that, described trigger controller (4): comprise microprocessor U1, optocoupler U2, optocoupler U3, motor driver U4, optocoupler U5, relay U6, triode Q1, diode D1, pot Rp, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5 and resistance R6;
Brown lead-in wire and the blue lead-in wire of flute profile photoelectric sensor (8) meet+24V power supply and GND1 respectively, flute profile photoelectric sensor (8) black lead connects optocoupler U2 the 1st pin by resistance R2, optocoupler U2 the 2nd pin meets GND1, resistance R1 is connected on 6 pins of+5V power supply and microprocessor U1, optocoupler U2 the 5th pin connects microprocessor U1 the 6th pin, optocoupler U2 the 4th pin meets GND0, microprocessor U1 the 19th pin connects camera trigger pip input end, resistance R4 connects+5V power supply and optocoupler U5 the 1st pin respectively, optocoupler U5 the 2nd pin connects microprocessor U1 the 17th pin, optocoupler U5 the 5th pin connects+24V power supply, resistance R5 is connected between optocoupler U5 the 4th pin and triode Q1 base stage, relay U6 coil is connected between+24V power supply and triode Q1 collector, transistor emitter meets GND1, diode D1 reversal connection is at the coil two ends of relay U6, the normally opened contact of relay U6 is connected between+3V power supply and 4 cross laser line marking devices (6), the power cathode of 4 cross laser line marking devices (6) meets GND1, optocoupler U3 the 1st pin connects microprocessor U1 the 18th pin, optocoupler U3 the 2nd pin meets GND0 by resistance R7, optocoupler U3 the 3rd pin connects+24V power supply, optocoupler U3 the 4th pin meets the 2nd pin and the resistance R6 of the CN1 interface of motor driver U4 respectively, 13rd pin of the CN1 interface of motor driver U4 meets GND1 and resistance R6, resistance R3 is connected between the 22nd pin of the CN1 interface of+24V power supply and motor driver U4, pot Rp meets the 22nd pin and GND1 of the CN1 interface of motor driver U4, the TB3 interface of motor driver U4 connects servomotor (1).
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| CN201310125257.5A CN103234905B (en) | 2013-04-10 | 2013-04-10 | A method and a device for acquiring non-redundant image information of ball-shaped fruits |
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| CN201310125257.5A CN103234905B (en) | 2013-04-10 | 2013-04-10 | A method and a device for acquiring non-redundant image information of ball-shaped fruits |
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| CN1844900A (en) * | 2006-04-10 | 2006-10-11 | 浙江大学 | Method and apparatus for detecting fruit surface defect based on laser image |
| CN101666629A (en) * | 2008-09-04 | 2010-03-10 | 三星重工业株式会社 | System and method for measuring curved surface |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP1550188B1 (en) * | 2002-10-11 | 2009-04-01 | Canon Kabushiki Kaisha | Sensor |
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| DE2705936A1 (en) * | 1977-02-10 | 1978-08-17 | Barry Wehmiller Co | Transparent bottle inspection system - employs electronic circuit to differentiate between shadows and foreign bodies |
| CN1844900A (en) * | 2006-04-10 | 2006-10-11 | 浙江大学 | Method and apparatus for detecting fruit surface defect based on laser image |
| CN101666629A (en) * | 2008-09-04 | 2010-03-10 | 三星重工业株式会社 | System and method for measuring curved surface |
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